JPH0527832A - Present position recognizing method for mobile robot - Google Patents
Present position recognizing method for mobile robotInfo
- Publication number
- JPH0527832A JPH0527832A JP3179397A JP17939791A JPH0527832A JP H0527832 A JPH0527832 A JP H0527832A JP 3179397 A JP3179397 A JP 3179397A JP 17939791 A JP17939791 A JP 17939791A JP H0527832 A JPH0527832 A JP H0527832A
- Authority
- JP
- Japan
- Prior art keywords
- robot
- distance
- wall surface
- mobile robot
- point
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims description 7
- 238000005070 sampling Methods 0.000 claims abstract description 24
- 238000010586 diagram Methods 0.000 description 3
- 238000000926 separation method Methods 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
Landscapes
- Feedback Control In General (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は掃除ロボット等の移動ロ
ボットの現在位置認識方法に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for recognizing a current position of a mobile robot such as a cleaning robot.
【０００２】[0002]
【従来の技術】図２は目標点に向かって進む移動ロボッ
トの経路を示した図であり、横方向をｘ軸方向、縦方向
をｙ軸方向としている。図１において壁面Ｗからl1だけ
離れた支点Ｏから壁面Ｗに対して平行に進んで目標点Ｔ
に到達する場合を想定する。一回のサンプリング時間に
進んだ走行距離をΔＬとし、そのサンプリング時間時の
理想位置Ａは始点Ｏから壁面Ｗに沿ってΔＬだけ離れた
ところにあり、壁面Ｗからの離間距離は始点Ｏと同じく
l1で、向きは矢印ａ方向（ｙ軸方向）である。2. Description of the Related Art FIG. 2 is a diagram showing a path of a mobile robot moving toward a target point, where the horizontal direction is the x-axis direction and the vertical direction is the y-axis direction. In FIG. 1, a fulcrum O that is separated from the wall surface W by l1 advances in parallel to the wall surface W and reaches a target point T.
Suppose you reach. Let ΔL be the traveled distance during one sampling time, and the ideal position A at that sampling time is a distance ΔL from the starting point O along the wall surface W, and the distance from the wall surface W is the same as the starting point O.
In l1, the direction is the arrow a direction (y-axis direction).
【０００３】ところで実際に移動ロボットを走行させる
と床面の状態や移動開始時の方向のズレによって思惑通
りには進まず、例えば前記サンプリング時間後の実際の
位置は壁面Ｗからl2（l2＞l1）の離間距離を有するＣで
あり、矢印ｃ方向（ｙ軸方向に対してθだけ傾いた方
向）を向いている場合が起こる。By the way, when the mobile robot is actually run, it does not proceed as expected due to the state of the floor surface and the deviation of the direction at the start of movement. For example, the actual position after the sampling time is l2 (l2> l1) from the wall surface W. ), Which has a separation distance of), and faces in the direction of arrow c (direction inclined by θ with respect to the y-axis direction).
【０００４】従来この実際位置Ｃを認識する際、壁面Ｗ
からの離間距離のみを超音波センサ等で検出していたた
めにその認識位置は理想位置Ａを壁面Ｗに対して平行移
動したＢにあり、その向きも矢印ｂで示すように矢印ａ
と同一方向を向いているように認識してしまう場合があ
った。Conventionally, when recognizing the actual position C, the wall surface W
Since the ultrasonic sensor or the like detects only the separation distance from the target position, the recognition position is at B, which is a parallel translation of the ideal position A with respect to the wall surface W, and its direction is also indicated by arrow a as indicated by arrow b.
In some cases, it was perceived as facing in the same direction as.
【０００５】このように従来の方法では移動ロボットの
実際位置Ｃと認識位置Ｂとに食い違いが生じるため、目
標点Ｔへの到達精度が悪く、到達時間が長くかかるとい
う問題点があった。As described above, in the conventional method, since the actual position C and the recognized position B of the mobile robot are inconsistent with each other, the accuracy of reaching the target point T is poor and the arrival time is long.
