TWI621834B - Navigation system and navigation method - Google Patents

Abstract

A navigation system includes: a processor and a plurality of ranging modules. The processor is configured to control a moving direction of an electronic device according to a navigation path, obtain a spatial information, and set a waypoint according to the spatial information. The ranging module is used to measure a waypoint distance value between the electronic device and the waypoint. Wherein, when the processor judges that the waypoint distance value is less than a waypoint threshold value, the processor calculates a first distance value and a second distance value according to a plurality of obstacle distance values obtained by the ranging module, and according to the first The difference between the distance value and the second distance value determines the operation behavior.

Description

Navigation system and navigation method

This case is about a navigation system and navigation method. In particular, it relates to a navigation system and a navigation method applied to a mobile robot.

Robot navigation technology is becoming more and more mature. However, robots used in home-based services need to have better and more stable autonomous navigation capabilities due to the highly uncertain home environment and obstacles.

This case provides a navigation system applied to an electronic device. The navigation system includes a processor and a plurality of ranging modules. The processor is configured to control a moving direction of an electronic device according to a navigation path, obtain a spatial information, and set a waypoint according to the spatial information. The ranging module is used to measure a waypoint distance value between the electronic device and the waypoint. Wherein, when the processor judges that the waypoint distance value is less than a waypoint threshold, the processor The plurality of obstacle distance values obtained by the ranging module calculate a first distance value and a second distance value. When the first distance value is less than the second distance value, the processor controls the electronic device to perform a first behavior. If a distance value is greater than the second distance value, the processor controls the electronic device to perform a second behavior. When the first distance value is equal to the second distance value, the processor controls the electronic device to perform a third behavior.

Another navigation method in this case includes: obtaining a spatial information, setting a waypoint based on the spatial information; measuring a waypoint distance value between an electronic device and the waypoint; and determining whether the waypoint distance value is less than a waypoint threshold value; When determining that the waypoint distance value is less than a waypoint threshold value, a processor calculates a first distance value and a second distance value based on the plurality of obstacle distance values obtained by the plurality of ranging modules. If the value is less than the second distance value, the processor controls the electronic device to perform a first behavior. When the first distance value is greater than the second distance value, the processor controls the electronic device to perform a second behavior. When the first distance value is equal to the second distance value, The distance value, the processor controls the electronic device to perform a third behavior.

R1, R2, R3, R4, R5‧‧‧ area

S1, S2, S3, S4, S5‧‧‧ ranging module

10‧‧‧ processor

20‧‧‧Storage Module

30‧‧‧ Power Supply

100‧‧‧ Navigation System

150‧‧‧ Robot

HD‧‧‧Head

C1, C2‧‧‧ camera

NK‧‧‧Support

BD‧‧‧Body

A-A‧‧‧Along the line

WH1, WH2‧‧‧ wheels

RM‧‧‧Operating environment

BK1, BK2, BK3‧‧‧wall

L1‧‧‧Width

L2‧‧‧ length

a, b, c, d, e‧‧‧ directions

r1, r2, r3, r4‧‧‧ range

SP‧‧‧ Start of Obstacle Space

WP‧‧‧Waypoints

EP‧‧‧ End of Obstacle Space

300‧‧‧ Navigation method

310 ~ 370‧‧‧step

TCr0‧‧‧ steering coefficient

Vr0‧‧‧ travel speed

SF, SFR, SFL‧‧‧ obstacle distance value

In order to make the above and other objects, features, advantages, and embodiments of the present disclosure more comprehensible, the description of the accompanying drawings is as follows: FIG. 1A is a guide according to an embodiment of the present invention. 1B is a schematic diagram of a mobile robot according to an embodiment of the present case; FIG. 2 is a schematic diagram of an operating environment of a navigation system according to an embodiment of the present case; and FIG. 3 is a diagram according to the present case A flowchart of a navigation method shown in an embodiment; FIGS. 4A to 4F are schematic diagrams of output results of a navigation system according to an embodiment of the case; and FIGS. 5A, 6A, 7A, and 8A are implemented according to the case A schematic diagram of the parameter correspondence of a navigation method is illustrated as an example; and Figures 5B, 6B, 7B, and 8B are schematic diagrams of the operation behavior of a navigation system according to an embodiment of the present invention.

