WO2020168446A1 - 导引避障系统 - Google Patents

导引避障系统 Download PDF

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Publication number
WO2020168446A1
WO2020168446A1 PCT/CN2019/075350 CN2019075350W WO2020168446A1 WO 2020168446 A1 WO2020168446 A1 WO 2020168446A1 CN 2019075350 W CN2019075350 W CN 2019075350W WO 2020168446 A1 WO2020168446 A1 WO 2020168446A1
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WO
WIPO (PCT)
Prior art keywords
signal
module
vehicle
range
obstacle avoidance
Prior art date
Application number
PCT/CN2019/075350
Other languages
English (en)
French (fr)
Inventor
曾百由
Original Assignee
孟菁
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 孟菁 filed Critical 孟菁
Priority to JP2021547240A priority Critical patent/JP2022520407A/ja
Priority to PCT/CN2019/075350 priority patent/WO2020168446A1/zh
Priority to EP19915603.5A priority patent/EP3929687A4/en
Priority to CN201980091072.2A priority patent/CN113424123A/zh
Publication of WO2020168446A1 publication Critical patent/WO2020168446A1/zh

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal

Definitions

  • the invention belongs to the related field of control guidance, and particularly relates to a guidance and obstacle avoidance system applied to automatic following.
  • the automatic follow-up system of the mobile vehicle has been seen in golf courses.
  • the golf club is transported by the mobile vehicle, and the automatic follow function is used to make the mobile vehicle automatically follow the movement of the athlete.
  • a general golf course is composed of many holes. Each hole has a tee. In addition, there are areas such as fairways, grass areas, obstacle areas, and green areas. Each area has different levels of grass and topography. The ups and downs are different. Not all areas are suitable for the vehicle to travel. The reason is that the weight of the vehicle and the rotation of the driving wheel can easily cause damage to the ground or move unevenly due to the terrain, which affects the subsequent playing effect and the maintenance cost of the court.
  • the present invention provides a guided obstacle avoidance system that can limit the range of movement of the vehicle, and control the vehicle to follow the user to move within the range of movement; thereby effectively avoiding the vehicle from entering the improper area, and has both Follow the effect.
  • the present invention provides a guiding obstacle avoidance system, which includes: a processing device, which sets an activity range in a field; and a guiding device, which is arranged on a carrier, and the guiding device has a monitoring module and a Positioning module and a computing module.
  • the monitoring module is used to monitor the location of the user; the positioning module is used to monitor the location of the vehicle and generate a position signal.
  • the computing module receives the range of motion, and the computing module sends the position signal Compare with the range of motion to control the vehicle to follow the user to move within the range of motion.
  • a plurality of target points are provided in the moving range, and the computing module controls the vehicle to follow the user to move within the moving range and move toward the target point.
  • the active area is divided into multiple active blocks, two adjacent active blocks partially overlap, and each active block corresponds to each target point.
  • the processing module obtains the latitude and longitude coordinates from the satellite image to establish each active block, and each active block is a closed range formed by a plurality of two-dimensional coordinate points.
  • the positioning module is used to generate a position signal of two-dimensional coordinates
  • the calculation module determines that the vehicle is located in one of the active blocks according to the position signal
  • the calculation module compares the position signal with each two-dimensional coordinate corresponding to the active block Point comparison.
  • the present invention also has a calibration device which is worn on the user, the monitoring module sends out a first signal, the calibration device receives the first signal and returns a second signal to the computing module, the calibration device monitors the module
  • the group uses an ultra-wideband communication connection; the arithmetic module generates a movement signal according to the first signal and the second signal, and controls the vehicle to follow the user's movement within the active range through the movement signal.
  • the monitoring module has two sensing units and an inertial unit.
  • the two sensing units respectively emit the first signal.
  • the inertial unit monitors a direction angle signal of the vehicle, and the computing module is based on the first signal and the first signal.
  • the two signals cooperate with the direction angle signal to generate a movement signal.
  • the processing device sets a plurality of special areas within the range of movement, the calculation module determines whether the vehicle is moving toward each special area according to the direction angle signal or the position signal of the positioning module, and the calculation module controls the vehicle to avoid each special area. Special area.
