TWI642960B - Automatic traveling system and application method thereof - Google Patents

Abstract

The invention provides an automatic traveling system and an application method thereof, which comprise following a user's accompanying unit, the accompanying unit is followed by the user's movement and steering behavior, and the structure comprises: a first pointing unit a relative position sensing unit and a control module, wherein the first pointing unit detects the orientation of the user, and the accompanying unit senses the user orientation signal and the relative position relationship signal and analyzes Thereafter, an indication signal is generated to control the displacement and steering of the accompanying unit. Through this follow-up system, it is possible to achieve multiple purposes such as front, rear, left and right, improve safety, reduce the risk of loss, and avoid the user's troublesome manipulation of the machine, thereby facilitating the user to carry out related applications.

Description

Automatic traveling system and application method thereof

The invention relates to an automatic traveling system and an application method thereof, in particular to an automatic traveling system capable of simultaneously sensing a user's steering and displacement actions, and accompanying the steering and displacement actions, and an application method thereof .

Due to the decline in fertility rate and the prolongation of life expectancy, the problem of population ageing in the world is becoming more and more serious. The population structure of each country is greatly different from that of the undeveloped period. The number of elderly people aged 65 and over accounts for the total population. The proportion is judged as the aging population. The proportion of more than 7% is the ageing society, the proportion of more than 14% is the aged society, and the proportion of more than 20% is the super senior society (super aged Society).

According to statistics, in the Asian regions such as Taiwan and Japan, the elderly population has a large growth rate and a high degree of aging. Therefore, the government actively promotes the elderly care program, and it is hoped that the elderly will be created to create a new atmosphere for the elderly. In addition to capacity, it can reduce social burden and social cost; there are many issues that need to be explored and improved on the issue of population aging. Among them, because the majority of young and middle-aged people are far from home, they cannot care for the elderly, making most elderly people often Faced with a single outing, in addition, with the normal aging and degeneration of the human body, or the inconvenience caused by accidents, slow response, etc., resulting in up to 50% of the elderly have a lack of exercise, while lack of exercise is relatively aging Intensification has gradually become the beginning of a vicious circle. These information clearly point out the importance of health care for the elderly and the development of assistive technology.

At present, the existing silver hair outing aids on the market still use traditional walking sticks, walking aids and walking aids as the bulk, but they have not yet combined with the elderly to go for a walk, medical treatment and shopping. Auxiliary devices developed with comprehensive functional requirements; in recent years, technologies for power-assisted control and automatic follow-up have become popular, such as: COWAROBOT R1, Smartbe strollers, Budgee, LG Cordzero vacuum cleaners, and automatic golf carts. A product with a follow-up function, and the aforementioned developed products mostly operate with "rear following". If the device of the prior art is to be applied to the field of elderly care, such a device with follow-up function will be different from the existing one when it interacts with the elderly. Technical issues; for example, products that operate in a "back following" manner, such as the follow-up robot, Budgee, will suffer from insufficient sensitivity when the user turns or the robot encounters an obstacle. Furthermore, the user has to constantly check back to see if the robot is missing, resulting in inconvenience in walking; accordingly, the sensitive and immediate front-automatic follow-up care aids are more likely to meet the needs of the elderly.

However, the technical thresholds and requirements for intelligent, immediate and accurate auto-accessible systems in the front are higher than those of the following or other existing technologies, and there are still many technical limitations to be broken. First, the system is in front of the system. The delay tolerance of the test signal. Further, the rear-following system has a lower requirement for the instantness of feedback after the device senses the user, and can allow the user to follow up with a slight delay, but this If the delay occurs in the system before the user's front line of sight, it will block the user's walking path and interfere with the user's activities. Second, it is the requirement of the front-access system for the mobile platform. After changing the walking direction, since the user's subsequent walking path is not interlaced with the path of the following device, the device following the system can delay and then select the shortest path to follow the user, however, if the front-access system is The device adjusts direction and moves too slowly (perhaps due to algorithms, sensors or mobile platforms), the shortest path after correction Can be interlaced with the user path, so the device must be detoured to the front of the user, otherwise the user activity will be disturbed; third, it is applied to the algorithm of the front-access system, because the way the user walks varies greatly In addition to advancing and retreating, in order to cope with the unexpected situation of the environment, it is possible to suddenly move sideways, turn or turn around and many other unpredictable situations. It is impossible to cope with such complicated situations with preset operational methods.

Based on the above, the present invention proposes an automatic traveling system and an application method thereof to solve the above-mentioned technical limitations, thereby promoting appropriate physical activity of elderly people. Maintaining the effective functioning of organs in various parts can also enhance the willingness and safety of elderly people to go out for activities.

The main object of the present invention is to provide an automatic traveling system, which is designed to allow the traveling unit in the following system to follow the direction of the user following the direction of the user and the relative position between them, and can follow The user's dynamic accurate and immediate steering and displacement to the preset following position.

Another object of the present invention is to provide an application method of an automatic traveling system, by which the traveling unit can detect and judge the relative position and the steering relationship with the user, and can immediately The user's dynamics maintain a follow-up effect of a predetermined relative position.

Another object of the present invention is to provide an application method of an automatic traveling system, by which a user can pull a long object connected between the user and the accompanying unit by touching and pulling The accompanying unit performs steering and displacement control and functional control of the machine.

Another object of the present invention is to provide an automatic traveling system and an application method thereof, and the automatic traveling system is matched with the application method, thereby achieving the purpose of facilitating the front, improving the security, reducing the risk of loss, and the like, and improving the use convenience. Sex, which in turn reduces the extra burden of society and the risk of elders going out.

In order to achieve the above object, the present invention discloses an automatic traveling system including a user and a traveling unit following the user, and the accompanying unit is accompanied by the movement and steering behavior of the user. The structure comprises: a first pointing unit disposed at any position of the automatic traveling system for detecting a direction of a user to obtain a user orientation signal; and a relative position sensing unit disposed at the Any one of the automatic accompanying systems is configured to determine a relative positional relationship between the accompanying unit and the user to obtain a relative positional relationship signal; a control module is disposed in the automatic traveling system In any position, it receives the user's orientation signal and the relative positional relationship signal and performs the division. After the analysis, an indication signal is generated and transmitted; and a traveling unit includes a driving unit and at least one moving component, and the driving unit can receive the indication signal to drive the at least one moving component to drive the accompanying unit to perform displacement Go to the specified position and perform the corresponding steering action.

In an embodiment of the present invention, the auto attendant system further includes a second pointing unit disposed on the accompanying unit for detecting a direction of the accompanying unit to obtain a direction. The accompanying unit is oriented toward the signal.

In an embodiment of the present invention, the control module receives the user orientation signal and the accompanying unit orientation signal for comparison analysis, and generates the indication signal to control the tracking unit to perform steering. With displacement.

In an embodiment of the invention, the first pointing unit and the second pointing unit are selected from the group consisting of an angle device, a rotary encoder, an inertial sensor, an electronic compass, a gyroscope, One of a group of variable resistors and an image processing system or any combination thereof.

In an embodiment of the present invention, the relative position sensing unit is selected from the group consisting of an image processing system, a sonar system, an ultrasonic scanning system, and a laser scanning system. One or any combination thereof.

In an embodiment of the present invention, the relative position sensing unit includes a following angle sensor and a distance sensor, and the following angle sensor senses the accompanying unit and the user. One of the following angles, and the distance sensor measures a linear distance signal between the traveling unit and the user; wherein the following angle is the pointing direction of the following angle sensor and the following The direction of the row unit is sandwiched into an angle.

