M363606 五、新型說明： 【新型所屬之技術領域】 本創作係有關-種尋跡式自走载具，尤指—種能夠以 非接觸的感測方式，增加載具行進時地流暢度，尤其能夠 運行於田間崎嶇路面之非接觸式尋跡自走載具。 _【先前技術】 籲#、按’關於尋跡式自走載具（或稱尋跡式自走車）的控制 杈式包括有：利用經驗法則與流程圖來設計邏輯控制電 路、以布林代數演鼻法推演自走載具方向的邏輯控制電 路採用可私式控制器（Programmable Logical Controller ’ PLC)作為自走載具方向與速度的控制器， 以及利用可程式控制器（pLC)内部計時電驛之功能撰寫差 動變速程式控制後輪速差等發展階段。 其中，差動變速方式被證實相較於以往的控制策略上 籲可以獲得較好及多變的方向及速度控制，原因在於差動變 速的時間比例調控係隨著地面環境及載具之運動狀況不 同而作改變’並配合接點邏輯電路之方式控制調整兩輪速 一差達到車體方向修正及變速之功能。 . 然而，過去在自走載具控制裝置的研究開發中，於感 測器方面大多選用數位訊號輸出類型，當外在環境過於複 雜時，若要準確地描述外在環境狀況，則需更多地感測器 作偵測，而造成輸入狀態過多的情況發生，將增加邏輯推 演的難度及干擾產生的機率。 3 M363606 再者，接觸式尋跡控制裝置，於載具行進時，會因碰 觸到障礙物即產生劇烈之方向修正，導致載具運行缺乏平 穩。另外，應用於田間作業時，若以碰撞作物作為載具方 向修正之依據，將造成作物損傷，而失卻自走載具用於農 業自動化之本意；同樣的再，由於接觸式尋跡控制裝置其 感測範圍固定，對於多變的田間環境，無法針對各種外界 狀態作出最適合之反應。 *【新型内容】 有鑑於此，本創作之主要目的即在提供一種能夠以非 接觸的感測方式，增加載具行進時地流暢度，尤其能夠運 行於田間崎嶇路面之非接觸式尋跡自走載具。 為達上揭目的，本創作「非接觸式尋跡自走載具」係 包括有一載具、一感測裝置，以及一控制裝置；其中，感 測裝置係以超音波感測器、電子陀螺儀及光電開關為感測 器；控制裝置係採用可程式控制器（PLC)結合類比/數位轉 _換模組（ADC)用以接收感測裝置之類比訊號，再以可程式 控制器之程式邏輯複合傳統繼電器迴路之線路邏輯作為 控制載具運行之依據。 據以，當載具運行時，係由置於載具前方左右兩邊之 超音波感測器分別感測載具與左右作物的距離，另外由置 於載具中間之電子陀螺儀用以量測載具轉向時的角速 度，並且由載具左、右兩侧之光電開關分別向左右偵測以 供便定載具之位置，俾獲致一種能夠以非接觸的感測方 4 M363606 义地流揚度，尤其能夠運行於田_ 开接觸式哥跡自走载具。 【實施方式】 而獲可參閱本案圖式及實施例之詳細說明 係包括有Τ ’本創作之「非接觸式尋跡自走載具」 其中： /、 0、一感測裝置20’以及一控制裝置3〇; 型為=1〇之材料以魚骨型、方型或矩型斷面之紹擠 銘蓉好以純、L型鐵架、電木板、工程塑勝、方口 型3:=而成。以銘擠型配合特定之内六角螺絲、方 斜H 作為載具底餘構，具有㈣容易、方便 于月杈正或調整及可回收利用之優點。 如第二圖及第三圖所示，該載具1〇之底盤後方係在 ^兩侧分職有-傳動輪組U，各該傳動輪組u係由一 車輪111、一馬達112以及設於該車輪U1與該馬達112 之間的軸承座U3與聯軸器114作為動力傳動聯結；該載 具!·〇之底盤前方則設有一組惰輪12使得以依據三點成面 原理，避免於崎嶇地面行進時，因為動力輪懸空而發生空 轉情形；另外，在該載具10的前方設有一斜向上凸伸之 支架13。 如第一圖所示，該感測裝置20係進一步^括有：設 於》亥載具1 〇前方左右兩侧的超音波感測器21、設於該載 5 M363606 具10中間位置的電子陀螺儀22，以及設在該載具10左 右兩側之光電開關23等感測器。 至於，該控制裝置30係進一步包括有：一可程式控 制為（PLC)31及一類比/數位轉換模組（ADC)32，主要採用 可程式控制器（PLC)31結合類比/數位轉換模組（adc)32 .用以接收該感測裝置20之類比訊號，再以可程式控制器 之程式邏職合傳統繼電迴路之線路邏㈣為控 I具運行之依據。 於實施時’該左右兩個超音波感測器21係設在該載 具10之支架13末端兩側，用以分別感測载具與左右作物 的距離’其主要藉由輸出電壓與被感測物距離之函數關 2 ’於左右兩側各取兩個自設閲值，再與類比轉數位模植 2)轉換輸人之邏.輯變數作數值比較，產生四個内部電 Z〜P) ’將此四個内部電驛之Gn/G f f狀態作排列， ^疋f 2 =16種輸入狀態。内部電釋C5〇及C52為下限動 作，虽超音波輸入之邏輯變數小於設 :合’定此邏輯為1，反之大於設定間值時，定 變=二。:，上限動作，超音波輸出之邏ί 文數大於5又疋閾值％，内部電驛閉合，定此邏輯 之小於設定閾值時，定此邏輯為〇。 .'、 士該置於載具10中央的電子陀螺儀22主要作 日讀動角度之量測及訊號迴授，載具1G ‘工 =輯控制’故其轉向角度的迴授訊號可經= 。又疋產生輸出控制的邏輯變數（内部電驛C⑽〜Ui)。載 6 M363606 ^丨〇轉向角度的控制，在程式架構中，僅作為載具轉彎 3寸動作觸發或結束之條件，因此並無複雜邏輯演算存在的 問過。當載具處於轉彎路徑狀態時，控制策略上是以「门」 字型路徑進入下一列，此段路徑以兩個90。迴轉以及直行 所組成。内部電驛Ceo'Cei分別為第一、二次迴轉是否達 90之判斷，皆為上限動作，當迴轉角度到達設定閾值卯 0守，内部電驛閉合，定此邏輯為1，反之小於設定閾值 >時’定此邏輯為〇。 該控制裝置30係根據設於載具2〇上的光電開關 23、超曰波感測器21及電子陀螺儀21，用以感測載具1〇 仃走於田間路徑的狀態，並依此制定載具1〇方向修正及 速度變換的策略。為避免同時使用過多的感測器輸入狀態 作邏輯演算，而使得演算的繁瑣程度增加，故將整體程式 为成1.各感測器狀態综合判斷程式2·直走路徑程式3. 轉_路徑程式三個區塊。至於，其中直走與轉彎區塊間以 可程式控制器（PLC)21之内部電驛&之導通與否作切換。 在各感測器狀態綜合判斷程式區塊中，當作物不在超 音波感測21距離内，且光電開關23都沒有偵測到作物， 則構成轉彎條件，為減少關情形發生，此狀態需維持超 過設定時間才會進入轉彎程式。《電開_ 23感測到作物 —時，輸入接點〇0〜Χ4)閉合，定此邏輯為丨，反之未感測 、到時，定邏輯為0，·超音波輸入狀態則是以四個内部電驛 (C5〇〜Cm)之On/Of f狀態代表，以布林代數來描述此區塊 邏輯關係，可程式控制器（PLC)r部電驛，其導通與否表 M363606 示是否滿足轉彎條件且作Timer之觸發條件，當達到設定 時間時’隨之進入轉彎程式。 。金在直走路徑程式中，係以超音波感測器21輸入之邏 輯變數，經數值比較後輸出四個内部電驛（Cm〜&幻，藉 由内部電驛的〇n/〇ff狀態，描述載具與兩側作物之相對 _位置，進而制定載具方向修正策略。共有16種狀態組合， 其中7,為不可能發生之狀態，故制定策略時，針對剩餘 _ 9種狀態制訂即可。依據剩餘9種輸入狀態，推測各狀態 載具與作物間的位置關係，分別為載具無偏移、左右小= 偏移、左右大幅偏移、脫離直行路徑及感測器受干擾這7 種情形。本創作以設定上、下限閾值的位置，使載罝 :=1寺奋另一侧的邏輯變數必先大於上限後，此側的邏 ^數才會小於下限，藉此來推斷偏純度 感測受干擾導致的誤判情形。 夕养，、 在轉彎路姉式區塊中，程式_由轉向判定 轉角及輸出控制三部分組成；轉向判定是由 觸 條件結合一計數器，將其設定為奇 壬，x 式，偶數4目m J 數轉f進行左轉程 =偶數- 人則進订右轉，分別以内部電驛Q、 .