TWI837713B

TWI837713B - Self-propelled device, moving method and moving system thereof

Info

Publication number: TWI837713B
Application number: TW111124129A
Authority: TW
Inventors: 麒安潘
Original assignee: 萬潤科技股份有限公司
Filing date: 2022-06-28
Publication date: 2024-04-01

Abstract

本發明提供一種自走式裝置及其移動方法、移動系統，包括：提供一地圖，對應一工作空間，該地圖設有對應一磁條兩端的一第一節點與一第二節點；提供一自走式裝置，設有一磁性感知單元可感知該磁條並可依該地圖在該工作空間內移動；當該自走式裝置需由該第一節點移動至該第二節點時，使位於該第一節點的該自走式裝置以該磁性感知單元感知該磁條並受該磁條引導沿該磁條移動至該第二節點；藉此可減少自走式裝置發生碰撞的情事。The present invention provides a self-propelled device and a moving method and a moving system thereof, comprising: providing a map corresponding to a workspace, the map being provided with a first node and a second node corresponding to the two ends of a magnetic strip; providing a self-propelled device, provided with a magnetic sensing unit capable of sensing the magnetic strip and being capable of moving in the workspace according to the map; when the self-propelled device needs to move from the first node to the second node, the self-propelled device located at the first node senses the magnetic strip with the magnetic sensing unit and is guided by the magnetic strip to move along the magnetic strip to the second node; thereby, the occurrence of collisions of the self-propelled device can be reduced.

Description

自走式裝置及其移動方法、移動系統Self-propelled device, moving method and moving system thereof

本發明係有關於一種自走式裝置及其移動方法、移動系統，尤指一種用於在工作空間內自主移動執行預設工作的自走式裝置及其移動方法、移動系統。The present invention relates to a self-propelled device and a moving method and a moving system thereof, and in particular to a self-propelled device and a moving method and a moving system thereof for autonomously moving in a working space to perform a preset task.

習知自走式裝置已廣泛使用同步定位與地圖建構(Simultaneous localization and mapping；SLAM)技術，自走式裝置可先在工作空間進行遍歷，使自走式裝置的傳感器掃描工作空間的實體結構以取得工作空間的結構特徵，再藉由建圖演算法將結構特徵組合成具有地圖結構的地圖，最後依地圖規劃自走式裝置執行例如巡檢、消毒、搬運、清潔…等預設工作的移動路徑。It is known that the simultaneous localization and mapping (SLAM) technology has been widely used in self-propelled devices. The self-propelled device can first traverse the workspace, so that the sensor of the self-propelled device scans the physical structure of the workspace to obtain the structural features of the workspace, and then the structural features are combined into a map with a map structure through a mapping algorithm. Finally, the movement path of the self-propelled device to perform preset tasks such as inspection, disinfection, transportation, cleaning, etc. is planned according to the map.

雖然自走式裝置可依規劃的移動路徑自主移動，但實際上自走式裝置在自主移動時會稍為偏離移動路徑，且工作空間內可能有不適合自走式裝置自主移動的危險區域，例如寬度略大於自走式裝置寬度的廊道或房門、陳列易碎品的空間…等；當自走式裝置經過危險區域時，若移動路徑稍為偏離即可能發生碰撞，導致不期望的情事發生。Although self-propelled devices can move autonomously along the planned moving path, in reality, they will slightly deviate from the moving path during autonomous movement, and there may be dangerous areas in the workspace that are not suitable for autonomous movement of self-propelled devices, such as corridors or doors that are slightly wider than the width of the self-propelled device, spaces for displaying fragile items, etc. When a self-propelled device passes through a dangerous area, if the moving path deviates slightly, a collision may occur, resulting in unexpected situations.

爰是，本發明的目的，在於提供一種能克服先前技術至少一個缺點的自走式裝置移動方法。Therefore, the object of the present invention is to provide a method for moving a self-propelled device that can overcome at least one disadvantage of the prior art.

本發明的另一目的，在於提供一種用以執行所述自走式裝置的移動方法的自走式裝置。Another object of the present invention is to provide a self-propelled device for executing the moving method of the self-propelled device.

本發明的又一目的，在於提供一種使用所述自走式裝置的自走式裝置移動系統。Another object of the present invention is to provide a self-propelled device moving system using the self-propelled device.

