TWI502297B - Mobile device with route memory function - Google Patents

Description

Mobile device with route memory function

The present invention relates to a mobile device, and more particularly to a mobile device that can remember its walking route and repeatable and reversible after the route memory is completed.

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, there are related companies who have designed a patent application such as Taiwan. The robot of No. 100126039 has the effect of detecting by using the dynamic sensing module, and detecting the generating of the sensing signal according to the environmental state contacted by the robot; determining whether the sensing signal is a moving abnormal signal; and if so, according to the moving abnormal signal To control the motor to further adjust the wheel set to accommodate the environmental conditions.

In addition, if you want to limit the range of movement of the robot during the cleaning process, you need Place a stop bar on the floor of the working environment in which the robot is located as a boundary mark, let it work in the area within the working boundary, or place an infrared device on the ground, using infrared rays to limit its working range.

But 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 installation of such external devices not only takes up space and is not aesthetically pleasing, but also requires additional purchase costs, which is not economically viable.

Therefore, some related companies have invented a patent application such as Taiwan. The robot of No. 100125864 includes: an environmental information sensing component for detecting working environment information of the self-propelled robot; and a map construction module electrically connected with the environmental information sensing component for working environment Information construction environment map; setting module, which is electrically connected with the map construction module, is used to set a working boundary on the environment map; the path planning module, and the setting module The physical connection is used to plan a working path of the self-propelled robot in the working area formed by the working boundary; the driving 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 able to dodge obstacles or walls Walls, or can work in a designated area without external components, but in the process of performing their mission, if they can not remember their walking route, if they collide, if several collisions occur, Will lose the original planned path, and thus become a goalless walk, the place that has not passed may not be passed, the same place may also be passed several times, so the disadvantage of the inefficiency of work is generated, if anyone can Designing and developing a mobile device with route memory function can solve the problem of the lack of route memory function of robots for a long time.

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 memory function" 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 memory function that can memorize its travel route and repeatable and reversible after the route memory is completed.

In order to achieve the above object, the present invention is achieved by the following technical means, wherein the mobile device having a route memory function includes a body and at least two wheel bodies mounted on the body, wherein: the movement The device has a body disposed on the body a laser range finder, a microprocessor disposed in the body and electrically coupled to the laser range finder, and a memory circuit disposed in the body and electrically coupled to the microprocessor, wherein The laser range finder performs a 360-degree rotational scan during walking to obtain the coordinates of each point in the walking path. The microprocessor performs two-dimensional operation to obtain the vertical distance, horizontal error distance and offset angle of the position and the end point. Further correcting the route, the memory circuit records data of at least one travel route time, travel distance, relative distance, and number of rotation angles, whereby the mobile device has a memory file of at least one travel route, and the plurality of route files can be arranged and combined. And each route file can be repeatedly executed and can follow the route forward or backward.

Through the functions of the mobile device having the route memory function of the present invention, when When the present invention applies the present invention to various fields, the robots in each application field can perform the 360-degree rotational scanning operation through the laser range finder of the present invention to obtain the coordinates of each point, and then pass through the present The microprocessor of the invention performs two-dimensional operation to obtain the information required for each position judgment, 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 Arriving at the target position, and recording the travel distance, relative distance, and number of rotation angles of at least one travel route through the memory circuit while the route correction function is being executed, so that the mobile device can memorize at least one route plan. After the route memory, the user can select one of the required routes, the mobile device can perform its task on the route, and can repeatedly perform the travel of each route, and can perform the reverse function according to the route of each route. So that the mobile device not only achieves the purpose of route correction and route memory, but also Each route may also provide the user may repeat the reversing function.

In addition, the mobile device has a memory file of at least one travel route, a plurality of The route files can be arranged in a row so that the user can record the various travel routes remembered by the mobile device. According to actual needs, the mobile device can be planned to be a different task partition during the execution of the task, and the travel path in the area of each task partition can memorize the route, and the different task partitions The connection path between the two can also remember the route.

Therefore, the present invention has a route memory function that is lacking in a conventional robot, and is improved. The use of robots because of the inability to remember the lack of lines, is the creation of industrial use, novelty, and progressive.

