KR0161028B1 - 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; Obstacle position for calculating the relative position of the robot by using the position identification means, the obstacle distance detection means for detecting the presence or absence of obstacles around the robot, and the information obtained from the directional angle detection means and the obstacle distance detection means. The robot's main information is calculated using the calculation means and the information obtained from the obstacle position calculation means. Obstacle avoidance fuzzy inference means for performing fuzzy inference in the direction of travel, straight traveling fuzzy inference means for performing fuzzy inference for straight traveling of the robot by using the information obtained from the position identification means, and the mileage detection means A constant speed purge inference means for performing fuzzy inference about speed control using the travel speed data obtained and the distance data from the obstacle distance detection means to the result obtained by performing calculation and fuzzy inference of each means. Accordingly, it characterized in that the drive control means for controlling the movement of the robot.

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 a fuzzy inference relating to the straight running of the robot in an embodiment of the present invention.

3 is a block diagram of a fuzzy inference relating to obstacle avoidance driving of a robot in an embodiment of the present invention.

Figure 4 is a flowchart for explaining the automatic driving control method of the robot in an embodiment of the present invention.

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

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

7 is a diagram showing a discrete plot of the output purge function for the direction angle input and the position coordinate input of the straight line fuzzy inference means.

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

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

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

FIG. 11 is a discrete plot of output purge functions for speed and obstacle distance input of the constant speed purge inference means. FIG.

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

FIG. 13 is a table for calculating weights of linear control output changes according to fuzzy inference. FIG.

14 is a diagram showing the return velocity with respect to the target traveling angle of the obstacle avoidance purge inference means.

15 is a diagram showing a direction control output change amount function of the obstacle avoidance purge inference means.

16 is a table for calculating the importance and the output weight according to the obstacle in an embodiment of the present invention.

17 is a diagram for obtaining a target driving direction according to the direction of the obstacle in one embodiment of the present invention.

* 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 (C.P.U)

14: straight driving purge reasoning means 17: constant speed purge reasoning means

20: obstacle avoidance purge inference means 22: obstacle position calculation means

According to the present invention, when the self-propelled mobile robot moves a straight line, the fuzzy rule is performed according to the driving direction, the moving distance, and the obstacle data, thereby avoiding obstacles in the driving direction, and accurately driving to a target point while maintaining a constant driving speed. The present invention relates to a robot automatic driving control apparatus and a method thereof.

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 system was called for

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 data. It is an object of the present invention to provide a robot automatic driving control apparatus and a method for precisely driving to a target point by maintaining a prescribed driving speed by performing the following steps.

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, Position identification means for calculating the position coordinates of the robot and the direction angle with respect to the absolute position by receiving the change in the traveling distance and the driving direction, and the fuzzy angle for the straight running of the robot by receiving the direction coordinates for the position coordinate and the absolute position of the robot. A straight driving purge inference means for performing inference to output a straight control value, an obstacle distance detection means for detecting the presence or absence of an obstacle located in the driving direction of the robot and an obstacle and an angle of the obstacle, a distance to the obstacle and Calculate the position of the obstacle by receiving the angle of the obstacle and if the obstacle is within the preset avoidance area, the angle of the obstacle Obstacle position calculation means for outputting a target driving direction, an obstacle avoidance fuzzy inference means for outputting a direction control value by performing fuzzy inference about the driving direction of the robot by receiving the target driving direction, and the traveling speed of the robot according to the present invention. A constant speed purge inference means for outputting a constant speed control value by performing fuzzy inference about the traveling speed of the robot by inputting the distance to the obstacle and the obstacle, and the direction control value and the constant speed control value if the obstacle is within a predetermined avoidance area. According to the present invention, the robot is configured to control driving of the robot while controlling the driving of the robot according to the straight-out control value and the constant speed control value when the obstacle is not within the predetermined avoidance area.

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 change in the driving direction of the robot to the obstacle located in the driving direction of the robot A detection step of detecting a distance and an angle of an obstacle to calculate a position coordinate of the robot and a direction angle with respect to an absolute position, an obstacle position discrimination step of determining whether the obstacle is within a preset evasion region, and an obstacle avoidance region where the obstacle is preset If inside the obstacle control value and obstacle avoidance driving weights are determined, and the obstacle avoidance fuzzy inference step to determine the direction weighting control value by multiplying the direction control value by the weight, the distance to the obstacle and the robot obstacle A constant speed purge inference step of determining the constant speed control value using the traveling speed, and the direction weighting agent The final control value is determined by using the fish value and the constant speed control value, and the driving control step of controlling the running of the robot according to the final control value is characterized in that it consists of.