  • the guiding device has an obstacle avoidance module, which is used to monitor obstacles within the range of motion to generate an obstacle signal, and the computing module controls the vehicle to avoid the obstacle or stop the vehicle according to the obstacle signal.
  • an obstacle avoidance module which is used to monitor obstacles within the range of motion to generate an obstacle signal
  • the computing module controls the vehicle to avoid the obstacle or stop the vehicle according to the obstacle signal.
  • the guiding device has a reminding module, which sends a warning signal when the computing module determines that the vehicle is close to the boundary of the moving range.
  • the present invention can limit the range of movement of the vehicle, and control the vehicle to follow the user to move within the range of movement; thereby, the problem that the existing vehicle is easy to enter inappropriate areas during the following process is improved, so as to achieve Following also has the purpose of effectively preventing the vehicle from entering the improper area.
  • the processing device of the present invention can set the area of the existing obstacles as the inactive range when establishing the range of motion; thereby, the vehicle can pass the range of motion limit and avoid the obstacles, so as to achieve both guidance and avoidance.
  • the purpose of the barrier while following the user's movement, the moving direction of the vehicle is adjusted through each target point, so that the vehicle can effectively follow the user's movement, avoiding the vehicle from untargetedly following the user's movement within the range of motion, causing power loss.
  • each active block of the present invention is a closed range formed by a plurality of two-dimensional coordinate points, which can effectively reduce data processing time and memory capacity, quickly establish each active block, and improve the data processing efficiency of the present invention.
  • the vehicle in addition to being able to move within the restricted range of motion, the vehicle can also avoid obstacles that appear in the range of motion, thereby achieving both guiding and obstacle avoidance effects.
  • the user can know through the warning signal that the vehicle can no longer move in its own direction, and has been restricted to follow the direction of the user's movement within the range of motion, preventing the user from moving too far, causing the user to leave the guidance device and follow the monitoring range .
  • Figure 1 is a system architecture diagram of the present invention.
  • Figure 2 is a schematic diagram of the scope of activity of the present invention.
  • Figure 3 is a schematic diagram of the range of activity set by the processing device of the present invention.
  • Fig. 4 is a schematic diagram of setting a special area within the scope of activity according to the present invention.
  • Fig. 5 is a schematic diagram of an embodiment of the vehicle following the user within the range of movement of the present invention.
  • FIG. 6 is a schematic diagram of the monitoring module monitoring users of the present invention.
  • Fig. 7 is a schematic diagram of the monitoring range of the obstacle mold assembly device of the present invention.
  • the present invention provides a guiding obstacle avoidance system 100, which includes:
  • a processing device 10 has an establishment module 11 and a memory module 12.
  • the establishment module 11 is used to set an activity range 111 in the field 1, as shown in FIG. 2, wherein the establishment module 11 passes through a satellite
  • the image obtains the latitude and longitude coordinates of field 1, and uses the latitude and longitude coordinates to set the active range 111 in field 1;
  • the memory module 12 is used to store the latitude and longitude coordinates of the active range 111.
  • field 1 is Golf course; the processing device 10 can be set up on a cloud server or a terminal server installed on a golf course.
  • the establishment module 11 divides the active area 111 into a plurality of active blocks 112.
  • Each active block 112 is a closed range formed by a plurality of two-dimensional coordinate points a. Two adjacent active blocks 112 will partially overlap.
  • the target point 113 can be set in one of the activity 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.
  • the establishment module 11 provides for setting a plurality of special areas 114 in the setting activity range 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 , Greens, sand pits, pools, trees, maintenance areas, areas with large undulations, etc., each special area 114 can be established according to the requirements of the golf course manager, and the present invention is not limited thereto.
  • a guiding device 20 is arranged on the carrier 2, wherein 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, and the motor drives the driving wheel 3 to rotate, In turn, the vehicle 2 is controlled to move.
  • the guiding device 20 has a monitoring module 21, a positioning module 22, a computing module 23, and a reminding module 24.
  • the monitoring module 21 is used to monitor the location of the user 4; the positioning module 22 is used to monitor the load.
