KR0161027B1 - Automatic moving control device and method for robot - Google Patents

Abstract

According to the present invention, when the robot moves in a straight line, the robot performs the fuzzy rule according to the driving direction, the moving distance, and the obstacle data, so that the robot can accurately travel to the target point while maintaining a constant driving speed without departing from the normal trajectory. A traveling control apparatus and a method thereof, comprising: traveling distance detecting means for detecting a traveling distance of a mobile robot; direction angle detecting means for detecting a change in a traveling direction; and calculating the absolute position of the robot by the direction angle detecting means. A position identification means, obstacle detection means for detecting the presence and absence of obstacles around the robot, and a straight driving purge reasoning means for performing fuzzy inference about the straight running of the robot using information obtained from the position identification means; And traveling speed data obtained from the traveling distance detecting means and the obstacle detecting means. Constant speed purge inference means for performing fuzzy inference about speed control by using distance data from the obstacle to the obstacle, and driving control means for controlling the movement of the robot according to the result of calculation and fuzzy inference of each means Characterized in that consisting of.

Description

Robot automatic driving control device and method

1 is a block diagram of an automatic running control apparatus for a robot according to an embodiment of the present invention.

2 is a block diagram of the fuzzy inference of the automatic running control apparatus of the robot in an embodiment of the present invention.

3 is a flowchart illustrating a method for controlling automatic driving of a robot according to an embodiment of the present invention.

4 is a diagram showing the return velocity with respect to the position coordinate input of the straight driving purge inference means.

5 is a diagram showing the return velocity with respect to the direction angle input of the straight driving purge inference means.

6 is a diagram showing a discrete plot of output purge functions for direction angle input and position coordinate input.

7 is a diagram showing a linear control output change amount function by linear driving purge inference.

8 is a diagram showing the return speed with respect to the speed input of the constant speed purge inference means.

9 is a diagram showing the return velocity with respect to the obstacle distance of the constant speed purge inference means.

FIG. 10 is a discrete diagram of an output purge function for input of speed and obstacle distance of a constant speed purge inference means. FIG.

FIG. 11 is a diagram showing a constant speed control output variation function by constant speed purge inference. FIG.

12 is a table for calculating weights according to fuzzy inference.

* Explanation of symbols for main parts of the drawings

1: drive means 2: left drive motor

3: right drive motor 6: mileage detection means

7,8: distance detection sensor 9: direction angle detection means

10: obstacle detection means 11: central processing unit (CPU)

According to the present invention, when the self-propelled robot moves along a straight line, the robot performs a fuzzy rule according to the driving direction, the moving distance, and the obstacle data so that the robot can travel precisely to the target point without departing from the normal trajectory. An automatic driving control apparatus and a method thereof are provided.

In general, the conventional robot system was designed to move along a guide line installed in a predetermined movement path.

However, the conventional robot system as described above is not only inconvenient to install a guide line, but also has a problem that the robot can not perform the operation in a limited area because the robot does not escape the guide line.

Therefore, the robot that performs the given work by memorizing the path and the work area at the time of the learning run by moving only the boundary between the path and the work area, moving to the work area repeatedly and autonomously along the path, and performing the reciprocating operation in the work area. Development of the system was required.

Accordingly, the present invention has been made to satisfy the above requirements, and when the self-propelled robot moves a straight distance, it detects the moving distance, the direction and the obstacle of the driving wheel, and purges without departing the normal trajectory according to the detected data. It is an object of the present invention to provide a robot autonomous driving control device and a method for performing a rule to accurately drive to a target point by maintaining a prescribed driving speed.

Automatic driving control apparatus of the robot according to the present invention for achieving the above object is a traveling distance detecting means for detecting the traveling distance and the traveling speed of the robot, the direction angle detection means for detecting a change in the traveling direction of the robot, the traveling distance Position identification means for calculating the direction angle with respect to the position coordinate and absolute position of the robot by receiving the change of the traveling distance and the driving direction from the detection means and the direction angle detection means, and the position coordinate and absolute position of the robot from the position identification means. A straight driving purge reasoning means for receiving a direction angle and performing a fuzzy inference about the straight traveling of the robot and outputting a straight control value, an obstacle sensing means for detecting the presence of obstacles around the robot and a distance to the obstacle, and the driving distance The speed of the robot is input from the detecting means and the obstacle detecting means to control the speed of the robot. A constant speed purge inference means for outputting a constant speed control value by performing a fuzzy inference, and a drive control for controlling the traveling of the robot by receiving a straight control value and a constant speed control value from the straight driving purge reasoning means and the constant speed driving purge reasoning means. It is characterized by consisting of means.