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

1 is a block diagram of an automatic running control apparatus for a robot according to an embodiment of the present invention, and FIG. 2 is a block diagram of a fuzzy inference relating to the straight running of the robot according to an embodiment of the present invention, and FIG. In one embodiment of the invention is a block diagram of the fuzzy inference about the obstacle avoidance driving of the robot.

1 to 3, 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 to which a driving wheel (not shown) is attached. 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 left and right running motors 2 and 3.

(6) detects a travel 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, It is an obstacle distance detecting means for detecting an obstacle and a distance located in front of the robot by receiving a signal reflected from a wall or an obstacle, that is, an echo signal.

(11) calculates the current position of the moving robot according to the travel distance data received from the travel distance detection means 6 and the travel direction data received from the direction angle detection means 9, and detects the obstacle distance detection. The fuzzy inference through the straight forward, constant speed and obstacle avoidance fuzzy reasoning means to receive the obstacle detection data input from the means 10 through the bus to calculate the distance of the obstacle and control the straight driving, the constant driving and the obstacle avoiding driving according to the result. This is a central processing unit (CPU) that controls the running of the robot.

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.

When the self-propelled mobile robot according to the present invention runs, the traveling distance and traveling speed of the robot received from the traveling distance detecting means 6 and the direction angle detecting means at regular time intervals, and the driving direction change data of the robot (instantaneous) Direction angle, displacement angle) is received by the central processing unit 11, the position angle calculation for the position coordinate and the absolute position by the position identification means 18 composed of the position coordinate calculation means 12 and the direction angle calculation means 13 This result is inputted to the straight traveling purge inference means 14, and the amount of change in the linear control output of the left and right traveling motors 2 and 3 is calculated so as to control the straight traveling of the robot. Also, the direction change data of the robot detected by the direction angle detecting means 9 is the direction angle data with respect to the position coordinates and the absolute position output from the position coordinate calculating means 12 and the direction angle calculating means 13. Is input to the first weight value calculating means 16, and the result of the calculation is calculated as the weight m of the linear control output change amount [Delta] Ud.

The weight m outputted from the first weight value calculating means 16 is multiplied by the linear control output change amount? Ud by an 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 the inertia according to the change of 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 the reference speed preset in the central processing unit 11, and the result is compared with the obstacle distance detecting means 10 The amount of change in the constant speed control output? Uf of the traveling motor which is input to the constant speed purge inferencing means 17, such as the distance data to the obstacle detected in the above, to enable the constant speed running of the robot is calculated.

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

In the final output amount calculated above, the output amount U _L (k) of the left traveling motor 2 is

U _L (k) = U _L (k-1) + m * ΔUd + ΔUf, where k is an integer

The output amount U _R (k) of the right-hand drive motor 2

U _R (k) = U _R (k-1) -m * ΔUd + ΔUf. (Where k is an integer)

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 driving control means (4) and (5), respectively. 2) (3) will be driven.

Next, the fuzzy reasoning of the fuzzy reasoning means relating to the obstacle avoidance driving according to the present invention will be described with reference to FIGS. 3 and 16 to 17. FIG.

FIG. 16 is a diagram for calculating the importance and output weight table for the obstacle in one embodiment of the present invention, and FIG. 17 is a diagram for obtaining the target driving direction according to the direction of the obstacle in the embodiment of the present invention.

While the autonomous mobile robot normally travels the designated path according to the fuzzy reasoning result of the straight driving purge reasoning means 14, if an obstacle that obstructs the normal running of the robot appears on the moving path, the straight driving purge reasoning means ( Instead of 14), the fuzzy reasoning is performed by the obstacle avoidance fuzzy reasoning means (20).

The information on the distance of the obstacle and the angle of the obstacle obtained from the obstacle distance detecting means 10 while the robot is running is shown in the table of importance and output weight for the obstacle shown in FIG. When the relative position of the obstacle corresponds to the obstacle avoidance region specified here by comparing with the data shown in the above, the relative position of the obstacle is stored in a memory unit (not shown) of the central processing unit 11, and the obstacle avoidance inferring means 20 ) And execute fuzzy inference.

However, if the detected obstacle does not fall within the obstacle avoidance area, the original straight driving purge inference continues.

