TW202145875A - Supporting vehicle system - Google Patents

Abstract

A supporting vehicle system used for cooperative working with a user includes a vehicle mechanism, a drive system, a sensor, and a control system. The vehicle mechanism is used to carry a work piece. The drive system drives the vehicle mechanism moving on a moving path. The sensor detects environmental information within a detection range in a moving direction of the vehicle mechanism and moving information or commands of the user. The control system is connected between the driving system and the sensor. The control system receives the moving information and the environmental information to create a map of the detection range and sets a current target in the map according to the moving information or the commands. The control system plans the moving path according to a current position of the vehicle mechanism and the current target such that the vehicle mechanism moves on the moving path.

Description

載具系統vehicle system

本揭露有關於載具系統。This disclosure pertains to vehicle systems.

由於農業人口逐年減少與老化，導致傳統農業人力缺工問題逐年嚴重。舉例而言，對於採茶工作來說，現有便利於採茶工作的採茶工具包括雙人式採茶刀，必須二人以上才能使用。在缺工的情況下，這樣一類的雙人式採茶刀便難以使用。而若使用更先進的其他採茶工具，則成本還需再增加，並且還有學習門檻的問題。Due to the decrease and aging of the agricultural population year by year, the shortage of labor in traditional agriculture is becoming more and more serious year by year. For example, for the tea picking work, the existing tea picking tools that are convenient for the tea picking work include a double-type tea picking knife, which can only be used by two or more people. In the absence of work, such a double-type tea-picking knife is difficult to use. However, if other more advanced tea picking tools are used, the cost will need to increase, and there is also the problem of learning threshold.

因此，如何提供一種人機協作的採集工具，藉以在保留現有農業採集流程情況下，協助農民採收，是相關領域技術人員所感興趣的課題。Therefore, how to provide a human-machine collaborative collection tool to assist farmers in harvesting while retaining the existing agricultural collection process is a topic of interest to those skilled in the relevant fields.

本揭露之一態樣有關於一種載具系統。One aspect of the present disclosure pertains to a vehicle system.

根據本揭露之一實施方式，一種載具系統包括載具機構、驅動系統、感測器以及控制系統。載具機構用以承載工作件。驅動系統傳動載具機構於移動路徑上移動。感測器偵測使用者的移動資訊或指令，與載具機構的移動方向上的範圍偵測內的環境資訊。控制系統連接於驅動系統與感測器之間。控制系統接收使用者的移動資訊，以及環境資訊以建立偵測範圍的地圖，根據使用者的移動資訊或者使用者的指令，並設置當前目標於地圖的邊界範圍內。控制系統根據載具機構的當前位置與當前目標進行規劃移動路徑，並進行循跡路徑移動。According to an embodiment of the present disclosure, a carrier system includes a carrier mechanism, a drive system, a sensor, and a control system. The carrier mechanism is used to carry the work piece. The drive system drives the carrier mechanism to move on the moving path. The sensor detects the user's movement information or instructions, and the range in the movement direction of the vehicle mechanism detects the environmental information within. The control system is connected between the drive system and the sensor. The control system receives the user's movement information and environmental information to establish a map of the detection range, and sets the current target within the boundary range of the map according to the user's movement information or the user's instruction. The control system plans the movement path according to the current position of the carrier mechanism and the current target, and moves along the path.

在一或多個實施方式中，載具機構設置位於彼此平行的複數開放道路其中之一內。當載具機構轉彎換行至另一開放道路，控制系統於地圖建立虛擬障礙物，藉以從邊界區隔出無效段，使得當前目標設置於無效段以外的邊界上。In one or more embodiments, the carrier mechanism is disposed within one of a plurality of open roads that are parallel to each other. When the vehicle mechanism turns and changes to another open road, the control system creates a virtual obstacle on the map to separate the invalid segment from the boundary, so that the current target is set on the boundary outside the invalid segment.

在一或多個實施方式中，感測器還包括對準使用者的影像與深度相機(RGB-D camera)，以感測使用者與載具機構的相對位置。控制系統進一步根據相對位置規劃移動路徑，以使載具機構與使用者保持並排平行移動。In one or more embodiments, the sensor further includes an image and depth camera (RGB-D camera) aimed at the user to sense the relative position of the user and the carrier mechanism. The control system further plans the movement path according to the relative position, so as to keep the carrier mechanism and the user moving side by side in parallel.

在一或多個實施方式中，載具機構與使用者分別位於彼此平行的兩相鄰開放道路。載具機構用以承載之工作件包括雙人收割機。雙人收割機的一側抵靠載具機構。使用者手持雙人收割機之另一側，以採收二相鄰開放道路之間的作物。In one or more embodiments, the carrier mechanism and the user are located on two adjacent open roads that are parallel to each other. The work piece carried by the carrier mechanism includes a double harvester. One side of the double harvester rests against the carrier mechanism. The user holds the other side of the double harvester to harvest crops between two adjacent open roads.

在一些實施方式中，載具機構包括一固定機構與一高度調整模組。工作件通過固定機構固定於高度調整模組上，藉以根據欲採收之作物的高度來調整工作件的高度。In some embodiments, the carrier mechanism includes a fixing mechanism and a height adjustment module. The work piece is fixed on the height adjustment module through a fixing mechanism, so as to adjust the height of the work piece according to the height of the crop to be harvested.

在一或多個實施方式中，載具機構包括雙履帶底盤。驅動系統包括用以傳動雙履帶底盤之電動馬達。In one or more embodiments, the carrier mechanism includes a dual track chassis. The drive system includes an electric motor for driving the dual track chassis.

在一或多個實施方式中，如前所述的載具系統進一步包括人機界面。人機界面連接控制系統，以供使用者下達移動指令，移動指令包括啟動載具系統的自動轉彎功能、手動調整載具機構移動速度與方向、停止載具機構移動等。人機界面還具有一顯示裝置可以顯示載具系統目前移動狀態，供使用者讀取。In one or more embodiments, the aforementioned vehicle system further includes a human-machine interface. The man-machine interface is connected to the control system for the user to issue movement commands. The movement commands include activating the automatic turning function of the vehicle system, manually adjusting the movement speed and direction of the vehicle mechanism, and stopping the movement of the vehicle mechanism. The man-machine interface also has a display device that can display the current moving state of the carrier system for the user to read.

在一或多個實施方式中，該控制系統進一步儲存複數環境參數，並根據該些環境參數規劃該移動路徑。環境參數包括開放道路的複數寬度、開放道路之間的複數間距以及載具機構的迴轉半徑。In one or more embodiments, the control system further stores a plurality of environmental parameters, and plans the movement path according to the environmental parameters. Environmental parameters include the complex width of open roads, the complex spacing between open roads, and the radius of gyration of the vehicle mechanism.

在一或多個實施方式中，感測器包括光學雷達。光學雷達朝載具機構的移動方向發射光束，獲得偵側範圍內的環境資訊。In one or more embodiments, the sensor includes a LiDAR. The optical radar emits light beams in the moving direction of the vehicle mechanism to obtain environmental information within the detection range.

本揭露之另一態樣有關於一種載具系統。Another aspect of the present disclosure relates to a vehicle system.

根據本揭露之一實施方式，一種載具系統包括載具機構、驅動系統、感測器以及控制系統。載具機構用以承載工作件。驅動系統傳動載具機構於移動路徑上移動。感測器包括對準使用者的深度相機，以感測使用者與載具機構的相對位置。控制系統用以根據相對位置規劃移動路徑，以使載具機構與使用者保持並排移動。According to an embodiment of the present disclosure, a carrier system includes a carrier mechanism, a drive system, a sensor, and a control system. The carrier mechanism is used to carry the work piece. The drive system drives the carrier mechanism to move on the moving path. The sensor includes a depth camera aimed at the user to sense the relative position of the user to the carrier mechanism. The control system is used to plan the movement path according to the relative position, so as to keep the carrier mechanism and the user moving side by side.

綜上所述，本揭露提供一種能夠實現人機協作的載具系統，載具系統用以承載現有的採收工具，能夠智慧地實現自動轉彎，並且還能夠跟隨使用者行走。如此，能夠在保留現有農業相關的採收流程下協助採收。To sum up, the present disclosure provides a carrier system capable of realizing human-machine cooperation. The carrier system is used to carry existing harvesting tools, can intelligently realize automatic turning, and can also walk with the user. In this way, harvesting can be facilitated while preserving existing agriculturally relevant harvesting processes.

應理解到，以上的一般說明與以下的詳細描述都是通過示例做進一步說明，旨在為本揭露提供做進一步的解釋，而不應以此限制本揭露。It should be understood that the above general description and the following detailed description are all further descriptions by way of examples, and are intended to provide further explanation of the present disclosure, but should not limit the present disclosure.