And, the automatic driving control method of the robot according to the present invention for achieving the above object, when the robot starts to drive, the mileage and travel speed of the robot and the driving direction change of the robot to the obstacle located in the driving direction of the robot Detects the distance and calculates the direction angle with respect to the position coordinates and absolute position of the robot, and calculates the linear control value by calculating the error about the straight running by using the position coordinates of the robot and the direction angle with respect to the absolute position. A straight driving purge inference step, a weight calculation step of calculating a weight using a change in the driving direction of the robot, a position coordinate of the robot, and a direction angle with respect to the absolute position, and multiplying the weight by the straight control value to carry out the straight weight control. Using the straight weight control value calculation step of calculating the value, the distance to the obstacle of the robot and the traveling speed of the robot The constant driving purge inference step of calculating the constant speed control value by calculating the error related to the speed driving, and the final control value are determined by using the straight weight control value and the constant speed control value, and the robot travels according to the final control value. Characterized in that the drive control step.

Hereinafter, with reference to the accompanying drawings an embodiment of the present invention will be described in detail.

FIG. 1 is a block diagram of a robot automatic driving control apparatus according to an embodiment of the present invention, and FIG. 2 is a block diagram of fuzzy inference according to an embodiment of the present invention.

In Fig. 1, reference numeral 1 denotes a drive control means for controlling the movement of the robot, which includes a left driving motor 2 and a right driving motor 3 each having a driving wheel (not shown) attached thereto, and the left and right driving. It consists of a left running motor drive control means 4 and a right running motor drive control means 5 for controlling the drive of the motors 2 and 3.

(6) detects a traveling distance consisting of a left distance sensor 7 and a right distance sensor 8 for outputting a pulse signal proportional to the number of revolutions of the left and right driving wheels according to the traveling distance of the robot. Means (9) is a direction angle detection means for detecting a change in the direction in which the robot travels, (10) transmits ultrasonic waves to the front surface through an ultrasonic sensor installed on the front surface of the robot is moved, Obstacle detection means for detecting an obstacle located in front of the robot by receiving a signal reflected back from the wall or obstacle, that is, an echo signal.

(11) calculates the current position of the moving robot according to the traveling distance data received from the traveling distance detecting means 6 and the traveling direction data received from the direction angle detecting means 9, and the obstacle detecting means 10 The center that controls the robot's running by performing fuzzy inference through the straight forward and constant speed fuzzy inference means to receive the obstacle detection data input from the bus through the bus and calculate the distance of the obstacle. Processing unit (CPU).

Next, with reference to FIG. 2, fuzzy reasoning of the fuzzy reasoning means relating to the straight and constant speed driving according to the present invention will be described.

The traveling distance and traveling speed of the robot received from the traveling distance detecting means 6 and the traveling direction change of the robot received from the direction angle detecting means 9 at regular time intervals when the self-propelled robot is traveling. Instantaneous directional angle, displacement angle) is received by the central processing unit 11 and the position coordinate means 12 and the directional angle calculation means 13 constitute the position coordinate means and the absolute position of the robot. The direction angle calculation is performed, and this result is inputted to the straight traveling purge inference means 14 to calculate the linear control output change amount ΔUd of the left and right traveling motors 2 and 3 to control the straight traveling of the robot.

Further, the traveling direction change data (instantaneous direction angle, displacement angle) of the robot from the direction angle detecting means 9 is the position coordinate of the robot output from the position coordinate calculating means 12 and the direction angle calculating means 13 and It is input to the weight calculation means 16 as a direction angle with respect to the absolute position, and the calculation result is calculated as the weight m of the linear control output change amount [Delta] Ud.

The weight m output from the weight calculating means 16 is multiplied by the linear control output change amount? Ud by the operator, and finally the linear control weighted output change amount m · ΔUd is output.

