TWI735889B - Self-propelled device moving method and self-propelled device implementing the moving method - Google Patents

本發明係一種自走式裝置移動方法及執行該移動方法的自走式裝置；該自走式裝置移動方法包括：使一自走式裝置依一工作空間之一第一地圖資訊規劃一第一移動路徑並以該第一移動路徑進行移動；該第一移動路徑形成起點與終點相同之封閉的曲線輪廓；使該自走式裝置以該第一移動路徑進行移動時，將該第一地圖資訊更新為一第二地圖資訊；該自走式裝置完成該第一移動路徑之移動後，使該自走式裝置依該第二地圖資訊規劃一第二移動路徑；該第二移動路徑形成起點與終點相同之封閉的曲線輪廓且在該第一移動路徑之曲線輪廓範圍內；使該自走式裝置由該第一移動路徑向內移動一預設距離至該第二移動路徑並以該第二移動路徑進行移動。 The present invention is a method for moving a self-propelled device and a self-propelled device for executing the method; the method for moving the self-propelled device includes: making a self-propelled device plan a first map information in a work space The first movement path is used to move the first movement path; the first movement path forms a closed curve contour with the same starting point and the end point; when the self-propelled device is moved along the first movement path, the first map information Update to a second map information; after the self-propelled device completes the movement of the first movement path, the self-propelled device plans a second movement path based on the second map information; the second movement path forms a starting point and A closed curve contour with the same end point and within the curve contour range of the first movement path; the self-propelled device is moved inward from the first movement path a predetermined distance to the second movement path and uses the second movement path Move the path to move.

自走式裝置移動方法及執行該移動方法的自走式裝置 Self-propelled device moving method and self-propelled device implementing the moving method

本發明係有關於一種自走式裝置移動方法及執行該移動方法的自走式裝置，尤指一種在工作空間之工作表面上依特定路徑自動移動執行預設工作之自走式裝置移動方法及執行該方法的自走式裝置。 The present invention relates to a method for moving a self-propelled device and a self-propelled device that executes the method, in particular to a method for moving a self-propelled device that automatically moves on a work surface in a work space to perform preset tasks according to a specific path and Self-propelled device that performs the method.

習知之自走式裝置係在工作表面上自動移動執行預設工作，因自走式置多採用充電式設計，導致其工作時間有限，故自走式裝置預設有多種移動方法，其目的在於提高自走式裝置在有限時間內之工作效率。 The conventional self-propelled device automatically moves on the work surface to perform preset tasks. Since the self-propelled device mostly adopts a rechargeable design, its working time is limited. Therefore, the self-propelled device has a variety of preset moving methods. The purpose is Improve the working efficiency of self-propelled devices in a limited time.

美國專利號第US6809490號「Method and system for multi-mode coverage for an autonomous robot」已揭露自動機器人之多種覆蓋模式，包括：障礙物跟隨(obstacle following)模式、隨機跳動(random bounce)模式與點覆蓋(spot coverage)模式...等覆蓋模式，三者交互使用以增加自動機器人在一特定區域之覆蓋效率；其中，點覆蓋模式係自動機器人由工作空間內之一起點開始進行外螺旋移動，直到自動機器人碰觸到工作空間之障礙物(牆壁)後再切換至障礙物跟隨模式，為了使點覆蓋模式之覆蓋率更高，使用者通常會將自動機器人先擺放至工作空間約略中央之空曠處，使自動機器人碰觸到障礙物之時間延後，可使自動機器人之外螺旋移動得到更大的覆蓋範圍。 US Patent No. US6809490 "Method and system for multi-mode coverage for an autonomous robot" has revealed multiple coverage modes for automatic robots, including: obstacle following mode, random bounce mode and point coverage (spot coverage) mode...and other coverage modes, the three are used interactively to increase the coverage efficiency of the automatic robot in a specific area; among them, the spot coverage mode is that the automatic robot starts to move in an outer spiral from a starting point in the working space until After the automatic robot touches an obstacle (wall) in the workspace, it switches to the obstacle follow mode. In order to increase the coverage of the point coverage mode, the user usually places the automatic robot in the empty space approximately in the center of the workspace. At this point, delaying the time when the automatic robot touches the obstacle can make the spiral movement outside the automatic robot get a larger coverage area.

中國專利號第CN102083352B號「用于机器人使能的移动产品的定位、位置控制和导航系统的应用」另揭露機器人之多種移動方法，其包含一種輪廓跟隨方法，此方法係機器人以障礙物跟隨或建立地圖…等方式確定工作空間之邊緣輪廓後，以工作空間之邊緣輪廓為機器人跟隨之準據，藉由配合邊緣輪廓之內螺旋移動直到機器人到達工作空間的中心。 Chinese Patent No. CN102083352B "Application of Positioning, Position Control and Navigation System for Robot-enabled Mobile Products" also discloses a variety of robot movement methods, including a contour following method, this method is that the robot follows obstacles or After establishing the map... etc. to determine the edge contour of the working space, use the edge contour of the working space as the criterion for the robot to follow, and move spirally within the edge contour until the robot reaches the center of the working space.

