M335688 八、新型說明： 【新型所屬之技術領域】 斗寸別是指一種無人自走 本創作係關於一種無人自走車 車之路徑定位導航系統。 【先前技術】 隨著自動化科技的快速進展，進而發展出一種無人^ ::徑係透過内建的感測器，該感測器係竭磁= 無人自走車透過感測器，對預先規劃的路徑财 獲取走:苡自走偷 =慮：境空間限制包含有直線路徑與彎崎，= ㈣方法係分為定速率控制及非定速率控制 ^進—步分析得知，仍發現躲訂列問題： 玄::一，定逮率控制方法必須顧及最彎曲路徑限定行走速 :，讓該無人自走車依照此速率作定速行進二 該無人自走車行走時間進而降低料效率. ^延 置二控制方法必須於彎曲路徑或直線路徑設 車接二號調整的感測器，讓該無人自走 器不僅耗費材料及效率無法有1的=減速）’但設置該感測 M335688 為了突破前述問題，本創作人開發了—種運用— :、一影像擷取裝置及-色度揭取裝置相配合的技術，二: 制器内建有執行輕式，令該控制器連結該影像齡裝置及t 色度操取裝置操取預設路徑的曲率及色度，提供該控制哭二 .叉判別修正行進方向的混合式控制；藉此創作人習料= ‘實解決前述困擾，但是卻仍有值得再進—纽進的問題：。 此關鍵問題是該影像_裝置容易受環境影響，=是益 人自走車-旦遭遇天色不佳、大霧環繞料視線辨識不易的 狀況’本創作人設計的習用無人自走車容易因為無法擷取預 設路徑的曲率，進而發生偏離路#的狀況或需將無人自走車 速度減慢，故此種環境上的特殊性必賴—步設計先進的改 良結構，以避免發生前述問題。 、有鐘於此，本案創作人乃經詳思細索，遂以多年的經驗 加以叹4 ’經多方探討並試作樣品試驗及多次修正改良，終 而開U帛恶人自走車之路徑定位導航系統。 【新型内容】 本到作ίτ、人自走車之路徑定位導航系統，其目的 在於避免因環境影響，而無法擷取預設路徑的曲率，進而發 生偏離路徑或需降低無人自走車速度的狀況。 ^ 6 M335688 置、=亡述Γ，本創作設計-控制器、-影像操取裝 色又絲取置及一行動接收裝置，其中· 器内建有執行程式，該影像錄裝置係'與該控制 取該預設路#曲率提供至該控制器，該控制 .徑是為直線糊曲，_取裝置係與 • H制=，#|取該預設路徑色度提供至該控制器， ::=別該無人自走車於該預設路徑上是偏左或偏右， 柃、父又判別修正行進方向的混合式控制； =接㈣錢㈣人造魅提供的職路徑曲率 、'、二由遠人造衛星預先擷取路徑的座標值，且透 算而得預設路徑曲率)，隨時提供該無人自走車行： "預叹路#上’同時藉由色度操取裝置 給二:t曲細用該行動接收裝置接收人術 人率以及藉由色度操取裝置來判斷，近而 …、人自走車行進於預設路徑上。 【實施方式】 本創作所採用之技術、手段及其他之功效，兹舉 乂·^知例，並配合圖示詳細㈣如下，相信本創作 目的太特徵及其他優點，當可由之得—深人而具體瞭角'^之 創作貫施例請參閱第1圖至第5圖所示，本創作包含 7 M335688 色度擷取裝置3 〇 一控制器1 〇、一影像擷取裝置2 〇、 及一行動接收裝置4 〇 ; .该控制器1 〇為可程式控制器PLC(Pr〇gra細呢 L〇⑽1 C〇ntroller)，該控制器丄〇具有一輸出與輸入模 組，該控制H 1 Q的輸出與輸人模組係透過—非同步數據傳 -輸標準介面RS-232(Re⑶mmended standard_232)連結—電腦 •接收執行程式，該電腦係可先提供使用者編輯及模擬程^ ，該電腦再透過該非同步數據傳輸標準介面與該控制器丄〇的 輸出與輸入模組電性連結’令該控制器1〇接收該電腦執行 程式並予以儲存，該控制器1 Q的執行程式亦可藉由該電腦 直接更改或修正執行程式； 該影像掏取裝置2 0具有-電勉合元件⑽咖 C〇_ed DeVlce，CCD) 2丄，該影像操取袋置2 〇的電荷輕人 兀件2 1與該控制器χ 〇電性連結，該電荷輕合元件2工呈 丨=鏡頭、-感應器⑽S⑻及—影像練'介面卡，前述該 電荷輪合元件2 1的鏡頭、感應器及影㈣取介面卡係為主乂 ，構成元件’但隨著產品不同而配屬構件亦有所改變，該電 荷轉合元件2 L透過該鏡賴取影像，且該電_合元件= 1能將感測到的光訊號轉換成電訊號儲存，並透過該事㈣ 取介面卡進行影像前處理，-般的影像前處理係採用二值 化’二值化即是將每—個影像點的灰階值簡化為以至少二個 灰階值，也就是每一影像點的灰階值係用黑為〇及白為_立 8 M335688 化表示，進而將影像簡化為所+ 1局所而要的特徵影像及不需要的非 特徵影像； β色m取衣13 〇具有3個顏色辨識光纖感測元件 ⑽ Dlgltal Flbreoptlc Sens(Dr)3 i，該色度操取裝置 3 .〇 /、礼制A 1 Q电性連結，該各顏色辨識光纖感測元件3 .1係兩兩併排而成，該各顏色辨識光纖感測元件3 1的感測 輯約為1 .5公分’該各顏色辨識光纖感測元件3丄的感測 籲乾圍彼此之間互不交集，前述該各顏色辨識光纖感測元件3 1的感測距離係隨著產品規格的不同而有所改變，並不限定 _ 5 a刀°亥顏色辨識光纖3 1數量越多，對於路徑判斷 曰更和準，上述该色度擷取裝置3 〇與該影像擷取裝置2 〇 係可相互置換； /行動接收衣置4 Q具有微處理器，該行動接收裝置4 ^係，散佈於外太空對著地球運轉的人造衛星A連結構成一 (Global Position System, GPS) » 球何生疋位系統係、採用三角測量進行定位，該人造衛星A於 運轉時，於每個時間點都會產生—個座標值，且對位於地球 表面的行動接收裝置4 ◦以無線電波不斷發射衛星訊號，令 2動接收裝置4 〇透過微處理器量測衛星訊號的傳輸時間 來里利距離並換异成所在位置的座標，並建立—資料庫B ; 壯為了說明實際使用狀態’係將該控制器工〇、該影像掘 衣置2 0、忒色度榻取裝置3 〇及該行動接收裝置* 〇設 9 M335688 置於—無人自走車5 Q進行說明： X 、、人自走車5 〇具有一驅動系統6 〇，該驅動系統6 〇叹有獲數動力機6 i與複數車輪6 2，該動力機6丄可為 步進馬達、祠服馬達或内燃機，本實施例無人自走車5 〇具 •有四個車輪6 2 ’ w二車輪6 2配屬一具動力機6丄，後二 .車輪62配屬另—具動力機61，該驅動系統6〇的動力機 :1兵4控制☆1 〇電性連結，該控㈣丄◦具有—輸出鱼 模組係可連結繼電器、電晶體或Μ模㈣該驅動系統6 Υ的動f機61連結，該控制器1 〇透過連結控制該動力機 壯1進行正轉、反轉或停轉，該控制器1〇與該行動定接收 ㈣“自走車5◦内’該影像擷取裝置 40裝f該無人自走車5Q前端外側，該色 ◦裝設於該無人自走車50中端底侧； 3 彳l㈣本㈣較佳實施例各相關元件的相互f1 係位置及其構造之概述。 關 為了清楚說明本創作的作動 第2圖與第3圖所示： 再祕參閱 ^，利用該影像#|取裝置2 Q對該路㈣㈣ 丨^ ^ ^ η 1 0判別前方路徑曲率大 小，该色度擷取裝置3 〇擷取路 卞大 . 边過该控制器1〇判別 热人自走車5〇是否偏離該路經’該無人自走車50的前 M335688 二車輪62事先作基準校正找出基準 〇預_的參考值，當該_1。判別 0偏㈣路#，該控侧丄Q將傳輸 的動力機β 1、仕 主。亥驅動不統6〇 操取F置3广而控制該車輪6 2轉向，也就是說，該色度 _、43〇的2個顏色辨識光纖感測 別相對該路徑，杏亡a3 1感亿乾圍匀 # 0往卢^ 從，该控制器1 〇將判別該無人自走車5 車輪62往左(右)導正，在無人自走係將該 ㈣將透過該行動接收裝置4〇紀❹進時’該資料 次所走路徑的座標值（該座標值即二^；取走車=第— 值）。 ~ ’无關取路控的座標 :下針^無人自走車5Q行走狀態進行說明： ]“、該無人自走車5 〇行進於直線路徑時，去仲告 10判別路徑持續為直線時（圖式中^以 0將傳輪訊號至該驅動系統60==’該控制器 車輪62持續轉動前進；’動力枝Η’進而控制 〜、該無人自走車5 〇行進於吉妗攸，士 10判別路徑轉換為彎曲時(如第 將傳輪訊號至該驅動系統6〇 輪6 2轉向； 力枝6 1，進而控制該 M335688 將傳輪訊號至該驅動系統6〇的控制器u 輪6 2轉向； 1進而控制該車 四、 该無人自走車5 0行進於彎曲 ι〇判別路徑持續為彎曲(彎曲曲率相同：二=控制器 .