TWI593529B - Suspended Machine System and Control Method Thereof - Google Patents

Description

Suspended machine system and control method thereof

The present invention relates to a machine system, and more particularly to a suspended machine system involving automatic control. The invention also relates to a method of controlling the suspended machine system.

With the advancement of technology, the replacement of manual work with automated machine equipment is not only widely used in the industrial market, but is also gradually expanding into the life of the average family. However, for a general household with a narrow indoor space, the extra installation of the machine may take up more space, and if the machine is automatically moved on the ground, it may interfere with the activities of the indoor personnel, which is inconvenient. Therefore, how to make the automatic machine device set or act without affecting the daily activities of the indoor personnel has become a topic to be further explored in this case.

Accordingly, it is an object of the present invention to provide a suspended machine system that improves the inconvenience of the prior art. The invention also provides the control of the suspended machine system Method of production.

Thus, the suspended machine system of the present invention comprises a machine device and a guiding device.

The machine device includes a body, a guide wheel unit disposed on the body, a drive unit pivotally connected to the guide wheel unit, and an arithmetic unit electrically connected to the drive unit, the guide wheel unit having a spacing from each other a first guide wheel, a second guide wheel, a third guide wheel and a fourth guide wheel at four corners of the body, the drive unit has four driving the first guide wheel and the second guide wheel respectively The third guide wheel and the drive motor for rotating the fourth guide wheel.

The guiding device comprises a pulley unit, a rope body retracting unit, a tension sensing unit electrically connected to the rope body retracting unit, and a guiding rope, the pulley unit has a first set at four end points a pulley, a second pulley, a third pulley and a fourth pulley, and the first pulley, the second pulley, the third pulley and the fourth pulley cooperate to define a movement for the machine device a movement range of the quadrilateral, the two ends of the guide rope are connected to the rope body retracting unit, and have a first section between the rope body retracting unit and the first guide wheel, and the first guide a wheel extending to a second section of the second pulley, a third section extending from the second pulley to the second pulley, and a fourth section extending from the second pulley to the third pulley a fifth section extending from the third pulley to the third guide wheel, a sixth section extending from the third guide wheel to the fourth pulley, and a fourth pulley extending to the fourth The seventh segment of the guide wheel, and one by the first The four guide wheels extend to the eighth section of the first pulley.

When the operation unit receives a displacement command, the operation unit generates a pair of displacement control data that should be displaced, and controls the drive motors to drive the first guide wheel and the second guide wheel according to the displacement control data. At least a portion of the third guide wheel and the fourth guide wheel rotate to drive the guide wire to change the first segment, the second segment, the third segment, the fourth segment, a length of at least a portion of the fifth segment, the sixth segment, the seventh segment, and the eighth segment, and the tension sensing unit detects the tension of the guidewire and controls according to the detection result The rope retracting unit retracts the guide rope to maintain the tension of the guide rope within a predetermined range, so that the machine device moves to a target position of the pair of displacement commands within the range of movement.

In some embodiments of the suspended machine system of the present invention, the range of movement is a rectangle.

In some embodiments of the suspended machine system of the present invention, the four drive motors are respectively a first drive motor that drives the first guide wheel, a second drive motor that drives the second guide wheel, and a drive a third driving motor of the third guiding wheel, and a fourth driving motor for driving the fourth guiding wheel, the displacement control data includes a first rotation direction corresponding to the first driving motor and a first rotation angle, corresponding to a second rotational direction and a second rotational angle of the second drive motor, a third rotational direction and a third rotational angle corresponding to the third drive motor, and a fourth rotational direction corresponding to the fourth drive motor and a fourth rotation angle, the first rotation direction, the second rotation direction The direction of the third rotation and the direction of the fourth rotation are each a clockwise direction of rotation or a counterclockwise direction of rotation.

In some embodiments of the suspended machine system of the present invention, the displacement control data further includes a pair of first rotational speeds that should be the first drive motor, a second rotational speed that should correspond to the second drive motor, and a pair of should a third rotational speed of the three drive motor, and a pair of fourth rotational speeds that should be the fourth drive motor, the arithmetic unit controls the first drive motor, the second drive motor, the third drive motor, and the fourth drive motor Driving the first guide wheel, the second guide wheel, the third guide wheel and the fourth guide wheel to rotate at the first rotation speed, the second rotation speed, the third rotation speed and the fourth rotation speed, respectively So that the first guide wheel, the second guide wheel, the third guide wheel and the fourth guide wheel respectively rotate the first rotation angle, the second rotation angle, the third rotation angle and the fourth rotation The angle takes the same amount of time.

In some implementations of the suspended machine system of the present invention, after receiving the displacement command, the operation unit generates a target coordinate according to the displacement command before generating the displacement control data, and then according to the target coordinate and an initial The coordinate generates the displacement control data, the target coordinate represents the target position to be reached by the displacement of the machine device, and the initial coordinate represents an initial position before the displacement of the machine device; The operation unit generates the displacement control data by first calculating a pair of first length variables corresponding to the first segment and a pair of second length variables corresponding to the second segment according to the initial coordinate and the target coordinate. Corresponding to the third section of the third section a length variable, a pair of fourth length variables that should be the fourth segment, a pair of fifth length variables that should be the fifth segment, a pair of sixth length variables that should be the sixth segment, and a pair of segments that should be the seventh segment The seventh length variable, and a pair of eighth length variables that should be the eighth segment. Then, the arithmetic unit is configured to: the first length variable, the second length variable, the third length variable, the fourth length variable, the fifth length variable, the sixth length variable, the seventh length variable, and the first length The eight length variable determines the first rotation direction, the second rotation direction, the third rotation direction, and the fourth rotation direction, and calculates the first rotation angle, the second rotation angle, the third rotation angle, and The fourth angle of rotation. Then, the operation unit further calculates the first rotation speed, the second rotation speed, according to the first rotation angle, the second rotation angle, the third rotation angle, the fourth rotation angle, and a preset rotation time. The third rotational speed and the fourth rotational speed.