依據本發明目的之自走式裝置移動方法，包括：提供一地圖，對應一工作空間，該地圖設有對應一磁條兩端的一第一節點與一第二節點；提供一自走式裝置，設有一磁性感知單元可感知該磁條並可依該地圖在該工作空間內移動；當該自走式裝置需由該第一節點移動至該第二節點時，使位於該第一節點的該自走式裝置以該磁性感知單元感知該磁條並受該磁條引導沿該磁條移動至該第二節點。The method for moving a self-propelled device according to the purpose of the present invention includes: providing a map corresponding to a workspace, the map having a first node and a second node corresponding to the two ends of a magnetic strip; providing a self-propelled device, having a magnetic sensing unit that can sense the magnetic strip and can move in the workspace according to the map; when the self-propelled device needs to move from the first node to the second node, the self-propelled device located at the first node senses the magnetic strip with the magnetic sensing unit and is guided by the magnetic strip to move along the magnetic strip to the second node.

依據本發明另一目的之自走式裝置，用以執行如所述自走式裝置移動方法。According to another object of the present invention, a self-propelled device is used to execute the self-propelled device moving method as described above.

依據本發明又一目的之自走式裝置移動系統，使用所述自走式裝置。According to another object of the present invention, a self-propelled device moving system uses the self-propelled device.

本發明實施例之自走式裝置及其移動方法、移動系統，該自走式裝置依該地圖T在該工作空間內移動，在該自走式裝置由該第一節點移動至該第二節點的過程中，使位於該第一節點的該自走式裝置以該磁性感知單元感知該磁條並受該磁條引導沿該磁條移動至該第二節點，藉此可減少自走式裝置發生碰撞的情事。The self-propelled device and its moving method and moving system of the embodiment of the present invention move in the working space according to the map T. In the process of the self-propelled device moving from the first node to the second node, the self-propelled device located at the first node senses the magnetic stripe with the magnetic sensing unit and is guided by the magnetic stripe to move along the magnetic stripe to the second node, thereby reducing the occurrence of collisions of the self-propelled device.

請參閱圖1，本發明實施例的自走式裝置移動方法可以如圖所示的自走式裝置A來執行，該自走式裝置A在一本體A1上設有一驅動單元A2、一磁性感知單元A3、一防撞感知單元A4、一內部電腦A5與一控制單元A6；該驅動單元A2設有兩個驅動輪A21於該自走式裝置A的底部的兩旁側，可驅動該自走式裝置A在一工作表面F上執行前進、後退、旋轉…等動作；該磁性感知單元A3設於該自走式裝置A的底部並位於兩個該驅動輪A21之間，該磁性感知單元A3設有相隔間距的一第一磁性感知器A31與一第二磁性感知器A32於該自走式裝置A的底部的前、後兩側；該防撞感知單元A4設有一第一防撞感知器A41、一第二防撞感知器A42與兩個第三防撞感知器A43，該第一防撞感知器A41、該第二防撞感知器A42與該第三防撞感知器A43可例如光達、超音波、深度攝影機…等具有預設感知方向與範圍的感知器；該第一防撞感知器A41設於該自走式裝置A前進方向的前側並可感知位於該自走式裝置A前側的障礙物，該第二防撞感知器A42設於該自走式裝置A前進方向的後側並可感知位於該自走式裝置A後側的障礙物，兩個該第三防撞感知器A43各設於該自走式裝置A前進方向的兩旁側並可感知位於該自走式裝置A旁側的障礙物；該第一防撞感知器A41、該第二防撞感知器A42與該第三防撞感知器A43的數量與設置位置不以此為限，亦能以單一防撞感知器感知該自走式裝置A周圍的障礙物；該內部電腦A5可執行多種演驗法運算資料並將其儲存；該控制單元A6可執行該自走式裝置A的各種功能控制。 Please refer to FIG. 1. The self-propelled device moving method of the embodiment of the present invention can be performed by the self-propelled device A as shown in the figure. The self-propelled device A is provided with a driving unit A2, a magnetic sensing unit A3, an anti-collision sensing unit A4, an internal computer A5 and a control unit A6 on a body A1; The driving unit A2 is provided with two driving wheels A21 on both sides of the bottom of the self-propelled device A, which can drive the self-propelled device A to perform forward, backward, rotation, etc. actions on a working surface F; The magnetic sensing unit A3 is arranged at the bottom of the self-propelled device A and between the two driving wheels A21. The magnetic sensing unit A3 is provided with a first magnetic sensor A31 and a second magnetic sensor A32 at a distance from each other at the front and rear sides of the bottom of the self-propelled device A. The anti-collision sensing unit A4 is provided with a first anti-collision sensor A41, a second anti-collision sensor A42 and two third anti-collision sensors A43. The first anti-collision sensor A41, the second anti-collision sensor A42 and the third anti-collision sensor A43 can be sensors with preset sensing directions and ranges, such as lidar, ultrasound, depth camera, etc. The first anti-collision sensor A41 is arranged at the front side of the forward direction of the self-propelled device A and can sense obstacles located at the front side of the self-propelled device A. The second anti-collision sensor A42 can sense obstacles located at the front side of the self-propelled device A. The sensor A42 is arranged at the rear side of the self-propelled device A in the forward direction and can sense obstacles at the rear side of the self-propelled device A. The two third anti-collision sensors A43 are arranged at both sides of the self-propelled device A in the forward direction and can sense obstacles at the side of the self-propelled device A. The number and the setting position of the first anti-collision sensor A41, the second anti-collision sensor A42 and the third anti-collision sensor A43 are not limited thereto, and obstacles around the self-propelled device A can also be sensed by a single anti-collision sensor. The internal computer A5 can execute various experimental methods to calculate data and store them. The control unit A6 can execute various function controls of the self-propelled device A.