(1) ‧‧‧Mobile devices

(11) ‧‧‧ Ontology

(12)‧‧‧ Wheels

(121)‧‧‧ Left motor

(122)‧‧‧Right motor

(123)‧‧‧Encoder

(13)‧‧‧Laser rangefinder

(14)‧‧‧Microprocessor

(15)‧‧‧ memory circuits

(16) ‧‧‧ Front bumper

(17) Around ‧ ‧ anti-drop device

(18)‧‧‧ indicator lights

(19)‧‧‧Battery

(191)‧‧‧Power Management Module

(20)‧‧‧Keyboard

(21)‧‧‧Step A

(22)‧‧‧Step B

(23)‧‧‧Step C

(24) ‧‧‧Step D

(25)‧‧‧Step E

(26)‧‧‧Step F

(27)‧‧‧Step G

(31)‧‧‧Step H

(32) ‧‧‧Step I

(33)‧‧‧Step J

(34)‧‧‧Step K

(35) ‧‧‧Step L

(36)‧‧‧Step M

(37)‧‧‧Step N

(38)‧‧‧Step O

(39) ‧‧‧Step P

(40) ‧‧‧Step Q

(41) ‧‧‧Step R

(42) ‧‧‧Step S

(51)‧‧‧Step T

(52) ‧‧‧Step U

(53)‧‧‧Step V

(54) ‧‧‧Step W

(55)‧‧‧Step X

(56) ‧‧‧Step Y

(6)‧‧‧Wireless Remote Control (Remote Control, RC)

The first figure is a schematic diagram of a mobile device having a memory function according to the present invention.

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

The third figure is a schematic diagram of the use flow of the present invention.

The fourth figure is a schematic diagram of the route memory process of the present invention.

The fifth drawing is a schematic diagram of the operation of the related components of the present invention.

The sixth drawing is a schematic diagram of the operation flow of the present invention.

The seventh drawing is a schematic view of the working state of the present invention.

The eighth figure is a schematic view of another working state of the present invention.

Referring to the first figure, a mobile device (1) having a memory function is provided. In this embodiment, a cleaning robot is taken as an example, which includes a body (11) and is mounted on the body (11). At least two wheel bodies (12), in this embodiment, are a left wheel and a right wheel, characterized in that the moving device (1) has a laser range finder (13) disposed in the body (11). a microprocessor (14) disposed in the body (11) and electrically coupled to the laser range finder (13) and an electrical unit disposed in the body (11) Connected to the memory circuit (15) of the microprocessor (14).

Wherein the laser range finder (13) is driven by the mobile device (1) A 360-degree rotational scan is performed to obtain coordinates of each point in the walking path, and the microprocessor (14) performs a two-dimensional operation to obtain a vertical distance between the position and the end point, a horizontal error distance, and an offset angle, and the memory circuit ( 15) recording at least one travel route time, travel distance, relative distance, and number of revolution angles, whereby the mobile device (1) has a memory file of at least one travel route, and the plurality of route files can be arranged and combined. Each route profile can be executed repeatedly and can follow the route forward or backward.

Please refer to the first and second figures, when the cleaning robot is performing the same task. When the mobile device (1) having the memory function of the present invention can perform route correction through the following steps: Step A (21): the laser range finder (13) obtains the start point and the end point coordinate; and step B (22): the movement The device (1) performs a 360-degree rotation scan operation by the laser range finder (13) during walking; step C (23): the laser range finder (13) acquires the movement while scanning The coordinates of each point in the walking path of the device (1); step D (24): performing a two-dimensional operation through the microprocessor (14) to obtain a vertical distance, a horizontal error distance, and a horizontal error distance between the position and the end point of the mobile device (1) Offset angle; Step E (25): Determine whether the vertical distance is within the radius of the end point; Step F (26): If yes, reach the end point; Step G (27): If no, the left and right wheels Displacement distance The microprocessor (14) calculates the location of the mobile device (1) and repeats steps B, C, D, E to F or G.