  • the location of the tool 2 is generated and a location signal is generated to determine whether the vehicle 2 is located in the movable block 112.
  • the positioning module 22 is used to generate a two-dimensional coordinate position signal.
  • the positioning module 22 can be In the global satellite positioning system or other positioning systems, in the embodiment of the present invention, the positioning module 22 is a position signal of two-dimensional coordinates generated by a real-time kinematic (RTK) positioning system.
  • RTK real-time kinematic
  • the arithmetic module 23 is used to receive the movable range 111 stored in the processing device 10, and the arithmetic module 23 compares the two-dimensional coordinates of the position signal with the two-dimensional coordinate points a of the corresponding movable block 112 to confirm the vehicle 2 Whether it is located in the active block 112, and knows which active block 112 is located, at this time, the computing module 23 controls the motor to drive the driving wheel 3 according to each two-dimensional coordinate point a of the boundary of the active block 112 The vehicle 2 follows the user 4 to move in the movable block 112.
  • the arithmetic module 23 restricts the vehicle 2 to move in the activity block 112, it also controls the vehicle 2 to move toward the target point 113 in the activity block 112, where each target point 113 is used to represent An active block 112 enters the guidance point of the adjacent active block 112, that is, when the vehicle 2 is located in one of the active blocks 112, it can be guided by the target point 113 corresponding to the next active block 112 Vehicle 2 advances to achieve the purpose of guidance.
  • the reminding module 24 will send out a warning signal to inform the user 4 through the warning signal that the vehicle 2 cannot move in its own direction and has been restricted Within the range of motion 111, and follow the direction of movement of the user 4 to rotate or move within the range of motion 111, so as to prevent the user 4 from moving too far, causing the user 4 to leave the guiding device 20 to follow the monitoring range, wherein the warning signal can be Sound, voice, light or a combination thereof.
  • the user 4 wears a calibration device 30, the calibration device 30 is wirelessly connected to the guiding device 20 (for example, Bluetooth connection), the monitoring module 21 sends out a first signal, and the calibration device 30 receives the first signal. A signal and a second signal are sent back to the calculation module 23.
  • the calculation module 23 generates a movement signal according to the first signal and the second signal, and controls the vehicle 2 to follow the user 4 to rotate within the movable range 111 through the movement signal.
  • the calibration device 30 and the monitoring module 21 are connected by ultra-wideband communication.
  • the monitoring module 21 has two sensing units 211 and an inertial unit 212.
  • the two sensing units 211 are arranged on both sides of the carrier 2.
  • the two sensing units 211 and the calibration device 30 are connected by ultra-wideband communication.
  • the sensing unit 211 respectively sends out the first signal
  • the calibration device 30 receives the two first signals, processes them and embeds the processing time into the two first signals, and transmits the second signal back to the computing module 23, and the computing module 23 receives After the second signal is returned, the time of receiving the second signal can be subtracted from the time of sending the first signal and then the time of processing the first signal by the calibration device 30 to obtain the transmission of the first signal and the second signal.
  • the transmission time is multiplied by the speed of light and divided by 2 to get the distance between the two sensing units 211 and the calibration device 30 respectively. Since the distance between the two sensing units 211 is fixed, the center of the carrier 2 can be calculated by trigonometric functions The distance and direction to the calibration device 30 are shown in FIG. 6; the inertial unit 212 is used to monitor a direction angle signal generated when the carrier 2 is initialized and stopped.
  • the computing module 23 when the computing module 23 needs to control the carrier 2 before moving , The computing module 23 will generate a movement signal for controlling the movement of the carrier 2 according to the first signal and the second signal in conjunction with the direction angle signal; when the carrier 2 starts to move, the computing module 23 will follow the position generated by the positioning module 22
  • the signal knows the direction angle of the movement track, and the calculation module 23 combines 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 movement signal for controlling the movement of the vehicle 2;
  • the inertial unit 212 is an inertial measurement unit (IMU).