請參閱圖1、2、3，操作該自走式裝置A的操作人員可以手推或遙控的方式使該自走式裝置A在一工作空間W內移動以建立對應該工作空間W的一地圖T，該工作空間W具有例如牆壁、障礙物…等實體結構W1，該自走式裝置A在該工作空間W內的前進方向以箭頭圖案表示；該自走式裝置A在該工作空間W內移動時，設於該自走式裝置A前側的該第一防撞感知器A41可以預設感知方向與範圍(如扇形圖案表示)掃描該工作空間W位於該自走式裝置A前方的該實體結構W1並取得一結構特徵W2(如點圖案表示)，該第一防撞感知器A41可將資料傳輸至該內部電腦A5運算，使該內部電腦A5藉由建圖演算法將該自走式裝置A遍歷該工作空間W後所取得的所有該結構特徵W2組合成該地圖T並儲存於該內部電腦A5，該地圖T具有對應該實體結構W1的一地圖結構T1(如斜線圖案表示)與對應該自走式裝置A位置的一標記圖案T2，該標記圖案T2以指標性(如箭頭表示)圖案表示該自走式裝置A在該工作空間W內的前進方向；其中，因該自走式裝置A可在不同的樓層或不同的場地執行例如巡檢、消毒、搬運、清潔…等預設工作，故該工作空間W的數量可為複數個，該自走式裝置A可先至不同的工作空間W建立不同的地圖T並儲存於該內部電腦A5，待該自走式裝置A回到欲工作的工作空間W時，該自走式裝置A再定位自身在該地圖T中的方向與位置，以藉由該地圖T規劃預設工作時的移動路徑，並依該地圖T在對應該地圖T的該工作空間W內自主移動；該地圖T可顯示於一顯示器(圖未示)上供操作人員操作與判讀，該顯示器可設於該自走式裝置A上或設於可與該自走式裝置A相互傳輸資料的一外部電腦(圖未示)上，該外部電腦亦可執行多種演驗法運算資料並將其儲存。 Please refer to Figures 1, 2, and 3. The operator of the self-propelled device A can move the self-propelled device A in a workspace W by hand or remote control to establish a map T corresponding to the workspace W. The workspace W has a physical structure W1 such as a wall, an obstacle, etc. The forward direction of the self-propelled device A in the workspace W is represented by an arrow pattern; When the self-propelled device A moves in the workspace W, the first anti-collision sensor A41 disposed at the front side of the self-propelled device A can scan the physical structure W1 in front of the workspace W in a preset sensing direction and range (as represented by a fan pattern) and obtain a structural feature W2 (as represented by a dot pattern). The first anti-collision sensor A41 can transmit the data to the internal computer A5 for calculation, so that the internal computer A5 can generate a map. The algorithm combines all the structural features W2 obtained by the self-propelled device A after traversing the workspace W into the map T and stores it in the internal computer A5. The map T has a map structure T1 (as represented by a diagonal line pattern) corresponding to the physical structure W1 and a marking pattern T2 corresponding to the position of the self-propelled device A. The marking pattern T2 uses an indicative pattern (such as an arrow) to represent the forward direction of the self-propelled device A in the workspace W; Among them, since the self-propelled device A can perform preset tasks such as inspection, disinfection, transportation, cleaning, etc. on different floors or different places, the number of the workspaces W can be plural. The self-propelled device A can first go to different workspaces W to create different maps T and store them in the internal computer A5. When the self-propelled device A returns to the workspace W to be worked, the self-propelled device A will locate its direction and position in the map T. The map T is used to plan the movement path during the preset work, and the operator moves autonomously in the work space W corresponding to the map T according to the map T; the map T can be displayed on a display (not shown) for the operator to operate and interpret. The display can be set on the self-propelled device A or on an external computer (not shown) that can transmit data to and from the self-propelled device A. The external computer can also execute various empirical methods to calculate data and store it.