Please refer to FIGS. 1A to 1B. FIG. 1A is a schematic diagram of a navigation system 100 according to an embodiment of the present invention. FIG. 1B is a schematic diagram of a mobile robot 150 according to an embodiment of the present invention. In one embodiment, the navigation system 100 includes a processor 10 and a plurality of ranging modules S1 to S5. In one embodiment, the navigation system 100 further includes a storage module 20 and a power supply 30.

In an embodiment, the processor 10 may be a micro controller, a microprocessor, a digital signal processor, an application specific integrated circuit (ASIC), or a microprocessor. Logic circuit to achieve it. In one embodiment, the ranging modules S1 to S5 include an ultrasonic transmitter, a receiver, and a control circuit. In an embodiment, the ranging modules S1 to S5 may be ultrasonic ranging modules, laser rangefinders, or other devices with a ranging function. In one embodiment, the storage module 20 may be used to store at least one map information, and the storage module 20 may be implemented by a device such as a memory, a hard disk, a flash memory card, and the like.

In one embodiment, the processor 10, the plurality of ranging modules S1 to S5, the storage module 20, and the power supply 30 may be disposed inside the mobile robot 150 (for example, the main body BD). For example, as shown in FIG. 1B, if the mobile robot 150 is cut transversely along the line A-A, the arrangement of the components shown in FIG. 1A can be seen from a top view.

In an embodiment, the electronic device described in this case may be a mobile robot 150. However, this case is not limited to this, and some electronic devices with a mobile function can also apply the present invention. In one embodiment, the mobile robot 150 is a home service robot with autonomous navigation function, and can move according to a navigation path defined in advance or detected in real time. For example, the mobile robot 150 can move between a living room and a room.

In one embodiment, the mobile robot 150 is connected to the head HD and the main body BD through at least one support portion NK.

In an embodiment, the processor 10 in the mobile robot 150 can rotate the wheels WH1 and WH2 by controlling a motor (not shown), thereby controlling the speed and steering of the wheels WH1 and WH2, so that the mobile robot 150 can follow the navigation path. mobile.

In an embodiment, the head HD of the mobile robot 150 may include cameras C1 and C2 for capturing images. In one embodiment, the cameras C1 and C2 may be composed of at least one Charge Coupled Device (CCD) or a complementary metal-oxide semiconductor (CMOS) sensor.

Next, please refer to FIGS. 2 to 3 together. FIG. 2 is a schematic diagram of an operating environment RM of a navigation system 100 according to an embodiment of the present invention. FIG. 3 is a flowchart of a navigation method 300 according to an embodiment of the present invention. It should be noted that the following embodiments of the present invention can be implemented by the navigation system 100 in FIG. 1A. However, the ranging module of the present invention is not limited to the five ranging modules S1 to S5, and can also be implemented as required. Need to adjust the number and location of ranging modules.

In FIG. 2, the operating environment RM of the navigation system 100 may be a living space of a user. For example, the operating environment RM may include multiple walls BK1 to BK3 to separate rooms. In addition, the processor 10 of the navigation system 100 can read this from the storage module 20 Map information of the operating environment RM, and set a navigation path and obtain spatial information according to the map information, wherein the spatial information includes at least one obstacle position. In an embodiment, the spatial information includes, for example, aisle position, aisle length, wall position, wall thickness, wall length, door position, door width, etc. In an embodiment, the walls BK1 to BK3 are regarded as obstacles when the navigation system 100 is moving, and the positions of the walls BK1 to BK3 are the positions of the obstacles.

In one embodiment, the processor 10 uses map information to cooperate with a known autonomous wayfinding method (such as a random coverage method or a path planning method) to plan a navigation path. Since the processor 10 can plan the route through a known autonomous wayfinding method, it will not be repeated here.

In step 310, the processor 10 obtains spatial information and sets a waypoint WP according to the spatial information.

