TW202105108A - Self-propelled device and map building method thereof including a sensor and a display interface - Google Patents
Self-propelled device and map building method thereof including a sensor and a display interface Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000001514 detection method Methods 0.000 claims description 6
- 239000003086 colorant Substances 0.000 claims description 2
- 230000007246 mechanism Effects 0.000 description 10
- 238000010408 sweeping Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 238000004140 cleaning Methods 0.000 description 5
- 239000007788 liquid Substances 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 239000000428 dust Substances 0.000 description 3
- 238000005201 scrubbing Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 230000003287 optical effect Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
Abstract
Description
本發明係有關於一種自走式裝置及其建立地圖方法，尤指一種用於在工作空間內移動進行預設作業的自走式裝置及其建立地圖方法。The present invention relates to a self-propelled device and a method for building a map, in particular to a self-propelled device for moving in a work space to perform preset operations and a method for building a map.
隨著科技之日新月異，傳統清潔、巡檢、搬運…等人力工作逐漸以自動化機器取代，自走式裝置也應運而生；習知之自走式裝置可以光學傳感器配合同步定位與地圖建構(Simultaneous localization and mapping；SLAM)技術建立工作空間之地圖，以利後續藉由地圖規劃出預設之移動路徑，但地圖之建立方式，可能會因自走式裝置之體積大小或工作空間大小而有所差異。With the rapid development of science and technology, traditional manual tasks such as cleaning, inspection, transportation, etc. have gradually been replaced by automated machines, and self-propelled devices have also emerged. The conventional self-propelled devices can be used with optical sensors to synchronize positioning and map construction (Simultaneous localization). and mapping; SLAM) technology to create a map of the work space to facilitate the subsequent map planning of the default movement path, but the way the map is created may vary depending on the size of the self-propelled device or the size of the work space .
如家用型掃地機器人因機體體積與工作空間都相對較小，在建立地圖時，不需特別考慮家用型掃地機器人是否已移動覆蓋全部工作空間，也不需特別考慮家用型掃地機器人是否會撞傷障礙物，故使用者(客戶)可放任家用型掃地機器人等小型之自走式裝置在工作空間內隨機移動以建立地圖。For example, due to the relatively small body volume and working space of a household sweeping robot, when building a map, there is no need to particularly consider whether the household sweeping robot has moved to cover the entire work space, nor whether the household sweeping robot will be injured. Obstacles, so the user (customer) can let small self-propelled devices such as household sweeping robots move randomly in the workspace to build a map.
但商用型掃地機器人因機體體積與工作空間都相對較大，在建立地圖時，需特別考慮商用型掃地機器人是否已移動覆蓋全部工作空間，也需特別考慮商用型掃地機器人是否會撞傷障礙物，故目前商用型掃地機器人等大型之自走式裝置在建立地圖時，通常係由自走式裝置製造商之工程人員攜帶外部電腦至工作空間內，以外部電腦控制自走式裝置在工作空間內移動並以外部電腦內之地圖建立系統建立地圖。However, due to the relatively large body volume and working space of commercial sweeping robots, when building a map, special consideration should be given to whether the commercial sweeping robot has moved to cover the entire workspace, and special consideration should be given to whether the commercial sweeping robot will hit obstacles. Therefore, when building maps for large-scale self-propelled devices such as commercial sweeping robots, the engineers of the self-propelled device manufacturer usually bring an external computer to the work space, and use the external computer to control the self-propelled device in the work space. Move inside and build a map with the map building system in the external computer.