本發明實施例之自走式裝置及其移動方法在實施上，請參閱圖4，操作人員可將一磁條M設於該工作空間W不適合該自走式裝置A自主移動的危險區域內；在本發明實施例中，該磁條M係設於該工作空間W的一房門W3處並穿經該房門W3，該房門W3的寬度僅略大於該自走式裝置A的寬度；請參閱圖4、5，操作人員可以手推或遙控的方式使該自走式裝置A移動至該磁條M的一端，並在該地圖T上建立對應該磁條M的一端的一第一節點V1；接著使該自走式裝置A移動至該磁條M的另一端，並在該地圖T上建立對應該磁條M的另一端的一第二節點V2；除了該第一節點V1與該第二節點V2外，操作人員還可在該地圖T上建立複數個站點Sn，該站點Sn係對應該自走式裝置A在該工作空間W內可選擇經過並停留預設時間進行預設工作的點；該第一節點V1與該第二節點V2係該自走式裝置A在所述站點Sn之間移動時可選擇經過的點，所述節點通常係建立在危險區域附近，以利當該自走式裝置A進入危險區域時，可依規劃的移動路徑移動；在本發明實施例中，所述節點(Vertex)在該地圖T上以○圖案表示，所述站點(Station)在該地圖T上以●圖案表示；在該站點Sn、該第一節點V1與該第二節點V2建立完成後，操作人員可選擇該自走式裝置A需依序至幾個站點Sn進行預設工作，該內部電腦A5或該外部電腦可依操作人員的選擇進行運算，以規劃該自走式裝置A依該地圖T在該工作空間W內移動的移動路徑；請參閱圖6所示，假設操作人員選擇該自走式裝置A需依序至一第一站點S1→第二站點S2→第三站點S3進行預設工作，該內部電腦A5或該外部電腦在運算時會判斷該第二站點S2與該第三站點S3之間具有該第一節點V1與該第二節點V2，且距離該第二站點S2最近的係該第一節點V1，距離該第三站點S3最近的係該第二節點V2，故規劃出一移動路徑D係該第一站點S1→該第二站點S2→該第一節點V1→該二節點V2→該第三站點S3，在該移動路徑D中點與點之間預設為最短的直線距離；當該自走式裝置A需由該第一節點V1移動至該第二節點V2時，使位於該第一節點V1的該自走式裝置A以該磁性感知單元A3感知該磁條M並受該磁條M引導沿該磁條M移動至該第二節點V2；該自走式裝置A依該地圖T以一第一模式與一第二模式在該工作空間W內移動；當該自走式裝置A沿著該磁條M移動時係使用該第一模式；當該自走式裝置A在所述站點Sn之間或所述站點Sn與該第一節點V1、該第二節點V2之間移動時係使用該第二模式；當該自走式裝置A以該第一模式移動時，該自走式裝置A係預設以一第一速度移動；當該自走式裝置A以該第二模式移動時，該自走式裝置A係預設以一第二速度移動；該第一速度低於該第二速度；在本發明實施例中，該第一速度為0.4m/s，該第二速度為0.5m/s；在該自走式裝置A由該第一節點V1移動至該第二節點V2的過程中，該自走式裝置A可調整兩個該驅動輪A21的速度使該磁性感知單元A3可持續感知到該磁條M以令該自走式裝置A沿該磁條M移動，並使該第一磁性感知器A31與該第二磁性感知器A32的中心部位可同時對應該磁條M的中心部位(如圖7所示)；當該自走式裝置A以該第一模式受該磁條M引導在該磁條M上移動時，該自走式裝置A僅對位於前側與後側的障礙物進行迴避，不對位於該自走式裝置A旁側的障礙物進行迴避，故該自走式裝置A可穿越寬度僅略大於該自走式裝置A的寬度的該房門W3，而不會因旁側的障礙物非常接近該自走式裝置A而迴避障礙物；在該第一模式下當該自走式裝置A感知其前側具有障礙物時，該自走式裝置A停止移動；在該自走式裝置A停止移動超過一預設時間後若仍感知其前側具有障礙物，該自走式裝置A後退朝該磁條M一端的該第一節點V1移動；在該第一模式下該自走式裝置A後退的過程中，當該自走式裝置A感知其後側具有障礙物時，該自走式裝置A停止移動；在該自走式裝置A停止移動超過一預設時間後若仍感知其後側具有障礙物，該自走式裝置A發出訊號通報操作人員前來排除障礙物；當該自走式裝置A以該第二模式在所述站點Sn之間或所述站點Sn與該第一節點V1、該第二節點V2之間移動時，該自走式裝置A會對旁側的障礙物進行迴避，且因該自走式裝置A在該第二模式下並沒有受到該磁條M的導引，故在該第二模式下該自走式裝置A在點與點之間的移動路徑並不會是完美的直線。 In the implementation of the self-propelled device and its moving method of the embodiment of the present invention, please refer to Figure 4. The operator can set a magnetic strip M in the dangerous area of the working space W that is not suitable for the self-propelled device A to move autonomously; in the embodiment of the present invention, the magnetic strip M is set at a door W3 of the working space W and passes through the door W3. The width of the door W3 is only slightly larger than the width of the self-propelled device A; Please refer to Figures 4 and 5. The operator can manually push or remotely control the self-propelled device A to move to one end of the magnetic stripe M, and establish a first node V1 corresponding to the one end of the magnetic stripe M on the map T; then move the self-propelled device A to the other end of the magnetic stripe M, and establish a second node V2 corresponding to the other end of the magnetic stripe M on the map T; in addition to the first node V1 and the second node V2, the operator can also establish a plurality of sites Sn on the map T, and the site Sn corresponds to the self-propelled device A at the work site. The points in the work space W that can be selected to pass through and stay for a preset time to perform preset work; the first node V1 and the second node V2 are points that the self-propelled device A can choose to pass through when moving between the stations Sn. The nodes are usually established near the dangerous area, so that when the self-propelled device A enters the dangerous area, it can move according to the planned movement path; in the embodiment of the present invention, the node (Vertex) is represented by a ○ pattern on the map T, and the station (Station) is represented by a ● pattern on the map T; After the site Sn, the first node V1 and the second node V2 are established, the operator can select the number of sites Sn that the self-propelled device A needs to go to in sequence to perform the preset work. The internal computer A5 or the external computer can perform calculations based on the operator's selection to plan the movement path of the self-propelled device A in the work space W according to the map T. Please