KR101358307B1 - Device and method for controlling autonomous platform - Google Patents

Abstract

According to an embodiment of the present invention, a position calculation unit receives first length information of a wire and calculates first position information of the movable body; A length calculator configured to receive second position information of the moving body and calculate second length information of the wire; A tension measuring unit measuring a tension of the wire; And a central control unit controlling a drum included in the winch for winding or unwinding the wire, and virtually changing the diameter of the drum by using the tension of the wire measured from the tension measuring unit. To provide.

Description

Device and method for controlling autonomous platform

The present invention relates to a moving object control apparatus and method.

Blocks forming hulls are also becoming bigger due to the increasing size of vessels. In general, the hull of a large ship is manufactured by first manufacturing a block constituting a part of the hull, and then assembling the blocks with each other. In other words, the rust or foreign substances on the surface of the raw material are removed by blasting or the like, and then coated to prevent corrosion, and then the raw materials are manufactured by welding or the like, and the blocks are assembled with each other to hull. Can be completed.

The interior of these blocks must also be welded, blasted, painted, etc. Accordingly, various operations such as collecting work of grit used for blasting, drying work of coating after coating, inspection work of finished coating and measuring work of coating are also performed in the block. Various automation methods for performing welding, painting and inspection have been steadily developed in order to improve the working efficiency in such a block. Accordingly, there is a need for an apparatus for freely moving a device necessary for the work to a desired position within the block so that the work performed inside the block can be easily performed. An autonomous mobile device using a wire is a typical device that moves freely inside the block.

The mobile body using the conventional tendon has a wider working radius than the Stewart platform using a linear actuator, and is also robust against very large loads.

The movable body was able to control the position and posture only in the zero gravity state (ie, no load applied state) to prevent the wire from stretching. However, the work in the zero gravity state is limited in working time, work area and expensive. In addition, in the case of a mobile body using a wire under gravity, the wire is stretched due to the weight of the mobile body, and wire sag occurs. When disturbance acts in the state where the wire sag occurs, it becomes difficult to maintain the position and posture of the moving object.

According to one embodiment of the present invention, there is provided an apparatus and method for controlling the tension of a wire connected to a moving body to accurately move the moving object to a desired position and to control the desired position.

According to an aspect of the present invention, a moving object control device comprising: a position calculating unit for receiving first length information of a wire and calculating first position information of the moving object; A length calculator configured to receive second position information of the moving body and calculate second length information of the wire; A tension measuring unit measuring a tension of the wire; And a central control unit controlling a drum included in the winch for winding or unwinding the wire, and virtually changing the diameter of the drum by using the tension of the wire measured from the tension measuring unit. Is provided.

The position calculating unit may convert the first length information of the wire into the first position information of the moving object through forward kinematics.

The length calculator may convert second position information of the moving object into second length information of the wire through inverse kinematics.

The tension measuring unit compares the measured tension and tension reference information of the wire to determine the deflection of the wire, wherein the tension reference information is the maximum reference tension value (T _max ) and minimum reference tension value (T _min ) applied to the wire. It may be information set to).

The tension measuring unit may transmit the tension abnormality information to the central control unit when the measured tension of the wire is outside the range of the maximum reference tension value and the minimum reference tension.

The central control unit comprises a path setting module for setting path information of the moving object; A speed management module for generating speed information of the moving object; A virtual drum generation module for generating virtual diameter information by virtually changing the diameter of the drum by using the tension measured by the tension measuring unit; And it may include a control module for controlling the winch using the route information, the speed information, the virtual diameter information.

The virtual drum generation module may transmit the virtual diameter information to the control module when the tension abnormality information is received.

The virtual drum generation module generates virtual diameter information in which the diameter of the drum is larger than the actual drum when the tension measured by the tension measuring unit exceeds the maximum reference tension, and the diameter of the drum when the measured tension is less than the minimum reference tension. Virtual diameter information smaller than this actual drum can be generated.

