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優化無人自主移動機器人任務系統部署 -以網頁框架發展的整合操作介面 = A system deployment optimization strategy for AutonomousMobile Robot (AMR)- web framework-based operation interface / 張庭豪.

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摘要註

隨著機器人技術的迅速發展和應用領域的擴大，智慧化系統的建立成為當今的主要發展方向，同樣也適用於無人自走車技術。然而，建立系統本身面臨多個技術障礙，例如不同設備之間的通訊機制、協議和數據格式不一致等問題。本論文嘗試結合統一的通訊協議、標準化接口、專業平台、建立友好的使用者介面等技術，以實現設備之間的互通和協作，對無人自走車的實際任務執行、部署提供實質幫助，並兼具操作上的靈活性。 本論文首先從探討機器人作業系統ROS(Robot Operating System)為起點，配合已搭載ROS的車載工業電腦(AmITX-SL-G)、LiDAR雷射測距儀(SICK TIM581)、深度相機(REALSENSE D435)和慣性感測器的AMR平台，來了解節點的運作機制以及各個節點負責的功能事項。接著本論文希望以網頁介面來執行可自定義的功能，從配合實際環境的條件開始，進一步規劃如何建立和操作相關前端工具和後端伺服器，並瞭解如何通過UI掌握ROS節點本身發布的訊息或主題，根據用途需求完成自走車任務部屬。研究目標希望在任務操作層面上能不受裝置限制，皆能連線到各設備執行任務指令。並先根據(1)巡邏(2)運送兩個方面規劃節點控制、站點派送、視覺監控、遙控等功能介面。通過測試，預期能以更便捷的方式滿足不同的移動需求，並能夠掌握執行環境的狀況。而在派站介面中則增加了障礙物檢測警示，透過接收光達的掃描資訊，經由嘗試不同濾波操作並藉由顯示運算後獲取的距離值，將其做為燈號變化的依據，讓使用者可以即時觀察到障礙物的狀態。 最後，論文中將描述目前已經實現的成果，並期望將來能夠整合各個獨立的工具，擴展成一個更具實用性且完整的系統。. In response to the rapid development and expansion of robotics technology, intelligent systems have become a major trend among various fields, including the field of automated guided vehicles (AGVs). However, the establishment of a AGV system entails overcoming various technical challenges, such as the incompatibility of different devices in terms of their communication mechanisms, protocols, and data formats. This study improved the maneuverability and real-time task execution and deployment of AGVs by unifying communication protocols, standardizing various interfaces, establishing a dedicated platform, and designing a friendly user interface. An AMR carrying an on-board industrial computer with a robot operating system (ROS) (AmITX-SL-G), a laser imaging, detection, and ranging (LiDAR) sensor (SICK TIM581), a depth camera (REALSENSE D435), and an inertial sensor was adopted as the platform to determine the operations and functions of each node of the developed system. Subsequently, a web interface was used to enable customized functions. On the basis of actual environmental conditions, front-end tools and a back-end server were designed to determine the approach to managing ROS messages through the user interface, thereby achieving task-oriented AGV deployment.At the operational level, the system was developed to enable access to each AGV for task execution without being hindered by differences in operating device types. The interfaces for node control, station dispatchment, visual supervision, and remote control were designed to meet the requirements of two tasks, namely patrolling and item transportation. Tests were conducted to develop optimized approaches that meet different task requirements and report on the conditions of the task environment. An obstacle alert function was added to the dispatching interface, which involves processing LiDAR scanning information to determine the distance to an obstacle and issue an alert to the operator in the form of

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