201239755 六、發明說明： 【發明所屬之技術領域】 [⑽1] 本發明係有關於一種自走式移動裝置之障礙迴避方 法，尤其是指一種不碰撞到障礙物的障礙迴避模式設計 ，藉由利用感測器來對應偵測障礙物，讓障礙物由最側 邊的感測器中消失，而達迴避障礙的功效與目的者。 [先前技術] [0002] 按，一般常用的吸塵器為有線且為人為控制操作的 家庭式或工業用吸塵器，而吸塵器之清除作業仍得藉由 人力之現場操作始得完成，因在這工商業發達、分秒必 爭之社會結構裡，其仍存在著有人力資源浪費及有線與 操作時間的運用問題，因此，隨著家用設備之高度自動 化及數位化趨勢，衍生出自動地面清潔裝置（Robotic f 1 oor c 1 eaner，又可稱為自走式吸塵器），以利用無線 及可在無人控制的狀態下，進行吸塵清潔的工作，具有 完全自動化清潔家居地板而大幅節省人力之優點，同時 歸功其製造成本不斷下降，而已逐漸普及至一般家庭生 活0 [0003] 而自走式吸塵器結構大致上包含有一座體，該座體 之底緣樞設有二滾輪及一帶動輪，而該座體之頂面則至 少設有一發動機、一滤網、一集塵袋及一自動迴轉裝置 ，其中該自動迴轉裝置都是經由座體去碰撞到障礙物， 讓座體產生感測而啟動自動迴轉裝置進行迴轉閃避物件 ，但此動作之執行即為需有碰撞動作之後才會迴避，然 而，家具物件中有些東西是碰撞不得，而且自走式吸塵 100109641 表單編號A0101 第4頁/共23頁 1002016348-0 201239755 [0004] Ο [0005] Ο [0006] [0007] [0008] 器若走入死角Ρ，再多次碰撞之後也不易迴轉出來，造 成使用上的不便。 也因上述缺失，而有一種具障礙物辨識的自走式吸 麈器，其包括電動馬達驅動的輪子、吸麈器殼體、集麈 容器、吸麈器罩體及該吸麈器具有一個障礙物辨識裝置 ，該障礙物辨識裝置為光學三角測量系統，具有光源及 接收單元，而該接收單元則具有一個呈現反射光束接收 透鏡之形式的光學元件，以利用光學三角測量系統測量 障礙物距離而進行迴避，但其均只可運用在近距離可讓 透鏡可接收光束的範圍，因此，遠距離感測不到或光線 死角Ρ位置也無法感應，所以，使用上也是具有些缺失 存在。 有鑑於此，本發明人秉持多年該相關行業之豐富設 計開發及實際製作經驗，針對現有之結構及缺失再予以 研究改良，特提供一種自走式移動裝置之障礙迴避方法 ，以期具有更佳實用價值性之目的者。 【發明内容】 本發明之主要目的即是為提供一種不碰撞到障礙物 的清掃障礙迴避模式設計，藉由感測器來對應偵測障礙 物，讓障礙物由最側邊的感測器中消失，而達迴避障礙 的功效與目的者。 為達上述目的，本發明提供一種自走式移動裝置之 障礙迴避方法，其特徵與功效如下： 其主要於自走式移動裝置上設有至少三個感測器， 100109641 表單編號Α0101 第5頁/共23頁 1002016348-0 201239755 每-感測器具有適當領域的偵測區域x，當啟動自走式 移動裝置之後藉由感剛器來偵測障礙物，經由感測器偵 測並記錄與障礙物之間的距離及相對應位置，來判斷障 礙物位於某—感測器之伽】區域X内，再進行旋轉方向 之迴避判定’讓障礙物經由自走式移動裝置最外側之感 測器的制區域以失而完成料；ϋ此，達到不碰揸 到障礙物的障礙迴避模式設計與功效者。 [0009] [0010] [0011] 本發明自走式軸„讀礙㈣方法在障礙物落 於感測器的死角Ρ時，自走式移動裝置先不直行打掃以 避免撞上位於死角Ρ的障礙物，而轉止不動執行原地 轉動，洲轉動-肖度作二次相動作，讓障礙物破實 又出現在區域Χ ’ Μ自走式移動裝置持 續轉動來迴避障礙物者。 【實施方式】 為令本發明之技術手段' ”目的料成功效有更 完整及清楚的揭露’兹於下詳細說明之，並請一併參閱 揭示之圖式及元件符號。 首先’請參閱第-〜三圖所示’為本發明提供一種 自走式移動裝置之障礙迴避方法流程干立国 ^ 不思圖，其主要於 自走式移動裝置⑴上設有至少三個感_(2)，' 而其感測器（2)可為超音波感測器洗4 1 4為包含有感測不 同距離的感測器（2)，其每一感剛器f 、 ° 、2)具有魚庚 範圍的偵測區域X〔兩相鄰之感剛器f 0、 ^ ^ 與死角P〕 ’且經由啟動〔可採手動或 且 逼控〕自走式将 動裝置，於行徑路程中藉以感測器（？^ )來偵測障礙物 100109641 表單編號A0101 第6頁/共23頁 201239755 ，而其障礙迴避步驟如下： [0012] a、透過感測器（2 )偵測在行徑路程中，持續偵測是 否有障礙物在自走式移動裝置（1)的行徑路上； [0013] b、當自走式移動裝置（1 )之感測器（2 )於遠距離 感測到障礙物時，藉以記錄與障礙物之間的距離； [0014] c、持續行走並監視障礙物位置與距離； [0015] d、當自走式移動裝置（1 )之感測器（2 )於近距離 接近感測到障礙物時，該自走式移動裝置（1)會停止 不動，藉以判斷障礙物落於某一感測器（2 )之偵測區 域X，而進行旋轉方向之判定； [0016] e、當自走式移動裝置（1)進行轉向迴避障礙物時， 讓障礙物經由自走式移動裝置最外侧之感測器（2)的 備測區域X消失而完成迴避者。 [0017] 請再一併參閱第三〜十圖所示，為使用操作說明， 係先於自走式移動裝置（1)〔於此以自走式清掃機為 例作說明〕上設置5組感測器來進行說明〔由左至右編 為左1、左2、中、右2、右1〕，一開始採手動或遙 控方式來啟動自走式移動裝置（1)選擇打掃模式，例 如：智慧行走模式、隨機自走式、沿牆巡航模式、Z字 型走式等等，當打掃過程藉以感測器（2)來偵測障礙 物，而每一感測器（2)具有角度範圍的偵測區域X， 在兩相鄰之感測器（2)會產生重疊與死角P，其重疊 相對等於偵測區域X ;本發明之自走式移動裝置（1 ) 當啟動打掃模式後，透過感測器（2)偵測在清掃過程 100109641 表單編號A0101 第7頁/共23頁 1002016348-0 201239755 中’持續偵測是否有障礙物在自走式移動裝置（1 )的 行徑路上，如第三圖，當自走式移動裝置（1)直行而 在遠距離的狀態下，由左1、左2、中感測器（2)感 應到障礙物A的存在，該自走式移動裝置（1 )持續行 走打掃並監視障礙物位置與距離，當在近距離感應到障 礙物A時〔如第四圖〕，自走式移動裝置（1)會停止 不動，而障礙物A出現在左1、左2、中感測器（2) 的範圍内，因此自走式移動裝置（i )判定採用右轉迴 避，讓障礙物A由左1感測器（2 )消失後，該自走式 移動裝置（1 )再兼續前進〔如第五圖〕，當自走式移 動裝置（1 )持續行走而於遠距轉感梦丨到.障礙物Β、c 位於右1、右2、中感測器（2)的俱測區域χ，自走 式移動裝置（1 )持續行走打掃並監視障礙物Β、c位 置與距離，當自走式移動裝置（丄）在近距離感測接近 障礙物B之後會停止不動，而因障礙物B出現在右工、 右2、中感測器（2)的範面内，因托自走式移動裝置 (1 )判定採用左轉迴避，讓障礙物B由右丄感測器（ 2)消失後，該自走式移動裝置（1 )再持續前進，同 :u 時也迴避與距離的障礙物C〔如第六圖〕。 [0018] 接著，自走式移動裝置（1 )在迴避障礙物C時也 感測到障礙物D，持續行走打掃並監視障礙物D的位置 與距離，以微偏左向轉動來避障〔如第七圖〕，而在迴 避障礙物D的過程，自走式移動裝置（1)之左1、左 2感測器（2)的偵測區域X在近距離感應到障礙 ，即停止不動來判定施以右轉迴避障礙物E，且同時也 100109641 表單編號A0101 第8頁/共23頁 1002016348-0 201239755 對障礙物D採遠距離的監控紀錄位置與距離〔因障礙物 D還在右1偵測區域X内，如第八圖〕。 [0019] ❹ [0020] 再參閱第九—h圖所示，當障礙物E於自走式移動 裝置（1 )之左1感測器（2)消失後，自走式移動裝 置（1 )持續行走打掃並以遠距離的狀態監視未脫離偵 測區域X的障礙物D ’且此時，自走式移動裝置（1) 之左1、左2感測器（2)在近距離感測接近障礙物F ，即再度右轉迴避障礙物F，同時保持監控障礙物D與 其的相對間距，來同時讓障礙物F由左1感測器（2 ) 消失’而障礙物D由右1感測器（2)消失者。 另外，請再一併參閱第看一圖標示（a )〜（f ) 所示，該自走式移動裝置（1)在一適當距離内感測到 障礙物之後，且自走式移動裝置（1 )持讀行走，該障 礙物亦可落於感測器（2)的死角p，此時，自走式 移動裝置（1)先不執行打掃以避免撞上位於死角p的 障礙物，而先停止不動#1行原地轉動，利用轉動一角度 ❹ 作二次確認動作，讓障礙物確實又出現在感測器（2) 的偵測區域X，以令自走式移動裝置（i)持續轉動來 迴避障礙物者。 [0021] 以上所舉者僅係本發明之部份實施例，並非用以限 制本發明’致依本發明之㈣精神及特徵，稍加變化修 飾而成者’亦應包括在本專利範圍之内。 [0022] 效 綜上所述，本發明實施例確能達 又其所揭露之具體構造，不僅未 到所預期之使用功 曾見諸於同類產品 100109641 表單編號A0101 第9頁/共23頁 201239755 中，亦未曾公開於申請前，誠已完全符合專利法之規定 與要求，爰依法提出發明專利之申請，懇請惠予審查， 並賜准專利，則實感德便。 【圖式簡單說明】 [0023] 第一圖：本發明流程示意圖（一） [0024] 第二圖：本發明流程示意圖（二） [0025] 第三圖：本發明動作示意圖（一） [0026] 第四圖：本發明動作示意圖（二） [0027] 第五圖：本發明動作示意圖（三） [0028] 第六圖：本發明動作示意圖（四） [0029] 第七圖：本發明動作示意圖（五） [0030] 第八圖：本發明動作示意圖（六） [0031] 第九圖：本發明動作示意圖（七） [0032] 第十圖：本發明動作示意圖（八） [0033] 第十一圖：本發明連續動作（a)〜（f)示意圖〔死 角} 【主要元件符號說明】 [0034] <本發明> 5] 3 00 1 自走式移動裝置 （2) 感測器 100109641 表單編號A0101 第10頁/共23頁 1002016348-0201239755 VI. Description of the Invention: [Technical Field of the Invention] [(10) 1] The present invention relates to a barrier avoidance method for a self-propelled mobile device, and more particularly to an obstacle avoidance mode design that does not collide with an obstacle, by utilizing The sensor responds to the detection of obstacles, so that the obstacles disappear from the most lateral sensors, and the effect and purpose of avoiding obstacles. [Prior Art] [0002] According to the conventional vacuum cleaner, the household or industrial vacuum cleaner is wired and artificially controlled, and the cleaning operation of the vacuum cleaner has to be completed by the manual operation of the human body. In the developed and time-dependent social structure, there are still problems of human resource waste and wired and operational time. Therefore, with the high degree of automation and digitalization of household equipment, automatic floor cleaning devices have been derived (Robotic f 1 oor). c 1 eaner, also known as a self-propelled vacuum cleaner, is designed to take advantage of wireless and unmanned control for vacuum cleaning. It has the advantage of fully automated cleaning of the home floor and significant manpower savings, thanks to its manufacturing costs. Declining, and has gradually spread to the general family life. [0003] The self-propelled vacuum cleaner structure generally comprises a body, the bottom edge of the body is provided with two rollers and a driving wheel, and the top surface of the body At least one engine, one screen, one dust bag and one automatic turning device, wherein the automatic turning device is provided Through the seat to collide with the obstacle, let the seat body sense and start the automatic revolving device to rotate the dodge object, but the action is executed after the collision action is required. However, some things in the furniture object are not allowed to collide. , and self-propelled vacuum 100109641 Form No. A0101 Page 4 / Total 23 pages 1002016348-0 201239755 [0004] Ο [0005] Ο [0006] [0007] [0008] If the device enters a blind spot, after multiple collisions It is also difficult to turn around, causing inconvenience in use. Also due to the above deficiency, there is a self-propelled suction device with obstacle recognition, which comprises an electric motor driven wheel, a suction device housing, a collection container, a suction device cover and the suction device having a suction device An obstacle recognition device, which is an optical triangulation system having a light source and a receiving unit, and the receiving unit has an optical element in the form of a reflected beam receiving lens for measuring an obstacle distance using an optical triangulation system However, it can be avoided, but it can only be used in a range where the lens can receive the light beam at a close distance. Therefore, the remote sensing is not possible or the position