【０００６】[0006]
【発明が解決しようとする課題】本発明は上記従来技術
の問題点に鑑み成されたものであり、移動ロボットの実
際の位置を的確に認識し、目標点への到達精度を向上す
ることを目的とする。SUMMARY OF THE INVENTION The present invention has been made in view of the above problems of the prior art, and aims to improve the accuracy of reaching the target point by accurately recognizing the actual position of the mobile robot. To aim.
【０００７】[0007]
【課題を解決するための手段】本発明は、最終目標点に
向かって進む移動ロボットの所定サンプリング時間内に
進んだ走行距離とその時点における任意の壁面からの離
間距離とを所定のサンプリング周期で測定し、前回のサ
ンプリング時点における移動ロボットの位置を中心とし
た前記走行距離を半径とする円上であって前記壁面から
の離間距離に一致する点を今回のサンプリング時におけ
る移動ロボットの現在位置として認識するものである。According to the present invention, a traveling distance of a mobile robot traveling toward a final target point within a predetermined sampling time and a distance from an arbitrary wall surface at that time are determined at a predetermined sampling cycle. Measure the point on the circle whose radius is the travel distance centered on the position of the mobile robot at the time of the previous sampling and match the distance from the wall surface as the current position of the mobile robot at the time of this sampling. To recognize.
【０００８】[0008]
【作用】前記図１において理想位置Ａからのズレは始点
Ｏからの走行開始角度にズレが生じたのが原因で、実際
位置Ｃは始点Ｏから距離ΔＬ離れた円弧上で、且つ壁面
Ｗからの離間距離がl2である。実際位置Ｃが求められる
とその地点での姿勢も求めることができ、目標点へ向け
ての的確な補正を行える。In FIG. 1, the deviation from the ideal position A is caused by the deviation of the traveling start angle from the starting point O. Therefore, the actual position C is on the arc at a distance ΔL from the starting point O and from the wall surface W. The separation distance of is l2. When the actual position C is obtained, the attitude at that point can also be obtained, and accurate correction toward the target point can be performed.
【０００９】[0009]
【実施例】以下本発明移動ロボットの走行制御方法を図
面に沿って詳細に説明する。DESCRIPTION OF THE PREFERRED EMBODIMENTS A travel control method for a mobile robot according to the present invention will be described in detail below with reference to the drawings.
【００１０】図１の移動ロボットの走行軌跡を表した平
面図において、横方向をｘ座標、縦方向をｙ座標とし、
始点Ｏの座標を（ｘn-1，ｙn-1）とし、向きをθn-1と
し、壁面がｙ軸上にあるものとする。そしてｘ座標の検
出は図示しない超音波センサによる壁面Ｗからの離間距
離の測定によるものとする。In the plan view showing the traveling locus of the mobile robot shown in FIG. 1, the horizontal direction is x coordinate and the vertical direction is y coordinate.
It is assumed that the coordinates of the starting point O are (x n-1 , y n-1 ), the direction is θ n-1 , and the wall surface is on the y-axis. The detection of the x coordinate is based on the measurement of the distance from the wall surface W by an ultrasonic sensor (not shown).
【００１１】一回のサンプリング時間内に移動ロボット
は直線的に移動するものとしてその走行する距離をΔＬ
とし、移動ロボットは壁面Ｗに沿って平行に移動するの
を理想とする。It is assumed that the mobile robot linearly moves within one sampling time, and its traveling distance is ΔL.
It is ideal that the mobile robot moves in parallel along the wall surface W.
【００１２】そして理想位置Ａは壁面Ｗからｘ軸方向に
距離l1だけ離れた座標（ｘD，ｙD）にあり、その姿勢
（矢印ａで示す）は始点Ｏにおける向きθn-1に等しい
方向を向いている。The ideal position A is at a coordinate (x D , y D ) separated from the wall surface W by the distance l1 in the x-axis direction, and its posture (indicated by an arrow a) is equal to the direction θ n-1 at the starting point O. Facing the direction.