For example, as shown in FIG. 2, after the processor 10 sets the navigation path and obtains the spatial information based on the map information, it can be learned that there is a room door (or a small one) between the walls BK1 and BK2 in the operating environment RM. Access), and the door has a length L2 (for example, 80 cm) and a width L1 (for example, 20 cm); therefore, the processor 10 sets the waypoint WP in the middle of the door (about the length L2 and the width L1 in the middle). For example, the processor 10 plans the mobile robot 150 toward the waypoint WP from the current position in the direction a go ahead. In some embodiments, the processor 10 only needs to set the waypoint WP approximately at the door position.

In an embodiment, the processor 10 is further configured to set the obstacle space start point SP and the obstacle space end point EP according to at least one obstacle position, and set the waypoint WP between the obstacle space start point SP and the obstacle space end point EP.

Thereby, when the processor 10 judges that the mobile robot 150 has moved to the starting point SP of the obstacle space, it can be known that the mobile robot 150 is about to pass the waypoint WP (representing a relatively small space). At this time, the processor 10 can further detect and adjust The turning and traveling speed of the mobile robot 150 prevents the mobile robot 150 from colliding with an obstacle. Then, when the processor 10 detects and determines that the mobile robot 150 has moved to the end point EP of the obstacle space, it means that the mobile robot 150 has passed the waypoint WP.

In step 320, the ranging modules S1 to S5 measure the waypoint distance values between the mobile robot 150 and the waypoint WP, respectively.

In an embodiment, the ranging modules S1 to S5 can apply known positioning methods (such as environment map model matching positioning and beacon positioning methods) to learn the distance between the current position of the mobile robot 150 and the waypoint WP. And treat this distance as a waypoint distance value.

In an embodiment, the mobile robot 150 may also cooperate with the application of the cameras C1 and C2 to capture environmental images or depth images to measure the waypoint distance value between the mobile robot 150 and the waypoint WP, or An encoder is applied to measure the waypoint distance value between the mobile robot 150 and the waypoint WP.

In step 330, the processor 10 determines whether the waypoint distance value is less than a waypoint threshold value. If yes, go to step 340; if no, go back to step 320 to continuously detect the waypoint distance value between the mobile robot 150 and the waypoint WP. In an embodiment, the processor 10 may set the waypoint threshold value to a certain value (for example, 30 cm) in advance to determine whether the waypoint distance value is less than 30 cm.

In another embodiment, the processor 10 may set the waypoint threshold value in advance as the distance between the obstacle space starting point SP and the waypoint WP (for example, 40 cm); therefore, when the waypoint distance value is 30 cm The processor 10 determines that the waypoint distance value is less than a waypoint threshold value. On the other hand, when the waypoint distance value is 50 cm, the processor 10 determines that the waypoint distance value is not less than a waypoint threshold value.

In an embodiment, when the processor 10 determines that the mobile robot 150 is located at the starting point SP of the obstacle space, the processor 10 controls the mobile robot 150 to advance at a first traveling speed (for example, to advance at a relatively slow traveling speed); when the processor 10 After determining that the mobile robot 150 has passed the waypoint WP and when the mobile robot 150 reaches the obstacle space end point EP, the processor 10 controls the mobile robot 150 to advance at a second traveling speed (for example, to advance at a relatively fast traveling speed). Among them, the first traveling speed is lower than the second traveling speed.

With this, the processor 10 can determine whether the mobile robot 150 has moved (or passed) the starting point SP of the obstacle space, and when the processor 10 When it is determined that the mobile robot 150 has moved to the starting point SP of the obstacle space, the process proceeds to step 340.

In step 340, the processor 10 obtains a plurality of obstacle distance values from the ranging modules S1 to S5, and calculates a first distance value and a second distance value based on the obstacle distance values (that is, the obstacle distances are calculated). Value into a fuzzy theory algorithm to obtain the first distance value and the second distance value).

In one embodiment, the first distance value represents a rightward distance value, and the second distance value represents a leftward distance value. In addition, the method of obtaining the rightward distance value and the leftward distance value will be described in detail in the following embodiments.

In an embodiment, the obstacle distance value is a distance between the mobile robot 150 and at least one obstacle position.