=控:⑴。將傳—二6== 1 咕制°亥車輪6 2持續轉動前進； 五、 该無人自走車5 〇行進於彎曲 日士上 1〇判別路徑持續為彎曲（彎 ^以控制器 出)，該控義〇將傳輸^ 卜進而控制該車輪62轉向破至_動系統50的動力機5 藉此’讓該㈣！！1()不斷触該影_ 0因應路徑變化及曲率變化，維持該無人自走車5〇行走 於該路捏上，讓該無人自走車50確實依照該路^走丁走 動接走車5Q於行進同時，該資料庫B將透過該行 产值=4Q紀錄該無人自走車5G第-次所走路徑的座 人自击Γί無人自走車5◦第—次行走的座標值與該無 5 〇罘—次所走路徑座標值當時的曲率(此曲率係 ^亥影像_裝置所提供）所建立的資料庫β，當遭遇天色不 大霧環繞的環境時，雖然該影賴取裝置2 0揭取路徑 M335688 不易’該無人自走車5 0亦能利用該行動接收裝置4 〇，透 過該人造衛星Α所提供座標值後，將座標值輸入該資料: B ’進而獲得預設路徑料，隨時支援該無人自走車行進維 持在該預設路徑上，同時藉由色度擷取裝置3 ◦來判斷無人 自走車是否有偏移預設路徑，再配合該控制器、丄q控制該驅 動系統6 0維持於正確路徑上（如第5圖所示）。 ❿ 綜上所述’本創作包含—控制器、1像絲裝置、一 色度擷取裝置及-行動接收裝置，其中，該控制器内建有執 行程式，令該控制器連結該影㈣取裝置及該色度擷取裝置 榻取倾路㈣㈣及色度，提供交叉朗修正行進方向的 混合式控制，同時在無人自走車行進時，該人造衛星連1 資料庫⑽該無人自走轉—次所走路徑的座標值，該無二 自走車第-次行走的座標值與無人自走車第―次所走路經座 標值當時的曲率（此曲率係由該影像揭取裝置所提所 的資料庫’該無人自走車亦能利用該行動接收裝置'，透= ^術生所提供該貧料庫座標值後，進而獲得預設路徑曲 提供該無人自走車行進維持在該職路徑上 2 W操取裝置來判斷無人自走車是否有偏移預設路握，、 再配“亥控制器控制該驅動系統維持於正確路徑上。 所以本創作之『具有產#之可利祕』紅毋庸 除此之外，在本案實施例所揭露出的特徵技術，於Μ之前 13 M335688 並未冒見於諸刊物，亦未曾被公 功效增進之事實，更具有不 開使用 ，不但具有如上所述 了車莖忽的附加功对，e :乍的『新穎性』以及『進步性』都已符合專利法：，戔::創 提出新型專利之申請，祈請惠予審查迷早日賜准專利=法 德便。 男、感M335688 VIII. New description: [New technical field] The combat type refers to a kind of unmanned self-propelled. This creation department is about a path navigation system for unmanned self-propelled vehicles. [Prior Art] With the rapid advancement of automation technology, an unmanned ^ :: ray system is built into the sensor. The sensor is depleted magnetic = unmanned self-propelled vehicle passes through the sensor, pre-planning The path to get the money to go: 苡 自自偷偷 = consideration: the space space limit includes a straight path and bends, = (four) method is divided into fixed rate control and non-fixed rate control ^ step-by-step analysis, still found hiding Column problem: Xuan:: First, the fixed rate control method must take into account the most curved path to limit the walking speed: let the unmanned self-propelled car travel at a constant speed according to the rate of the unmanned self-propelled vehicle walking time and thus reduce the material efficiency. ^ The extension control method must be equipped with a sensor connected to the second adjustment in a curved path or a straight path, so that the unmanned self-propeller not only consumes material and efficiency cannot have 1 = deceleration) 'but the sensing M335688 is set to break through In the aforesaid problem, the creator developed a technique that uses: - an image capture device and a chroma extraction device, and two: the device has a built-in light implementation, so that the controller links the image age. Device and t color operation The device manipulates the curvature and chromaticity of the preset path, and provides the hybrid control of the control of the crying. The fork discriminates the correcting direction of travel; thereby the author's practice = 'Resolving the aforementioned troubles, but still worth re-entering the New Zealand Incoming problems: The key issue is that the image_device is easily affected by the environment. = It is a situation in which the self-propelled car has a poor weather and the fog is not easy to identify. The creator designed the unmanned self-propelled car because it is impossible. Taking the curvature of the preset path, and then deviating from the situation of the road # or slowing down the speed of the unmanned self-propelled vehicle, the special nature of this environment must be based on the design of advanced improved structure to avoid the aforementioned problems. In