下文列舉實施例配合所附圖式進行詳細說明，但所提供之實施例並非用以限制本揭露所涵蓋的範圍，而結構運作之描述非用以限制其執行之順序，任何由元件重新組合之結構，所產生具有均等功效的裝置，皆為本揭露所涵蓋的範圍。另外，圖式僅以說明為目的，並未依照原尺寸作圖。為使便於理解，下述說明中相同元件或相似元件將以相同之符號標示來說明。The following examples are described in detail in conjunction with the accompanying drawings, but the provided examples are not intended to limit the scope of the present disclosure, and the description of the structure and operation is not intended to limit the order of its execution. Any recombination of elements The structure and the resulting device with equal efficacy are all within the scope of the present disclosure. In addition, the drawings are for illustrative purposes only, and are not drawn on the original scale. For ease of understanding, the same or similar elements in the following description will be described with the same symbols.

除非另有定義，本文所使用的所有詞彙（包括技術和科學術語）具有其通常的意涵，其意涵是能夠被熟悉此領域者所理解。更進一步的說，上述的詞彙在普遍常用的字典中的定義，在本說明書的內容中應被解讀為與本揭露相關領域一致的意涵。除非有特別明確定義，這些詞彙將不被解釋為理想化的或過於正式的意涵。Unless otherwise defined, all terms (including technical and scientific terms) used herein have their ordinary meanings as understood by those skilled in the art. Furthermore, the definitions of the above words in commonly used dictionaries should be interpreted as meanings consistent with the relevant fields of the present disclosure in the content of this specification. Unless specifically defined, these terms are not to be construed in an idealized or overly formal sense.

在本文中所使用的用詞『包含』、『包括』、『具有』、『含有』等等，均為開放性的用語，即意指包含但不限於。The terms "comprising", "including", "having", "containing" and the like used in this document are all open-ended terms, meaning including but not limited to.

於本文中，除非內文中對於冠詞有所特別限定，否則『一』與『該』可泛指單一個或多個。將進一步理解的是，本文中所使用之『包含』、『包括』、『具有』及相似詞彙，指明其所記載的特徵、區域、整數、步驟、操作、元件與/或組件，但不排除其所述或額外的其一個或多個其它特徵、區域、整數、步驟、操作、元件、組件，與/或其中之群組。As used herein, unless the context specifically defines the article, "a" and "the" can refer to a single one or a plurality. It will be further understood that the terms "comprising", "including", "having" and similar words used herein designate the recited features, regions, integers, steps, operations, elements and/or components, but do not exclude one or more of its other features, regions, integers, steps, operations, elements, components, and/or groups thereof, described or additional thereto.

本揭露提供一種能夠用於人機協作的載具系統，藉以在不修改傳統農業作業方式的情況下節省人力。舉例而言，在傳統的雙人機械採茶流程中，必須要至少二名採茶工。二名採茶工分別位於茶樹兩側，以共持橫跨茶樹的一臺雙人採茶機，使得雙人採茶機的能夠採集到茶樹上的茶葉。而本揭露的載具系統能夠取代其中一名採茶工，以人機協作方式完成傳統的雙人機械採茶流程。The present disclosure provides a vehicle system that can be used for human-machine collaboration, so as to save manpower without modifying traditional agricultural operation methods. For example, in the traditional two-person mechanical tea picking process, at least two tea pickers are required. Two tea pickers are located on both sides of the tea tree to jointly hold a double tea picking machine across the tea tree, so that the double tea picking machine can collect the tea leaves on the tea tree. The vehicle system of the present disclosure can replace one of the tea pickers, and complete the traditional two-person mechanical tea picking process by means of human-machine cooperation.

第1圖根據本揭露之一實施方式繪示一載具系統100的一方塊示意圖。在本實施方式中，載具系統100包括載具機構110、驅動系統120、感測器130、控制系統140、人機界面150以及電源160。電源160分別連接驅動系統120、感測器130與控制系統140，藉以提供電力。FIG. 1 is a schematic block diagram of a carrier system 100 according to an embodiment of the present disclosure. In this embodiment, the carrier system 100 includes a carrier mechanism 110 , a driving system 120 , a sensor 130 , a control system 140 , a human-machine interface 150 and a power source 160 . The power supply 160 is respectively connected to the driving system 120 , the sensor 130 and the control system 140 to provide power.

載具機構110能夠用於承載工作件。工作件包含但不限於雙人採收機、機械手臂或是農藥噴灑裝置。雙人採收機舉例而言，包括雙人採茶機。在一些實施方式中，載具機構110包括不同類型的車輛系統，並設置有用以固定工作件的固定機構116。驅動系統120則設置連接於載具機構110上，藉以傳動載具機構110移動。驅動系統120例如是電動馬達，能夠用以傳動車輛的輪胎。The carrier mechanism 110 can be used to carry work pieces. Workpieces include but are not limited to double harvesters, robotic arms or pesticide spraying devices. An example of a two-person harvester includes a two-person tea picker. In some embodiments, the carrier mechanism 110 includes a different type of vehicle system and is provided with a securing mechanism 116 to secure the work piece. The driving system 120 is arranged and connected to the carrier mechanism 110 to drive the carrier mechanism 110 to move. The drive system 120 is, for example, an electric motor, which can be used to drive the tires of the vehicle.

在本實施方式中，感測器130係用以偵測環境資訊。控制系統140連接於感測器130與驅動系統120之間。控制系統140能夠用以接收感測器130接收到的環境資訊，藉以規劃移動路徑並提供予驅動系統120。如此，驅動系統120便可以傳動載具機構110於控制系統140規劃的移動路徑上移動。In this embodiment, the sensor 130 is used to detect environmental information. The control system 140 is connected between the sensor 130 and the driving system 120 . The control system 140 can be used to receive the environmental information received by the sensor 130 , so as to plan the moving path and provide it to the driving system 120 . In this way, the driving system 120 can drive the carrier mechanism 110 to move on the moving path planned by the control system 140 .

具體而言，感測器130所偵測到的環境資訊，可以包括載具機構110所處附近環境的地理資訊，例如載具機構是位在開放道路上的何處，以及與茶樹或障礙物的相對空間資訊等。此外，在一些實施方式中，環境資訊可以進一步包括載具系統100之使用者與載具機構110的相對位置。在使用者欲與載具系統100進行人機協作，則載具系統100的控制系統140便可以根據使用者與載具機構110的相對位置來規劃移動路徑，藉以使載具機構110自動跟隨使用者行走，從而替代人力。Specifically, the environmental information detected by the sensor 130 may include geographic information of the surrounding environment where the vehicle mechanism 110 is located, such as where the vehicle mechanism is located on the open road, and the relationship between tea trees or obstacles. relative spatial information, etc. Additionally, in some embodiments, the environmental information may further include the relative positions of the user of the vehicle system 100 and the vehicle mechanism 110 . When the user wants to perform man-machine cooperation with the carrier system 100 , the control system 140 of the carrier system 100 can plan the moving path according to the relative position between the user and the carrier mechanism 110 , so that the carrier mechanism 110 can automatically follow the use. to walk, thereby replacing manpower.

進一步地，人機界面150連接至控制系統140。人機界面150能夠呈現載具系統100的當前模式，並且使用者也可以通過人機界面150來控制載具機構110，藉以下達移動指令。人機界面150可以具有顯示裝置，以顯示載具系統100之載具機構110目前移動狀態，供使用者讀取。移動指令舉例而言，包括啟動自動轉彎功能、手動調整移動速度與方向、停止載具機構移動等等。人機界面150上可以設置有自動按鈕與轉彎按鈕。當使用者按住自動按鈕，則載具機構110可以自動跟隨使用者移動，直到使用者不再按住自動按鈕，載具機構110離開自動模式而停止。隨後，使用者可再按下轉彎按鈕，啟動自動轉彎功能，通過本揭露之一轉彎路徑規劃方法，載具系統100的載具機構便能夠自動轉彎。在一些實施方式中，人機界面150使載具系統100進入遙控模式，使用者可以手動調整載具系統100之載具機構110的移動速度與方向，從而將載具系統100移動定位。Further, the human-machine interface 150 is connected to the control system 140 . The human-machine interface 150 can present the current mode of the carrier system 100 , and the user can also control the carrier mechanism 110 through the human-machine interface 150 to issue movement commands. The man-machine interface 150 may have a display device to display the current moving state of the carrier mechanism 110 of the carrier system 100 for the user to read. Examples of movement commands include activating the automatic turning function, manually adjusting the movement speed and direction, stopping the movement of the vehicle mechanism, and so on. The man-machine interface 150 may be provided with an automatic button and a turn button. When the user presses the automatic button, the carrier mechanism 110 can automatically move with the user until the user stops pressing the automatic button, and the carrier mechanism 110 exits the automatic mode and stops. Then, the user can press the turn button again to activate the automatic turning function, and through a turning path planning method of the present disclosure, the vehicle mechanism of the vehicle system 100 can automatically turn. In some embodiments, the human-machine interface 150 enables the carrier system 100 to enter the remote control mode, and the user can manually adjust the moving speed and direction of the carrier mechanism 110 of the carrier system 100 to move and position the carrier system 100 .

