M428389 -—^ - 修正 ifn 12. 2 9#£ 五、新型說明： 【新型所屬之技術領域】 本創作係有關一種循跡式無人載具，特及ί是指一種可以 有效改善因為電瓶電力及地面摩擦力影響而造成定位誤差的 具有步進定位、定距轉向及定距變速功能之循跡載具。 【先前技術】 按，自走載具是一種集合環境感知、規劃決策及無人化 ® 自動操控等多功能為一體的綜合體，並挾其有效節省人工成 本之特性，而可廣泛應用於自動駕驶、物料運輸、監視巡邏、 進出危險場所等作業。 以自動化或省力化為目的之自走載具行走控制，一般係 採用成本及技術上均較為有利的無軌道固定路徑誘導方式； 類似的固定路徑，係由誘導線來設定，該誘導線是以將誘導 帶貼在無人倉庫或工廠等之地面上等之方法來做成，截具本 身則配合利用電磁或光學之方式一邊檢測誘導線，一邊沿著 ® 誘導線自動行走，並且多以雙直流馬達驅動左右輪差速的方 式達到準確控制載具轉向之目的。 然而，在自走載具實際的運作狀態中，大多數轉彎動作 會因為左右輪與地面有時會發生打滑而會有較不平順的轉彎 動作，甚至於在直線路徑的運行過程中，亦經常因為左右輪 抓地力不同，或是電瓶電力降低造成計時電路上轉向時間的 控制誤差，使左右輪實際的運轉動作不如預期，因此避免類 似的誤差累積而造成行進路徑偏離是一項重要的議題。 3 M428389M428389 -—^ - Correct ifn 12. 2 9#£ V. New description: [New technology field] This creation is related to a track-type unmanned vehicle, especially ί means that it can effectively improve battery power and A tracking vehicle with stepping, fixed-distance steering and fixed-range shifting functions that causes positioning error due to ground friction. [Prior Art] According to the self-propelled vehicle, it is a combination of environmental awareness, planning decision-making, and unmanned® automatic control. It can be widely used in autonomous driving because it can effectively save labor costs. , material transportation, surveillance patrols, access to dangerous places and other operations. The self-propelled vehicle travel control for the purpose of automation or labor saving is generally a non-orbit fixed path induction method which is advantageous in both cost and technology; a similar fixed path is set by the induction line, which is The induction belt is made by attaching it to the ground of an unmanned warehouse or factory, etc. The interceptor itself cooperates with the electromagnetic or optical method to detect the induction line, while walking along the ® induction line, and mostly with a double DC motor. The method of driving the differential speed of the left and right wheels achieves the purpose of accurately controlling the steering of the vehicle. However, in the actual working state of the self-propelled carrier, most of the turning actions will have a relatively smooth turning action due to the slipping of the left and right wheels and the ground, even during the running of the straight path. Because the left and right wheel grips are different, or the battery power is reduced, the control error of the steering time on the timing circuit makes the actual operation of the left and right wheels not as expected. Therefore, avoiding the accumulation of similar errors and causing the deviation of the travel path is an important issue. 3 M428389
有鑑於此，本創作即在提供一種可以有效改善因為電瓶 電力及地面摩擦力影響而造成定位誤差的具有步進定位、定 距轉向及定距變速功能之循跡載具，為其主要目的者。 為達上揭目的，本創作之具有步進定位、定距轉向及定 距變速功能之循跡載具基本上包括有：一車架、一驅動裝置、 一光電感測裝置、一控制裝置，以及兩組光編碼器；其中， 該驅動裝置係包括兩個對應設於該車架後方兩側的驅動輪、 兩個分別用以帶動驅動輪運轉的直流馬達，以及兩個對應設 在該車架前方兩側的輔助輪；該光電感測裝置係在該車架上 設有複數個光電開關供感測地面之軌跡；該控制裝置係設於 該車架上與該驅動裝置之兩個直流馬達、該光電感測裝置之 光電開關電性連接，用以整合與該光電感測裝置及該組驅動 裝置之間的信號運作。 至於，該兩組光編碼器係對應設於該車架後方兩側之驅 動輪週邊處，並與該控制裝置電性連接，用以偵測各驅動輪 之運轉狀態，並將所偵測之信號回授至該控制裝置供做回修 正各驅動輪轉速之依據。 據以，本創作之具有步進定位、定距轉向及定距變速功 能之循跡載具可利用光編碼器擁有高精密度且為線性系統， 於功能上可在不同環境地面下使用而不受摩擦力因素影響， 亦能夠及時回授控制裝置作多段訊號輸出；俾可在定向循跡 下改善因為電瓶電力及地面摩擦力影響而造成定位誤差，提 升定位與轉向之準確度。 M428389 依據上述主要結構特徵，所述具 :定距變速功能之循跡載具係在該車“方二至 該控制裝置電性連接的超音波感測器· 。 測距離之連續變化，並對應輸出回=該超日波感測器偵 號供做為變速紋位之^據长至該控制裝置的偵測訊 =述兩種結構型態下，所置係以—可程式控 制器為核心，並搭配複數組繼電器迴路供控制各直流馬達正 反轉，以及搭配複數個直流電瓶供進行有段轉速。 上述各直流馬達係由兩組繼電器回路控制正反轉。 上述控制裝置係搭配兩顆6V及一顆丨2V直流電瓶，進Γ 12V、18V與24V的有段變速。 丁 上述控制裝置之可程式控制器係以布林代數演算法去推 演可程式控制器的階梯電路程式，一方面可解決條件序控中 所存在的複雜邏輯問題，並以該可程式控制器與各繼電=迴 =並行方式來裝配該具有步進定位、定距轉向及定距變^功 能之循跡載具，以節省元件及減少線路數。 具體而言，本創作之具有步進定位、定距轉向及定距變 速功能之循跡載具係可以產生下列功效： I可利用光編碼器應用於定距轉向控制，有欵解央超音 波測距及光編碼器技術應用於循跡載具之定位、定距^向^ 變速控制面臨地面環境之不確定性狀況而產生轉向 或行進路徑偏離之課題。 又誤差 2.可利用光編碼器應用於定距轉向控制，有致解央超立 波測距及光編碼器技術應用於循跡載具之定位、定距^向^ 變速控制因為電瓶電力降低所造成計時電路上轉向時間 5 M428389In view of this, this creation is to provide a tracking vehicle with step positioning, fixed-distance steering and fixed-distance shifting functions that can effectively improve the positioning error caused by battery power and ground friction. . In order to achieve the above, the tracking device with the step positioning, the fixed distance steering and the fixed distance shifting function basically comprises: a frame, a driving device, a photo-sensing device and a control device. And two sets of optical encoders; wherein the driving device comprises two driving wheels corresponding to the rear sides of the frame, two DC motors respectively for driving the driving wheels, and two correspondingly disposed in the vehicle An auxiliary wheel on the front side of the frame; the photo-sensing device is provided with a plurality of photoelectric switches on the frame for sensing the trajectory of the ground; the control device is disposed on the frame and two DCs of the driving device The motor and the photoelectric switch of the photo-sensing device are electrically connected to integrate signal operation between the photo-sensing device and the group of driving devices. The two sets of optical encoders are respectively disposed at the periphery of the driving wheel disposed on the rear sides of the frame, and are electrically connected to the control device for detecting the running state of each driving wheel, and detecting the detected state The signal is fed back to the control device for backing up the basis for correcting the rotational speed of each drive wheel. According to this, the tracking vehicle with step positioning, fixed-distance steering and fixed-distance shifting functions can use optical encoders with high precision and linear system, and can be used in different environments without function. Affected by the friction factor, it can also feedback the control device for multi-segment signal output in time; 俾 can improve the positioning error caused by battery power and ground friction under the directional tracking, and improve the accuracy of positioning and steering. M428389 According to the above main structural features, the tracking carrier with the fixed-distance shifting function is in the vehicle "the ultrasonic sensor electrically connected to the control device." The continuous change of the measured distance and corresponding Output back = the super-day wave sensor detector is used as the shifting position of the data to the detection device of the control device = the two types of structure, the system is based on the - programmable controller And with a complex array relay circuit for controlling the forward and reverse of each DC motor, and with a plurality of DC batteries for the segment speed. The above DC motors are controlled by two sets of relay circuits. The above control device is matched with two 6V and a 丨2V DC battery, with 12V, 18V and 24V stepped speed change. The programmable controller of the above control device uses the Boolean algebra algorithm to derive the ladder circuit program of the programmable controller. The complex logic problem existing in the conditional sequence control can be solved, and the tracking load with the step positioning, the fixed distance steering and the fixed distance changing function can be assembled by the programmable controller and each relay=back=parallel manner. With In order to save components and reduce the number of lines. Specifically, the tracking device with step positioning, fixed-distance steering and fixed-distance shifting functions can produce the following functions: I can use optical encoders for distance Steering control, there is a problem that the central ultrasonic supersonic ranging and optical encoder technology are applied to the positioning of the tracking vehicle, and the distance to the steering environment is uncertain due to the uncertainty of the ground environment. 2. The optical encoder can be applied to the fixed-distance steering control. The solution is used to locate the tracking carrier and the optical encoder technology is applied to the positioning of the tracking vehicle. The shifting control is caused by the battery power reduction. Time 5 M428389
制誤差。 3.利用超音波感測器測距技術，可達成分段變速之定位 動作，並且不受目標物表面材質而影響定位之準確性。 【實施方式】 本創作之特點，可參閱本案圖式及實施例之詳細說明而 獲得清楚地瞭解。 如第一圖本創作之具有步進定位、定距轉向及定距變速 功能之循跡載具使用狀態示意圖、第二圖本創作之具有步進 定位、定距轉向及定距變速功能之循跡載具外觀結構圖所 示，本創作之具有步進定位、定距轉向及定距變速功能之循 跡載具基本上包括有：一車架10、一驅動裝置20、一光電感 測裝置30、一控制裝置40，以及兩組光編碼器50 ;其中： 該車架10係利用複數個擠鋁角材11組合而成，其特性 為較以往使用的方口鋁以及墊木板等材料方便組裝且輕巧， 整體強度也能夠支撐載具上的物重。 該驅動裝置20係包括兩個對應設於該車架10後方兩側 的驅動輪21、兩個分別用以帶動驅動輪21運轉的直流馬達 22，以及兩個對應設在該車架10前方兩側的輔助輪23 ;於 實施時，該兩個輔助輪23可以為全向輪，使在載具進行修正 或轉向時，可大幅減少輪胎表面與地面的摩擦力，並且能夠 忖穩順暢地行走；又，各直流馬達22及驅動輪21係採用角 撐架12安裝於擠鋁角材11上，以方便進行位置調整，並且 在動作時能夠穩定而不搖晃。 該光電感測裝置30係在該車架10上設有複數個光電開Systematic error. 3. Utilizing the ultrasonic sensor ranging technology, the positioning action of the step-variable shifting can be achieved, and the accuracy of the positioning is not affected by the surface material of the target. [Embodiment] The features of the present invention can be clearly understood by referring to the detailed description of the drawings and the embodiments. For example, in the first figure, the schematic diagram of the use state of the tracking vehicle with step positioning, the fixed distance steering and the fixed distance shifting function, and the second drawing of the present invention have the steps of step positioning, fixed distance steering and fixed distance shifting function. According to the appearance structure diagram of the track carrier, the tracking vehicle with the step positioning, the fixed distance steering and the fixed distance shifting function of the present invention basically comprises: a frame 10, a driving device 20, and a photo-sensing device. 30. A control device 40, and two sets of optical encoders 50; wherein: the frame 10 is formed by combining a plurality of extruded aluminum angle members 11, and the characteristics thereof are convenient to assemble according to materials such as square aluminum and pad wood used in the past. Lightweight, the overall strength can also support the weight of the vehicle. The driving device 20 includes two driving wheels 21 corresponding to two sides of the frame 10, two DC motors 22 for driving the driving wheels 21, and two correspondingly disposed in front of the frame 10. The auxiliary wheel 23 on the side; in the implementation, the two auxiliary wheels 23 can be omnidirectional wheels, so that when the vehicle is corrected or turned, the friction between the surface of the tire and the ground can be greatly reduced, and the walking can be smoothly and smoothly Moreover, each of the DC motor 22 and the drive wheel 21 is mounted on the extruded aluminum angle 11 by the angle bracket 12 to facilitate position adjustment and to stabilize and not shake during operation. The photo-sensing device 30 is provided with a plurality of photoelectric openings on the frame 10.
M428389 關31供感測地面之執跡70 ;於實施時，該光電感測裝置30 係在該車架10前方裝設四只光電開關31用以感測地面之執 跡70變化，而該地面上之軌跡70係可以黑色電工膠布貼出 預定的循跡路徑。 該控制裝置40係設於該車架10上與該驅動裝置20之兩 個直流馬達22、該光電感測裝置30之光電開關31電性連接， 用以整合與該光電感測裝置30及該組驅動裝置20之間的信 號運作。 • 至於，該兩組光編碼器50係對應設於該車架10後方兩 側之驅動輪21週邊處，並與該控制裝置40電性連接，用以 偵測各驅動輪21之運轉狀態，並將所偵測之信號回授至該控 制裝置40供做回修正各驅動輪21轉速之依據。 原則上，本創作之具有步進定位、定距轉向及定距變速 功能之循跡載具於使用時，只需在該車架10上安嚷可利用光 編碼器50擁有高精密度且為線性系統，於功能上可在不同環 境地面下使用而不受摩擦力因素影響，亦能夠及時回授該控 # 制裝置40作多段訊號輸出；俾可在定向循跡下改善因為電瓶 電力及地面摩擦力影響而造成定位誤差，提升定位與轉向之 準確度。 再者，本創作之具有步進定位、定距轉向及定距變速功 能之循跡載具係可進一步於該車架10前方設有至少一組與 該控制裝置40電性連接的超音波感測器60 ;該超音波感測 器60係供偵測距離之連續變化，並對應輸出回授至該控制裝 置40的偵測訊號供做為變速及定位之依據。 本創作具體實施時，所述控制裝置40係以一可程式控制 7 M428389 一—. 器41為核心’·，.並搭配複數組繼電器迴路42供控制各直流馬達 22正反轉（各直流馬達22係由兩組繼電器迴路42控制正反 轉），以及搭配複數個直流電瓶43供進行有段轉速（可搭配兩 顆6V及一顆12V直流電瓶，進行12V、18V與24V的有段變速）。 以及’該控制裝置40之可程式控制器41係以布林代數演 算法去推演可程式控制器的階梯電路程式，一方面可解決條 件序控中所存在的複雜邏輯問題，並以該可程式控制器Ο與 各繼電器迴路4 2並行方式來裝配該超音波測距及光蝙碼器技 術應用於循跡載具之定位、定距轉向及變速控制，以節省元 件及減少線路數。 在上揭光電感測裝置30在該車架1〇前方裝設四只光電開 關31用以感測地面之轨跡70變化之實施狀態為例，每一支光 電開關31皆有⑽或OFF的狀態，因此光電開關31的狀態輸入點 對可程式控制器41有4點輸入，並形成24=16種有限狀態的路 徑變化’當感測到黑色電工膠布所貼出的路徑時，輪入接點 閉合，定此邏輯值為1，反之沒有感測到時，定此邏輯值為〇， 而可產生共有16種狀態組合。 如第二圖所示’在一定向系統下，該超音波感測器6 〇可 偵測距離之連續變化進而對應一類比訊號輸出，將其該控制 裝置40，與比較器閾值進行比較後，根據邏輯電路輪出控制 訊號於致動器，間接改變直流馬達22之電力大小，並結合複 合脈寬調變進行定位校正，達到分段變速定位之功能。 以及，在一定向系統下，各光編碼器5〇藉由設定不同狀 態之固定路徑長’將其訊號回授至該控制裝置4〇，利用内部 之高速計數器進行訊號比較後，藉由旗號輸出於制動器控制 M428389 修正 年月曰; 邏輯電路，達到定距變速的功能。 loLj-2 29—— 具體而言，本創作之具有步道定位、定距轉向及定距變 速功能之循跡載具，主要係在定向循跡下提升定位與轉向之 準確度，發展以超音波測距作分段變速定位及光編碼器之定 距作分段轉向及變速控制；利用光編碼器擁有高精密度且為 線性系統，於功能上可在不同環境地面下使用而不受摩擦力 因素影響，亦能夠及時回授系統作多段訊號輸出；以及，利 用超音波感測器不受外部光線及物體表面之特性影響回授訊 籲號，並且容易調整感測距離。故能以光電開關配合控制裝置， 使載具於行走及定位上更加準確與穩定。 與傳統習用結構相較，本創作之具有步進定位、定距轉 向及定距變速功能之循跡載具確實可以產生下列功效： 1.可利用光編碼器應用於定距轉向控制，有效解決超音 波測距及光編碼器技術應用於循跡載具之定位、定距轉向及 變速控制面臨地面環境之不確定性狀況而產生轉向角度誤差 或行進路徑偏離之課題。 • 2.可利用光編碼器應用於定距轉向控制，有效解決超音 波測距及光編碼器技術應用於循跡載具之定位、定距轉向及 變速控制因為電瓶電力降低所造成計時電路上轉向時間的控 制誤差。 3.利用超音波感測器測距技術，可達成分段變速之定位 動作，並且不受目標物表面材質而影響定位之準確性。 綜上所述，本創作提供一較佳可行之具有步進定位、定 距轉向及定距變速功能之循跡載具，，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 9M428389 is used for sensing the ground 70; in implementation, the photo-sensing device 30 is provided with four photoelectric switches 31 in front of the frame 10 for sensing the change of the ground 70, and the ground The upper track 70 series can be posted with a black electric tape to a predetermined tracking path. The control device 40 is electrically connected to the two DC motors 22 of the driving device 20 and the photoelectric switch 31 of the photo-sensing device 30 for integrating with the photo-sensing device 30 and the The signal operation between the group drives 20 is performed. The two sets of optical encoders 50 are respectively disposed at the periphery of the driving wheels 21 disposed on the rear sides of the frame 10, and are electrically connected to the control device 40 for detecting the operating state of each driving wheel 21. The detected signal is fed back to the control device 40 for backtracking the correction of the rotational speed of each of the drive wheels 21. In principle, the tracking device with the step positioning, the fixed distance steering and the fixed distance shifting function of the present invention only needs to be mounted on the frame 10 to have high precision and can be utilized by the optical encoder 50. The linear system can be used in different environments under the influence of friction factors, and can also timely feedback the control device 40 for multi-segment signal output; 俾 can be improved under the direction tracking because of battery power and ground The influence of friction causes positioning error and improves the accuracy of positioning and steering. Furthermore, the tracking device having the step positioning, the fixed distance steering and the fixed distance shifting function of the present invention can further provide at least one set of ultrasonic sense electrically connected to the control device 40 in front of the frame 10. The ultrasonic sensor 60 is configured to continuously change the detection distance and correspondingly output the detection signal fed back to the control device 40 as a basis for shifting and positioning. In the specific implementation of the present invention, the control device 40 is controlled by a programmable controller 7 M428389--the controller 41 as the core '·., and is combined with the complex array relay circuit 42 for controlling the forward and reverse rotation of each DC motor 22 (each DC motor) The 22 series is controlled by two sets of relay circuits 42, and is equipped with a plurality of DC batteries 43 for a certain speed (which can be used with two 6V and one 12V DC batteries for stepping of 12V, 18V and 24V) . And the programmable controller 41 of the control device 40 uses the Boolean algebra algorithm to derive the ladder circuit program of the programmable controller, and on the other hand, solves the complex logic problem existing in the conditional sequence control, and uses the programmable program The controller Ο is assembled in parallel with each relay circuit 4 2 to assemble the ultrasonic ranging and optical bar code technology for tracking, positioning, and shifting control of the tracking vehicle to save components and reduce the number of lines. For example, in the embodiment, the photoelectric sensor 31 is provided with four photoelectric switches 31 in front of the frame 1 for sensing the change of the track 70 of the ground. Each of the photoelectric switches 31 has (10) or OFF. State, so the state input point of the photoelectric switch 31 has 4 inputs to the programmable controller 41, and forms 24=16 kinds of finite state path changes. When the path of the black electrical tape is sensed, the wheel is connected. When the point is closed, the logic value is set to 1, and if it is not sensed, the logic value is 〇, and a total of 16 state combinations can be generated. As shown in the second figure, in a directional system, the ultrasonic sensor 6 〇 can detect the continuous change of the distance and corresponding to an analog signal output, and compare the control device 40 with the comparator threshold. According to the logic circuit, the control signal is turned on the actuator, and the power of the DC motor 22 is indirectly changed, and the positioning correction is performed in combination with the composite pulse width modulation to achieve the function of the sectional shift positioning. And, in an orientation system, each optical encoder 5 回 returns its signal to the control device 4 by setting a fixed path length of different states, and uses the internal high-speed counter for signal comparison, and then outputs by flag. In the brake control M428389 correction year and month; logic circuit, to achieve the function of the fixed distance shift. loLj-2 29 - Specifically, this creation has a tracking vehicle with trail positioning, fixed-distance steering and fixed-range shifting functions, which mainly improves the accuracy of positioning and steering under directional tracking, and develops ultrasonic waves. Range measurement for segmented shift positioning and optical encoder for segment steering and variable speed control; optical encoder with high precision and linear system, functionally can be used under different environmental grounds without friction The influence of factors can also be used to timely feedback the system for multi-segment signal output; and the ultrasonic sensor is not affected by external light and the characteristics of the surface of the object, and the sensing distance is easily adjusted. Therefore, the photoelectric switch can be used with the control device to make the vehicle more accurate and stable in walking and positioning. Compared with the traditional conventional structure, the original tracking device with step positioning, fixed-distance steering and fixed-distance shifting can indeed produce the following effects: 1. The optical encoder can be applied to the fixed-distance steering control to effectively solve the problem. Ultrasonic ranging and optical encoder technology are applied to the problem of tracking angle error or travel path deviation when the positioning of the tracking vehicle, the distance steering and the variable speed control face the uncertainty of the ground environment. • 2. The optical encoder can be used in the fixed-distance steering control to effectively solve the problem of ultrasonic ranging and optical encoder technology applied to the tracking carrier, the fixed-distance steering and the shift control due to the battery power reduction. Turning time control error. 3. Utilizing the ultrasonic sensor ranging technology, the positioning action of the step-variable shifting can be achieved, and the accuracy of the positioning is not affected by the surface material of the target. In summary, the present invention provides a better and feasible tracking vehicle with step positioning, fixed-distance steering and fixed-distance shifting functions, and submits a new patent application according to law; the technical content and technical features of the creation巳 Reveal as above, but cooked 9
M42838? 4 ί2. 2 9補充 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。 【圖式簡單說明】 第一圖係為本創作之具有步進定位、定距轉向及定距變 速功能之循跡載具使用狀態示意圖。 第二圖係為本創作之具有步進定位、定距轉向及定距變 速功能之循跡載具外觀結構圖。 第三圖係為本創作中控制裝置與光電感測裝置、光編碼 器、超音波感測器及直流馬達之訊號連接方式方塊示意圖。 31光電開關 40控制裝置. 41可程式控制器 42繼電器迴路 43直流電瓶 5 0光編碼器 60超音波感測器 70轨跡 【主要元件符號說明】 10車架 11擠鋁角材 12角撐架 20驅動裝置 21驅動輪 22直流馬達 23辅助輪 30光電感測裝置 10M42838? 4 ί2. 2 9 Supplementary Persons of this technology may still make substitutions and modifications based on the disclosure of this creation without departing from the spirit of the creation of this case. Therefore, the scope of the present invention should not be limited by the scope of the present invention, but should be included in the following claims. [Simple description of the diagram] The first diagram is a schematic diagram of the use status of the tracking vehicle with stepping, fixed-distance steering and fixed-range variable speed functions. The second picture is the appearance structure of the tracking vehicle with stepping, fixed-distance steering and variable-distance speed functions. The third figure is a block diagram of the signal connection mode of the control device and the photo-sensing device, the optical encoder, the ultrasonic sensor and the DC motor in the present creation. 31 photoelectric switch 40 control device. 41 programmable controller 42 relay circuit 43 DC battery 5 0 optical encoder 60 ultrasonic sensor 70 track [main component symbol description] 10 frame 11 extruded aluminum angle 12 angle bracket 20 Drive device 21 drive wheel 22 DC motor 23 auxiliary wheel 30 photo-sensing device 10