  • the calculation module 23 of the inertial unit 212 can determine whether the carrier 2 is moving toward 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 carrier 2 is moving toward the If the special area 114 advances, the calculation module 23 will control the direction of the vehicle 2 to avoid the special areas 114; further explanation: when the vehicle 2 is stopped, the inertial unit 212 will generate the direction according to the position of the calibration device 30 Angle signal, and then it can be known whether the vehicle 2 will move toward each special area 114 in each movable block 112 after the vehicle 2 moves again; in addition, when the vehicle 2 is moving with the user 4, The position signal of the positioning module 22 will form a movement track, from which the direction angle of the carrier 2 is known, and then it is determined whether the carrier 2 will move toward the special area 114.
  • the guiding device 20 also has an obstacle avoidance module 25.
  • the obstacle avoidance module 25 is used to monitor obstacles within the movement range 111 to generate an obstacle signal.
  • the computing module 23 controls the vehicle 2 to avoid the obstacle according to the obstacle signal.
  • the obstacle object or vehicle 2 stops moving, where the obstacle object can be other vehicles 2, people, etc.; in the embodiment of the present invention, the obstacle avoidance module 25 is an ultrasonic sensor, and the obstacle avoidance module 25 is six ultrasonic sensors.
  • each ultrasonic sensor U is installed in front of the carrier 2, three ultrasonic sensors U are symmetrically arranged on the left and right sides of the carrier 2, and the relative angles of the ultrasonic sensors U on the same side to the front They are 10 degrees, 30 degrees and 50 degrees respectively, as shown in Figure 6; each ultrasonic sensor U can monitor an area of 20 degrees in the front, so the six ultrasonic sensors U can monitor a range of 120 degrees in front of the vehicle 2. This angle range can provide the vehicle 2 as a monitoring of front obstacles when it moves with the user 4.
  • the installation position and monitoring angle of each ultrasonic sensor U can be adjusted according to requirements. The present invention is not limited to this.