In an embodiment of the present invention, it is also disclosed that the distance sensor is selected from an infrared range finder, a laser range finder, a radio frequency, and a linear displacement sensor (string pot). One of a group of image processors and an ultrasonic range finder, or any combination thereof.

In an embodiment of the invention, it is also disclosed that the following angle sensor is selected from a laser scanner, a radio frequency, an image processing unit, an angle meter, and a One of a group consisting of a variable resistor, a rotary encoder, an electronic compass, a gyroscope, and an inertial sensor, or any combination thereof.

In order to achieve the foregoing, the present invention also discloses an automatic traveling system, comprising: a wearing unit, which is disposed on any part of a user, and includes: a first tracking unit disposed on the wearing unit The pointing direction of the first tracking unit forms a first angle with the direction that the user faces; and a first angle sensor is disposed on the wearing unit and senses an angle change of the first angle Obtaining a first angle signal; a traveling unit, comprising: a second tracking unit disposed on the traveling unit for tracking and aligning the first tracking unit, and the first tracking unit is also Tracking and aligning the second tracking unit, wherein the pointing direction of the second tracking unit forms a second angle with the direction that the traveling unit faces; a second angle sensor is disposed in the accompanying line And sensing a change of the angle of the second angle to obtain a second angle signal; a driving unit disposed on the traveling unit to receive an indication signal; and at least one moving component, The driving unit is driven by the driving unit to drive the traveling unit to shift to a designated position and perform a corresponding steering operation; a control module is disposed on the automatic traveling system, After receiving at least one signal and performing analysis, the indication signal is transmitted to the driving unit; and at least one distance sensor is disposed on the wearing unit and/or the accompanying unit and disposed on the The first tracking unit and/or the second tracking unit are connected to each other to measure the distance between the wearing unit and the accompanying unit to obtain a distance signal; wherein the control module receives The at least one signal includes the distance signal, the first angle signal, and the second angle signal.

In an embodiment of the present invention, the first tracking unit and the second tracking unit are connected by a long strip to form a pull-line pointing device, wherein the first tracking unit and the first The two tracking units are pulled by the strip to track and align with each other.

In an embodiment of the present invention, the at least one distance sensor is selected from the group consisting of an infrared range finder, an image processor, a laser range finder, and a pull-line displacement sensing. One of or a combination of any of a group consisting of a string pot, an ultrasonic range finder, and a radio frequency.

In an embodiment of the present invention, the first angle sensor and the second angle sensor are selected from the group consisting of a laser scanner, an image processing unit, a radio frequency, and an electronic device. One of a group consisting of a compass, a gyroscope, an angle meter, a variable resistor, a rotary encoder, and an inertial sensor, or any combination thereof.

In an embodiment of the present invention, the first tracking unit and the second tracking unit are selected from a magnetic device, a heat source following system, an image following system, or an optical alignment system. One of the groupings or any combination thereof.

In an embodiment of the invention, it is also disclosed that the strip is a retraction, a suspension line, a rope or a multi-core wire.

In order to achieve the foregoing objectives, the present invention also discloses an application method of an automatic traveling system, which uses the above-mentioned automatic traveling system to perform dynamic accompanying to a user, and the steps include: setting at least one relative position parameter to the control a module, the at least one relative position parameter is used to define a relative positional relationship and relative orientation between the accompanying unit and the user; the user starts moving; at least one sensor of the automated traveling system is obtained Transmitting at least one relative positional relationship signal and a user orientation signal generated by the user to the control module; the control module analyzes and calculates the signals to generate an indication signal to control the accompanying unit Performing displacement and steering so that the accompanying unit and the user maintain the relative positional relationship and relative orientation defined by the at least one relative position parameter; repeating the obtaining signal step and the analyzing calculation step until the user stops moving Or end use.

In an embodiment of the present invention, the at least one relative position parameter is selected from a linear distance between the accompanying unit and the user, a following angle between the accompanying unit and the user, and the following One of the group consisting of the lateral distance of the row unit from the user, the longitudinal distance of the accompanying unit to the user, the difference in the orientation angle of the user and the accompanying unit, or any combination thereof.

In an embodiment of the present invention, the at least one relative positional relationship signal includes a user orientation signal, a distance signal, a first angle signal, and a second angle signal.

In order to achieve the foregoing, the present invention also discloses another method for applying an automatic traveling system, the method comprising: the user starts to move, and the control unit controls the accompanying unit by using the at least one signal to capture and process Performing automatic follow-up; the user causes a change in the long strip between the first tracking unit and the second tracking unit; and the sensors obtain the at least one generated by the user changing the long strip The signal is transmitted to the control module; after the control module analyzes and calculates the at least one signal, the indication signal is generated to control the driving unit to perform displacement and steering, so that the accompanying unit is controlled by the user. Status adjustment.

In an embodiment of the invention, it is also disclosed that the change is a length change or a change in a pointing angle.

In an embodiment of the invention, the following state is also a relative positional relationship adjustment, a relative angle adjustment, a displacement rate adjustment or an acceleration adjustment.

In an embodiment of the present invention, the at least one signal system further includes a distance signal, a first angle signal, and a second angle signal.

In an embodiment of the present invention, before the user moves the step, the user can provide the control module an instruction parameter by touching the long item, and the instruction parameter can be the accompanying unit. The usage status is adjusted.

In an embodiment of the present invention, the one of the long lines is also disclosed. The wire of the multi-core is transmitted by a button or a rocker to adjust the use state of the accompanying unit or Mode setting of the accompanying unit

In an embodiment of the present invention, the user can provide an instruction parameter of the control module by touching the long item, and the instruction parameter can adjust the usage state of the accompanying unit.

In an embodiment of the invention, it is also disclosed that the command parameter can be a system stop command parameter, a system open command parameter or a follow condition set command parameter.

10‧‧‧Automatic system

11‧‧‧Users

12‧‧‧Travel unit

13‧‧‧first pointing unit

131‧‧‧second pointing unit

14‧‧‧ Relative position sensing unit

15‧‧‧Control Module

16‧‧‧Drive unit

17‧‧‧Mobile parts

20‧‧‧Automatic system

21‧‧‧Users

22‧‧‧Wearing unit

221‧‧‧First Tracking Unit

222‧‧‧First angle sensor

23‧‧‧Travel unit

231‧‧‧Second tracking unit

232‧‧‧Second angle sensor

233‧‧‧ drive unit

234‧‧‧Mobile parts

24‧‧‧Distance sensor

25‧‧‧Control Module

26‧‧‧ long strips

1 is a block diagram of an element relationship according to an embodiment of the present invention; 2A-2C is a perspective view of an embodiment of the present invention; and FIG. 3 is a block diagram of an element of an embodiment of the present invention. Figure 4 is a block diagram of an element relationship of an embodiment of the present invention; Figure 5A is a side view of an embodiment of the present invention; Figure 5B is a block diagram of a component relationship of an embodiment of the present invention; -6B is a schematic diagram of a pointing and orientation angle of an embodiment of the present invention; FIG. 7 is a flowchart of a method according to an embodiment of the present invention; FIG. 8 is a method of an embodiment of the present invention Flowchart; FIG. 9 is a flow chart of a method according to an embodiment of the present invention; FIG. 10A-10B is a forward moving immediate follow of the first embodiment of the present invention; FIG. 11A-11B: It is a right-turning immediate follow-up of the second embodiment of the present invention; and a 12A-12B diagram: it is an instant feedback of the pull-length article of the third embodiment of the present invention.

