201018603 發明說明： 【發明所屬之技術領域】 本發明係有關於一種可自行迴避障礙並記錄其行經路徑的自走設備，尤 指一種能記錄行經路徑之高低起伏變化的3D路徑者。 【先前技術】 目前無人搬運車及自走車，都似按照—定的路徑行進，並不具備進入 未知環境裡探索路徑的功能。就目前檢索到的專利參考案而言，如專利申情 案號90119807「無人搬運車系統、專利申請案號9()125473°無人搬運車°、 其運行控制系統及方法 '及自走車」、專利申請案號911〇2688「無人搬運車 無人搬運車系統以及晶圓搬運方法」、專利申請案號91_54「控制可移動 體的設備，方法，及系統」'專利申請案號刪篇「移動式機器人之自備視 覺系統」’及專射請案號「96127799移動體之行走設備及其_方法」等 專利内容巾’無-談及其應用於聽未知環境巾無軸職的可能性。 專利申請案號94222768提出一種「具有偵測障礙功能之自走裴置」，係 利用光線的反射侧其前方有無牆壁或樓梯口存在，以避免行進中發生撞牆 或跌下樓獅問題。其舰在於設有-細系統，包括—光發織，一光接 收器，以及-反射面，並令光發射·預定角度發射定義出—照射區域。反 射面以-預定角度朝向照射區域，令照射區域的光線反射至反射面上形成一 反射區域。 前述的參考案’主要係藉由元狀_反射_及角度設計，使光接收 器在光發㈣與地表距離在-定$!_時才收_反射光，而當光發射器與 Ah表的距離大於該範圍時則收不到該反射光，藉此排除因環境光害造成誤判 的影響。鑒於目前汽車保險桿上已經有倒車雷達伽裝置可用，足以替代該 參考案的雜’且本_發明重點鮮在於發明另—個侧障礙的裝置，因 201018603 此專利申請案號94222Ί68顯然無助於本發明之自行迴避障礙並記錄行經路 徑之自走設備的研發目的。 【發明内容】 有鑑於此，本發明提供一種可探索並記錄3〇路徑的自走設備，在—自 走設備上配備-對馬細動單元、-隨測距單元、一重力肖度感測單元' 一#號處理/編碼單元、一傳輸介面、一記憶單元及一電池。自走設備行進時， 藉由防撞難單元侧前方及關有鱗礙，並將制麟的信鱗給信號 處理/編碼單元。當防撞測距單元偵得障礙，信號處理/編碼單元使兩馬^驅 動單元分概㈣速雜向以迴_礙。信聽理/編碼單元藉由計算馬達驅 動單元的轉速娜向獲取自走設_位移長度及轉向化為座標=纽，重力角 度感測單域測自走設備於轉雜上的每—點的水平傾肖並傳送給信號 處理/編碼單元，藉以建立位移路徑上的每一點的(χ，γ，水平傾角），從^出 3D路极每-點的3D座標值％ γ，ζ)，並將此座標值編碼透過傳輸介面對外 發送。仙者可顧電腦及信號紐單元_㈣介面接收 3D座標，利用繪圖軟體加以顯示。 .的 【實施方式】 為讓本發明之上述目的、特徵和優點能更明顯易僅，下文特舉較佳實施 利，並配合所附圖式，作詳細說明如下： 圖與第2圖所示，本發明之可探索並記錄犯路徑的自走設備1 實例省-自走鄕上配備—左側馬達驅動單元1G、—右測馬達驅動單 14值舰早％ 12 —重力肖度制單元13、~域细/編碼單元 Η一、-傳輸⑽15、記憶單元16及—電池17，_電池η供應電能給上 切牛。當可探索並記錄3D路徑的自走設備^放入一探索空間奶的入口， 201018603 :行月』進和避開障礙面41，並記錄其探索過程的位移路徑2〇於記憶 單兀16或透過傳輸介面15傳送至電腦3〇，供其儲存或 圖軟體繪出。 _ an 病ig _齡_元u可為錢馬達或—利用脈 4 _錢馬達’受來自信魏職碼單元14的 動自走設備兩測的車輪。 ㈣刀祕 置或單元12可為—超音波防·距裝置、—歧射式障礙侧裝 傳给作㈣理St置。’可用以細前方及兩側有無障礙並將所細到的信號 謇if 14;當防撞測距單元12侧障礙，信號處理/編碼單 ^迴避障礙側馬達_單元ig與右測馬細動單元11分觀變轉速或轉向 取自走碼早7014藉由計算馬達驅動單元lG與11的轉速與轉向獲 取自走狄備1的位移距離與轉向並將之換算為座標資訊。 重力角度感測單元13可為二軸或三軸微型加 :::：:::^ 出3D路徑21每^^每^的％值’Yl值，前後水平傾角A。），從而算 •憶單元16她軸輸^ 值），並將此座標值儲存於記 i?# 介面15可為—聰傳輸介面或赃1394介面，透過聰瘦線 軟體加以顯示。難者f % 31接收、儲存、編輯_ _ 3D座__ f 可為換為一無線信號傳輸裝置將前述 如座標值對外傳送；電腦3〇可連 ^ 傳輸裝置的座標值，解碼後送至電腦3〇。〜&收來自無線城 4參考第3圖至第5圖所示，可將路徑的起始點 統初始化的轉設為基準絲2 ’· ^，g，G)透過系 可探索並記錄3D路徑的自走設備！的奶探_ 4G的地形起伏不一， 的縱向軸心於母一移動點Pi PQ, Yi)與水 201018603 ΔΖ^(Γ_η〇取樣長度AS，則兩點間的z軸座標值的差距泣為: zmz _標_為前—移的z減標值z μ與差距必的 和’即移_ΜΖ轴座標值21為:Z1=(zil)+⑽ (X Υ ζ) Γ樣長度AS趨近於無限小，可得出每一移動點Pi的3D座標值 (Xl，Yl，Zl)而可得到一 3D路徑21。201018603 DESCRIPTION OF THE INVENTION: 1. Field of the Invention The present invention relates to a self-propelled device that can self-avoid obstacles and record its travel path, and more particularly to a 3D path person capable of recording high and low fluctuations in the path of travel. [Prior Art] At present, the unmanned van and the self-propelled vehicle all follow the path of the fixed path, and do not have the function of exploring the path in the unknown environment. For the patent reference cases currently retrieved, such as Patent Application No. 90119807, "Unmanned Handling Vehicle System, Patent Application No. 9 () 125473 ° Unmanned Vehicle °, Its Operation Control System and Method ' and Self-propelled Car" Patent Application No. 911〇2688 "Unmanned Handling Vehicle System and Wafer Handling Method", Patent Application No. 91_54 "Devices, Methods, and Systems for Controlling Mobile Objects" 'Patent Application No. "The robot's own vision system" and the special shot request number "96127799 mobile body walking equipment and its method" and other patent content