In some embodiments of the suspension machine system of the present invention, the two ends of the guide rope are respectively a fixed end, and an adjustment end opposite to the fixed end, the rope retracting unit is adjusted by the guide rope The end of the guiding rope is retracted, and the tension sensing unit detects the tension of the first segment and the eighth segment which are closer to the adjusting end.

In addition, the control method of the suspended machine system of the present invention comprises:

(A) providing a suspended machine system comprising a machine device and a guiding device, the machine device comprising a body, a guide wheel unit disposed on the body, and a pivoting guide wheel unit a driving unit, and an operation list electrically connected to the driving unit The guide wheel unit has a first guide wheel, a second guide wheel, a third guide wheel and a fourth guide wheel which are disposed at four corners of the body at intervals, and the drive unit has four a driving motor for driving the first guiding wheel, the second guiding wheel, the third guiding wheel and the fourth guiding wheel respectively, the guiding device comprises a pulley unit, a rope receiving unit, and an electrical connection a tension sensing unit of the rope retracting unit, and a guide rope having a first pulley, a second pulley, a third pulley and a fourth pulley respectively disposed at the four end points, and the The first pulley, the second pulley, the third pulley and the fourth pulley cooperate to define a movement range for the movement of the machine device and a quadrilateral, and the two ends of the guide rope are connected to the rope body retracting unit. And having a first section between the rope receiving unit and the first guiding wheel, a second section extending from the first guiding wheel to the second pulley, and a second pulley extending from the second pulley a third section to the second guide wheel, and a second guide wheel extending to the third pulley a fourth section, a fifth section extending from the third pulley to the third guide wheel, a sixth section extending from the third guide wheel to the fourth pulley, and a fourth pulley extending to the fourth pulley a seventh section of the fourth guide wheel, and an eighth section extending from the fourth guide wheel to the first pulley.

(B) The arithmetic unit receives a displacement instruction.

(C) The arithmetic unit generates a pair of displacement control data that should be shifted.

(D) the arithmetic unit controls the drive motors to drive at least some of the first guide wheel, the second guide wheel, the third guide wheel and the fourth guide wheel to rotate according to the displacement control data a guide wire to change the first segment, the second segment, the third The length of at least a portion of the segment, the fourth segment, the fifth segment, the sixth segment, the seventh segment, and the eighth segment.

(E) The tension sensing unit detects the tension of the guide rope, and controls the rope body retracting unit to retract the guide rope according to the detection result to maintain the tension of the guide rope within a predetermined range.

In some embodiments of the control method of the overhead machine system of the present invention, in step (A), the range of movement is a rectangle.

In some embodiments of the control method of the suspended machine system of the present invention, in the step (A), the four drive motors are respectively defined as a first drive motor that drives the first guide wheel, and a second drive motor. a second drive motor of the guide wheel, a third drive motor that drives the third guide wheel, and a fourth drive motor that drives the fourth guide wheel. In the step (C), the displacement control data includes a first rotation direction corresponding to the first drive motor and a first rotation angle, a second rotation direction corresponding to the second drive motor, and a second rotation angle, Corresponding to a third rotation direction and a third rotation angle of the third drive motor, and a fourth rotation direction and a fourth rotation angle corresponding to the fourth drive motor, the first rotation direction and the second rotation direction The third rotation direction and the fourth rotation direction are each a clockwise rotation direction or a counterclockwise rotation direction.

In some embodiments of the control method of the suspended machine system of the present invention, in step (C), the displacement control data further includes a pair of first rotational speeds that should be the first drive motor, and a pair of second drive motors. a second rotational speed, a pair of third rotational speeds that should be the third drive motor, and a pair of fourth drive motors Four rotation speeds. In the step (D), the arithmetic unit further controls the first driving motor, the second driving motor, the third driving motor and the fourth driving motor respectively at the first rotation speed, the second rotation speed, The third rotation speed and the fourth rotation speed drive the first guide wheel, the second guide wheel, the third guide wheel and the fourth guide wheel to rotate, so that the first guide wheel, the second guide wheel, The third guide wheel and the fourth guide wheel respectively rotate the first rotation angle, the second rotation angle, the third rotation angle, and the fourth rotation angle.

In some implementations of the control method of the suspended machine system of the present invention, the control method further includes a step (F) between the step (B) and the step (C): the operation unit generates a A target coordinate that represents the location at which the machine device is displaced in the range of motion. Step (C) contains the following substeps:

(C1) the arithmetic unit calculates a pair of first length variables corresponding to the first segment, a pair of second length variables corresponding to the second segment, and a pair of third segments according to an initial coordinate and the target coordinate a third length variable, a pair of fourth length variables that should be the fourth segment, a pair of fifth length variables that should be the fifth segment, a pair of sixth length variables that should be the sixth segment, and a pair of should be the seventh segment The seventh length variable of the portion, and a pair of eighth length variables that should be the eighth segment, the initial coordinates representing the initial position of the machine prior to displacement.