【００１３】ところが実際には、−回のサンプリング時
間後の実際位置Ｃは始点Ｏからの距離がΔＬで理想位置
Ａと同じであるが、始点Ｏから半径ΔＬの円Ｒ上で、且
つ壁面Ｗからl2だけ離れた位置にあり、その座標は（ｘ
n，ｙn）でその向きは前記矢印ａに対して角度Δθだけ
傾いた方向（矢印ｃで示す）を向いている。Actually, however, the actual position C after the sampling time of − times is the distance ΔL from the starting point O and the same as the ideal position A, but on the circle R having the radius ΔL from the starting point O and the wall surface W. It is at a distance of l2 from, and its coordinates are (x
n , y n ) is oriented in a direction inclined by the angle Δθ with respect to the arrow a (shown by the arrow c).
【００１４】ここでサンプリング時間毎の移動距離をΔ
Ｌ、サンプリング時間毎の向きの変化量をΔθとすると
実際位置Ｃの位置（ｘn，ｙn）及び姿勢θnは次の数１
のように表すことができる。Here, the moving distance for each sampling time is Δ
Assuming that L is the amount of change in orientation for each sampling time, and Δθ is the position (x n , y n ) of the actual position C, and the posture θ n is
Can be expressed as
【００１５】[0015]
【数１】 [Equation 1]
【００１６】ここで数１のｘD、ｘnは超音波センサによ
る実測値である。またｙnは半径ΔＬ、中心の座標が
（ｘn-1，ｙn-1）である円の方程式をｙnについて解い
たときの正の値の解である。Here, x D and x n in the equation 1 are measured values by the ultrasonic sensor. In addition, y n is a solution of a positive value when the equation of a circle whose radius is ΔL and whose center coordinate is (x n-1 , y n-1 ) is solved for y n .
【００１７】さらに上記数１におけるΔθは次の数２に
よって求められる。Further, Δθ in the above equation 1 is obtained by the following equation 2.
【００１８】[0018]
【数２】 [Equation 2]
【００１９】このようにして実際位置Ｃの位置（ｘn，
ｙn）及び姿勢θnが求められるので、目標点Ｔに対して
次の最適経路を正確に求めることができ、目標点Ｔに最
短時間で到達するように制御することが可能になる。In this way, the position (x n ,
y n ) and the posture θ n are obtained, the next optimum path can be accurately obtained with respect to the target point T, and control can be performed so as to reach the target point T in the shortest time.
【００２０】[0020]
【発明の効果】本発明は、最終目標点に向かって進む移
動ロボットの所定サンプリング時間内に進んだ走行距離
とその時点における任意の壁面からの離間距離とを所定
のサンプリング周期で測定し、前回のサンプリング時点
における移動ロボットの位置を中心とした前記走行距離
を半径とする円上であって前記壁面からの離間距離に一
致する点を今回のサンプリング時における移動ロボット
の現在位置として認識することにより、極めて簡単な計
算処理で、素早く現在のロボットの位置を認識すること
ができ、目標点に到達する時間を節約するのに大きく貢
献するものとなる。According to the present invention, the distance traveled by a mobile robot moving toward a final target point within a predetermined sampling time and the distance from an arbitrary wall surface at that time are measured at a predetermined sampling cycle, By recognizing, as a current position of the mobile robot at the time of this sampling, a point on the circle whose radius is the travel distance centered on the position of the mobile robot at the time of sampling, and which coincides with the distance from the wall surface. , It is possible to quickly recognize the current position of the robot with an extremely simple calculation process, which greatly contributes to saving the time to reach the target point.
【図１】本発明の移動ロボットの現在位置認識方法を説
明する概念図である。FIG. 1 is a conceptual diagram illustrating a method for recognizing a current position of a mobile robot according to the present invention.