In order to give you a better understanding and understanding of the features and benefits of the present invention, the detailed description and the preferred embodiments will be described in detail below.

In the present invention, the tracking system in the prior art mostly focuses only on the relative relationship between the traveling unit and the user, and fails to detect the steering action of the user in time to cause the following behavior to be less sensitive. The novel automatic traveling system can effectively detect the steering action of the user and directly change the corresponding position by providing the automatic traveling system, so that the following behavior can be performed more effectively and effectively, instead of only The following is performed on the displacement trajectory of the user. On the other hand, the automatic traveling system provided by the present invention can further adapt the traveling unit to the front of the user by simultaneously detecting the relative positional relationship and the characteristics of the user's steering performance. Follow the behavior to make the application more extensive.

Therefore, the present invention provides an automatic traveling system and an application method thereof, which enable a traveling unit to follow the movement and steering behavior of the user through a first pointing The unit detects a direction of the user, and determines the relative positional relationship between the accompanying unit and the user by using the relative position sensing unit, and then controls the accompanying unit after analyzing and analyzing the signal through a control module. The displacement is performed to a specified position and a corresponding steering action is performed to achieve the goal of simultaneously detecting the relative positional relationship and the user's steering performance, thereby improving the following efficiency of the automatic traveling system.

Based on the above guidelines, the following describes the components, properties, combinations thereof, and their interactions in the automated accompanying system provided by the present invention:

Please refer to FIG. 1 of the present invention, which is a block diagram of the components of the automatic traveling system provided by the present invention. As shown in the figure, the automatic traveling system 10 includes a user 11 and follows the same. One of the user's accompanying units 12, the accompanying unit 12 is followed by the displacement and steering behavior of the user 11, and the structure includes a driving unit 16 and at least one moving member 17, wherein the automated traveling system 10 The component includes: a first pointing unit 13 , a relative position sensing unit 14 and a control module 15 , wherein the first pointing unit 13 is disposed at any position of the automatic traveling system 10 for detecting A user orientation direction is obtained, and a user orientation signal is obtained. In addition, the relative position sensing unit 14 is also disposed at any position of the automatic traveling system 10 for determining the traveling unit 12 and the The relative positional relationship between the users 11 obtains a relative positional relationship signal. Finally, the control module 15 is also disposed at any position of the automatic traveling system 10 to receive the user orientation signal and the relative position. After analysis of the relationship between the signal and generating an indication signal to the control unit of the pallet to the specified position corresponding to the position of the steering operation performed and 12.

The user orientation signal refers to a signal related to the user's facing direction or the trunk orientation direction when the user 11 is in a stationary state or a moving state, when the automatic traveling system 10 is directed to the user. 11 and the accompanying unit 12 are set in relation to each other, and regardless of the direction of the user 11, the accompanying unit 12 will perform corresponding displacement and steering according to the set orientation relationship, even if the use The 11 is only rotated in place to cause a change in orientation relationship between the two, and the accompanying unit 12 still performs displacement and corresponding steering according to the set orientation relationship, and based on the above content, the automatic accompanying The first pointing unit 13 provided by the system 10 can be disposed at any position of the automatic traveling system 10, and is disposed on the user 11 or on the accompanying unit 12, and is directly disposed on the use unit. The user 11 can sense directly in the facing direction or the trunk direction of the user, and when it is disposed on the traveling unit 12, it can be from the accompanying unit 12 The user 11 performs sensing to obtain the user orientation signal of the user 11.

For example, please refer to FIG. 2A to FIG. 2C of the present invention, which is an orientation angle diagram of an automatic traveling system provided by the present invention. As shown in the figure, the automatic traveling system 10 is assumed. The traveling unit 12 is set to the right front of the user 11, and when the user 11 is rotated to the right in the original direction, the orientation relationship between the traveling unit 12 and the user 11 is changed from the right front to the left front. The first pointing unit 13 senses the change, and drives the accompanying unit 12 to move to the right front of the preset user 11 through the control module 15 to maintain the orientation relationship between the two. The auto attendant system 10 can cause the accompanying unit 12 to immediately move correspondingly to the steering behavior of the user 11 by detecting and analyzing the user orientation signal.

Please refer to FIG. 3 of the present invention, which is a block diagram of the components of the automatic traveling system 10 according to a preferred embodiment of the present invention. As shown in the figure, the automatic traveling system 10 is shown. The system further includes a second pointing unit 131 disposed on the accompanying unit 12 for determining and detecting the facing direction of the traveling unit 12 to obtain a traveling unit orientation signal. Wherein, the orientation direction of the accompanying unit 12 refers to the self-defined three-dimensional local coordinate system (LCS) of the accompanying unit 12, and the Y-axis extends in the forward direction. direction.

When the automatic traveling system 10 simultaneously senses the orientation signals of the user 11 and the accompanying unit 12 through the first pointing unit 13 and the second pointing unit 131, the automatic traveling system 10 is the second The orientation signal is transmitted to the control module 15 to analyze the difference in orientation angle between the two, and is compared with the orientation angle difference value preset in the automatic traveling system 10 to determine the steering condition of the user 11. Then, an indication signal is further provided to control the accompanying unit 12 to perform corresponding displacement and steering actions.

For example, please refer to FIG. 2A to FIG. 2C of the invention drawing of the present invention. The automatic traveling system 10 can preset the orientation direction of the user 11 and the orientation direction of the traveling unit 12 to be the same direction. That is, the angle difference between the two is 0. When the user 11 turns 90 degrees to the right, the first pointing unit 13 senses the user's orientation signal of the user 11. When the second pointing unit 131 senses that the accompanying unit of the traveling unit 12 is 0 degrees, the control module 15 receives the first pointing unit 13 and the After the second orientation unit 131 transmits the two orientation signals, it is determined by analysis that the current orientation angle difference value and the preset orientation angle difference value are negative by 90 degrees, and an indication signal is required to be requested. The accompanying unit 12 performs corresponding displacement and steering so that the two return to the preset orientation angle difference value.

Based on the foregoing, the first pointing unit 13 and the second pointing unit 131 are selected from an angle device, a variable resistor, a rotary encoder, an inertial sensor, a gyroscope, and One of a group of electronic compasses or any combination thereof.

In the automatic traveling system 10 provided by the present invention, a relative position sensing unit 14 is further provided for sensing a relative positional relationship signal, wherein the relative positional relationship signal indicates that the user 11 is stationary. Relevant information corresponding to the positional relationship between the accompanying unit 12 in the state or the moving state, including but not limited to the lateral distance between the accompanying unit 12 and the user 11, the accompanying unit 12 and the use The longitudinal distance between the persons 11, the vertical height distance between the accompanying unit 12 and the user 11, and the linear distance between the accompanying unit 12 and the user 11.

When the user 11 moves, the relative position sensing unit 14 in the automated traveling system 10 can directly observe the lateral distance change between the accompanying unit 12 and the user 11, and the accompanying unit 12 a change in the longitudinal distance from the user 11, a change in the vertical height between the accompanying unit 12 and the user 11, and a linear distance between the accompanying unit 12 and the user 11, and The amount of change in the distance of the accompanying unit is used as the relative positional relationship signal, and is transmitted to the control module 15 for analysis, and further generates an instruction requesting the accompanying unit 12 to perform corresponding displacement and steering.