this case, the creator of this case has been carefully thought out, and he has been sighing for many years of experience. After many discussions and trials of sample tests and multiple corrections and improvements, the path of the U. Navigation System. [New content] The purpose of this is to make ίτ, the self-propelled vehicle path navigation system, the purpose is to avoid the environmental impact, but can not take the curvature of the preset path, and then deviate the path or need to reduce the speed of the unmanned self-propelled car situation. ^ 6 M335688 set, = 亡 Γ Γ 本 本 本 本 本 本 本 本 控制器 控制器 控制器 控制器 控制器 控制器 控制器 控制器 控制器 控制器 控制器 控制器 控制器 控制器 控制器 控制器 控制器 控制器 控制器 控制器 控制器 控制器 控制器 控制器 控制器 控制器 控制器 控制器 控制器 控制器 控制器 控制器 控制器 控制器 控制器 控制器 控制器Controlling the preset path #curvature is provided to the controller, the control path is a line paste, the _take device system and the H system =, #| take the preset path chromaticity to the controller, : := Do not take the unmanned self-propelled car on the preset path is left or right, 柃, father and then determine the mixed control of the direction of correction; = (4) money (four) artificial charm to provide the path curvature, ', two The remote artificial satellite pre-captures the coordinate value of the path and obtains the preset path curvature), and provides the unmanned self-propelled vehicle line at any time: "pre-sighing road #上' at the same time by the chromaticity operation device :t is finely determined by the action receiving device receiving person rate and by the color processing device, and the ... self-propelled vehicle travels on the preset path. [Embodiment] The techniques, means and other functions used in this creation are as follows, and the details are shown in the following (4). I believe that the purpose of this creation is too characteristic and other advantages. For the specific example of the creation of the corner '^, please refer to Figure 1 to Figure 5. This creation includes 7 M335688 color extraction device 3 控制器1 controller 1 一, an image capture device 2 〇, and A mobile receiving device 4; the controller 1 is a programmable controller PLC (Pr〇gra 〇 L〇 (10) 1 C〇ntroller), the controller 丄〇 has an output and input module, the control H 1 Q's output and input module are connected to the non-synchronous data transmission and transmission standard interface RS-232 (Re(3)mmended standard_232) - computer receiving program, the computer system can provide user editing and simulation program ^, the computer And electrically connecting to the output and input module of the controller through the asynchronous data transmission standard interface, so that the controller 1 receives the computer executable program and stores the program, and the execution program of the controller 1 Q can also be borrowed Changed directly from the computer Or correcting the execution program; the image capturing device 20 has an electric coupling component (10) coffee C〇_ed DeVlce, CCD) 2丄, the image is taken from the pocket 2 〇 charge light member 2 1 and the control电荷 〇 electrically connected, the charge and light component 2 is 丨 = lens, - sensor (10) S (8) and - image training 'interface card, the lens, sensor The main component is a component, but the component is also changed as the product is different. The charge-converting component 2 L passes through the mirror to take an image, and the electrical component = 1 can sense the The