TW201519842A - Movement device with route correction function and its operation steps - Google Patents

Abstract

A movement device with route correction function includes a main body and at least two wheel bodies installed on the main body, which is characterized in that: the movement device has a laser distance scanner arranged in the main body and a microprocessor arranged in the main body and electrically connected to the laser distance scanner, and performs the following operation steps: (A) using the laser distance scanner to obtain the coordinates of a starting point and an ending point; (B) performing a 360-degree omnidirectional rotary scanning operation in a travelling process; (C) obtaining the coordinates of the points in the travelling route; (D) using the microprocessor to perform a two-dimensional calculation for obtaining a vertical distance, a horizontal error distance, and a deviation angle between the current location and the ending point; (E) determining whether the vertical distance is within a radius range of the coordinate of the ending point; (F) if yes, determining that the ending point has been reached; and (G) if no, using the microprocessor to calculate the current location according to a displacement distance of the at least two wheel bodies, and repeating steps (B), (C), (D) and (E) to step (F) or (G).

Description

Mobile device with route correction function and its operation steps

The present invention relates to a mobile device, and more particularly to a mobile device having a route correction function that corrects walking errors and thus correctly arrives at a destination.

With the advancement of technology, there are more and more types of electronic products. In the electronics industry, there is a sub-industry that is gradually developing, and its technology is gradually progressing to a mature state, that is, the industry of self-propelled electronic devices, also known as the robot industry.

With the advancement of robotics technology, various tasks and functions have been given to robots, such as disaster relief, cleaning, etc., in the most common cleaning robots, to automatically perform cleaning. The way of working has been widely used in the family, and in order to perform the task of cleaning, it must have the functions that it has to perform when performing tasks.

For example, when the robot is performing a cleaning task, in order to avoid collisions with obstacles or walls, a non-contact or contact type sensor is usually provided, wherein the non-contact sensor can use infrared rays or Lasers, by actively signaling signals to detect distances from obstacles, and in order to reduce the chance of dead ends, also have contact sensors, such as bumpers, when the robot collides with a bumper. When you reach an obstacle, it will automatically stop or change the direction of movement.

But with both non-contact and contact sensors, it will not only increase the design. Difficulties will also increase manufacturing costs. On the other hand, a non-contact or contact type sensor has a height limit on the obstacle, and if it encounters an obstacle whose height is lower than the obstacle of the robot body or where the obstacle is located just above the buffer, The robot may not be able to control the obstacles, even when walking on uneven ground, it can't immediately perform the corresponding adjustment according to the terrain environment it touches.

Therefore, some related companies have designed a robot such as Taiwan Patent Application No. 100126039, which has the effect of detecting by using a dynamic sensing module, and can detect the generation of an inductive signal according to the environmental state contacted by the robot; Whether it is a moving abnormal signal; and if so, controlling the motor according to the moving abnormal signal to further adjust the wheel set to adapt to the environmental state.

In addition, if you want to limit the range of movement of the robot during the cleaning process, you need to place a stop strip on the ground of the working environment where the robot is located as a boundary mark, let it work in the area within the working boundary, or An infrared device is placed on the ground, and infrared rays are used to limit its working range.

However, regardless of the stop strip or the infrared device, it is an external device that requires a robot. In the working environment, especially in the home environment, the external device is not only space-consuming but also requires additional purchase cost. Very uneconomical.

Therefore, some related companies have invented a robot such as Taiwan Patent Application No. 100125864, which includes: an environmental information sensing component for detecting the working environment information of the self-propelled robot; a map construction module, and the The environmental information sensing component is electrically connected to construct an environmental map according to the working environment information; the setting module is electrically connected with the map construction module to set a working boundary on the environment map; the path planning module, and Setting a module electrical connection for planning a working path of the self-propelled robot in a working area formed by the working boundary; driving The module is electrically connected to the path planning module to drive the robot to move according to the working path. In this way, the robot does not need to be paired with external components, but can perform tasks within a specified work area.