In a preferred embodiment of the present invention, the longitudinal distance change, the lateral distance change, the vertical height distance change, and the linear distance change between the traveling unit 12 and the user 11 are directly transmitted by an image processing system. The image capture and analysis are directly obtained. When one of the image sensing objects moves to produce a relative position change, the image processing system can instantly detect the longitudinal distance between the accompanying unit 12 and the user 11 Changes, lateral distance changes, and vertical height distance changes. The setting position of the image processing system is not specifically limited. When the image processing system is disposed at the end of the user 11 , it indicates that the sensing target in the image is the accompanying unit 12 , and the user 11 is If the image processing system is disposed at the end of the accompanying unit 12, the object of the sensing target in the image is the user 11 From the perspective of the accompanying unit 12, it is judged that the user 11 is away from or close to the accompanying unit 12.

In another preferred embodiment of the present invention, the longitudinal distance change, the lateral distance change, the vertical height distance change, and the linear distance change between the traveling unit 12 and the user 11 are sensed by a following angle. The device and a distance sensor cooperate to obtain a tracking angle signal and a straight line distance signal between the traveling unit 12 and the user 11 , and obtain an operation between the traveling unit 12 and the user 11 . Longitudinal distance changes, lateral distance changes, and vertical height distance changes. The linear distance signal refers to the linear distance between the user 11 and the accompanying unit 12, and the following angle signal refers to the pointing direction of the following angle sensor and its setting. The orientation direction of the component is one of the angle values of the following angles, that is, when the following angle sensor is disposed on the user 11, the following angle sensor refers to the following angle sensor. The pointing direction is an angle value of one of the following angles of the user 11 and vice versa. When the following angle sensor is disposed on the traveling unit 12, the following angle signal is Refers to an angle value of the following angle between the pointing direction of the following angle sensor and the facing direction of the traveling unit 12; when the automatic traveling system 10 measures the following angle signal and the straight line distance signal and After the signals are transmitted to the control module 15, the control module 15 can obtain the longitudinal distance, the lateral distance, and the vertical distance between the traveling unit 12 and the user 11 through a geometric operation, such as a trigonometric function. Straight height distance to observe the correspondence between the two For the purpose of the positional relationship, an additional command is generated to request the accompanying unit 12 to perform corresponding displacement and steering.

Wherein, the following angle sensor continuously points to its corresponding target object, forming a pointing direction of one of the following angle sensors, and the object corresponding to the following angle sensor will have a position due to its set position. Differently, when the following angle sensor is disposed on the user 11, the corresponding target object is the accompanying unit 12, and vice versa, when the following angle sensor is disposed on the When the row unit 12 is above, the target object of the row unit 12 is the user 11; and the orientation direction of the row unit 12 means that the row unit 12 is self-centered and customized. In the three-dimensional local coordinate system (LCS), the Y-axis extends in the forward direction. Therefore, the direction of the following angle sensor and the direction of the traveling unit 12 are formed by the foregoing definition. The following angle is directly related to the longitudinal distance, the lateral distance, and the vertical height distance between the traveling unit 12 and the user 11, so that the automatic traveling system 10 can obtain the following angle signal and the straight line distance. News , For determining the user changes the relative positional relationship between the pallet 11 and the unit 12 basis.

Based on the foregoing, the following angle sensor provided by the present invention is selected from a laser scanner, a radio frequency, an image processing unit, an angle meter, a variable resistor, a rotary encoder, and a One of a group of electronic compasses, a gyroscope, or an inertial sensor, or any combination thereof. The distance sensor provided by the present invention is selected from an infrared range finder, a laser range finder, a radio frequency, a string pot, an image processor or One of a group of ultrasonic rangefinders or any combination thereof.

In the automatic traveling system 10 provided by the present invention, a control module 15 is provided to perform the above-mentioned receiving and analyzing operations of the sensing signals, and an indication signal is generated through the analysis result to control the accompanying unit. 12 Displaces to the specified position and performs the corresponding steering action. Based on the foregoing, the control module 15 provided by the present invention can be disposed at any position of the automated traveling system 10, and can be connected to the automated traveling system 10 by wired transmission or wireless transmission. The first pointing unit 13, the second pointing unit 131 and the phase Performing a communication connection on the position sensing unit 14 and obtaining a signal from the sensing elements sufficient to determine the orientation signal of the user 11 and the relative positional relationship with the accompanying unit 12, and then calculating and calculating The accompanying unit 12 needs to provide the indication signal to control the displacement of the accompanying unit 12 to the designated position and perform the corresponding steering action according to the displacement and steering information required by the movement of the user 11.

Finally, please refer to FIG. 4 of the present invention, which is a block diagram of the component relationship of the automatic traveling system 10 according to a preferred embodiment of the present invention. The accompanying unit provided by the present invention is provided. The 12-series further includes a driving unit 16 and a moving member 17. After the driving unit 16 obtains the indication signal from the control module 15, the driving unit 16 can drive the moving member 17 to perform displacement and corresponding steering according to the content of the information of the indication signal. To maintain the relative positional relationship between the accompanying unit 12 and the user 11, wherein in order for the accompanying unit 12 to follow the user 11 in a more efficient manner, the path of movement is reduced to enhance the following The displacement efficiency of the row unit 12, based on the above, the moving member 17 can be an omnidirectional wheel set, a universal wheel set or an aerodynamic device that allows the accompanying unit 12 to be in a multi-axial manner The movement is performed to reduce the displacement path required for the follow-up, and the following efficiency of the accompanying unit 12 is improved.

In addition to the foregoing, the present invention provides another type of automatic traveling system, which is also determined by observing the linear distance and the following angle between the traveling unit 12 and the user 11 The relative positional relationship and the function of driving follow-up. Hereinafter, for the other type of automatic traveling system, the components, properties, combinations thereof and their interactions are further explained: BRIEF DESCRIPTION OF THE DRAWINGS FIG. 5A and FIG. 5B are additional autopilot systems 20 provided by the present invention, and a side view and a block diagram of an element relationship of a preferred embodiment, as shown in the drawings. The automatic traveling system 20 includes a wearing unit 22, a traveling unit 23, at least one distance sensor 24, and a control module 25, wherein the wearing unit 22 is disposed on any part of a user 21. The first tracking unit 221 and the first angle sensor 222 are included, wherein the pointing direction of the first tracking unit 221 forms a first angle with the direction facing the user 21 (as shown in FIG. 6A). 1 shows the θ) The first angle sensor 222 is configured to sense an angular change of the first angle to obtain a first angle signal. On the other hand, the tracking unit 23 is provided with a second tracking unit 231 and a a second angle sensor 232, the second tracking unit 231 is configured to track and align the first tracking unit 221, and the first tracking unit 221 also tracks and aligns the second tracking unit 231. The pointing direction of the second tracking unit 231 forms a second angle with the direction that the traveling unit faces (such as θ 2 shown in FIG. 6B), and the second angle sensor 232 is configured to sense the direction. The second angle of the second angle is obtained, and the second unit is provided with a driving unit 233 and at least one moving member 234. The driving unit 233 receives an indication signal to drive the at least one moving member 234. The driving unit 23 is configured to perform displacement to a designated position and perform a corresponding steering operation; the at least one distance sensor 24 disposed in the automatic traveling system 20 is configured to measure the wearing unit 22 and the following The distance between row units 23 is A distance signal is obtained. Therefore, it can be separately disposed on the wear unit 22 or the accompanying unit 23, or can be simultaneously arranged on the wear unit 22 and the accompanying unit 23 to reduce the error. On the other hand, in order to accurately measure the linear distance between the wearing unit 22 and the accompanying unit 23, the at least one distance sensor 24 is disposed with the first tracking unit 221 and/or the first The tracking unit 231 performs linkage to ensure accurate measurement of the linear distance between the wearing unit 22 and the accompanying unit 23; finally, the automatic traveling system 20 also has a control module 25, and Communicating with the first angle sensor 222, the second angle sensor 232, and the at least one distance sensor 24 in the automatic traveling system 20 by way of wired transmission or wireless transmission, and from the The sensors are configured to determine the relative positional relationship signal between the user 21 and the accompanying unit 23, and calculate the displacement and steering required by the accompanying unit 23 in response to the movement of the user 21. Information, provide the instruction The numbers accompanying the control unit 23 to the specified position corresponding to the steering operation and conduct.

