TW201321914A - Obstacle detecting method for self-propelled mobile device - Google Patents
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本發明係有關於一種自走式移動裝置之障礙偵測方法，尤其是指一種能更為準確偵測障礙物所在位置，避免因不同材質的障礙物造成移動裝置誤判之情況發生，而在其整體施行使用上更增實用功效特性的自走式移動裝置之障礙偵測方法創新設計者。The invention relates to a method for detecting obstacles of a self-propelled mobile device, in particular to a position that can more accurately detect the position of an obstacle and avoid the misjudgment of the mobile device caused by obstacles of different materials, and An innovative designer of obstacle detection methods for self-propelled mobile devices that use more practical and useful features.
按，隨著科技的進步與發達，電器或設備自動化之技術也越加純熟，且被普遍的應用，例如：自走式移動裝置〔吸塵機器人、清掃機器人、清洗地板機器人等〕；就該類自走式移動裝置而言，因具有完全自動化清潔家居地板而大幅節省人力之優點，因此成為工作忙碌之現代人的福音。According to the advancement and development of science and technology, the technology of electrical appliances or equipment automation is becoming more sophisticated and widely used, such as self-propelled mobile devices (cleaning robots, cleaning robots, cleaning floor robots, etc.); Self-propelled mobile devices are the gospel of modern people who are busy with work because they have the advantage of greatly saving manpower by completely automating the cleaning of the home floor.
其中，該類自走式移動裝置皆係會自動於室內進行移動清潔，且對應自走式移動裝置設有充電站，該充電站設有信號發射單元，利用該信號發射單元向外發射信號，令自走式移動裝置移動過程中偵測接收到各發光二極體所發出之光束，而讓自走式移動裝置得知該充電站所在位置，以能在自走式移動裝置電能即將耗盡時自動返回該充電站處進行充電。Wherein, the self-propelled mobile device automatically moves and cleans indoors, and the self-propelled mobile device is provided with a charging station, and the charging station is provided with a signal transmitting unit, and the signal transmitting unit transmits signals to the outside. The self-propelled mobile device detects that the light beam emitted by each of the light-emitting diodes is received during the movement of the self-propelled mobile device, and allows the self-propelled mobile device to know the location of the charging station, so that the self-propelled mobile device can be exhausted When it is automatically returned to the charging station for charging.
而自走式移動裝置於室內進行移動清潔時，請一併參閱第六圖現有之偵測狀態示意圖（一）及第七圖現有之偵測狀態示意圖（二）所示，於該移動裝置（３）前端設分別設有訊號發射端（３１）及訊號接收端（３２），且該訊號發射端（３１）及訊號接收端（３２）皆朝內形成一夾角，在移動裝置（３）移動清潔過程中，該訊號發射端（３１）會持續向外發射出感測訊號，該感測訊號於受到障礙物阻擋後即會進行反射，且反射訊號會形成一散射狀，使得於當移動裝置（３）距離該障礙物較遠時，該訊號接收端（３２）僅能接收到微弱之成散射狀反射感測訊號，使得移動裝置（３）仍會繼續前進，且隨著移動裝置（３）越靠近障礙物，訊號接收端（３２）所接收到之感測訊號即會越強，而當移動裝置（３）前進至與障礙物在一定距離內時，該訊號接收端（３２）所接收到反射之感測訊號即會到達一設定之門檻值，此時即表示移動裝置（３）與障礙物距離過近，該移動裝置（３）即會自動轉向往其他方向繼續移動進行清潔作業，以避免移動裝置（３）撞擊到障礙物損壞或卡滯不移動之情況發生。When the self-propelled mobile device is moved and cleaned indoors, please refer to the existing detection state diagram (1) of the sixth figure and the current detection state diagram (2) of the seventh figure, as shown in the mobile device ( 3) The front end is provided with a signal transmitting end (31) and a signal receiving end (32), and the signal transmitting end (31) and the signal receiving end (32) both form an angle inward and move on the mobile device (3). During the cleaning process, the signal emitting end (31) continuously emits a sensing signal, and the sensing signal is reflected after being blocked by the obstacle, and the reflected signal forms a scattering shape, so that the mobile device (3) When the distance from the obstacle is far away, the signal receiving end (32) can only receive the weak scattered reflection sensing signal, so that the mobile device (3) will continue to advance, and with the mobile device (3) The closer to the obstacle, the stronger the sensing signal received by the signal receiving end (32), and when the mobile device (3) advances to a certain distance from the obstacle, the message The sensing signal received by the receiving end (32) will reach a set threshold value, which means that the mobile device (3) is too close to the obstacle, and the mobile device (3) will automatically turn to other The direction continues to move for cleaning operations to prevent the mobile device (3) from colliding with obstacles or jamming and not moving.