  • the present invention can achieve the following effects:
  • the guidance and obstacle avoidance system 100 of the present invention can limit the moving range 111 of the vehicle 2 and control the vehicle 2 to follow the user 4 to move within the moving range 111; thereby, it can follow and effectively avoid the vehicle 2 from entering improperly The purpose of the area.
  • the processing device 10 of the guidance and obstacle avoidance system 100 of the present invention can set the area of the existing obstacle object as the inactive special area 114 when the movement range 111 is established; thereby, the vehicle 2 can pass through the movement range 111 Limit and avoid obstacles to achieve the effect of guiding and avoiding obstacles.
  • the guidance and obstacle avoidance system 100 of the present invention can adjust the movement direction of the vehicle 2 through the guidance of each target point 113 while following the movement of the user 4, so as to prevent the vehicle 2 from following untargeted in each movable block 112 The user 4 moves, causing power loss.
  • the processing device 10 of the present invention forms a closed range of motion 111 with two-dimensional coordinate points a, which can effectively reduce the data processing time and memory capacity, and then quickly establish each moving block, thereby improving the data processing efficiency of the present invention.
  • the guiding obstacle avoidance system 100 of the present invention can limit the movement range 111 of the vehicle 2 through the calculation module 23 through the movement range 111 set by the processing device 10, and can also monitor the movement range 111 through the obstacle avoidance module 25 Obstacle objects in 111, then avoid the obstacle objects, so as to achieve the purpose of guiding and avoiding obstacles.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)
  • Alarm Systems (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

一种导引避障系统(100)，包括：一处理装置(10)及一导引装置(20)，处理装置(10)在场域(1)内设定一活动范围(111)；导引装置(20)设置在载具(2)上，导引装置(20)具有一监测模组(21)、一定位模组(22)及一运算模组(23)，监测模组(21)用来监测使用者(4)所在位置；定位模组(22)用来监测载具(2)所在位置，并产生一位置信号，运算模组(23)将位置信号与活动范围(111)比对，以控制载具(2)在活动范围(111)内跟随着使用者(4)移动；借此，能有效避免载具(2)行驶进入不当区域，并且兼具跟随效果。

Description

导引避障系统 技术领域
