TWI717095B - Autonomous mobile vehicle and autonomous mobile vehicle system - Google Patents

Autonomous mobile vehicle and autonomous mobile vehicle system Download PDF

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TWI717095B
TWI717095B TW108140764A TW108140764A TWI717095B TW I717095 B TWI717095 B TW I717095B TW 108140764 A TW108140764 A TW 108140764A TW 108140764 A TW108140764 A TW 108140764A TW I717095 B TWI717095 B TW I717095B
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charging station
charging
processing device
self
wireless charging
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TW202118676A (en
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葉家杰
閻柏均
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威剛科技股份有限公司
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles

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  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention discloses an autonomous mobile vehicle and an autonomous mobile vehicle system. The autonomous mobile vehicle system comprises the autonomous mobile vehicle. The autonomous mobile vehicle comprises a vehicle body, a driving device, a navigation device, a processing device, a wireless charging device, a battery device, and a positioning device. The navigation device can instantly detect the surrounding environment of the vehicle body and generate environmental information. When the autonomous mobile vehicle is in a low battery condition, the processing device will control the drive device based on the environmental information, and the autonomous mobile vehicle will move to the adjacent charging station. When the autonomous mobile vehicle moves to the charging station, the processing device controls the positioning device to determine the relative position between the autonomous mobile vehicle and the charging station, thereby controlling the driving device to make the wireless charging coil of the wireless charging device face the wireless charging coil of the charging station, so that the autonomous mobile vehicle can be wirelessly charged by the charging station.

Description

自走車及自走車系統Self-propelled vehicle and self-propelled vehicle system

本發明涉及一種自走車及自走車系統，特別是一種能無線充電的自走車及自走車系統。 The invention relates to a self-propelled vehicle and a self-propelled vehicle system, in particular to a self-propelled vehicle and a self-propelled vehicle system capable of wireless charging.

一般常見應用於廠房中的無人搬運車(Automation Guider Vehicle,AGV)配置有充電電池。無人搬運車在低電量的時候，無人搬運車會依據地面的標示單元(例如磁條)，移動至自行移動至充電站。無人搬運車移動至充電站後，大致可分為以幾種方式進行充電，其一為利用人工的方式，將相關的電源線插設於無人搬運車，其二為以人工的方式將無人搬運車內的充電電池進行抽換，其三為利用機械設備，自動地將無人搬運車內的充電電池進行抽換。上述無論何種方式，皆存在有費時的問題。 Generally, automated guided vehicles (AGVs) commonly used in factories are equipped with rechargeable batteries. When the power of the unmanned guided vehicle is low, the unmanned guided vehicle will move to the charging station according to the marking unit on the ground (such as a magnetic strip). After the unmanned truck moves to the charging station, it can be roughly divided into several ways to charge. One is to use manual methods to plug the relevant power cords into the unmanned truck, and the other is to manually move the unmanned vehicles. The rechargeable battery in the vehicle is swapped, and the third is to use mechanical equipment to automatically swap the rechargeable battery in the unmanned transport vehicle. Either way, there is a time-consuming problem.

本發明公開一種自走車及自走車系統，主要用以改善現有的無人搬運車的充電或是電池更換的方式費時的問題。 The invention discloses a self-propelled vehicle and a self-propelled vehicle system, which are mainly used to improve the time-consuming problem of the charging or battery replacement of the existing unmanned transport vehicle.

本發明的其中一個實施例公開一種自走車，其包含：一車本體、一驅動裝置、一導航裝置、一處理裝置、一無線充電裝置、一電池裝置及一定位裝置。驅動裝置設置於車本體，驅動裝置包含多個輪子。導航裝置設置於車本體，導航裝置能偵測車本體的周圍環境，以對應產生一環境資訊。處理裝置固定設置於車本體，處理裝置電性連接驅動裝置及導航裝置；處理裝置能依據環境資訊，控制驅動裝置作動，而使自走車移動至一充電站。無線充電裝置包含：多個無線充電線圈及一切換模組。多個無線充電線 圈分別固定設置於車本體的不同側面。切換模組電性連接各個無線充電線圈。電池裝置電性連接切換模組，處理裝置電性連接電池裝置。定位裝置設置於車本體，定位裝置用以偵測車本體與充電站的相對位置，以對應產生一定位資訊。其中，處理裝置判斷電池裝置的電量低於一預定值時，處理裝置將控制導航裝置及驅動裝置，以使自走車移動至充電站；當自走車移動至充電站時，處理裝置將控制定位裝置作動，而處理裝置將依據定位資訊，判斷其中一個無線充電線圈是否已與充電站的一充電站無線充電線圈相面對地設置；當處理裝置依據定位資訊判斷其中一個無線充電線圈與充電站無線充電線圈相面對地設置時，處理裝置將傳遞一充電訊號至充電站，且所述處理裝置將控制所述切換模組，以使相對應的所述無線充電線圈與所述電池裝置電性連接。充電站接收充電訊號後，將開始通過充電站無線充電線圈及無線充電線圈對電池裝置進行充電。 One embodiment of the present invention discloses a self-propelled vehicle, which includes a vehicle body, a driving device, a navigation device, a processing device, a wireless charging device, a battery device, and a positioning device. The driving device is arranged on the vehicle body, and the driving device includes a plurality of wheels. The navigation device is arranged in the car body, and the navigation device can detect the surrounding environment of the car body to generate environmental information correspondingly. The processing device is fixedly arranged on the vehicle body, and the processing device is electrically connected to the driving device and the navigation device; the processing device can control the actuation of the driving device according to the environmental information, and move the self-propelled vehicle to a charging station. The wireless charging device includes: a plurality of wireless charging coils and a switching module. Multiple wireless charging cables The rings are respectively fixedly arranged on different sides of the vehicle body. The switching module is electrically connected to each wireless charging coil. The battery device is electrically connected to the switching module, and the processing device is electrically connected to the battery device. The positioning device is arranged on the vehicle body, and the positioning device is used for detecting the relative position of the vehicle body and the charging station to generate a corresponding positioning information. Wherein, when the processing device determines that the power of the battery device is lower than a predetermined value, the processing device will control the navigation device and the driving device to move the self-propelled vehicle to the charging station; when the self-propelled vehicle moves to the charging station, the processing device will control The positioning device is activated, and the processing device will determine whether one of the wireless charging coils has been set facing a charging station wireless charging coil of the charging station based on the positioning information; when the processing device determines that one of the wireless charging coils is connected to the charging station based on the positioning information When the station wireless charging coils are arranged facing each other, the processing device will transmit a charging signal to the charging station, and the processing device will control the switching module so that the corresponding wireless charging coil and the battery device Electrical connection. After the charging station receives the charging signal, it will start to charge the battery device through the wireless charging coil and the wireless charging coil of the charging station.

