200844408 九、發明說明： 【發明所屬之技術領域】 本發月係有關於-種仃進方位感測裝置，尤係指—種適用於 自走車行進方位偵測之感測裝置。 【先前技術】 ,f，讀直流馬達驅動的自走車常麟以電池為動力的智慧 里機益人上’及例如日常生活中的自動吸塵器或玩具上。在智慧 型自走車控統中行進方位之較極為重要，如何測知行= 棱是否有偏離是-項重要_題。目前行進方向定位大致係以 啲、陀螺儀、電子羅盤或影像追蹤等方式達成，但是其使用方式 有使用場狀_妓祕太料貴的缺點。 傳統上自走車行進方位之偵測有下列幾種： .GPS王球疋位系統gps靠著環繞地球上空的衛星來定 位’再藉著車子行走的第二位置來計算出行進方向，頗適合於 行車導引，但因衛星微波信號可能受到遮蔽或太微弱（例如室 内）以致GPS不能使用’同時也有定位誤差之處，使得小範圍 的移動定位不精密。 2·陀螺儀：陀螺儀是角度或角速度感測元件，用以量測 载具的姿態與方向，是穩定控制、慣性導引與姿態量測重要元 件廣泛使用於衛星、飛機、船艦與車輛上，但陀螺儀十分昂 貴且須搭配的周邊元件也頗複雜。 4 200844408 3·電子羅盤··電子羅盤利用檢測地磁來定方位，雖侦測 零件不太昂貴，但易受周遭磁場與導磁物件之影響，使用場所 有限。 例如台灣發明專利申請案第93139234「自走裝置循跡導 航系統」，該案即係採用電子羅盤用以偵測自走車之行進方向。 4·影像定位：由CCD/CM〇s攝影機擷取影像再經影像處理 來判讀自走車所處的環境，之後不論自走車是鎖定目標物移 動，或根據預設的路徑移動都需大量的數值處理（用於影像處 理及辨識程序），系統十分複雜，也不十分可靠。 因此’本發縣制—種麟的概念來克服上述所面臨的問 基於此-發賴點，本發明人遂構思而設計出本發明。 【發明内容】 輸出信號 本發明之主要目的储供—種行财减職置，用以細 移動方位’其包括有:一方位導輪組，其轉動方位與 疋:=，該旋轉台上有一感測物件，用以與-觸控面板接 吏痛細紐著财辦輪蚊行财健生不同位置之 根據本發明之觀點，該方 分別固接料^ 万位¥輪組包括有―輪轴；雙導輪， 刀另J 口接於该輪軸之兩端；以及一 該支撐 本體，弟—軸承，係固設於該輪軸之 枣體，而與别述之支撐體固接，俾告 體會同步旋轉。 俾田知輪方向偏移時，自 200844408 根據本發明之另-她，前财位導輪組之輪軸， 單一導輪賴（即财轉触之雙導輪可合_—)。 轉動 根據本發明之再-觀點，該觸控面板係 厂對應之旋轉台上之感測物件係可為-個二= ”彼此感應之相對位置，使該觸控面板產生不同位置之輸出> 號’以提供給賴處判運算處理，叫*修正控.輪馬紅 板，觀點，鞠控面板麵㈣力式觸控面 板而對應之疑轉台上之感測物件係可為—個小凸點，藉由立彼 此_之相對位置’使賴控面板產生砰位置之輸出信號，以 提供給該微處理n運·理’崎崎正控制車輪馬達之轉動。 為了讓本發明之上述目的、特徵、和優點能更明顯，下文特 舉本發明較佳實_，娜合所_式作詳細說明如下。 【實施方式】 請參閱第-圖所示，其顯示係根據本發明一較佳可行實施例 所緣製之自走車結構示意圖。包含有·· 一承載平台10，用以承载自走車之附屬構件及其控制設備。 行進導輪組12，設置在该承载平台10之前方，用以透過一 車輪馬達帶動該承載平台1〇移動。 一方位導輪組14，設置在該承载平台1〇之後方，與該承載平 台1〇同步連動。 控制裝置16，至少包含有一微處理器，以控制前述之車輪 200844408 馬達。 請參閱第二圖所示，其顯示係根據本發明一較佳可行實施例 所繪製之方位導輪機構示意圖。該方位導輪機構除包括有一方位 導輪組14外，更包括有： -連接機構’包含有一第-轴承20，儀固設在該承载平台⑺ 上；及一支顧22，係伸入該第-轴承2〇之軸承孔固接，其口中， 該支碰22與前述之方位導輪組W固接，使該方位導輪組 由任意轉動。 一旋轉台24，與前述之支顧22 亦能跟隨方位導輪組轉動。 一感測物件20，係固設於該旋轉台24上。 一觸控面板28,係固設於該承載平台1〇上，且 前述之方位導輪組14更可包括有一輪轴14〇;錐 分別固接於該輪轴14G之兩端；以及—第二贿144=輪142 ’ 輪軸140之本體，而與前述之支撐體22固接，俾^設於該 向偏移時，該支撐體22會同步位移轉動。 4輪142方 月I)述方位導輪組14之雜14〇，其亦仰單一暮 該方位導輪組之雙導輪可合併為一），在實施上亦可每:固接（即 限。 只兄，並不侷 之信銳，以控制該 W述之控制裝置16，係接受該觸控面板28 7 200844408 自走車之車輪馬達。 丽述之觸控面板28係可採用電容式觸控面板 =對 :物—細嫌，㈣彼此感應 該微處理嶋 =====_，以提供給 ，而對應之旋轉台％上之感測 控面板28產2目小凸點，藉由其彼此碰觸之相對位置，使該觸 不恤置讀丨雜，贿餅额處理H運算處 理，以進而修正控制車輪馬達。 ⑽建才處 平台ΓΓ觸控面板28係可用四根支柱30來架高支撐在該承載 祕Γ參閱第三圖所示’其顯示係根據本發明一較佳可行垂㈣ 戶猶製之自走車於直行方向 7圭了仃只施例 動前進時，帶動該方位導輪組14行=^=台1〇被驅 仃定右该承載平台1〇係直绫 方^致則該方位導輪組14之行進方位與該承载平台ι〇之行進 崎所示’其顯示係根據本伽—較佳可行實施例 台之行走示意圖。當該自走車之承載平 台10之則該方位導輪組14之行進方位與該承載平 由前述之射理nr固偏差角（即圖所示之⑼度），即可經 應的車輪觸控面板得到此偏差值，計算後可驅動對 200844408 之自桃輪概__、根據前述 • 2味組μ來決定判斷（如第二騎示），該方位導輪組14 ===導輪142 (實施上採用單—導輪亦可實現），經由與該 連結，而可同步進行繞Χ軸旋轉。該導輪！42復 經由其輪軸⑽與前述之第二轴承144及支撐體22固接，透過前 逑之第-軸承20，使該導輪142 #行進偏㈣，會帶動其上方的 方疋轉台24可繞γ軸任意旋轉。藉由這樣的旋轉連動設計，本發明 實施例於該旋轉台24 一端固定一感測物件26，諸如—個金屬傾 柱(搭配電容式觸控面板使用）或者是一個小凸點（搭配壓力式觸 控面板使用），而前述之觸控面板28則固定於自走車之承載平台 1〇上’當該自走車車頭方向朝向2轴，導輪於¥轴旋轉時將產: 對觸控面板的相對角度Θ(如第四圖所示）。該相對角度之偵測方 參閱第五圖，其係本發明—較佳可行實施觸繪製之採用電 容式觸控面板之示意圖。本發明實施例之方位偵測器可採用圓 形的電容式觸控面板，而根據碰觸的χ_γ轴的位置可決定 的方位。 因此，自走車在直線行進，因其χ_γ轴無偏差肢（亦即導 輪方位與車行方位—致），故可_係呈直線行走；若行進偏向（其 Χ-Υ軸會產生偏差角度’如第四圖所示之Θ角度），則導輪方位與 柯方位產生-個偏差角，自走車上的微處理器經由賴控面板 得到此偏差值，計算後而可驅動對朗車輪馬達進行修正。 200844408 故本發明之提出，未見諸於習知，並具有上述之特徵優點， 應付合專利產業上利用性、新穎性、以及進步性之所規定。雖然 前述的描述及圖式已揭示本發明之較佳實施例，惟此乃僅係實施 例之呈現，舉凡各種增添、修改和取代可能使用於本發明較佳實 施例，仍應屬落入本發明之申請專利範圍所界定之範圍内。因此 本文於此所揭示的實施例所有觀點，應被視制以說明本發明， 2用以關本翻。本發明之範圍應由後附之申請專利範圍所 •疋，並涵蓋其合法解物，並雜於先前之描述。 200844408 【圖式簡單說明】 第一圖係根據本發明一較佳可行實施例所繪製之自走車結 構示意圖。 第二圖係根據本發明一較佳可行實施例所繪製之方位導輪 機構示意圖。 第二圖係根據本發明一較佳可行實施例所繪製之自走車於 直行方向之行走示意圖。 第四圖係根據本發明一較佳可行實施例所繪製之自走車於 行進偏向之行走示意圖。 第五圖係本發明一較佳可行實施例所繪製之採用電容式觸 控面板之示意圖。 