First, when the position data of the obstacle corresponding to the obstacle avoidance area is input to the obstacle position calculating means 22 among the plurality of detected obstacles, the central processing unit 11 selects the obstacles to be avoided first among these obstacle data. shall.

Here, if the position data for the three obstacles (①, ②, ③) is input to the obstacle position calculating means 22 as shown in FIG. 16, the obstacle at the position of ③ according to the importance chart of the obstacle is given the highest priority. It is selected as an obstacle to be avoided.

When the obstacle to be avoided is selected as above, the driving direction of the obstacle is selected as 135 ° by referring to the target driving direction table of FIG. 17 prepared before driving, and the final driving direction is added to the target driving direction on the original driving route by adding it to the target driving direction. If the original target driving direction is 180 degrees, the final target driving direction is 135 degrees. The calculated target driving direction is input to the obstacle avoidance purge inference means 20 as shown in FIG. 3 to calculate the direction control output change amount ΔUd for controlling the driving direction.

Further, the information calculated by the obstacle position calculating means 22 is received by the second weighting calculating means 21 to calculate a weight n for obstacle avoidance, and the calculated output change amount Δ Ud is shown in FIG. The multiplication operation is performed with the output weight value n related to the obstacle avoidance as described above, and finally the direction control weighted output variation amount n · ΔUd is calculated.

As described above, the calculated direction control weighted output change amount m * ΔUa and the constant speed control output change amount ΔUf of the traveling motor are the output amounts U _L (k) of the previous left and right traveling motors 2 and 3, respectively. -1), computed with U _R (k-1) yields the final output:

The output amount UL (k) of the left running motor 2 is calculated from the final output amount calculated above.

U _L (k) = U _L (k-1) + n * DELTA Ua + DELTA Uf, where k is an integer

The output amount U _R (k) of the right-hand drive motor 2 is

Ur (k) = Ur (k-1) -n DELTA Ua + ΔUf. (Where k is an integer)

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 obstacles appear in the driving path. When driving, it will drive left and right driving motors (2) and (3)

Hereinafter, the straight driving and constant speed purge inference means will be described with reference to FIGS. 5 to 13.

5 is a diagram showing the return speed with respect to the position coordinate input of the straight driving purge inference means, (Z) indicates that the robot's driving position is the 'normal track', and (R) indicates that the robot's driving position is the 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).

6 is a diagram showing the return velocity with respect to the direction angle input dp of the straight traveling purge inference means, wherein the driving direction of (Z) is. 'Normal', (Rs) indicates the driving direction is 'left biased', (Rb) 'the right shifted to the right', and (Ls) the driving direction is 'leaned to the left' And (Lb) shows 'large left shift'.

7 shows discrete output diagrams of the output purge function for the direction angle input and the position coordinate input, where (Z) represents 'invariant output' and (Rs) 'slightly increases right output', that is, 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, and 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 drive 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. 8 is a chart for calculating the linear control output variation function by the straight driving purge inference, and calculates the area of each ear velocity from the output return velocities obtained in FIGS. Is calculated, and the weight center value calculated above is taken as the linear control output change amount [Delta] Ud.

Here, the process of obtaining the linear control output change amount ΔUd will be described in detail with reference to FIGS. 5 to 8.

First, when it is determined in FIG. 5 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 0.3. To be taken.

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 the fuzzy variable Ls is 0.25, Z is 0.5, and Rs is 0.3, the calculated values of each fuzzy variable are calculated according to the graph shown in FIG. When the area is obtained and the center of gravity is obtained from this area, it is taken as the linear control output change amount [Delta] Ud. 9 is a diagram showing the return speed with respect to the speed input of the constant speed purge inferencing means, and the return speed F with respect to the speed obtained by the comparison of the traveling distance detecting means 6 and the previously stored reference speed is 'fast'. (Z) represents 'normal' and (S) represents 'slow'. 9 is a diagram showing the return speed with respect to the obstacle distance, where the return speed S of the obstacle distance is 'close', (Z) is 'normal' and (L) is 'far'.

In addition, FIG. 11 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. 12 is a diagram showing the constant speed control output variation function by the constant speed purge inference, and calculates the area of each ear speed from the output return speeds obtained in FIGS. 9 to 11, 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. 9 through 12 are to calculate the constant speed control output change amount ΔUf by the reasoning method of the same step as in the description of FIGS. 5 through 8.

13 is a table for obtaining a weight m 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, the obstacle avoidance purge inference means will be described with reference to FIGS. 14 to 15.