Here, the weight m is normal because the left and right driving motors 2 and 3 do not show a quick response due to inertia according to a change in the control output of the left and right driving motors 2 and 3. Vibration phenomenon occurs by leaving the track, which is to compensate for this.

On the other hand, the traveling speed data of the left and right driving wheels detected by the traveling distance detecting means 6 is compared with a reference speed preset in the central processing unit 11, and the result of the comparison is the obstacle detecting means 10. The constant speed control output change amount ΔUf of the traveling motor which is input to the constant speed purge inferencing means 17 to enable the constant speed running of the robot is calculated as the distance data to the obstacle detected in the above.

As described above, the previous control weighted output change amount m · ΔUd and the constant speed control output change amount ΔUf of the traveling motor are the output amounts of the previous left and right driving motors U _L (k-1) and U _{L, respectively.} It is calculated with (k-1) to calculate the final output quantity as

The output amount UL (k) of the left running motor 2 is the final output amount calculated above, where UL (k) = UL (k-1) + m · ΔUd + ΔUf, and the right driving motor 2 The output amount Ur (k) is U _R (k) = U _R (k-1) -m · ΔUd + ΔUf.

Here, the determined output amounts of the left and right mold motors (2) and (3) generate pulse width modulation (PWM) signals from the left and right driving motor drive control means (4) and (5), respectively. 2) (3) will be driven.

4 is a diagram showing the return speed with respect to the position coordinate input of the straight driving purge inferencing means, (Z) indicates that the locomotive traveling position is 'normal track', and (R) indicates that the robot's driving position is normal track ( Z) indicates 'to the right', and (L) indicates that the robot's driving position is 'to the left' in the normal trajectory (Z). 5 is a diagram showing the return speed with respect to the direction angle input of the straight driving purge inference means, indicating that the driving direction of (Z) is 'normal', and (Rs) indicates that the driving direction is 'smallly biased to the right'. , (Rb) represents 'big right', (Ls) shows 'small left', and (Lb) 'large left'.

FIG. 6 shows the output purge function for the direction angle input and the position coordinate input in a discrete plot, where (Z) represents 'invariant output' and (Rs) 'slightly increases the right output', that is, the left driving motor. Increasing the output of (2), (Rb) represents a significant increase in the right output, (Ls) represents a slight increase in the left output, (Lb) represents a significant increase in the left output.

For example, in the drawing, if the direction angle input of the robot is (Rs) and the position coordinate input is (Z), the output function is represented by (Rs) so that the CPU outputs a control signal to the drive control means 1. To increase the rotational speed of the right-hand running motor 3, and if the direction angle input is (Z) and the position coordinate input is (R), the output function is represented by (Rs). The control signal is output to (1) to speed up the rotational speed of the right traveling motor (3).

In the above, the value of (Rs) (Rb) (Z) (Ls) (Lb) is set in advance in the central processing unit 11.

FIG. 7 is a chart for calculating the linear control output variation function by the straight driving purge inference. The area of each ear velocity is calculated from the output return velocities obtained in FIGS. 4 through 6, and the center of gravity of these areas is calculated. Is calculated, and the weight center value calculated above is taken as the linear control output change amount [Delta] Ud.

Here, a process of obtaining the linear control output change amount ΔUd will be described in detail with reference to FIGS. 4 to 7.

First, when it is determined in FIG. 4 that the current position coordinate of the robot is located at point a, the central processing unit 11 sets the return velocity for the fuzzy variable Z to 0.7 and the return velocity for the fuzzy variable L to 0. Is taken as 3.

When the return velocities of the fuzzy variables Z and L are obtained, respectively, when the direction angle at which the driving direction of the robot is detected in FIG. 5 is determined as b point, the return velocities of the fuzzy variable Z are set to 0,4 and the fuzzy variable Rs The ear velocity is 0.8, and the ear velocity of each fuzzy variable is substituted into the discrete distribution diagram of FIG.

According to the above results, if fuzzy variable Ls is 0.25, Z is 0.5, and Rs is 0.3, then the calculated values of each fuzzy variable are calculated according to the graph shown in FIG. If the center of gravity is obtained from this area, it is taken as the linear control output change amount [Delta] Ud.