(C2) the arithmetic unit is based on the first length variable, the second length variable, and the third The length variable, the fourth length variable, the fifth length variable, the sixth length variable, the seventh length variable, and the eighth length variable determine the first rotational direction, the second rotational direction, and the third rotation a direction and the fourth rotation direction, and calculating the first rotation angle, the second rotation angle, the third rotation angle, and the fourth rotation angle.

(C3) calculating, by the first rotation angle, the second rotation angle, the third rotation angle, the fourth rotation angle, and a preset rotation time, the first rotation speed, the second rotation speed, The third rotational speed and the fourth rotational speed.

In some embodiments of the control method of the suspended machine system of the present invention, in the step (A), the two ends of the guide rope are respectively a fixed end, and an adjustment end opposite to the fixed end, the rope body receives The release unit performs the retraction of the guide rope by the adjustment end of the guide rope. In the step (C), the tension sensing unit detects the tension of the first segment and the eighth segment which are closer to the adjusting end.

The utility model has the advantages that: by the cooperation between the machine device and the guiding device, the control unit generates the appropriate displacement control data by the control method, so that the machine device can move to the moving range within the moving range. The desired target location.

1‧‧‧ machine installation

11‧‧‧Ontology

12‧‧‧guide wheel unit

121‧‧‧First guide wheel

122‧‧‧Second guide wheel

123‧‧‧third guide wheel

124‧‧‧fourth guide wheel

13‧‧‧Drive unit

131‧‧‧First drive motor

132‧‧‧Second drive motor

133‧‧‧third drive motor

134‧‧‧fourth drive motor

14‧‧‧ arithmetic unit

15‧‧‧Input unit

2‧‧‧Guide

21‧‧‧ Pulley unit

211‧‧‧First pulley

212‧‧‧Second pulley

213‧‧‧third pulley

214‧‧‧fourth pulley

R‧‧‧Mobile range

22‧‧‧rope retracting unit

23‧‧‧Tensor unit

24‧‧‧ Guide rope

241‧‧‧ fixed end

242‧‧‧ adjustment end

P1‧‧‧First Section

P2‧‧‧Second Section

P3‧‧‧The third paragraph

P4‧‧‧4th

P5‧‧‧5th Division

P6‧‧‧Sixth Section

P7‧‧‧Section 7

P8‧‧‧8th

S1~S8‧‧‧Steps

Other features and advantages of the present invention will be apparent from the embodiments of the present invention. FIG. 1 is a block diagram of an embodiment of the suspended machine system of the present invention; 2 is a schematic plan view showing a machine device of the embodiment; FIG. 3 is a perspective view of the embodiment; FIG. 4 is a schematic plan view showing the machine device in an initial position; FIG. A flow chart illustrating a control method applied to the embodiment; and FIG. 6 is a plan view showing the machine device at a target position.

Referring to Figure 1, an embodiment of a suspended machine system of the present invention includes a machine unit 1 and a guiding device 2.

The machine device 1 includes a body 11 , a guide wheel unit 12 , a driving unit 13 , an arithmetic unit 14 disposed on the body 11 and electrically connected to the driving unit 13 , and an input unit 15 electrically connected to the computing unit 14 . .

Referring to FIG. 2, the body 11 has a substantially rectangular shape. The guide wheel unit 12 has a first guide wheel 121, a second guide wheel 122 and a third guide wheel which are disposed at four corners of the body 11 at a distance from each other. 123 and a fourth guide wheel 124. In this embodiment, the body 11 is generally square, and the radii of the first guide wheel 121, the second guide wheel 122, the third guide wheel 123, and the fourth guide wheel 124 are identical to each other. But it is not limited to this.

The driving unit 13 has four corners spaced apart from each other at four corners of the body 11 to respectively drive the first guiding wheel 121, the second guiding wheel 122, and the third guiding The drive motor that rotates the wheel 123 and the fourth guide wheel 124. For convenience of description, the four driving motors are respectively defined as a first driving motor 131 that drives the first guiding wheel 121, a second driving motor 132 that drives the second guiding wheel 122, and a third driving wheel 123. The third drive motor 133 and a fourth drive motor 134 that drives the fourth guide wheel 124.

The input unit 15 can be, for example, a wireless receiver or a human motion sensing module, but is not limited thereto. When the input unit 15 is a wireless receiver, it can receive a displacement command such as a wireless transmission issued by the remote controller. When the input unit 15 is a human body motion sensing module, it can receive the displacement command indicated by the human body in a specific limb motion, but is not limited thereto.

Referring to FIG. 3, the guiding device 2 includes a pulley unit 21, a rope receiving unit 22, a tension sensing unit 23 (shown in FIG. 1) electrically connected to the rope receiving unit 22, and a guide rope. twenty four.

The pulley unit 21 has a first pulley 211, a second pulley 212, a third pulley 213 and a fourth pulley 214 respectively disposed at four end points of a ceiling of an indoor space, and the first pulley 211 is The second pulley 212, the third pulley 213, and the fourth pulley are horizontally disposed. In this embodiment, the first pulley 211, the second pulley 212, the third pulley 213, and the fourth pulley 214 have the same radius, and cooperate to define a movement of the machine device 1 and a quadrilateral shape. For example, the movement range R of the rectangle is not limited thereto.