習知大型之自走式裝置在建立地圖時，使用者(客戶)需請工程人員(製造商)攜帶外部電腦至工作空間內，以工程人員(製造商)之專業經驗配合外部電腦內之地圖建立系統控制自走式裝置在工作空間內移動，以建立工作空間之地圖，並在地圖建立完成後將自走式裝置交還使用者(客戶)使用；故每次工作空間有所變更時，使用者(客戶)皆需請工程人員(製造商)至工作空間內重新建立地圖，如此使用者(客戶)將耗費許多等待成本，工程人員(製造商)也耗費許多出差成本，相當不便!When creating maps for large-scale self-propelled devices, the user (customer) needs to ask the engineer (manufacturer) to bring an external computer to the workspace, and use the professional experience of the engineer (manufacturer) to cooperate with the map in the external computer Establish a system to control the movement of the self-propelled device in the workspace to create a map of the workspace, and return the self-propelled device to the user (customer) after the map is created; therefore, use it every time the workspace changes All users (customers) need to ask engineers (manufacturers) to recreate the map in the workspace, so users (customers) will spend a lot of waiting costs, and engineers (manufacturers) will also spend a lot of travel costs, which is quite inconvenient!
爰是，本發明之目的，在於提供一種便於建立地圖的自走式裝置。The purpose of the present invention is to provide a self-propelled device that facilitates the creation of maps.
本發明之另一目的，在於提供一種便於建立地圖的自走式裝置建立地圖方法。Another object of the present invention is to provide a map creation method for a self-propelled device that is convenient for map creation.
本發明之又一目的，在於提供一種用以執行如所述自走式裝置建立地圖方法的裝置。Another object of the present invention is to provide a device for executing the method for creating a map by the self-propelled device.
依據本發明目的之自走式裝置，包括：一本體，可在一工作空間內移動；一地圖建立單元，設於該本體上；該地圖建立單元設有一傳感器與一顯示介面；該傳感器可偵測該工作空間之特徵；該顯示介面以不同之圖案顯示該傳感器已偵測之工作空間與未偵測之工作空間及該本體在已偵測之工作空間與未偵測之工作空間的位置。The self-propelled device according to the object of the present invention includes: a body capable of moving in a working space; a map creation unit provided on the body; the map creation unit is provided with a sensor and a display interface; the sensor can detect Measure the characteristics of the working space; the display interface displays the detected working space and the undetected working space of the sensor with different patterns and the position of the body in the detected working space and the undetected working space.
依據本發明另一目的之自走式裝置建立地圖方法，包括：提供一工作空間；提供一自走式裝置，設有一傳感器與一顯示介面；使該自走式裝置在該工作空間內以該傳感器偵測該工作空間之特徵，並使該顯示介面以不同之圖案顯示該傳感器已偵測之工作空間與未偵測之工作空間及該自走式裝置在已偵測之工作空間與未偵測之工作空間的位置；根據該顯示介面之顯示，控制該自走式裝置於該工作空間內朝該未偵測之工作空間移動。According to another object of the present invention, a self-propelled device building map method includes: providing a working space; providing a self-propelled device with a sensor and a display interface; making the self-propelled device use the The sensor detects the features of the working space, and makes the display interface display the detected working space and the undetected working space of the sensor in different patterns, and the self-propelled device in the detected working space and the undetected working space Measure the position of the working space; according to the display of the display interface, control the self-propelled device to move in the working space toward the undetected working space.
依據本發明又一目的之自走式裝置，包括：用以執行如所述自走式裝置建立地圖方法的裝置。A self-propelled device according to another object of the present invention includes: a device for executing the method for creating a map by the self-propelled device.
本發明實施例之自走式裝置及其建立地圖方法，該自走式裝置上之顯示介面可以不同之圖案顯示地圖資訊，方便使用者一邊參考該顯示介面所顯示之地圖資訊，一邊在該自走式裝置旁側控制該自走式裝置於該工作空間內朝該未偵測之工作空間移動，以逐步建立該工作空間之地圖。According to the self-propelled device and the method for creating a map of the embodiment of the present invention, the display interface on the self-propelled device can display map information in different patterns, so that the user can refer to the map information displayed on the display interface while viewing the map information The side of the walking device controls the self-propelled device to move in the working space toward the undetected working space to gradually build a map of the working space.