of the light dead angle is not sensed. Therefore, there are some defects in use. In view of this, the inventors have long been rich in design and development and practical production experience of the relevant industry, and have researched and improved the existing structure and defects, and provided a self-propelled mobile device obstacle avoidance method, in order to have better practicality. The purpose of value. SUMMARY OF THE INVENTION The main object of the present invention is to provide a cleaning obstacle avoidance mode design that does not collide with an obstacle, and the obstacle is detected by the sensor so that the obstacle is from the most lateral sensor. Disappear, and achieve the efficacy and purpose of avoiding obstacles. In order to achieve the above object, the present invention provides a barrier avoidance method for a self-propelled mobile device, the features and functions of which are as follows: It is mainly provided with at least three sensors on the self-propelled mobile device, 100109641 Form No. 1010101 Page 5 / Total 23 pages 1002016348-0 201239755 Each sensor has a detection area x of the appropriate field. When the self-propelled mobile device is activated, the obstacle is detected by the sensor, and the sensor is detected and recorded. The distance between the obstacles and the corresponding position, to determine that the obstacle is located in the X-sensor area X, and then the rotation direction avoidance determination 'to make the obstacle through the outermost sensing of the self-propelled mobile device The manufacturing area of the device is completed by the loss; thus, the design and function of the obstacle avoidance mode that does not touch the obstacle are achieved. [0011] [0011] [0011] The self-propelled axis of the present invention is a self-propelled moving device that does not directly clean to avoid hitting a blind spot when the obstacle falls on the dead angle of the sensor. Obstructions, but do not move to perform the original rotation, the continent rotation - Xiao Duo for the secondary phase action, so that the obstacles are broken and appear in the area Χ ' Μ self-propelled mobile device continues to rotate back and forth to avoid obstacles. MODES OF THE INVENTION For the purpose of making the technical means of the present invention a more complete and clear disclosure, please refer to the detailed description and the symbol of the components. First of all, please refer to the description of the first to third figures, which provides a self-propelled mobile device obstacle avoidance method flow. The state of the obstacle avoidance method is mainly based on the self-propelled mobile device (1). _(2),' and its sensor (2) can be used for ultrasonic sensor 4 4 4 as a sensor (2) containing different distances for sensing, each of the sensers f, °, 2) The detection area X with the range of the fish G (the two adjacent sensors f 0, ^ ^ and the dead angle P] ' and the self-propelled device can be activated by the start (can be manually or controlled) In the journey, the sensor (?