The first tracking unit 221 and the second tracking unit 231 are respectively disposed on the wearing unit 22 and the accompanying unit 23, and the tracking object is moved according to the three-dimensional axial rotation. Tracking, for the first tracking unit 221, the corresponding tracking target is the accompanying unit 23 or the second tracking unit 231 located thereon, and conversely, the tracking target of the second tracking unit 231 The wearable unit 22 or the first tracking unit 221 located thereon is based on the characteristics of the tracking unit 221, and the two accompanying units are opposite to each other when the user 21 is in a stationary state, and the pointing direction is Each of the facing directions of the user 21 and the facing direction of the accompanying unit 23 respectively have a following angle, which is the first angle (such as θ ₁ shown in FIG. 6A ) and the second Angle ( θ ₂ as shown in Figure 6B).

In the preferred embodiment of the present invention, in order to enable the first tracking unit 221 and the second tracking unit 231 to change the relative position of the target object, the accuracy is accurately performed. Rotation tracking, which can provide traction by means of contact or non-contact means for tracking the two tracking units, wherein the contact tracking method can connect the first tracking unit 221 with the long strip 26 and the first The second tracking unit 231 forms a pull-type pointing device. When the relative position of the user 21 or the accompanying unit 23 changes, the first tracking unit 221 and the second tracking unit 231 will receive the long object 26 . The corresponding rotation of the traction force causes the two tracking units to continuously track and align the tracking objects, and provides the corresponding relationship between the user 21 and the accompanying unit 23 and related reference data in an instant.

In a preferred embodiment of the present invention, the strip 26 can be provided in different aspects to enhance the function of the automated travel system 20. For example, the strip 26 can be stretched and stretched. The material of the function is designed to increase the traction between the two tracking units to improve the tracking accuracy. Alternatively, in another preferred embodiment of the present invention, the strip 26 can be a The suspension line system enables the strip 26 to directly measure the distance between the two tracking units while pulling the tracking unit to follow the tracking, or alternatively, another preferred implementation provided by the present invention In the example, the strip 26 can be a wire of a multi-core, so that any sensing signal that needs to be transmitted in the automated traveling system 20 can be efficiently transmitted through the wire, and even more, the use can be made. The operator 21 gives an instruction to the automatic traveling system 20 by manipulating the long strip 26, and for the purpose of giving instructions, the multi-core wire can further be provided with a button, a rocker or a message transmission affecting the wire in any form; base Of the content, provided by the present invention, the strip line 26 as a retractable cable (retraction), a catenary, a rope or a wire one core.

In a preferred embodiment of the present invention, the first tracking unit 221 and the second tracking unit 231 can be tracked in a non-contact manner, in other words, driven by a sufficient amount of excess force. The tracking unit performs rotation tracking when the relative position of the user 21 and the accompanying unit 23 is changed, and the over-range force can be exemplified by but not limited to a magnetic force, or the accompanying units can be Tracking the physiological characteristics of the tracking object or the additionally set tracking features and driving the rotation mechanism of the accompanying unit to follow, the tracking physical characteristics of the target can be exemplified by but not limited to the dynamic activity of the user 21 a feature, a thermal sensing of the user 21, or other physiological sensing, the set tracking feature being exemplified by, but not limited to, setting a light source emitter, a heat source emitter, or other tracking feature over another tracking unit, based on the foregoing The first tracking unit and the second tracking unit are a magnetic device, a heat source following system, an image following system or an optical alignment system. The scope of the invention is not limited to, any of the inventive concept and the same object of the invention to those technical means of the present invention, are to be limited to the scope of the present invention.

As described above, in the automatic traveling system 20 provided by the present invention, the two tracking units are opposite to each other, and the pointing directions of the two tracking units are respectively facing the facing direction of the user 21. And facing directions of the accompanying unit 23 respectively have a following angle, forming the first angle and the second angle, when the user 21 moves, or the relative position of the user 21 and the accompanying unit 23 When the relationship is changed, the first tracking unit 221 on the wear unit 22 and the second tracking unit 231 on the accompanying unit 23 are continuously tracked to maintain the face-to-face relationship of the two tracking units. At the same time, the first angle and the second angle of the pointing direction of the second traveling unit and the facing direction of the user 21 and the facing direction of the traveling unit 23 are changed, and the two angles are changed. After the first angle sensor 222 and the second angle sensor 232 are measured, a first angle signal and a second angle signal are obtained and delivered to the control module 25 . Based on the foregoing, the first angle sensor and the second angle sensor are selected from a laser scanner, an image processing unit, a radio frequency, an angle meter, a rotary encoder, and a conventional One of a group consisting of a sexy detector, an electronic compass, and a gyroscope, or any combination thereof.

In the automatic traveling system 20 provided by the present invention, at least one distance sensor 24 is also provided for measuring the distance between the wearing unit 22 and the accompanying unit 23 to obtain a distance signal. The distance between the two components can be measured in a timely manner, and the at least one distance sensor 24 is interlocked with the first tracking unit 221 and/or the second tracking unit 231, and the sensing direction thereof is The pointing directions of the two tracking units are the same, so that when the relative position of the user 21 and the accompanying unit 23 is changed, the three-dimensional axial rotation of the first tracking unit 221 and the second tracking unit 231 will The at least one distance sensor 24 is rotated together to accurately measure the linear distance between the user 21 and the accompanying unit 23 at any point in time. Based on the foregoing, at least one distance sensor 24 provided by the present invention is selected from an infrared range finder, an image processor, a laser range finder, a radio frequency, and a pull-line displacement sensing. One of a group consisting of a string pot and an ultrasonic range finder, or any combination thereof.

In the automatic traveling system 20 provided by the present invention, the driving unit 23 also provides a driving unit 233 and a moving component 234. After the driving unit 233 obtains the indication signal from the control module 25, the driving unit 233 can follow the indication. The message content of the signal drives the moving member 234 to perform displacement and perform a corresponding steering operation to maintain a relative positional relationship and a relative orientation relationship between the traveling unit 23 and the user 21, wherein the accompanying unit 23 is provided. The user 21 is followed in a more efficient manner to reduce the movement path to improve the displacement efficiency of the traveling unit 23. Based on the above, the moving member 234 can be an omnidirectional wheel set and a universal direction. A wheel set or an aerodynamic device that allows the traveling unit 23 to move in a multi-axial manner, reducing the displacement path required for following, and improving the following efficiency of the traveling unit 23.