towels 'no-talk" and its application to the unknown environment towel no axis. Patent Application No. 94222768 proposes a "self-propelled device with detection barrier function", which uses the presence of a wall or a stairway in front of the reflective side of the light to avoid the problem of a wall crash or a falling lion. The ship is provided with a thin system comprising - a light woven, a light receiver, and a - reflecting surface, and defining a light emission · predetermined angle emission - an illuminated area. The reflecting surface faces the irradiation area at a predetermined angle, and the light of the irradiation area is reflected to the reflecting surface to form a reflecting area. The aforementioned reference 'mainly adopts the elementary_reflection_and angle design, so that the light receiver receives the _reflected light when the light (4) and the surface distance are at -$!_, and when the light emitter and the Ah table When the distance is larger than the range, the reflected light is not received, thereby eliminating the influence of misjudgment caused by environmental light damage. In view of the fact that there is already a reversing radar gamma device available on the automobile bumper, it is sufficient to replace the reference case of the miscellaneous 'and this invention is mainly focused on inventing another side obstacle device, as the 201018603 patent application number 94222Ί68 obviously does not help The invention aims to self-avoid obstacles and record the self-propelled equipment of the path. SUMMARY OF THE INVENTION In view of the above, the present invention provides a self-propelled device capable of exploring and recording a 3-way path, and is equipped with a pair of fine-moving units, a ranging unit, and a gravity sensing unit on the self-propelled device. '## processing/encoding unit, a transmission interface, a memory unit and a battery. When the self-propelled device travels, it is difficult to give the signal processing/encoding unit to the signal processing unit by preventing the collision of the front side of the unit and the obstacle. When the anti-collision ranging unit detects an obstacle, the signal processing/encoding unit causes the two driving units to be divided into four (4) speed mismatches. The signalling/coding unit calculates the self-propelled _ displacement length and the steering into coordinates = NZ by calculating the rotational speed of the motor drive unit, and the gravity angle sensing single-field measurement of the self-propelled device on each point of the transmission Horizontally diverted and transmitted to the signal processing/coding unit to establish (χ, γ, horizontal dip) of each point on the displacement path, from the 3D path pole to the 3D coordinate value of each point - γ, ζ), and This coordinate value code is sent out through the transmission. The fairy can receive the 3D coordinates by means of the computer and signal button _ (4) interface, and display it using the drawing software. The above-mentioned objects, features and advantages of the present invention will become more apparent and preferred. The self-propelled device capable of exploring and recording the path of the present invention 1 is provided