KR970069252A - Robot travel control device and method thereof - Google Patents

Abstract

The present invention relates to a robot travel control apparatus and method for easily aligning a robot vertically on a wall surface at the beginning of a work and includes a drive means for moving the robot and a drive means for detecting the travel distance of the robot moved by the drive means A traveling direction detecting means for detecting a traveling direction change of the road boot which is moved by the driving means; a traveling distance detecting means for detecting traveling distance data detected by the traveling distance detecting means, A control means for receiving the direction data and calculating the current position and controlling the driving means so that the robot travels to the target point; and an obstacle detection means for detecting the shortest distance to the wall by scanning the front of the robot, By using the shortest distance from the wall surface to vertically align the robot on the wall surface, The current position can improve the working efficiency by accurately identified.

Description

Robot travel control device and method thereof

Since this is a trivial issue, I did not include the contents of the text.

FIG. 1 is a control block diagram of a robot travel control apparatus according to an embodiment of the present invention. FIG. 2A and FIG. 2B are flow charts showing a procedure for controlling the robot vertical alignment operation according to the present invention. FIG. 4 is an explanatory view illustrating a vertical alignment of a robot with a wall surface according to an embodiment of the present invention; FIG.

Claims (5)

A self-propelled robot for performing a given task while moving on its own, comprising a drive means for moving the robot, a travel distance detecting means for detecting a travel distance of the robot moved by the drive means, And calculating the current position by receiving the running distance data detected by the running distance detecting means and the running direction data detected by the direction angle detecting means, Control means for controlling the driving means so as to travel to a point where the robot travels, and an obstacle sensing means for sensing the shortest distance to the wall surface by scanning the front side of the robot traveling by 180 degrees. The driving control apparatus for a robot according to claim 1, wherein the control means controls the driving means so that the robot is vertically aligned with the wall surface according to the shortest distance to the wall surface detected by the obstacle sensing means. A shortest distance calculating stem for scanning the front of the robot at a predetermined angle by an obstacle detecting means to calculate a shortest distance direction to the wall surface, A vertical direction measurement step of determining whether a direction perpendicular to the shortest distance direction calculated in the shortest distance calculation stem is measurable, and a vertical direction measurement step of determining, in the vertical direction measurement step, whether the direction perpendicular to the shortest distance direction is measured, A second distance measuring step of measuring a distance between two shortest distance directions which are perpendicular to each other by running the robot in a straight line by a predetermined distance; and a second distance measuring step of measuring a distance between the first and second distances The direction of the shortest distance calculated in the shortest distance calculating step according to the distance measured in the measuring step is a direction perpendicular to the wall surface When the drive control method of a robot, characterized in that by rotating in a direction perpendicular to the shortest robot wall consisting of a vertical alignment system for vertically aligning the robot to recognize the wall. 4. The method according to claim 3, wherein in the vertical alignment step, if the distances (L1, L2, L3, L4) measured in the first and second distance measurement steps satisfy the condition of ycosø = L1-L3, The direction of the shortest distance calculated in the direction perpendicular to the wall surface is a direction perpendicular to the wall surface. 4. The method according to claim 3, wherein in the vertical alignment step, if the distances (L1, L2, L3, L4) measured in the first and second distance measurement steps satisfy the condition of ysinø = The direction of the shortest distance calculated in the direction perpendicular to the wall surface is a direction perpendicular to the wall surface. ※ Note: It is disclosed by the contents of the first application.