【主要元件符號說明】 12 行進導輪組 16 控制裝置 22支撐體 26感測物件 30支柱 142導輪 10承载平台 14方位導輪組 第一轴承 24旋轉台 28觸控面板 140輪轴 144第二軸承200844408 IX. Description of the invention: [Technical field to which the invention pertains] The present invention relates to a type of proximity sensing device, and more particularly to a sensing device suitable for self-propelled vehicle traveling azimuth detection. [Prior Art], f, reading the DC motor-driven self-propelled car, the battery-powered wisdom, and the automatic vacuum cleaner or toy in daily life. In the intelligent self-propelled vehicle control system, the direction of travel is extremely important. How to detect whether the line = edge is a deviation is an important item. At present, the direction of travel is generally achieved by means of 啲, gyroscope, electronic compass or image tracking, but its use is limited by the use of field _ secrets. Traditionally, the detection of the azimuth of the self-propelled vehicle has the following types: The GPS king ball position system gps is positioned by the satellite around the earth to calculate the direction of travel by the second position of the car, which is quite suitable. Guided by driving, but because satellite microwave signals may be obscured or too weak (such as indoors) so that GPS cannot be used 'and there are also positioning errors, making small-scale mobile positioning less precise. 2. Gyroscope: Gyro is an angular or angular velocity sensing component used to measure the attitude and direction of the vehicle. It is an important component of stable control, inertial guidance and attitude measurement. It is widely used in satellites, airplanes, ships and vehicles. However, the gyroscope is very expensive and the peripheral components that must be matched are also quite complicated. 4 200844408 3·Electronic Compass··The electronic compass uses the geomagnetic to detect the orientation. Although the detection parts are not expensive, they are susceptible to the surrounding magnetic field and magnetic conductive objects, and the use place is limited. For example, Taiwan's invention patent application No. 93139234 "self-propelled device tracking navigation system" uses an electronic compass to detect the direction of travel of the self-propelled vehicle. 4. Image Positioning: The image is taken by the CCD/CM〇s camera and then processed by the image to determine the environment in which the self-propelled vehicle is located. After that, the self-propelled vehicle is moving the target, or moving according to the preset path. The numerical processing (for image processing and identification procedures), the system is very complicated and not very reliable. Therefore, the concept of 'Benfa County'--------------------------------------------------------------------------------------------------------------------------------------------- SUMMARY OF THE INVENTION Output Signals The main purpose of the present invention is to store and supply a variety of positions for fine movement of a position, which includes: an azimuth steering wheel set, its rotational orientation and 疋:=, the rotating table has a The sensing object is used to connect with the touch panel to control the different positions of the rotary mosquitoes, and the party separately fixes the material, and the wheel sets include the axle. Double guide wheel, the knife J is connected to the two ends of the axle; and a support body, the brother-bearing is fixed on the jujube body of the axle, and is fixed with the support body described above, and the notice is realized Synchronous rotation. When the direction of the 知田知轮 shifts, from 200844408, according to the invention, the axle of the front financial guide wheel set, the single guide wheel 赖 (that is, the double guide wheel of the financial turn can be combined _-). According to the re-view of the present invention, the sensing object on the rotating table corresponding to the touch panel factory can be -2 = "relative position relative to each other, so that the touch panel produces an output of different positions" No. 