201248124 六、發明說明·· 【發明所屬之技術領域】 本發明係與導航技術有關，特別是指一種自走裝置之 循跡導航系統。 【先前技術】 按’自走車是一種集合了環境偵測及無人化自動操控 等功能為一體的綜合體，應用的範圍甚廣，除了自動駕駛 無人操作之外，還可以使用於物料的自動運輸、倉庫的監 視巡邏、危險有害場所的作業等，自走車實具有高度的發 展潛力。 —傳統的自走車通常是使用GPS(全球定位系統)來進行 ^位’或是使用地面指喊記做為導引，依預定的路經來 則進’並m不斷的進行位置以及航向的比對，藉以確 保=走車能依照預定的路徑來前進。然而，傳統的技術中， =多數的路徑規__格式點職_連接的線所組成 患路t，此種路徑規劃會在轉f處產生路徑不連續的現 較不平曲線’自走車在行進的過程會有 、實際仃走路徑較不易符合規劃的路徑。 我國發明第1249022 明專利，装描 走裝置循跡導航系統」發 座;P點=% —種利用較近的數個導航點來找出平均 及铩點，並配合GPS系 使得自枝料行料路徑， 規劃的路徑。然而，前述而更符合 J疋累件所揭露的技術，由於僅使用 3 201248124 -個電子羅盤’因此在有地磁以外的干擾磁場存在時，容 易在方向上產生關；此外，在Gps訊號不佳時，容易產 生誤差甚至無法定減運作’目此其财缺點有待改進。 【發明内容】 /本發月之主要目的在於提供__種自走裝置之循跡導般 系統’其具有修正誤差的機制，且可在Gps訊號不佳 可以運作工作。 為了達成前述目的，依據本發明所提供之一種自走裝 置之循跡導航系統’包含有：—自走裝置，具有複數車輪 而可藉以移動及轉向，料車財具衫少—前輪可轉 向’該自走裝置具有-轉向裝置用以至少控制該前輪進行 轉向’且該自走裝置可供輸人财路線而據以依該預定路 線移動；二電子羅盤’設於該自走裝置且彼此間相隔預定 距離，用以偵測該自走裝置之方向，且可用以偵測是否有 除了地磁以外的干擾磁場；—速度感測器設於該自走裝 置，用則貞_自走裝置的行進速度；—差分式全球枝 系統(DGPS) ’設於該自走裝置，用以偵測該自走裝置之位 置；以及二編碼輪，各該編碼輪係由一編碼器以及一被動 輪所組成’設置於該自走裝置，㈣在該自走裝置行進的 過程中與地φ翻*滾祕輯行編碼；其卜係先輸入 預定路線至該自走裝置内，該財路線上Ϊ財多數^ 航點，該自走裝㈣依該預定路線行進；在行_過程中， 藉由該二電子羅盤、該速度感測以及該f編碼輪來感測 | 201248124 =讀自走裝置的第一組資訊，包含位置、，速度及角度 的第二全球定位系統來感測該自走裝置 一組資度及角度等資料；結合該第 資H卜 組#訊並加以運算取得綜合的第三組 乂決疋該自走裝置的位置、速度及角度；接 個城點的平均座標點，由該平均座標點與該自^ ==敏航向，再將該期望•與目前自走裝置之行 :間的灸角定義為轉向方向角，藉以決定該 =車輪的轉向角度，進而達到使該自走裝置循跡導航的 【實施方式】 為了詳細說明本發明之構造及特點所在，茲舉以下之 較佳實施例並配合圖式說明如後，其中： 如第-圖至第四圖所示，本發明一較佳實施例所提供 之一種自走裝置之循跡導航系統10，主要由一自走妒置 1卜二電子羅盤2卜-速度感測H 31、_差分式全較位 系統(DGPS) 41以及二編碼輪51所組成，其中· 該自走裝置i卜具有複數車輪12而可藉以移動及轉 向，該等車輪12中具有至少一前輪121可轉向，該自走裝 置11具有一轉向裝置14用以至少控制該前輪121進行轉 向，且該自走裝置11可供輸入預定路線，用以根據該預定 路線移動。 該二電子羅盤2卜設於該自走裝置^且彼此間相隔 201248124 預定距離，用以偵測該自走裝置11之方向，且可用以價測 是否有除了地磁以外的干擾磁場。於本實施例中，當該自 走裝置11位於平坦地面時，該二電子羅盤21係位於相同 高度。 該速度感測器31，設於該自走裝置11，用以債測該自 走裝置11的行進速度。 該差分式全球定位系統(DGPS)41，設於該自走農置 11，用以偵測該自走裝置11之位置。 該二編碼輪51 ’各該編碼輪 一被動輪54所組成’設置於該自走裝置u，用以在該自 走裝置11行進的過程中與地面接觸而滾動藉以進行編碼。 其中，係先輸入一預定路線p至該自走裝置u内該 預定路線P係定義有多數的導航點^^，該自走裝置丨丨係贫 該預定路線P行進。於本實齡丨巾，該預定料p的形成 方式為：以人工操作的方式驅動該自走裝置u行進一次， 並依預定時關隔沿it藉由縣分式全較㈣統41取 得多個位置點並定義為導航點N，將該等導航點N以多點 -組的方式配合C_R曲線來求得—連續曲線，進而形成該 預定路線p。此外1可藉由將包含有路徑的電子檐輸入 該自走裝置U内’同樣能形成該預定路徑。本實施例在使 用C-R曲線的方式’係與124衝2號專利所述之方式相同， 因此容不贅述。 在行進的過程中，藉由該二電子羅盤21、該速度感測 器31以及該等編碼輪51來感測並取得該自走裝置^的第 201248124 一組資訊II，包含位詈、 分式全球定位系統41來4 及角度等資料。並藉由該差201248124 VI. OBJECT DESCRIPTION OF THE INVENTION · TECHNICAL FIELD OF THE INVENTION The present invention relates to navigation technology, and more particularly to a tracking navigation system for a self-propelled device. [Prior Art] According to the 'self-propelled car is a combination of environmental detection and unmanned automatic control, the application range is very wide, in addition to automatic driving unmanned operation, it can also be used for automatic material Self-propelled vehicles have a high potential for development, such as surveillance and patrols in transportation, and operations in hazardous and hazardous areas. - The traditional self-propelled car usually uses GPS (Global Positioning System) to carry out the position or use the ground finger as a guide, and according to the predetermined path, it will continue to carry out the position and heading. Compare, to ensure that = car can follow the predetermined path to advance. However, in the traditional technology, the majority of the path gauges __ format _ _ connected lines constitute the affected road t, this path planning will produce a path discontinuity in the turn f, the more uneven curve 'self-propelled car in The process of traveling will have a path that is less likely to conform to the planned path. China invented the No. 1229022 patent, and installed the tracking device to follow the navigation system; P point =% - use a few navigation points to find the average and defect points, and cooperate with the GPS system to make the self-branches Material path, planned path. However, the above-mentioned technology is more in line with the technology disclosed in J., because