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研究生: 黃秉陽
Huang, Bing-Yang
論文名稱: 基於主僕式架構之自動充電系統設計與開發
Design and Development of an Autonomous Charging System with Master-Slave Architecture
指導教授: 陳瑄易
Chen, Syuan-Yi
口試委員: 陳瑄易
Chen, Syuan-Yi
鄭穎人
Chen, Ying-Jen
李俊賢
Lee, Jin-Shyan
陳永耀
Chen, Yung-Yao
口試日期: 2024/10/16
學位類別: 碩士
Master
系所名稱: 電機工程學系
Department of Electrical Engineering
論文出版年: 2024
畢業學年度: 113
語文別: 中文
論文頁數: 114
中文關鍵詞: 自動充電系統電動車自主移動機器人機械手臂視覺系統排程使用者介面伺服器OCCP充電協定
英文關鍵詞: automatic charging system, electric vehicle, autonomous mobile robot, robotic arm, vision system, scheduling, user interface, server, OCCP charging protocol
研究方法: 實驗設計法
DOI URL: http://doi.org/10.6345/NTNU202401956
論文種類: 學術論文
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  • 本研究開發了一種基於主僕式架構的自動充電系統,可實現智慧自動充電服務。自動充電系統包含一自主移動式充電機器人、電源拖車、伺服器、使用者介面。自主移動式充電機器人做為主僕式架構中的主單元,其結合了機械手臂和自主移動平台,透過搭載的自主移動平台抵達目標位置後再利用視覺系統輔助機械手臂進行電源拖車上方的充電槍拿取與對位插孔等功能。電源拖車做為自動充電系統的僕單元,由供電平台和充電功能平台所組成,可實現符合開放點充電協議(Open Charge Point Protocol, OCCP)充電協議之充電功能。
    自主移動式充電機器人做為主單元具有高度智慧及自動化的特點,本論文基於機器人作業系統 (Robot Operating System, ROS) 實現同步定位、構建地圖、導航、路徑規劃和避障等功能。最後設計一使用者介面獲取用戶充電資訊與伺服器進行串接,並基於一基本規則庫進行充電排程,提高自動充電系統的自動化與智慧化程度。由實驗結果可知,本論文所提出之自動充電系統確實可以準確根據用戶於使用者介面所輸入之充電需求,進行排程、充電以最大化滿足用戶需求。

    This study developed an automatic charging system based on a master-slave architecture, enabling intelligent automatic charging services. The system consists of an autonomous mobile charging robot, a power trailer, a server, and a user interface. The autonomous mobile charging robot acts as the master unit in the master-slave architecture, integrating a robotic arm with an autonomous mobile platform. After reaching the target location via the mobile platform, the robot uses a camera vision system to assist the robotic arm in tasks such as picking up the charging gun and aligning it with the charging port on the power trailer. The power trailer, acting as the slave unit of the automatic charging system, comprises a power supply platform and a charging function platform. These two platforms cooperate with the OCCP charging protocol to achieve reliable charging capability.
    As the master unit, the autonomous mobile charging robot features a high level of intelligence and automation. This thesis, based on the Robot Operating System (ROS), implements functions including simultaneous localization and mapping (SLAM), navigation, path planning, and obstacle avoidance. Additionally, a user interface is designed to acquire user charging information and interface with the server. The charging scheduling is managed based on a basic rule-based system, enhancing the automation and intelligence of the charging system. Experimental results demonstrate that the proposed automatic charging system can accurately schedule and charge based on user input from the front-end interface, maximizing user satisfaction.

    第一章 緒論 1 1.1 研究背景與動機 1 1.2 文獻探討 4 1.2.1 機器人自主移動技術 4 1.2.2 充電協議 4 1.2.3 充電排程 6 1.2.4 主僕式架構 7 1.3 研究目的 10 1.4 研究架構 12 第二章 基於主僕式架構之自動充電系統開發 13 2.1 主僕式架構連接功能開發設計 15 2.2 自主移動式充電機器人設計與開發 18 2.2.1 視覺行為開發與設計 18 2.2.2 自主移動平台功能設計與開發 20 2.2.3 充電行為開發與設計 25 2.3 電源拖車設計與開發 27 2.3.1 充電功率控制 29 2.3.2 充電握手協議 30 2.3.3 充電保護功能 32 2.3.4 充電握手流程 33 第三章 自動充電系統使用者介面設計 36 3.1 使用者介面系統設計 36 3.2 使用者介面開發 39 第四章 排程系統功能設計與開發 42 4.1 排程規則設計 42 4.2 自動充電系統計價規則 44 4.3 伺服器之排程系統設計 45 第五章 自動充電系統之軟、硬體系統架構與設計 48 5.1 自動充電系統之自主移動式充電機器人硬體、軟體架構設計 48 5.1.1 控制核心平台硬體架構 49 5.1.2 供電平台硬體架構 51 5.1.3 控制部件硬體架構 53 5.1.4 軟體系統架構 58 5.2 自動充電系統之電源拖車硬體、軟體架構設計 59 5.2.1 供電平台 59 5.2.2 充電功能平台 61 5.2.3 軟體系統架構 65 第六章 實驗結果與討論 66 6.1 自動充電系統硬體實作成果 66 6.2 自動充電系統實際運作測試 70 6.2.1 全系統通訊實作成果 70 6.2.2 自動充電系統預約及排程實作成果 70 6.2.3 管理者介面開發 77 6.2.4 充電任務執行流程與結果 78 6.3 主僕式架構實驗實作成果 80 6.3.1 自主移動式充電機器人連接實作結果 80 6.3.2 自動充電系統取槍實作成果展示 81 6.3.3 自動充電系統充電槍插孔實作 83 6.4 負載端充電行為模擬與討論 86 第七章 結論及未來展望 88 7.1 結論 88 7.2 未來展望 89 參考文獻 90

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