In an embodiment, as shown in FIG. 1A, the ranging modules S1 to S5 are respectively disposed on the front side, the left side, the right side, the left front side, and the right front side inside the mobile robot 150, wherein the ranging module S1 can face the area R1 sends an ultrasonic wave to know whether there is an obstacle in the area R1, and measures the distance between the obstacle and the mobile robot 150. Similarly, the ranging modules S2, S3, S4, and S5 can each face the area. R2, R3, R4, and R5 send ultrasonic waves to know whether there are obstacles in the areas R2, R3, R4, and R5, and measure the distance between the obstacles and the mobile robot 150. However, the ranging modules S1 to S5 in this case are not Limited to this configuration method, it can also adjust its respective setting position according to actual needs.

Next, the processor 10 substitutes these obstacle distance values into a fuzzy theory algorithm to obtain rightward distance values and leftward distance values.

In one embodiment, the fuzzy theory algorithm is a logical method that uses natural language to describe the current state. It uses the characteristics of imprecision and ambiguity in natural language to form a fuzzy set with fuzzy inference. (Fuzzy Set), a control method for controlling the uncertainty of a problem processing system, has the advantages of better adaptability and robustness.

In an embodiment, the fuzzy theory algorithm includes the following operations: if x is X, then y is Y ; ... (1)

R ⁿ : if x ₁ is And ... x _i is Then y is Y ⁿ , n = 1,2, ... N , i = 1,2 ... I ; ... (2)

Because the fuzzy condition description is used to infer inaccurate models, as shown in the above formula (1), where "x is X " is the former term (Antecedent), "y is Y " is the latter term (Consequent), X and Y Membership functions of fuzzy sets. When fuzzy inference contains N rules, it can be expressed as the above formula (2), where x is the input, y is the output, and I is the number of fuzzy sets.

In addition, in the above formulas (1) to (2), the symbol Rn represents the nth rule, where the range of the symbol n is 1 to any natural number N; the symbol x represents the obstacle distance value, and the symbol X represents the obstacle distance value. The symbol y represents a steering coefficient and a traveling speed, and the symbol Y represents a steering coefficient and a traveling speed; the symbol i represents an i-th collection, where the symbol i ranges from 1 to any positive integer I.

In an embodiment, please refer to FIGS. 4A to 4F. FIGS. 4A to 4F are schematic diagrams of output results of a navigation system 100 according to an embodiment of the present invention. When the number of sets is 5 (i = 1 ~ 5), the obstacle distance values (for example, SF, SFR, SFL, SR, and SL) measured by the ranging modules S1 to S5 can each correspond to the symbol x ₁ ~ x ₅ ; In other words, when the symbol i is 5, set at least one of the obstacle distance values SF, SFR, SFL, SR (not shown), and SL (not shown) measured by the ranging modules S1 to S5. After one of them is substituted into the above expression, a set of steering coefficients and travel speeds y can be output. This set of steering coefficients and travel speeds y belong to the set Y. Among them, the steering coefficient (for example, can be expressed as a symbol TCr0) and the traveling speed (for example, can be expressed as a symbol Vr0). It should be noted that those with ordinary knowledge in the art should understand that Figures 4A to 4F are only examples, and the present invention only needs to obtain at least one of the obstacle distance values SF, SFR, SFL, SR, and SL. Corresponds to the steering coefficient and / or travel speed to generate at least one of these statistical patterns.

In an embodiment, the obstacle distance values SF, SFR, SFL, SR, and SL measured by the ranging modules S1 to S5 respectively represent the distance values of their respective distances from the obstacle (for example, the wall surface BK2).

For example, in FIG. 4A, after the multiple obstacle distance values SF measured by the ranging module S1 and the multiple obstacle distance values SFR measured by the ranging module S2 are substituted into the aforementioned fuzzy theoretical algorithm, multiple turns can be obtained. Coefficient TCr0. Similarly, in FIG. 4B, after the multiple obstacle distance values SF measured by the ranging module S1 and the multiple obstacle distance values SFL measured by the ranging module S3 are substituted into the aforementioned fuzzy theoretical algorithm, multiple strokes can be obtained. Steering coefficient TCr0. In Fig. 4C, after the multiple obstacle distance values SFL measured by the ranging module S3 and the multiple obstacle distance values SFR measured by the ranging module S2 are substituted into the aforementioned fuzzy theoretical algorithm, multiple steering coefficients TCr0 can be obtained. .