However, the prior art mentioned above, although capable of evading obstacles or walls, or capable of working in a designated area without external components, is highly likely to generate a walking path during their mission walking. The result of the inability to effectively reach the destination is the result of the inability to successfully perform the task. Therefore, if someone can design and develop a mobile device with route correction function, the lack of the path correction function of the robot for a long time can be solved.

The present inventors have invented the idea that the above-mentioned conventional operation methods cannot effectively exist in the technical field for a long time, and they are creative, and actively carry out research through their own practical experience, and through continuous experimentation and efforts, finally design this one. Innovative and practical "mobile devices with route correction function and its operating procedures" to overcome the shortcomings of the prior art.

SUMMARY OF THE INVENTION A primary object of the present invention is to provide a mobile device having a route correction function that corrects walking errors and thereby correctly arrives at a destination.

Another object of the present invention is to provide a route correction operation step with the aforementioned mobile device such that the mobile device can achieve the route correction function.

In order to achieve the above object, the present invention is achieved by the following technical means, wherein the mobile device having the route correction function comprises a body and at least two wheel bodies mounted on the body, wherein: the movement The device has a Laser Distance Scanner (LDS) disposed in the body and a microprocessor disposed in the body and electrically coupled to the laser range finder, and has the following operational steps: Step A: the laser range finder obtains the starting point and the end point coordinate; step B: performs a 360-degree omnidirectional rotation scanning operation during the walking; step C: obtains the coordinates of each point in the walking path; step D: transmits the micro-processing Two-dimensional operation, obtain the vertical distance, horizontal error distance and offset angle of the position and the end point; Step E: Determine whether the vertical distance is within the radius of the end point; Step F: If yes, reach the end point; Step G: If no , that is, the position of the at least two wheel displacement is calculated by the microprocessor, and steps B, C, D, E to F or G are repeated.

Through the functions of the mobile device having the route correction function of the present invention, when the related art applies the invention to various fields, the robots of the respective application fields can perform the task while performing the laser range finder of the present invention. The 360-degree rotating scanning operation obtains the coordinates of each point, and then performs the two-dimensional operation according to the following formula by the microprocessor of the present invention: the coordinates of the position (Xn, Yn); the vertical distance between the position and the end point D=Yn- Yt; the horizontal error distance of the position and the end point E=Xn-xt; the offset angle of the mobile device (1) Theta=arcTan(d/E), d=D/2; and the displacement of the two body wheel (Ln, Rn) and the following modes to calculate the current location of the mobile device and correct the displacement: .

Thereby, the information required for each position judgment is obtained, so that it can be judged whether the robot has reached the target position, and if it has not arrived yet, the above-mentioned steps can be continuously performed to correct the route offset until reaching the target position.

(1) ‧‧‧Mobile devices

(11) ‧‧‧ Ontology

(12)‧‧‧ Wheels

(13)‧‧‧Laser rangefinder

(14)‧‧‧Microprocessor

(21)‧‧‧Step A

(22)‧‧‧Step B

(23)‧‧‧Step C

(24) ‧‧‧Step D

(25)‧‧‧Step E

(26)‧‧‧Step F

(27)‧‧‧Step G

The first figure is a schematic diagram of a mobile device with a route correction function of the present invention.

The second drawing is a schematic diagram of the working steps of the present invention.

The third figure is a schematic diagram of the route correction operation of the present invention.

Referring to the first figure, the mobile device (1) of the present invention has a route correction function. In this embodiment, a cleaning robot is taken as an example, which includes a body (11) and is mounted on the body (11). The at least two-wheel body (12), in this embodiment, is a left wheel and a right wheel, characterized in that the mobile device (1) has a laser range finder disposed in the body (11) ( 13) and a microprocessor (14) disposed in the body (11) and electrically coupled to the laser range finder (13).