refer to FIG. 6. Assuming that the operator selects that the self-propelled device A needs to go to a first site S1→a second site S2→a third site S3 in sequence to perform the preset work, the internal computer A5 or the external computer will determine during calculation that there is a first node S2 between the second site S2 and the third site S3. V1 and the second node V2, and the first node V1 is closest to the second station S2, and the second node V2 is closest to the third station S3, so a moving path D is planned, which is the first station S1→the second station S2→the first node V1→the second node V2→the third station S3, and the shortest straight line distance is preset between the midpoints of the moving path D; when the self-propelled device A needs to move from the first node V1 to the second node V2, the self-propelled device A located at the first node V1 senses the magnetic strip M with the magnetic sensing unit A3 and is guided by the magnetic strip M to move along the magnetic strip M to the second node V2; The self-propelled device A moves in the workspace W in a first mode and a second mode according to the map T; the first mode is used when the self-propelled device A moves along the magnetic strip M; the second mode is used when the self-propelled device A moves between the stations Sn or between the station Sn and the first node V1 and the second node V2; when the self-propelled device A moves in the first mode, the self-propelled device A is preset to move at a first speed; when the self-propelled device A moves in the second mode, the self-propelled device A is preset to move at a second speed; the first speed is lower than the second speed; in the embodiment of the present invention, the first speed is 0.4m/s and the second speed is 0.5m/s; When the self-propelled device A moves from the first node V1 to the second node V2, the self-propelled device A can adjust the speed of the two driving wheels A21 so that the magnetic sensing unit A3 can continuously sense the magnetic strip M to move the self-propelled device A along the magnetic strip M, and the center parts of the first magnetic sensor A31 and the second magnetic sensor A32 can simultaneously correspond to the center part of the magnetic strip M (as shown in FIG. 7); When the self-propelled device A is guided by the magnetic strip M to move on the magnetic strip M in the first mode, the self-propelled device A only avoids obstacles located in front and behind, and does not avoid obstacles located beside the self-propelled device A. Therefore, the self-propelled device A can pass through the door W3 whose width is only slightly larger than the width of the self-propelled device A, and will not avoid obstacles because the obstacles on the side are very close to the self-propelled device A. In the first mode, when the self-propelled device A senses that there is an obstacle in front of it, the self-propelled device A stops. Stop moving; if the self-propelled device A still senses an obstacle in front of it after stopping moving for more than a preset time, the self-propelled device A moves backward toward the first node V1 at one end of the magnetic strip M; in the process of the self-propelled device A moving backward in the first mode, when the self-propelled device A senses an obstacle behind it, the self-propelled device A stops moving; if the self-propelled device A still senses an obstacle behind it after stopping moving for more than a preset time, the self-propelled device A sends a signal to notify the operator to remove the obstacle; When the self-propelled device A moves between the sites Sn or between the site Sn and the first node V1 and the second node V2 in the second mode, the self-propelled device A will avoid obstacles on the side, and because the self-propelled device A is not guided by the magnetic strip M in the second mode, the moving path of the self-propelled device A between points in the second mode will not be a perfect straight line.