For another example, in FIG. 4D, after the multiple obstacle distance values SF measured by the ranging module S1 and the multiple obstacle distance values SFR measured by the ranging module S2 are substituted into the aforementioned fuzzy theoretical algorithm, multiple strokes can be obtained. Travel speed Vr0. Similarly, in Fig. 4E, after the multiple obstacle distance values SF measured by the ranging module S1 and the multiple obstacle distance values SFL measured by the ranging module S3 are substituted into the aforementioned fuzzy theoretical algorithm, multiple strokes can be obtained. Travel speed Vr0. In Figure 4F, the multiple obstacle distance values SFL measured by the ranging module S3 and the multiple obstacle distance values SFR measured by the ranging module S2 are shown. Substituting the aforementioned fuzzy theory algorithm, multiple travel speeds Vr0 can be obtained.

Thereby, the processor 10 can obtain the steering coefficient TCr0 and the traveling speed Vr0 by substituting the obstacle distance value (such as the obstacle distance value SFL, the obstacle distance value SFL) into the fuzzy theory algorithm.

In an embodiment, the traveling speed Vr0 and / or steering coefficient TCr0 obtained by the processor 10 according to the fuzzy theory algorithm represents that when the mobile robot 150 runs at the traveling speed Vr0 and / or the steering coefficient TCr0, collisions can be avoided. obstacle.

In addition, the processor 10 can learn the current steering coefficient and the current travel speed of the mobile robot 150 by reading the motor speed or other known positioning methods, and determine the current mobile robot based on the current steering coefficient and the current travel speed. 150 When approaching the obstacle space (such as the door of the house), whether the travel route is too right or left, and then adjust the current steering coefficient and current travel speed to the travel speed Vr0 and / or the steering coefficient TCr0 to avoid collision To obstacles.

Hereinafter, an embodiment in which the current steering coefficient and the current traveling speed are adjusted to the traveling speed Vr0 and / or the steering coefficient TCr0 will be described in detail. For the convenience of description, the obstacle distance value SFR and the obstacle distance value SFL are taken as examples in the following description, and the obstacle distance value SFR is defined as a rightward distance value, and the obstacle distance value SFL is defined as a leftward distance value.

Please refer to FIGS. 5A to 5B, 6A to 6B, 7A to 7B, and 8A to 8B together. FIGS. 5A, 6A, 7A, and 8A are schematic diagrams of parameter correspondences of a navigation method according to an embodiment of the present invention. 5B, 6B, 7B, and 8B are schematic diagrams of an operation behavior of a navigation system according to an embodiment of the present invention. In these figures, the obstacle distance value SFR, the obstacle distance value SFL, and the steering coefficient TCr0 are taken as examples. However, this case is not limited to this, and can be combined in a similar manner or based on other obstacle distance values SF, SR, and SL. The travel speed Vr0 and / or the steering coefficient TCr0 of the mobile robot 150 is obtained. For example, it can also be implemented to define the obstacle distance value SR as a rightward distance value and the obstacle distance value SF as a leftward distance value. To adjust the current travel speed and / or steering coefficient to achieve the target travel speed Vr0 and / or steering coefficient TCr0.

In addition, the navigation system 100 shown in FIGS. 5A to 5B, 6A to 6B, 7A to 7B, and 8A to 8B is the same as the navigation system 100 shown in FIG. 1A, so the details will not be described again. Of it.

In an embodiment, the processor 10 determines the magnitude of the rightward distance value and the leftward distance value to know that when the navigation system 100 travels through a small obstacle space (such as a door), it is more inclined to the right wall BK1 of the door. Or the left wall BK2 to adjust the corresponding steering or speed to prevent the mobile robot 150 from colliding with an obstacle (such as the right wall BK1 or the left wall BK2).

In an embodiment, as shown in FIGS. 5A to 5B, in the range r1, when the processor 10 determines that the rightward distance value SFR is smaller than the leftward distance value SFL, it means that the distance between the mobile robot 150 and the right obstacle is shorter. Since the distance from the obstacle on the left is longer, it can be determined that the mobile robot 150 is closer to the right. In an embodiment, when the rightward distance value is smaller than the leftward distance value, the process proceeds to step 350. In step 350, the processor 10 controls the mobile robot 150 to perform a first action. Among them, the first action means that the mobile robot 150 moves forward in the leftward direction (direction b as shown in FIG. 5B).