本发明属于控制导引相关领域，特别涉及一种运用于自动跟随的导引避障系统。
 背景技术
行动载具的自动跟随系统目前已见于高尔夫球场，通过行动载具运送高尔夫球杆，且利用自动跟随功能使得行动载具可以自动跟随运动员移动。
美国专利“US9393981B1”及“US6327219B1”，公开了载具在自动跟随使用者移动的过程中，通过装设在载具的超音波感应器，以超音波信号感测载具周围是否有障碍物出现，借以达到检测障碍物的效果。
一般高尔夫球场是由许多的球洞组成，每一个球洞都有发球台，此外还有球道区、长草区、障碍区及果岭区等区域，每种区域的长草程度不同及地形高低起伏变化不同，并非所有区域都适合载具行驶，原因在于载具的重量及驱动轮的转动，容易造成场地损伤或是受地形影响而移动不顺，影响后续打球效果及球场维护成本。
 技术问题
然而，上述专利仅能监测周围是否有障碍物，并无法限制载具的活动区域，所以载具在自动跟随的过程中，若使用者进入不适合载具行驶的区域内，载具无法判断出此区域不适合行驶，便会持续跟随着使用者进入不适合区域，便容易造成此区域的场地受损或是移动不顺。
 技术解决方案
为解决上述课题，本发明提供一种导引避障系统，能够限制载具的活动范围，控制载具在活动范围内跟随着使用者移动；借以有效避免载具行驶进入不当区域，并且兼具跟随效果。
本发明提供一种导引避障系统，其包括：一处理装置，其在场域内设定一活动范围；以及一导引装置，其设置在载具上，导引装置具有一监测模组、一定位模组及一运算模组，监测模组用来监测使用者所在位置；定位模组用来监测载具所在位置，并产生一位置信号，运算模组接收活动范围，运算模组将位置信号与活动范围比对，以控制载具于活动范围内跟随着使用者移动。
进一步的，活动范围内设有多个目标点，运算模组控制载具在活动范围内跟随使用者移动，并且朝所述目标点移动。
进一步的，活动范围区分为多个活动区块，相邻两个活动区块部分重叠，每一活动区块对应每一目标点。
进一步的，处理模组通过卫星影像取得经纬度坐标建立各活动区块，各活动区块分别为多个二维坐标点构成的封闭范围。
进一步的，定位模组用来产生二维坐标的位置信号，运算模组根据位置信号判断载具位于其中一活动区块，运算模组将位置信号与对应所述活动区块的各二维坐标点比对。
进一步的，本发明还具有一标定装置，其配戴于使用者身上，监测模组发出一第一信号，标定装置接收第一信号并回传一第二信号至运算模组，标定装置监测模组利用超宽频通信连接；该运算模组依据第一信号及第二信号产生一移动信号，通过移动信号控制载具于活动范围内跟随着使用者移动。
进一步的，监测模组具有两个感应单元及一个惯性单元，两个感应单元分别发出所述第一信号，惯性单元监测载具的一个方向角信号，运算模组依据所述第一信号及第二信号配合该方向角信号产生移动信号。
进一步的，处理装置在活动范围内设定多个特殊区域，运算模组根据方向角信号或定位模组的位置信号判断载具是否朝向各特殊区域方向移动，运算模组控制载具避开各特殊区域。
进一步的，导引装置具有一避障模组，避障模组用以监测活动范围内的障碍物件，以产生一障碍信号，运算模组根据障碍信号操控载具避开障碍物件或载具停止移动。
进一步的，导引装置具有一提醒模组，提醒模组在运算模组判断载具靠近活动范围的边界时发出一警示信号。
 有益效果
借由上述，本发明能够限制载具的活动范围，控制载具在活动范围内跟随着使用者移动；借此，改善现有载具在跟随过程中，容易进入不适当区域的问题，借以达到跟随兼具有效避免载具行驶进入不当区域的目的。
同时，本发明处理装置能够在建立活动范围时，将既有障碍物件的区域设为非活动范围；借此，载具能通过活动范围限制，避开障碍物件，以达到兼具导引及避障的目的。而且在跟随使用者移动同时，通过各目标点调整载具移动方向，使载具能有效跟随着使用者移动，避免载具于活动范围内无目标性的跟随着使用者移动，造成电力损耗。
并且，本发明的各活动区块分别为多个二维坐标点构成的封闭范围，能有效降低资料处理时间与记忆容量，快速建立各活动区块，提升本发明的处理资料效率。
此外，载具除了能够于在限制的活动范围内移动，也能够避开出现在活动范围内的障碍物件，借以兼具导引及避障的效果。
另外，使用者能够通过警示信号得知载具无法再往自身方向前进，已被限制于活动范围内跟随使用者活动方向移动，避免使用者活动过远，造成使用者脱离导引装置跟随监测范围。
 附图说明
图1为本发明系统架构图。
图2为本发明活动范围示意图。
图3为本发明处理装置设定活动范围示意图。
图4为本发明在活动范围内设定特殊区域示意图。
图5为本发明载具在活动范围内跟随使用者实施例示意图。
图6为本发明监测模组监测使用者示意图。
图7为本发明障碍模组装设监测范围示意图。
附图标记说明
1、场域
2、载具
3、驱动轮
4、使用者
100、导引避障系统
10、处理装置
11、建立模组
111、活动范围
112、活动区块
113、目标点
114、特殊区域
12、记忆模组
20、导引装置
21、监测模组
211、感应单元
212、惯性单元
22、定位模组
23、运算模组
24、提醒模组
25、避障模组
30、标定装置
U、超音波传感器
a、二维坐标点。
 本发明的最佳实施方式
下面结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述。在下面的描述中阐述了很多具体细节以便于充分理解本发明，但是本发明还可以采用其他不同于在此描述的其它方式来实施，本领域技术人员可以在不违背本发明内涵的情况下做类似推广，因此本发明不受下面公开的具体实施例的限制。
