TWM581216U - Obstacle avoidance guiding system - Google Patents

Abstract

This creation provides a guidance obstacle avoidance system, which includes: a processing device and a guidance device, the processing device sets an activity range information in the field; the guidance device is set on a vehicle, and the guidance device has a detection mode Group, a positioning module, and a computing module. The detection module is used to detect the user's location. The positioning module is used to detect the location of the vehicle and generate a location signal. The computing module combines the location signal with the Activity range information comparison to control the vehicle to follow the user's movement within the activity range information corresponding to the field; this can effectively prevent the vehicle from driving into an improper area and has the following effect.

Description

Guided obstacle avoidance system

This creation is about a control guidance related field, especially a guidance obstacle avoidance system for automatic follow.

The mobile vehicle's auto-following system is currently found on golf courses. Golf clubs are transported through mobile vehicles, and the auto-follow function enables mobile vehicles to follow the players' movement automatically.

In U.S. Patent Nos. US9393981B1 and US6327219B1, it is disclosed that during the process of automatically following the user's movement, the vehicle senses whether there are obstacles around the vehicle with an ultrasonic signal through an ultrasonic sensor installed in the vehicle Appears to achieve the effect of detecting obstacles.

A general golf course is made up of many holes. Each hole has a tee, and there are fairway areas, long grass areas, obstacle areas, and green areas. Each area has a different level of grass and different terrain. Different, not all areas are suitable for vehicle driving. The reason is that the weight of the vehicle and the rotation of the driving wheels can easily cause damage to the field or irregular movement due to the terrain, which will affect the subsequent playing effect and the maintenance cost of the court.

However, the aforementioned patent can only detect whether there are obstacles around it and cannot limit the moving area of the vehicle. Therefore, during the automatic following process of the vehicle, if the user enters an area that is not suitable for the vehicle to drive, the vehicle cannot determine This area is not suitable for driving, it will continue to follow the user to enter the unsuitable area, which will easily cause damage to the area or movement of the area.

In order to solve the above problems, this creation provides a guided obstacle avoidance system that can limit the vehicle's range of motion information and control the vehicle to follow the user's movement within the range of motion range information corresponding to the field; thereby effectively preventing the vehicle from entering Inappropriate areas and follow-up effects.

An embodiment of the present invention provides a guidance obstacle avoidance system, which includes: a processing device that sets a range of motion information in a field; and a guidance device that is set on a vehicle, and the guidance device has a A detection module, a positioning module, and a computing module. The detection module is used to detect the user's location. The positioning module is used to detect the location of the vehicle and generate a position signal. The computing module receives The processing range information provided by the processing device is compared with the position signal to the range information to control the vehicle to follow the user's movement within the range information corresponding to the field.

Based on the above, this creation can limit the vehicle's activity range information and control the vehicle to follow the user's movement within the activity range information corresponding to the field; thereby, improving the conventional vehicle in the following process and easy to enter the field The problem of improper areas in the area can be used to follow and effectively prevent the vehicle from driving into improper areas.

In addition, the creation processing device can set the area of the existing obstacle object as inactive area information when creating the activity area information; thereby, the vehicle can avoid the obstacle object through the limitation of the activity area information to achieve both The effect of guidance and obstacle avoidance.

In one embodiment, a plurality of target points are set in the activity range information, and the computing module controls the vehicle to follow the user and move toward the target point within the activity range information corresponding to the field; thereby, While following the user's movement, the vehicle's movement direction is adjusted through each target point, so that the vehicle can effectively follow the user's movement, avoiding the absence of the vehicle in the activity range information corresponding to the field. The target follows the user's movement, causing power loss.

In one of the embodiments, the processing device obtains the latitude and longitude coordinates through the satellite image to establish each active block, and each active block is a closed range composed of a plurality of two-dimensional coordinate points; thereby, this creation can effectively reduce data processing time And memory capacity, quickly establish each activity block, improve the processing data efficiency of this creation.