Based on similar concepts, in another embodiment, when the rightward distance value is greater than the leftward distance value, it means that the distance between the mobile robot 150 and the obstacle on the left is shorter, and the distance from the obstacle on the right is longer, so it can be judged that it is moving The robot 150 is closer to the left. Go to step 360. In step 360, the processor 10 controls the mobile robot 150 to perform a second behavior. Among them, the second behavior means that the mobile robot 150 advances in the forward right direction.

In an embodiment, as shown in FIGS. 6A to 6B, in the range r2, when the processor 10 determines that the rightward distance value SFR is smaller than the leftward distance value SFL, the processor 10 sets the leftward distance value and the rightward distance Subtract the values to obtain a difference and determine whether the difference is greater than a difference threshold (for example, the difference threshold is 5 cm; if it is greater than the difference threshold, the mobile robot 150 is too close to the right side). If the value is greater than the difference threshold, the first action performed by the processor 10 to control the mobile robot 150 is for the mobile robot 150 to According to a first steering coefficient (such as direction b in FIG. 5B, the first steering coefficient is assumed to be 0.8, which means that the degree of turning to the left is greater). Moving forward in the leftward direction. The first action performed by the controller 10 to control the mobile robot 150 is to move the mobile robot 150 forward to the left according to a second steering coefficient (such as the direction c in FIG. 6B. The second steering coefficient is assumed to be 0.3, which means that the degree of turning left is small) Moving forward; wherein the absolute value of the first steering coefficient is greater than the absolute value of the second steering coefficient.

By this, when the mobile robot 150 is biased too far toward the right obstacle, the processor 10 controls the mobile robot 150 to rotate to the left at a large left-turn angle (that is, the absolute value of the steering coefficient is large) to avoid collision; when the mobile robot 150 When the obstacle is only slightly deviated to the right, the processor 10 controls the mobile robot 150 to rotate to the left at a small left-turn angle (that is, the absolute value of the steering coefficient is small) to fine-tune the path.

Based on similar concepts, in another embodiment, when the rightward distance value SFR is greater than the leftward distance value SFL, the processor 10 subtracts the rightward distance value SFR and the leftward distance value SFL to obtain a difference, and Determine whether the difference is greater than a difference threshold (a value greater than the difference threshold indicates that the mobile robot 150 is too close to the left side). If it is determined that the difference is greater than the difference threshold, the second behavior that the processor 10 controls the mobile robot 150 to perform is The mobile robot 150 advances to the right forward direction according to a first steering coefficient (the first steering coefficient is assumed to be -0.8). If it is determined that the difference is not greater than the difference threshold, the processing is performed. The second behavior performed by the processor 10 to control the mobile robot 150 is that the mobile robot 150 advances in the forward right direction according to a second steering coefficient (the second steering coefficient is assumed to be -0.3); wherein the absolute value of the first steering coefficient is greater than the second steering The absolute value of the coefficient.

By this, when the mobile robot 150 is too far to the left obstacle, the processor 10 controls the mobile robot 150 to rotate to the right with a large right turn angle to avoid collision; when the mobile robot 150 is only slightly inclined to the left obstacle, the processing The controller 10 controls the mobile robot 150 to rotate to the right at a small right-turning angle to fine-tune the path.

In an embodiment, as shown in FIGS. 7A to 7B, in the range r3, when the processor 10 determines that the rightward distance value SFR is equal to the leftward distance value SFL, it represents that the mobile robot 150 is currently moving in the forward direction d. , So proceed to step 370. In step 370, the processor 10 controls the mobile robot 150 to perform a third behavior. Among them, the third behavior means that 150 people move the machine forward.

In an embodiment, as shown in Figs. 8A to 8B, in the range r4, the mobile robot 150 goes straight in the direction e. In this example, the mobile robot 150 has passed the waypoint WP safely and without collision.