optical signal is converted into electrical signal storage, and through the matter (4) the interface card is used for image pre-processing. The general image pre-processing uses binarization 'binarization to simplify the grayscale value of each image point to The at least two grayscale values, that is, the grayscale values of each image point, are represented by black and white, and the image is simplified to the feature image of the +1 office. Non-feature image; β color m pick-up 13 〇 with 3 color-recognition fiber sensing elements (10) Dlgltal Flbreoptlc Sens(Dr)3 i, the color operation device 3 .〇/, the ceremony A 1 Q electrical connection, the color identification fiber sensing elements 3.1 are formed side by side, the color identification The sensing of the optical fiber sensing component 31 is about 1.5 cm. The sensing and sensing fibers of the respective color-identifying optical fiber sensing elements 3 are not intersected with each other. The color-identifying optical fiber sensing elements 3 are arranged. The sensing distance of 1 varies with the product specifications, and is not limited to _ 5 a knife ° Hai color identification fiber 3 1 the greater the number, the path judgment is more accurate and accurate, the above color sampling device 3 〇 and the image capturing device 2 can be replaced with each other; / the mobile receiving device 4 Q has a microprocessor, the mobile receiving device 4 ^, distributed in outer space to the earth-operated satellite A to form a (Global Position System, GPS) » The positioning system of the ball is equipped with triangulation. When the satellite A is in operation, it will generate a coordinate value at each time point and receive the action on the surface of the earth. Device 4 不断 continuously transmitting satellite signals with radio waves Let the 2 mobile receiving device 4 〇 measure the transmission time of the satellite signal through the microprocessor to the distance of the Rili and change the coordinates of the location, and establish a database B; strong to illustrate the actual use state 'the controller Work, the image digs 2 0, 忒 榻 榻 3 3 〇 〇 〇 〇 〇 行动 行动 行动 行动 行动 M M M M M M M M M M M M M M M M M M M M M M M M M M M M M M 无人 无人 无人 无人 无人 无人There is a driving system 6 〇, the driving system 6 sighs that there are a number of power machines 6 i and a plurality of wheels 6 2 , the power machine 6 丄 can be a stepping motor, a motor or an internal combustion engine, the embodiment of the unmanned self-propelled car 5 〇 With four wheels 6 2 ' w two wheels 6 2 is equipped with a power machine 6 丄, the second two. The wheel 62 is equipped with another power machine 61, the drive system 6 〇 power machine: 1 soldier 4 control ☆ 1 〇 Electrically connected, the control (4) has an output fish module that can be connected to a relay, a transistor or a die (4). The drive system 6 is connected to the drive 61, and the controller 1 controls the power through the connection. Perform forward, reverse or stop, the controller 1 and the action receive (4) "The self-propelled vehicle within 5 inches" The image capturing device 40 is mounted on the outside of the front end of the unmanned self-propelled vehicle 5Q, and the color is installed on the bottom side of the unmanned self-propelled vehicle 50; 3 彳l (4) This (4) is better An overview of the mutual f1 position of each of the relevant elements of the embodiment and its construction. In