但習知之技術中並未考量臨時性障礙物之出現，以例如工廠或賣場之工作空間為例，在工作空間內可能隨時都有人員、推車…等暫時滯留之臨時性障礙物出現；若在習知之點覆蓋模式下，機器人在遇到該等臨時性障礙物時，機器人會直接地離開點覆蓋模式切換至障礙物跟隨模式，如此將縮小機器人外螺旋移動之覆蓋範圍，降低自走式裝置之工作效率；而若在習知之輪廓跟隨方法下，以圖1為例，在已確定工作空間H之邊緣輪廓為矩形下，機器人R原先預設之移動路徑為由點X1→點X2→點X3→點X4→點X5→點X6→點X7→點X8→點X9→點X10→點X11→點X12→點X13→點X14→點X15→點X16→點X17→點X18→點X19→點X20→點X21→點X22→點X23→點X24→點X25→點X26→點X27；但因臨時性障礙物係在機器人確定工作空間之邊緣輪廓後才出現，當機器人在預設之移動路徑上遇到該等臨時性障礙物時，以圖2為例，機器人會先進行閃避臨時性障礙物O之程序，在閃避臨時性障礙物O後繼續接續原本預設移動路徑移動，故機器人R之移動路徑將變更為Y1→點Y2→點Y3→點Y4→點Y5→點Y6→點Y7→點Y8→點Y9→點Y10→點Y11→點Y12→點Y13→點Y14→點Y15→點Y16→點Y17→點Y18→點Y19→點Y20→點Y21→點Y22→點Y23→點Y24→點Y25→點Y26→點Y27→點Y28→點Y29→點Y30→點Y31→點Y32→點Y33→點Y34→點Y35；雖然機器人在預設之移動路徑中遇到臨時性障礙物可進行閃避，但在遇到該臨時性障礙物時，機器人將暫停於該臨時性障礙物前，並藉由多種演算法判斷該臨時性障礙物之大小、形狀，最後再逐步調整移動方向緩慢地閃避越過該臨時性障礙物，不僅無法順暢地移動亦將耗費額外之等待時間，降低自走式裝置之工作效率。 However, the conventional technology does not consider the appearance of temporary obstacles. Take the work space of a factory or store as an example, there may be temporary obstacles such as people, carts... etc. temporarily staying in the work space at any time; if In the conventional point coverage mode, when the robot encounters such temporary obstacles, the robot will directly leave the point coverage mode and switch to the obstacle following mode. This will reduce the coverage of the outer spiral movement of the robot and reduce the self-propelled type. The working efficiency of the device; and if in the conventional contour following method, take Figure 1 as an example, when the edge contour of the working space H has been determined to be a rectangle, the original movement path of the robot R is preset from point X1→point X2→ Point X3→point X4→point X5→point X6→point X7→point X8→point X9→point X10→point X11→point X12→point X13→point X14→point X15→point X16→point X17→point X18→point X19 →point X20→point X21→point X22→point X23→point X24→point X25→point X26→point X27; but because the temporary obstacle appears after the robot determines the edge contour of the working space, when the robot is in the preset position When encountering these temporary obstacles on the moving path, take Figure 2 as an example. The robot will first dodge the temporary obstacle O, and then continue to move on the original preset moving path after evading the temporary obstacle O. The movement path of the robot R will be changed to Y1→point Y2→point Y3→point Y4→point Y5→point Y6→point Y7→point Y8→point Y9→point Y10→point Y11→point Y12→point Y13→point Y14→point Y15→point Y16→point Y17→point Y18→point Y19→point Y20→point Y21→point Y22→point Y23→point Y24→point Y25→point Y26→point Y27→point Y28→point Y29→point Y30→point Y31→ Point Y32 → Point Y33 → Point Y34 → Point Y35; although the robot can dodge when encountering a temporary obstacle in the preset movement path, when encountering the temporary obstacle, the robot will pause at the temporary obstacle In front of the object, the size and shape of the temporary obstacle are judged by a variety of algorithms, and finally the moving direction is gradually adjusted to slowly dodge over the temporary obstacle. Not only can it not move smoothly, it will also take extra waiting time and reduce The working efficiency of the self-propelled device.

爰是，本發明之目的，在於提供一種可提升工作效率之自走式裝置移動方法。 The purpose of the present invention is to provide a method for moving a self-propelled device that can improve work efficiency.

本發明之另一目的，在於提供一種可提升工作效率之自走式裝置。 Another object of the present invention is to provide a self-propelled device that can improve work efficiency.