In summary, the waypoint setting enables the navigation system to detect when the mobile robot is about to move to the waypoint, and it can be inferred that the mobile robot will move to a narrower space position. At this time, the navigation system can use fuzzy theory algorithms. To get a mobile robot The target's travel speed and steering coefficient. When the mobile robot moves according to this travel speed and steering coefficient, it can avoid collision with obstacles. Therefore, the mobile robot's movement behavior can be adjusted according to the travel speed and steering coefficient to avoid the mobile robot collision. Effect to obstacles.

Although this case has been disclosed as above with examples, it is not intended to limit this case. Any person skilled in this art can make various modifications and retouches without departing from the spirit and scope of this case. Therefore, the scope of protection of this case should be considered after The attached application patent shall prevail.

Claims (16)

A navigation system applied to an electronic device. The navigation system includes: a processor for controlling a moving direction of the electronic device according to a navigation path, obtaining a spatial information, and setting a waypoint according to the spatial information; And a plurality of ranging modules for measuring a waypoint distance value between the electronic device and the waypoint; wherein when the processor judges that the waypoint distance value is less than a waypoint threshold value, the processor determines The plurality of obstacle distance values obtained by the ranging modules are substituted into a fuzzy theory algorithm to calculate a first distance value and a second distance value. When the first distance value is less than the For a second distance value, the processor controls the electronic device to perform a first behavior. When the first distance value is greater than the second distance value, the processor controls the electronic device to perform a second behavior. The distance value is equal to the second distance value, the processor controls the electronic device to perform a third behavior, wherein the fuzzy theory algorithm includes the following operations: if x is X, then y is Y ; R ⁿ : if x ₁ is And ... x _i is Then y is Y ⁿ , n = 1,2, ... N , i = 1,2 ... I ; where the symbol R ⁿ represents the nth rule, where the range of the symbol n is 1 to any natural number N; the symbol x represents the obstacle distance values, the symbol X represents the collection of the obstacle distance values; the symbol y represents a steering coefficient and the traveling speed, and the symbol Y represents the steering coefficient and the traveling speed; the symbol i represents the first i sets, where the symbol i ranges from 1 to any positive integer I. The navigation system according to claim 1, further comprising: a storage module for storing a map information; wherein the processor sets the navigation path and obtains the spatial information according to the map information, and the spatial information includes at least An obstacle position. The navigation system according to claim 2, wherein the processor further sets an obstacle space start point and an obstacle space end point according to the at least one obstacle position, and sets the waypoint between the obstacle space start point and the obstacle space end point. Among them, when the processor determines that the electronic device is located at the starting point of the obstacle space, the processor controls the electronic device to advance at a first traveling speed; wherein when the processor determines that the electronic device passes the waypoint and When the electronic device reaches the end of the obstacle space, the processor controls the electronic device to advance at a second traveling speed; wherein the first traveling speed is lower than the second traveling speed. The navigation system according to claim 1, wherein the ranging modules are respectively disposed on a front side, a left side, a right side, a left front side, and a right front side inside the electronic device. The navigation system according to claim 2, wherein the obstacle distance values are a distance between the electronic device and the at least one obstacle position. The navigation system according to claim 1, wherein the first behavior refers to the electronic device moving forward and left, the second behavior refers to the electronic device moving forward and right, and the third behavior refers to the electronic device. Move forward. The navigation system according to claim 1, wherein when the first distance value is smaller than the second distance value, the processor subtracts the second distance value from the first distance value to obtain a first difference And determine whether the first difference is greater than a difference threshold. If it is determined that the first difference is greater than the difference threshold, the first behavior performed by the electronic device is that the electronic device is based on a first steering coefficient. Moving forward in the leftward direction, if it is determined that the first difference is not greater than the difference threshold, the first behavior performed by the electronic device is that the electronic device moves forward in the leftward direction according to a second steering coefficient; wherein the first turning The absolute value of the coefficient is greater than the absolute value of the second steering coefficient. The navigation system according to claim 1, wherein when the first distance value is greater than the second distance value, the processor subtracts the first distance value from the second distance value to obtain a first difference Value, and determine whether the first difference is greater than a difference threshold, If it is determined that the first difference value is greater than the difference threshold value, the processor controls the second behavior performed by the electronic device as the electronic device advances to the right forward direction according to a first steering coefficient. If the first difference value is determined Not greater