Referring to the first and third figures, the mobile device (1) has the following usage flow: Step H (31): according to the instruction manual, set the starting position of the mobile device (1); Step I (32): Starting the mobile device (1) patrol mode to perform a route memory function; step J (33): performing a patrol motion and simultaneously performing a 360-degree rotational scan by the laser range finder (13) to obtain coordinates of each point in the walking path And the memory circuit (15) memorizes at least one travel route time, travel distance, relative distance, and number of revolution angles; step K (34): end the cruise action, press the memory key to complete the route memory task and set the work. Name; Step L (35): Determine whether to continue the next route memory, and if so, return to step J (33); Step M (36): If no, select the work name to work; Step N (37): Start work step O (38): Determine whether the work is in progress to change the path; Step P (39): If yes, the new path overwrites the original work path file, and receives the changed path information, and returns to step J ( 33); Step Q (40): If no, then according to the established For walking paths simultaneously Sweeping operation; Step R (41): Automatically finely adjust the walking path. If there is an obstacle, turn around the obstacle 180 degrees according to various auxiliary detector signals, and then return to the established route to continue; step S (42): complete Walking data of the working path file.

Referring to the first and fourth figures, the mobile device (1) has the following route memory flow: step T (51): placing the mobile device (1) in a predetermined position; step U (52): setting the route Memory mode and cleaning area file name; Step V (53): Select the mobile device (1) Walk mode: Step W (54): external force push or wired control drive motor or wireless control drive motor; step X (55): walking During the process, the microprocessor (14) processes the time data, the left and right wheel rotation data, and the steering angle data; the step Y (56): the data of the step X (55) is stored in the memory circuit (15) to complete the route memory.

Referring to the first and fifth figures, the mobile device (1) of the present invention further has: a front anti-collision plate (16) electrically connected to the microprocessor (14); a left and right anti-drop device (17) Electrically coupled to the microprocessor (14); an indicator light (18) electrically coupled to the microprocessor (14); at least one battery (19) electrically coupled to the microprocessor (14) And supplying power through the power management module (191); A keyboard (20) is electrically coupled to the microprocessor (14); a left motor (121) is electrically coupled to the microprocessor (14); a right motor (122) is electrically coupled to the The microprocessor (14) and the two encoders (123) are electrically connected to the left motor (121) and the right motor (122), respectively.

When the mobile device (1) is activated, the battery (19) supplies power, and the microprocessor (14) starts the operation of exchanging commands with the components, and the walking path is transmitted through the memory circuit (15). The front anti-collision plate (16) prevents collision, prevents the falling accidents on both sides through the left and right anti-drop device (17), inputs various commands through the pressing keyboard (20), and provides an indication function through the indicator light (18). And the microprocessor (14) drives the left motor (121) and the right motor (122) to cause the mobile device (1) to travel, while the left motor (121) and the right motor (122) are in operation, The second encoder (123) encodes and transmits the operation information of the left motor (121) and the right motor (122) to the microprocessor (14) for correlation operation.

Referring to the first and sixth figures, after the mobile device (1) of the present invention is started, the laser range finder (13) performs a radial operation, that is, a 360-degree rotational scan, and the mobile device (1) When moving forward, the left and right wheels start to perform coding accumulation at the same time. Then, is it judged whether the front anti-collision plate (16) and/or the left and right anti-drop device (17) are activated? If yes, the left motor (121) and/or the right motor (122) reverses and accumulates the added value. If the accumulated value is not equal to zero, the reverse is continued and the added value is subtracted; if the accumulated value is equal to zero, the mobile device ( 1) Deflect an angle and judge whether it has been rotated 360 degrees. If it is, then the reverse reduction operation stops, if not, then proceed; If not, the mobile device (1) continues to advance and performs code accumulation, and determines whether the front anti-collision plate (16) and/or the left and right anti-drop device (17) are activated.

Please refer to the first and seventh figures. Take a kitchen space as an example. The A, B, C, D, E, and F are the points of the travel path of the mobile device (1), and pass through a wireless remote control. (Remote Control, RC) (6), the mobile device (1) can walk along each point route, and the mobile device (1) is operated while passing through the microprocessor (14) The route memory function of the memory circuit (15), the mobile device (1) can memorize at least one route record, and can walk forward and backward routes, and can repeat the number of walking circles, in other words, the mobile device (1) After the route memory is completed, in addition to performing the forward travel operation, the travel operation of each route may be repeatedly performed, and the reverse function may be performed according to the route of each route, so that the mobile device not only achieves the purpose of route correction and route memory. At the same time, it also provides the function that the user can repeat the reversing of each route. When needed in the future, the selected route can be selected to perform the cleaning task forward and backward.