According to another aspect of the present invention, there is provided a moving object control method comprising: (a) receiving initial length information of a wire and target position information of a moving object; (b) generating initial position information of the moving object and target length information of the wire; (c) generating tension measurement information by measuring tension of the wire; (d) comparing the tension measurement information with the tension reference information to determine a tension abnormality; And (e) virtually changing a diameter of a drum included in the winch that winds or unwinds the wire when tension abnormality occurs.

Step (b) may include generating initial position information of the moving body by forward kinematics and generating target length information of the wire by inverse kinematics.

The step (e) includes controlling to recognize that the diameter of the drum is larger than the actual drum when the tension measurement information exceeds the maximum reference tension; And if the tension measurement information is less than the minimum reference tension may include controlling to recognize that the diameter of the drum is smaller than the actual drum.

Embodiments of the present invention exhibit at least one or more of the effects listed below.

First, the moving object can be moved to the correct position.

Second, despite the disturbances, the position and posture of the mobile body are reduced.

Third, it is possible to reduce the failure of the driving device for rotating the winch drum.

1 is a state diagram showing a deflection phenomenon of a mobile body to which wires are connected.
2 is a block diagram of a moving object control apparatus according to an embodiment of the present invention.
3 is an exemplary view illustrating a method of generating current position information of a moving object according to an embodiment of the present invention.
4 is an exemplary view illustrating a method of generating wire length information according to an exemplary embodiment of the present invention.
5 is a block diagram of a central control unit that is a part of a moving body control apparatus according to an embodiment of the present invention.
6 is a data graph measuring the tension of the wire.
7 is a flow chart of a moving object control method according to an embodiment of the present invention.

Embodiments may be embodied in many different forms and should not be construed as limited to the aspects set forth herein. Rather, these aspects make the embodiments more thorough and complete, and can fully convey the scope of the embodiments to those skilled in the art. Although first, second, ... It is to be understood that the above components are not limited to these terms, if such terms can be used herein to describe various components. These terms are only used to distinguish one component from another.

Throughout the specification, when a part is said to "include" a certain component, it means that it can further include other components, without excluding other components unless otherwise stated. In addition, the terms "... unit", "... module" described in the specification means a unit for processing at least one function or operation, which may be implemented in hardware or software or a combination of hardware and software. have. The singular forms herein include plural forms unless the context clearly dictates otherwise.

One aspect of the present invention relates to a moving object control device. When the mobile body is located in the space where gravity acts, the wire sag occurs due to the disturbance acting on the mobile body or the weight of the mobile body itself. To compensate for the wire deflection, further wind or unwind the drum included in the winch. However, this correction acts as an error in the movement information generated by using the position information and the target position information of the initial moving object. The moving object controller according to an aspect of the present invention allows the central control unit to recognize the virtual drum in which the diameter of the actual drum is virtually changed in the central control unit for controlling the drum of the winch so that the central control unit recognizes that there is no change in the wire length. A device for controlling the tension of an attached wire to be kept constant.

Hereinafter, the present invention will be described in detail with reference to the drawings.

1 is a state diagram showing a deflection phenomenon of a mobile body to which wires are connected.

As shown in Fig. 1, the movable body is designed to be placed at a target position. In practice, however, the movable body is positioned below the target position by the weight or disturbance of the movable body itself. The tensions applied to the wires l ₁ , l ₂ , l ₃ and l ₄ connected to the moving body are different from each other, and in particular, the tensions applied to l ₃ and l ₄ are smaller than l ₁ and l ₂ . In general, the winch is manipulated to pull the deflection l ₃ and l ₄ tightly so that the force of force can be zero in the moving object. According to this method, the actual position of the moving object does not change and the moving object is moved to the target position. Can't be reached.

As a result, all the wires l ₁ , l ₂ , l ₃ , l ₄ must be pulled equally at a predetermined ratio so that the position of the moving object becomes close to the target position. With this in mind, one embodiment of the present invention controls all the wires connected to the moving body moving inside the block to prevent sagging of the wire while virtually changing the diameter of the drum winding or unwinding the wire of the moving body by sagging of the wire. Prevent deviations.

In an embodiment of the present invention, the meaning of the virtual drum means that the central controller that controls the drum included in the winch means a drum of recognition that the diameter of the drum is increased or decreased, but the diameter of the actual drum does not change.