區勿，故進行轉彎時C4、C5其一必為閉人 輅白之 者同時閉合;計算轉角則是利用程式夂=器但= ^式求出總偏移角度代替以積分方式求角度制 疋利用求&的總偏移肖度與設定肖度作數=工、 程式控制器⑽)的内部電驛C6。、C 二:生： 程式程序控制，内部娜。，分別為 M363606 第一、二次迴轉達90°之輸出變數；其中，C6〇為轉彎路徑 過程中的邏輯控制變數，而C61作為轉彎程式結束之條 件，未用於轉彎之邏輯控制。此外，計時器之觸發條件為 C60閉合，並在超過設定時間後輸出電驛C85閉合，藉其與 C60之邏輯關係控制載具行走「门」字型。 由於本創作當中之控制裝置係以超音波分段測距制 定修正策略，再以電子陀螺儀量測角速度作為精準轉向控 '制之依據，其具體作法由控制底盤動力馬達之正反轉並配 ®合電力輸出作分段變速外，還加上差動變速與角速度積分 之方式分別控制兩輪速差與方向轉動角度，達到控制載具 方向及速度之功能，故能夠以非接觸的感測方式，增加載 具行進時地流暢度，尤其能夠運行於田間崎嶇路面。 另外，本創作之非接觸式尋跡自走載具在實際使用 時，係可以由蓄電池提供載具運行所需之電力；當然，亦 可以如第四圖所示，進一步在該載具10上設有一太陽能光 電模組40及一充電迴路，藉以增加載具之續行能力。 ί 綜上所述，本創作提供一較佳可行之非接觸式尋跡自 走載具，爰依法提呈新型專利之申請；本創作之技術内容 及技術特點巳揭示如上，然而熟悉本項技術之人士仍可能 基於本創作之揭示而作各種不背離本案創作精神之替換 •及修飾。因此，本創作之保護範圍應不限於實施例所揭示 者，而應包括各種不背離本創作之替換及修飾，並為以下 * ^ 之申請專利範圍所涵蓋。 9 M363606 【圖式簡單說明】 第一圖係為本創作第一實施例之非接觸式尋跡自走 外觀立體圖。 第二圖係為本創作中載具之外觀立體圖。 第三圖係為本創作中傳動輪組之外觀立體圖。 第四圖係為本創作第二實施例之非接觸式尋跡自走 外觀立體圖。 ~ 【主要元件符號說明】 10載具 11傳動輪組 111車輪 112馬達 113轴承座 114聯軸器 12惰輪 13支架 感測裝置 21超音波感測器 2 2電子陀螺儀 23光電開關 30控制裝置 31可程式控制器（PLC) 32類比/數彳立轉換模組 (ADC) 40太陽能光電模組 10M363606 V. New description: [New technical field] This creation is related to a kind of tracing self-propelled vehicle, especially a kind of non-contact sensing method, which increases the fluency of the vehicle when traveling, especially A non-contact tracing self-propelled vehicle capable of running on rough terrain in the field. _[Prior Art] 吁#, press 'Control 关于 on the tracing self-propelled vehicle (or tracing self-propelled car) includes: using the rule of thumb and flow chart to design the logic control circuit, to Brin The algebraic nagging method deduces the direction of the self-propelled vehicle. The logic control circuit uses a programmable controller (PLC) as the controller for the direction and speed of the self-propelled vehicle, and the internal timing of the programmable controller (pLC). The function of the eDonkey is to write the differential shifting program to control the development of the rear wheel speed difference. Among them, the differential shifting mode has been confirmed to be better and more variable direction and speed control than the previous control strategy, because the time proportional control of the differential shifting system is related to the ground environment and the movement of the vehicle. Differently make changes and cooperate with the contact logic circuit to control the adjustment of the two-wheel speed to achieve the body direction correction and shifting function. However, in the past research and development of self-propelled vehicle control devices, most of the sensors used digital signal output types. When the external environment is too complicated, more accurate description of the external environment requires more The detection of the ground sensor causes too much input state, which increases the difficulty of logic derivation and the probability of interference. 3 M363606 Furthermore, the contact tracing control device generates a sharp direction correction when the vehicle is in contact with the obstacle, which results in a lack of stability of the vehicle. In addition, when applied to field operations, if the collision crop is used as the basis for correcting the direction of the vehicle, it will cause crop damage, and the self-propelled vehicle will be used for agricultural automation. Similarly, due to the contact tracing control device The sensing range is fixed, and it is impossible to make the most suitable response to various external conditions for a varied field environment. *[New content] In view of this, the main purpose of this creation is to provide a non-contact sensing method to increase the fluency of the vehicle while traveling, especially for non-contact tracing in the rough terrain of the field. Take the vehicle. In order to achieve the above, the "non-contact tracing self-propelled vehicle" includes a carrier, a sensing device, and a control device; wherein the sensing device is an ultrasonic sensor and an electronic gyroscope. The instrument and the photoelectric switch are sensors; the control device adopts a programmable controller (PLC) combined with an analog/digital conversion module (ADC) for receiving analog signals of the sensing device, and then a programmable controller program. The logic of the logic composite traditional relay loop is used as the basis for controlling the operation of the carrier. According to the figure, when the vehicle is in operation, the ultrasonic sensors placed on the left and the right sides of the vehicle respectively sense the distance between the vehicle and the left and right crops, and are also measured by an electronic gyroscope placed in the middle of the vehicle. The angular velocity of the vehicle when it is turning, and the photoelectric switches on the left and right sides of the vehicle are respectively detected to the left and right for the position of the carrier. The seizure can be used to sense the non-contact sensing 4 M363606. Degree, especially able to run in the field _ open contact buddy self-propelled vehicle. [Embodiment] The detailed description of the drawings and the embodiments of the present invention includes the "non-contact tracing self-propelled vehicle" of the present invention, wherein: /, 0, a sensing device 20', and a Control device 3〇; type is 1〇 material to fish bone, square or rectangular section of the extrusion of Ming Rong good to pure, L-shaped iron frame, bakelite, engineering plastic win, square mouth type 3:= Made. With the special extrusion type and the specific hexagon socket screw and the square H as the bottom structure of the vehicle, it has the advantages of (4) easy and convenient to adjust or retract. As shown in the second and third figures, the rear of the chassis of the carrier is attached to the two sides of the drive-transmission wheel set U, each of which is composed of a wheel 111, a motor 112 and The bearing housing U3 between the wheel U1 and the motor 112 is coupled to the coupling 114 as a power transmission; the carrier is provided with a set of idlers 12 in front of the chassis to avoid the three-point surface principle. When traveling on the ground, the idling occurs because the power wheel is suspended; in addition, a bracket 13 that protrudes obliquely upward is provided in front of the vehicle 10. As shown in the first figure, the sensing device 20 further includes: an ultrasonic sensor 21 disposed on the left and right sides of the front side of the vehicle, and an electronic device disposed at an intermediate position of the device 5 M363606 The gyro 22 and sensors such as the photoelectric switches 23 provided on the left and right sides of the carrier 10 are provided. The control device 30 further includes: a programmable control unit (PLC) 31 and an analog/digital conversion module (ADC) 32, mainly using a programmable controller (PLC) 31 combined with an analog/digital conversion module. (adc) 32. For receiving the analog signal of the sensing device 20, and then using the program logic of the programmable controller to match the line logic of the traditional relay circuit (4) as the basis for controlling the operation of the I device. In the implementation, the left and right ultrasonic sensors 21 are disposed on both sides of the end of the bracket 13 of the carrier 10 for sensing the distance between the vehicle and the left and right crops respectively. The main reason is that the output voltage and the sense are sensed. The function of the measured object distance is 2'. Two self-set values are taken on the left and right sides, and then the analogy is transferred to the digital model. 2) The input variable is converted into a numerical comparison, and four internal electric Z~P are generated. ) 'The Gn/G ff states of the four internal powers are arranged, ^疋f 2 = 16 input states. The internal electro-acoustic C5〇 and C52 are the lower limit actions, although the logic variable of the ultrasonic input is less than the setting: the combination is determined to be 1 and vice versa. :, the upper limit action, the number of logic of the ultrasonic output is greater than 5 and the threshold value is %, the internal power is closed, and when the logic is less than the set threshold, the logic is set to 〇. .', the electronic gyroscope 22 placed in the center of the vehicle 10 is mainly used for measuring the daily reading angle and signal feedback. The carrier 1G 'work = series control', so the feedback angle of the steering angle can be passed = . In addition, the logical variables of the output control (internal power C(10)~Ui) are generated. Load 6 M363606 ^丨〇 Steering angle control, in the program architecture, only as a condition for the vehicle to turn 3 inch action trigger or end, so there is no question of complex logic calculation. When the vehicle is in the turning path state, the control strategy is to enter the next column with a "gate" font path, which is two 90s. It consists of a swivel and a straight line. The internal electric cymbal Ceo'Cei is the judgment of whether the first and second revolutions reach 90, which are all upper limit actions. When the slewing angle reaches the set threshold 卯0, the internal power is closed, and the logic is set to 1, otherwise it is less than the set threshold. > When 'this logic' is 〇. The control device 30 is configured to sense the state in which the carrier 1 is walking on the field path according to the photoelectric switch 23, the super-shutter sensor 21 and the electronic gyroscope 21 provided on the carrier 2 Develop a strategy for vehicle direction correction and speed conversion. In order to avoid the use of too many sensor input states for logical calculation, the cumbersomeness of the calculation is increased, so the overall program is 1. The sensor state comprehensive judgment program 2 · Straight path program 3. Turn _ path Program three blocks. As for the switching between the straight-through and the turning blocks, the internal power/amplifier of the programmable controller (PLC) 21 is switched. In each sensor state comprehensive judgment program block, when the crop is not within the distance of the ultrasonic sensing 21, and the photoelectric switch 23 does not detect the crop, the turning condition is formed, and the state needs to be maintained in order to reduce the off situation. The turn program will not be entered until the set time has elapsed. When the electric switch _ 23 senses the crop, the input contact 〇0~Χ4 is closed, and the logic is 丨, otherwise, the sense is not sensed, the logic is 0, and the ultrasonic input state is four. The On/Of f state of the internal power supply (C5〇~Cm) represents the logic relationship of the block in the Boolean algebra. The programmable controller (PLC) r is electrically connected, and its conduction or not table M363606 indicates whether The turning condition is met and the trigger condition of the Timer is met. When the set time is reached, the turning program is entered. . In the straight path program, the gold is input with the logic variable of the ultrasonic sensor 21, and after the numerical comparison, four internal powers are output (Cm~& phantom, by the internal 驿n/〇ff state of the internal power 驿Describe the relative position of the vehicle and the crops on both sides, and then formulate the vehicle direction correction strategy. There are 16 combinations of states, 7 of which are impossible states, so when formulating the strategy, the remaining _ 9 states are formulated. According to the remaining 9 input states, the positional relationship between each state vehicle and the crop is estimated, which is that the vehicle has no offset, small left and right = offset, large left and right offset, off-line path and sensor interference. 7 cases. In this creation, the position of the upper and lower thresholds is set, so that the logical variable on the other side of the temple must be greater than the upper limit, and the logic on this side will be less than the lower limit. The partial purity detection is caused by the misjudgment caused by the interference. In the turning path block, the program _ is composed of three parts: the steering determination angle and the output control; the steering determination is combined with a counter by the touch condition, which is set. Wonderful, x type, even number 4 mesh m J number turn f to left turn = even number - people make a right turn, respectively, with internal power Q, . zone, so when turning, C4, C5 must be closed. The white one is closed at the same time; the calculation of the corner is calculated by using the program 夂 = but but ^ ^ to find the total offset angle instead of using the integral method to calculate the angle of the total offset and the setting of the degree of shaman = The internal power of the program controller (10) is C6. , C 2: Health: Program control, internal Na. They are the output variables of the first and second rotations of