FIG. 14 is a diagram showing the return velocity with respect to the target traveling angle of the means of obstacle avoidance purge inference, and FIG. 15 is a diagram showing the direction control output variation function of the obstacle avoidance purge inference means.

In FIG. 14, (Rb) is `` big right '', (Rs) is `` little right '', (Z) is `` not biased '', and (LS) is `` slightly biased left '' ( Lb) indicates 'large leftwards'.

Here, if the target driving direction by the obstacle is 135 ° irrespective of the current driving direction of the robot, the input value of the obstacle avoidance purge inference means 20 is 135 °, resulting in Rs = 0.66 and Rb = 0.33. The return functions are zero.

In Fig. 15, (Rb) means 'greatly increased right output', (Rs) 'right output slightly increased', (Z) 'output invariant', (Ls) 'lightly moderate left output', (Lb ) Represents 'higher left output'.

Here, the ear velocity obtained in FIG. 14 is applied as the output ear velocity function value of FIG. 15 as it is, and Rs = 0.66, Rb = 0,33, and the area composed of each ear velocity function is calculated to calculate their center of gravity. If the value is taken as the direction control output change amount ΔUa, ΔUa = -1.6a, and n = 2 is selected according to the output weight table in Fig. 16, and the direction control output change amount △ Ua is multiplied. As a result, the direction control weighted output change amount becomes (n · ΔUa) = − 3.2a to increase the output of the right traveling motor 3 and to reduce the output of the left traveling motor 2 to proceed along the path. If the robot is encountering an obstacle in the right direction, the robot will change its driving direction in the left direction.

Hereinafter, with reference to Figure 3 will be described a robot automatic driving method according to an embodiment of the present invention.

3 is a flowchart illustrating 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 propellered robot according to the present invention, in step S1 the robot is initialized and starts the operation according to the operation command input by the user.

Next, in step S2, the displacement of the robot, that is, the direction angle, the traveling distance and the traveling speed of the robot, is detected through the direction angle detecting means 9 and the traveling distance detecting means 6, and at the same time, the obstacle distance detecting means 10 is detected. The distance to the obstacle located in the driving direction and its angle are detected, and in step S3 the central processing unit 11 uses the travel distance and direction angle data detected in step S2 and the position coordinate calculating means 12 and the direction. Calculation is performed through each calculation means 13 to calculate a direction angle with respect to the position coordinates and the absolute position of the robot, and the obstacle position calculation means 22 uses the information detected by the obstacle distance detection means 10. Calculate the relative position of the obstacle.

In step S3, when the positional coordinate data of the robot and the relative position of the obstacle with respect to the absolute position and the relative position of the obstacle are calculated, in step S4, the detected obstacle is as shown in FIG. If it is determined whether it exists in the avoidance area, and if it is determined that the obstacle detected in the step S4 is in the avoidance area (YES), the flow advances to step S5 and the obstacle position calculation means 22 shown in FIG. The target driving direction is determined according to the target driving direction table and input to the obstacle avoidance purge inference means 20, and the obstacle avoidance purge inference means 20 calculates the direction control output change amount ΔUa by fuzzy inference.

When the direction control output change amount? Ua is calculated from the obstacle avoidance purge inferencing means 20 in step S5, the central processing unit 11 calculates in step S3 through the second weight calculation means 21 in step S3. The data of the distance of the obstacle and the angle thereof are input to calculate the weight n according to the output weight table shown in FIG.

When the weight n data is calculated in the second incremental calculation means 21 in step S6, the central processing unit 11 determines the direction control output value according to the calculated result in step S7, that is, the direction control weighted output. The change amounts n and ΔUa are calculated. When the direction control output value is calculated 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 calculation result of the constant speed driving calculated in step S3. If it is determined in step S8 that the running 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? Uf 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 output control value.

That is, the direction control weighted output change amount n · ΔUa and the constant speed control output change amount ΔUf of the traveling motor calculated above are the output amounts of the previous left and right driving motors U _L (k-1) and U _{R, respectively.} Calculated with (k-1) to calculate the final output control value, that is, the final output quantity. The output amount U _L (k) of the left traveling motor 2 is

U _L (k) = U _L (k-1) + n ΔUa + ΔUf, where k is an integer

The output amount Ur (k) of the right traveling motor 2 is

U _R (k) = U _R (k−1) −n · ΔUa + ΔUf. (Where k is an integer)

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. 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 run 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 self-propelled robot is terminated.