本發明的其中一個實施例公開一種自走車系統，其包含：多個充電站及至少一自走車。各個充電站包含：一充電站本體、一充電站處理裝置、一充電站無線充電模組及一充電站無線充電線圈。充電站處理裝置設置於充電站本體。充電站無線充電模組設置於充電站本體，充電站無線充電模組電性連接充電站處理裝置，且充電站無線充電模組連接一供電源。充電站無線充電線圈設置於充電站本體，充電站無線充電線圈電性連接充電站無線充電模組。自走車包含：一車本體、一驅動裝置、一導航裝置、一處裝置、一無線充電裝置、一電池裝置及一定位裝置。驅動裝置設置於車本體，驅動裝置包含多個輪子。導航裝置設置於車本體，導航裝置能偵測車本體的周圍環境，以對應產生一環境資訊。處理裝置固定設置於車本體，處理裝置電性連接驅動裝置及導航裝置；處理裝置能依據環境資訊，控制驅動裝置作動，而使自走車移動至一充電站。無線充電裝置包含：多個無線充電線圈及切換模組。多個無線充電線圈分別固定設置於車本體的不同側面。切換模組電性 連接各個無線充電線圈。電池裝置電性連接切換模組，處理裝置電性連接電池裝置。定位裝置設置於車本體，定位裝置用以偵測車本體與充電站的相對位置，以對應產生一定位資訊。其中，處理裝置判斷電池裝置的電量低於一預定值時，處理裝置將控制導航裝置及驅動裝置，以使自走車移動至充電站；當自走車移動至充電站時，處理裝置將控制定位裝置作動，而處理裝置將依據定位資訊，判斷其中一個無線充電線圈是否已與充電站的一充電站無線充電線圈相面對地設置；當處理裝置依據定位資訊判斷其中一個無線充電線圈與充電站無線充電線圈相面對地設置時，處理裝置將傳遞一充電訊號至充電站，且所述處理裝置將控制所述切換模組，以使相對應的所述無線充電線圈與所述電池裝置電性連接。充電站接收充電訊號後，將開始通過充電站無線充電線圈及無線充電線圈對電池裝置進行充電。 One of the embodiments of the present invention discloses a self-propelled vehicle system, which includes a plurality of charging stations and at least one self-propelled vehicle. Each charging station includes: a charging station body, a charging station processing device, a charging station wireless charging module, and a charging station wireless charging coil. The charging station processing device is arranged in the charging station body. The charging station wireless charging module is arranged in the charging station body, the charging station wireless charging module is electrically connected to the charging station processing device, and the charging station wireless charging module is connected to a power supply. The charging station wireless charging coil is arranged on the charging station body, and the charging station wireless charging coil is electrically connected to the charging station wireless charging module. The self-propelled vehicle includes: a vehicle body, a driving device, a navigation device, a location device, a wireless charging device, a battery device and a positioning device. The driving device is arranged on the vehicle body, and the driving device includes a plurality of wheels. The navigation device is arranged in the car body, and the navigation device can detect the surrounding environment of the car body to generate environmental information correspondingly. The processing device is fixedly arranged on the vehicle body, and the processing device is electrically connected to the driving device and the navigation device; the processing device can control the actuation of the driving device according to the environmental information, and move the self-propelled vehicle to a charging station. The wireless charging device includes: multiple wireless charging coils and switching modules. A plurality of wireless charging coils are respectively fixedly arranged on different sides of the vehicle body. Switch module electrical Connect each wireless charging coil. The battery device is electrically connected to the switching module, and the processing device is electrically connected to the battery device. The positioning device is arranged on the vehicle body, and the positioning device is used for detecting the relative position of the vehicle body and the charging station to generate a corresponding positioning information. Wherein, when the processing device determines that the power of the battery device is lower than a predetermined value, the processing device will control the navigation device and the driving device to move the self-propelled vehicle to the charging station; when the self-propelled vehicle moves to the charging station, the processing device will control The positioning device is activated, and the processing device will determine whether one of the wireless charging coils has been set facing a charging station wireless charging coil of the charging station based on the positioning information; when the processing device determines that one of the wireless charging coils is connected to the charging station based on the positioning information When the station wireless charging coils are arranged facing each other, the processing device will transmit a charging signal to the charging station, and the processing device will control the switching module so that the corresponding wireless charging coil and the battery device Electrical connection. After the charging station receives the charging signal, it will start to charge the battery device through the wireless charging coil and the wireless charging coil of the charging station.

綜上所述，本發明的自走車及自走車系統，透過使自走車設置多個無線充電線圈，並搭配導航裝置、切換模組、定位裝置等設計，讓自走車在低電量的情況下，可以自行移動至鄰近的充電站進行無線充電。由於自走車不同側面設置有無線充電線圈，且自走車設置有定位裝置，因此，自走車移動至充電站時，自走車的無線充電線圈將可以快速地與充電站無線充電線圈相面對地設置，而自走車能快速地被充電站充電。 In summary, the self-propelled vehicle and self-propelled vehicle system of the present invention, through the self-propelled vehicle is equipped with multiple wireless charging coils, and the design of the navigation device, switching module, positioning device, etc., allows the self-propelled vehicle to operate at low power In the case of, you can move to a nearby charging station for wireless charging. Since the self-propelled vehicle is equipped with wireless charging coils on different sides, and the self-propelled vehicle is equipped with a positioning device, when the self-propelled vehicle moves to the charging station, the self-propelled vehicle’s wireless charging coil can quickly be connected to the wireless charging coil of the charging station. Set up face to face, and the self-propelled car can be quickly charged by the charging station.

為能更進一步瞭解本發明的特徵及技術內容，請參閱以下有關本發明的詳細說明與附圖，但是此等說明與附圖僅用來說明本發明，而非對本發明的保護範圍作任何的限制。 In order to further understand the features and technical content of the present invention, please refer to the following detailed description and drawings of the present invention, but these descriptions and drawings are only used to illustrate the present invention, and do not make any claims about the protection scope of the present invention. limit.

100:自走車系統 100: Self-propelled car system

10:充電站 10: Charging station

11:充電站本體 11: Charging station body

12:充電站處理裝置 12: Charging station processing device

13:充電站無線充電模組 13: Charging station wireless charging module

14:充電站無線充電線圈 14: Wireless charging coil for charging station

15:標籤單元 15: label unit

20:自走車 20: Self-propelled car

21:車本體 21: Car body

211:穿孔 211: Piercing

22:驅動裝置 22: Drive

221:驅動模組 221: drive module

222:輪子 222: Wheel

23:導航裝置 23: Navigation device

231:超音波偵測器 231: Ultrasonic Detector

2311:超音波偵測資訊 2311: Ultrasonic detection information

232:路況影像擷取器 232: Road condition image capture device

2321:路況影像擷取資訊 2321: Road condition image capture information

233:雷射雷達 233: Laser Radar

2331:雷射掃描資訊 2331: Laser Scan Information

23A:環境資訊 23A: Environmental Information

24:處理裝置 24: Processing device

24A:充電訊號 24A: Charging signal

24B:停止充電資訊 24B: Stop charging information

241:儲存單元 241: storage unit

2411:地圖資訊 2411: Map Information

242:電池管理模組 242: Battery Management Module

2421:電量資訊 2421: Battery information

25:無線充電裝置 25: wireless charging device

251:無線充電線圈 251: wireless charging coil

252:切換模組 252: Switch module

26:電池裝置 26: battery device

27:定位裝置 27: Positioning device

271:讀取器 271: Reader

27A:定位資訊 27A: Positioning information

28:活動載台裝置 28: Movable stage device

281:驅動模組 281: drive module

282:載台 282: Stage

P:供電源 P: power supply

圖1為本發明的自走車系統的方塊示意圖。 Fig. 1 is a block diagram of the self-propelled vehicle system of the present invention.

圖2~4為本發明的自走車的立體示意圖。 Figures 2 to 4 are three-dimensional schematic diagrams of the self-propelled vehicle of the present invention.

於以下說明中，如有指出請參閱特定圖式或是如特定圖式所示，其僅是用以強調於後續說明中，所述及的相關內容大部份出現於該特定圖式中，但不限制該後續說明中僅可參考所述特定圖式。 In the following description, if it is pointed out, please refer to the specific drawing or as shown in the specific drawing, it is only used to emphasize in the subsequent description, and most of the related content appears in the specific drawing. However, it is not limited that only the specific drawings can be referred to in the subsequent description.