請參閱圖1、2，本發明實施例之自走式裝置建立地圖方法可採用如圖1所示之可自動移動進行清潔工作之自走式裝置A來達成；該自走式裝置A可在如圖2所示之工作空間S內移動，以建立該工作空間S之地圖；該工作空間S由四面牆壁Z所圍設形成且該工作空間S內設有障礙物O；該自走式裝置A設有： 一本體A1，可在一工作空間S內移動(如點B至點C)； 一地圖建立單元A2，設於該本體A1上，可偵測該本體A1於該工作空間S內移動時所遇到之例如障礙物O或牆壁Z…等環境之特徵，並紀錄該等特徵以建立該工作空間S之地圖資訊；該地圖建立單元A2設有一傳感器A21、一處理器A22與一顯示介面A23；該傳感器A21可偵測該工作空間S之特徵；該處理器A22可將該傳感器A21所偵測之特徵處理成地圖資訊；該顯示介面A23可顯示該處理器A22處理後之地圖資訊；其中，該傳感器A21為光達(LIDAR) 傳感器並設於該本體A1之前側，可對該本體A1前側之該工作空間S進行掃描偵測(掃描偵測之範圍約成扇形)；該顯示介面A23為觸控式螢幕並設於該本體A之上側，可以不同之圖案顯示該傳感器A21已偵測之工作空間S與未偵測之工作空間S及該本體A1相對在已偵測之工作空間S與未偵測之工作空間S的位置或提供使用者觸控點選預設功能之選項； 一驅動單元A3，設於該本體A1之底部，可驅動該本體A1於該工作空間S之工作表面F上自動移動執行前進、後退、旋轉…等動作；該驅動單元A3設有一前導輪A31、一後導輪A32與兩個驅動輪A33，該前導輪A31與該後導輪A32分設於該本體A1之前、後側，該兩個驅動輪A33分設於該本體A1約略中間處之兩側； 一清潔單元A4，設於該本體A1之底部，可在本體A1移動時清潔該工作表面F；該清潔單元A4設有一吸塵機構A41、一刷洗機構A42與一吸液機構A43，該吸塵機構A41設於該本體A1之前側，該吸液機構A43設於該本體A1之後側，該刷洗機構A42設於該吸塵機構A41與該吸液機構A43之間； 一控制單元A5，設於該本體A1上，可執行各項數據運算並執行該自走式裝置A之各種功能控制。Please refer to Figures 1 and 2. The self-propelled device building map method of the embodiment of the present invention can be achieved by using the self-propelled device A shown in Figure 1 that can automatically move for cleaning work; the self-propelled device A can be used in Move in the working space S as shown in Figure 2 to create a map of the working space S; the working space S is surrounded by four walls Z and there are obstacles O in the working space S; the self-propelled device A has: A body A1, which can be moved in a working space S (such as point B to point C); A map creation unit A2 is installed on the main body A1, which can detect the environment features such as obstacles O or walls Z... etc. encountered when the main body A1 moves in the working space S, and record these features to Create map information of the workspace S; the map creation unit A2 has a sensor A21, a processor A22, and a display interface A23; the sensor A21 can detect the features of the workspace S; the processor A22 can use the sensor The features detected by A21 are processed into map information; the display interface A23 can display the map information processed by the processor A22; among them, the sensor A21 is a LIDAR sensor and is located on the front side of the main body A1. The working space S on the front side of the main body A1 performs scanning detection (the range of scanning detection is approximately fan-shaped); the display interface A23 is a touch screen and is located on the upper side of the main body A, which can display the sensor A21 in different patterns The detected working space S and the undetected working space S and the position of the main body A1 relative to the detected working space S and the undetected working space S or provide the user with touch and click preset functions Option A driving unit A3 is located at the bottom of the main body A1, which can drive the main body A1 to automatically move on the working surface F of the working space S to perform forward, backward, rotating, etc. actions; the driving unit A3 is provided with a front guide wheel A31, A rear guide wheel A32 and two drive wheels A33. The front guide wheel A31 and the rear guide wheel A32 are separately arranged on the front and rear sides of the main body A1, and the two drive wheels A33 are separately arranged at two positions approximately in the middle of the main body A1. side; A cleaning unit A4 is located at the bottom of the main body A1, which can clean the working surface F when the main body A1 moves; the cleaning unit A4 is provided with a dust suction mechanism A41, a scrubbing mechanism A42 and a liquid suction mechanism A43. The dust suction mechanism A41 It is arranged on the front side of the main body A1, the liquid suction mechanism A43 is arranged on the rear side of the main body A1, and the scrubbing mechanism A42 is arranged between the dust suction mechanism A41 and the liquid suction mechanism A43; A control unit A5 is arranged on the main body A1, which can perform various data calculations and perform various function control of the self-propelled device A.