FIG. 8 is a diagram showing the return speed with respect to the speed input of the constant speed purge inferencing means, and the speed obtained by comparing the traveling speed of the left and right traveling wheels detected by the traveling distance detecting means 6 with the reference speed stored in advance. The return velocity (F) represents 'fast', (Z) represents 'normal', and (S) represents 'slow'. 8 is a diagram showing the return velocity with respect to the obstacle distance, where the return velocity S of the obstacle distance is 'close', (Z) is 'normal' and (L) is 'far'.

In addition, FIG. 10 shows the output purge function for the speed and obstacle distance input of the constant speed purge inferencing means in a discrete diagram, where the output function, that is, the return speed S is 'output reduction', and (Z) 'Output constant' and (B) indicates 'output increase'.

In the above, the return speeds S, Z, and B are preset in the CPU 11.

FIG. 11 is a diagram showing the constant speed control output variation function by constant speed purge inference, and calculates the area of each ear speed from the output return speeds obtained in FIGS. 8 to 10, and centers the weights of these areas. The weight center value obtained above is obtained as the constant speed control output change amount [Delta] Uf.

Here, the results of FIGS. 8 through 11 are to calculate the constant speed control output change amount ΔUf by the reasoning method of the same step as described in FIGS. 4 through 7.

12 is a table for calculating the weight of the linear control output change amount according to the position coordinates, the direction angle, and the instantaneous direction angle. These weights are given differently depending on the current driving state of the robot, thereby maximizing the effect of the last control output.

Hereinafter, a robot autonomous driving method according to an embodiment of the present invention will be described with reference to FIG.

3 is a flow chart for explaining a robot automatic driving method according to an embodiment of the present invention. Here, S denotes a step.

First, when the user turns on the operation switch of the self-propelled robot according to the present invention, the robot is initialized in step S1 to start the operation according to the operation command input by the user.

Next, in step S2, the direction change means (instantaneous direction angle, displacement angle) of the robot and the travel distance of the left and right driving wheels are detected through the direction angle detecting means 9 and the distance detecting means 6, and at the same time, the obstacle detecting means is detected. An obstacle located in the driving direction is detected through 10, and in step S3, the central processing unit 11 uses the position coordinate calculation means by using the traveling distance of the left and right driving wheels detected in the step S2 and the traveling direction of the robot. 12) and the direction angle calculation means 13 to calculate the direction angle with respect to the position coordinates and the absolute position of the robot, and the distance to the obstacle using the information detected by the obstacle detection means 10 The driving speed of the left and right driving wheels is calculated from the traveling distance of the left and right driving wheels.

When the direction angles with respect to the position coordinates of the robot and the absolute position are calculated in step S3, the central processing unit 11 performs the error operation on the straight traveling using the data in step S4, and thus the position coordinates detected above. And the direction angle data for the absolute position is input to the straight driving purge reasoning means 14 which performs the fuzzy reasoning about the straight travel according to the fuzzy rule, and the straight driving fuzzy reasoning means 14 controls the straightness by the fuzzy reasoning. Calculate the output change amount ΔUd.

That is, the ear velocity function for the position coordinate and the direction angle is obtained based on the graphs shown in FIGS. 4 and S, and the result is calculated based on the discrete distribution diagram shown in FIG.

As shown in FIG. 7, when the area constituted by each ear velocity is obtained and the center of gravity of these areas is obtained, the linear control output change amount [Delta] Ud is calculated as a result.

In step S9, the constant speed purge inference means 17 calculates the distance data to the obstacle detected by the obstacle detecting means 10 and the traveling speed and the reference of the left and right driving wheels detected by the traveling distance detecting means 6. A fuzzy inference about the constant speed is performed based on the comparison of the speeds to calculate the constant speed control output change amount ΔUf of the traveling motor. That is, based on the graphs shown in FIGS. 8 and 9, the return speeds for the speed and the traveling distance are obtained, and the results are calculated based on the discrete distribution diagrams shown in FIG.

As shown in FIG. 11, when the area comprised by each ear speed is calculated | required and the center of gravity of these areas is calculated | required according to the calculated result, as a result, the constant speed control output change amount (DELTA) Uf of a traveling motor is calculated as a result.