請參閱圖4、5，該自走式裝置A係在自走式裝置移動系統中使用，該自走式裝置移動系統包括對應該工作空間W的該地圖T、依該地圖T在該工作空間W內移動的該自走式裝置A與設有該磁條M的該工作空間W。Please refer to Figures 4 and 5. The self-propelled device A is used in a self-propelled device moving system, which includes the map T corresponding to the workspace W, the self-propelled device A moving in the workspace W according to the map T, and the workspace W provided with the magnetic strip M.

本發明實施例之自走式裝置及其移動方法、移動系統，該自走式裝置A依該地圖T在該工作空間W內移動，在該自走式裝置A由該第一節點V1移動至該第二節點V2的過程中，使位於該第一節點V1的該自走式裝置A以該磁性感知單元A3感知該磁條M並受該磁條M引導沿該磁條M移動至該第二節點V2，藉此可減少自走式裝置A發生碰撞的情事。The self-propelled device and its moving method and moving system of the embodiment of the present invention are as follows: the self-propelled device A moves in the working space W according to the map T. In the process of the self-propelled device A moving from the first node V1 to the second node V2, the self-propelled device A located at the first node V1 senses the magnetic strip M with the magnetic sensing unit A3 and is guided by the magnetic strip M to move along the magnetic strip M to the second node V2, thereby reducing the possibility of collision of the self-propelled device A.

惟以上所述者，僅為本發明之較佳實施例而已，當不能以此限定本發明實施之範圍，即大凡依本發明申請專利範圍及發明說明內容所作之簡單的等效變化與修飾，皆仍屬本發明專利涵蓋之範圍內。However, what is described above is only a preferred embodiment of the present invention, and should not be used to limit the scope of implementation of the present invention. In other words, any simple equivalent changes and modifications made according to the scope of the patent application of the present invention and the content of the invention description are still within the scope of the present patent.

A:自走式裝置 A1:本體 A2:驅動單元 A21:驅動輪 A3:磁性感知單元 A31:第一磁性感知器 A32:第二磁性感知器 A4:防撞感知單元 A41:第一防撞感知器 A42:第二防撞感知器 A43:第三防撞感知器 A5:內部電腦 A6:控制單元 D:移動路徑 F:工作表面 M:磁條 Sn:站點 T:地圖 T1:地圖結構 T2:標記圖案 V1:第一節點 V2:第二節點 W:工作空間 W1:實體結構 W2:結構特徵 W3:房門 A: Self-propelled device A1: Main body A2: Driving unit A21: Driving wheel A3: Magnetic sensing unit A31: First magnetic sensor A32: Second magnetic sensor A4: Anti-collision sensing unit A41: First anti-collision sensor A42: Second anti-collision sensor A43: Third anti-collision sensor A5: Internal computer A6: Control unit D: Moving path F: Working surface M: Magnetic stripe Sn: Station T: Map T1: Map structure T2: Marking pattern V1: First node V2: Second node W: Working space W1: Physical structure W2: Structural features W3: Door