'provided to the processing of the judgment, called * correction control. Round horse red board, point of view, control panel surface (four) force touch panel and the corresponding sensing object on the suspect turntable can be a small convex Pointing, by the relative position of each other, causes the control panel to generate an output signal of the 砰 position to provide the micro-processing n. The Sakisaki is controlling the rotation of the wheel motor. To achieve the above object of the present invention, The features and advantages will be more apparent. The following is a detailed description of the present invention, which will be described in detail below. [Embodiment] Please refer to the first figure, the display is preferably according to the present invention. The schematic diagram of the self-propelled vehicle structure of the embodiment includes a loading platform 10 for carrying the auxiliary component of the self-propelled vehicle and its control device. The traveling guide wheel set 12 is disposed in front of the carrying platform 10, Used to pass a wheel motor The bearing platform 1〇 moves. An azimuth guide wheel set 14 is disposed behind the carrying platform 1〇, and is synchronously linked with the carrying platform 1〇. The control device 16 includes at least one microprocessor to control the aforementioned wheel 200844408 Referring to the second figure, the display shows a schematic diagram of an azimuth guide wheel mechanism according to a preferred embodiment of the present invention. The azimuth guide wheel mechanism includes, in addition to an azimuth guide wheel set 14, a: - the connecting mechanism 'includes a first-bearing 20, the instrument is fixed on the carrying platform (7); and a pair of 22, which is fixed into the bearing hole of the first bearing 2〇, in the mouth, the contact 22 The azimuth guide wheel set W is fixed to rotate the azimuth guide wheel set arbitrarily. A rotating table 24 and the aforementioned support 22 can also follow the azimuth guide wheel set. A sensing object 20 is fixed on The touch panel 28 is fixed on the carrying platform 1 ,, and the azimuth guide wheel set 14 further includes an axle 14 〇; the cones are respectively fixed to the axle 14G Both ends; and - second bribe 144 = wheel 142 ' axle 140 The body is fixedly connected to the support body 22, and when the direction is offset, the support body 22 is synchronously displaced and rotated. 4 wheels 142 square months I) The azimuth guide wheel set 14 is 14 〇 Also, the double guide wheels of the azimuth guide wheel group can be combined into one), and each of the implementations can be fixed: (only limited. Only the brother, not the letter sharp, to control the control device of the W 16, accepting the touch panel 28 7 200844408 self-propelled wheel motor. Lishao touch panel 28 can use capacitive touch panel = pair: object - suspicion, (four) mutual induction of the microprocessor 嶋 == ===_, to provide, and the corresponding control panel 28 on the rotating table % produces 2 small bumps, and the relative positions of the touches of the rotating table make the touch shirt unread, the amount of bribes The H arithmetic processing is processed to further correct the control of the wheel motor. (10) The platform for the construction of the touch panel 28 can be supported by four pillars 30. The key to the bearing is shown in the third figure. The display is based on the preferred method of the present invention. When the car goes straight in the direction of the 7th, only when the case moves forward, the azimuth guide wheel set 14 lines = ^ = the table 1 is driven to the right, the carrying platform 1 is straight, and the azimuth guide wheel The traveling orientation of the group 14 and the traveling platform of the carrying platform ι〇's display are based on the walking diagram of the preferred embodiment. When the carrying platform 10 of the self-propelled vehicle is in the direction of travel of the azimuth guide wheel set 14 and the bearing is flat by the aforementioned range of motion nr (ie, (9) degrees shown in the figure), the wheel contact can be adapted The control panel obtains the deviation value, and after calculation, it can drive the self-peach wheel __ of 200844408, and judges according to the above-mentioned 2-flavor group μ (such as the second riding), the azimuth guide wheel set 14 === guide wheel 142 (implemented by a single-guide wheel), the rotation of the winding axis can be synchronized with the connection. The guide wheel! 