order to clearly explain the operation of this creation, as shown in Fig. 2 and Fig. 3: Refer to ^, using the image #| taking device 2 Q to determine the curvature of the front path for the road (4) (4) 丨 ^ ^ ^ η 1 0 The chroma extraction device 3 takes a large path. After the controller 1 determines whether the hot self-propelled vehicle 5〇 deviates from the path, the front M335688 two wheels 62 of the unmanned self-propelled vehicle 50 are pre-corrected as a reference. Find the reference value of the benchmark 〇 pre_, when the _1. Judging 0 (4) Road #, the control side 丄Q will transmit the power machine β 1 , the official. The driving of the sea is not the same as that of the 6th, and the control of the wheel is 6 2, that is to say, the two colors of the chromaticity _, 43 辨识 are recognized by the optical fiber, and the apricot is a3 Dry and evenly #0 to Lu ^ From, the controller 1 〇 will determine that the unmanned self-propelled car 5 wheel 62 is directed to the left (right), and in the unmanned self-propelled system, the (four) will pass through the action receiving device 4 When entering, the coordinate value of the path taken by the data (the coordinate value is two ^; take the car = the first value). ~ 'Unrelated to take the control of the coordinates: the lower needle ^ unmanned self-propelled car 5Q walking state to explain:] ", the unmanned self-propelled car 5 〇 traveled in a straight path, to the secondary notice 10 to determine the path continues to be straight ( In the figure, ^ transmits the wheel signal to the drive system 60 == 'the controller wheel 62 continues to rotate forward; 'power branch' and then control ~, the unmanned self-propelled car 5 〇 travels to Jiyu, Shishi 10 When the discriminating path is converted into bending (for example, the first transmission wheel signal is turned to the driving system 6 〇 wheel 6 2 to turn; the force branch 6 1, and then the M335688 is controlled to transmit the wheel signal to the controller u wheel 6 of the driving system 6 6 2 steering; 1 and then control the car four, the unmanned self-propelled car 50 travels in the curved ι〇 discriminating path continues to bend (the bending curvature is the same: two = controller. = control: (1). will pass - two 6 == 1 °°°海 wheel 6 2 keeps turning forward; 5. The unmanned self-propelled car 5 〇 travels on the curved Japanese priest 1 〇 discriminates the path and continues to bend (bend ^ to the controller), the control 〇 will transmit ^ 卜In turn, the wheel 62 is controlled to turn to the power machine 5 that has broken into the _moving system 50, thereby making the (four)!!1() not Touching the shadow _ 0 in response to the path change and the change of curvature, maintaining the unmanned self-propelled car 5 〇 walking on the road pinch, so that the unmanned self-propelled car 50 does follow the road and walks around the car 5Q while traveling, The database B will record the value of the unmanned self-propelled vehicle 5G on the path of the 5G first-time walk by the line of output value = 4Q, and the unmanned self-propelled vehicle 5◦ first-time walking coordinate value and the absence of 5 〇罘 - The database β established by the curvature of the next path coordinate value (provided by the curvature system) is encountered in the environment surrounded by the fog, although the image is taken from the device. M335688 is not easy. The unmanned self-propelled vehicle 50 can also use