然而，上述移動裝置雖可偵測與障礙物間的距離，達到於距離過於接近時自動轉向之預期功效，但也在其實際施行使用上發現，該移動裝置之訊號接收端係藉由所接收之反射感測訊號達到設定之門檻值後，判斷移動裝置與障礙物距離過於接近進行轉向，而由於各種不同障礙物具有其不同的組成材質，各類不同材質間又分別具有其不同的反射效果，造成該移動裝置之訊號接收端於接收到的反射感測訊號強度達到所設定之門檻值時，往往非為所預定之移動裝置與障礙物間的距離，會有導致誤判移動裝置與障礙物間的距離之情況發生，致令其在整體結構設計上存有改進之空間。However, although the mobile device can detect the distance from the obstacle and achieve the expected effect of automatically turning when the distance is too close, it is also found in the actual implementation that the signal receiving end of the mobile device is received by the mobile device. After the reflected sensing signal reaches the set threshold, it is judged that the distance between the mobile device and the obstacle is too close for steering, and since various obstacles have different constituent materials, different materials have different reflection effects respectively. When the received signal of the mobile device reaches the set threshold value, the received signal of the mobile device is often not the distance between the predetermined mobile device and the obstacle, which may cause misjudgment of the mobile device and the obstacle. The distance between them occurs, which leaves room for improvement in the overall structural design.
緣是，發明人有鑑於此，秉持多年該相關行業之豐富設計開發及實際製作經驗，針對現有之結構及缺失予以研究改良，提供一種自走式移動裝置之障礙偵測方法，以期達到更佳實用價值性之目的者。In view of this, the inventors have been able to provide a self-propelled mobile device obstacle detection method to better achieve the existing structure and lack of research and improvement based on the rich experience in design and development of the relevant industries for many years. The purpose of practical value.
本發明自走式移動裝置之障礙偵測方法，其主要係於移動裝置前端設有偵測裝置，該偵測裝置係分別為訊號發射端及訊號接收端；該偵測裝置於進行障礙物偵測時，係令訊號發射端向外發射感測訊號，且令訊號接收端接收經障礙物阻擋所反射的感測訊號，該訊號接收端所接收到的反射感測訊號強度會隨著移動裝置往障礙物靠近而逐漸增強，於移動裝置與障礙物間接近到一定距離時，該訊號接收端即會接收到最強的反射感測訊號，而若該移動裝置繼續往障礙物間接近，該訊號接收端所接收到的反射感測訊號又會減弱，該偵測裝置即藉由該訊號接收端所接收到的反射感測訊號之轉折點判斷出移動裝置與障礙物間的距離過於接近，而控制該移動裝置自動進行轉向；藉此，能更為準確偵測障礙物所在位置，避免因不同材質的障礙物造成移動裝置誤判之情況發生，而能在其整體施行使用上更增實用便利性者。The obstacle detection method of the self-propelled mobile device is mainly provided with a detecting device at the front end of the mobile device, and the detecting device is respectively a signal transmitting end and a signal receiving end; the detecting device is performing obstacle detection During the measurement, the signal transmitting end emits the sensing signal, and the signal receiving end receives the sensing signal reflected by the obstacle blocking, and the intensity of the reflected sensing signal received by the signal receiving end varies with the mobile device. As the obstacle approaches, it gradually increases. When the mobile device approaches a certain distance between the obstacle, the signal receiving end receives the strongest reflection sensing signal, and if the mobile device continues to approach the obstacle, the signal The reflection sensing signal received by the receiving end is weakened again. The detecting device determines that the distance between the mobile device and the obstacle is too close by the turning point of the reflected sensing signal received by the signal receiving end, and the control device controls the distance between the mobile device and the obstacle. The mobile device automatically performs steering; thereby, the position of the obstacle can be detected more accurately, and the mobile device is misjudged due to obstacles of different materials. It happens, but more by practical convenience for those on the implementation of its overall use.
為令本發明所運用之技術內容、發明目的及其達成之功效有更完整且清楚的揭露，茲於下詳細說明之，並請一併參閱所揭之圖式及圖號：For a more complete and clear disclosure of the technical content, the purpose of the invention and the effects thereof achieved by the present invention, it is explained in detail below, and please refer to the drawings and drawings:
首先，請參閱第一圖本發明之結構示意圖所示，本發明主要係於移動裝置（１）前端設有偵測裝置（２），該偵測裝置（２）分別係為兩平行設置之訊號發射端（２１）及訊號接收端（２２），而該訊號發射端（２１）可供向外發射光波感測訊號或聲波感測訊號，並於感測訊號受到障礙物阻擋反射後，為該訊號接收端（２２）所進行接收。First, please refer to the first schematic diagram of the present invention. The present invention is mainly provided with a detecting device (2) at the front end of the mobile device (1), and the detecting device (2) is respectively connected with two parallel signals. a transmitting end (21) and a signal receiving end (22), wherein the signal transmitting end (21) is configured to emit an optical wave sensing signal or an acoustic sensing signal, and after the sensing signal is blocked by the obstacle, The signal receiving end (22) receives the reception.
如此一來，請再一併參閱第二圖本發明之訊號接收端隨距離變化於各種顏色材質所接收之光波變化示意圖所示，由於該偵測裝置（２）之訊號發射端（２１）於向外發射感測訊號後，感測訊號一旦受到障礙物阻擋即會進行散射狀的反射，讓該訊號接收端（２２）於距離障礙物一定範圍內皆會接收到經障礙物阻擋所散射狀反射的感測訊號，令該移動裝置（１）於偵測障礙物之距離方法如下：In this way, please refer to the second figure. The signal receiving end of the present invention is changed according to the variation of the light wave received by the various color materials, because the signal transmitting end (21) of the detecting device (2) is After the sensing signal is emitted outward, the sensing signal will be reflected by the obstacle once it is blocked by the obstacle, so that the signal receiving end (22) will receive the obstacle blocking by the obstacle within a certain range of the obstacle. The reflected sensing signal causes the mobile device (1) to detect the distance of the obstacle as follows:
Ａ．請一併參閱第三圖本發明之偵測狀態示意圖（一）所示，於移動裝置（１）與障礙物間距離較遠時，該訊號接收端（２２）僅能接收到較為微弱之反射感測訊號；A. Please refer to the third diagram of the detection state of the present invention (1). When the mobile device (1) is far away from the obstacle, the signal receiving end (22) can only receive relatively weak reflection. Sense signal
Ｂ．隨著移動裝置（１）往障礙物靠近，其相互間之距離縮短時，該訊號接收端（２２）所接收到的反射感測訊號強度會逐漸增強；B. As the mobile device (1) approaches the obstacle and the distance between them is shortened, the intensity of the reflected sensing signal received by the signal receiving end (22) gradually increases;
Ｃ．請再一併參閱第四圖本發明之偵測狀態示意圖（二）所示，於移動裝置（１）與障礙物間接近到一定距離時，該訊號接收端（２２）即會接收到最強的反射感測訊號；C. Please refer to the fourth diagram of the detection state of the present invention (2). When the mobile device (1) approaches a certain distance between the obstacle and the obstacle, the signal receiving end (22) receives the strongest. Reflective sensing signal
Ｄ．請再一併參閱第五圖本發明之偵測狀態示意圖（三）所示，若該移動裝置（１）繼續往障礙物接近，該訊號發射端（２１）所發射之訊號於受到障礙物阻擋進行反射後，會因移動裝置（１）與障礙物間的距離過為接近，而讓反射訊號反射至訊號發射端（２１）與訊號接收端（２２）間的移動裝置上進行第二次反射，第二次反射訊號於再受到障礙物的阻擋進行第三次反射後才會為訊號接收端所接收，使得該訊號接收端（２２）即因所接收到的反射感測訊號係為第三次反射感測訊號，其強度相較於Ｃ步驟又會開始減弱，該偵測裝置（２）即會藉由該訊號接收端（２２）所接收到的反射感測訊號之轉折點判斷出移動裝置（１）與障礙物間的距離過於接近，而控制該移動裝置（１）自動轉向往其他方向繼續移動進行清潔作業。D. Please refer to the fifth diagram of the detection state of the present invention (3). If the mobile device (1) continues to approach the obstacle, the signal transmitted by the signal transmitting end (21) is blocked by the obstacle. After the reflection, the distance between the mobile device (1) and the obstacle is too close, and the reflected signal is reflected to the second device on the moving device between the signal transmitting end (21) and the signal receiving end (22). The second reflection signal is received by the signal receiving end after being blocked by the obstacle for the third time, so that the signal receiving end (22) is the third because the received reflection sensing signal is received. The secondary reflection sensing signal has a lower intensity than the C step, and the detecting device (2) determines the mobile device by the turning point of the reflected sensing signal received by the signal receiving end (22). (1) The distance from the obstacle is too close, and the mobile device (1) is controlled to automatically turn to move in other directions to perform the cleaning operation.
藉由以上所述，本發明結構之組成與使用實施說明可知，本發明與現有結構相較之下，本發明主要係令該偵測裝置藉由訊號接收端所接收到的反射感測訊號之轉折點判斷出移動裝置與障礙物間的距離過於接近，而控制該移動裝置自動進行轉向，以能更為準確偵測障礙物所在位置，避免因不同材質的障礙物造成移動裝置誤判之情況發生，而能在其整體施行使用上更增實用便利性者。As described above, the composition of the structure of the present invention and the implementation of the present invention show that, in contrast to the prior art, the present invention mainly provides the reflective sensing signal received by the detecting device by the signal receiving end. The turning point determines that the distance between the mobile device and the obstacle is too close, and controls the mobile device to automatically perform steering, so as to more accurately detect the position of the obstacle, and avoid the occurrence of misjudgment of the mobile device due to obstacles of different materials. And it can be more practical and convenient in its overall implementation.
然而前述之實施例或圖式並非限定本發明之產品結構或使用方式，任何所屬技術領域中具有通常知識者之適當變化或修飾，皆應視為不脫離本發明之專利範疇。However, the above-described embodiments or drawings are not intended to limit the structure or the use of the present invention, and any suitable variations or modifications of the invention will be apparent to those skilled in the art.
綜上所述，本發明實施例確能達到所預期之使用功效，又其所揭露之具體構造，不僅未曾見諸於同類產品中，亦未曾公開於申請前，誠已完全符合專利法之規定與要求，爰依法提出發明專利之申請，懇請惠予審查，並賜准專利，則實感德便。In summary, the embodiments of the present invention can achieve the expected use efficiency, and the specific structure disclosed therein has not been seen in similar products, nor has it been disclosed before the application, and has completely complied with the provisions of the Patent Law. And the request, the application for the invention of a patent in accordance with the law, please forgive the review, and grant the patent, it is really sensible.
(1)．．．移動裝置(1). . . Mobile device
(2)．．．偵測裝置(2). . . Detection device
(21)．．．訊號發射端(twenty one). . . Signal transmitter
(22)．．．訊號接收端(twenty two). . . Signal receiving end
(3)．．．移動裝置(3). . . Mobile device
(31)．．．訊號發射端(31). . . Signal transmitter
(32)．．．訊號接收端(32). . . Signal receiving end
第一圖：本發明之結構示意圖First Figure: Schematic diagram of the structure of the present invention
第二圖：本發明之訊號接收端隨距離變化於各種顏色材質所接收之光波變化示意圖The second figure: the light receiving wave received by the signal receiving end of the present invention varies with distance from various color materials.
第三圖：本發明之偵測狀態示意圖（一）Third figure: Schematic diagram of the detection state of the present invention (1)
第四圖：本發明之偵測狀態示意圖（二）Fourth: Schematic diagram of the detection state of the present invention (2)
第五圖：本發明之偵測狀態示意圖（三）Figure 5: Schematic diagram of the detection state of the present invention (3)
第六圖：現有之偵測狀態示意圖（一）Figure 6: Schematic diagram of the existing detection status (1)
第七圖：現有之偵測狀態示意圖（二）Figure 7: Schematic diagram of the existing detection status (2)
(1)．．．移動裝置(1). . . Mobile device
(2)．．．偵測裝置(2). . . Detection device
(21)．．．訊號發射端(twenty one). . . Signal transmitter
(22)．．．訊號接收端(twenty two). . . Signal receiving end
Claims (4)
Ａ．於移動裝置與障礙物間距離較遠時，該訊號接收端僅能接收到較為微弱之反射感測訊號；
Ｂ．隨著移動裝置往障礙物靠近，其相互間之距離縮短時，該訊號接收端所接收到的反射感測訊號強度會逐漸增強；
Ｃ．於移動裝置與障礙物間接近到一定距離時，該訊號接收端即會接收到最強的反射感測訊號；
Ｄ．若該移動裝置繼續往障礙物接近，該訊號發射端所發射之訊號於受到障礙物阻擋進行反射後，會因移動裝置與障礙物間的距離過為接近，而讓反射訊號反射至訊號發射端與訊號接收端間的移動裝置上進行第二次反射，第二次反射訊號於再受到障礙物的阻擋進行第三次反射後才會為訊號接收端所接收，使得該訊號接收端即因所接收到的反射感測訊號係為第三次反射感測訊號，其強度相較於Ｃ步驟又會開始減弱，該偵測裝置即會藉由該訊號接收端所接收到的反射感測訊號之轉折點判斷出移動裝置與障礙物間的距離過於接近，而控制該移動裝置自動轉向往其他方向繼續移動進行清潔作業。A method for detecting an obstacle of a self-propelled mobile device is mainly provided with a detecting device at a front end of the mobile device, wherein the detecting device is a signal transmitting end and a signal receiving end respectively, and the signal transmitting end of the detecting device is in the direction After the external sensing signal is transmitted, the sensing signal will be reflected by the obstacle once it is blocked by the obstacle, so that the distance of the mobile device in detecting the obstacle is as follows:
A. When the distance between the mobile device and the obstacle is long, the signal receiving end can only receive a relatively weak reflection sensing signal;
B. As the mobile device approaches the obstacle and the distance between them is shortened, the intensity of the reflected sensing signal received by the signal receiving end is gradually increased;
C. When the mobile device approaches a certain distance between the obstacle, the signal receiving end receives the strongest reflection sensing signal;
D. If the mobile device continues to approach the obstacle, the signal transmitted by the signal transmitting end is blocked by the obstacle, and the reflected signal is reflected to the signal transmitting end because the distance between the moving device and the obstacle is too close. The second reflection is performed on the mobile device between the signal receiving end and the second reflection signal is received by the signal receiving end after being blocked by the obstacle for the third time, so that the signal receiving end is the cause The received reflected sensing signal is the third reflected sensing signal, and its intensity begins to weaken compared to the C step. The detecting device receives the reflected sensing signal received by the signal receiving end. The turning point determines that the distance between the mobile device and the obstacle is too close, and controls the mobile device to automatically turn to continue moving in other directions to perform the cleaning operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW100141991A TW201321914A (en) | 2011-11-17 | 2011-11-17 | Obstacle detecting method for self-propelled mobile device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW100141991A TW201321914A (en) | 2011-11-17 | 2011-11-17 | Obstacle detecting method for self-propelled mobile device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| TW201321914A true TW201321914A (en) | 2013-06-01 |
Family
ID=49032328
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| TW100141991A TW201321914A (en) | 2011-11-17 | 2011-11-17 | Obstacle detecting method for self-propelled mobile device |
Country Status (1)
| Country | Link |
|---|---|
| TW (1) | TW201321914A (en) |
-
2011
- 2011-11-17 TW TW100141991A patent/TW201321914A/en unknown
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