依據本發明目的之自走式裝置移動方法，包括：使一自走式裝置依一工作空間之一第一地圖資訊規劃一第一移動路徑並以該第一移動路徑進行移動；該第一移動路徑形成起點與終點相同之封閉的曲線輪廓；使該自走式裝置以該第一移動路徑進行移動時，將該第一地圖資訊更新為一第二地圖資訊；該自走式裝置完成該第一移動路徑之移動後，使該自走式裝置依該第二地圖資訊規劃一第二移動路徑；該第二移動路徑形成起點與終點相同之封閉的曲線輪廓且在該第一移動路徑之曲線輪廓範圍內；使該自走式裝置由該第一移動路徑向內移動一預設距離至該第二移動路徑並以該第二移動路徑進行移動。 A method for moving a self-propelled device according to the object of the present invention includes: making a self-propelled device plan a first movement path according to a first map information of a work space and move along the first movement path; the first movement The path forms a closed curve contour with the same starting point and end point; when the self-propelled device moves along the first movement path, the first map information is updated to a second map information; the self-propelled device completes the first movement path After a movement path is moved, the self-propelled device is made to plan a second movement path according to the second map information; the second movement path forms a closed curve contour with the same starting point and end point and is on the curve of the first movement path Within the contour range; make the self-propelled device move a preset distance inward from the first movement path to the second movement path and move along the second movement path.

依據本發明另一目的之自走式清潔裝置，包括：用以執行如所述自走式裝置移動方法的自走式清潔裝置。 A self-propelled cleaning device according to another object of the present invention includes: a self-propelled cleaning device for executing the method for moving the self-propelled device.

本發明實施例之自走式裝置移動方法及執行該方法的自走式裝置，該自走式裝置可即時偵測工作空間當下之環境，並建立最新的地圖資訊，再參照最新的地圖資訊規劃最新的移動路徑，可提升該自走式裝置之工作效率。 The self-propelled device moving method and the self-propelled device implementing the method according to the embodiment of the present invention can detect the current environment of the work space in real time, create the latest map information, and then refer to the latest map information plan The latest movement path can improve the working efficiency of the self-propelled device.

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F:工作表面 F: work surface

H:工作空間 H: Work space

H1:子工作空間 H1: Sub-workspace

H2:子工作空間 H2: Sub-workspace

L1:第一移動路徑 L1: The first moving path

L1':第一移動路徑 L1': the first moving path

L2:第二移動路徑 L2: Second moving path

L2':第二移動路徑 L2': second moving path

L3:第三移動路徑 L3: Third moving path

O:臨時性障礙物 O: Temporary obstacle

O1:障礙物 O1: Obstacle

O2:障礙物 O2: Obstacle

R:自走式裝置 R: Self-propelled device

R1:機體 R1: body

R2:驅動單元 R2: drive unit

R21:前導輪 R21: Front guide wheel

R22:後導輪 R22: Rear guide wheel

R23:驅動輪 R23: drive wheel

R3:清潔單元 R3: Cleaning unit

R31:吸塵機構 R31: Vacuum cleaner

R32:刷洗機構 R32: Brushing mechanism

R33:吸液機構 R33: Liquid suction mechanism

R4:地圖建立單元 R4: Map building unit

R41:傳感器 R41: Sensor

R42:處理器 R42: processor

R5:控制單元 R5: Control unit

S1:建立地圖資訊步驟 S1: Steps to create map information

S2:規劃移動路徑步驟 S2: Planning the moving path steps

S3:更新地圖資訊步驟 S3: Steps to update map information

S4:覆蓋率判斷步驟 S4: Coverage judgment step

T1:第一地圖資訊 T1: First map information

T2:第二地圖資訊 T2: Second map information

T3:第三地圖資訊 T3: Third map information

T2':第二地圖資訊 T2': second map information

T3':第三地圖資訊 T3': third map information

T4':第四地圖資訊 T4': Fourth map information

W:工作寬度 W: working width

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Z:牆壁 Z: Wall

圖1係習知自走式裝置在無障礙物之工作空間內以輪廓跟隨方法移動的移動路徑。 Figure 1 shows the movement path of a conventional self-propelled device in a work space with no obstacles in a contour-following method.

圖2係習知自走式裝置在有臨時性障礙物之工作空間內以輪廓跟隨方法移動的移動路徑。 Fig. 2 is the movement path of the conventional self-propelled device in the working space with temporary obstacles by the contour following method.

圖3係本發明實施例中自走式裝置之示意圖。 Fig. 3 is a schematic diagram of a self-propelled device in an embodiment of the present invention.

圖4係本發明實施例中自走式裝置於工作表面上之示意圖。 Fig. 4 is a schematic diagram of the self-propelled device on the working surface in the embodiment of the present invention.

圖5係本發明實施例中工作空間之示意圖。 Fig. 5 is a schematic diagram of a working space in an embodiment of the present invention.

圖6係本發明實施例中自走式裝置移動方法之流程圖。 Fig. 6 is a flowchart of a method for moving a self-propelled device in an embodiment of the present invention.

圖7係本發明實施例中工作空間之第一地圖資訊之示意圖。 FIG. 7 is a schematic diagram of the first map information of the working space in the embodiment of the present invention.

圖8係本發明實施例中以第一地圖資訊規劃第一移動路徑之示意圖。 FIG. 8 is a schematic diagram of planning a first movement path using the first map information in an embodiment of the present invention.

圖9係本發明實施例中工作空間之第二地圖資訊之示意圖。 FIG. 9 is a schematic diagram of the second map information of the working space in the embodiment of the present invention.

圖10本發明實施例中以第二地圖資訊規劃第二移動路徑之示意圖。 FIG. 10 is a schematic diagram of planning a second movement path using the second map information in an embodiment of the present invention.

圖11係本發明實施例中工作空間之第三地圖資訊之示意圖。 FIG. 11 is a schematic diagram of the third map information of the working space in the embodiment of the present invention.

圖12係本發明實施例中自走式裝置覆蓋工作空間所有區域之示意圖。 Fig. 12 is a schematic diagram of the self-propelled device covering all areas of the working space in the embodiment of the present invention.

圖13係本發明實施例中工作空間之第一地圖資訊之示意圖。 FIG. 13 is a schematic diagram of the first map information of the working space in the embodiment of the present invention.

圖14係本發明實施例中第一地圖資訊已建立完成後工作空間突然出現障礙物時，自走式裝置實際移動之第一移動路徑之示意圖。 14 is a schematic diagram of the first movement path of the self-propelled device actually moving when an obstacle suddenly appears in the workspace after the first map information has been established in the embodiment of the present invention.

圖15係本發明實施例中工作空間之第二地圖資訊之示意圖。 FIG. 15 is a schematic diagram of the second map information of the working space in the embodiment of the present invention.

圖16係本發明實施例中以第二地圖資訊規劃第二移動路徑之示意圖。 FIG. 16 is a schematic diagram of planning a second movement path using the second map information in an embodiment of the present invention.

圖17係本發明實施例中工作空間之第三地圖資訊之示意圖。 FIG. 17 is a schematic diagram of the third map information of the working space in the embodiment of the present invention.

圖18係本發明實施例中以第三地圖資訊規劃第三移動路徑之示意圖。 FIG. 18 is a schematic diagram of planning a third movement path using the third map information in an embodiment of the present invention.

圖19係本發明實施例中工作空間之第四地圖資訊之示意圖。 FIG. 19 is a schematic diagram of the fourth map information of the working space in the embodiment of the present invention.

圖20係本發明實施例中自走式裝置覆蓋工作空間所有區域之示意圖。 Fig. 20 is a schematic diagram of the self-propelled device covering all areas of the working space in the embodiment of the present invention.

請參閱圖3、4，本發明實施例之自走式裝置移動方法可採用如圖所示之可自動移動進行清潔工作之自走式裝置R來達成，其設有：一機體R1，其具有一工作寬度W；一驅動單元R2，設於該機體R1之底部，可驅動該機體R1於一工作表面F上自動移動執行前進、後退、旋轉…等動作；該驅動單元R2設有一前導輪R21、一後導輪R22與兩個驅動輪R23，該前導輪R21與該後導輪R22 分設於該機體R1之前、後側，該兩個驅動輪R23分設於該機體R1約略中間處之兩側；一清潔單元R3，設於該機體R1之底部，可在機體R1移動時清潔該工作表面F；該清潔單元R3設有一吸塵機構R31、一刷洗機構R32與一吸液機構R33，該吸塵機構R31設於該機體R1之前側，該吸液機構R33設於該機體R1之後側，該刷洗機構R32設於該吸塵機構R31與該吸液機構R33之間；一地圖建立單元R4，可偵測該機體R1於該工作表面F上自動移動時所遇到之例如障礙物…等環境特徵，並紀錄該等環境特徵建立工作空間之地圖資訊；該地圖建立單元R4設有複數個傳感器R41與一處理器R42，該傳感器R41可為光達(LIDAR)傳感器、超音波傳感器、紅外線傳感器、視覺傳感器…之其中一種或數種之組合；該傳感器R41所偵測到之環境特徵資訊將經由該處理器R42處理成地圖資訊；一控制單元R5，可執行各項數據運算並執行自走式裝置R之各種功能控制且可參照地圖建立單元R4之地圖資訊規劃該自走式裝置R之移動路徑。 Please refer to Figures 3 and 4, the self-propelled device moving method of the embodiment of the present invention can be achieved by using a self-propelled device R that can automatically move for cleaning as shown in the figure, which is provided with: a body R1, which has A working width W; a driving unit R2, located at the bottom of the body R1, can drive the body R1 to automatically move on a working surface F to perform forward, backward, rotating... etc. actions; the driving unit R2 is provided with a front guide wheel R21 , A rear guide wheel R22 and two drive wheels R23, the front guide wheel R21 and the rear guide wheel R22 Separately arranged on the front and rear sides of the body R1, the two driving wheels R23 are arranged on both sides of the roughly middle of the body R1; a cleaning unit R3 is arranged at the bottom of the body R1, which can be cleaned when the body R1 is moving The working surface F; the cleaning unit R3 is provided with a suction mechanism R31, a scrubbing mechanism R32 and a liquid suction mechanism R33, the suction mechanism R31 is arranged on the front side of the body R1, the liquid suction mechanism R33 is arranged on the back side of the body R1 , The scrubbing mechanism R32 is arranged between the dust suction mechanism R31 and the liquid suction mechanism R33; a map creation unit R4 can detect obstacles encountered by the body R1 when automatically moving on the working surface F, etc. Environmental characteristics, and record the map information of these environmental characteristics to create a workspace; the map creation unit R4 is equipped with a plurality of sensors R41 and a processor R42, the sensor R41 can be a LIDAR sensor, ultrasonic sensor, infrared Sensors, vision sensors... one or a combination of several; the environmental feature information detected by the sensor R41 will be processed into map information by the processor R42; a control unit R5 can perform various data calculations and execute automatic The various functions of the walking device R are controlled and the movement path of the self-propelled device R can be planned by referring to the map information of the map creation unit R4.

請參閱圖5，本發明實施例之自走式裝置移動方法可以使用如圖所示之一例如工廠、賣場…等室內之工作空間H來作說明，該工作空間H可為四面牆壁Z形成所圍設成之矩形空間，該自走式裝置R可於該工作空間H內移動進行清潔作業。 Please refer to FIG. 5, the self-propelled device moving method of the embodiment of the present invention can be illustrated by using one of the indoor working spaces H, such as factories, stores, etc., as shown in the figure. The working space H may be formed by four walls Z A rectangular space surrounded by the self-propelled device R can move in the working space H for cleaning operations.

請參閱圖4、5、6，本發明實施例在實施上，進行以下步驟，一建立地圖資訊步驟S1：該自走式裝置R在進入一個未知的工作空間H時，將建立該工作空間H之地圖資訊；該地圖資訊可由使用者以遙控方式控制該自走式裝置R於該工作空間H內移動的同時，由該地圖建立單元R4偵測該工作空間H之環境特徵所取得；或是使該自走式裝置R隨機移動的同時，由該地 圖建立單元R4偵測該工作空間H環境特徵所取得；又或是以一外部終端裝置(圖未示)將預設已知之地圖資訊傳輸至該自走式裝置R之該地圖建立單元R4；一規劃移動路徑步驟S2：該自走式裝置R之該控制單元R5參照該地圖資訊，以該地圖資訊之邊緣輪廓規劃出該自走式裝置R之預設移動路徑；一更新地圖資訊步驟S3：該自走式裝置R以該預設移動路徑進行移動，同時由該地圖建立單元R4偵測該工作空間H之即時環境特徵並對該地圖資訊進行更新；一覆蓋率判斷步驟S4：該自走式裝置R以該預設移動路徑進行移動後，將判斷該工作空間H內是否尚有該自走式裝置R未覆蓋(移動經過)之區域；若是，則回到該規劃移動路徑步驟S2，以更新後之地圖資訊繼續規劃下一個預設移動路徑；若否，則結束繼續移動。 Please refer to Figures 4, 5, and 6, in the implementation of the embodiment of the present invention, the following steps are performed, a map information creation step S1: when the self-propelled device R enters an unknown workspace H, the workspace H will be created The map information; the map information can be obtained by the user to remotely control the self-propelled device R to move in the workspace H while the map creation unit R4 detects the environmental characteristics of the workspace H; or While making the self-propelled device R move randomly, The map creation unit R4 is obtained by detecting the environmental characteristics of the workspace H; or an external terminal device (not shown) transmits preset known map information to the map creation unit R4 of the self-propelled device R; A planning movement path step S2: the control unit R5 of the self-propelled device R refers to the map information, and uses the edge contour of the map information to plan the default movement path of the self-propelled device R; a step S3 of updating map information : The self-propelled device R moves along the preset moving path, and at the same time, the map creation unit R4 detects the real-time environmental features of the workspace H and updates the map information; a coverage determination step S4: the self-propelled device R After the walking device R moves along the preset movement path, it will be judged whether there is still an area in the working space H that the self-propelled device R does not cover (moves through); if so, return to the planning movement path step S2 , Continue to plan the next preset movement path with the updated map information; if not, stop and continue moving.

本發明實施例在實施上，請參閱圖7、8，該自走式裝置R在進入該工作空間H時，將對該工作空間H建立一第一地圖資訊T1，在該第一地圖資訊T1中，標記網格之區域為存在障礙物使該自走式裝置R無法移動經過之區域，未標記網格之區域(空白區域)為該自走式裝置R可規劃預設移動路徑之區域；該自走式裝置R參照該第一地圖資訊T1，以該第一地圖資訊T1之邊緣輪廓(網格區域與空白區域之交界處)規劃出一第一移動路徑L1(點A1→點A2→點A3→點A4→點A5)並以該第一移動路徑L1進行移動；其中，因該第一地圖資訊T1具有封閉之邊緣輪廓，故該第一移動路徑L1亦為封閉或略為封閉之曲線輪廓。 For the implementation of the embodiment of the present invention, please refer to FIGS. 7 and 8. When the self-propelled device R enters the workspace H, it will create a first map information T1 for the workspace H, and the first map information T1 Wherein, the marked grid area is the area where obstacles prevent the self-propelled device R from moving through, and the unmarked grid area (blank area) is the area where the self-propelled device R can plan a preset movement path; The self-propelled device R refers to the first map information T1, and plans a first movement path L1 (point A1→point A2→ Point A3→point A4→point A5) and move along the first movement path L1; wherein, because the first map information T1 has a closed edge contour, the first movement path L1 is also a closed or slightly closed curve contour.

請參閱圖8、9，當該自走式裝置R以該第一移動路徑L1進行移動時，該自走式裝置R偵測該工作空間H之即時環境特徵並將該第一地圖資訊T1更新為第二地圖資訊T2；在以圖8作為工作空間H之實施例中，因該工作空間H並沒有任何改變，故該第一地圖資訊T1與該第二地圖資訊T2之差異處僅在於 該第二地圖資訊T2以45度斜線標記了理論上該自走式裝置R以該第一移動路徑L1移動時所覆蓋之區域，且該斜線區域之寬度約略等於該機體R1(圖3)之工作寬度W(圖3)，其中，該自走式裝置R在以預先規劃之移動路徑進行移動時，可能因臨時性障礙物之出現而改變移動路徑，故該覆蓋之區域係以預先規劃之理論移動路徑進行標記，而非該自走式裝置R之實際移動路徑。 Please refer to Figures 8 and 9, when the self-propelled device R moves along the first movement path L1, the self-propelled device R detects the real-time environmental characteristics of the working space H and updates the first map information T1 Is the second map information T2; in the embodiment using FIG. 8 as the working space H, since the working space H has not changed in any way, the difference between the first map information T1 and the second map information T2 is only The second map information T2 is marked with a 45-degree diagonal line to theoretically cover the area of the self-propelled device R when it moves along the first moving path L1, and the width of the diagonal area is approximately equal to that of the body R1 (FIG. 3) Working width W (Figure 3), where the self-propelled device R may change the moving path due to the appearance of temporary obstacles when moving along the pre-planned moving path, so the covered area is planned in advance The theoretical movement path is marked instead of the actual movement path of the self-propelled device R.

請參閱圖9、10，因該第二地圖資訊T2中仍有該自走式裝置R未覆蓋之區域，該自走式裝置R將參照該第二地圖資訊T2，以該第二地圖資訊T2之邊緣輪廓(斜線區域與空白區域之交界處)規劃一第二移動路徑L2(點B1→點B2→點B3→點B4→點B5)；請參閱圖8、10，該自走式裝置R由該第一移動路徑L1之點A5向內移動一預設距離，至該第二移動路徑L2之點B1後開始該第二移動路徑L2之移動，該第二移動路徑L2之長度短於該第一移動路徑L1之長度且該第二移動路徑L2之曲線輪廓在該第一移動路徑L1之曲線輪廓範圍內；其中，該第二移動路徑L2在規劃上將使該自走式裝置R在該第二移動路徑L2移動時所覆蓋之區域與該自走式裝置R在該第一移動路徑L1移動時所覆蓋之區域有部分的重疊，且因該第二地圖資訊T2具有封閉之邊緣輪廓，故該第二移動路徑L2亦為封閉或略為封閉之曲線輪廓。 Please refer to Figures 9 and 10, because there is still an area not covered by the self-propelled device R in the second map information T2, the self-propelled device R will refer to the second map information T2 and use the second map information T2 Plan a second moving path L2 (point B1→point B2→point B3→point B4→point B5) of the edge contour (the junction of the oblique line area and the blank area); please refer to Figure 8, 10, the self-propelled device R Move inward a predetermined distance from point A5 of the first movement path L1, and start the movement of the second movement path L2 after reaching the point B1 of the second movement path L2. The length of the second movement path L2 is shorter than the length of the second movement path L2. The length of the first movement path L1 and the curve contour of the second movement path L2 are within the range of the curve contour of the first movement path L1; wherein the second movement path L2 is planned to make the self-propelled device R in The area covered by the second moving path L2 when moving and the area covered by the self-propelled device R when moving on the first moving path L1 partially overlap, and because the second map information T2 has a closed edge contour , So the second moving path L2 is also a closed or slightly closed curved contour.

請參閱圖10、11，當在該自走式裝置R以該第二移動路徑L2進行移動時，該自走式裝置R繼續將該第二地圖資訊T2更新為一第三地圖資訊T3；在以圖10作為工作空間H之實施例中，因該工作空間H並沒有任何改變，故該第二地圖資訊T2與該第三地圖資訊T3之差異處僅在於該第三地圖資訊T3以-45度斜線標記了該自走式裝置R以該第二移動路徑L2移動時所覆蓋之區域。 10 and 11, when the self-propelled device R moves along the second movement path L2, the self-propelled device R continues to update the second map information T2 to a third map information T3; In the embodiment using FIG. 10 as the working space H, since the working space H has not changed in any way, the difference between the second map information T2 and the third map information T3 is only that the third map information T3 has a value of -45 The diagonal line marks the area covered by the self-propelled device R when it moves along the second moving path L2.

請參閱圖12，該自走式裝置R在該工作空間H內依序由外而內以數個移動路徑進行移動直到覆蓋(移動經過)該工作空間H所有區域。 Please refer to FIG. 12, the self-propelled device R moves sequentially from the outside to the inside in the working space H by several moving paths until it covers (moves through) all areas of the working space H.

請參閱圖13、14，若該自走式裝置R在建立該第一地圖資訊T1後該工作空間H內突然出現障礙物O1、O2，該自走式裝置R仍將參照該第一地圖資訊T1之第一移動路徑L1(點A1→點A2→點A3→點A4→點A5)移動並在遇到障礙物O1、O2時進行閃避，故實際上該自走式裝置R以另一第一移動路徑L1'(點A1'→點A2'→點A3'→點A4'→點A5'→點A6'→點A7'→點A8'→點A9'→點A10'→點A11'→點A12'→點A13')進行移動。 Please refer to Figures 13 and 14, if the self-propelled device R suddenly appears obstacles O1 and O2 in the workspace H after the first map information T1 is created, the self-propelled device R will still refer to the first map information The first moving path L1 of T1 (point A1→point A2→point A3→point A4→point A5) moves and dodges when encountering obstacles O1 and O2, so in fact, the self-propelled device R uses another A moving path L1' (point A1'→point A2'→point A3'→point A4'→point A5'→point A6'→point A7'→point A8'→point A9'→point A10'→point A11'→ Point A12'→point A13') to move.

請參閱圖14、15，當該自走式裝置R以該第一移動路徑L1'進行移動時，該自走式裝置R偵測該工作空間H之即時環境特徵並將該第一地圖資訊T1更新為第二地圖資訊T2'；其中，因該工作空間H突然出現障礙物O1、O2，故該第一地圖資訊T1與該第二地圖資訊T2'之差異處除了在該第二地圖資訊T2'以45度斜線標記了理論上該自走式裝置R以該第一移動路徑L1移動時所覆蓋之區域外，亦將障礙物O1、O2標記為網格之區域。 14 and 15, when the self-propelled device R moves along the first movement path L1', the self-propelled device R detects the real-time environmental characteristics of the working space H and sends the first map information T1 Update to the second map information T2'; among them, because of the sudden occurrence of obstacles O1 and O2 in the workspace H, the difference between the first map information T1 and the second map information T2' is only in the second map information T2 The 45-degree diagonal line marks the area covered by theoretically the self-propelled device R when it moves along the first movement path L1, and also marks the obstacles O1 and O2 as grid areas.

請參閱圖15、16，該自走式裝置R參照該第二地圖資訊T2'，以該第二地圖資訊T2'之邊緣輪廓規劃一第二移動路徑L2'(點B1'→點B2'→點B3'→點B4'→點B5'→點B6'→點B7'→點B8'→點B9'→點B10'→點B11'→點B12'→點B13')；請參閱圖14、16，該自走式裝置R由該第一移動路徑L1'之點A13'向內移動一預設距離至該第二移動路徑L2'之點B1'後開始該第二移動路徑L2'之移動，該第二移動路徑L2'之長度短於該第一移動路徑L1'之長度且該第二移動路徑L2'之曲線輪廓在該第一移動路徑L1'之曲線輪廓範圍內；其中，該第二移動路徑L2'在規劃上將使該自走式裝置R在該第二移動路徑L2'移動時所覆蓋之區域與該自走式裝置R在該第一移動路徑L1移動時所覆蓋之區域有部分的重疊，且因該第二地圖資訊T2'具有封閉之邊緣輪廓，故該第二移動路徑L2'亦為封閉或略為封閉之曲線輪廓。 Please refer to Figures 15 and 16, the self-propelled device R refers to the second map information T2' and plans a second movement path L2' based on the edge contour of the second map information T2' (point B1'→point B2'→ Point B3'→point B4'→point B5'→point B6'→point B7'→point B8'→point B9'→point B10'→point B11'→point B12'→point B13'); please refer to Figure 14. 16. The self-propelled device R moves inward a predetermined distance from the point A13' of the first movement path L1' to the point B1' of the second movement path L2', and then starts the movement of the second movement path L2' , The length of the second movement path L2' is shorter than the length of the first movement path L1' and the curve contour of the second movement path L2' is within the curve contour range of the first movement path L1'; wherein, the first movement path L1' The second movement path L2' is planned so that the area covered by the self-propelled device R when the second movement path L2' moves and the area covered by the self-propelled device R when the first movement path L1 moves There is a partial overlap, and because the second map information T2' has a closed edge contour, the second moving path L2' is also a closed or slightly closed curved contour.

請參閱圖16、17，當在該自走式裝置R以該第二移動路徑L2'進行移動時，該自走式裝置R繼續將該第二地圖資訊T2'更新為第三地圖資訊T3'；其中，因該工作空間H並沒有任何改變，故該第二地圖資訊T2'與該第三地圖資訊T3'之差異處僅在於該第三地圖資訊T3'以-45度斜線標記了該自走式裝置R以該第二移動路徑L2'移動時所覆蓋之區域。 16 and 17, when the self-propelled device R moves along the second movement path L2', the self-propelled device R continues to update the second map information T2' to the third map information T3' ; Among them, because the workspace H has not changed, the difference between the second map information T2' and the third map information T3' is only that the third map information T3' marks the self with a -45-degree diagonal line The area covered by the walking device R when it moves along the second moving path L2'.

請參閱圖17、18，該自走式裝置R參照該第三地圖資訊T3'，以該第三地圖資訊T3'之邊緣輪廓規劃一第三移動路徑L3(點C1→點C2→點C3→點C4→點C5→點C6→點C7→點C8→點C9→點C10→點C11→點C12→點C13)；請參閱圖16、18，該自走式裝置R由該第二移動路徑L2'之點B13'向內移動一預設距離至該第三移動路徑L3之點C1後開始該第三移動路徑L3之移動，該第三移動路徑L3之長度短於該第二移動路徑L2'之長度且該第三移動路徑L3之曲線輪廓在該第二移動路徑L2'之曲線輪廓範圍內；其中，該第三移動路徑L3在規劃上將使該自走式裝置R在該第三移動路徑L3移動時所覆蓋之區域與該自走式裝置R在該第二移動路徑L2'移動時所覆蓋之區域有部分的重疊，且因該第三地圖資訊T3'具有封閉之邊緣輪廓，故該第三移動路徑L3亦為封閉或略為封閉之曲線輪廓。 17 and 18, the self-propelled device R refers to the third map information T3', and plans a third movement path L3 based on the edge contour of the third map information T3' (point C1→point C2→point C3→ Point C4→point C5→point C6→point C7→point C8→point C9→point C10→point C11→point C12→point C13); please refer to Figure 16, 18, the self-propelled device R follows the second movement path The point B13 of L2' moves inward a predetermined distance to the point C1 of the third movement path L3 and then starts the movement of the third movement path L3, the length of the third movement path L3 is shorter than the second movement path L2 'Length and the curve contour of the third movement path L3 is within the curve contour range of the second movement path L2'; wherein the third movement path L3 is planned to make the self-propelled device R in the third There is a partial overlap between the area covered by the moving path L3 and the area covered by the self-propelled device R during the second moving path L2', and because the third map information T3' has a closed edge contour, Therefore, the third moving path L3 is also a closed or slightly closed curved contour.

請參閱圖19、20，若該自走式裝置R所覆蓋之區域可將該工作空間H分隔為兩個以上未覆蓋之子工作空間H1、H2時，該自走式裝置R將先針對距離相對上一移動路徑結束點較近之子工作空間H1進行移動路徑之規劃，待該子工作空間H1受該自走式裝置R完全覆蓋後，再針對距離相對上一移動路徑結束點次近之子工作空間H2進行移動路徑之規劃，直到該自走式裝置R覆蓋該工作空間H所有區域；若仍有小部分未覆蓋區域，但該小部分未覆蓋區域之空間大小不足以使該自走式裝置R進入時，該等區域可不列入覆蓋率之判斷。 Please refer to Figures 19 and 20. If the area covered by the self-propelled device R can divide the working space H into two or more uncovered sub-working spaces H1 and H2, the self-propelled device R will first be relative to the distance The sub-workspace H1 that is closer to the end point of the previous movement path is planned for the movement path, and after the sub-workspace H1 is completely covered by the self-propelled device R, the sub-workspace that is next to the end point of the previous movement path is targeted H2 plan the moving path until the self-propelled device R covers all areas of the working space H; if there is still a small part of the uncovered area, but the space of the small part of the uncovered area is not large enough for the self-propelled device R When entering, these areas may not be included in the coverage judgment.

本發明實施例之自走式裝置移動方法及執行該方法的自走式裝置，該自走式裝置R可即時偵測工作空間H當下之環境，並建立最新的地圖資訊，再參照最新的地圖資訊規劃最新的移動路徑，可提升該自走式裝置之工作效率。 The self-propelled device moving method according to the embodiment of the present invention and the self-propelled device implementing the method, the self-propelled device R can detect the current environment of the working space H in real time, create the latest map information, and then refer to the latest map Information planning the latest movement path can improve the work efficiency of the self-propelled device.

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, the above are only preferred embodiments of the present invention, and should not be used to limit the scope of implementation of the present invention, that is, simple equivalent changes and modifications made in accordance with the scope of the patent application of the present invention and the description of the invention, All are still within the scope of the invention patent.

S1:建立地圖資訊步驟 S1: Steps to create map information

S2:規劃移動路徑步驟 S2: Planning the moving path steps

S3:更新地圖資訊步驟 S3: Steps to update map information

S4:覆蓋率判斷步驟 S4: Coverage judgment step