Referring to FIG. 4, the guide wire 24 extends between the guide wheel unit 12 and the pulley unit 21 in a specific order, and both ends of the guide rope 24 are coupled to the rope receiving unit 22.

Specifically, the rope receiving unit 22 is, for example, an electric winding machine having a drum, and the position of the rope receiving unit 22 corresponds to the first pulley 211. The two ends of the guide wire 24 are respectively a fixed end 241 and an adjustment end 242 opposite to the fixed end 241. The tension sensing unit 23 is, for example, fixed in a drum (not shown) of the rope receiving unit 22, and the adjusting end 242 of the guiding rope 24 is connected to the tension sensing unit 23, And can be driven by the drum of the rope body retracting unit 22. The tension sensing unit 23 senses the tension of the guide rope 24 from the adjustment end 242 of the guide rope 24, and controls the rotation of the drum of the rope body retracting unit 22 according to the result of the sensing, when the rope body retracting unit 22 When the drum is rotated, the guide rope 24 can be retracted.

The guide wire 24 has a first section P1 between the fixed end 241 and the first guide wheel 121, and a second section P2 extending from the first guide wheel 121 to the second pulley 212. The second pulley 212 extends to the third section P3 of the second guide wheel 122, a fourth section P4 extending from the second guide wheel 122 to the third pulley 213, and a third pulley 213 a fifth section P5 extending to the third guide wheel 123, a sixth section P6 extending from the third guide wheel 123 to the fourth pulley 214, and a fourth pulley 214 extending to the fourth guide The seventh section P7 of the wheel 124 and a fourth section P8 extending from the fourth pulley 124 to the first pulley 211.

Specifically, when the first guide wheel 121, the second guide wheel 122, the third guide wheel 123 or the fourth guide wheel 124 rotates, the guide rope 24 is driven, and when the guide rope 24 is driven The first pulley 211, the second pulley 212, the third pulley 213, and the fourth pulley 214 are also brought together. In other words, the first pulley 211, the second pulley 212, the third pulley 213, and the fourth pulley 214 are slaved to the guide rope 24, and the guide rope 24 is driven by the first guide wheel. 121. The second guide wheel 122, the third guide wheel 123 and the fourth guide wheel 124.

Referring to FIG. 5, a control method of this embodiment will be described in detail below.

First, step S1 is performed. In step S1, the arithmetic unit 14 receives the displacement instruction via the input unit 15. Next, step S2 is performed.

In step S2, the arithmetic unit 14 generates a target coordinate according to the displacement command, and the target coordinate represents a position to which the machine device 1 is displaced in the movement range R. Next, step S3 is performed.

In step S3, referring to FIG. 4, the operation unit 14 calculates an initial length of the first segment P1 to the eighth segment P8 before the machine device 1 moves according to an initial coordinate (in FIG. 4). The initial coordinates represent the initial position before the displacement of the machine unit 1 by L ₁ to L ₈ .

Hereinafter, the calculation method of the initial length of the first segment portion P1 to the eighth segment portion P8 will be described first.

First, defining an X-axis transversely passing through the center of the movement range R, and a Y-axis extending longitudinally through the center of the movement range R, the center of the movement range R is a coordinate in a plane coordinate system (0 , 0) the origin. In the following description, the initial coordinates are taken as an example of the origin.

Next, as shown in FIG. 4, a plurality of parameters in the following table are first defined.

Then, according to Equations 1 to 13 listed below and in conjunction with each other, the arithmetic unit 14 calculates the respective initial lengths of the first segment P1 to the eighth segment P8 before the movement of the machine device 1 (below The formula is expressed by L ₁ to L ₈ ).

Formula 1: L ₁ sin θ ₁ = L ₂ sin θ ₂

Equation 2: L ₃ sin θ ₃ = L ₄ sin θ ₄

Equation 3: L ₅ sin θ ₅ = L ₆ sin θ ₆

Equation 4: L ₇ sin θ ₇ = L ₈ sin θ ₈

Formula 5: Δy- O _i -2 S _l = L ₁ cos θ ₁ + L ₂ cos θ ₂

Equation 6: Δx- O _i -2 S _l = L ₃ cos θ ₃ + L ₄ cos θ ₄

Equation 7: Δy- O _i -2 S _l = L ₅ cos θ ₅ + L ₆ cos θ ₆

Formula 8: Δx- O _i -2 S _l = L ₇ cos θ ₇ + L ₈ cos θ ₈

The arithmetic unit 14 executes step S4 after calculating the values of L ₁ to L ₈ .

In step S4, referring to FIG. 6, the operation unit 14 calculates, according to the target coordinate, a target length of the first segment P1 to the eighth segment P8 after the machine device 1 moves to the target coordinate ( It is represented by L ₁ ' to L ₈ ' in Fig. 6). The calculation method of the target length of the first segment P1 to the eighth segment P8 is the same as the initial length of the first segment P1 to the eighth segment P8, and the difference is only in the step S3. The change of the values of the parameters is defined, so it will not be described here. After the calculation unit 14 calculates the value of the target length of the first segment portion P1 to the eighth segment portion P8, the operation unit 14 executes step S5.