42 is fixedly connected to the second bearing 144 and the support body 22 via the axle (10), and passes through the first bearing 20 of the front cymbal to make the guide wheel 142 # travel bias (4), which will drive the square turntable 24 above it to be wound The γ axis rotates arbitrarily. With such a rotary interlocking design, the embodiment of the present invention fixes a sensing object 26 at one end of the rotating table 24, such as a metal tilting column (used with a capacitive touch panel) or a small bump (with a pressure type). The touch panel 28 is fixed on the carrying platform 1 of the self-propelled vehicle. When the head of the self-propelled vehicle is oriented toward the 2 axes, the guide wheel will be produced when the axle is rotated: The relative angle of the panel Θ (as shown in the fourth figure). For the detection of the relative angle, refer to the fifth figure, which is a schematic diagram of a capacitive touch panel using the present invention, which is preferably implemented. The position detector of the embodiment of the present invention can adopt a circular capacitive touch panel, and the position can be determined according to the position of the χ γ axis of the touch. Therefore, the self-propelled vehicle travels in a straight line, because its χγ axis has no deviation limbs (that is, the direction of the guide wheel and the direction of the vehicle line), so it can walk straight; if the travel is biased (the Χ-Υ axis will produce deviation The angle 'as shown in the fourth figure), the guide wheel orientation and the Ke position generate a deviation angle, the microprocessor on the self-propelled vehicle obtains the deviation value through the control panel, and can be driven to drive the Lang The wheel motor is corrected. 200844408 Therefore, the present invention has not been found in the prior art, and has the above-mentioned features and advantages, and meets the requirements of the utility, novelty, and advancement of the patent industry. While the foregoing description and drawings have set forth the preferred embodiments of the embodiments of the invention, the invention Within the scope defined by the scope of the invention patent application. Therefore, all aspects of the embodiments disclosed herein are to be considered as illustrative of the invention. The scope of the invention is to be construed as being limited by the scope of 200844408 [Simple Description of the Drawings] The first drawing is a schematic diagram of a self-propelled vehicle structure according to a preferred embodiment of the present invention. The second drawing is a schematic view of an azimuth guide wheel mechanism drawn in accordance with a preferred embodiment of the present invention. The second figure is a schematic diagram of walking of a self-propelled vehicle in a straight direction according to a preferred embodiment of the present invention. The fourth figure is a schematic diagram of the walking of the self-propelled vehicle in the traveling deviation according to a preferred embodiment of the present invention. Figure 5 is a schematic illustration of a capacitive touch panel as depicted in a preferred embodiment of the present invention. [Main component symbol description] 12 Travel guide wheel set 16 Control device 22 Support body 26 Sensing object 30 Pillar 142 Guide wheel 10 Bearing platform 14 Azimuth guide wheel set First bearing 24 Rotary table 28 Touch panel 140 Axle 144 Second Bearing