In one embodiment, the guidance device has an obstacle avoidance module. The obstacle avoidance module is used to detect obstacles in the range information to generate an obstacle signal. The computing module controls the vehicle to avoid the obstacle according to the obstacle signal. Stop obstacles or vehicles to stop moving; by doing so, in addition to restricting movement within the activity range information corresponding to the field, the vehicle can also avoid obstacles appearing in the activity range information, thereby providing both guidance and avoidance. Barrier effect.

In one of the embodiments, the guidance device has a reminder module, and the reminder module issues a warning signal when the computing module determines that the vehicle is near the boundary of the range information; thereby, the user can know through the warning signal The vehicle can no longer move in its own direction, and has been restricted to follow the user's activity direction within the activity range information corresponding to the field to prevent the user from moving too far, causing the user to leave the guidance device to follow the detection range.

1‧‧‧field

20‧‧‧Guide

2‧‧‧ Vehicle

21‧‧‧ Detection Module

3‧‧‧Drive Wheel

211‧‧‧Induction unit

4‧‧‧ users

212‧‧‧Inertial unit

100‧‧‧ Guided obstacle avoidance system

22‧‧‧ Positioning Module

10‧‧‧Processing device

23‧‧‧ Computing Module

11‧‧‧Create Module

24‧‧‧Reminder module

111‧‧‧Activity Scope Information

25‧‧‧obstacle avoidance module

112‧‧‧Activity Block

30‧‧‧calibration device

113‧‧‧ target

U‧‧‧ Ultrasonic Sensor

114‧‧‧ special area

a‧‧‧ two-dimensional coordinate point

12‧‧‧Memory module

Figure 1 is the architecture diagram of the authoring system.

Figure 2 is a schematic diagram of the scope of this creative activity.

FIG. 3 is a schematic diagram of setting range information of the creative processing device.

Figure 4 is a schematic diagram of setting a special area in the activity scope information of this creation.

FIG. 5 is a schematic diagram of an embodiment of the creative vehicle following the user in the activity range information.

Figure 6 is a schematic diagram of detecting users by the creative detection module.

FIG. 7 is a schematic diagram of the detection range of the creative obstacle model assembly setting.

In order to facilitate the explanation of the central idea expressed by the author in the above-mentioned new content column, specific embodiments are used to express it. Various objects in the embodiments are depicted in proportions, sizes, deformations, or displacements suitable for illustration, rather than in proportion to actual elements, which will be described together.

Please refer to FIG. 1 to FIG. 7. The present invention provides a guided obstacle avoidance system 100, which includes:

A processing device 10 includes a building module 11 and a memory module 12. The building module 11 is used to set an activity range information 111 in the field 1, as shown in FIG. 2, wherein the building module 11 passes through The satellite image obtains the latitude and longitude coordinates of field 1 and sets the activity range information 111 in field 1 by using the latitude and longitude coordinates; the memory module 12 is used to store the latitude and longitude coordinates of the activity range information 111. In this creative embodiment, the field 1 is a golf course; the processing device 10 can be installed on a cloud server or a terminal server provided on the golf course.

Furthermore, the building module 11 divides the activity range information 111 into a plurality of active blocks 112, and each of the active blocks 112 is a closed range composed of a plurality of two-dimensional coordinate points a, and two adjacent active blocks 112 partially overlap, A plurality of target points 113 are set in the activity range information 111, and one target point 113 is correspondingly set for each active block 112. In this creative embodiment, the target point 113 can be set in one of the active blocks 112. The overlapping boundary with the adjacent active block 112 is shown in FIG. 3. In other embodiments of the present invention, the target point 113 can also be set outside the range of the active block 112.