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 S12, where the central processing unit 11 moves the left running motor driving means 4 and the right running motor driving means 5. By controlling the drive control means 1, the output values of the left and right traveling motors 2 and 3 are increased to increase the rotational speeds of the left and right driving wheels, and the operation of step S9 and below is repeated.

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 S13, where the central processing unit 11 decreases the output values of the left and right traveling motors 2 and 3, After the rotation speed of the right drive wheel is reduced, the operation of Step S9 or below is repeated.

On the other hand, when it is determined in step S4 that the obstacle is not within the avoidance area (No), the central processing unit 11 in step S14 uses the data calculated in the steps S2 to S3 for the straight run. By performing the error operation, the direction angle data relating to the position coordinates and the absolute position detected above are input to the straight traveling purge reasoning means 14 which performs fuzzy inference about straight traveling according to the fuzzy rule, The branch reasoning means 14 calculates the linear control output change amount [Delta] Ld by fuzzy reasoning.

That is, the ear velocity function for the position coordinates and the direction angle is obtained based on the graphs shown in FIGS. 5 and 6, and the result is calculated based on the discrete distribution diagram shown in FIG.

As shown in FIG. 8, 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.

Further, the central processing unit 11 detects the traveling distance through the traveling distance detecting means 6 composed of the left distance detecting sensor 7 and the right distance detecting sensor 8, and in the constant speed purging reasoning means 17, The fixed speed is obtained by comparing the data detected by the obstacle distance detecting means 10 and the data of the traveling distances of the left and right driving totters 2 and 3 detected by the traveling distance detecting means 6 with the reference speed. A fuzzy inference about driving is performed to calculate the constant speed control output change amount ΔUf of the traveling motor.

That is, based on the graphs shown in FIGS. 9 and 10, the return speeds for the speed and the mileage are obtained, and the results are calculated based on the discrete distribution diagrams shown in FIG.

As shown in FIG. 12, if the area constituting each ear speed is obtained and the center of gravity of these areas is obtained, the constant speed control output change amount [Delta] Uf of the traveling motor is calculated as a result.

In step S14, the error operation for the straight run and the constant speed drive is performed. When the result is calculated, in step S15, the central processing unit 11 determines the driving direction of the robot according to the result of the error operation for the straight run calculated above. Direction is determined, that is, whether the driving direction is to the left or the right, or is the normal orbit, and if it is determined in step S15 that the robot is traveling on the normal orbit (if it is normal), the central processing unit ( 11) receives the direction angle data for the position coordinate and the absolute position calculated in the step S13 and the data detected by the direction angle detection means 9 through the first weighting operation means 16 to obtain a weight m. Calculate

When the weight m data is calculated in the first incremental calculation means 16 in step S16, in step S17 the central processing unit 11 determines the linear control output value according to the calculated result, that is, the linear control weighted output. After calculating the change amount m * ΔUd, the operation of step S8 or less is repeated.

Here, the final output amount for straight traveling when the obstacle is not in the avoidance area will be described. The output amount UL (k) of the coordinate traveling motor 2 is

U _L (k) = U _L (k-1) + n △ Ud + ΔUf, where k is an integer

The output amount Ur (k) of the right traveling motor 2 is

U _R (k) = U _R (k−1) −n · ΔUd + ΔUf. (Where k is an integer)

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. 2) (3) will be driven

On the other hand, if it is determined in step S15 that the running direction of the robot is to the left side according to the calculation result of the central processing unit 11 (if it is to the left), the process proceeds to step S18 and the central processing unit 11 goes straight to the calculated The left driving motor drive control means 4 is controlled in accordance with the data relating to the running to increase the output of the left driving motor 2 to increase the rotational speed of the left drive wheel, and at the same time the right drive motor drive control means 5. After controlling to reduce the output of the right traveling motor 3, the operation of step S16 or less is repeated.

On the other hand, if it is determined in step S15 that the running direction of the robot is biased to the right according to the calculation result of the central processing unit 11 (if it is the right side), the process proceeds to step S19 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 S16 and below.

As described above, according to the automatic driving control apparatus and method of the robot according to the present invention, when traveling straight line by performing fuzzy inference using the moving distance of the driving wheel, the direction of the robot and information about obstacles, There is an excellent effect that the vehicle can accurately travel to the target point by maintaining the traveling speed without departing from the normal track.

Claims (8)

Travel distance detecting means for detecting the traveling distance and traveling speed of the robot, direction angle detecting means for detecting the change in the traveling direction of the robot, and inputting the change in the traveling distance and the traveling direction of the robot to the position coordinates and the absolute position of the robot. A position identification means for calculating a direction angle with respect to the robot, a straight driving fuzzy reasoning means for receiving a position coordinate of the robot and a direction angle with respect to the absolute position, and performing a fuzzy inference about the straight running of the robot and outputting a straight control value; Obstacle distance detection means for detecting the presence and absence of obstacles in the driving direction of the robot and the distance to the obstacle, and the distance to the obstacle and the angle of the obstacle is input to calculate the position of the obstacle to avoid the obstacle is preset Obstacle position calculating means for outputting a target traveling direction in accordance with the angle of the obstacle, if within the area; Obstacle avoidance fuzzy inference means for receiving direction and performing fuzzy inference about the driving direction of the robot and outputting the direction control value, and fuzzy inference about the running speed of the robot by inputting the traveling speed of the robot and the distance to the obstacle A constant speed purge inference means for performing a constant speed control value and outputting the constant speed control value, and if the obstacle is in a predetermined avoidance area, controlling the robot's running according to the direction control value and the constant speed control value, while the obstacle is in the preset avoidance area. If not, the automatic driving control apparatus for a robot, characterized in that consisting of a drive control means for controlling the running of the robot in accordance with the straight control value and the constant speed control value. [Claim 2] The weight value of claim 1, wherein a change in the driving direction of the robot input from the direction angle detecting means is input, and a weight for determining the weight of the linear driving is received from the position identifying means by receiving the position coordinates of the robot and the direction angle with respect to the absolute position. And driving means for determining the straight weight control value by multiplying the straight control value inputted from the straight traveling purge inferencing means by the weight, and determining the straight weight control value and the constant speed purge reasoning means. The robot's automatic driving control device, characterized in that for controlling the running of the robot in accordance with the constant speed control value input from the. When the robot starts to drive, the robot calculates the direction angle of the robot's position coordinate and absolute position by detecting the robot's mileage and speed, the change of the robot's driving direction, the distance to the obstacle located in the robot's driving direction, and the angle of the obstacle. A detection step to determine whether the obstacle is located within a preset avoidance area, an obstacle position discrimination step, and if the obstacle is within a predetermined avoidance area, a direction control value of the robot and a weight relating to the obstacle avoidance driving are determined, and the direction is determined. An obstacle avoidance purge inference step of multiplying a control value by a weight to determine a direction weighting control value, a constant speed purge inference step of determining a constant speed control value using a distance to an obstacle of the robot and a traveling speed of the robot, and the direction The final control value is determined by using the weighted control value and the constant speed control value. Cruise control method for a robot comprising a driving control step of controlling the movement of the tree. The automatic driving control method according to claim 6, wherein if it is determined that the running speed of the robot is slow in the constant driving purge inference step, the constant speed control value is determined to increase the rotational speed of the left and right driving motors. The automatic driving control method according to claim 6, wherein, when the driving speed of the robot is determined to be high in the constant driving purge inference step, the constant speed control value is determined to reduce the rotation speed of the left and right driving motors. According to claim 6, If the obstacle in the obstacle position determination step is not in the predetermined avoidance area, the linear control value determined by using the position coordinates of the robot and the direction angle with respect to the absolute position, the change in the running direction of the robot and the robot A straight forward purge heuristic step that determines the straight weight control value by multiplying the weight determined using the position coordinate and the direction angle to the absolute position, and the constant speed control value using the distance to the obstacle of the robot and the traveling speed of the robot. Automatic driving control of the robot comprising a constant speed purge inference step for determining and a driving control step for determining a final control value using the straight weight control value and the constant speed control value and controlling the driving of the robot according to the final control value. Way. 10. The linear control according to claim 9, wherein if it is determined that the driving direction of the robot is to the left side in the straight driving reasoning step, the linear control is performed to increase the rotational speed of the left driving motor of the robot and to reduce the rotational speed of the right traveling motor. An automatic driving control method for a robot, characterized in that the value is determined. 10. The method of claim 9, wherein if it is determined that the driving direction of the robot is biased to the right in the straight traveling purge inference step, the driving speed is increased so as to increase the rotation speed of the right driving motor of the robot and at the same time reduce the rotation speed of the left driving motor. An automatic driving control method for a robot, characterized by determining a control value.