| Summary: | 碩士 === 國立雲林科技大學 === 電機工程系碩士班 === 101 === This thesis developed motion planning of an intelligent mobile robot that selected the docking station in multiple docking station systems. The mobile robot enters the docking station autonomously. The auto-docking system contains a mobile robot, a supervised computer and three docking stations. The mobile robot equipped with a power detection module, an infrared sensing module, a wireless communication module, an electronic compass module, a charge socket, a lithium iron phosphate battery and a laser range finder. The docking station includes a power detection module, a charging mechanism, a constant current charger, a voice module and a RF wireless module.
In the experimental results, the power detection module measures voltage value of the mobile robot is below threshold value, and send a charging signal to the mobile robot. The mobile robot communicates with the docking station system via RF wireless module, and get each docking station status. Then the laser range finder of the mobile robot scans the feature of docking station, and selects the free docking station. The mobile robot plans the motion path moving to the docking station. The power detection module of docking station detects charging status during charging process, transmits charging information the mobile robot via RF wireless module. When the charging processing is finished. The docking station will turn off the relay to stop charge current, and trigs the mobile robot leaving the docking station.
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