圖1係本發明實施例中自走式裝置的示意圖。圖2係本發明實施例中自走式裝置在工作空間的示意圖。圖3係本發明實施例中對應工作空間之地圖的示意圖。圖4係本發明實施例中在工作空間的危險區域設置磁條的示意圖。圖5係本發明實施例中在地圖中建立第一節點與第二節點的示意圖。圖6係本發明實施例中在地圖中規劃出移動路徑的示意圖。圖7係本發明實施例中第一磁性感知器與第二磁性感知器的中心部位同時對應磁條中心部位的示意圖。 FIG. 1 is a schematic diagram of a self-propelled device in an embodiment of the present invention. FIG. 2 is a schematic diagram of a self-propelled device in a workspace in an embodiment of the present invention. FIG. 3 is a schematic diagram of a map corresponding to the workspace in an embodiment of the present invention. FIG. 4 is a schematic diagram of setting a magnetic strip in a dangerous area of the workspace in an embodiment of the present invention. FIG. 5 is a schematic diagram of establishing a first node and a second node in a map in an embodiment of the present invention. FIG. 6 is a schematic diagram of planning a moving path in a map in an embodiment of the present invention. FIG. 7 is a schematic diagram of the center of the first magnetic sensor and the second magnetic sensor corresponding to the center of the magnetic strip at the same time in an embodiment of the present invention.

A:自走式裝置 A: Self-propelled device

A1:本體 A1: Body

A2:驅動單元 A2: Drive unit

A21:驅動輪 A21: Driving wheel

A3:磁性感知單元 A3: Magnetic sensing unit

A31:第一磁性感知器 A31: First magnetic sensor

A32:第二磁性感知器 A32: Second magnetic sensor

A4:防撞感知單元 A4: Anti-collision sensing unit

A41:第一防撞感知器 A41: The first anti-collision sensor

A42:第二防撞感知器 A42: Second collision avoidance sensor

A43:第三防撞感知器 A43: The third collision avoidance sensor

A5:內部電腦 A5: Internal computer

A6:控制單元 A6: Control unit

F:工作表面 F: Working surface

Claims

一種自走式裝置移動方法，包括：提供一自走式裝置，設有一磁性感知單元可感知一磁條；提供一地圖，對應設有該磁條之一工作空間，該地圖設有對應該磁條的一第一節點與一第二節點，及複數個站點；該自走式裝置可依該地圖之所述站點在該工作空間內移動；該站點係該自走式裝置可選擇經過並停留預設時間進行預設工作的點；該第一節點與該第二節點位於兩個不同的站點之間；當該自走式裝置在不同的站點之間移動且需由該第一節點移動至該第二節點時，使位於該第一節點的該自走式裝置以該磁性感知單元感知該磁條並受該磁條引導沿該磁條移動至該第二節點。 A method for moving a self-propelled device includes: providing a self-propelled device, provided with a magnetic sensing unit capable of sensing a magnetic strip; providing a map corresponding to a workspace provided with the magnetic strip, the map being provided with a first node and a second node corresponding to the magnetic strip, and a plurality of stations; the self-propelled device can move in the workspace according to the stations of the map; the stations are points that the self-propelled device can choose to pass through and stay for a preset time to perform preset work; the first node and the second node are located between two different stations; when the self-propelled device moves between different stations and needs to move from the first node to the second node, the self-propelled device located at the first node senses the magnetic strip with the magnetic sensing unit and is guided by the magnetic strip to move along the magnetic strip to the second node.

如請求項1所述自走式裝置移動方法，其中，該磁性感知單元設於該自走式裝置的底部並位於兩個驅動輪之間；在該自走式裝置由該第一節點移動至該第二節點的過程中，該自走式裝置可調整兩個該驅動輪的速度使該磁性感知單元可持續感知到該磁條以令該自走式裝置沿該磁條移動。 The self-propelled device moving method as described in claim 1, wherein the magnetic sensing unit is disposed at the bottom of the self-propelled device and between two driving wheels; during the process of the self-propelled device moving from the first node to the second node, the self-propelled device can adjust the speed of the two driving wheels so that the magnetic sensing unit can continuously sense the magnetic stripe to enable the self-propelled device to move along the magnetic stripe.