^) is used to detect the obstacle 100109641, Form No. A0101, Page 6 of 23, 201239755, and the obstacle avoidance steps are as follows: [0012] a, detected by the sensor (2) During the path, continuously detect whether there is an obstacle on the path of the self-propelled mobile device (1); [0013] b, when the sensor (2) of the self-propelled mobile device (1) is remotely sensed When the obstacle is reached, the distance between the obstacle and the obstacle is recorded; [0014] c, continuously walking and monitoring the position and distance of the obstacle; [0015] When the sensor (2) of the self-propelled mobile device (1) approaches the obstacle at a close distance, the self-propelled mobile device (1) stops moving to determine that the obstacle falls on a certain sensing. The detection area X of the device (2) determines the direction of rotation; [0016] e. When the self-propelled mobile device (1) performs steering to avoid obstacles, the obstacle is allowed to pass through the outermost side of the self-propelled mobile device. The test area X of the sensor (2) disappears and the avoider is completed. [0017] Please refer to the third to tenth drawings together. For the operation instructions, set 5 groups before the self-propelled mobile device (1) (here, the self-propelled cleaning machine is taken as an example). The sensor is used for explanation (left to right, left, left 2, middle, right 2, right 1), and the manual or remote control mode is used to start the self-propelled mobile device (1) to select the cleaning mode, for example : smart walking mode, random self-propelled, cruising mode along the wall, zigzag walking, etc., when the cleaning process uses the sensor (2) to detect obstacles, and each sensor (2) has an angle The detection area X of the range is overlapped and dead angle P in the two adjacent sensors (2), and the overlap is relatively equal to the detection area X; the self-propelled mobile device (1) of the present invention starts the cleaning mode Through the sensor (2) detection in the cleaning process 100109641 Form No. A0101 Page 7 / 23 pages 1002016348-0 201239755 'Continuously detect whether there is an obstacle on the path of the self-propelled mobile device (1), As shown in the third figure, when the self-propelled mobile device (1) goes straight and at a long distance, by the left 1 The left 2, middle sensor (2) senses the presence of the obstacle A, and the self-propelled mobile device (1) continuously walks to clean and monitor the obstacle position and distance when the obstacle A is sensed at a close distance (eg The fourth figure], the self-propelled mobile device (1) will stop moving, and the obstacle A appears in the range of the left 1, left 2, and middle sensors (2), so the self-propelled mobile device (i) determines After the right turn avoidance is used to make the obstacle A disappear from the left 1 sensor (2), the self-propelled mobile device (1) continues to advance (as shown in the fifth figure), when the self-propelled mobile device (1) Continue to walk and turn around in the distance. The obstacles, c are located in the measured area of the right 1, right 2, middle sensor (2), the self-propelled mobile device (1) continues to walk and monitor Obstacle Β, c position and distance, when the self-propelled mobile device (丄) stops moving close to the obstacle B after close proximity sensing, and the obstacle B appears in the right, right 2, middle sensor ( 2) In the norm, the self-propelled mobile device (1) determines that the left turn avoidance is used, and after the obstacle B disappears from the right click sensor (2), Self-propelled mobile apparatus (1) further advances continuously, with: u can avoid the obstacle when the distance from the C [] as in the sixth FIG. [0018] Next, the self-propelled mobile device (1) also senses the obstacle D when avoiding the obstacle C, continuously walks and sweeps and monitors the position and distance of the obstacle D, and slightly shifts to the left to avoid obstacles. As shown in the seventh figure, while in the process of avoiding the obstacle D, the detection area X of the left and left 2 