on the province-self-propelled raft - the left motor drive unit 1G, the right-hand motor drive single 14-value ship early % 12 - the gravity oscillating unit 13, ~ Domain fine / coding unit Η 1, - transmission (10) 15, memory unit 16 and - battery 17, _ battery η supply power to the upper cut cattle. When the self-propelled device that can explore and record the 3D path is placed in the entrance of a search space milk, 201018603: the line enters and avoids the obstacle surface 41, and records the displacement path of the exploration process 2 记忆 in memory unit 16 or It is transmitted to the computer through the transmission interface 15 for storage or drawing software. _ an disease ig _ _ _ element u can be a money motor or - using the pulse 4 _ money motor 'by the wheel of the dynamic self-propelled device from the letter code unit 14 two. (4) The knife secret or unit 12 can be - ultrasonic anti-distance device, - astigmatism obstacle side loading pass (four) rational St. 'Can be used to make the front and sides of the obstacles and the fine signal 謇 if 14; when the anti-collision ranging unit 12 side obstacles, signal processing / coding single ^ avoid obstacle side motor _ unit ig and right horse The unit 11 observes the variable speed or the steering take-away code 7014 by calculating the rotational speeds of the motor drive units 1G and 11 and the displacement distance and steering of the self-propelled self-propelled 1 and converting it into coordinate information. The gravity angle sensing unit 13 may be a two-axis or three-axis micro plus :::::::^ out of the 3D path 21 per %^% value of the value YY, front and rear horizontal inclination A. ), and thus the unit 16 is stored in the value of the axis, and the coordinate value is stored in the memory. The interface 15 can be a Cong transmission interface or a 1394 interface, which is displayed through the smart line software. Difficulty f % 31 Receive, store, edit _ _ 3D Block __ f can be changed to a wireless signal transmission device to transmit the above-mentioned coordinate value; the computer 3 can connect to the coordinate value of the transmission device, decode and send to The computer is 3 〇. ~&Received from Wireless City 4 References Figures 3 to 5, the starting point of the path can be initialized to the reference wire 2 '· ^, g, G) through the system can explore and record 3D Self-propelled device for the path! The milky _ 4G's topography is undulating, the longitudinal axis is at the parent's point of movement Pi PQ, Yi) and the water 201018603 ΔΖ^(Γ_η〇 sampling length AS, then the difference between the z-axis coordinate values between the two points is : zmz _ mark _ is the front-shift z-minus value z μ and the gap must be the sum of the 'shift _ ΜΖ axis coordinate value 21 is: Z1 = (zil) + (10) (X Υ ζ) Γ sample length AS approach Infinitely small, the 3D coordinate value (Xl, Yl, Zl) of each moving point Pi can be obtained to obtain a 3D path 21.