如請求項2所述自走式裝置移動方法，其中，該磁性感知單元設有相隔間距的一第一磁性感知器與一第二磁性感知器於該自走式裝置的底部的前、後兩側；在該自走式裝置由該第一節點移動至該第二節點的過程中，該自走式裝置可調整兩個該驅動輪的速度使該第一磁性感知器與該第二磁性感知器的中心部位可同時對應該磁條的中心部位。 The self-propelled device moving method as described in claim 2, wherein the magnetic sensing unit is provided with a first magnetic sensor and a second magnetic sensor spaced apart at the front and rear sides of the bottom of the self-propelled device; during the process of the self-propelled device moving from the first node to the second node, the self-propelled device can adjust the speed of the two driving wheels so that the center of the first magnetic sensor and the second magnetic sensor can correspond to the center of the magnetic strip at the same time.

如請求項1所述自走式裝置移動方法，其中，該自走式裝置設有一防撞感知單元可感知位於該自走式裝置前側、後側與旁側的障礙物；當該自走式裝置在該磁條上移動時，該自走式裝置僅對位於前側與後側的障礙物進行迴避，不對位於該自走式裝置旁側的障礙物進行迴避。 The self-propelled device moving method as described in claim 1, wherein the self-propelled device is provided with an anti-collision sensing unit that can sense obstacles located in front, behind and beside the self-propelled device; when the self-propelled device moves on the magnetic strip, the self-propelled device only avoids obstacles located in front and behind, and does not avoid obstacles located beside the self-propelled device.

如請求項4所述自走式裝置移動方法，其中，當該自走式裝置感知其前側具有障礙物時，該自走式裝置停止移動；在該自走式裝置停止移動超過一預設時間後若仍感知其前側具有障礙物，該自走式裝置後退朝該磁條一端的該第一節點移動。 A self-propelled device moving method as described in claim 4, wherein when the self-propelled device senses that there is an obstacle in front of it, the self-propelled device stops moving; if the self-propelled device still senses that there is an obstacle in front of it after stopping moving for more than a preset time, the self-propelled device moves backward toward the first node at one end of the magnetic strip.

如請求項5所述自走式裝置移動方法，其中，當該自走式裝置感知其後側具有障礙物時，該自走式裝置停止移動；在該自走式裝置停止移動超過一預設時間後若仍感知其後側具有障礙物，該自走式裝置發出訊號通報操作人員。 A self-propelled device moving method as described in claim 5, wherein when the self-propelled device senses that there is an obstacle behind it, the self-propelled device stops moving; if the self-propelled device still senses that there is an obstacle behind it after stopping moving for more than a preset time, the self-propelled device sends a signal to notify the operator.

如請求項1所述自走式裝置移動方法，其中，該自走式裝置係以一第一模式與一第二模式在該工作空間內移動；當該自走式裝置沿著該磁條移動時係使用該第一模式；當該自走式裝置在所述站點之間移動時係使用該第二模式。 A self-propelled device moving method as described in claim 1, wherein the self-propelled device moves in the workspace in a first mode and a second mode; the first mode is used when the self-propelled device moves along the magnetic strip; and the second mode is used when the self-propelled device moves between the stations.

如請求項7所述自走式裝置移動方法，其中，當該自走式裝置以該第一模式移動時，該自走式裝置係以一第一速度移動；當該自走式裝置以該第二模式移動時，該自走式裝置係以一第二速度移動；該第一速度低於該第二速度。 A self-propelled device moving method as described in claim 7, wherein when the self-propelled device moves in the first mode, the self-propelled device moves at a first speed; when the self-propelled device moves in the second mode, the self-propelled device moves at a second speed; the first speed is lower than the second speed.

一種自走式裝置，用以執行如請求項1至8任一項所述自走式裝置移動方法。 A self-propelled device for executing the self-propelled device moving method as described in any one of claims 1 to 8.

一種自走式裝置移動系統，使用如請求項9所述自走式裝置。 A self-propelled device moving system, using the self-propelled device as described in claim 9.