In step S5, the arithmetic unit 14 calculates a pair of first length variables corresponding to the first segment P1 and a pair of corresponding second segment portions P2 based on the calculated initial lengths and the target lengths. Two length variables, a pair of third length variables that should be the third segment P3, a pair of fourth length variables that should be the fourth segment P4, a pair of fifth length variables that should be the fifth segment P5, a pair of should The sixth length variable of the six-segment portion P6, the pair of seventh-length variables that should be the seventh-segment portion P7, and a pair of eighth-length variables that should be the eighth-segment portion P8. For example, the first length variable represents the amount of change in length of the first segment P1 before and after the movement of the machine device 1, that is, the difference between the initial length of the first segment P1 and the target length ( L ₁ -L ₁ '). The second length variable to the eighth length variable and so on. Next, the arithmetic unit 14 performs step S6.

In step S6, the operation unit 14 generates a pair of displacement control data corresponding to the displacement command according to the calculated first length variable to the eighth length variable.

In this embodiment, the displacement control data includes a first rotation direction, a second rotation direction, a third rotation direction, a fourth rotation direction, a first rotation angle, a second rotation angle, and a third a rotation angle, a fourth rotation angle, a first rotation speed, a second rotation speed, a third rotation speed, and a fourth rotation speed. The first rotational direction, the first rotational angle, and the first rotational speed are corresponding to the first driving motor 131, and the second rotational direction, the second rotational angle, and the second rotational speed are corresponding to the second Drive motor 132, and so on.

Specifically, the operation unit 14 generates the displacement control data by first calculating the corresponding values according to the first length variable to the eighth length variable. a first driving length, a second driving length, a third driving length and a fourth driving length of the first guiding wheel 121 to the fourth guiding wheel 124. The first driving length to the fourth driving length respectively represent the length of the guiding wire 24 that the first guiding wheel 121 to the fourth guiding wheel 124 respectively need to drive. Then, the computing unit 14 determines the first rotation direction to the fourth rotation direction according to the first driving length to the fourth driving length, and calculates the first rotation angle to the fourth rotation angle. Then, the first rotation speed to the fourth rotation speed is calculated according to the first rotation angle to the fourth rotation angle and a preset rotation time.

The first driving length to the fourth driving length, the first rotation direction to the fourth rotation direction, the first rotation angle to the fourth rotation angle, and the first rotation speed to the first The calculation of the four rotation speeds.

Regarding the calculation manner of the first driving length to the fourth driving length, first, the parameter symbols defining the first driving length to the fourth driving length are respectively ΔL _a , ΔL _b , ΔL _c and ΔL _d Next, the values of the first to third driving lengths are sequentially calculated in the following manner by Equations 14 to 17 which are connected to each other as shown below.

The first rotation direction to the fourth rotation direction are positive and negative respectively related to the first driving length to the fourth driving length, and each may be a clockwise rotation direction or a counterclockwise rotation direction. For example, referring to the aforementioned formula 14, if the first driving length is a positive value, it represents that the initial length of the first segment portion P1 is greater than the target length (L ₁ > L ₁ '). That is to say, when the machine device 1 moves from the initial coordinate to the target coordinate, the first segment portion P1 needs to be gradually shortened. Therefore, taking FIG. 4 as an example, the first rotation direction should be set to the counterclockwise rotation direction, so that the first guide wheel 121 moves the partial rope body of the guide rope 24 originally belonging to the first segment portion P1 to The second segment P2. On the other hand, if the first driving length is a negative value, the initial length of the first segment portion P1 is smaller than the target length (L ₁ <L ₁ '). That is to say, when the machine device 1 moves from the initial coordinate to the target coordinate, the first segment portion P1 needs to be gradually lengthened. Therefore, taking FIG. 4 as an example, the first rotation direction should be set to the clockwise rotation direction, so that the first guide wheel 121 moves the partial rope body of the guide rope 24 originally belonging to the second section P2 to The first segment P1.

The first rotation angle to the fourth rotation angle are related to the first driving length to the fourth driving length, and the circumferential length of the first to fourth guide wheels 121 to 124. Specifically, the first rotation angle is equal to the first driving length divided by the circumferential length of the first guiding wheel 121, and then multiplied by 360 degrees, and the second rotation angle is equal to the second driving length divided by the second After the circumference of the guide wheel 122 is long, it is multiplied by 360 degrees, and the third rotation angle and the fourth rotation angle are similar. Taking the first rotation angle as an example, assuming that the first driving length is 15 cm, and the circumference of the first guiding wheel 121 is 10 cm, it means that the first guiding wheel 121 needs to be rotated by 1.5 turns. Rope 24 It drives 15 centimeters, so the first angle of rotation is 540 degrees in 360 degrees per revolution.

The calculation manner of the first rotation speed to the fourth rotation speed is obtained by dividing the first driving length to the fourth driving length by the preset rotation time. Assuming that the first driving length is 15 cm, the second driving length is 30 cm, and the preset rotation time is 3 seconds, the first rotation speed is 5 cm/sec (15 cm divided by 3 seconds), and The second rotational speed is then 10 cm/sec (30 cm divided by 3 seconds). In this way, the first guide wheel 121, the second guide wheel 122, the third guide wheel 123, and the fourth guide wheel 124 respectively rotate the first rotation angle, the second rotation angle, and the third rotation angle. The time taken by the fourth rotation angle is the same as each other, so that the machine unit 1 can be more smoothly displaced.

After the arithmetic unit 14 generates the displacement control data, the arithmetic unit 14 performs step S7.