請參閱圖1，其顯示為本發明的自走車系統的方塊示意圖。如圖所述，自走車系統100包含：多個充電站10及至少一自走車20。各個充電站10包含：一充電站本體11、一充電站處理裝置12、一充電站無線充電模組13及一充電站無線充電線圈14。充電站本體11固定設置於廠房中，充電站本體11為充電站10的主體結構，充電站本體11的外型、尺寸等皆可依據需求變化，於此不加以限制。充電站處理裝置12設置於充電站本體11，充電站處理裝置12例如是包含有電路板及處理器等，充電站處理裝置12主要是用來接收、發送訊號；在實際應用中，充電站處理裝置12可以是以無線或是有線的方式接收、發送訊號。在不同的應用中，充電站處理裝置12可以是與一遠端伺服器連接，而充電站處理裝置12能接收遠端伺服器所傳遞的訊號，且充電站處理裝置12也可以是傳遞訊號至遠端伺服器。 Please refer to FIG. 1, which shows a block diagram of the self-propelled vehicle system of the present invention. As shown in the figure, the self-propelled vehicle system 100 includes a plurality of charging stations 10 and at least one self-propelled vehicle 20. Each charging station 10 includes: a charging station body 11, a charging station processing device 12, a charging station wireless charging module 13 and a charging station wireless charging coil 14. The charging station body 11 is fixedly arranged in the factory building. The charging station body 11 is the main structure of the charging station 10, and the appearance and size of the charging station body 11 can be changed according to requirements, which is not limited here. The charging station processing device 12 is disposed in the charging station body 11. The charging station processing device 12 includes, for example, a circuit board and a processor. The charging station processing device 12 is mainly used to receive and send signals; in practical applications, the charging station processes The device 12 can receive and send signals in a wireless or wired manner. In different applications, the charging station processing device 12 can be connected to a remote server, and the charging station processing device 12 can receive signals transmitted by the remote server, and the charging station processing device 12 can also transmit signals to Remote server.

充電站無線充電模組13設置於充電站本體11，充電站無線充電模組13主要是用來使充電站無線充電線圈14與充電站處理裝置12電性連接，且充電站無線充電模組13用來連接一供電源P。充電站處理裝置12能控制充電站無線充電模組13，以使供電源P能通過充電站無線充電線圈14，對鄰近的自走車20進行無線充電作業。在實際應用中，充電站處理裝置12及充電站無線充電模組13也可以是整合為一控制電路模組。充電站無線充電線圈14設置於充電站本體11。關於充電站無線充電線圈14的形式、尺寸、外型及其設置位置等，皆可依據需求變化，於此不加以限制。 The charging station wireless charging module 13 is arranged in the charging station body 11. The charging station wireless charging module 13 is mainly used to electrically connect the charging station wireless charging coil 14 with the charging station processing device 12, and the charging station wireless charging module 13 Used to connect a power supply P. The charging station processing device 12 can control the charging station wireless charging module 13 so that the power supply P can wirelessly charge the adjacent self-propelled vehicles 20 through the charging station wireless charging coil 14. In practical applications, the charging station processing device 12 and the charging station wireless charging module 13 may also be integrated into a control circuit module. The wireless charging coil 14 of the charging station is arranged in the charging station body 11. Regarding the form, size, appearance and installation position of the wireless charging coil 14 of the charging station, it can be changed according to requirements, and is not limited here.

在實際應用中，自走車系統100所包含的充電站10的數量，可以是依據需求增減，於此不加以限制。在自走車系統100包含有多個充電站10的實施例中，自走車系統100還可以是包含有一中央控制器(圖未示，例如 是伺服器)，中央控制器用以連接所有的充電站10，而中央控制器能控制各個充電站10的運作。 In practical applications, the number of charging stations 10 included in the self-propelled vehicle system 100 can be increased or decreased according to demand, and is not limited here. In an embodiment where the self-propelled vehicle system 100 includes multiple charging stations 10, the self-propelled vehicle system 100 may also include a central controller (not shown in the figure, for example, It is a server), the central controller is used to connect all charging stations 10, and the central controller can control the operation of each charging station 10.

請一併參閱圖2至圖4，圖2及圖3顯示為本發明的自走車的立體示意圖，圖4顯示為本發明自走車的方塊示意圖。自走車20包含：一車本體21、一驅動裝置22、一導航裝置23、一處理裝置24、一無線充電裝置25、一電池裝置26及一定位裝置27。車本體21用來設置驅動裝置22、導航裝置23、無線充電裝置25、電池裝置26及定位裝置27，車本體21的外型、尺寸等可依據需求變化，不以圖中所示為限。 Please refer to FIGS. 2 to 4 together. FIGS. 2 and 3 are three-dimensional schematic diagrams of the self-propelled vehicle of the present invention, and FIG. 4 is a block diagram of the self-propelled vehicle of the present invention. The self-propelled vehicle 20 includes a vehicle body 21, a driving device 22, a navigation device 23, a processing device 24, a wireless charging device 25, a battery device 26 and a positioning device 27. The car body 21 is used to set the driving device 22, the navigation device 23, the wireless charging device 25, the battery device 26, and the positioning device 27. The appearance and size of the car body 21 can be changed according to requirements, and are not limited to those shown in the figure.

驅動裝置22設置於車本體21，驅動裝置22包含驅動模組221及多個輪子222，多個輪子222樞接於車本體21，驅動模組221與輪子222相連接。處理裝置24電性連接驅動裝置22，處理裝置24能控制驅動模組221，據以驅動多個所述輪子222作動，從而使所述自走車20向前或後移動。在實際應用中，處理裝置24也可以是透過控制驅動模組221，而使自走車20轉彎或是旋轉。關於輪子222的數量不以圖中所示為限；在實際應用中，驅動模組221例如可以是包含有馬達、齒輪等構件，以用來使至少一部分的輪子222同步向同一個方向旋轉。 The driving device 22 is disposed on the vehicle body 21, and the driving device 22 includes a driving module 221 and a plurality of wheels 222. The plurality of wheels 222 are pivotally connected to the vehicle body 21, and the driving module 221 is connected with the wheels 222. The processing device 24 is electrically connected to the driving device 22, and the processing device 24 can control the driving module 221 to drive a plurality of the wheels 222 to act accordingly, so that the self-propelled vehicle 20 moves forward or backward. In practical applications, the processing device 24 can also control the driving module 221 to make the self-propelled vehicle 20 turn or rotate. The number of wheels 222 is not limited as shown in the figure; in practical applications, the driving module 221 may include components such as motors, gears, etc., so as to synchronize at least a part of the wheels 222 to rotate in the same direction.

導航裝置23設置於車本體21，導航裝置23能偵測車本體21的周圍環境，以對應產生一環境資訊23A。處理裝置24固定設置於車本體21，處理裝置24電性連接驅動裝置22及導航裝置23。處理裝置24能依據環境資訊23A，控制驅動裝置22作動，而使自走車20移動至充電站10。特別說明的是，於此所指的導航裝置23例如可以是用來偵測廠房的地面的相關導引構件(例如地磁)，或者，導航裝置23可以是用來偵測自走車20的周圍360度的環境狀況，於此不加以限制。 The navigation device 23 is disposed in the vehicle body 21, and the navigation device 23 can detect the surrounding environment of the vehicle body 21 to correspondingly generate an environmental information 23A. The processing device 24 is fixed to the vehicle body 21, and the processing device 24 is electrically connected to the driving device 22 and the navigation device 23. The processing device 24 can control the driving device 22 to act according to the environmental information 23A to move the self-propelled vehicle 20 to the charging station 10. In particular, the navigation device 23 referred to here can be, for example, a relevant guiding member (such as geomagnetism) used to detect the ground of a factory, or the navigation device 23 can be used to detect the surroundings of the self-propelled vehicle 20 The 360-degree environmental conditions are not limited here.