第2圖根據本揭露之一實施方式繪示一載具系統100的一立體圖。應留意到，人機界面150係為使用者所持，為了簡單說明的目的，使用者與人機界面150均未繪示於第2圖上。FIG. 2 illustrates a perspective view of a carrier system 100 according to an embodiment of the present disclosure. It should be noted that the man-machine interface 150 is held by the user. For the purpose of simple description, neither the user nor the man-machine interface 150 is shown in FIG. 2 .

在本實施方式中，驅動系統120為一電動馬達。載具機構110為一雙履帶車輛，而能夠較無障礙地於不同種類的地型上移動。載具機構110包括雙履帶底盤118。電源160為設置於雙履帶底盤118上的電池。進一步地，在雙履帶底盤118上，載具機構110進一步包括支架112、高度調整模組114以及固定機構116。支架112設置於雙履帶底盤118帶動的車體上。高度調整模組114設置於支架112上，並且固定機構116設置於高度調整模組114之上。如此，工作件便可以通過固定機構116固定於高度調整模組114上，以根據欲採收之作物的高度來調整工作件的高度。In this embodiment, the drive system 120 is an electric motor. The carrier mechanism 110 is a double-tracked vehicle, which can move on different types of terrain with less obstacles. The carrier mechanism 110 includes a dual track undercarriage 118 . The power source 160 is a battery provided on the dual track chassis 118 . Further, on the dual track chassis 118 , the carrier mechanism 110 further includes a bracket 112 , a height adjustment module 114 and a fixing mechanism 116 . The bracket 112 is arranged on the vehicle body driven by the double track chassis 118 . The height adjustment module 114 is arranged on the bracket 112 , and the fixing mechanism 116 is arranged on the height adjustment module 114 . In this way, the work piece can be fixed on the height adjustment module 114 by the fixing mechanism 116 to adjust the height of the work piece according to the height of the crop to be harvested.

在本實施方式中，感測器130包括光學雷達(lidar)132與影像與深度相機134。光學雷達132能夠通過光學的方式來偵測道路，並藉以實現直線偵測技術來獲知道路的邊界。光學雷達132係設置朝向載具機構110的移動方向來發射偵測用的光束，從而獲得偵測範圍内的環境資訊。影像與深度相機134用以在人機協作時對準使用者，以獲得使用者與載具機構110的相對位置，使載具系統100的控制系統140規劃出與使用者並排行走的移動路徑。在一些實施方式中，可以進一步通過影像與深度相機134來辨視使用者利用手勢或肢體語言來下達的指令，藉以使載具系統100根據指令移動。舉例而言，使用者擺出向特定方向移動的手勢，控制系統140便可以通過影像與深度相機134擷取使用者手勢，經判別後指示驅動系統120使載具機構110向特定方向移動。在一些實施方式中，感測器130也包括麥克風，通過語音辨識技術，使用者可以口頭向載具系統100發出指令。In this embodiment, the sensor 130 includes a lidar 132 and an image and depth camera 134 . The LiDAR 132 can detect the road in an optical manner, and thereby obtain the boundary of the road by implementing the straight-line detection technology. The optical radar 132 is set toward the moving direction of the vehicle mechanism 110 to emit light beams for detection, so as to obtain environmental information within the detection range. The image and depth camera 134 is used for aiming at the user during human-machine cooperation, so as to obtain the relative position of the user and the carrier mechanism 110, so that the control system 140 of the carrier system 100 can plan a moving path for walking side by side with the user . In some embodiments, the image and depth camera 134 can further recognize the instructions given by the user using gestures or body language, so that the vehicle system 100 can move according to the instructions. For example, when the user makes a gesture to move in a specific direction, the control system 140 can capture the user's gesture through the image and depth camera 134 and instruct the driving system 120 to move the carrier mechanism 110 in a specific direction after identification. In some embodiments, the sensor 130 also includes a microphone, and the user can verbally issue commands to the vehicle system 100 through speech recognition technology.

在第2圖中，控制系統140係設置於電控箱142內。舉例而言，控制系統140可以包括一個整合電腦，包括用以運算與規劃移動路徑的處理器，以及運算所需的記憶體。整合電腦例如是TX2電腦模組。控制系統140連接驅動模組120，藉以使驅動模組120傳動雙履帶底盤118帶動整個載具系統100沿規劃好的移動路徑移動。In FIG. 2 , the control system 140 is installed in the electric control box 142 . For example, the control system 140 may include an integrated computer, including a processor for calculating and planning a moving path, and a memory required for the calculation. The integrated computer is, for example, a TX2 computer module. The control system 140 is connected to the drive module 120 , so that the drive module 120 drives the dual track chassis 118 to drive the entire carrier system 100 to move along the planned movement path.

在本揭露中，控制系統140規劃的移動路線，包括根據使用者位置規劃以並排行走的移動路徑，以及根據載具系統100所處環境所自動規劃的轉彎路徑。本揭露載具系統100所處環境所自動規劃的轉彎路徑，藉以自動轉彎換行的具體流程，請見以下說明。In the present disclosure, the moving route planned by the control system 140 includes a moving route planned for walking side by side according to the user's position, and a turning route automatically planned according to the environment where the vehicle system 100 is located. Please refer to the following description for the specific process of the turning path automatically planned by the environment in which the vehicle system 100 is located, so as to automatically turn and change lines.

第3A圖至第3D圖根據本揭露之一實施方式繪示一轉彎路徑規劃方法中，載具系統100於不同流程的多個示意圖。在本實施方式中，載具系統100係用於茶葉的採收為例，其設置於平行的開放道路Rd₁ 或Rd₂ 上，藉以採收開放道路Rd₁ 與Rd₂ 之間作物區域R_t 之茶樹的茶葉，但本揭露並不以此為限。開放道路Rd₁ 與Rd₂ 可以認為是茶樹之間的茶道。FIGS. 3A to 3D illustrate a plurality of schematic diagrams of the vehicle system 100 in different processes in a turning path planning method according to an embodiment of the present disclosure. In the present embodiment, the carrier system 100 is used for the harvesting of tea leaves as an example, and is installed on the parallel open roads Rd ₁ or Rd ₂ to harvest the crop area R _{t between the open roads Rd 1} and Rd ₂ tea from the tea tree, but this disclosure is not limited to this. The open road Rd ₁ and Rd ₂ can be considered as a tea ceremony between tea trees.

在第3A圖中，載具系統100係移動至於開放道路Rd₁ 的底端。此時，使用者通過人機界面150指示載具系統100向左轉，藉以從開放道路Rd₁ 轉彎換行至開放道路Rd₂ 。載具系統100停止，而載具系統100的光學雷達132(如第2圖所示)朝向左側偵測一偵測範圍M。偵測範圍M由偵測距離R以及偵測角度θ來定義出的扇形。邊界BC是偵測範圍M的邊界。In FIG. 3A, the carrier system 100 based mobile As the open road Rd of the bottom _1. At this time, the user instructs the vehicle system 100 to turn left through the man-machine interface 150 , so as to turn from the open road Rd ₁ to the open road Rd ₂ . The vehicle system 100 is stopped, and the optical radar 132 (as shown in FIG. 2 ) of the vehicle system 100 detects a detection range M toward the left. The detection range M is a sector defined by the detection distance R and the detection angle θ. The boundary BC is the boundary of the detection range M.

一般而言，對於設計過的茶園，開放道路Rd₁ 與Rd₂ 可以認為是種植茶樹之作物區域R_t 之間的茶道，並具有相同的寬度W_Rd ，而各個作物區域R_t 也都具有相同的寬度W_T ，然而並不用以限定本揭露。Generally speaking, for the designed tea garden, the open roads Rd ₁ and Rd _{2 can be regarded as the tea ceremony between the crop areas R t} where tea trees are grown, and have the same width W _Rd , and each crop area R _t also has the same the width W _T, however, are not intended to limit the present disclosure.

如第3A圖所示，在一些實施方式中，偵測距離R可以設置為2公尺，偵測角度θ總合為120度，包括以載具系統100移動方向為基準的順時針15度到逆時針105度。若使用者通過人機界面150指示載具系統100右轉，則載具系統100的光學雷達132可以朝載具系統100移動方向的右側偵測，以提供另一個偵測角度總合為120度的偵測範圍，其偵測距離設置為2公尺，偵測角度以載具系統100移動方向為基準從順時針105度到逆時針15度。As shown in FIG. 3A , in some embodiments, the detection distance R can be set to 2 meters, and the detection angle θ is 120 degrees in total, including 15 degrees clockwise to 105 degrees counterclockwise. If the user instructs the vehicle system 100 to turn right through the human-machine interface 150 , the optical radar 132 of the vehicle system 100 can detect toward the right side of the moving direction of the vehicle system 100 to provide another detection angle with a total of 120 degrees The detection range of , the detection distance is set to 2 meters, and the detection angle is from 105 degrees clockwise to 15 degrees counterclockwise based on the moving direction of the vehicle system 100 .

