Running control system of robot and method thereof
First Claim
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1. A running control system for guiding a robot comprising:
- a controller for controlling an overall running operation of the robot in accordance with input signals supplied thereto;
a drive unit including left and right running motors connected to the controller for moving and guiding the robot in a running direction in accordance with an output signal from the controller;
a running distance detector connected to the controller for detecting a running distance of the robot moved by the drive unit and outputting a running distance signal proportionate thereto to the controller as one of the input signals;
a directional angle detector connected to the controller for detecting a running direction varied by the drive unit and outputting a directional angle signal proportionate thereto to the controller as one of the input signals; and
an obstacle detector connected to the controller for detecting an obstacle within a prescribed area to be traversed by the robot and a distance to the obstacle and outputting an obstacle distance signal proportionate thereto to the controller as one of the input signals.
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Abstract
A running control system of a mobil robot performs a fuzzy inference according to a position error, directional error and instantaneous directional angle detected in the travel of the robot, so that the robot can travel accurately to a target point and perform operations such as cleaning and monitoring. An obstacle detecting unit detects whether or not there is an obstacle within a prescribed area to be traveled by the robot and for detecting a distance to the obstacle.
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Citations
6 Claims
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1. A running control system for guiding a robot comprising:
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a controller for controlling an overall running operation of the robot in accordance with input signals supplied thereto; a drive unit including left and right running motors connected to the controller for moving and guiding the robot in a running direction in accordance with an output signal from the controller; a running distance detector connected to the controller for detecting a running distance of the robot moved by the drive unit and outputting a running distance signal proportionate thereto to the controller as one of the input signals; a directional angle detector connected to the controller for detecting a running direction varied by the drive unit and outputting a directional angle signal proportionate thereto to the controller as one of the input signals; and an obstacle detector connected to the controller for detecting an obstacle within a prescribed area to be traversed by the robot and a distance to the obstacle and outputting an obstacle distance signal proportionate thereto to the controller as one of the input signals. - View Dependent Claims (2, 3)
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4. A method of controlling the running of a robot having left and right drive motors, comprising the steps of:
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A) detecting a running distance of the robot; B) detecting a directional angle of travel of the robot; C) determining from the detected running distance and detected directional angle a path error, a position error, a directional angle error, and an instantaneous directional angle of the robot; D) performing a path control fuzzy inference using the path error to calculate path control output variation magnitudes of the left and right running motors; E) calculating a speed error by comparing the running distance with a reference speed; F) performing a speed control fuzzy interference using the speed error to calculate speed control output variation magnitudes of the left and right drive motors; and G) calculating from the path control output variation magnitudes and the speed control output magnitudes, final output magnitudes of the left and right drive motors. - View Dependent Claims (5, 6)
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Specification