In addition, the establishment module 11 provides a plurality of special areas 114 within the set activity range information 111, wherein each special area 114 is distributed in each activity block 112, as shown in FIG. 4; each special area 114 can be a tee, a fruit Ridges, bunkers, pools, trees, maintenance areas, areas with large terrain fluctuations, etc., each special area 114 can be established according to the needs of the golf course manager, and this creation is not limited to this.

A guide device 20 is provided on the carrier 2. The carrier 2 is provided with a motor, a driving wheel 3, and a battery. The guiding device 20 is used to control the battery to transmit power to the motor. The motor drives the driving wheel 3 to rotate, and further Control vehicle 2 moves.

The guidance device 20 has a detection module 21, a positioning module 22, a computing module 23, and a reminder module 24. The detection module 21 is used to detect the position of the user 4; the positioning module 22 is used The position of the vehicle 2 is detected and a position signal is generated to determine whether the vehicle 2 is located in the active block 112 corresponding to the field 1. The positioning module 22 is used for generating two-dimensional coordinates. Position signal, where the positioning module 22 can be a global satellite positioning system or other positioning system. In this creative embodiment, the positioning module 22 is a two-dimensional coordinate generated by a Real Time Kinematic (RTK) positioning system. Location signal.

The computing module 23 is used to receive the activity range information 111 stored in the processing device 10. The computing module 23 compares the two-dimensional coordinates of the position signal with the two-dimensional coordinates a of the corresponding active block 112 to confirm the vehicle. Whether 2 is located in the active block 112 corresponding to field 1 and knows which active block 112 is located. At this time, the operation module 23 is based on the two-dimensional coordinate points a of the boundary of the active block 112. The control motor drives the driving wheel 3 to drive the vehicle 2 to follow the user 4 in the moving block 112 corresponding to the field 1.

When the computing module 23 restricts the vehicle 2 to the active block 112 corresponding to the field 1 At the same time, the vehicle 2 is controlled to move toward the target point 113 in the active block 112 at the same time. Among them, each target point 113 is used to indicate the guide point from one of the active blocks 112 to the neighboring active block 112, that is, That is, when the vehicle 2 is located in one of the active blocks 112, the vehicle 2 can be guided forward by the target point 113 corresponding to the next active block 112 to achieve the effect of guidance.

When the computing module 23 determines that the vehicle 2 is close to the boundary of each active block 112 corresponding to the field 1, the reminder module 24 will issue a warning signal to inform the user 4 through the warning signal that the vehicle 2 cannot go to itself The forward direction has been limited to the activity range information 111 corresponding to field 1, and the user 4 has turned or moved in the activity range information 111 corresponding to field 1 to avoid the user 4 moving too far. , Causing the user 4 to follow the detection range of the guidance device 20, wherein the warning signal can be sound, voice, light, or a combination thereof.

In this creative embodiment, the user 4 wears a calibration device 30. The calibration device 30 is wirelessly connected to the guidance device 20 (for example, a Bluetooth connection). The detection module 21 sends a first signal to calibrate the device 30. Receive the first signal and return a second signal to the computing module 23. The computing module 23 generates a mobile signal based on the first signal and the second signal, and controls the vehicle 2 in the range of activity corresponding to field 1 through the mobile signal. The information 111 follows the user 4 to rotate or move, wherein the calibration device 30 and the detection module 21 are connected by ultra-wideband communication.