具體來說，導航裝置23可以是至少包含多個超音波偵測器231、一路況影像擷取器232及一雷射雷達233。多個超音波偵測器231設置於 車本體21，各個超音波偵測器231用以向車本體21的周圍發射超音波，且各個超音波偵測器231還用以接收被反射的超音波，並能據以產生一超音波偵測資訊2311。路況影像擷取器232用以擷取車本體21的前方的影像，以對應產生一路況影像擷取資訊2321。雷射雷達233能即時對車本體21的周圍進行360度的掃描偵測，並據以產生一雷射掃描資訊2331。在導航裝置23包含超音波偵測器231、路況影像擷取器232及雷射雷達233的實施例中，環境資訊23A則對應包含所述超音波偵測資訊2311、所述路況影像擷取資訊2321及所述雷射掃描資訊2331。 Specifically, the navigation device 23 may at least include a plurality of ultrasonic detectors 231, a road condition image capture device 232, and a laser radar 233. Multiple ultrasonic detectors 231 are installed at In the car body 21, each ultrasonic detector 231 is used to emit ultrasonic waves to the surroundings of the car body 21, and each ultrasonic detector 231 is also used to receive the reflected ultrasonic waves, and can generate an ultrasonic detection accordingly. Test information 2311. The road condition image capturer 232 is used to capture an image of the front of the vehicle body 21 to correspondingly generate road condition image capture information 2321. The laser radar 233 can scan and detect the surroundings of the vehicle body 21 in 360 degrees in real time, and generate laser scanning information 2331 accordingly. In an embodiment where the navigation device 23 includes an ultrasonic detector 231, a road condition image capture device 232, and a laser radar 233, the environmental information 23A correspondingly includes the ultrasonic detection information 2311, the road condition image capture information 2321 and the laser scanning information 2331.

依上所述，處理裝置24接收環境資訊23A後，將據以控制驅動裝置22，而使輪子222作動，從而使自走車20自行於廠房中行走。在實際應用中，各個自走車20還可以是能無線連接至遠端伺服器，而相關人員可以是透過電子裝置(例如是各式智慧型手機、智慧型平版等)及所述遠端伺服器，傳遞相關的控制訊號至自走車20，而使自走車20自行移動至廠房中特定的位置。 As described above, after the processing device 24 receives the environmental information 23A, it will control the driving device 22 accordingly to actuate the wheels 222, so that the self-propelled vehicle 20 can walk in the workshop by itself. In practical applications, each self-propelled vehicle 20 can also be wirelessly connected to a remote server, and the relevant personnel can use electronic devices (such as various smart phones, smart flat plates, etc.) and the remote server It transmits related control signals to the self-propelled vehicle 20 so that the self-propelled vehicle 20 can move to a specific position in the factory.

在實際應用中，處理裝置24還可以是包含一儲存單元241，儲存單元241儲存至少一地圖資訊2411。處理裝置24能依據地圖資訊2411，控制導航裝置23及驅動裝置22，以使自走車20移動至充電站10；也就是說，當相關人員透過遠端伺服器傳遞控制訊號至自走車20時，自走車20的處理裝置24，將可以是依據控制訊號及地圖資訊2411，配合導航裝置23即時產生的環境資訊23A，而控制自走車20自行移動至廠房中的特定位置。 In practical applications, the processing device 24 may also include a storage unit 241, and the storage unit 241 stores at least one map information 2411. The processing device 24 can control the navigation device 23 and the driving device 22 according to the map information 2411 to move the self-propelled vehicle 20 to the charging station 10; that is, when the relevant personnel transmit control signals to the self-propelled vehicle 20 through the remote server At this time, the processing device 24 of the self-propelled vehicle 20 will be able to control the self-propelled vehicle 20 to move to a specific location in the factory by itself according to the control signal and map information 2411, in conjunction with the environmental information 23A generated by the navigation device 23 in real time.

更白話來說，在導航裝置23包含多個超音波偵測器231、路況影像擷取器232及雷射雷達233的實施例中，自走車20基本上可以是做到自行偵測環境及自行規劃路徑，而自行移動至特定位置；也就是說，相關人員無需於廠房的地面鋪設用來導引自走車20行走的構件，而自走車20即可以依據導航裝置23，自行避開地面上的障礙物，並自行行走至廠房中的指定位置。 In more vernacular terms, in an embodiment where the navigation device 23 includes a plurality of ultrasonic detectors 231, a road condition image capture device 232, and a laser radar 233, the self-propelled vehicle 20 can basically detect the environment and Plan the path by themselves and move to a specific location by themselves; that is, the relevant personnel do not need to lay the components used to guide the self-propelled vehicle 20 to walk on the ground of the factory, and the self-propelled vehicle 20 can avoid it by itself according to the navigation device 23 Obstacles on the ground, and walk to the designated position in the factory.

在實際應用中，導航裝置23所包含的超音波偵測器231、路況影像擷取器232及雷射雷達233的數量及其設置位置，皆可依據需求變化，且導航裝置23不侷限於利用超音波偵測器231、路況影像擷取器232及雷射雷達233，來偵測自走車20周圍的環境，導航裝置23可以包含任何用來輔助處理裝置24判斷自走車20周圍環境的偵測器。 In practical applications, the number of ultrasonic detectors 231, road condition image capture devices 232, and laser radar 233 included in the navigation device 23 and their installation positions can be changed according to requirements, and the navigation device 23 is not limited to use The ultrasonic detector 231, the road condition image capturer 232 and the laser radar 233 are used to detect the environment around the self-propelled vehicle 20. The navigation device 23 may include any auxiliary processing device 24 to determine the environment around the self-propelled vehicle 20 Detector.

無線充電裝置25包含：兩個無線充電線圈251及切換模組252。兩個無線充電線圈251設置於車本體21，且兩個無線充電線圈251設置於車本體21的兩個不相同的側面，舉例來說，兩個無線充電線圈251可以是設置於車本體21彼此相反的兩側面。在實際應用中，可以是依據廠房中的充電站10的設置位置，決定多個無線充電線圈251設置於車本體21的哪一些側面。 The wireless charging device 25 includes two wireless charging coils 251 and a switching module 252. Two wireless charging coils 251 are arranged on the car body 21, and the two wireless charging coils 251 are arranged on two different sides of the car body 21. For example, the two wireless charging coils 251 may be arranged on the car body 21. Opposite sides. In practical applications, it may be determined on which sides of the vehicle body 21 the multiple wireless charging coils 251 are installed according to the installation position of the charging station 10 in the factory.

切換模組252設置於車本體21，切換模組252電性連接兩個無線充電線圈251。電池裝置26設置於車本體21，電池裝置26為可充電式電池，電池裝置26用以提供自走車20所有電子零件所需的電力。電池裝置26電性連接切換模組252，且電池裝置26電性連接處理裝置24。處理裝置24能控制切換模組252作動，以使電池裝置26與其中一個無線充電線圈251電性連接，而使該無線充電線圈251所對應產生的電能能儲存至電池裝置26中。在實際應用中，多個無線充電線圈251可以是連接至相同的電路板，而所述切換模組252則是設置於電路板上的相關電路，所述處理裝置24則是設置於電路板的微處理器。 The switching module 252 is disposed on the vehicle body 21, and the switching module 252 is electrically connected to two wireless charging coils 251. The battery device 26 is disposed in the vehicle body 21, the battery device 26 is a rechargeable battery, and the battery device 26 is used to provide power required by all the electronic components of the self-propelled vehicle 20. The battery device 26 is electrically connected to the switching module 252, and the battery device 26 is electrically connected to the processing device 24. The processing device 24 can control the switching module 252 to act, so that the battery device 26 is electrically connected to one of the wireless charging coils 251, so that the electric energy generated by the wireless charging coil 251 can be stored in the battery device 26. In practical applications, multiple wireless charging coils 251 can be connected to the same circuit board, the switching module 252 is a related circuit provided on the circuit board, and the processing device 24 is provided on the circuit board. microprocessor.