Finally, in the automatic traveling system 20 provided by the present invention, a control module 25 is provided to perform the receiving and analyzing operations of the sensing signals, and an indication signal is generated through the analysis result to control the following. The row unit 23 is displaced to a designated position and a corresponding steering operation is performed. Based on the foregoing, the control module 25 provided by the present invention can be disposed at any position of the automatic traveling system 20, and can be sensed by the first angle by wired transmission or wireless transmission. The second angle sensor 232 and the at least one distance sensor 24 are communicatively connected, and are sufficient to determine from the sensing actions of the sensing elements. The straight line distance signal of the user 21 and the following angle signals (ie, the first signal and the second signal) between the traveling unit 23 and the accompanying unit 23 are analyzed, and the factor of the accompanying unit 23 is calculated. The indication signal is provided to control the displacement of the accompanying unit 23 to the designated position and to perform a corresponding steering action.

In the following, the components, device properties and operation modes of the automatic traveling system of the present invention are further described: refer to FIG. 7, which is an automatic accompanying system according to an embodiment of the present invention. Method for applying the method, as shown in the figure, the method of applying the automatic traveling system is as follows: Step S12: setting at least one relative position parameter to the control module, the at least one relative position defining the accompanying unit and Relative positional relationship and relative orientation between the users; step S14: the user starts moving; step S16: the sensors of the automatic traveling system obtain at least one relative positional relationship generated by the user movement a signal and a user orientation signal are transmitted to the control module; Step S18: the control module analyzes and calculates the signals, and generates an indication signal to control the driving unit to perform displacement and steering, so that the accompanying unit Maintaining a relative positional relationship and relative orientation defined by the at least one relative position parameter with the user; and step S19: repeating the obtained signal step The analysis calculation step is skipped until the user stops moving or ends the use.

In the application method of the automatic traveling system provided by the embodiment, at least one relative position parameter is preset to the control module, so that the control module can drive the accompanying unit to move to The relative position corresponding to the preset relative position parameter is standby, and during the movement of the user, the relative position corresponding to the preset relative position parameter is continuously maintained, and the set content should include at least The relative orientation and relative positional relationship between the user and the following system, the relative orientation refers to the facing direction of the user and the facing direction of the following system For example, if the relative orientation of the user and the accompanying unit is 0 degrees, it means that the user and the accompanying unit should continue to face in the same direction during the moving process. On the other hand, the relative positional relationship refers to the relative relationship between the longitudinal distance and the lateral distance between the user and the accompanying unit. Based on the foregoing, the present invention provides The at least one relative position parameter is selected from a linear distance between the accompanying unit and the user, a lateral distance between the accompanying unit and the user, a longitudinal distance between the accompanying unit and the user, and the accompanying unit One of a group consisting of a vertical height distance from the user, a following angle between the accompanying unit and the user, or any combination thereof.

As shown in the steps of S14 and S16, when the user starts moving, it will cause a change in the relative positional relationship between the user and the accompanying unit, or a relative relationship between the user and the accompanying unit. The orientation is changed. At this time, the sensors of the automatic traveling system include, but are not limited to, selected from the first pointing unit, the relative position sensing unit, the second pointing unit, and the following angle. One of the sensor, the first angle sensor, the second angle sensor, and the at least one distance sensor, or any combination thereof, for the relative positional relationship between the user and the accompanying unit Sensing, obtaining at least one relative positional relationship signal and a user orientation signal generated by the user movement, and transmitting to the control module; wherein the at least one relative positional relationship signal includes but not It is limited to a straight line distance signal, a following angle signal, a first angle signal or a second angle signal.

As shown in the step S18, the control module receives the at least one relative positional relationship signal and the user orientation signal generated by the user motion obtained by the sensors, and transmits the signals through the signals. Combining and calculating, obtaining a relative positional relationship between the user and the accompanying unit after the movement, including but not limited to a linear distance between the accompanying unit and the user, a lateral distance between the accompanying unit and the user, The longitudinal distance between the traveling unit and the user, the vertical height distance between the traveling unit and the user, and the following angle between the traveling unit and the user. For example, the control module can be used by After receiving the linear distance signal and the first angle signal, the geometric distance operation, for example, a trigonometric function, is used to learn the lateral distance relationship and the longitudinal distance relationship between the user and the accompanying unit after the movement, Referring to the lateral distance relationship, the longitudinal distance relationship, the linear distance relationship and the result of the first angle signal between the user and the accompanying unit, it can be clearly defined that the current traveling unit is currently located in the user. Which location of a location is located, and then the comparison result is compared with the previously preset relative position parameter, and after confirming the difference between the relative position of the accompanying unit and the preset, an indication signal is generated for the following The row unit performs feedback to move the accompanying unit to a preset relative position for resetting, so as to achieve continuity for the user's movement.

In the step S19, the automatic traveling system provided by the present invention can repeat the step S14 to the step S18, so that the accompanying unit can continue to follow during the continuous movement of the user. To provide an automatic mobility system with high sensitivity and high security.

Hereinafter, please refer to FIG. 8 , which is a flowchart of a method for applying an automatic traveling system according to an embodiment of the present invention, which is applied to the implementation of a long strip between the user and the accompanying unit. In the aspect, the application method of the automatic traveling system is controlled by the user through the long object, and the application method of the automatic traveling system is as shown in the figure. As follows: Step S22: The user starts moving, and the accompanying unit controls the driving unit to perform automatic tracking by capturing and processing at least one signal; Step S24: the user makes the first tracking unit and the second The strips between the tracking units generate a change; step S26: the sensors obtain at least one signal generated by the user to change the strip and transmit to the control module; and step S28: After analyzing and calculating the signals, the control module generates an indication signal to control the driving unit to perform displacement and steering, so that the accompanying unit is controlled by the user to perform a follow state adjustment.

In the step S22, the application method for performing follow-up state control by using the long strips provided by the present invention is applied to the case where the user moves, and the accompanying unit is also synchronized for the use. The movement state of the person follows, among them, The manner in which the accompanying unit follows the signal acquisition method, the type of the signal to be extracted, the method of processing the signal, and the manner in which the indication signal is generated are the same as those described in steps S12 to S18, and are not described herein again. .

In the application method of the following method for controlling the accompanying state of the accompanying unit by using the long strip in the S24 and S26, the first tracking unit and the second tracking unit are The length of the strip produces a change, which may be caused by the movement state of the user or manually changing the position of the first tracking unit or the strip, when disposed on the auto-travel system The sensors obtain at least one signal generated by the user changing the long object, and then transmitted to the control module to generate a back-end feedback signal to control the following state of the accompanying unit. The change caused by the strip may include, but is not limited to, a length change or a change in the angle of the angle, and the autonomic system senses the length change or the change of the angle of the strip. The signal obtained by the measurement includes but is not limited to a distance signal, a first angle signal and a second angle signal.

For example, if the user wants to move the accompanying unit to the left of the user, the user can shift the pointing angle of the long object to the left, and the automatic traveling system The first angle signal obtained by the first angle sensor is changed, and the first angle signal that is changed is transmitted to the control module, and the control module performs subsequent steps after receiving the signal. After the signal processing, it is determined that the moving direction of the user is shifted to the left, and then an indication signal is generated to drive the accompanying unit to move to the left of the user.