To further explain, the detection module 21 has two sensing units 211 and an inertial unit 212. The two sensing units 211 are disposed on both sides of the vehicle 2. The two sensing units 211 and the calibration device 30 are connected using ultra-wideband communication. The two sensing units 211 The first signals are sent separately. The calibration device 30 receives the two first signals and processes and embeds the processing time into the two first signals. The second signals are returned to the computing module 23, and the computing module 23 receives the second returned signals. After the signal, the time of receiving the second signal can be reduced by the time of sending the first signal and then the time of the calibration device 30 processing the first signal, and the transmission time of the first signal and the second signal can be obtained. The transmission time is multiplied by the speed of light and divided by 2. The distance between the two sensing units 211 and the calibration device 30 can be obtained. Since the distance between the two sensing units 211 is fixed, the center of the vehicle 2 can be calculated using a trigonometric function. The distance and direction of the device 30 are shown in FIG. 6; the inertial unit 212 is used to detect a direction angle signal generated when the vehicle 2 is initially and stopped. Among them, when the computing module 23 needs to control the vehicle 2 to start moving, The computing module 23 generates a movement signal for controlling the movement of the vehicle 2 according to the first signal and the second signal in conjunction with the direction angle signal. When the vehicle 2 starts to move, the computing module 23 will generate a positioning signal based on the position signal generated by the positioning module 22. The direction angle of the moving track is known, and the computing module 23 matches the direction angle signal of the inertial unit 212 and the direction angle of the positioning module 22 with the first signal and the second signal to generate a moving signal that controls the movement of the vehicle 2; In the creative embodiment, the inertial unit 212 is an inertial measurement unit (Inertial measurement unit (IMU)).

In addition, the computing module 23 can determine whether the vehicle 2 is moving in the direction of each special area 114 according to the direction angle signal generated by the inertial unit 212 or the position signal of the positioning module 22. If the vehicle 2 is moving in the special area 114, Moving forward, the computing module 23 will control the steering of the vehicle 2 to avoid the special areas 114. Further explanation: When the vehicle 2 is stopped, the inertial unit 212 will generate a direction angle signal according to the position of the calibration device 30. It can also be known whether the vehicle 2 will move toward the special areas 114 corresponding to the respective active blocks 112 of the field 1 after the vehicle 2 moves again; in addition, when the vehicle 2 moves with the user 4 In the process, the position signal of the positioning module 22 will form a movement trajectory, and the trajectory of the carrier 2 will be used to determine the direction angle of the carrier 2, and then it will be determined whether the carrier 2 will advance in the direction of the special area 114.

In addition, the guidance device 20 further has an obstacle avoidance module 25. The obstacle avoidance module 25 is used to detect obstacles in the range information 111 to generate an obstacle signal. The operation module 23 controls the vehicle 2 according to the obstacle signal. Avoid obstacles or the vehicle 2 stops moving. Among them, the obstacles can be other vehicles 2, people, etc .; in this creative embodiment, the obstacle avoidance module 25 is an ultrasonic sensor, obstacle avoidance module. 25 for six super The ultrasonic sensors U, each ultrasonic sensor U is installed in front of the vehicle 2, and three ultrasonic sensors U are arranged symmetrically on the left and right sides of the vehicle 2, and each ultrasonic sensor on the same side The relative angles of U to the front are 10 degrees, 30 degrees, and 50 degrees, respectively, as shown in Figure 6; each ultrasonic sensor U can detect an area of 20 degrees in front, so six ultrasonic sensors U The detectable range covers 120 degrees in front of the vehicle 2. This angular range can provide the detection of obstacles in front of the vehicle 2 when following the user 4's movement. In other embodiments of the present invention, each ultrasonic sensor detects The installation position and detection angle of the device U can be adjusted according to requirements. This creation is not limited to this.

Based on the above, this creation can achieve the following effects:

1. The creation guidance obstacle avoidance system 100 can limit the movement range information 111 of the vehicle 2 and control the vehicle 2 to follow the user 4 within the movement range information 111 corresponding to the field 1; thereby, following and Effectively avoid the effect of vehicle 2 driving into inappropriate area of field 1.

2. The processing device 10 of the creation guidance obstacle avoidance system 100 can set the area of an existing obstacle object as a special area 114 that is not active when establishing the activity area information 111; thereby, the vehicle 2 can pass the activity area information The restriction of 111 avoids obstacles to achieve the effect of both guidance and obstacle avoidance.