定位裝置27設置於車本體21，定位裝置27用以偵測車本體21與充電站10的相對位置，以對應產生一定位資訊27A。在實際應用中，定位裝置27例如可以是包含有一讀取器271，讀取器271能讀取設置於充電站10的地面的一標籤單元15(例如是二維條碼)。當自走車20移動至充電站10時，處理裝置24將控制讀取器271讀取設置於充電站10的標籤單元15，並據以產 生所述定位資訊27A。處理裝置24接收定位資訊27A後，處理裝置24將傳遞充電訊號24A至充電站10，而充電站10接收充電訊號24A將對自走車20進行無線充電。在實際應用中，所述讀取器271例如可以是一影像擷取單元，車本體21面向地面的一側具有一穿孔211，影像擷取單元能通過穿孔211，拍攝設置於充電站10的地面的標籤單元15。 The positioning device 27 is disposed on the vehicle body 21, and the positioning device 27 is used to detect the relative position of the vehicle body 21 and the charging station 10 to correspondingly generate a positioning information 27A. In practical applications, the positioning device 27 may, for example, include a reader 271 that can read a tag unit 15 (for example, a two-dimensional barcode) installed on the ground of the charging station 10. When the self-propelled vehicle 20 moves to the charging station 10, the processing device 24 will control the reader 271 to read the tag unit 15 provided in the charging station 10, and produce accordingly Generate the positioning information 27A. After the processing device 24 receives the positioning information 27A, the processing device 24 transmits a charging signal 24A to the charging station 10, and the charging station 10 receives the charging signal 24A to wirelessly charge the self-propelled vehicle 20. In practical applications, the reader 271 may be, for example, an image capturing unit. The vehicle body 21 has a perforation 211 on the side facing the ground. The image capturing unit can pass through the perforation 211 to photograph the ground of the charging station 10.的label unit 15.

當處理裝置24判斷電池裝置26的電量低於一預定值時，處理裝置24將控制導航裝置23及驅動裝置22作動，以使自走車20自行移動至鄰近的其中一個充電站10。在實際應用中，處理裝置24還可以是包含有一電池管理模組242。電池管理模組242電性連接電池裝置26，電池管理模組242能依據電池裝置26的電量，而對應產生一電量資訊2421，而處理裝置24則能依據電量資訊2421，來判斷電池裝置26的電量是否低於所述預定值。 When the processing device 24 determines that the power of the battery device 26 is lower than a predetermined value, the processing device 24 will control the navigation device 23 and the driving device 22 to act so that the self-propelled vehicle 20 can move to one of the adjacent charging stations 10 by itself. In practical applications, the processing device 24 may also include a battery management module 242. The battery management module 242 is electrically connected to the battery device 26. The battery management module 242 can correspondingly generate a power information 2421 based on the power of the battery device 26, and the processing device 24 can determine the battery device 26 based on the power information 2421 Whether the power is lower than the predetermined value.

當自走車20移動至鄰近的其中一個充電站10時，處理裝置24將控制定位裝置27作動，而處理裝置24將依據定位資訊27A，判斷其中一個無線充電線圈251是否已與充電站無線充電線圈14相面對地設置。更進一步來說，當處理裝置24依據地圖資訊2411，控制導航裝置23移動至鄰近的充電站10後，處理裝置24將控制定位裝置27的影像擷取單元(定位裝置27)作動，以對地面進行影像擷取，若處理裝置24判斷影像擷取單元(定位裝置27)所擷取的影像中，並未出現二維條碼(標籤單元15)時，處理裝置24將控制驅動裝置22作動，直到影像擷取單元(定位裝置27)擷取到二維條碼為止。 When the self-propelled vehicle 20 moves to one of the nearby charging stations 10, the processing device 24 will control the positioning device 27 to act, and the processing device 24 will determine whether one of the wireless charging coils 251 has been wirelessly charged with the charging station based on the positioning information 27A The coils 14 are arranged facing each other. Furthermore, when the processing device 24 controls the navigation device 23 to move to the adjacent charging station 10 according to the map information 2411, the processing device 24 will control the image capture unit (positioning device 27) of the positioning device 27 to actuate the ground For image capture, if the processing device 24 determines that there is no two-dimensional barcode (label unit 15) in the image captured by the image capture unit (positioning device 27), the processing device 24 will control the driving device 22 to act until The image capturing unit (positioning device 27) captures the two-dimensional bar code.

當處理裝置24判斷定位裝置27，已經正確地擷取到設置於充電站10的地面的二維條碼(標籤單元15)時，處理裝置24將傳遞充電訊號24A至充電站10，而充電站10接收到充電訊號24A後，將開始通過充電站無線充電線圈14及無線充電線圈251對自走車20進行無線充電。 When the processing device 24 determines that the positioning device 27 has correctly captured the two-dimensional barcode (label unit 15) installed on the ground of the charging station 10, the processing device 24 will transmit the charging signal 24A to the charging station 10, and the charging station 10 After receiving the charging signal 24A, the self-propelled vehicle 20 will be wirelessly charged through the wireless charging coil 14 and the wireless charging coil 251 of the charging station.

在實際應用中，處理裝置24在發出充電訊號24A前，可以是先控制切換模組252作動，以使自走車20的其中一個無線充電線圈251與電池 裝置26電性連接，藉此，處理裝置24發出充電訊號24A至充電站10時，面對於充電站10的無線充電線圈251將據以與充電站10的充電站無線充電線圈14相互配合，而對電池裝置26進行充電。 In practical applications, before the processing device 24 sends the charging signal 24A, it may first control the switching module 252 to act, so that one of the wireless charging coils 251 of the self-propelled vehicle 20 and the battery The device 26 is electrically connected, whereby when the processing device 24 sends a charging signal 24A to the charging station 10, the wireless charging coil 251 facing the charging station 10 will cooperate with the charging station wireless charging coil 14 of the charging station 10 accordingly, and The battery device 26 is charged.

在不同的實施例中，處理裝置24也可以是在發出充電訊號24A至充電站10後，透過反覆地控制切換模組252，來判斷車本體21上的哪一個無線充電線圈251正在與充電站無線充電線圈14相互作用，藉此，使電池裝置26與正在與充電站無線充電線圈14相互作用的無線充電線圈251電性連接。 In a different embodiment, the processing device 24 may also control the switching module 252 repeatedly after sending the charging signal 24A to the charging station 10 to determine which wireless charging coil 251 on the vehicle body 21 is communicating with the charging station 10 The wireless charging coil 14 interacts, thereby electrically connecting the battery device 26 with the wireless charging coil 251 interacting with the wireless charging coil 14 of the charging station.

當處理裝置24依據電量資訊2421，判斷電池裝置26的電量已到達預定值時，處理裝置24將傳送一停止充電資訊24B至充電站10，以使充電站10不再對自走車20進行無線充電。 When the processing device 24 determines that the power of the battery device 26 has reached the predetermined value based on the power information 2421, the processing device 24 will send a stop charging information 24B to the charging station 10 so that the charging station 10 will no longer perform wireless communication with the self-propelled vehicle 20. Recharge.