【図２】従来の移動ロボットの現在位置認識方法を説明
する概念図である。FIG. 2 is a conceptual diagram illustrating a conventional current position recognition method for a mobile robot.
ΔＬ サンプリング時間内の走行距離 ｌ１ 理想位置の壁面からの離間距離 ｌ２ 現在位置の壁面からの離間距離 Ｒ ΔＬを半径とする円 ΔL Distance traveled within the sampling time l1 Distance from wall surface at ideal position l2 Distance from wall surface at current position R Circle with radius ΔL
Claims (1)
の所定サンプリング時間内に進んだ走行距離とその時点
における任意の壁面からの離間距離とを所定のサンプリ
ング周期で測定し、前回のサンプリング時点における移
動ロボットの位置を中心とした前記走行距離を半径とす
る円上であって前記壁面からの離間距離に一致する点を
今回のサンプリング時における移動ロボットの現在位置
として認識することを特徴とする移動ロボットの現在位
置認識方法。Claim: What is claimed is: 1. A traveling distance of a mobile robot moving toward a final target point within a predetermined sampling time and a distance from an arbitrary wall surface at that time are measured at a predetermined sampling cycle. , The point on the circle whose radius is the travel distance centered on the position of the mobile robot at the time of the previous sampling and which coincides with the distance from the wall surface is recognized as the current position of the mobile robot at the time of this sampling. A method for recognizing a current position of a mobile robot, which is characterized in that
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3179397A JPH0527832A (en) | 1991-07-19 | 1991-07-19 | Present position recognizing method for mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3179397A JPH0527832A (en) | 1991-07-19 | 1991-07-19 | Present position recognizing method for mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0527832A true JPH0527832A (en) | 1993-02-05 |
Family
ID=16065154
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP3179397A Pending JPH0527832A (en) | 1991-07-19 | 1991-07-19 | Present position recognizing method for mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0527832A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20020010257A (en) * | 2000-07-28 | 2002-02-04 | 김인광 | Apparatus and method for recognizing self-position in robort system |
| KR100601960B1 (en) * | 2004-08-05 | 2006-07-14 | 삼성전자주식회사 | Simultaneous localization and map building method for robot |
| US7280434B2 (en) | 2004-03-26 | 2007-10-09 | Samsung Electronics Co., Ltd. | Method, medium, and apparatus for global localization |
| KR100809352B1 (en) * | 2006-11-16 | 2008-03-05 | 삼성전자주식회사 | Method and apparatus of pose estimation in a mobile robot based on particle filter |
| US8725416B2 (en) | 2010-06-29 | 2014-05-13 | Samsung Electronics Co., Ltd. | Apparatus for recognizing position using range signals and method thereof |
| US9058039B2 (en) | 2005-11-23 | 2015-06-16 | Samsung Electronics Co., Ltd. | Method and apparatus for reckoning position of moving robot |
-
1991
- 1991-07-19 JP JP3179397A patent/JPH0527832A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20020010257A (en) * | 2000-07-28 | 2002-02-04 | 김인광 | Apparatus and method for recognizing self-position in robort system |
| US7280434B2 (en) | 2004-03-26 | 2007-10-09 | Samsung Electronics Co., Ltd. | Method, medium, and apparatus for global localization |
| KR100601960B1 (en) * | 2004-08-05 | 2006-07-14 | 삼성전자주식회사 | Simultaneous localization and map building method for robot |
| US9058039B2 (en) | 2005-11-23 | 2015-06-16 | Samsung Electronics Co., Ltd. | Method and apparatus for reckoning position of moving robot |
| KR100809352B1 (en) * | 2006-11-16 | 2008-03-05 | 삼성전자주식회사 | Method and apparatus of pose estimation in a mobile robot based on particle filter |
| US8725416B2 (en) | 2010-06-29 | 2014-05-13 | Samsung Electronics Co., Ltd. | Apparatus for recognizing position using range signals and method thereof |
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