3. This creative guidance obstacle avoidance system 100 can simultaneously follow the movement of the user 4 and guide and adjust the moving direction of the vehicle 2 through each target point 113 to prevent the vehicle 2 from following the target in each active block 112. As the user 4 moves, causing power loss.

4. The authoring processing device 10 uses the two-dimensional coordinate point a to form a closed activity range information 111, which can effectively reduce data processing time and memory capacity, and then quickly establish various moving blocks to improve the processing data efficiency of the authoring.

Fifth, the activity guidance set by the creative guidance obstacle avoidance system 100 can be set by the processing device 10 Peripheral information 111. The operational range information 111 of the vehicle 2 is limited by the operation module 23. The obstacle avoidance module 25 can also be used to detect obstacles that appear in the active range information 111 corresponding to field 1. Objects to achieve the effect of both guidance and obstacle avoidance.

The above-mentioned embodiments are only used to describe the creation, and are not intended to limit the scope of the creation. Various modifications or changes that are not in violation of the spirit of this creation are all within the scope of this creative intention.

Claims (10)

An guidance obstacle avoidance system includes: a processing device that sets a range of motion information in a field; and a guidance device that is set on a vehicle. The guidance device has a detection module and a positioning device. Module and a computing module, the detection module is used to detect the user's location; the positioning module is used to detect the location of the vehicle, and a location signal is generated, and the computing module receives the processing device setting With the activity range information, the computing module compares the position signal with the activity range information to control the vehicle to follow the user's movement within the activity range information corresponding to the field. The guided obstacle avoidance system according to claim 1, wherein a plurality of target points are set in the activity range information, and the computing module controls the vehicle to move with the user within the activity range information corresponding to the field, and Move towards the target point. The guided obstacle avoidance system according to claim 2, wherein the activity range information is divided into a plurality of active blocks, two adjacent active blocks partially overlap, and each active block corresponds to each target point. The guided obstacle avoidance system according to claim 3, wherein the processing device obtains the latitude and longitude coordinates through satellite images to establish each of the active blocks, and each of the active blocks is a closed range composed of a plurality of two-dimensional coordinate points. The guidance obstacle avoidance system according to claim 4, wherein the positioning module is used to generate the position signal of the two-dimensional coordinates, and the computing module judges that the vehicle is located in one of the fields corresponding to the position signal. In an active block, the computing module compares the position signal with each of the two-dimensional coordinate points corresponding to the active block. The guidance obstacle avoidance system described in claim 1, further has a calibration device, which is worn on the user, the detection module sends a first signal, the calibration device receives the first signal and returns a The second signal is to the operation module, and the calibration device and the detection module are connected by ultra-wideband communication. The operation module generates a mobile signal according to the first signal and the second signal, and controls the vehicle through the mobile signal. The activity range information corresponding to the field moves with the user. The guidance obstacle avoidance system according to claim 6, wherein the detection module has two sensing units and an inertial unit, and the two sensing units respectively emit the first signal, and the inertial unit detects one of the vehicles Directional angle signal, the computing module generates the mobile signal according to the first signal and the second signal in cooperation with the directional angle signal. The guidance obstacle avoidance system according to claim 7, wherein the processing device sets a plurality of special areas in the activity range information, and the computing module determines whether the vehicle is based on the direction angle signal or the position signal of the positioning module. Moving toward each of the special areas corresponding to the field, the computing module controls the vehicle to avoid each of the special areas corresponding to the field. The guidance obstacle avoidance system according to claim 1 or 8, wherein the guidance device has an obstacle avoidance module, and the obstacle avoidance module is used to detect an obstacle object in the activity range information to generate an obstacle Signal, the computing module controls the vehicle to avoid obstacles corresponding to the field or the vehicle stops moving according to the obstacle signal. The guidance obstacle avoidance system according to claim 1, wherein the guidance device has a reminder module, and the reminder module is used when the computing module determines that the vehicle is close to the boundary of the field of activity information corresponding to the field Issue a warning signal.