only 3 201248124 - an electronic compass is used, so when there is a disturbing magnetic field other than geomagnetism, it is easy to generate a direction in the direction; in addition, the Gps signal is not good. At the time, it is easy to produce errors or even to reduce the operation's shortcomings. SUMMARY OF THE INVENTION The main purpose of this month is to provide a tracking system for the self-propelled device, which has a mechanism for correcting errors, and can operate in a poor Gps signal. In order to achieve the foregoing object, a tracking navigation system for a self-propelled device according to the present invention includes: a self-propelled device having a plurality of wheels for movement and steering, and a small number of cargo vehicles - the front wheel can be steered. The self-propelling device has a steering device for controlling at least the front wheel to perform steering, and the self-propelling device is adapted to be transported according to the predetermined route; the two electronic compasses are disposed on the self-propelled device and between each other A predetermined distance is used to detect the direction of the self-propelled device, and can be used to detect whether there is a disturbing magnetic field other than geomagnetism; the speed sensor is disposed on the self-propelled device, and the traveling speed of the self-propelled device is used a differential global branch system (DGPS) 'located in the self-propelled device for detecting the position of the self-propelled device; and two encoder wheels, each of which is composed of an encoder and a passive wheel' Set in the self-propelled device, (4) in the process of the self-propelled device traveling with the ground φ roll * secret line code; the first is to input the predetermined route to the self-propelled device, the wealth of the wealthy route ^Point, the self-propelled device (4) travels according to the predetermined route; during the line_process, the second electronic compass, the speed sensing and the f-code wheel are sensed | 201248124 = reading the first set of information of the self-propelled device a second global positioning system including position, speed and angle to sense a set of capital and angle information of the self-propelled device; combined with the first-investment of the H-group and the calculation to obtain a comprehensive third group decision位置 position, speed and angle of the self-propelled device; the average coordinate point of the city point, the average coordinate point and the direction of the self-correction, and then the expected and current self-propelled device: The moxibustion angle is defined as the steering direction angle, thereby determining the steering angle of the wheel, thereby achieving the navigation of the self-propelled device. [Embodiment] In order to explain in detail the structure and features of the present invention, the following preferred implementation is given. For example, the tracking navigation system 10 of a self-propelled device according to a preferred embodiment of the present invention is mainly provided by a self-propelled device. 1 Bu two electronic compass 2 Bu - sense of speed Measuring H 31, _ differential full-comparison system (DGPS) 41 and two encoder wheels 51, wherein the self-propelled device i has a plurality of wheels 12 for movement and steering, and at least one of the wheels 12 The front wheel 121 is steerable, and the self-propelled device 11 has a steering device 14 for controlling at least the front wheel 121 for steering, and the self-propelling device 11 is operable to input a predetermined route for moving according to the predetermined route. The two electronic compasses 2 are disposed on the self-propelling device and spaced apart from each other by