the mobile receiving device 4 〇. After the coordinate value provided by the artificial satellite Α, the coordinate value is input into the data: B 'and the preset path material is obtained, and the support is supported at any time. The unmanned self-propelled vehicle travels on the preset path, and the color picking device 3 ◦ determines whether the unmanned self-propelled vehicle has an offset preset path, and then controls the driving system with the controller and the 丄q. 0 is maintained on the correct path (as shown in Figure 5)综 In summary, the present invention includes a controller, a 1 wire device, a color capture device, and an action receiving device, wherein the controller has an execution program built therein, and the controller is coupled to the image (4) device. And the color picking device adopts a reclining (four) (four) and a chromaticity to provide a hybrid control for correcting the traveling direction, and at the same time, when the unmanned self-propelled vehicle is traveling, the artificial satellite is connected to the database (10). The coordinate value of the secondary path, the coordinate value of the first-time walking of the second self-propelled vehicle and the curvature of the coordinate value of the first-time walking of the unmanned self-propelled vehicle (this curvature is provided by the image removing device) The database 'the unmanned self-propelled vehicle can also use the action receiving device', after the student provides the poor library coordinate value, and then obtains the preset path song to provide the unmanned self-propelled vehicle to maintain the position The 2 W operation device on the path determines whether the unmanned self-propelled vehicle has an offset preset road grip, and is equipped with a "Hui controller to control the drive system to maintain the correct path. Therefore, in addition to this, the characteristics and techniques revealed in the examples in this case, before the 13 M335688, did not appear in the publications, nor was it promoted by public works. In fact, it is more open to use, not only has the additional work of the car as described above, e: 『 "novelty" and "progressive" have been in line with the patent law: 戋:: create a new patent Apply, pray for the review fans to grant patents at an early date = France and Germany. Male
14 M335688 【圖式簡單說明】 第1圖係本創作之平面示意圖。 第2圖係本創作行走之預設路徑由直線轉入彎曲示意圖。 第3圖係本創作行走之預設路徑由彎曲轉入直線示意圖。 第4圖係本創作利用色度擷取裝置與影像擷取裝置之系統示 •意圖。 " 第5圖係本創作利用色度擷取裝置與資料庫之系統示意圖。 【主要元件符號說明】 〔本創作〕 控制器1 0 影像擷取裝置2 0 電荷耦合元件2 1 色度擷取裝置3 0 顏色辨識光纖感測元件3 1 行動接收裝置4 0 _ 無人自走車5 0 ' 驅動系統6 0 動力機6 1 車輪6 214 M335688 [Simple description of the diagram] Figure 1 is a schematic plan view of the creation. Figure 2 is a schematic diagram of the preset path of the creation walking from straight line to curved. The third figure is a schematic diagram of the preset path of the creation walking from bending to straight line. Figure 4 is a schematic representation of the system using the color capture device and the image capture device. " Figure 5 is a schematic diagram of the system using the color capture device and database. [Main component symbol description] [This creation] Controller 1 0 Image capture device 2 0 Charge coupled device 2 1 Chroma capture device 3 Color recognition fiber sensing device 3 1 Mobile receiver 4 0 _ Unmanned vehicle 5 0 ' Drive system 6 0 Power machine 6 1 Wheel 6 2
人造衛星A 資料庫B 15Satellite A database B 15