In the step S7, the operation unit 14 controls the first drive motor 131 to the fourth drive motor 134 to drive the first guide wheel 121 to the fourth guide wheel 124 to rotate the guide wire 24 according to the displacement control data. To start changing the length of the first segment portion P1 to the eighth segment portion P8. More specifically, the arithmetic unit 14 controls the first driving motor 131 to rotate the first rotation angle in the first rotation direction at the first rotation speed, and controls the second driving motor 132 to rotate the second rotation speed. Turning the second rotation angle toward the second rotation direction, and so on. Starting at step S7 After the execution, step S8 is started at the same time.

In step S8, the tension sensing unit 23 detects the tension of the guide rope 24, and controls the rope body retracting unit 22 to retract the guide rope 24 according to the detection result to maintain the tension of the guide rope 24 in a pre- Within the scope. In the present embodiment, the tension sensing unit 23 detects the tension of the eighth segment P8 of the guide wire 24, and when the tension of the eighth segment P8 is too high (ie, too tight), the tension is sensed. The measuring unit 23 controls the rope body retracting unit 22 to perform paying by the adjusting end 242 of the guide wire 24. On the contrary, when the tension of the eighth segment portion P8 is too low (ie, too loose), the tension sensing unit 23 controls the rope body retracting unit 22 to be taken up by the adjusting end 242 of the guide wire 24 until the The machine unit 1 is moved to the target position.

It should be noted that, in this embodiment, if the machine device 1 needs to pass N different quadrants when moving according to a single displacement command, the operation unit 14 will move the path of the machine device 1 to N The different quadrants are divided into N segments, and the control method is performed N times (in the case of a straight moving path, N is one of 1 to 3). For example, it is assumed that the moving path of the machine device 1 is started by the first quadrant, and after the origin reaches the third quadrant, since the moving path passes through both the first quadrant and the third quadrant, the moving path will The operation unit 14 is divided into a first quadrant segment and a third quadrant segment. Wherein, the first quadrant segment represents a portion from an initial coordinate in the first quadrant to an origin, and the third quadrant segment represents a portion of the target coordinate from the origin to the third quadrant, and the embodiment separately The first quadrant segment and the third quadrant segment perform the control method twice. For another example, it is assumed that the moving path of the machine device 1 is started by the first quadrant, and after reaching the third quadrant after the second quadrant, since the moving path passes through the first quadrant, the second quadrant, and the third quadrant. Therefore, the moving path is divided by the computing unit 14 into a first quadrant segment, a second quadrant segment, and a third quadrant segment. Wherein the first quadrant represents a point from the initial coordinate in the first quadrant to the Y-axis (the coordinates are, for example, (0, y ₁ ), and y ₁ > 0, that is, the demarcation point between the first quadrant and the second quadrant )part. The second quadrant represents a point from the second axis on the Y-axis (ie (0, y ₁ )) to a point on the X-axis (the coordinates are, for example, (x ₁ , 0), and x ₁ <0, ie Part of the boundary between the second quadrant and the third quadrant. The third quadrant segment represents a portion from the point on the X-axis (ie, (x ₁ , 0)) to the target coordinate in the third quadrant, and the embodiment will respectively determine the first quadrant segment and the second quadrant. The control method is executed three times in the segment and the third quadrant segment.

In summary, the hanging machine system of the present invention cooperates with the guiding device 2 by the mechanical device 1 and uses the control method to cause the arithmetic unit 14 to generate appropriate displacement control data, so that the machine device 1 It can move to the desired target position within the movement range R. The machine unit 1 can have, for example, pick-up, cleaning, watering or various processing functions, so that various specific tasks can be performed after moving to the target position in accordance with various needs. It is worth mentioning that if the pulley unit 21 and the guide rope 24 are set at a height higher than the height of the general person, the machine device 1 does not move with the person in the same space when moving within the movement range R. Interfere with each other. Furthermore, the guide wire 24 is replaced An instrument such as a connecting rod or a track guides the movement of the machine device 1, which not only greatly reduces the cost, but also avoids the feeling of pressure of the indoor person, so that the object of the present invention can be achieved.

However, the above is only the embodiment of the present invention, and the scope of the invention is not limited thereto, and all the equivalent equivalent changes and modifications according to the scope of the patent application and the patent specification of the present invention are still The scope of the invention is covered.

1‧‧‧ machine installation

11‧‧‧Ontology

12‧‧‧guide wheel unit

121‧‧‧First guide wheel

122‧‧‧Second guide wheel

123‧‧‧third guide wheel

124‧‧‧fourth guide wheel

21‧‧‧ Pulley unit

211‧‧‧First pulley

212‧‧‧Second pulley

213‧‧‧third pulley

214‧‧‧fourth pulley

R‧‧‧Mobile range

22‧‧‧rope retracting unit

24‧‧‧ Guide rope

241‧‧‧ fixed end

242‧‧‧ adjustment end

P1‧‧‧First Section

P2‧‧‧Second Section

P3‧‧‧The third paragraph

P4‧‧‧4th

P5‧‧‧5th Division

P6‧‧‧Sixth Section

P7‧‧‧Section 7

P8‧‧‧8th

Claims (12)