Referring to the first and eighth figures, the mobile device (1) has a memory file of at least one travel route, and a plurality of route files can be arranged and combined, and each route file can be repeatedly executed and can follow the route forward or Reverse travel, allowing the user to select, plan, and execute the various travel routes memorized by the mobile device according to actual needs. The mobile device (1) can plan different task partitions during the execution of the task. The travel path in the area of each task partition can memorize the route, and the connection path between different task partitions can also memorize the route. In this embodiment, there are six task partitions: area A, area B, and C. District, Ding District, Wu District, and Ji District, the route memory mode is as follows: the route memory mode of Area A is Area A; The route memory mode of Area B is Zone B; the route memory mode of Zone B is Zone C; the route memory mode of Ding District is Ding District; the route memory mode of Zone B is Zone E; the route memory mode of Zone B is the zone; The travel route memory mode between Zone A and Zone B is I; the travel route memory mode between Zone B and Zone is II; the travel route memory mode between Zone and Zone is III; The travel route memory mode is IV; the travel route memory mode between the A zone and the C zone is V; the travel route memory mode between the C zone and the D zone is VI; the route between the D zone and the zone The memory mode is VII.

Therefore, when the user wants to use the mobile device (1) to perform tasks, the route planning can be performed according to requirements. For example, if the tasks of the A, B, H, and E zones are planned to be executed, the path is set to A. District + I + B zone + II + zone + III + zone.

If the task of implementing Zone A or Zone E is planned, the route will be set to Zone A + IV Zone.

If you plan to perform the tasks of Area A, Area C, Ding District and District, the route will be set to Zone A + V + Area C + VI + Ding District + VII + District.

Therefore, the mobile device (1) can provide a plurality of route modes of arrangement and combination, and the user can select, plan, and execute the various travel routes memorized by the mobile device (1) according to actual needs.

In summary, the mobile device with the route memory function of the present invention repeats the loop of operation and calculation to achieve the function of route memory, and thoroughly improves the practice of the robot when performing the task, because the route memory function is not provided, resulting in walking. The lack of efficiency in the job.

Therefore, the mobile device with the route memory function of the present invention develops practical and novel tools through the design and the invisible ideas, solves the problems that have existed for a long time, and is worthy of being novel and progressive, 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.

(1) ‧‧‧Mobile devices

(11) ‧‧‧ Ontology

(12)‧‧‧ Wheels

(13)‧‧‧Laser rangefinder

(14)‧‧‧Microprocessor

(15)‧‧‧ memory circuits

Claims (2)

A mobile device having a route memory function, comprising: 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 is disposed on the body a microprocessor electrically coupled to the laser range finder and a memory circuit disposed in the body and electrically coupled to the microprocessor, wherein the laser range finder is 360 degrees during walking Rotating the scan to obtain coordinates of each point in the walking path, the microprocessor performs a two-dimensional operation to obtain a vertical distance between the position and the end point, a horizontal error distance, and an offset angle, and the memory circuit records the time of at least one travel route, Data of travel distance, relative distance, and number of rotation angles, whereby the mobile device has a memory file of at least one travel route, and a plurality of route files can be arranged and combined, and each route file can be repeatedly executed, and the route can be followed Traveling backwards or backwards, allowing the user to select, plan, and plan the various travel routes memorized by the mobile device according to actual needs. Line of. The mobile device of claim 1, further comprising: a front anti-collision plate electrically connected to the microprocessor; a left and right anti-drop device electrically connected to the microprocessor; an indicator light, Electrically coupled to the microprocessor; at least one battery is electrically coupled to the microprocessor; a keyboard is electrically coupled to the microprocessor; a left motor is electrically coupled to the microprocessor; The motor is electrically connected to the microprocessor, and the two encoders are electrically connected to the left motor and the right motor, respectively.