a predetermined distance of 201248124 for detecting the direction of the self-propelled device 11, and can be used to measure whether there is a disturbing magnetic field other than geomagnetism. In the present embodiment, when the self-propelled device 11 is located on a flat floor, the two electronic compasses 21 are located at the same height. The speed sensor 31 is disposed on the self-propelled device 11 for testing the traveling speed of the self-propelled device 11. The differential global positioning system (DGPS) 41 is disposed on the self-propelled farm 11 for detecting the position of the self-propelled device 11. The two encoder wheels 51' each of the encoder wheel and the driven wheel 54 are disposed in the self-propelling device u for contacting the ground during the traveling of the self-propelled device 11 to be scrolled for encoding. Wherein, a predetermined route p is first input to the predetermined route P in the self-propelled device u, and a plurality of navigation points are defined, and the self-propelled device is traveling on the predetermined route P. In the actual age scarf, the predetermined material p is formed by manually driving the self-propelled device u to travel once, and according to the predetermined time interval, it is obtained by the county-level all-in-one (four) system 41. The position points are defined as the navigation point N, and the navigation points N are obtained in a multi-point-group manner with the C_R curve to obtain a continuous curve, thereby forming the predetermined route p. Further, the predetermined path can be formed by inputting the electronic enthalpy containing the path into the self-propelled device U. The manner in which the C-R curve is used in this embodiment is the same as that described in the Patent No. 124, and therefore will not be described again. During the traveling process, the second electronic compass 21, the speed sensor 31, and the encoder wheels 51 sense and acquire the 201248124 group information II of the self-propelled device, including the position and the fraction. GPS 41 comes with information such as 4 and angle. And by the difference
，包含位置、恤^：^ 4咖丨⑽二組資訊 以及該第二組#訊12並加 °、、。合糾―組資訊II 以決定該自走裝置11的位4錄得綜合㈣三組資訊13 置、迷度及角度。 接者找出較近的數個導_ 均座標點與該自走裝m構、自座‘點’由该平 與目前自走裝f 11的㈣望航向’再將該期望航向 角，藉以蚊該轉向裝置的以定義為轉向方向 轉動車輪12(本實施例以前輪 ，的轉向角度，進而達到使該自走裝置u循跡導： 的效果。此處所述的平均座標點以及期望航向等技術均已 見於1249022號專利中，容不再予贅述。 於本實施例中，在该差分式全球定位系統q所能取得 喊的衛星數量少於5個時，則判斷該第二組資訊12不能 使用，此時僅取用該第一組資訊n來判斷該自走裝置u 的位置、速度以及角度。 於本實施例中’更包含有一外部物體感測器61，設置 於該自走裝置11，用以感測外部之障礙物的大小及與該自 走裝置11之間的距離，該自走裝置n可藉由執行一迴避 措施來避開障礙物，而自走裝置n的迴避措施係屬習知技 術，容不贅述。 而在行進的過程中，由於該二電子羅盤21相隔預定距 離，因此在僅有地磁時，該二電子羅盤21所感測到的方向 會是相同的，但在有除了地磁以外的干擾磁場時，該二電 201248124 子羅盤2!即會產生方向上的差異，如此一來即 干擾磁場的存在’而可進-步進行過遽或抵銷的 而取得正確的方向。 ’進 此外’遠自走裝置11在依預定路線P行進的過 雖然是使用由該第-組資訊η以及該第二組資 姓 合而成的該第三組資訊13，藉以取得該自走裝置I〗、、° 置、速度及角度。但是，有時天候不佳時，例如 霧或其他干_素，有可能使得該自走裝置u無法^ 某些衛星的訊號，當所能取得訊號的衛星數量少於$個 時，該第二組資訊12的精準度即不足夠，因此若仍將該= 二組資訊12去和第一組資訊η結合’反而會降低爷第二 組資訊D的精準度，因此，在這樣的情況下，用： =且資訊η而不採用第二組資訊12，可以使得結果(^決 疋该自走裝置11的位置、速度及角度)更為正確。 由上可知’本發明除了可以獲得較為平滑的路徑之 外’由於本發明❹了兩個電子義21，因此可以_出 是否有地磁以外的干擾磁場存在，在方向的判斷上更為準 確；此外，在GPS訊號不佳時，仍可藉由該第一組資訊η 繼續運作’改善了先前技術的缺點。 【圖式簡單說明】 意圖。 意圖，顯 第-圖係本發明一較佳實施例之系統架構示 第二圖係本發明一較佳實施例之局部架構示 不二電子羅盤位於自走裝置上同高度的狀態。 201248124 第三圖係本發明一較佳實施例之資訊產生示意圖。 第四圖係本發明一較佳實施例之預定路線示意圖。 【主要元件符號說明】 ίο自走裝置之循跡導航系統 11自走裝置 12車輪 14轉向裝置 31速度感測器 51編碼輪 54被動輪 12第二組資訊 121前輪 21電子羅盤 41差分式全球定位系統 52編碼器 61外部物體感測器 II第一組資訊 13第三組資訊 N導航點 P預定路線, including location, shirt ^: ^ 4 curry (10) two sets of information and the second group # # 12 and add °,,. The correctness group information II is used to determine the position 4 of the self-propelled device 11 to record the comprehensive (four) three sets of information 13 settings, fascination and angle. The receiver finds a number of closer _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ The effect of the steering device is defined as the steering direction of the wheel 12 (the steering angle of the front wheel of the present embodiment, thereby achieving the effect of tracking the self-propelled device u. The average coordinate point and desired heading described herein). The techniques are not described in the patent No. 1240202. In this embodiment, when the number of satellites that the differential global positioning system q can obtain is less than five, the second group of information is determined. 