A suspension machine system comprising: a machine device comprising a body, a guide wheel unit disposed on the body, a drive unit pivotally connected to the guide wheel unit, and an operation unit electrically connected to the drive unit, the guide The wheel unit has a first guide wheel, a second guide wheel, a third guide wheel and a fourth guide wheel which are disposed at four corners of the body at intervals. The drive unit has four drives respectively. a guide wheel, the second guide wheel, the third guide wheel and the drive motor for rotating the fourth guide wheel; and a guiding device comprising a pulley unit, a rope receiving unit, and an electric connecting body a tension sensing unit of the retracting unit, and a guide rope having a first pulley, a second pulley, a third pulley and a fourth pulley respectively disposed at four end points, and the first The pulley, the second pulley, the third pulley and the fourth pulley cooperate to define a movement range for the movement of the machine device and a quadrilateral, the two ends of the guide rope are connected to the rope body retracting unit, and have One between the rope body retracting unit and the first guide a first segment between the first segment, a second segment extending from the first pulley to the second pulley, a third segment extending from the second pulley to the second pulley, and the first segment a second guide wheel extending to a fourth section of the third pulley, a fifth section extending from the third pulley to the third guide wheel, and a sixth extending from the third guide wheel to the fourth pulley a segment extending from the fourth pulley to a seventh segment of the fourth guide wheel, and an eighth segment extending from the fourth guide wheel to the first pulley; wherein, when the arithmetic unit receives When a displacement command is issued, the operation unit generates a pair of displacement control data that should be displaced, and according to the displacement Controlling the data to drive the drive motors to drive at least a portion of the first guide wheel, the second guide wheel, the third guide wheel and the fourth guide wheel to rotate the guide wire to change the first segment Length of at least part of the portion, the second segment portion, the third segment portion, the fourth segment portion, the fifth segment portion, the sixth segment portion, the seventh segment portion, and the eighth segment portion And the tension sensing unit detects the tension of the guide rope, and controls the rope body retracting unit to retract the guide rope according to the detection result to maintain the tension of the guide rope within a preset range, so that the tension The machine unit moves within the range of movement to a target position at which the displacement command should be made. The suspended machine system of claim 1, wherein the range of movement is a rectangle. The suspension machine system of claim 1, wherein the four drive motors are a first drive motor that drives the first guide wheel, a second drive motor that drives the second guide wheel, and a drive a third driving motor of the third guiding wheel, and a fourth driving motor for driving the fourth guiding wheel, the displacement control data includes a first rotation direction corresponding to the first driving motor and a first rotation angle, corresponding to a second rotational direction and a second rotational angle of the second drive motor, a third rotational direction and a third rotational angle corresponding to the third drive motor, and a fourth rotational direction corresponding to the fourth drive motor and a fourth rotation angle, the first rotation direction, the second rotation direction, and the fourth rotation direction are each a clockwise rotation direction or a counterclockwise rotation direction. The suspended machine system of claim 3, wherein the displacement control data further comprises a first rotational speed corresponding to the first drive motor, a corresponding a second rotational speed of the second drive motor, a pair of third rotational speeds of the third drive motor, and a fourth rotational speed of the fourth drive motor, the arithmetic unit controlling the first drive motor, the first The second drive motor, the third drive motor and the fourth drive motor respectively drive the first guide wheel and the second at the first rotational speed, the second rotational speed, the third rotational speed and the fourth rotational speed The guide wheel, the third guide wheel and the fourth guide wheel rotate to rotate the first guide wheel, the second guide wheel, the third guide wheel and the fourth guide wheel respectively to rotate the first rotation angle, The second rotation angle, the third rotation angle, and the fourth rotation angle take the same time. The hanging machine system of claim 4, wherein the operation unit generates a target coordinate according to the displacement command after receiving the displacement command, and then generates a target coordinate according to the displacement command, and then according to the target coordinate and an initial The coordinates generate the displacement control data, the target coordinate represents the target position to be reached by the displacement of the machine device, and the initial coordinate represents an initial position before the displacement of the machine device; the manner in which the operation unit generates the displacement control data is based on the The initial coordinate and the target coordinate calculate a pair of first length variables that should be the first segment, a pair of second length variables that should be the second segment, a pair of third length variables that should be the third segment, and a pair of should a fourth length variable of the fourth segment, a pair of fifth length variables that should be the fifth segment, a pair of sixth length variables that should be the sixth segment, and a seventh length variable that should be the seventh segment, and a pair of eighth length variables corresponding to the eighth segment; then, the arithmetic unit is based on the first length variable, the second length variable, the third length variable, the first Four length variable, the fifth length change The quantity, the sixth length variable, the seventh length variable, and the eighth length variable determine the first rotation direction, the second rotation direction, the third rotation direction, and the fourth rotation direction, and calculate the first a rotation angle, the second rotation angle, the third rotation angle, and the fourth rotation angle; then, the operation unit is further configured according to the first rotation angle, the second rotation angle, the third rotation angle, and the fourth The first rotation speed, the second rotation speed, the third rotation speed, and the fourth rotation speed are calculated by the rotation angle and a preset rotation time. The hanging machine system of claim 1, wherein the two ends of the guide rope are respectively a fixed end, and an adjustment end opposite to the fixed end, the rope retracting unit is adjusted by the guide rope The end of the guiding rope is retracted, and the tension sensing unit detects the tension of the first segment and the eighth segment which are closer to the adjusting end. A method for controlling a suspended machine