Moving apparatus and method of self-direction testing and self-direction correction thereof
First Claim
1. A moving apparatus, having self-direction testing and self-direction correction functions, comprising:
- a body;
at least one pair of wheels, installed on the body, for changing a direction of the body;
a control unit, installed on the body;
a direction measuring unit, installed on the body and coupled to the control unit, for measuring the direction of the body and transmitting direction information to the control unit for obtaining a first direction variation of the body according to the direction information; and
at least one pair of encoders, installed on the body and coupled to the control unit, for measuring a speed of the pair of the wheels respectively and transmitting information of the speed to the control unit for obtaining a second direction variation of the body according to the information of the speed, wherein during a process of changing a current direction of the body to a target direction through the pair of the wheels, the control unit determines whether the direction measuring unit is temporarily dysfunction by comparing the first direction variation with the second direction variation, whereinif the direction measuring unit is determined to be normal, the control unit obtains the current direction of the body according to the direction information provided by the direction measuring unit, andif the direction measuring unit is determined to be abnormal, the control unit obtains the current direction of the body according to the information of the speed provided by the pair of the encoders.
1 Assignment
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Accused Products
Abstract
A moving apparatus has a body, and has at least a pair of wheels, a control unit, a direction measuring unit and at least a pair of encoders installed on the body. The direction measuring unit coupled to the control unit measures the direction of the body, and the control unit obtains a first direction variation according to the direction information. The pair of encoders coupled to the control unit measure a speed of the pair of wheels, and the control unit obtains a second direction variation according to information of the speed. The control unit compares the first and second direction variations to determine whether the direction measuring unit is temporarily dysfunction. Based on the result of comparison, the control unit applies the information provided by the direction measuring unit or the pair of encoders to obtain the current direction of the body.
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Citations
12 Claims
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1. A moving apparatus, having self-direction testing and self-direction correction functions, comprising:
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a body; at least one pair of wheels, installed on the body, for changing a direction of the body; a control unit, installed on the body; a direction measuring unit, installed on the body and coupled to the control unit, for measuring the direction of the body and transmitting direction information to the control unit for obtaining a first direction variation of the body according to the direction information; and at least one pair of encoders, installed on the body and coupled to the control unit, for measuring a speed of the pair of the wheels respectively and transmitting information of the speed to the control unit for obtaining a second direction variation of the body according to the information of the speed, wherein during a process of changing a current direction of the body to a target direction through the pair of the wheels, the control unit determines whether the direction measuring unit is temporarily dysfunction by comparing the first direction variation with the second direction variation, wherein if the direction measuring unit is determined to be normal, the control unit obtains the current direction of the body according to the direction information provided by the direction measuring unit, and if the direction measuring unit is determined to be abnormal, the control unit obtains the current direction of the body according to the information of the speed provided by the pair of the encoders. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A method of self-direction testing and self-direction correction, applicable for a moving apparatus, comprising:
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(1) changing a current direction of a body of the moving apparatus to a target direction through a pair of wheels of the moving apparatus according to a direction-changing instruction; (2) during the process of changing the current direction of the body to the target direction through the pair of the wheels, obtaining a first direction variation of the body in a predetermined cycle through a direction measuring unit of the moving apparatus, and measuring a speed of the pair of the wheels respectively through a pair of encoders of the moving apparatus, so as to obtain a second direction variation of the body in the predetermined cycle; (3) comparing the first direction variation with the second direction variation to determine whether the direction measuring unit is temporarily dysfunction, wherein if the direction measuring unit is determined to be normal, the current direction of the body is obtained according to direction information provided by the direction measuring unit, and if the direction measuring unit is determined to be abnormal, the current direction of the body is obtained according to information of the speed provided by the pair of the encoders; (4) if the current direction of the body is obtained according to the direction information provided by the direction measuring unit, determining whether the current direction of the body is changed to the target direction, wherein if the current direction of the body has not been changed to the target direction, Steps (2)-(3) are repeated, and if the current direction of the body has already been changed to the target direction, the pair of the wheels stop changing the current direction of the body; and (5) if the current direction of the body is obtained according to information of the speed provided by the pair of the encoders, determining whether the current direction of the body is changed to the target direction, wherein if the current direction of the body has not changed to the target direction, the current direction of the body continues to be obtained according to information of the speed of the encoders, and the pair of the wheels do not stop changing the current direction until the current direction is changed to the target direction. - View Dependent Claims (8, 9, 10, 11, 12)
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Specification