基於光源偵測之自走車編隊控制系統

專利類型

發明

專利國別 (專利申請國家)

中華民國

專利申請案號

108147804

專利證號

I 725684

專利獲證名稱

基於光源偵測之自走車編隊控制系統

專利所屬機關 (申請機關)

國立臺北科技大學

獲證日期

2021/04/21

技術說明

本專利主要目的為利用光源追蹤的方式應用在自走車編隊陣型的維持與隊形變換上，針對常見的三種陣型:長蛇陣、三角陣、橫列陣進行移動控制，並透過實驗室發展的遙控戒指利用手指姿態遙控前導車移動，讓追隨車透過光源追蹤的方式跟隨前導車，及搭配手勢動作控制隊形變換。 編隊控制方面，本專利基於領導-追隨架構下，提出一套獨創的前車與後車之間相對角度量測方式。利用多片微型太陽能板製作一光源感測器裝設在編隊控制系統中的追隨車上，另於領導車裝設數個定位燈。以這樣的模式，追隨車即可透過光源感測器偵測前導車的光源。透過此相對角度量測以及超聲波量測相對車距資訊，經過分析即可估算出與領導車之間的偏移量與距離資訊，解決早期在研究中利用紅外線偵測追隨目標相對角度解析度不足的問題。 最後再利用本專利所提出的控制演算法與多車編隊策略，控制追隨車得以平滑地追隨前方移動中的領導車。同時可透過切換領導車車上的定位LED燈搭配隊形及反饋/前饋切換策略，執行自走車隊形的直行、轉彎、及變換隊形。 4.本申請案之英文摘要(Description of Invention in English) The main purpose of this patent is using the light source tracking system to maintain and transform the mobile robot formation. For three common formations: The long snake array, the triangular array and the horizontal array. They can be controlled through the smart ring which is developed by our laboratory. This ring can detect user gestures and then remotely control the leading mobile robot, so that the follower mobile robots can follow the leading mobile robot by the light source tracking system. This patent based on the leader-follower architecture, it proposes a method of measuring the relative angle between two mobile robots. There are many micro-solar panels as light source sensor installed in the formation control system in the follow-up car. On the other side, in the leading mobile robot integrated some positioning lights. The following mobile robot can be detected through the light source sensor and ultrasonic measurement. After processing our algorithms, it can be estimated full information with the lead of the offset and distance. It solved the problem of insufficient resolution by using infrared detection in our early research to follow the target robot. Moreover, according to the control algorithm proposed in this patent and multi-car formation control strategy, the follow-up car can be successfully followed the leading car. In the same time, it can adjust the moving trajectory by switching the positioning LED lights on the leading car.

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