system, comprising: (A) providing a suspended machine system, the hanging machine system comprising a machine device and a guiding device, the machine device comprising a body and a guide disposed on the body a wheel unit, a driving unit pivotally connected to the guiding wheel unit, and an arithmetic unit electrically connected to the driving unit, the guiding wheel unit having a first guiding wheel disposed at four corners of the body at intervals from each other, a second guide wheel, a third guide wheel and a fourth guide wheel, the driving unit has four rotations respectively driving the first guide wheel, the second guide wheel, the third guide wheel and the fourth guide wheel a driving motor, the guiding device comprises a pulley unit, a rope receiving unit, a tension sensing unit electrically connected to the rope receiving unit, and a guiding rope, the pulley unit has four end points respectively arranged One of the first slip a wheel, a second pulley, a third pulley and a fourth pulley, and the first pulley, the second pulley, the third pulley and the fourth pulley cooperate to define a movement for the machine device and a quadrilateral shape a moving range, the two ends of the guide rope are connected to the rope receiving unit, and have a first section between the rope receiving unit and the first guiding wheel, and a first guiding wheel a second section extending to the second pulley, a third section extending from the second pulley to the second pulley, and a fourth section extending from the second pulley to the third pulley, a fifth section extending from the third pulley to the third guide wheel, a sixth section extending from the third guide wheel to the fourth pulley, and a fourth pulley extending to the fourth guide a seventh segment of the wheel, and an eighth segment extending from the fourth guide wheel to the first pulley; (B) the arithmetic unit receives a displacement command; (C) the arithmetic unit generates a pair of displacement commands Displacement control data; (D) the arithmetic unit controls the drive motors to drive the first guide according to the displacement control data And at least part of the second guide wheel, the third guide wheel and the fourth guide wheel rotate to drive the guide wire to change the first segment, the second segment, the third segment, a length of at least a portion of the fourth segment, the fifth segment, the sixth segment, the seventh segment, and the eighth segment; and (E) the tension sensing unit detects the guide The tension of the rope, and according to the detection result, the rope body retracting unit controls the rope to maintain the tension of the rope within a predetermined range. A control method of a suspended machine system according to claim 7, wherein In the step (A), the movement range is a rectangle. The control method of the suspended machine system according to claim 7, wherein in the step (A), the four drive motors are respectively defined as a first drive motor that drives the first guide wheel, and a second drive motor. a second drive motor of the guide wheel, a third drive motor that drives the third guide wheel, and a fourth drive motor that drives the fourth guide wheel; and in step (C), the displacement control data includes corresponding a first rotation direction of the first driving motor and a first rotation angle, a second rotation direction corresponding to the second driving motor and a second rotation angle, a third rotation direction corresponding to the third driving motor, and a a third rotation angle, and a fourth rotation direction and a fourth rotation angle corresponding to the fourth drive motor, wherein the first rotation direction, the second rotation direction, the third rotation direction, and the fourth rotation direction are A clockwise direction of rotation or a counterclockwise direction of rotation. The control method of the suspended machine system according to claim 9, wherein in the step (C), the displacement control data further includes a pair of first rotation speeds that should be the first drive motor, and a pair of second drive motors a second rotational speed, a pair of third rotational speeds that should be the third drive motor, and a pair of fourth rotational speeds that should be the fourth drive motor; and in step (D), the arithmetic unit also controls the first drive The motor, the second drive motor, the third drive motor, and the fourth drive motor respectively drive the first guide wheel at the first rotational speed, the second rotational speed, the third rotational speed, and the fourth rotational speed The second guide wheel, the third guide wheel and the fourth guide wheel are rotated to rotate the first guide wheel, the second guide wheel, the third guide wheel and the fourth guide wheel respectively Angle of rotation, the second The rotation angle, the third rotation angle, and the fourth rotation angle take the same time. The control method of the suspended machine system according to claim 10, further comprising a step (F) between the step (B) and the step (C): the operation unit generates a target coordinate according to the displacement command, the target The coordinate represents the position that the machine device is to be displaced in the moving range; wherein the step (C) comprises the following sub-steps: (C1) the computing unit calculates a pair of first segment according to an initial coordinate and the target coordinate The first length variable, a pair of second length variables that should be the second segment, a pair of third length variables that should be the third segment, a pair of fourth length variables that should be the fourth segment, and a pair should be fifth a fifth length variable of the segment, a pair of sixth length variables that should be the sixth segment, a pair of seventh length variables that should be the seventh segment, and a pair of eighth length variables that should be the eighth segment, the initial The coordinate represents an initial position before the displacement of the machine device; (C2) the operation unit is based on the first length variable, the second length variable, the third length variable, the fourth length variable, the fifth length variable, the first Six length variable, the The seventh length variable and the eighth length variable determine the first rotation direction, the second rotation direction, the third rotation direction, and the fourth rotation direction, and calculate the first rotation angle and the second rotation angle And the third rotation angle and the fourth rotation angle; and (C3) the operation unit according to the first rotation angle, the second rotation angle, the third rotation angle, the fourth rotation angle, and a preset rotation time Calculating the first rotational speed, the second rotational speed, and the third rotation Speed and the fourth rotational speed. The control method of the suspended machine system according to claim 7, wherein in the step (A), the two ends of the guide rope are respectively a fixed end, and an adjustment end opposite to the fixed end, the rope body receives The adjusting unit is configured to receive and retract the guiding rope by the adjusting end of the guiding rope; and in the step (C), the tension sensing unit detects the first segment and the eighth segment being adjacent thereto The tension of the adjustment end.