值得一提的是，自走車20的導航裝置23主要是用來輔助處理裝置24，使自走車20移動至鄰近於充電站10的位置，而定位裝置27則是用來輔助處理裝置24，使自走車20的無線充電線圈251與充電站10的充電站無線充電線圈14相面對地設置。更進一步來說，利用無線充電線圈251與充電站10相互配合，以進行無線充電的過程中，若是無線充電線圈251與充電站無線充電線圈14沒有相面對地設置，則可能發生無法充電或是充電效率低的問題，因此，本發明的自走車20透過定位裝置27的設置，將可使無線充電線圈251與充電站無線充電線圈14相面對地設置，從而使充電站10高效率地對自走車20進行無線充電作業。 It is worth mentioning that the navigation device 23 of the self-propelled vehicle 20 is mainly used to assist the processing device 24 to move the self-propelled vehicle 20 to a position adjacent to the charging station 10, and the positioning device 27 is used to assist the processing device 24. , The wireless charging coil 251 of the self-propelled vehicle 20 and the charging station wireless charging coil 14 of the charging station 10 are arranged to face each other. Furthermore, in the process of using the wireless charging coil 251 to cooperate with the charging station 10 to perform wireless charging, if the wireless charging coil 251 and the charging station wireless charging coil 14 are not arranged facing each other, charging failure or failure may occur. It is the problem of low charging efficiency. Therefore, the self-propelled vehicle 20 of the present invention can be arranged to face the wireless charging coil 14 of the charging station through the positioning device 27, thereby making the charging station 10 highly efficient. The self-propelled vehicle 20 is wirelessly charged.

請復參圖2，值得一提的是，在實際應用中，自走車20還可以包含一活動載台裝置28。活動載台裝置28包含一驅動模組281及一載台282。驅動模組281設置於車本體21，驅動模組281電性連接處理裝置24，載台282與驅動模組281相連接，處理裝置24能控制驅動模組281，以使載台282向遠離或靠近車本體21的方向移動。驅動模組281例如可以是包含有馬達及用來 使馬達與載台282相互連接的構件，而處理裝置24能控制馬達作動，以使載台282相對於車本體21升降。關於驅動模組281與載台282的連接方式，於此不加以限制。 Please refer to FIG. 2 again. It is worth mentioning that in practical applications, the self-propelled vehicle 20 may also include a movable platform device 28. The movable stage device 28 includes a driving module 281 and a stage 282. The driving module 281 is disposed on the vehicle body 21, the driving module 281 is electrically connected to the processing device 24, the carrier 282 is connected to the driving module 281, and the processing device 24 can control the driving module 281 to move the carrier 282 away or away Move closer to the direction of the car body 21. The drive module 281 may include a motor and A component that connects the motor and the carrier 282 to each other, and the processing device 24 can control the action of the motor so that the carrier 282 is raised and lowered relative to the vehicle body 21. Regarding the connection method of the drive module 281 and the carrier 282, there is no limitation here.

綜上所述，本發明的自走車及自走車系統，透過使自走車設置多個無線充電線圈，並搭配導航裝置、切換模組、定位裝置等設計，讓自走車在低電量的情況下，可以自行移動至鄰近的充電站進行無線充電。由於自走車不同側面設置有無線充電線圈，且自走車設置有定位裝置，因此，自走車可以快速地使無線充電線圈與充電站無線充電線圈兩者相面對地設置，從而使自走車能快速地被充電站充電。 In summary, the self-propelled vehicle and self-propelled vehicle system of the present invention, through the self-propelled vehicle is equipped with multiple wireless charging coils, and the design of the navigation device, switching module, positioning device, etc., allows the self-propelled vehicle to operate at low power In the case of, you can move to a nearby charging station for wireless charging. Since the self-propelled vehicle is equipped with wireless charging coils on different sides, and the self-propelled vehicle is equipped with a positioning device, the self-propelled vehicle can quickly make the wireless charging coil and the wireless charging coil of the charging station face each other, so that the self-propelled vehicle The car can be quickly charged by the charging station.

以上所述僅為本發明的較佳可行實施例，非因此侷限本發明的專利範圍，故舉凡運用本發明說明書及圖式內容所做的等效技術變化，均包含於本發明的保護範圍內。 The above descriptions are only the preferred and feasible embodiments of the present invention, which do not limit the patent scope of the present invention. Therefore, all equivalent technical changes made by using the description and drawings of the present invention are included in the protection scope of the present invention. .

100:自走車系統 100: Self-propelled car system

10:充電站 10: Charging station

11:充電站本體 11: Charging station body

12:充電站處理裝置 12: Charging station processing device

13:充電站無線充電模組 13: Charging station wireless charging module

14:充電站無線充電線圈 14: Wireless charging coil for charging station

15:標籤單元 15: label unit

20:自走車 20: Self-propelled car

21:車本體 21: Car body

22:驅動裝置 22: Drive

221:驅動模組 221: drive module

222:輪子 222: Wheel

23:導航裝置 23: Navigation device

231:超音波偵測器 231: Ultrasonic Detector

2311:超音波偵測資訊 2311: Ultrasonic detection information

232:路況影像擷取器 232: Road condition image capture device

2321:路況影像擷取資訊 2321: Road condition image capture information

233:雷射雷達 233: Laser Radar

2331:雷射掃描資訊 2331: Laser Scan Information

23A:環境資訊 23A: Environmental Information

24:處理裝置 24: Processing device

24A:充電訊號 24A: Charging signal

24B:停止充電資訊 24B: Stop charging information

241:儲存單元 241: storage unit

2411:地圖資訊 2411: Map Information

242:電池管理模組 242: Battery Management Module

2421:電量資訊 2421: Battery information

25:無線充電裝置 25: wireless charging device

251:無線充電線圈 251: wireless charging coil

252:切換模組 252: Switch module

26:電池裝置 26: battery device

27:定位裝置 27: Positioning device

271:讀取器 271: Reader

27A:定位資訊 27A: Positioning information

28:活動載台裝置 28: Movable stage device

281:驅動模組 281: drive module

282:載台 282: Stage

P:供電源 P: power supply

Claims (10)