than the difference threshold, the second behavior that the processor controls the electronic device to perform is that the electronic device proceeds to the right forward direction according to a second steering coefficient; wherein the absolute value of the first steering coefficient is greater than the first steering coefficient The absolute value of the second steering coefficient. A navigation method includes: obtaining a space information, setting a waypoint according to the space information; measuring a waypoint distance value between an electronic device and the waypoint; determining whether the waypoint distance value is less than a waypoint threshold; when When determining that the waypoint distance value is less than a waypoint threshold value, a processor calculates a number of obstacle distance values into a fuzzy theory algorithm based on a plurality of obstacle distance values obtained by a plurality of ranging modules. A distance value and a second distance value to obtain the first distance value and the second distance value; when the first distance value is less than the second distance value, the processor controls the electronic device to perform a first behavior, When the first distance value is greater than the second distance value, the processor controls the electronic device to perform a second behavior. When the first distance value is equal to the second distance value, the processor controls the electronic device to perform a second behavior. The third behavior, in which the fuzzy theory algorithm includes the following operations: if x is X, then y is Y ; R ⁿ : if x ₁ is And ... x _i is Then y is Y ⁿ , n = 1,2, ... N , i = 1,2 ... I ; where the symbol R ⁿ represents the nth rule, where the range of the symbol n is 1 to any natural number N; the symbol x represents the obstacle distance values, the symbol X represents the collection of the obstacle distance values; the symbol y represents a steering coefficient and the traveling speed, and the symbol Y represents the steering coefficient and the traveling speed; the symbol i represents the first i sets, where the symbol i ranges from 1 to any positive integer I. The navigation method according to claim 9, further comprising: storing a map information by a storage module; wherein the processor sets a navigation path and obtains the spatial information according to the map information, and the spatial information includes At least one obstacle position. The navigation method according to claim 10, further comprising: setting an obstacle space start point and an obstacle space end point according to the at least one obstacle position, and setting the waypoint between the obstacle space start point and the obstacle space end point; And determining whether the electronic device is located at the beginning of the obstacle space by the processor; wherein, when the processor determines that the electronic device is located at the beginning of the obstacle space, the processor controls the electronic device to Advancing speed; wherein, when the processor determines that the electronic device has passed the waypoint and after the electronic device reaches the end of the obstacle space, the processor controls the electronic device to proceed at a second traveling speed; wherein, the first The traveling speed is lower than the second traveling speed. The navigation method according to claim 9, wherein the ranging modules are respectively disposed on a front side, a left side, a right side, a left front side, and a right front side inside the electronic device. The navigation method according to claim 10, wherein the obstacle distance values are a distance between the electronic device and the at least one obstacle position. The navigation method according to claim 9, wherein the first behavior refers to the electronic device moving forward left, the second behavior refers to the electronic device moving forward right, and the third behavior refers to the electronic device moving forward. Move forward. The navigation method according to claim 9, wherein when the first distance value is less than the second distance value, the step of the processor controlling the electronic device to perform the first behavior includes: when the first distance value is less than the first distance value When there are two distance values, the processor subtracts the second distance value from the first distance value to obtain a first difference value, and determines whether the first difference value is greater than a difference threshold. Value, if it is judged that the first difference value is greater than the difference threshold value, the electronic device is controlled to move forward and left according to a first steering coefficient; if it is judged that the first difference value is not greater than the difference threshold value, the control is controlled The electronic device moves forward in the leftward direction according to a second steering coefficient; wherein the absolute value of the first steering coefficient is greater than the absolute value of the second steering coefficient. The navigation method according to claim 9, wherein when the first distance value is greater than the second distance value, the step of the processor controlling the electronic device to perform the second behavior includes: when the first distance value is greater than the first distance value When there are two distance values, the processor subtracts the first distance value from the second distance value to obtain a first difference value, and determines whether the first difference value is greater than a difference threshold value. If a difference value is greater than the difference threshold value, the electronic device is controlled to proceed to the right forward direction according to a first steering coefficient. If it is determined that the first difference value is not greater than the difference threshold value, the electronic device is controlled according to a second The steering coefficient moves forward in the rightward direction; wherein the absolute value of the first steering coefficient is greater than the absolute value of the second steering coefficient.