In the application method of the following method, the control module receives the signals obtained by the sensing components on the automatic traveling system. After the change, the geometric relationship between the changed angular relationship between the accompanying unit and the user and the linear distance is performed, for example, by calculation of a trigonometric function, and the user corresponding to the change of the long strip is obtained through the operation. The relationship between the horizontal distance and the longitudinal distance of the accompanying unit, and clearly defines the relative positional relationship between the user corresponding to the change of the long item and the accompanying unit, and then the control module will judge the result with the original The preset relative position parameter is compared and compared, and after confirming the difference between the relative position of the accompanying unit and the preset, an indication signal is generated to feedback to the accompanying unit, so that the accompanying unit moves to a preset relative position. The displacement and the corresponding steering action are performed, so that the accompanying unit is controlled by the user to perform a follow state adjustment, thereby achieving the purpose of the user changing the length of the strip to control the automatic traveling system. The following state includes, but is not limited to, a relative positional relationship adjustment, a linear distance adjustment, and a displacement rate adjustment.

The automatic traveling system provided by the present invention can repeat the step S24 to the step S28, so that the user can control at an appropriate timing during the follow-up process of the accompanying unit to provide a convenient operation. High-performance and fully functional automated accompanying system.

In the foregoing, the application method of the user for controlling the automatic traveling system through the long strip is provided by the user, except for the foregoing operation content, before step S22, as shown in FIG. Further, the method further includes a step S21, that is, the user can provide an instruction parameter to the control module disposed on the automatic traveling system by touching the long object, and the instruction parameter is Adjust the usage status of the accompanying unit.

In another preferred embodiment of the present invention, the user can also touch the long object at any point in the application method to target the automated traveling system. The control module module performs regulation, that is, the step S21 can be performed between any two steps of the application method.

In a preferred embodiment of the present invention, the action of the user touching the long strip may include various changes in motion, including right-to-left fiddling, left-to-right fiddling, and downward. In a preferred embodiment of the present invention, the user touches the strip and can also touch the strip through the strip. The length of time changes, for example, it can be selected by long time, two consecutive times of short time pressure or two short lengths of time to lift the long object, and the definition and design of the command parameters. At the same time, in order to enable the long object to sensitively sense the change of the user through the touch, the interpretation of the command parameter is performed. In a preferred embodiment of the present invention, the strip may further be provided with a sensor. Communicate with the control module Connecting, and sensing the change of the long object through the touch of the user; or, in order to achieve the purpose of giving instructions, in a preferred embodiment provided by the present invention, the multi-core wire system can be further Set buttons, joysticks, or any form of message transmission that affects the wire.

On the other hand, the command parameter is adjusted and set for the use state and the following condition of the auto-accommodating system, and the use status includes, but is not limited to, the on-off, pause, close, or other operation modes of the auto-accommodating system. The switching is performed, and the setting of the following condition includes, but is not limited to, a setting condition of a preset relative position between the user and the accompanying unit, a setting of a following rate, and the like.

The other features and advantages of the present invention are further exemplified and illustrated in the following examples, which are intended to be illustrative only and not to limit the scope of the invention.

[Embodiment 1]

Automated accompanying system performs instant follow-up as the user moves forward

Please refer to FIG. 10A, which shows the initial position setting of the automatic traveling system, where θ u is the angle between the user facing direction and the pointing direction, and θ r is the angle between the facing direction and the pointing direction of the row unit, and y0 is used. The longitudinal distance between the user and the accompanying unit, X0 is the lateral distance between the user and the accompanying unit, and di is the linear distance between the user and the accompanying unit; see Figure 10B, when the user When moving forward, the longitudinal distance (y) of the traveling unit and the user will be shortened, and the two angles ( θ u1 and θ r1) will become larger, while the lateral distance (X) will not change. The formula of <Formula 1> calculates the relative position difference between the row unit and the initial setting, that is, the longitudinal distance change value (y1-y0) of the longitudinal distance can be calculated by the change of the angle, and then the change value is transmitted. The control unit converts the indication signal to the accompanying unit, so that the accompanying unit can move longitudinally away from the user according to the longitudinal distance change value (y1-y0) to feedback the user's forward movement, and Back to the beginning The user who is initially set and the relative position of the accompanying unit achieve the purpose of accompanying.

y=d _i cos θ _u1-uo <Formula 1>

[Embodiment 2]

The automatic traveling system of the present invention performs instant follow when the user turns to the right

FIG. 11A is an initial position setting of the automatic traveling system as described in FIG. 10A, and details are not described herein again.

Referring to Figure 11B, when the user turns to the right, the longitudinal distance (y) between the connecting unit and the user increases and the lateral distance (X) decreases, and the angle θ u2 becomes larger and the angle θ r2 If it does not change, at this time, the relative position difference between the accompanying unit and the initial setting can be calculated by the following formulas of Equation 2 and Formula 3, that is, the longitudinal angle is estimated by the angle change value ( θ u2- θ u0). The distance change value (y2-y0) and the lateral distance change value (X2-X0), and the control unit generates an indication signal according to the change values to the accompanying unit, so that the accompanying unit changes longitudinally toward the user. The distance of the value (y2-y0) and the distance from the lateral direction of the user's face direction (X2-X0) to feedback the user's rightward turn and return to the initial setting. Relative position with the accompanying unit, to achieve the purpose of accompanying.

x=d _i sin θ _u2-uo <Formula 2>

y=d _i cos θ _u2-u0 <式三〉

[Embodiment 3]

The automatic following system of the present invention provides feedback when the user pulls the long object

Fig. 12A is an initial position setting of the automatic traveling system as described in Fig. 10A, and will not be described again.

Referring to Figure 12B, when the user pulls the long object toward the left side of the user with the accompanying unit, the two angles θ u3 and θ r3 become larger, and at this time, the control unit obtains the signal of the angle change. The instruction signal of the specific instruction action can be provided to the accompanying unit according to the preset parameter, and the specific unit action is fed back by the accompanying unit.

In summary, the present invention does provide an automatic traveling system and an application method thereof, which monitors the orientation change of the user and senses the user and the The relative positional relationship of the accompanying unit changes, and the timely processing of the signals indicates that the accompanying unit performs feedback adjustment, so that the accompanying unit can follow the dynamic and accurate displacement of the user to the preset following position and Performing a corresponding steering action, and allowing the automated traveling system to be applied to the following behavior of the accompanying unit in front of the user; on the other hand, by setting a wire control device between the user and the accompanying unit The user can control the displacement of the accompanying unit and the function control of the machine by touching and pulling a wire control device connected between the user and the accompanying unit to enhance the automatic traveling system. The ease of operation and functionality, and indeed the willingness to promote the elderly to go out and the safety of the user.

However, the above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and the variations, modifications, and modifications of the shapes, structures, features, and spirits described in the scope of the patent application. , should be included in the scope of the patent application of this creation.