In step S4, an error operation is performed on the straight run and the constant speed drive. When the result is calculated, the central processing unit 11 determines the driving direction of the robot according to the result of the error operation on the straight run calculated in step S5. Is determined to be oriented toward the left or the right, or is the normal orbit, and if it is determined in step S5 that the robot is traveling on the normal orbit (if normal), the central processing unit ( 11) inputs the direction angle data for the position coordinate and the absolute position calculated in the step S3 and the driving direction change data detected by the direction angle detection means 9 by the weight calculation means 16 and the weight (m) Yields.

When the weight m data is calculated by the weight calculating means 16 in step S6, in step S7 the central processing unit 11 determines the straight-line control output value according to the calculated result, that is, the straight-line control weighted output change amount m ΔUd) is calculated.

When the linear control output value is determined in step S7, in step S8, the central processing unit 11 determines whether the robot traveling speed is slow or fast or normal speed according to the error calculation result for the constant speed driving calculated in step S4. If it is determined in step S8 that the traveling speed of the robot is normal (if normal), the process proceeds to step S9 and the central processing unit 11 determines the constant speed control output value according to the result calculated above, that is, the constant speed. The control output change amount ΔUf is calculated.

When the constant speed control output change amount? Uf is calculated in step S9, the central processing unit 11 determines the control values of the left and right traveling motors 2 and 3 according to the result calculated in step S10. Output the final drive control value.

That is, the previous control weighted output change amount m · ΔUd and the constant speed control output change amount ΔUf calculated above are the output amounts of the previous left and right driving motors U _L · (k-1), U, respectively. Calculated with _R (k-1) yields the final output:

The output amount UL (k) of the left traveling motor 2 is

UL (k) = UL (k-1) + m · ΔUd + ΔUf, and the output amount Ur (k) of the right traveling motor 2 is Ur (k) = U _R (k-1) -m ? Ud +? Uf.

Here, the determined output amounts of the left and right driving motors 2 and 3 generate pulse width modulation (PWM) signals from the left and right driving motor driving control means 4 and 5, respectively, so that the left and right driving motors ( 2) (3) will be driven.

When the final control value is output in step S10, if it is determined in step S11 that the central processing unit 11 continues to travel and continues to run (YES), the operation of step S2 or less is repeated. If it is determined that the vehicle is not to continue driving (NO), the automatic driving of the mobile robot is terminated.

On the other hand, if it is determined in step S5 that the running direction of the robot is to the left side according to the calculation result of the central processing unit 11 (when it is the left side), the process proceeds to step S12 and the central processing unit 11 goes straight to the calculated. The left driving motor driving control means 4 is controlled in accordance with the data relating to the driving to increase the output of the left driving motor 2, thereby increasing the rotational speed of the left driving wheel, and simultaneously driving the right driving motor driving control means S. After the control reduces the output of the right traveling motor 3, the operation of step S6 or less is repeated.

On the other hand, if it is determined in step S5 that the running direction of the robot is biased to the right according to the calculation result of the central processing unit 11 (when it is the right side), the process proceeds to step S13 and the central processing unit 11 goes straight to the calculated straight line. The right driving motor driving control means 5 is controlled in accordance with the data relating to the driving to increase the output of the right driving motor 3 to increase the rotational speed of the right driving wheel, and at the same time, the left driving motor driving control means 4. Control to reduce the output of the left running motor 2 and then repeat the operation of step S6 and below.

On the other hand, when it is determined in step S8 that the running speed of the robot is slow (when it is slow), the process proceeds to step S14, where the central processing unit 11 moves the left running motor driving means 4 and the right running motor driving means S. By controlling, the output of the left and right driving motors 2 and 3 is increased to increase the rotational speed of the left and right driving wheels.

On the other hand, if it is determined in step S8 that the running speed of the robot is fast (when fast), the process proceeds to step S15, where the central processing unit 11 decreases the output of the left and right traveling motors 2 and 3 and Reduce the speed of right drive wheels.