请参阅图1至图7所示，本发明提供一种导引避障系统100，其包括：
一处理装置10，其具有一建立模组11及一记忆模组12，建立模组11用来在场域1内设定一活动范围111，如图2所示，其中，建立模组11通过卫星影像取得场域1的经纬度坐标，并借由经纬度坐标设定场域1内的活动范围111；记忆模组12用来储存活动范围111的经纬度坐标，在本发明实施例中，场域1为高尔夫球场；处理装置10能够架设在云端伺服器或高尔夫球场设置的终端伺服器上。
同时，建立模组11将活动范围111区分为多个活动区块112，各活动区块112分别为多个二维坐标点a构成的封闭范围，相邻两个活动区块112会部分重叠，而活动范围111内设有多个目标点113，每一活动区块112对应设有一个目标点113，其中，在本发明实施例中，所述目标点113能够设于其中一活动区块112与相邻活动区块112的重叠边界处，如图3所示；在本发明其他实施例中，所述目标点113亦能够设于活动区块112的范围外。
此外，建立模组11提供设定活动范围111内设定多个特殊区域114，其中，各特殊区域114分布处于各活动区块112内，如图4所示；各特殊区域114能够为发球台、果岭、沙坑、水池、树木、维修区域、地形高低起伏较大区域等等，各特殊区域114能够依据高尔夫球场管理者的需求建立，本发明不以此为限。
一导引装置20，其设置在载具2上，其中，载具2设有马达、驱动轮3与电池，导引装置20用来控制电池输送电力至马达，由马达驱使驱动轮3转动，进而控制载具2移动。
导引装置20具有一监测模组21、一定位模组22、一运算模组23及一提醒模组24，监测模组21用来监测使用者4所在位置；定位模组22用来监测载具2所在位置，并产生一位置信号，借以判断载具2是否位于所述活动区块112内，其中，定位模组22用来产生二维坐标的位置信号，其中，定位模组22能够为全球卫星定位系统或其它定位系统，在本发明实施例中，定位模组22为由实时动态技术（Real Time Kinematic，RTK）定位系统产生二维坐标的位置信号。
运算模组23用来接收处理装置10所存有的活动范围111，运算模组23将位置信号的二维坐标与对应活动区块112的各二维坐标点a进行比对，借以确认载具2是否位于所述活动区块112内，并且得知位于哪一个活动区块112内，此时运算模组23根据所在活动区块112边界的各二维坐标点a，控制马达驱使驱动轮3带动载具2在所述活动区块112内跟随着使用者4移动。
当运算模组23限制着载具2在所述活动区块112内活动时，同时控制载具2朝所在活动区块112内的目标点113移动，其中，各目标点113用以表示由其中一活动区块112进入邻近活动区块112的导引点，也就是说，当载具2位于其中一活动区块112时，能够借由对应下一个活动区块112的目标点113导引着载具2前进，以达到导引的目的。
当运算模组23判断载具2靠近各活动区块112的边界时，提醒模组24会发出一警示信号，通过警示信号告知使用者4，载具2无法再往自身方向前进，已被限制于活动范围111内，并且在活动范围111内跟随使用者4活动方向转动或移动，借以避免使用者4活动过远，造成使用者4脱离导引装置20跟随监测范围，其中，警示信号能够为声音、语音、灯光或及其组合。
在本发明实施例中，使用者4身上配戴有一标定装置30，标定装置30与导引装置20无线连接(例如：蓝牙连接)，监测模组21发出一第一信号，标定装置30接收第一信号并回传一第二信号至运算模组23，运算模组23依据第一信号及第二信号产生一移动信号，通过移动信号控制载具2在活动范围111内跟随着使用者4转动或移动，其中，标定装置30与监测模组21利用超宽频通信连接。
进一步说明，监测模组21具有两个感应单元211及一个惯性单元212，两个感应单元211设于载具2的两侧，两个感应单元211与标定装置30利用超宽频通信连接，两个感应单元211分别发出第一信号，标定装置30收到两个第一信号经过处理并将处理时间嵌入两个第一信号，以第二信号回传至运算模组23，运算模组23收到回传的第二信号后，可以将接收到第二信号的时间减掉发送第一信号的时间再减掉标定装置30处理第一信号的时间，就能得到第一信号与第二信号的传输时间，传输时间乘上光速后除以2，就能得到两个感应单元211分别与标定装置30的距离，由于两个感应单元211间的距离固定，所以能用三角函数算出载具2的中心到标定装置30的距离与方向，如图6所示；惯性单元212用来监测载具2初始及停止时产生的一方向角信号，其中，当运算模组23需要控制载具2开始移动前，运算模组23会依据第一信号及第二信号配合方向角信号产生控制载具2移动的移动信号；当载具2开始移动后，运算模组23会根据定位模组22所产生的位置信号得知移动轨迹的方向角，而运算模组23将惯性单元212的方向角信号与定位模组22的方向角配合第一信号及第二信号以产生控制载具2移动的移动信号；在本发明实施例中，惯性单元212为惯性测量单元（Inertial measurement unit，IMU）。