一種自走車，其包含：一車本體；一驅動裝置，其設置於所述車本體，所述驅動裝置包含多個輪子；一導航裝置，其設置於所述車本體，所述導航裝置能即時偵測所述車本體的周圍環境，以即時地對應產生一環境資訊；一處理裝置，其固定設置於所述車本體，所述處理裝置電性連接所述驅動裝置及所述導航裝置；所述處理裝置能依據所述環境資訊，控制所述驅動裝置作動，而使所述自走車自行移動至鄰近的一充電站；一無線充電裝置，其包含：多個無線充電線圈，其分別固定設置於所述車本體的不同側面；及一切換模組，其電性連接各個所述無線充電線圈；一電池裝置，其電性連接所述切換模組，所述處理裝置電性連接所述電池裝置；以及一定位裝置，其設置於所述車本體，所述定位裝置用以偵測所述車本體與所述充電站的相對位置，以對應產生一定位資訊；其中，所述處理裝置判斷所述電池裝置的電量低於一預定值時，所述處理裝置將控制所述導航裝置及所述驅動裝置，以使所述自走車移動至鄰近的所述充電站；當所述自走車移動至鄰近的所述充電站時，所述處理裝置將控制所述定位裝置作動，而所述處理裝置將依據所述定位資訊，判斷其中一個所述無線充電線圈是否已與所述充 電站的一充電站無線充電線圈相面對地設置；當所述處理裝置依據所述定位資訊判斷其中一個所述無線充電線圈與所述充電站無線充電線圈相面對地設置時，所述處理裝置將傳遞一充電訊號至所述充電站，且所述處理裝置將控制所述切換模組，以使相對應的所述無線充電線圈與所述電池裝置電性連接；所述充電站接收所述充電訊號後，將開始通過所述充電站無線充電線圈及所述無線充電線圈對所述電池裝置進行充電。 A self-propelled vehicle comprising: a vehicle body; a driving device arranged on the vehicle body, the driving device comprising a plurality of wheels; a navigation device arranged on the vehicle body, the navigation device can Real-time detection of the surrounding environment of the car body to generate corresponding environmental information in real time; a processing device fixedly arranged on the car body, and the processing device is electrically connected to the driving device and the navigation device; The processing device can control the actuation of the driving device according to the environmental information, so that the self-propelled vehicle can move to a nearby charging station by itself; a wireless charging device includes: a plurality of wireless charging coils, respectively Fixedly arranged on different sides of the vehicle body; and a switching module, which is electrically connected to each of the wireless charging coils; a battery device, which is electrically connected to the switching module, and the processing device is electrically connected to the The battery device; and a positioning device disposed on the vehicle body, the positioning device is used to detect the relative position of the vehicle body and the charging station to correspondingly generate a positioning information; wherein, the processing When the device determines that the power of the battery device is lower than a predetermined value, the processing device will control the navigation device and the driving device to move the self-propelled vehicle to the adjacent charging station; When the self-propelled vehicle moves to the adjacent charging station, the processing device will control the positioning device to act, and the processing device will determine whether one of the wireless charging coils has been connected to the positioning device based on the positioning information. Charge The wireless charging coils of a charging station of the power station are arranged facing each other; when the processing device determines that one of the wireless charging coils is arranged facing the wireless charging coil of the charging station according to the positioning information, the processing The device will transmit a charging signal to the charging station, and the processing device will control the switching module so that the corresponding wireless charging coil is electrically connected to the battery device; the charging station receives After the charging signal, the battery device will be charged by the wireless charging coil and the wireless charging coil of the charging station. 如請求項1所述的自走車，其中，所述無線充電裝置包含兩個所述無線充電線圈，兩個所述無線充電線圈設置於所述車本體彼此相反的兩側面；所述導航裝置至少包含多個超音波偵測器、至少一路況影像擷取器及一雷射雷達，多個所述超音波偵測器設置於所述車本體，各個所述超音波偵測器用以向所述車本體的周圍發射超音波，且各個所述超音波偵測器還用以接收被反射的超音波，並能據以產生一超音波偵測資訊；所述路況影像擷取器用以擷取所述車本體的前方的影像，以對應產生一路況影像擷取資訊；所述雷射雷達能即時對所述車本體的周圍進行360度的掃描偵測，並據以產生一雷射掃描資訊；所述環境資訊至少包含所述超音波偵測資訊、所述路況影像擷取器資訊及所述雷射掃描資訊；所述處理裝置包含一儲存單元，所述儲存單元儲存至少一地圖資訊，所述處理裝置能依據所述地圖資訊，控制所述導航裝置及所述驅動裝置，以使所述自走車移動至所述充電站。 The self-propelled vehicle according to claim 1, wherein the wireless charging device includes two wireless charging coils, and the two wireless charging coils are arranged on opposite sides of the vehicle body; the navigation device It includes at least a plurality of ultrasonic detectors, at least one road condition image capture device and a laser radar. The plurality of ultrasonic detectors are arranged on the car body, and each of the ultrasonic detectors is used to The surroundings of the vehicle body emit ultrasonic waves, and each of the ultrasonic detectors is also used to receive the reflected ultrasonic waves, and can generate an ultrasonic detection information accordingly; the road condition image capture device is used to capture The image of the front of the car body is used to generate image capturing information corresponding to the road conditions; the laser radar can scan and detect the surroundings of the car body in 360 degrees in real time, and generate a laser scan information accordingly The environmental information includes at least the ultrasonic detection information, the road condition image capturer information and the laser scanning information; the processing device includes a storage unit, and the storage unit stores at least one map information, The processing device can control the navigation device and the driving device according to the map information to move the self-propelled vehicle to the charging station. 如請求項1所述的自走車，其中，所述定位裝置包含一讀取器，所述讀取器固定設置於所述車本體，所述讀取器用以讀取設置於所述充電站的一標籤單元；當所述自走車移 動至所述充電站時，所述處理裝置將控制所述讀取器，讀取設置於所述充電站的所述標籤單元，並據以產生所述定位資訊；所述處理裝置接收所述定位資訊後，所述處理裝置將傳遞所述充電訊號至所述充電站，而所述充電站接收所述充電訊號後，所述充電站將對所述自走車進行無線充電。 The self-propelled vehicle according to claim 1, wherein the positioning device includes a reader, the reader is fixedly installed on the vehicle body, and the reader is used for reading and reading installed on the charging station A label unit; when the self-propelled vehicle moves When moving to the charging station, the processing device will control the reader to read the tag unit provided in the charging station, and generate the positioning information accordingly; the processing device receives the After the positioning information, the processing device will transmit the charging signal to the charging station, and after the charging station receives the charging signal, the charging station will wirelessly charge the self-propelled vehicle. 如請求項3所述的自走車，其中，所述讀取器為一影像擷取單元，所述車本體面向地面的一側具有一穿孔，所述影像擷取單元能通過所述穿孔，拍攝設置於所述充電站的地面的所述標籤單元。 The self-propelled vehicle according to claim 3, wherein the reader is an image capturing unit, the side of the vehicle body facing the ground has a perforation, and the image capturing unit can pass through the perforation, To photograph the tag unit installed on the ground of the charging station. 如請求項1所述的自走車，其中，所述處理裝置包含一電池管理模組，所述電池管理模組電性連接所述電池裝置，所述電池管理模組能依據所述電池裝置的電量，而對應產生一電量資訊；所述處理裝置能依據所述電量資訊，傳送一停止充電資訊至所述充電站，以使所述充電站不再對所述自走車進行無線充電。 The self-propelled vehicle according to claim 1, wherein the processing device includes a battery management module, the battery management module is electrically connected to the battery device, and the battery management module can be based on the battery device According to the power amount information, the processing device can send a charging stop information to the charging station, so that the charging station no longer wirelessly charges the self-propelled vehicle. 一種自走車系統，其包含：多個充電站，各個所述充電站包含：一充電站本體；一充電站處理裝置，其設置於所述充電站本體；一充電站無線充電模組，其設置於所述充電站本體，所述充電站無線充電模組電性連接所述充電站處理裝置，且所述充電站無線充電模組連接一供電源；及一充電站無線充電線圈，其設置於所述充電站本體，所述充電站無線充電線圈電性連接所述充電站無線充電模組；至少一自走車，其包含： 一車本體；一驅動裝置，其設置於所述車本體，所述驅動裝置包含多個輪子；一導航裝置，其設置於所述車本體，所述導航裝置能偵測所述車本體的周圍環境，以對應產生一環境資訊；一處理裝置，其固定設置於所述車本體，所述處理裝置電性連接所述驅動裝置及所述導航裝置；所述處理裝置能依據所述環境資訊，控制所述驅動裝置作動，而使所述自走車移動至一充電站；一無線充電裝置，其包含：多個無線充電線圈，其分別固定設置於所述車本體的不同側面；及一切換模組，其電性連接各個所述無線充電線圈；一電池裝置，其電性連接所述切換模組，所述處理裝置電性連接所述電池裝置；以及一定位裝置，其設置於所述車本體，所述定位裝置用以偵測所述車本體與所述充電站的相對位置，以對應產生一定位資訊；其中，所述處理裝置判斷所述電池裝置的電量低於一預定值時，所述處理裝置將控制所述導航裝置及所述驅動裝置，以使所述自走車移動至鄰近的其中一個所述充電站；當所述自走車移動至鄰近的其中一個所述充電站時，所述處理裝置將控制所述定位裝置作動，而所述處理裝置將依據所述定位資訊，判斷其中一個所述無線充電線圈是否已與所述充電站無線充電線圈相面對地設置；當所述處理裝置依據所述定位資訊判斷其中一個所述無線充電線圈與所述充電站無線充電線圈相面對地設置時，所述處理裝置將傳遞一充電訊號 至所述充電站，且所述處理裝置將控制所述切換模組，以使相對應的所述無線充電線圈與所述電池裝置電性連接，所述充電站接收所述充電訊號後，將開始通過所述充電站無線充電線圈及所述無線充電線圈對所述電池裝置進行充電。 