請參閱圖2、3、4，該自走式裝置A在點B時，該顯示介面A23所顯示之地圖資訊如圖3所示；該自走式裝置A在點C時，該顯示介面A23所顯示之地圖資訊如圖4所示；該顯示介面A23將以數種不同之圖案顯示該工作空間S之地圖資訊，其可包括： 一第一圖案T1，以第一顏色(綠色)顯示已偵測之工作空間S； 一第二圖案T2，以第二顏色(紅色)顯示未偵測之工作空間S； 一第三圖案T3，以第三顏色(黑色)顯示已偵測之該障礙物O部分； 一第四圖案T4，以預設圖案(圓形)顯示該本體A1相對該已偵測之工作空間S與該未偵測之工作空間S的位置； 一第五圖案T5，以指向性之圖案(箭頭)指向該未偵測之工作空間S的圖案(第二圖案T2)中距離該本體A1最近者； 一第六圖案T6，以偵測方向之圖案(扇形)顯示該本體A1之偵測方向(即該本體A1之向前移動方向)； 其中，該些圖案之顏色或形狀係提供使用者方便辨識之用，並不以此為限，亦可使用符號、填充線、顏色深淺…等視覺差異替代。Please refer to Figures 2, 3 and 4. When the self-propelled device A is at point B, the map information displayed on the display interface A23 is shown in Figure 3; when the self-propelled device A is at point C, the display interface A23 The displayed map information is shown in Figure 4; the display interface A23 will display the map information of the workspace S in several different patterns, which may include: A first pattern T1, displaying the detected working space S in the first color (green); A second pattern T2, displaying the undetected working space S in the second color (red); A third pattern T3, displaying the detected part of the obstacle O in a third color (black); A fourth pattern T4, showing the position of the main body A1 relative to the detected working space S and the undetected working space S in a preset pattern (circle); A fifth pattern T5, pointing to the pattern (second pattern T2) of the undetected working space S with a directional pattern (arrow) that is closest to the main body A1; A sixth pattern T6, which displays the detection direction of the body A1 (that is, the forward movement direction of the body A1) with a pattern (fan-shaped) of the detection direction; Among them, the colors or shapes of these patterns are provided for users to easily recognize, and it is not limited to this, and visual differences such as symbols, filling lines, color shades, etc. can also be used instead.
請參閱圖2、3、4，雖然該自走式裝置A在點B與點C之移動方向皆不相同，但該第四圖案T4在該顯示介面A23中以預設大小保持於該顯示介面A23之預設位置(該顯示介面A23之中央處)，且該第六圖案T6在該顯示介面A23中以預設大小保持於該顯示介面A23之預設位置(朝向該本體A1之前側)；該顯示介面A23僅可顯示該本體A1周圍預設範圍之部分地圖資訊，隨著該自走式裝置A之移動，該顯示介面A23所顯示之地圖資訊亦會改變；換言之，如圖3、4、5、6所示，該第一圖案T1、第二圖案T2、第三圖案T3與第五圖案T5可隨著該自走式裝置A移動方向之不同而改變與該顯示介面A23及本體A1之相對位置，但該第四圖案T4與第六圖案T6不隨著該自走式裝置A移動方向之不同而改變與該顯示介面A23及本體A1之相對位置。Please refer to Figures 2, 3, and 4, although the moving directions of the self-propelled device A at points B and C are different, the fourth pattern T4 is maintained on the display interface in the display interface A23 in a preset size The preset position of A23 (the center of the display interface A23), and the sixth pattern T6 is maintained at the preset position of the display interface A23 (toward the front side of the main body A1) with a preset size in the display interface A23; The display interface A23 can only display part of the map information in the preset range around the main body A1. As the self-propelled device A moves, the map information displayed on the display interface A23 will also change; in other words, as shown in Figures 3 and 4 , 5, and 6, the first pattern T1, the second pattern T2, the third pattern T3, and the fifth pattern T5 can change with the display interface A23 and the main body A1 as the moving direction of the self-propelled device A is different. However, the fourth pattern T4 and the sixth pattern T6 do not change the relative positions of the display interface A23 and the main body A1 according to the movement direction of the self-propelled device A.