控制系統140根據偵測範圍M內的環境資訊，便可以建立偵測範圍M相應的地圖，地圖內包括有開放道路Rd₁ 與作物區域R_t 的資訊。在控制系統140建立的地圖中，作物區域R_t 被設定為是障礙物的一種，因此控制系統140將不會規劃與作物區域R_t 重疊的轉彎路徑作為移動路徑，從而避免毀損到作物區域R_t 內的茶樹。The control system 140 according to the environment information within the detection range of M, we can establish the appropriate detection range M map, the map including the open road Rd ₁ and R _t crop region information. In the map created by the control system 140, the crop area R _t is set as a kind of obstacle, so the control system 140 will not plan _{a turning path overlapping with the crop area R t} as a moving path, so as to avoid damage to the crop area R Tea tree within _t.

控制系統140根據環境資訊所建立的偵測範圍M內的地圖中，應包含開放道路Rd₁ 的部分、開放道路Rd₁ 與Rd₂ 的交界以及作為障礙物的作物區域R_t 。在建立的地圖中，作為障礙物的部分將不會與移動路徑重疊。偵測範圍M的邊界BC，對應到也是所建立地圖的邊界。The control system 140 based on the map within the detection range of the established environmental information M, it should contain ₁ part of the open road junction open road Rd Rd Rd ₁ and ₂ as well as the crop area R _t obstacle. In the built map, the parts that are obstacles will not overlap the moving path. The boundary BC of the detection range M corresponds to the boundary of the created map.

在本揭露中，係使用基於邊界(frontier-based)的自主探勘(exploration)方法來規劃移動路徑。如此，控制系統140可以將載具系統100移動的目的地設置在已探索區域與未探索區域(未知邊界)的交界，使得載具系統100能夠持續朝未偵測的區域前進。In the present disclosure, a frontier-based autonomous exploration method is used to plan the movement path. In this way, the control system 140 can set the destination of the movement of the vehicle system 100 at the boundary between the explored area and the unexplored area (unknown boundary), so that the vehicle system 100 can continue to move toward the undetected area.

為此，對於載具系統100的控制系統140，可以選擇將移動的當前目標設定於邊界BC上。邊界BC即為已探索區域與未探索區域的交界。然而，在轉彎路徑規劃方法中，轉彎的目的是為了使載具系統100從開放道路Rd₁ 換行至開放道路Rd₂ 。為避免載具系統100偏離開放道路Rd₁ 與開放道路Rd₂ ，如第3B圖所示，在本揭露的轉彎路徑規劃方式中，控制系統140於建立的地圖中設置虛擬障礙物VO。在一些實施方式中，虛擬障礙物VO與開放道路Rd₁ 或開放道路Rd₂ 的距離L為4公尺，並且虛擬障礙物VO阻隔開放道路Rd₁ 或開放道路Rd₂ 以外的道路，從而限制住移動路徑。這對應到，在第3B圖中，邊界BC為虛擬障礙物VO所阻障區隔的部分，將被視為無效段。控制系統140僅會將移動當前目標設置在無效段以外的邊界BC。To this end, for the control system 140 of the vehicle system 100, there may be an option to set the current target of the movement on the boundary BC. The boundary BC is the boundary between the explored area and the unexplored area. However, in the turn path planning method, the purpose of the turn is for the vehicle system 100 to _{wrap from the open road Rd 1} to the open road Rd ₂ . To prevent the vehicle system 100 from deviating from the open road Rd ₁ and the open road Rd ₂ , as shown in FIG. 3B , in the turning path planning method of the present disclosure, the control system 140 sets a virtual obstacle VO in the created map. In some embodiments, the distance L between the virtual obstacle VO and the open road Rd ₁ or the open road Rd ₂ is 4 meters, and the virtual obstacle VO blocks the road _{other than the open road Rd 1} or the open road Rd ₂ , thereby restricting the movement path. This corresponds to, in Fig. 3B, the part of the boundary BC blocked by the virtual obstacle VO will be regarded as an invalid segment. The control system 140 will only set the moving current target to the boundary BC outside the invalid segment.

在第3C圖中，繪示控制系統140係將當前目標T設置於為虛擬障礙物VO所區隔的無效段以外的邊界BC。隨後，如第3D圖所示，控制系統140便可以根據當前目標T與載具系統100之載具機構110的當前位置，來規劃出局部的移動路徑P。In FIG. 3C, the control system 140 shows that the control system 140 sets the current target T to the boundary BC outside the invalid segment partitioned by the virtual obstacle VO. Then, as shown in FIG. 3D , the control system 140 can plan a local moving path P according to the current target T and the current position of the carrier mechanism 110 of the carrier system 100 .

如此一來，根據第3A圖至第3D圖呈現的流程，控制系統140便可以沿著虛擬障礙物VO來規劃出轉彎換行至開放道路Rd₂ 的多個局部的移動路徑P。在一些實施方式中，可以利用動態視窗法(dynamic window)來設置移動路徑P，控制系統140根據載具系統100當前的移動速度與角速度來設定避障策略，從而獲得移動路徑P。In this way, according to the flow shown in FIGS. 3A to 3D , the control system 140 can plan a plurality of local moving paths P _{along the virtual obstacle VO for turning and changing to the open road Rd 2 .} In some embodiments, a dynamic window method can be used to set the moving path P, and the control system 140 sets an obstacle avoidance strategy according to the current moving speed and angular velocity of the vehicle system 100 to obtain the moving path P.

請先參照第4圖。第4圖根據本揭露之另一實施方式繪示繪示一載具系統100之一移動路徑P’的一示意圖。載具系統100設置於開放道路Rd₁ 並欲轉彎換行至開放道路Rd₂ 。開放道路Rd₁ 與Rd₂ 各自具有寬度W_Rd 。開放道路Rd₁ 與Rd₂ 之間的作物區域R_t 則具有寬度W_T 。而在第4圖中，載具系統100所處之茶園具有實體障礙物PO阻障，而為了轉彎的目的，控制系統140於根據環境資訊的地圖中進一步設置虛擬障礙物VO。虛擬障礙物VO與開放道路Rd₁ 或Rd₂ 之間有距離L，距離L是用以作為載具機構110的迴轉寬度。Please refer to Figure 4 first. FIG. 4 is a schematic diagram illustrating a moving path P′ of a carrier system 100 according to another embodiment of the present disclosure. The vehicle system 100 is installed on the open road Rd ₁ and is about to turn and change to the open road Rd ₂ . The open roads Rd ₁ and Rd ₂ each have a width W _Rd . Rd ₁ and the open road crop region R _t is between ₂ Rd has a width W _T. In FIG. 4 , the tea garden where the vehicle system 100 is located is blocked by a physical obstacle PO, and for the purpose of turning, the control system 140 further sets a virtual obstacle VO in the map according to the environmental information. There is a distance L between the virtual obstacle VO and the open road Rd ₁ or Rd ₂ , and the distance L is used as the turning width of the carrier mechanism 110 .

為了簡單說明的目的，載具系統100未繪示於圖上，而僅繪示出載具系統100的起點Q₁ 與終點Q₂ 。其中從起點Q₁ 到終點Q₂ 的移動路徑P’，係由圓弧曲線C1、C2與C3及連接三者的直線所組成。For the purpose of simple description, the carrier system 100 is not shown in the figure, but only the start point Q ₁ and the end point Q ₂ of the carrier system 100 are shown. Wherein Q from the starting point to the _{destination. 1} Q ₂ moving path P ', the arc curve lines C1, C2 and C3 and a line connecting the three components.

具體而言，在第4圖中，在動態視窗法的基礎下，控制系統140可以進一步以Reeds-Shepp曲線的概念來來規劃出移動路徑P’。意即，移動路徑P’的每一段局部移動路徑，各自均為相同迴轉半徑的圓的一部分。Specifically, in Fig. 4, based on the dynamic window method, the control system 140 can further plan the movement path P' with the concept of the Reeds-Shepp curve. That is, each segment of the local moving path of the moving path P' is each part of a circle with the same radius of gyration.

一般而言，根據茶園土壤的環境、載具機構110本身的性能以及載具機構110本身的體積，會限制住載具機構110所能選用的迴轉半徑。載具機構110所能選用的迴轉半徑關係到其所能轉彎的程度，因此，使用者當視載具系統100之載具機構110所處環境，選用載具機構110的迴轉半徑。Generally speaking, according to the environment of the tea garden soil, the performance of the carrier mechanism 110 itself, and the volume of the carrier mechanism 110 itself, the radius of gyration that can be selected by the carrier mechanism 110 will be limited. The radius of gyration that the carrier mechanism 110 can select is related to the degree of turning it can turn. Therefore, the user selects the radius of gyration of the carrier mechanism 110 according to the environment in which the carrier mechanism 110 of the carrier system 100 is located.