同时，惯性单元212会运算模组23能够根据惯性单元212产生的方向角信号或定位模组22的位置信号判断载具2是否朝向各特殊区域114方向移动，若载具2正朝着所述特殊区域114前进，则运算模组23会控制载具2转向，以避开各特殊区域114；进一步说明：当载具2于停止状态下，惯性单元212会根据标定装置30所在位置产生的方向角信号，进而能够得知当载具2再次移动后，载具2是否会朝向各活动区块112内的各特殊区域114方向前进；另外，当载具2在跟随使用者4移动过程中，定位模组22的位置信号会形成移动轨迹，由轨迹得知载具2的方向角，进而判断载具2是否会朝向所述特殊区域114方向前进。
此外，导引装置20还具有一避障模组25，避障模组25用来监测活动范围111内的障碍物件，以产生一障碍信号，运算模组23根据障碍信号操控载具2避开障碍物件或载具2停止移动，其中，障碍物件能够为其它载具2、人等等；在本发明实施例中，避障模组25为超音波传感器，避障模组25为六个超音波传感器U，各超音波传感器U装设在载具2的前方，载具2的左侧与右侧对称各设有三颗超音波传感器U，同侧的各超音波传感器U对于前方的相对角度分别为10度、30度及50度，如图6所示；每个超音波传感器U可监测前方范围20度的区域，所以六个超音波传感器U可监测范围涵盖载具2前方120度，此角度范围可提供载具2在跟随着使用者4移动时，作为前方障碍物件的监测，在本发明其他实施例中，各超音波传感器U的装设位置与监测角度能依据需求作调整，本发明不以此为限。
综合上述，本发明能够达成下列功效：
一、本发明导引避障系统100能够限制载具2的活动范围111，控制载具2在活动范围111内跟随着使用者4移动；借此，达到跟随以及有效避免载具2行驶进入不当区域的目的。
二、本发明导引避障系统100的处理装置10能够在建立活动范围111时，将既有障碍物件的区域设为非活动的特殊区域114；借此，载具2能通过活动范围111的限制，避开障碍物件，以达到兼具导引及避障的效果。
三、本发明导引避障系统100，能够在跟随使用者4移动同时，通过各目标点113导引调整载具2移动方向，避免载具2在各活动区块112内无目标性的跟随着使用者4移动，造成电力损耗。
四、本发明处理装置10以二维坐标点a构成封闭的活动范围111，能有效降低资料处理时间与记忆容量，进而快速建立各动区块，提升本发明的处理资料效率。
五、本发明导引避障系统100能够借由处理装置10设定的活动范围111，通过运算模组23限制载具2的活动范围111，也能够通过避障模组25监测出现在活动范围111内的障碍物件，进而避开障碍物件，借以达到兼具导引及避障的目的。
显然，所描述的实施例仅仅是本发明的一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。

Claims (10)

  1. 一种导引避障系统，其特征在于，其包括：
    一处理装置，其在场域内设定一活动范围；以及
    一导引装置，其设置在载具上，该导引装置具有一监测模组、一定位模组及一运算模组，该监测模组用来监测使用者所在位置；该定位模组用来监测载具所在位置，并产生一位置信号，该运算模组接收该活动范围，该运算模组将该位置信号与该活动范围比对，来控制载具于该活动范围内跟随着使用者移动。
  2. 如权利要求1所述的导引避障系统，其特征在于，该活动范围内设有多个目标点，该运算模组控制载具在该活动范围内跟随使用者移动，并且朝所述目标点移动。
  3. 如权利要求2所述的导引避障系统，其特征在于，该活动范围区分为多个活动区块，相邻两个活动区块部分重叠，每一活动区块对应每一目标点。
  4. 如权利要求3所述的导引避障系统，其特征在于，该处理模组通过卫星影像取得经纬度坐标建立各活动区块，各活动区块分别为多个二维坐标点构成的封闭范围。
  5. 如权利要求4所述的导引避障系统，其特征在于，该定位模组用来产生二维坐标的该位置信号，该运算模组根据该位置信号判断载具位于其中一活动区块，该运算模组将该位置信号与对应所述活动区块的各二维坐标点比对。
  6. 如权利要求1所述的导引避障系统，其特征在于，还具有一标定装置，其配戴于使用者身上，该监测模组发出一第一信号，该标定装置接收该第一信号并回传一第二信号至运算模组，该标定装置与该监测模组利用超宽频通信连接；该运算模组依据该第一信号及该第二信号产生一移动信号，通过该移动信号控制载具在该活动范围内跟随着使用者移动。
  7. 如权利要求6所述的导引避障系统，其特征在于，该监测模组具有两个感应单元及一个惯性单元，该两个感应单元分别发出所述第一信号，该惯性单元监测载具的一个方向角信号，该运算模组依据所述第一信号及该第二信号配合该方向角信号产生该移动信号。
  8. 如权利要求7所述的导引避障系统，其特征在于，该处理装置于该活动范围内设定多个特殊区域，该运算模组根据该方向角信号或该定位模组的位置信号判断载具是否朝向各特殊区域方向移动，该运算模组控制载具避开各特殊区域。
  9. 如权利要求1或8所述的导引避障系统，其特征在于，该导引装置具有一避障模组，该避障模组用来监测该活动范围内的障碍物件，以产生一障碍信号，该运算模组根据该障碍信号操控载具避开障碍物件或载具停止移动。
  10. 如权利要求1所述的导引避障系统，其特征在于，该导引装置具有一提醒模组，该提醒模组于该运算模组判断载具靠近该活动范围的边界时发出一警示信号。
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