A self-propelled vehicle system, comprising: a plurality of charging stations, each of the charging stations includes: a charging station body; a charging station processing device arranged in the charging station body; a charging station wireless charging module, which Set in the charging station body, the charging station wireless charging module is electrically connected to the charging station processing device, and the charging station wireless charging module is connected to a power supply; and a charging station wireless charging coil, which is arranged In the charging station body, the charging station wireless charging coil is electrically connected to the charging station wireless charging module; at least one self-propelled vehicle includes: A vehicle body; a driving device arranged on the vehicle body, the driving device includes a plurality of wheels; a navigation device arranged on the vehicle body, the navigation device can detect the surroundings of the vehicle body Environment to generate environmental information correspondingly; a processing device fixedly arranged on the vehicle body, the processing device is electrically connected to the driving device and the navigation device; the processing device can be based on the environmental information, Control the actuation of the driving device to move the self-propelled vehicle to a charging station; a wireless charging device comprising: a plurality of wireless charging coils, which are respectively fixedly arranged on different sides of the vehicle body; and a switch Module, which is electrically connected to each of the wireless charging coils; a battery device, which is electrically connected to the switching module, and the processing device is electrically connected to the battery device; and a positioning device, which is arranged on the The vehicle body, the positioning device is used to detect the relative position of the vehicle body and the charging station to correspondingly generate a positioning information; wherein the processing device determines that the power of the battery device is lower than a predetermined value , The processing device will control the navigation device and the driving device so that the self-propelled vehicle moves to one of the adjacent charging stations; when the self-propelled vehicle moves to one of the adjacent charging stations During the station, the processing device will control the positioning device to act, and the processing device will determine whether one of the wireless charging coils has been set facing the charging station wireless charging coil based on the positioning information When the processing device determines that one of the wireless charging coils and the wireless charging coil of the charging station are disposed facing each other according to the positioning information, the processing device will transmit a charging signal To the charging station, and the processing device will control the switching module so that the corresponding wireless charging coil is electrically connected to the battery device. After the charging station receives the charging signal, the Starting to charge the battery device through the wireless charging coil and the wireless charging coil of the charging station. 如請求項6所述的自走車系統，其中，所述無線充電裝置包含兩個所述無線充電線圈，兩個所述無線充電線圈設置於所述車本體彼此相反的兩側面；所述導航裝置至少包含多個超音波偵測器、至少一路況影像擷取器及一雷射雷達，多個所述超音波偵測器設置於所述車本體，各個所述超音波偵測器用以向所述車本體的周圍發射超音波，且各個所述超音波偵測器還用以接收被反射的超音波，並能據以產生一超音波偵測資訊；所述路況影像擷取器用以擷取所述車本體的前方的影像，以對應產生一路況影像擷取資訊；所述雷射雷達能即時對所述車本體的周圍進行360度的掃描偵測，並據以產生一雷射掃描資訊；所述環境資訊至少包含所述超音波偵測資訊、所述路況影像擷取器資訊及所述雷射掃描資訊；所述處理裝置包含一儲存單元，所述儲存單元儲存至少一地圖資訊，所述處理裝置能依據所述地圖資訊，控制所述導航裝置及所述驅動裝置，以使所述自走車移動至鄰近的其中一個所述充電站。 The self-propelled vehicle system according to claim 6, wherein the wireless charging device includes two wireless charging coils, and the two wireless charging coils are arranged on opposite sides of the vehicle body; the navigation The device includes at least a plurality of ultrasonic detectors, at least one image capture device and a laser radar. The plurality of ultrasonic detectors are arranged on the car body, and each of the ultrasonic detectors is used for directing The surroundings of the car body emit ultrasonic waves, and each of the ultrasonic detectors is also used to receive the reflected ultrasonic waves, and can generate an ultrasonic detection information accordingly; the road condition image capture device is used to capture Take the image of the front of the car body to generate image capturing information corresponding to the road conditions; the laser radar can perform 360-degree scan detection around the car body in real time, and generate a laser scan accordingly Information; the environmental information includes at least the ultrasonic detection information, the road condition image capturer information, and the laser scanning information; the processing device includes a storage unit that stores at least one map information , The processing device can control the navigation device and the driving device according to the map information to move the self-propelled vehicle to one of the adjacent charging stations. 如請求項6所述的自走車系統，其中，所述定位裝置包含一讀取器，所述讀取器固定設置於所述車本體，所述讀取器用以讀取設置於所述充電站的一標籤單元；當所述自走車移動至所述充電站時，所述處理裝置將控制所述讀取器，讀取設置於所述充電站的所述標籤單元，並據以產生一定位資訊；所述處理裝置接收所述定位資訊後，所述處 理裝置將傳遞所述充電訊號至所述充電站，而所述充電站接收所述充電訊號後，所述充電站將對所述自走車進行無線充電。 The self-propelled vehicle system according to claim 6, wherein the positioning device includes a reader, the reader is fixedly arranged on the vehicle body, and the reader is used for reading When the self-propelled vehicle moves to the charging station, the processing device will control the reader to read the tag unit set at the charging station, and generate A positioning information; after the processing device receives the positioning information, the location The processing device will transmit the charging signal to the charging station, and after the charging station receives the charging signal, the charging station will wirelessly charge the self-propelled vehicle. 如請求項8所述的自走車系統，其中，所述讀取器為一影像擷取單元，所述車本體面向地面的一側具有一穿孔，所述影像擷取單元能通過所述穿孔，拍攝設置於所述充電站的地面的所述標籤單元。 The self-propelled vehicle system according to claim 8, wherein the reader is an image capturing unit, the side of the vehicle body facing the ground has a perforation, and the image capturing unit can pass through the perforation , Photographing the tag unit installed on the ground of the charging station. 如請求項6所述的自走車系統，其中，所述處理裝置包含一電池管理模組，所述電池管理模組電性連接所述電池裝置，所述電池管理模組能依據所述電池裝置的電量，而對應產生一電量資訊；所述處理裝置能依據所述電量資訊，傳送一停止充電資訊至所述充電站，以使所述充電站不再對所述自走車進行無線充電。 The self-propelled vehicle system according to claim 6, wherein the processing device includes a battery management module, the battery management module is electrically connected to the battery device, and the battery management module can be based on the battery Corresponding to the power of the device and generate power information; the processing device can send a charging stop information to the charging station based on the power information, so that the charging station no longer wirelessly charges the self-propelled vehicle .
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