the M363606 up to 90°. Among them, C6〇 is the logical control variable in the process of turning the path, and C61 is the condition of the end of the turning program, which is not used for the logic control of the turn. In addition, the trigger condition of the timer is C60 closed, and after the set time is exceeded, the output power C85 is closed, and the logical relationship between it and C60 is used to control the vehicle to walk the "door" font. Because the control device in this creation is based on the ultrasonic segmentation ranging to develop the correction strategy, and then the electronic gyroscope to measure the angular velocity as the basis of the precise steering control system, the specific method is controlled by the positive and negative rotation of the control chassis power motor. The combination of the power output and the step-variable speed also adds the differential speed and the angular speed integral to control the two-wheel speed difference and the direction of the rotation, respectively, to achieve the function of controlling the direction and speed of the vehicle, so that it can be sensed by non-contact. The way to increase the fluency of the vehicle while traveling, especially in the rough terrain of the field. In addition, the non-contact tracing self-propelled vehicle of the present invention can provide the power required for the operation of the vehicle by the battery in actual use; of course, as shown in the fourth figure, further on the carrier 10. A solar photovoltaic module 40 and a charging circuit are provided to increase the continuation capability of the vehicle. In summary, this creation provides a better and feasible non-contact tracing self-propelled vehicle, and submits a new patent application according to law; the technical content and technical features of the creation are as disclosed above, but familiar with the technology. It is still possible for people to make alternatives and modifications that do not deviate from the creative spirit of this case based on the disclosure of this creation. Therefore, the scope of protection of this creation should not be limited to those disclosed in the examples, but should include various alternatives and modifications that do not depart from the present invention and are covered by the following *^ patent application. 9 M363606 [Simplified description of the drawings] The first figure is a perspective view of the non-contact tracing self-propelled appearance of the first embodiment of the present invention. The second picture is a perspective view of the appearance of the vehicle in the creation. The third figure is a perspective view of the appearance of the transmission wheel set in this creation. The fourth figure is a perspective view of the non-contact type tracking self-propelled appearance of the second embodiment of the present invention. ~ [Main component symbol description] 10 carrier 11 drive wheel set 111 wheel 112 motor 113 bearing seat 114 coupling 12 idler 13 bracket sensing device 21 ultrasonic sensor 2 2 electronic gyroscope 23 photoelectric switch 30 control device 31 programmable controller (PLC) 32 analog/digital conversion module (ADC) 40 solar photovoltaic module 10