The occurrence of deflection of the mobile body using the above wire and the necessity for overcoming this were discussed. Hereinafter, a control device of a moving body will be described as an aspect of the present invention.

2 is a block diagram of a moving object control apparatus according to an embodiment of the present invention.

As shown in FIG. 2, the control device for a mobile body using a wire receives a first length information of a wire to calculate a first position information of the mobile body, and receives a second position information of the mobile body. Length calculation unit 300 for calculating the second length information of the tension, the tension measuring unit 500 for measuring the tension of the wire, the drum included in the winch is controlled, the diameter of the drum using the tension measured from the tension measuring unit It includes a central control unit 400 for changing the virtual to control the drum of the winch.

In addition, the input unit 100 for receiving a variety of information from the user includes a rotation angle measuring unit 600 for measuring the rotation angle of the drum included in the winch 700.

The input unit 100 may receive second location information from a user. The second location information may be target location information. Here, the target position information indicates the position and attitude of the moving object to finally move in the block.

The position of the moving object may be expressed as a coordinate value including x, y, and z where the moving object is located in the block.

Here, the posture of the movable body may be expressed as an Euler angle including angles ψ, θ, and φ that are respectively inclined from the x, y, and z axes with respect to the position of the movable body in the block.

That is, the target position information is information expressed by (x, y, z), (ψ, θ, φ) of the position and posture to which the moving object must finally move in the block. The target location information may include at least one of a local coordinate value based on the moving object and a global coordinate value based on any one point in the block.

The input unit 100 is a user interface (UI) for receiving various data from a user, and there is no particular limitation on its implementation. For example, the input unit may be any means for receiving data such as a keyboard, a touch-pad, a mouse, a key-pad, and the like.

Meanwhile, the input unit 100 may receive target location information through a macro generated using CAD / CAM (Computer Aided Design / Computer Aided Manufacturing). Hereinafter, the target location information is input by the user through the input unit 100 will be described with an example.

The input unit 100 receives tension reference information from a user. The tension reference information may be a maximum reference tension value T _max and a minimum reference tension value T _min that affect the wire, and the tension reference information is transmitted to the tension measurement unit 500.

The position calculator 200 receives the first length information of the wire and calculates first position information of the moving object. The position calculation unit 200 generates position information of the moving object through forward kinematics calculation.

The first length information may be length information of the initial wire. The positional information of the initial moving object can be known from the length of the initial wire. When the moving body starts to move, the rotation angle measuring unit 600 detects the length of the wire unwinding or winding from the drum of the winch at a predetermined reference time unit and transmits the length to the position calculating unit 200. The position calculation unit 200 generates position information of the moving body according to the length of the wire through a forward kinematic calculation.

The length calculation unit 300 receives the second position information of the moving body and calculates the second length information of the wire. The length calculation unit 300 generates the length information of the wire through the inverse kinematics calculation.

Hereinafter, a method of generating position information of a mobile body and length information of a wire will be described.

3 is an exemplary view illustrating a method of generating current position information of a moving object according to an embodiment of the present invention.

4 is an exemplary view illustrating a method of generating wire length information according to an exemplary embodiment of the present invention.

As a method of generating position information of the moving object, wire current length information is generated by using a rotation angle measurement value of the drum. Arbitrary position information indicating an arbitrary position is set in the block in which the moving object is located. Wire arbitrary length information is set by substituting arbitrary position information into inverse kinematics. The length difference value is generated by comparing wire current length information with wire arbitrary length information. The difference in length may be defined as shown in [Equation 1].

[Equation 1]

Where D is a length difference value, L _m is wire current length information, and L _k is wire arbitrary length information. Therefore, the wire current length information is substituted into L _m of Equation 1, and the arbitrary length information is substituted into L _k to generate a length difference value. In this case, a length difference value may be generated to correspond to each of the plurality of wires connected to the moving body.