如第6圖所不，為賦予本實施例避開障礙面w及陷坑似的功能，較佳 ^ ’ ?方心測距單几12可包括—第—測距裝置ΐ2ι及—第二測距裝置⑵。第 測距裝^ 121朝水平方向細障礙面w，第二測距裝置in朝下侧陷坑 42並將L號傳給信麟理/編碼單元14，細改變左側馬細動單元1〇與 右測馬達驅動單疋u的輸㈣迴避障礙面41及· 42，驗便得到如第7 圖所示意之3D路徑21。 本發明與其他習用技術相比較時，至少具有下列優點： 1·本發明的自走設備不但可以自行迴避探索空間裡的障礙面，而且可以 避開陷坑以朝無障礙的路徑前進，為傳統自走車或自走設備所無之功能。 2.本發明的自走設備不但可以記錄所行經的路徑，並且可以建立3D的 座標資料送至電腦儲存、編輯或繪圖顯示。 以上詳細說明係針對本發明之較佳實施例所提供的具體說明，惟該實施 例並非用以限制本發明的專利範圍，凡未脫離本發明技藝精神所為之等效實 施或更動，均應包含於本案的專利範圍中。 【圖式簡單說明】 第1圖、本發明之實施例的應用示意圖； 第2圖、本發明之可自行迴避障礙並記錄其行經路徑的自走設備實施例 201018603 構造不意圖， 第3圖、本發明之實施例處於傾斜狀態的示意圖； 第4圖、本發明之實施例所建立之3D路徑的示意圖； 第5圖、本發明之實施例所建立之3D路徑的座標示意圖； 第6圖、本發明之變化實施例示意圖； 第7圖、本發明之變化實施例的應用示意圖。 【主要元件符號說明】As shown in FIG. 6, in order to give the embodiment a function of avoiding the obstacle surface w and the crater, the preferred squared ranging unit 12 may include a first-range measuring device ΐ2ι and a second ranging. Device (2). The first distance measuring device 121 faces the horizontal obstacle surface w, the second distance measuring device in the lower side crater 42 and transmits the L number to the letter lining/coding unit 14, and finely changes the left side fine moving unit 1 〇 and right The motor drive unit 疋u's input (4) evades the obstacle surface 41 and 42 to obtain the 3D path 21 as shown in Fig. 7. Compared with other conventional techniques, the present invention has at least the following advantages: 1. The self-propelled device of the present invention can not only avoid the obstacle surface in the exploration space, but also avoid the pit to advance toward the barrier-free path, which is a traditional self. The function of the car or self-propelled device. 2. The self-propelled device of the present invention can not only record the path traveled, but also can establish 3D coordinate data to be sent to a computer for storage, editing or drawing display. The detailed description of the preferred embodiments of the present invention is intended to be illustrative of the preferred embodiments of the present invention. In the scope of the patent in this case. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic diagram of an application of an embodiment of the present invention; FIG. 2 is a schematic diagram of a self-propelled device of the present invention which can avoid obstacles and record its path of travel 201018603. A schematic diagram of a 3D path established by an embodiment of the present invention; FIG. 4 is a schematic diagram of a 3D path established by an embodiment of the present invention; FIG. Schematic diagram of a modified embodiment of the present invention; Fig. 7 is a schematic view showing the application of a modified embodiment of the present invention. [Main component symbol description]
1: 可探索並記錄3D路徑的自走設備 10: 左側馬達驅動單元 11: 右側馬達驅動單元 12: 防撞測距單元 13: 重力角度感測單元 14: 信號處理/編碼單元 15: 傳輸介面 16: 記憶單元 17 電池 20: 位移路徑 21: 3D路徑 22: 基準座標 30: 電腦 31: 信號接收單元 40: 探索空間 41: 障礙面 42: 陷坑 121: 第一測距裝置 122: 第二測距裝置 P〇： 出發點 Pi: 移動點 Pi-i： 前一移動點 AS: 路徑取樣長度 71: Self-propelled device 10 that can explore and record the 3D path: Left motor drive unit 11: Right motor drive unit 12: Anti-collision ranging unit 13: Gravity angle sensing unit 14: Signal processing/encoding unit 15: Transmission interface 16 : Memory unit 17 Battery 20: Displacement path 21: 3D path 22: Reference coordinate 30: Computer 31: Signal receiving unit 40: Exploration space 41: Obstacle surface 42: Pit 121: First distance measuring device 122: Second distance measuring device P〇: Starting point Pi: Moving point Pi-i: Previous moving point AS: Path sampling length 7