另一方面，開放道路Rd₁ 與Rd₂ 各自的寬度W_Rd ，以及作物區域R_t 的寬度W_T ，也會限制載具系統100之載具機構110的移動路徑。控制系統140當選擇移動路徑，避免載具系統100與作物區域與實體障礙物PO接觸。On the other hand, the open road Rd ₂ Rd ₁ and respective widths W _Rd, R _t crop areas and a width W _T, also limit the movement path of the carrier system 100 with the carrier mechanism 110. The control system 140 selects a moving path to avoid contact between the vehicle system 100 and the crop area and the physical obstacle PO.

綜合以上，控制系統140根據環境資訊，將可以儲存多個環境參數，包括開放道路Rd₁ 與Rd₂ 各自的寬度W_Rd 、作物區域R_t 的寬度W_T 以及虛擬障礙物VO與開放道路Rd₁ 與Rd₂ 之間的距離L。Based on the above, the control system 140 according to the environment information, will be able to store a plurality of environmental parameters, including an open road Rd ₂ Rd ₁ and respective widths W _Rd, crop region width W _T R _t and the virtual obstacle and the open road Rd ₁ VO Distance L from Rd _2.

在一些實施方式中，使用者應可根據茶園的設計，事先將開放道路各自的寬度W_Rd 以及作物區域R_t 的寬度W_T 輸入至控制系統140。虛擬障礙物VO與開放道路之間的距離L也可以事先設定輸入。隨後，控制系統140再根據這些環境參數來規劃移動路徑。在一些實施方式中，距離L為2.5公尺、作物區域R_t 的寬度W_T 約為1.2公尺，開放道路各自的寬度W_Rd 約為1.5公尺至1.8公尺的範圍內。In some embodiments, the user should be designed according to the tea, prior to the open road and the respective widths W _Rd crop region width W _T R _t is inputted to the control system 140. The distance L between the virtual obstacle VO and the open road can also be set and input in advance. Then, the control system 140 plans the movement path according to these environmental parameters. In some embodiments, the distance L is 2.5 m, the width of the crop region W _T R _t of about 1.2 meters, a width of each of the open road W _Rd in the range of from about 1.5 meters to 1.8 meters.

在Reeds-Shepp曲線概念的基礎下，根據使用者選擇的載具機構110的迴轉半徑，可以有三種情況。其一，是載具機構110的迴轉半徑小於作物區域R_t 的寬度W_T ，此時載具系統100的移動路徑，可以僅由單一個圓弧所組成。其二，是載具機構110的迴轉半徑介於作物區域R_t 的寬度W_T 以及作為迴轉寬度的距離L之間，則此時載具系統100的移動路徑可以由二個圓弧部分與連接二個圓弧的直線所組成。第三種情況則如第4圖所示，載具機構110的迴轉半徑大於作物區域R_t 的寬度W_T 以及作為迴轉寬度的距離L，則移動路徑P’由二個以上的圓弧曲線C₁ 、C₂ 與C₃ ，以及連接組成圓弧曲線C₁ 、C₂ 與C₃ 的直線所組成。如第4圖所示，移動路徑P’係由起點Q₁ 出發，沿圓弧曲線C₁ 移動，隨後沿連接圓弧曲線C₁ 與C₂ 的直線倒退至圓弧曲線C₂ 的一端，沿圓弧曲線C₂ 移動，再沿連接圓弧曲線C₂ 與C₃ 的直線倒退至圓弧曲線C₃ 的一端，最後沿圓弧曲線C₃ 移動到達終點Q₂ 。On the basis of the Reeds-Shepp curve concept, there are three cases according to the radius of gyration of the carrier mechanism 110 selected by the user. First, a carrier means 110 is less than the radius of gyration R _t crop region width W _T, this time carrier path of the system 100, may consist of only a single arc formed. Second, a carrier mechanism 110 interposed between the radius of gyration R _t crop areas and a width W _T L as the distance between the swing width, at this time the carrier path of the system 100 may be connected by two arcuate portions A straight line consisting of two arcs. The third situation is as shown in FIG. 4, the carrier mechanism 110 is greater than the radius of gyration of the crop area width W _T R _t and width as the distance from the rotary L, the movement path P 'by the two or more arcuate curve C ₁ , C ₂ and C ₃ , and a straight line connecting the arc curves C ₁ , C ₂ and C _{3 .} As shown in FIG. 4, the moving path P 'line starting from the start point Q _1, C ₁ is moved along a circular arc, to one end and then back along the arcuate curve of C ₂ connected to the arc curve C ₁ and C ₂ in a straight line, along arcuate curve C ₂ is moved again along a straight line connecting one end of the arcuate curve of C ₂ and C ₃ C ₃ back to the curve of the circular arc, and finally moved along a circular arc reaches the end of the curve C ₃ Q _2.

回到第3D圖，控制系統140也可以基於Reeds-Shepp曲線的基礎下，設置使路徑P由多個圓弧曲線所組成。在一些實施方式中，控制系統140也可以在不知道開放道路之寬度W_Rd 與作物區域R_t 之寬度W_T 的情況下，使用者選擇較小的迴轉半徑，使載具系統100根據自主探勘的演算法沿虛擬障礙物VO轉彎換行至另一開放道路。如此，在作為驅動系統120之電動馬達的扭力有限的情況下，載具系統100的控制系統140可以根據不同的外部阻力來適應性的調節可行的迴轉半徑，隨時重新規劃最適合且可行的路徑。外部阻力(包括開放道路Rd₁ 與Rd₂ 的土壤參數)。根據以上移動路徑的規劃，再加上來自土壤力學的加速度限制(具體而言，例如莫爾庫倫破壞準則減Bekker’s下沉阻力公式除上質量)後，控制系統140便可以確保移動路徑是可以追蹤不會使載具系統100之載具機構110的雙履帶底盤118無法動彈，同時也不會造成開放道路Rd₁ 與Rd₂ 土壤崩壞。Returning to FIG. 3D, the control system 140 may also set the path P to be composed of a plurality of arc curves based on the Reeds-Shepp curve. In some embodiments, the control system 140 may not know in the case of the open road width W _Rd crop region R _t of the width W _T of the user to select a smaller radius of gyration of the carrier system 100 according to the autonomous mining The algorithm turns around the virtual obstacle VO to another open road. In this way, when the torque of the electric motor as the driving system 120 is limited, the control system 140 of the vehicle system 100 can adaptively adjust the feasible turning radius according to different external resistances, and re-plan the most suitable and feasible path at any time . External resistance (including soil parameters for _{open roads Rd 1} and Rd _2). According to the above planning of the moving path, plus the acceleration limitation from soil mechanics (specifically, such as Mohr-Coulomb failure criterion minus Bekker's subsidence resistance formula divided by mass), the control system 140 can ensure that the moving path is traceable The dual track chassis 118 of the vehicle mechanism 110 of the vehicle system 100 will not be immobilized, and the open road Rd ₁ and Rd ₂ soil will not collapse.

總體而言，在第3A圖至第3D圖與第4圖，針對載具系統100，使用者可以先對光學雷達132設置取用偵測範圍M，並在載具系統100根據偵測到之環境資訊建立的地圖中設置虛擬障礙物VO，再藉由載具系統100的控制系統140基於邊界的自主探勘概念找到欲前往的當前目標，透過動態視窗法生成路徑，使載具系統100的載具機構110能夠在非特定環境中規劃出預期的轉彎路徑。考量到載具機構110的驅動系統120特性(例如電動馬達扭力)、載具機構110體積、周遭環境等因素，可以在已生成的移動路徑中，取數個中繼點作為局部當前目標，根據Reeds-Shepp曲線的概念，規劃出由多個圓弧曲線組成的移動路徑，進而使載具機構110帶動載具系統100整體準確到達欲目標點。應留意到，使用者得視需要設置虛擬障礙物VO，使得載具系統100轉彎到並非最相鄰於開放道路Rd₁ 的其他開放道路。如此一來，載具系統100便能夠跟隨使用者移動，並能夠自動地執行轉彎換行。而如前所述，本揭露的載具系統並包含但不限於茶葉採收產業。Generally speaking, in FIGS. 3A to 3D and 4 , for the vehicle system 100 , the user can first set the detection range M for the optical radar 132 , and then the vehicle system 100 can set the detection range M according to the detected range M. The virtual obstacle VO is set in the map created by the environmental information, and then the control system 140 of the vehicle system 100 finds the current target to be headed to based on the concept of autonomous exploration of the boundary, and generates a path through the dynamic window method, so that the load of the vehicle system 100 can be reached. The tool mechanism 110 is capable of planning an expected turning path in a non-specific environment. Taking into account the characteristics of the drive system 120 of the carrier mechanism 110 (such as the torque of the electric motor), the volume of the carrier mechanism 110, the surrounding environment and other factors, in the generated moving path, several relay points can be taken as the local current target, according to With the concept of Reeds-Shepp curve, a moving path composed of a plurality of arc curves is planned, so that the carrier mechanism 110 drives the carrier system 100 as a whole to accurately reach the desired target point. Should be noted, may, depending on the user needs to set up a virtual obstacle VO, so that the carrier system to turn 100 adjacent to the open road is not the most Rd ₁ other open road. In this way, the vehicle system 100 can follow the user's movements and can automatically perform a turn-by-turn change. As mentioned above, the vehicle system of the present disclosure also includes but is not limited to the tea harvesting industry.

在本揭露的一些實施方式中，載具系統100的並排行走，也可以通過類似如前所述之基於邊界的自主探勘的算法，來實現並排行走之移動路徑的規劃。具體而言，當載具系統100位於開放道路(例如開放道路Rd₁ 、Rd₂ )中，感測器130於一偵測範圍內接收到開放道路內的環境資訊，控制系統140透過直線偵測算法界定出開放道路的邊緣，在建立並地圖後將開放道路的邊緣設置為已知區域。如此，控制系統140設置的當前目標便被限制在開放道路內，隨後再根據使用者的移動資訊或指令，包括使用者與載具系統100的相對位置，以及載具機構110的移動方向上的範圍偵測內的環境資訊，設置當前目標於地圖的邊界範圍內。控制系統140並根據載具機構110的當前位置與當前目標進行規劃開放道路內的移動路徑，載具系統100並藉以進行循跡路徑移動，實現與使用者並排行走。In some embodiments of the present disclosure, the side-by-side walking of the vehicle system 100 can also implement the planning of the moving path of the side-by-side walking through an algorithm similar to the aforementioned boundary-based autonomous exploration. Specifically, when the vehicle system 100 is located on an open road (eg, open road Rd ₁ , Rd ₂ ), the sensor 130 receives the environmental information in the open road within a detection range, and the control system 140 detects through a straight line The algorithm defines the edge of the open road and sets the edge of the open road as a known area after building and mapping. In this way, the current target set by the control system 140 is limited to the open road, and then according to the user's movement information or instructions, including the relative position of the user and the vehicle system 100 and the movement direction of the vehicle mechanism 110 Environment information within range detection, set the current target within the bounds of the map. The control system 140 plans a moving path in the open road according to the current position and the current target of the vehicle mechanism 110 , and the vehicle system 100 follows the path to achieve walking side by side with the user.

在一些實施方式中，本揭露的載具系統能夠用於葉菜類植物採收。通過在載具系統裝設相對應採收刀具，透過高度調整至適合姿態，以感測器擷取使用者之姿態，遂進行協作式採收，並偵測外界環境，於換行轉彎時使機器自行操作轉彎指令，以利葉菜類作物之採收進行。In some embodiments, the carrier system of the present disclosure can be used for leafy vegetable harvesting. By installing the corresponding harvesting tool on the carrier system, adjusting the height to a suitable posture, capturing the user's posture with the sensor, then performing cooperative harvesting, and detecting the external environment, the machine can be used when changing lanes and turning. Operate the turning commands by yourself to facilitate the harvesting of leafy vegetables.

在一些實施方式中，本揭露的載具系統能夠用於溫室內進行協作運作，如搬運及協作採摘作物，於載具系統上裝設可協助搬運及採收之機械手臂，以感測器擷取使用者之姿態，遂進行協作式運作，並偵測外界環境，於換行轉彎時使機器自行執行轉彎指令，進行省工操作。In some embodiments, the carrier system of the present disclosure can be used for cooperative operations in a greenhouse, such as handling and cooperatively picking crops. Taking the user's posture, it performs cooperative operation, and detects the external environment, and enables the machine to execute the turning command by itself when the line is turned, so as to save labor.

在一些實施方式中，本揭露的載具系統可以僅包括自動轉彎換行的功能，而無需擷取使用者之姿態。例如，本揭露的載具系統可用於噴灑農藥，將相對應器具裝設於載具系統上，經姿態調整後，使用者由遠端遙控載具系統，並經由感測器偵測田園環境，判斷轉彎處並執行轉彎指令，實現遠端協作式之農業操作。In some embodiments, the vehicle system of the present disclosure may only include the function of automatic turning and changing, without capturing the user's gesture. For example, the vehicle system of the present disclosure can be used for spraying pesticides, and a corresponding device is installed on the vehicle system. After the posture is adjusted, the user can remotely control the vehicle system and detect the rural environment through the sensor. Determine the turning point and execute the turning command to realize remote cooperative agricultural operations.

為進一步說明本揭露的載具系統100如何應用於茶園中茶樹的採收，請參照第5圖。第5圖根據本揭露之一實施方式繪示一載具系統100與一使用者300人機協作的一示意圖。使用者300與載具系統100的載具機構110分別位於作物區域R_t 兩側的開放道路。作物區域R_t 種植茶樹。而使用者300與載具機構110則共持橫跨作物區域R_t 的雙人採收機200。雙人採收機200上設置有採收刀具，而能夠藉以採集作物區域R_t 中茶樹的茶葉。To further illustrate how the vehicle system 100 of the present disclosure is applied to the harvesting of tea trees in a tea garden, please refer to FIG. 5 . FIG. 5 illustrates a schematic diagram of human-machine cooperation between a vehicle system 100 and a user 300 according to an embodiment of the present disclosure. The user 300 and the carrier mechanism 110 of the carrier system 100 are located on open roads on both sides of the _{crop area R t, respectively.} The crop area R _{t is} planted with tea trees. The user 300 and the carrier mechanism 110 share the two-person harvester 200 _{across the crop area R t.} The two-person harvester 200 is provided with a harvesting tool, which can be used to harvest the tea leaves of the tea trees in the _{crop area R t.}

通過對準使用者300的影像與深度相機134，使用者300與載具系統100可以保持並排沿移動方向D平行前進。光學雷達132則可以沿載具系統100的移動方向D進行直線偵測，確保載具系統100是位於開放道路(茶道)內。By aligning the image of the user 300 with the depth camera 134, the user 300 and the carrier system 100 can remain side-by-side and travel in parallel along the movement direction D. The optical radar 132 can perform linear detection along the moving direction D of the vehicle system 100 to ensure that the vehicle system 100 is located in the open road (tea ceremony).

為了簡單說明的目的，載具系統100的人機界面150未繪示於第5圖中。人機界面150實質為使用者300所持。使用者300再根據人機界面150上的自動按鈕與轉彎按鈕，來指示或停止載具系統100之載具機構110的移動。For the purpose of simple illustration, the human-machine interface 150 of the vehicle system 100 is not shown in FIG. 5 . The man-machine interface 150 is substantially held by the user 300 . The user 300 then instructs or stops the movement of the carrier mechanism 110 of the carrier system 100 according to the automatic button and the turn button on the man-machine interface 150 .

請參照第6圖，並同時參考第7A圖至第7E圖。第6圖根據本揭露之一實施方式繪示一載具系統100之一控制方法400的一流程圖。第7A圖至第7E圖分別繪示在第6圖之控制方法的不同流程下，載具系統100與使用者300的示意圖。Please refer to Figure 6, and also refer to Figures 7A to 7E. FIG. 6 is a flowchart illustrating a control method 400 of a vehicle system 100 according to an embodiment of the present disclosure. FIGS. 7A to 7E are schematic diagrams of the vehicle system 100 and the user 300 under different processes of the control method of FIG. 6 , respectively.

控制方法400包括流程410至流程450。在流程410，啟動以開始載具系統100的運作。而如第7A圖至第7E圖所示，在本實施方式中，載具系統100係承載刀具200’，刀具200’涵蓋的寬度僅有作物區域R_t 寬度的一半，但並不以此限制本揭露所使用之用於採收之刀具所能橫跨的寬度。在一些實施方式中，刀具200’設置於如第5圖所示意之橫跨作物區域R_t 之雙人採收機200上，使用者300通過雙人採收機200，以與載具系統100共持刀具200’，以通過刀具200’來採收作物區域R_t ，實現人機協作。在一些實施方式中，也可以將刀具200’直接架設在載具系統100上。為了簡單說明的目的，在第7A圖至第7E圖僅繪示刀具200’。The control method 400 includes flow 410 to flow 450 . At process 410 , start to begin operation of the vehicle system 100 . As shown in FIGS. 7A to 7E , in this embodiment, the carrier system 100 carries the cutter 200 ′, and the width of the cutter 200 ′ is only _{half of the width of the crop area R t} , but not limited to this The width that the harvesting tool used in the present disclosure can traverse. In some embodiments, the cutter 200 ′ is disposed on a double harvester 200 _{across the crop area R t as illustrated in FIG.} The cutter 200' is used to harvest the crop area R _t through the cutter 200' to realize human-machine collaboration. In some embodiments, the tool 200 ′ may also be mounted directly on the carrier system 100 . For the purpose of simple description, only the cutter 200' is shown in FIGS. 7A to 7E.

進入到流程415，進入遙控模式，使用者300操作載具機構110移動載具系統100整體定位。如第7A圖所示，使用者300通過人機界面150，遙控載具系統100定位至開放道路Rd₀ 。此時人機界面150上顯示為「遙控模式」。隨後，將刀具200’設置於載具系統100的載具機構110上，通過高度調整模組114調整高度為合適使用者300的高度。最後，使用者300移動至平行於開放道路Rd₀ 的開放道路Rd₁ ，藉以與載具系統100共持刀具200’。在本實施方式中，刀具200’可以設置於如第5圖所示之雙人採收機200上，為了簡單說明的目的，僅繪示出刀具200’。Going to the process 415 , the remote control mode is entered, and the user 300 operates the carrier mechanism 110 to move the overall positioning of the carrier system 100 . As shown in FIG. 7A , the user 300 uses the man-machine interface 150 to remotely control the vehicle system 100 to locate the open road Rd ₀ . At this time, the display on the man-machine interface 150 is "remote control mode". Then, the cutter 200 ′ is set on the carrier mechanism 110 of the carrier system 100 , and the height is adjusted to a height suitable for the user 300 through the height adjustment module 114 . Finally, the user 300 moves to the open road Rd _{1 parallel to the open road Rd 0} , thereby sharing the tool 200 ′ with the carrier system 100 . In this embodiment, the cutter 200 ′ can be installed on the double harvester 200 as shown in FIG. 5 . For the purpose of simple description, only the cutter 200 ′ is shown.

回到流程420，載具系統100的控制系統140確認使用者300是否按下人機界面150的自動按鈕。如否，載具系統100仍為遙控模式。如是，則進入到流程425，載具系統100進入自動模式，載具系統100的載具機構110通過影像與深度相機134保持與使用者300並排行走。此時，人機界面150顯示為「自動模式」。Returning to the process 420 , the control system 140 of the vehicle system 100 confirms whether the user 300 presses the automatic button of the man-machine interface 150 . If not, the vehicle system 100 is still in the remote control mode. If so, the process goes to process 425 , the vehicle system 100 enters the automatic mode, and the vehicle mechanism 110 of the vehicle system 100 keeps walking side by side with the user 300 through the image and depth camera 134 . At this time, the human-machine interface 150 is displayed as "automatic mode".

流程425如第7B圖所示，載具系統100與使用者300保持以相同移動方向D並排行走。與此同時，刀具200’採集作物區域R_t 中的茶葉，跟隨載具系統100與使用者300，部分的作物區域R_t 被採集而變為已採收區域DR_t 。The process 425 is as shown in FIG. 7B , the carrier system 100 and the user 300 keep walking side by side in the same moving direction D. At the same time, the cutter 200 ′ collects _{the tea leaves in the crop area R t} , following the carrier system 100 and the user 300 , part of the crop area R _t is collected and becomes the harvested area DR _t .

在流程430，於自動模式下或遙控模式下，載具系統100的控制系統140確認使用者300是否按下人機界面150的轉彎按鈕。轉彎按鈕包括左轉與右轉。若否，則回到流程425，保持自動模式，這對應到一種防呆機制，若使用者300因故移開自動按鈕，則載具系統100停止並進入遙控模式。而若否且再次按下自動按鈕，載具系統100的控制系統140識別使用者300要解除自動模式，從而回到流程415，載具系統100回到遙控模式。如是，則進入到流程435，載具系統100進入到轉彎詢問模式，載具系統100通過人機界面150向使用者300詢問使用者轉彎意願。使用者轉彎意願包括：使用者300是有確認要轉彎，以及要往左還是往右轉。此時，人機界面150呈現為「轉彎詢問模式」。In the process 430 , in the automatic mode or the remote control mode, the control system 140 of the vehicle system 100 confirms whether the user 300 presses the turn button of the man-machine interface 150 . The turn buttons include left and right turns. If not, return to the process 425 to maintain the automatic mode, which corresponds to a foolproof mechanism. If the user 300 removes the automatic button for some reason, the vehicle system 100 stops and enters the remote control mode. If not and the automatic button is pressed again, the control system 140 of the vehicle system 100 recognizes that the user 300 wants to cancel the automatic mode, and returns to the process 415 , and the vehicle system 100 returns to the remote control mode. If so, go to the process 435 , the vehicle system 100 enters the turn query mode, and the vehicle system 100 asks the user 300 about the user's willingness to turn through the man-machine interface 150 . The user's willingness to turn includes: whether the user 300 has confirmed to turn, and whether to turn left or right. At this time, the human-machine interface 150 is presented in the "turn query mode".

流程435如第7C圖所示。當載具系統100移動至開放道路Rd₀ 的底端，對應作物區域R_t 有一半已被刀具200’所採集，變為已採收區域DR_t 。此時，使用者300離開開放道路Rd₁ ，使載具系統100能夠從開放道路Rd₀ 轉彎換行至開放道路Rd₀ 。Flow 435 is shown in Figure 7C. When the carrier system 100 moves to the bottom end of the _{open road Rd 0 , half of the corresponding crop area R t} has been collected by the cutter 200 ′, which becomes the harvested area DR _t . At this time, the user 300 leaves the open road Rd ₁ , so that the vehicle system 100 can _{turn and change from the open road Rd 0} to the open road Rd ₀ .

進入到流程440，載具系統100確認使用者300是否按下人機界面150相同的轉彎按鈕，已確保使用者轉彎意願是否有誤。若否，回到流程430。如是，則進入流程445，載具系統100進入轉彎警示模式，載具系統100的載具機構110根據環境自動轉彎，如第7D圖所示。此時，人機界面150顯示為「轉彎警示模式」。在流程445中載具機構110自動轉彎的流程，如前之第3A圖至第3D圖或第4圖所示，在此不再重複說明。Going to the process 440 , the vehicle system 100 confirms whether the user 300 presses the same turn button on the man-machine interface 150 to ensure whether the user's intention to turn is wrong. If not, return to process 430 . If yes, then the process 445 is entered, the vehicle system 100 enters the turn warning mode, and the vehicle mechanism 110 of the vehicle system 100 automatically turns according to the environment, as shown in FIG. 7D . At this time, the man-machine interface 150 is displayed as "turn warning mode". In the process 445 , the automatic turning process of the carrier mechanism 110 is as shown in FIG. 3A to FIG. 3D or FIG. 4 , and the description is not repeated here.

在流程450，完成自動轉彎，人機界面150供使用者300確認轉彎完成，隨後設定為自動模式，進入到流程425。如第7E圖所示，載具系統100換行至開放道路Rd₁ ，使用者300則移動到開放道路Rd₀ ，藉以繼續採收未被採集的作物區域R_t 。如此反覆上述流程，便可以完成茶園內茶葉的採集。應留意到，上述控制方法400包含但不限於茶葉的採集。In the process 450 , the automatic turning is completed, the man-machine interface 150 is for the user 300 to confirm that the turning is completed, and then the automatic mode is set, and the process 425 is entered. As shown in FIG. 7E , the vehicle system 100 wraps to the open road Rd ₁ , and the user 300 moves to the open road Rd ₀ , so as to continue harvesting the uncollected crop area R _t . By repeating the above process in this way, the collection of tea leaves in the tea garden can be completed. It should be noted that the above-mentioned control method 400 includes, but is not limited to, the collection of tea leaves.

綜上所述，本揭露提供一種載具系統，用以承載現有的農業工作件，設計能夠於彼此平行的多個開放道路其中之一移動，並能夠智慧地實現自動轉彎換行至其他的開放道路中，從而協助處理開放道路之間的作物。進一步地，本揭露的載具系統可以感測使用者的姿態，跟隨使用者行走，從而實現人機協作、共同採收之目的，能夠在不改變傳統雙人採收作業(例如傳統的機械雙人採茶作業)的流程的情況下，以較低成本方式替代人力。In summary, the present disclosure provides a vehicle system for carrying existing agricultural work pieces, designed to be able to move on one of a plurality of open roads parallel to each other, and to intelligently realize automatic turning and changing to other open roads , thereby assisting in the handling of crops between open roads. Further, the vehicle system of the present disclosure can sense the posture of the user and walk with the user, so as to achieve the purpose of man-machine cooperation and common harvesting, and can achieve the purpose of harvesting together without changing the traditional double harvesting operation (for example, traditional mechanical double harvesting). In the case of the process of tea operation), the labor is replaced by a lower cost method.

雖然本揭露已以實施例說明如上，但並不以此限定本揭露，任何熟習此技藝者，在不脫離本揭露的精神和範圍內，當可作各種的更動與潤飾，因此本揭露的保護範圍當視後附的申請專利範圍所界定者為準。Although the present disclosure has been described above with examples, it is not intended to limit the present disclosure. Anyone skilled in the art can make various changes and modifications without departing from the spirit and scope of the present disclosure. Therefore, the present disclosure protects The scope shall be determined by the scope of the appended patent application.

100:載具系統 110:載具機構 112:支架 114:高度調整模組 116:固定機構 118:雙履帶底盤 120:驅動系統 130:感測器 132:光學雷達 134:影像與深度相機 140:控制系統 142:電控箱 150:人機界面 200:雙人採收機 200’:刀具 300:使用者 Rd₀ ,Rd₁ ,Rd₂ :開放道路 R_t :作物區域 W_Rd ,W_T :寬度 R:偵測距離 θ:偵測角度 M:偵測範圍 BC:邊界 VO:虛擬障礙物 PO:實體障礙物 L:距離 T:當前目標 P,P’:路徑 Q₁ :起點 Q₂ :終點 C₁ ,C₂ ,C₃ :圓弧曲線 DR_t :已採收區域100: Carrier System 110: Carrier Mechanism 112: Bracket 114: Height Adjustment Module 116: Fixing Mechanism 118: Double Track Chassis 120: Drive System 130: Sensor 132: Optical Radar 134: Image and Depth Camera 140: Control System 142: Electric Control Box 150: Human Machine Interface 200: Double Harvester 200': Cutter 300: User Rd ₀ , Rd ₁ , Rd ₂ : Open Road R _t : Crop Area W _Rd , W _T : Width R: Detection distance θ: Detection angle M: Detection range BC: Boundary VO: Virtual obstacle PO: Physical obstacle L: Distance T: Current target P, P': Path Q ₁ : Starting point Q ₂ : End point C ₁ , C ₂ , C ₃ : arc curve DR _t : harvested area

本揭露的優點與圖式，應由接下來列舉的實施方式，並參考附圖，以獲得更好的理解。這些圖式的說明僅僅是列舉的實施方式，因此不該認為是限制了個別實施方式，或是限制了揭露申請專利範圍的範圍。 第1圖根據本揭露之一實施方式繪示一載具系統的一方塊示意圖； 第2圖根據本揭露之一實施方式繪示一載具系統的一立體圖； 第3A圖至第3D圖根據本揭露之一實施方式繪示一轉彎路徑規劃方法中，載具系統於不同流程的多個示意圖； 第4圖根據本揭露之另一實施方式繪示繪示一載具系統之一移動路徑的一示意圖； 第5圖根據本揭露之一實施方式繪示一載具系統與一使用者人機協作的一示意圖； 第6圖根據本揭露之一實施方式繪示一載具系統之一控制方法的一流程圖；以及 第7A圖至第7E圖分別繪示在第6圖之控制方法的不同流程下，載具系統與使用者的示意圖。The advantages and drawings of the present disclosure should be better understood from the following embodiments and with reference to the drawings. The descriptions of these drawings are merely illustrative of the embodiments, and therefore should not be considered as limiting the individual embodiments, or as limiting the scope of the disclosed claims. FIG. 1 is a schematic block diagram of a carrier system according to an embodiment of the present disclosure; FIG. 2 illustrates a perspective view of a carrier system according to an embodiment of the present disclosure; FIGS. 3A to 3D illustrate a plurality of schematic diagrams of the vehicle system in different processes in a turning path planning method according to an embodiment of the present disclosure; FIG. 4 is a schematic diagram illustrating a movement path of a carrier system according to another embodiment of the present disclosure; FIG. 5 shows a schematic diagram of human-machine cooperation between a vehicle system and a user according to an embodiment of the present disclosure; FIG. 6 is a flowchart illustrating a control method of a vehicle system according to an embodiment of the present disclosure; and 7A to 7E are schematic diagrams of the vehicle system and the user under different processes of the control method of FIG. 6, respectively.

100:載具系統100: Vehicle System

110:載具機構110: Vehicle Mechanism

120:驅動系統120: Drive System

130:感測器130: Sensor

140:控制系統140: Control System

150:人機界面150: Human-Machine Interface

160:電源160: Power

Claims (10)

一種載具系統，包括： 一載具機構，用以承載一工作件； 一驅動系統，傳動該載具機構於一移動路徑上移動； 一感測器，偵測該載具機構的一移動方向上的一偵測範圍內的一環境資訊；以及 一控制系統，連接於該驅動系統與該感測器之間，其中該控制系統接收該環境資訊以建立該偵測範圍的一地圖，並設置一當前目標於該地圖的一邊界，該控制系統根據該載具機構的一當前位置與該當前目標規劃該移動路徑。A vehicle system comprising: a carrier mechanism for carrying a work piece; a drive system, which drives the carrier mechanism to move on a moving path; a sensor for detecting an environmental information within a detection range in a moving direction of the carrier mechanism; and A control system is connected between the drive system and the sensor, wherein the control system receives the environmental information to establish a map of the detection range, and sets a current target on a boundary of the map, the control system The moving path is planned according to a current position of the carrier mechanism and the current target. 如請求項1所述之載具系統，其中該載具機構設置位於彼此平行的複數開放道路其中之一內，當該載具機構轉彎換行至另一開放道路，該控制系統於該地圖建立一虛擬障礙物，藉以從該邊界區隔出一無效段，使得該當前目標設置於該無效段以外的該邊界上。The vehicle system of claim 1, wherein the vehicle mechanism is disposed in one of a plurality of open roads parallel to each other, and when the vehicle mechanism turns and changes to another open road, the control system creates a map on the map. A virtual obstacle is used to separate an invalid segment from the boundary, so that the current target is set on the boundary outside the invalid segment. 如請求項1所述之載具系統，其中該感測器還包括對準一使用者的一影像與深度相機，以感測該使用者與該載具機構之一相對位置，該控制系統進一步根據該相對位置規劃該移動路徑，以使該載具機構與該使用者保持並排平行移動。The carrier system of claim 1, wherein the sensor further comprises an image and depth camera aimed at a user to sense a relative position of the user and the carrier mechanism, the control system further The movement path is planned according to the relative position to keep the carrier mechanism and the user moving side by side in parallel. 如請求項1所述之載具系統，其中該載具機構與一使用者分別位於彼此平行的兩相鄰開放道路，該載具機構用以承載之該工作件包括一雙人收割機，該雙人收割機的一側抵靠該載具機構，該使用者手持該雙人收割機之另一側，以採收該二相鄰開放道路之間的作物。The carrier system of claim 1, wherein the carrier mechanism and a user are located on two adjacent open roads that are parallel to each other, and the work piece carried by the carrier mechanism comprises a double harvester, the double One side of the harvester abuts the carrier mechanism, and the user holds the other side of the two-person harvester to harvest crops between the two adjacent open roads. 如請求項1所述之載具系統，其中該載具機構包括一固定機構與一高度調整模組，該工作件通過該固定機構固定於該高度調整模組上，藉以根據欲採收之一作物的高度來調整該工作件的高度。The carrier system according to claim 1, wherein the carrier mechanism comprises a fixing mechanism and a height adjustment module, and the work piece is fixed on the height adjustment module through the fixing mechanism, so as to be harvested according to the one to be harvested. The height of the crop to adjust the height of the work piece. 如請求項1所述之載具系統，其中該載具機構包括一雙履帶底盤，該驅動系統包括用以傳動該雙履帶底盤之一電動馬達。The carrier system of claim 1, wherein the carrier mechanism includes a dual track chassis, and the drive system includes an electric motor for driving the dual track chassis. 如請求項1所述之載具系統，進一步包括： 一人機界面，連接該控制系統以供一使用者下達一移動指令，其中該移動指令包括啟動該載具系統的一自動轉彎功能、手動調整該載具機構之一移動速度與移動方向以及停止該載具機構移動，該人機界面還具有一顯示裝置，該顯示裝置用以顯示該載具系統目前移動狀態以供該使用者讀取。The vehicle system of claim 1, further comprising: A man-machine interface, connected to the control system for a user to issue a movement command, wherein the movement command includes activating an automatic turning function of the vehicle system, manually adjusting a movement speed and movement direction of the vehicle mechanism, and stopping the movement The carrier mechanism moves, and the man-machine interface also has a display device for displaying the current moving state of the carrier system for the user to read. 如請求項1所述之載具系統，其中該控制系統進一步儲存複數環境參數，並根據該些環境參數規劃該移動路徑，該些環境參數包括複數開放道路的複數寬度以及該些開放道路之間的複數間距。The vehicle system of claim 1, wherein the control system further stores a plurality of environmental parameters, and plans the moving path according to the environmental parameters, the environmental parameters include a plurality of widths of a plurality of open roads and a plurality of widths between the open roads plural spacing. 如請求項1所述之載具系統，其中該感測器包括一光學雷達，該光學雷達朝該載具機構的該移動方向發射光束，獲得一偵側範圍內的該環境資訊。The vehicle system of claim 1, wherein the sensor includes an optical radar, and the optical radar emits light beams toward the moving direction of the vehicle mechanism to obtain the environmental information within a detection range. 一種載具系統，包括： 一載具機構，用以承載一工作件； 一驅動系統，傳動該載具機構於一移動路徑上移動； 一感測器，包括對準一使用者的一影像與深度相機，以感測該使用者與該載具機構之一相對位置；以及 一控制系統，用以根據該相對位置規劃該移動路徑，以使該載具機構與該使用者保持並排移動。A vehicle system comprising: a carrier mechanism for carrying a work piece; a drive system, which drives the carrier mechanism to move on a moving path; a sensor including an image and depth camera aimed at a user to sense a relative position of the user and the carrier mechanism; and A control system is used to plan the moving path according to the relative position, so as to keep the carrier mechanism and the user moving side by side.

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