12 can not be used, at this time only the first group of information n is used to determine the position, speed and angle of the self-propelled device u. In the embodiment, the method further includes an external object sensor 61 disposed on the self-propelled The device 11 is configured to sense the size of the external obstacle and the distance between the self-propelled device 11, and the self-propelling device n can avoid the obstacle by performing an avoidance measure, and the self-propelling device n avoids The measures are of the prior art and are not described here. In the process, since the two electronic compasses 21 are separated by a predetermined distance, the direction sensed by the two electronic compasses 21 will be the same when there is only geomagnetism, but when there is a disturbing magnetic field other than geomagnetism, the second electric 201248124 Sub Compass 2! will produce a difference in direction, which will interfere with the existence of the magnetic field' and can be stepped forward or offset to get the correct direction. 'In addition' far self-propelled device 11 The third group of information 13 formed by the first group information η and the second group member is used to obtain the self-propelled device I, the temperature, and the speed. Angle. However, sometimes when the weather is not good, such as fog or other dryness, it may make the self-propelled device u unable to control the signals of certain satellites. When the number of satellites that can obtain signals is less than $, The accuracy of the second set of information 12 is not sufficient, so if the = two sets of information 12 are combined with the first set of information η, the accuracy of the second set of information D will be lowered, so in this case Next, use: = and information η without mining The second group of information 12 can make the result (^ determine the position, speed and angle of the self-propelled device 11) more correctly. It can be seen from the above that the present invention can be obtained in addition to the relatively smooth path. Two electronic meanings 21, so it is possible to have a disturbing magnetic field other than geomagnetism, which is more accurate in the direction judgment; in addition, when the GPS signal is not good, the first group information η can still continue to operate' The shortcomings of the prior art are improved. The following is a schematic diagram of a system architecture of a preferred embodiment of the present invention. The electronic compass is located at the same height on the self-propelled device. 201248124 The third figure is a schematic diagram of information generation according to a preferred embodiment of the present invention. The fourth figure is a schematic diagram of a predetermined route of a preferred embodiment of the present invention. [Main component symbol description] ίο Self-propelled device tracking navigation system 11 Self-propelled device 12 Wheel 14 Steering device 31 Speed sensor 51 Code wheel 54 Passive wheel 12 Second group information 121 Front wheel 21 Electronic compass 41 Differential global positioning System 52 encoder 61 external object sensor II first group information 13 third group information N navigation point P scheduled route