sensors (2) of the self-propelled mobile device (1) senses the obstacle at a short distance, that is, stops moving. To determine the right turn to avoid obstacle E, and also 100109641 Form No. A0101 Page 8 / Total 23 Page 1002016348-0 201239755 Monitoring the distance and distance of the obstacle D. Because the obstacle D is still right 1 In the detection area X, as shown in the eighth figure. [0019] Referring again to the ninth-hth figure, when the obstacle E disappears from the left 1 sensor (2) of the self-propelled mobile device (1), the self-propelled mobile device (1) Continue to walk and monitor the obstacle D′ that has not left the detection area X in a long-distance state. At this time, the left and left 2 sensors (2) of the self-propelled mobile device (1) are close to each other in close proximity sensing. Obstacle F, that is, turn right again to avoid obstacle F, while keeping the relative distance of obstacle D monitored, while letting obstacle F disappear from left 1 sensor (2) while obstacle D is sensed by right 1 The device (2) disappears. In addition, please refer to the first icon (a) to (f), after the self-propelled mobile device (1) senses an obstacle within an appropriate distance, and the self-propelled mobile device ( 1) Holding the walking, the obstacle may also fall at the dead angle p of the sensor (2). At this time, the self-propelled moving device (1) does not perform cleaning to avoid hitting the obstacle located at the dead angle p, and First stop the #1 line in place, use the rotation angle ❹ for the second confirmation action, so that the obstacle does appear in the detection area X of the sensor (2), so that the self-propelled mobile device (i) Continue to turn back and avoid obstacles. [0021] The above is only a part of the embodiments of the present invention, and is not intended to limit the invention to the spirit and characteristics of the invention, and the modifications may be included in the scope of the patent. Inside. [0022] In summary, the embodiment of the present invention can achieve the specific structure disclosed by the present invention, and not only the expected use of the work has been seen in the similar products 100109641 Form No. A0101 Page 9 / 23 pages 201239755 However, it has not been disclosed before the application. Cheng has fully complied with the requirements and requirements of the Patent Law. He has filed an application for an invention patent in accordance with the law, and he is pleased to review it and grant a patent. BRIEF DESCRIPTION OF THE DRAWINGS [0023] First: Flowchart of the present invention (1) [0024] Second: Flowchart of the present invention (2) [0025] Third: Action diagram of the present invention (1) [0026 The fourth figure: the schematic diagram of the operation of the present invention (2) [0027] The fifth diagram: the schematic diagram of the operation of the present invention (3) [0028] The sixth diagram: the schematic diagram of the operation of the present invention (4) [0029] The seventh diagram: the action of the present invention Schematic diagram (5) [0030] Figure 8: Schematic diagram of the operation of the present invention (six) [0031] Figure 9: Schematic diagram of the operation of the present invention (7) [0032] Figure 10: Schematic diagram of the operation of the present invention (8) [0033] Figure 11: Schematic diagram of continuous operation (a) to (f) of the present invention [dead angle] [Description of main component symbols] [0034] <The present invention> 5] 3 00 1 Self-propelled mobile device (2) Sensor 100109641 Form No. A0101 Page 10 of 23 1002016348-0