As described above, according to the robot automatic traveling control apparatus and the method according to the present invention, the traveling distance detecting means for detecting the traveling distance of the mobile robot, the direction angle detecting means for detecting the change in the traveling direction, and the direction angle detecting A position identification means for calculating the absolute position of the robot by means, an obstacle detection means for detecting the presence or absence of obstacles around the robot, and a distance between the obstacles, and information relating to the straight traveling of the robot using the information obtained from the position identification means. A constant-speed driving purge that performs fuzzy inference on speed control by using a straight driving purge reasoning means for performing fuzzy inference, and traveling speed and data obtained from the traveling distance detecting means and distance data to an obstacle obtained from the obstacle detecting means. The reasoning means and the operation and fuzzy inference of each means It is composed of driving control means for controlling the movement of the robot.It performs fuzzy inference by using information about the moving distance of the wheel, the direction of the robot and the obstacles when moving the straight distance, so that the vehicle does not deviate from the normal track during straight driving. There is an excellent effect that you can keep your speed and drive precisely to the target.

Claims (7)

The driving distance detecting means for detecting the traveling distance and the traveling speed of the robot, the direction angle detecting means for detecting the change in the traveling direction of the robot, and the traveling distance and the driving direction change are input from the driving distance detecting means and the direction angle detecting means. Position identification means for calculating the position angle of the robot and the direction angle with respect to the absolute position, and the position angle of the robot from the position identification means and the direction angle with respect to the absolute position is input to perform a fuzzy inference about the straight running of the robot to go straight A straight driving purge reasoning means for outputting a control value, obstacle detection means for detecting the presence and absence of obstacles around the robot, and receiving the driving speed and the distance from the obstacle detection means and the obstacle detection means Constant speed purge inference means for outputting constant speed control value by performing fuzzy reasoning about robot speed control , Automatic traveling control device of the straight-running fuzzy inference means and the constant speed drive receives a linear control and constant-speed-value control value from the fuzzy inference means consists of a drive control means for controlling the running of the robot robot. The apparatus of claim 1, further comprising weight calculation means for determining a weight by receiving a change in the driving direction of the robot from the direction angle detecting means and receiving a direction angle with respect to the position coordinates and the absolute position of the robot from the position identifying means. And the drive control means determines the straight weight control value by multiplying the straight control value input from the straight travel purge inference means and the straight weight control value and the constant speed control value input from the constant speed purge inference means. The robot's automatic running control device, characterized in that for controlling the running of the robot. When the robot starts to drive, the detection step of calculating the direction angle with respect to the position coordinate and absolute position of the robot by detecting the robot's traveling distance and traveling speed, the change of the robot's driving direction, and the distance to the obstacle located in the robot's driving direction. And a straight running purge inference step of calculating a straight control value by calculating an error relating to straight traveling using the positional coordinates of the robot and the direction angle with respect to the absolute position, a change in the traveling direction of the robot and a positional coordinate of the robot, A weight operation step of calculating a weight using a direction angle with respect to an absolute position, a straight weight control value calculation step of calculating a straight weight control value by multiplying the weight value with the straight control value, a distance to an obstacle of the robot, Constant speed purge inference step that calculates constant speed control value by calculating error about constant speed using robot's traveling speed The linear weighting control values and the constant-speed using the control value determining the final control value, and automatic driving control method for a robot comprising a driving control step of controlling the movement of the robot according to the control value yichoejong. The driving control value of the robot according to claim 5, wherein if the driving direction of the robot is shifted to the left in the straight traveling purge inference step, the straight control value is increased so as to increase the rotation speed of the left driving motor and reduce the rotation speed of the right driving motor. Automatic driving control method for the robot, characterized in that the calculation. The driving control value of the robot according to claim 5, wherein if the driving direction of the robot is biased to the right in the straight traveling purge inference step, the straight control value is increased so as to increase the rotation speed of the right driving motor and reduce the rotation speed of the left driving motor. Automatic driving control method for the robot, characterized in that the calculation. The automatic driving control method according to claim 5, wherein if the driving speed of the robot is determined to be slow in the constant driving purge inference step, the constant speed control value is calculated to increase the rotation speed of the left and right driving motors. The automatic driving control method according to claim 5, wherein the constant speed control value is calculated so as to reduce the rotational speed of the left and right driving motors when it is determined that the speed of the robot is high in the constant speed purging inference step.