Claims (25)

An automatic traveling system, comprising: a follow-up unit of a follower unit, wherein the accompanying unit is accompanied by a movement and a steering behavior of the user, and the structure comprises: a first pointing unit, disposed in the automatic accompanying line Any position of the system is used to detect the direction of the user to obtain a user orientation signal; a relative position sensing unit is disposed at any position of the automatic traveling system to determine the following The relative positional relationship between the row unit and the user obtains a relative positional relationship signal; a control module is disposed at any position of the automatic traveling system, and receives the user orientation signal and the relative positional relationship After the signal is analyzed, an indication signal is generated and transmitted; and a traveling unit includes a driving unit and at least one moving component, and the driving unit can receive the indication signal to drive the at least one moving component to drive the accompanying The unit is displaced to the specified position and the corresponding steering action is performed. The automatic accompanying system of claim 1, further comprising a second pointing unit disposed on the accompanying unit for detecting a direction of the accompanying unit and obtaining a traveling unit orientation Sexual signal. The automatic accompanying system of claim 2, wherein the control module receives the user orientation signal and the accompanying unit orientation signal for comparison analysis, and generates the indication signal to control the accompanying unit. Steering and displacement. The automatic accompanying system of claim 1 or 2, wherein the first pointing unit and the second pointing unit are selected from the group consisting of an angler, a rotary encoder, an inertial sensor, One of a group consisting of an electronic compass, a gyroscope, a variable resistor, and an image processing system, or any combination thereof. The automatic accompanying system of claim 1, wherein the relative position sensing unit is selected from the group consisting of an image processing system, a sonar system, an ultrasonic scanning system, and a laser scanning system. One of them or any combination thereof. The automatic accompanying system of claim 1, wherein the relative position sensing unit comprises a following angle sensor and a distance sensor, wherein the following angle sensor senses the accompanying unit and the user The amount of change between the following angles obtains a following angle signal, and the distance sensor measures a linear distance signal between the traveling unit and the user; wherein the following angle is the following angle sensor The direction of the pointing is at an angle to the orientation of the unit in which it is placed. The automatic accompanying system of claim 6, wherein the distance sensor is selected from the group consisting of an infrared range finder, a laser range finder, a radio frequency, and a pull type displacement sensor (string One of a group of pots, an image processor, and an ultrasonic range finder, or any combination thereof. The automatic accompanying system of claim 6, wherein the following angle sensor is selected from the group consisting of a laser scanner, a radio frequency, an image processing unit, an angle meter, a variable resistor, and a rotation One of a group consisting of an encoder, an electronic compass, a gyroscope, and an inertial sensor, or any combination thereof. An automatic traveling system comprising: a wearing unit disposed on any part of a user, comprising: a first tracking unit is disposed on the wearing unit, the pointing direction of the first tracking unit forms a first angle with a direction that the user faces; and a first angle sensor is disposed on the wearing unit And sensing the change of the angle of the first angle to obtain a first angle signal; and a row unit, comprising: a second tracking unit disposed on the slave unit for tracking and aligning the first a tracking unit, wherein the first tracking unit also tracks and aligns the second tracking unit, wherein the pointing direction of the second tracking unit forms a second angle with the direction that the traveling unit faces; a second sense of angle a detector is disposed on the traveling unit and senses an angular change of the second angle to obtain a second angle signal; a driving unit is disposed on the traveling unit to receive an indication signal And at least one moving member disposed on the traveling unit and driven by the driving unit to drive the traveling unit to shift to a designated position and perform a corresponding steering operation; a control module And being disposed on the automatic traveling system, after receiving at least one signal and performing analysis, generating the indication signal to be transmitted to the driving unit; and at least one distance sensor disposed on the wearing unit and/or the The first tracking unit and/or the second tracking list disposed on the accompanying unit and on the units The plurality of signals are connected to each other to measure the distance between the wearable unit and the accompanying unit to obtain a distance signal; wherein the at least one signal received by the control module includes the distance signal, the first angle signal, and The second angle signal. The automatic tracking system of claim 9, wherein the first tracking unit and the second tracking unit are connected by a long strip to form a pull-type pointing device, wherein the first tracking unit and the first tracking unit The second tracking unit is pulled by the strip to track and align with each other. The automatic accompanying system of claim 9 or 10, wherein the at least one distance sensor is selected from the group consisting of an infrared range finder, an image processor, a laser range finder, and a pull line One of a group consisting of a string pot, an ultrasonic range finder, and a radio frequency, or any combination thereof. The automatic accompanying system of claim 9 or 10, wherein the first angle sensor and the second angle sensor are selected from a laser scanner, an image processing unit, and a wireless device One of a group consisting of a radio frequency, an electronic compass, a gyroscope, an angle meter, a variable resistor, a rotary encoder, and an inertial sensor, or any combination thereof. The automatic accompanying system of claim 9, wherein the first tracking unit and the second tracking unit are selected from a magnetic device, a heat source following system, an image following system, and an optical alignment system. One of the groupings or any combination thereof. The automatic accompanying system of claim 10, wherein the long strip is a retractable line (retraction), a suspension line, a rope or a wire of a multi-core. A method for applying the system to the dynamic accompanying user by using the automatic traveling system described in claim 1 or claim 9, the step comprising: setting at least one relative position parameter to the control a module, the at least one relative position parameter is used to define a relative positional relationship and relative orientation between the accompanying unit and the user; the user starts moving; at least one sensor of the automatic traveling system obtains a user Transmitting at least one relative positional relationship signal and a user orientation signal generated by the control module and transmitting to the control module; after analyzing and calculating the signals, the control module generates an indication signal to control the displacement of the accompanying unit and Steering, the accompanying unit and the user maintain the relative positional relationship and relative orientation defined by the at least one relative position parameter; and repeat the step of obtaining the signal and the step of analyzing the analysis until the user stops moving or ends the use. The application method of claim 15, wherein the at least one relative position parameter is selected from a linear distance between the accompanying unit and the user, a following angle between the accompanying unit and the user, and the accompanying unit and One of a group consisting of the lateral distance of the user, the longitudinal distance of the accompanying unit and the user, the vertical height distance between the accompanying unit and the user, and the difference in the angle of orientation between the user and the accompanying unit Or any combination thereof. The application method of claim 15, wherein the at least one relative positional relationship signal package The method includes a following angle signal, a distance signal, a first angle signal and a second angle signal. A method for applying the system, which uses the automatic traveling system described in claim 10, the steps of the method include: the user starts to move, and the control module uses the at least one signal to capture and process the control The accompanying unit performs automatic follow-up; the user causes a change in the long strip between the first tracking unit and the second tracking unit; the sensors obtain the user generated by the user changing the long strip Transmitting at least one signal to the control module; and after the control module analyzes and calculates the at least one signal, generating the indication signal to control the driving unit to perform displacement and steering, so that the accompanying unit is controlled by the user One follows the state adjustment. The method of claim 18, wherein the change is a length change or a change in a pointing angle. The application method of claim 18, wherein the following state is a relative positional relationship adjustment, a relative angle adjustment, a displacement rate adjustment, or an acceleration adjustment. The method of claim 18, wherein the at least one signal comprises a distance signal, a first angle signal and a second angle signal. The application method of claim 18, wherein before the user moves the step, the user can provide an instruction parameter of the control module module by touching the long item, the instruction parameter The number can be adjusted for the usage status of the accompanying unit. The application method of claim 18, wherein the user can provide the control module an instruction parameter by touching the long item, and the instruction parameter can be used for the use state of the accompanying unit. Adjustment. The application method of Item 22 or 23, wherein the long strip is one of a plurality of wires, and the wire of the multi-core is transmitted by a button or a rocker to adjust the use state of the accompanying unit. Or make the mode setting of the accompanying unit. The application method of claim 23, wherein the instruction parameter is a system stop instruction parameter, a system open instruction parameter or a follow condition setting instruction parameter.