Referring to the first and second figures, when the cleaning robot performs the task, the mobile device (1) having the route correction function of the present invention performs the following work steps: Step A (21): the laser ranging The device (13) obtains the starting point and the end point coordinate; step B (22): the moving device (1) performs a 360-degree rotation scanning operation by the laser range finder (13) during the walking; step C ( 23): the laser range finder (13) acquires coordinates of each point in the walking path of the mobile device (1) while scanning; Step D (24): performing a two-dimensional operation through the microprocessor (14) to obtain a vertical distance, a horizontal error distance, and an offset angle of the position and the end point of the mobile device (1); and step E (25): determining the Whether the vertical distance is within the radius of the end point; step F (26): if yes, the end point is reached; step G (27): if not, the distance between the left and right wheel displacements is calculated by the microprocessor (14) The location of the mobile device (1) is taken out and steps B, C, D, E to F or G are repeated.

Please refer to the first, second and third figures again. The starting point of the mobile device (1) is (x0, y0), and the end point coordinates are (xt, yt). When the laser range finder (13) is 360 degrees After omnidirectional rotation scanning and obtaining the coordinates of each point in the walking path of the mobile device (1), the microprocessor (14) performs a two-dimensional operation.

Assuming that the coordinates of the location at this time are (Xn, Yn), the microprocessor (14) can calculate the information about the location and the end point for the correction of the route: the vertical distance between the location and the end point D=Yn- Yt; the horizontal error distance of the position and the end point E=Xn-xt; the offset angle of the mobile device (1) Theta=arcTan(d/E), d=D/2.

After the above information is calculated, it can be determined whether the vertical distance D is within the radius of the end point coordinate (xt, yt), and if so, the mobile device (1) has reached the end point, and if not, the microprocessor (14) That is, the displacement position (Ln, Rn) of the left and right wheels and the following modes are used to calculate the current position of the mobile device (1) and correct the displacement, and repeat steps B (22), C (23), and steps. D (24), step E (25) to step Step F (26) or step G (27).

By repeating the loop of operation and calculation, the function of route correction can be achieved, and the conventional robot is completely improved in the execution of the task, because the route correction function is not provided, the walking path is shifted, and the task is not correctly performed. .

Therefore, the mobile device with the route correction function of the present invention develops practical and novel tools through the unintelligible design, solves the problems that have existed for a long time, and is worthy of novelty and progressive creation, and has patent requirements. undoubtedly.

However, the above is only a preferred embodiment of the present invention, and the scope of the present invention is not limited thereto; therefore, the simple equivalent changes and modifications made by the scope of the present invention and the contents of the invention description, All should remain within the scope of the invention patent.

(21)‧‧‧Step A

(22)‧‧‧Step B

(23)‧‧‧Step C

(24) ‧‧‧Step D

(25)‧‧‧Step E

(26)‧‧‧Step F

(27)‧‧‧Step G

Claims (4)

A mobile device having a route correction function includes a body and at least two wheel bodies mounted on the body, wherein the mobile device has a laser range finder disposed in the body and a set in the body The body is electrically coupled to the microprocessor of the laser range finder. A route correction operation step for a mobile device having a route correction function as described in claim 1, comprising: step A: obtaining a start point and an end point coordinate of the laser range finder; and step B: during the walking process Performing a 360-degree rotation scan operation in the middle; Step C: Obtaining coordinates of each point in the walking path; Step D: obtaining a vertical distance, a horizontal error distance, and an offset angle of the position and the end point through the two-dimensional operation of the microprocessor; Step E: determining whether the vertical distance is within the radius of the end point; step F: if yes, reaching the end point; step G: if not, calculating the position by the microprocessor by the distance of the at least two wheel displacements, and Repeat steps B, C, D, E to F or G. For example, the working procedure described in claim 2, wherein the microprocessor performs the two-dimensional operation of step D according to the following formula: coordinates (Xn, Yn) of the position; vertical distance between the position and the end point D=Yn -yt; the horizontal error distance of the position and the end point E = Xn - xt; the offset angle of the mobile device Theta = arcTan (d / E), d = D / 2. The working procedure of claim 3, wherein the microprocessor calculates the current position of the mobile device and corrects the displacement by using the displacement amount (Ln, Rn) of the two-body wheel and the following modes: