2007-08-012024-05-17https://scholars.lib.ntu.edu.tw/handle/123456789/675903摘要：本研究為三年期整合型計畫中之一子計畫，此整合型計畫擬透過學術研究機構間團隊合作，來跨領域整合道路鋪面檢測、機器人、系統整合與模擬、人工智慧等技術領域，研發一台自主式道路鋪面檢測智慧化機器人之雛型系統，並進行系統之實地驗證研究，期能透過鋪面檢測機器人技術，增進道路鋪面管理之效率，讓有限的道路維修與養護經費能發揮更大效益。此整合型計畫的主要架構包括機器人模擬與資訊系統整合、道路檢測用輪型機器人雛型載具及演算法研發、鋪面檢測自動化暨機器人檢測模式發展與驗證三大部分，而本子計畫為整體計畫中負責整合鋪面檢測自動化模組與機器人系統模組之樞紐計畫，重點在設計及開發一機器人模擬與控制軟體架構與平台環境，並以其為基礎，將與其他子計畫合作研發之鋪面檢測模組及機器人系統模整合組成一套自主式道路鋪面檢測機器人雛型系統，並再更進一步研發鋪面檢測專家系統模組與鋪面檢測機器人智慧化控制模組，讓鋪面檢測機器人能具有鋪面檢測專家之一些智慧來進行自動化檢測工作。<br> Abstract: This research is a subproject included in a three-year integrated project, titled “Development of Autonomous Robots for Intelligent Pavement Inspection System,” that will be carried out through collaboration of researchers among several academic institutes and will integrate technical areas among pavement inspection, robotics, system integration and simulation, and artificial intelligence to develop an autonomous robot for intelligent pavement inspection. Three subprojects will be included in this research: (1) One of the subprojects focuses on integrating multiple sensors and actuators to develop an intelligent robotic platform. Another subproject focuses on the technical problems on adapting existing equipment for pavement inspection to the robot. The other subproject will research the integration issues between the robot platform and inspection equipment. This subproject is the last one mentioned above and is the key subproject that integrate the pavement inspection related modules and the robot related modules into a robotic simulation environment to achieve the goal of the integrated project.營建自動化鋪面檢測自主式機器人系統整合專家系統construction automationpavement inspectionautonomous robotsystem integrationexpert system自主式機器人於道路鋪面智慧化檢測系統之研究-子計畫一：自主式機器人於道路鋪面智慧化檢測系統之研究