本發明實施例之自走式裝置建立地圖方法在實施上，當該自走式裝置A初至未知之工作空間S或原本工作空間S之環境有所變化時，使用者可直接由該自走式裝置A建立新的地圖資訊；使用者以遙控器遙控或人力推動方式在該自走式裝置A旁側控制該自走式裝置A於該工作空間S進行移動，使該自走式裝置A以前側之該傳感器A21對該工作空間S之特徵進行掃描偵測；並使該顯示介面A23以不同之圖案顯示該傳感器A21已偵測之工作空間S與未偵測之工作空間S及該自走式裝置A相對在已偵測之工作空間S與未偵測之工作空間S的位置； 當使用者以點B作為該自走式裝置A建立地圖之起點時，使用者在參考圖3中該顯示介面A23所顯示之資訊後可知，大部分代表未偵測之工作空間S的第二圖案T2分佈於該自走式裝置A之後側，故使用者根據該顯示介面A23所顯示之資訊，控制該自走式裝置A轉向後側朝未偵測之工作空間S移動；或者，使用者直接參考該顯示介面A23中該第五圖案T5之建議方向，控制該自走式裝置A轉向後側朝未偵測之工作空間S移動； 當使用者控制該自走式裝置A移動至點C時，使用者在參考圖4中該顯示介面A23所顯示之資訊後可知，大部分代表未偵測之工作空間S的第二圖案T2存在於該自走式裝置A之右側，故使用者根據該顯示介面A23所顯示之資訊，控制該自走式裝置A轉向右側朝未偵測之工作空間S移動；或者，使用者直接參考該顯示介面A23中該第五圖案T5之建議方向，控制該自走式裝置A轉向右側朝未偵測之工作空間S移動；以此類推逐漸擴增該已偵測之工作空間S，逐步建立該工作空間S之地圖。In the implementation of the self-propelled device creation method of the embodiment of the present invention, when the self-propelled device A first arrives in an unknown workspace S or the environment of the original workspace S changes, the user can directly use the self-propelled device A Type device A creates new map information; the user controls the self-propelled device A next to the self-propelled device A to move in the working space S by means of remote control or manual push, so that the self-propelled device A The sensor A21 on the front side scans and detects the features of the working space S; and the display interface A23 displays the detected working space S and the undetected working space S of the sensor A21 in different patterns and the self The position of the walking device A relative to the detected working space S and the undetected working space S; When the user uses point B as the starting point for the map creation of the self-propelled device A, the user can know by referring to the information displayed on the display interface A23 in FIG. 3 that most of them represent the second part of the undetected workspace S The pattern T2 is distributed on the back side of the self-propelled device A, so the user controls the self-propelled device A to turn to the back side and move toward the undetected working space S according to the information displayed on the display interface A23; or, the user Directly refer to the suggested direction of the fifth pattern T5 in the display interface A23, and control the self-propelled device A to turn to the rear side and move toward the undetected working space S; When the user controls the self-propelled device A to move to point C, the user can know by referring to the information displayed on the display interface A23 in FIG. 4 that most of the second pattern T2 representing the undetected workspace S exists On the right side of the self-propelled device A, the user controls the self-propelled device A to turn to the right and move toward the undetected workspace S according to the information displayed on the display interface A23; or, the user directly refers to the display The suggested direction of the fifth pattern T5 in the interface A23 is to control the self-propelled device A to turn to the right and move toward the undetected working space S; and so on, gradually increase the detected working space S, and gradually establish the task Map of Space S.
本發明實施例之自走式裝置及其建立地圖方法，該自走式裝置A上之顯示介面A23可以不同之圖案顯示地圖資訊，方便使用者一邊參考該顯示介面A23所顯示之地圖資訊，一邊在該自走式裝置A旁側控制該自走式裝置A於該工作空間S內朝該未偵測之工作空間S移動，以逐步建立該工作空間S之地圖。According to the self-propelled device and the method for creating a map according to the embodiment of the present invention, the display interface A23 on the self-propelled device A can display map information in different patterns, so that the user can refer to the map information displayed on the display interface A23 while referring to the map information displayed on the display interface A23. Next to the self-propelled device A, the self-propelled device A is controlled to move in the working space S toward the undetected working space S, so as to gradually build a map of the working space S.
惟以上所述者，僅為本發明之較佳實施例而已，當不能以此限定本發明實施之範圍，即大凡依本發明申請專利範圍及發明說明內容所作之簡單的等效變化與修飾，皆仍屬本發明專利涵蓋之範圍內。However, the above are only preferred embodiments of the present invention, and should not be used to limit the scope of implementation of the present invention, that is, simple equivalent changes and modifications made in accordance with the scope of the patent application of the present invention and the description of the invention, All are still within the scope of the invention patent.
A:自走式裝置 A1:本體 A2:地圖建立單元 A21:傳感器 A22:處理器 A23:顯示介面 A3:驅動單元 A31:前導輪 A32:後導輪 A33:驅動輪 A4:清潔單元 A41:吸塵機構 A42:刷洗機構 A43:吸液機構 A5:控制單元 B:點 C:點 F:工作表面 O:障礙物 S:工作空間 T1:第一圖案 T2:第二圖案 T3:第三圖案 T4:第四圖案 T5:第五圖案 T6:第六圖案 Z:牆壁A: Self-propelled device A1: body A2: Map building unit A21: Sensor A22: Processor A23: Display interface A3: Drive unit A31: Front guide wheel A32: Rear guide wheel A33: Drive wheel A4: Cleaning unit A41: Vacuum cleaner A42: Scrubbing mechanism A43: Liquid suction mechanism A5: Control unit B: point C: point F: work surface O: Obstacle S: Work space T1: The first pattern T2: second pattern T3: third pattern T4: Fourth pattern T5: fifth pattern T6: The sixth pattern Z: Wall
圖1係本發明實施例中自走式裝置之示意圖。 圖2係本發明實施例中自走式裝置在工作空間移動之示意圖。 圖3係本發明實施例中自走式裝置在B點時，顯示介面所顯示之圖案的示意圖。 圖4係本發明實施例中自走式裝置在C點時，顯示介面所顯示之圖案的示意圖。 圖5係本發明實施例中自走式裝置在B點時，顯示介面所顯示之圖案與顯示介面及本體相對位置關係之示意圖。 圖6係本發明實施例中自走式裝置在C點時，顯示介面所顯示之圖案與顯示介面及本體相對位置關係之示意圖。Figure 1 is a schematic diagram of a self-propelled device in an embodiment of the present invention. Fig. 2 is a schematic diagram of a self-propelled device moving in a working space in an embodiment of the present invention. FIG. 3 is a schematic diagram of the pattern displayed on the display interface when the self-propelled device is at point B in the embodiment of the present invention. 4 is a schematic diagram of the pattern displayed on the display interface when the self-propelled device is at point C in the embodiment of the present invention. 5 is a schematic diagram of the relative positional relationship between the pattern displayed on the display interface, the display interface and the body when the self-propelled device is at point B in the embodiment of the present invention. 6 is a schematic diagram of the relative positional relationship between the pattern displayed on the display interface, the display interface and the body when the self-propelled device is at point C in the embodiment of the present invention.
A23:顯示介面 A23: Display interface
T1:第一圖案 T1: The first pattern
T2:第二圖案 T2: second pattern
T3:第三圖案 T3: third pattern
T4:第四圖案 T4: Fourth pattern
T5:第五圖案 T5: fifth pattern
T6:第六圖案 T6: The sixth pattern
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