The position calculation unit 200 determines whether the length difference value is less than the length convergence information. If the difference in length is greater than or equal to the length convergence information, the arbitrary position information may be reset. According to the determination result, if the length difference value is less than the length convergence information, the arbitrary position information is set as the current position information. The length convergence information may be determined by the user's setting.

That is, Equation 2 is used to generate current position information.

&Quot; (2) "

Here, X _{k +1} represents the reset random position and attitude updated through the X _k and the length difference, the arbitrary position information, X _k is the arbitrary position information, JM is Jacobian matrix, JM ^# is the pseudo inverse matrix of JM Determined by the kinematic shape of the wire, D is the difference in length.

[Equation 2] is converted to [Equation 3].

&Quot; (3) "

는 위치 및 자세 미분 값으로서 미소 시간일 경우 X_{k +1}에서 X_k를 뺀 값을 단위시간으로 나눈 것을 의미한다.

는 와이어 길이를 미분한 값으로서 미소 시간에서 L_m에서 L_k를 빼기 연산한 값을 단위 시간으로 나눈 것을 의미한다. 이후, 현재 위치 정보를 생성하기 위해 [수학식 3]이 [수학식 4]로 변환된다.here,

Means that dividing the value obtained by subtracting the X _k X _{k +1} in case of minute time as the position and attitude differentials in units of time.

Is the derivative of the wire length, which means that the value obtained by subtracting L _k from L _m from the minute time is divided by the unit time. Thereafter, Equation 3 is converted to Equation 4 to generate current position information.

&Quot; (4) "

Here, s _n is A _n (position value at which the nth wire is fixed to the moving body) to B _n (position value at which the nth wire is fixed to the block) with respect to the nth wire as shown in FIGS. 3 and 4. B _n is a vector from the center of the moving object to A _n , and n is a natural number. S _n and b _n are calculated using the length difference value and the block fixed position value of the block design information. Then, s _n and b _n are substituted into Equation 4 to generate current position information.

The position difference information is generated by comparing the current position information with the target position information, and the position difference information generates the wire operation length information.

The length calculation unit 300 calculates wire operation length information as shown in [Equation 5].

&Quot; (5) "

은 전역 좌표계(블록을 기준으로 고정된 좌표계)에서 정의된 n번째 와이어가 이동체에 고정된 와이어 고정 위치값이며,

은 전역 좌표계에서 정의된 n번째 와이어가 블록에 고정된 블록 고정 위치값이다. 이때, B_n는 블록에서 n번째 와이어가 고정되는 위치이므로 이동체가 이동해도 변화하지 않기 때문에 블록 설계 정보의 블록 고정 위치값을 이용하여 확인할 수 있다. A_n을 [수학식 6]과 같이 정의할 수 있다. Here, L is wire operation length information, as shown in FIG. 4, A _n is a wire fixing position value at which the nth wire is fixed in the moving body, and B _n is a block fixing position value at which the nth wire is fixed in the block. , n represents the number of wires connected to the moving body, and is a natural number.

Is the wire fixation position value where the nth wire defined in the global coordinate system (coordinate fixed to the block) is fixed to the moving object.

Is the block fixed position value where the nth wire defined in the global coordinate system is fixed to the block. In this case, since B _n is a position where the n-th wire is fixed in the block, since it does not change even when the moving object moves, it may be confirmed using a block fixing position value of the block design information. A _n may be defined as shown in Equation 6.

&Quot; (6) "

,

,

은 지역 좌표계(이동체를 기준으로 이동체의 위치변화에 따라 원점이 이동하는 좌표계)에서 정의된 n번째 와이어가 이동체에서 고정되는 장치 고정 위치값이다. 이때,

,

,

은 이동체를 기준으로 와이어의 고정 위치점을 판단하므로 이동체가 이동해도 변화하지 않기 때문에 블록 설계 정보에 포함된 장치 고정 위치값을 이용하여 확인한다. c_θ 및 s_θ는 cosθ 및 sinθ를 나타낸다. 그리고, P_x, P_y, P_z는 전역 좌표계에서 이동체의 위치 및 자세를 나타낸다.Where R is a rotation matrix and T is a translation matrix.

,

,

Is the device fixed position value at which the n-th wire defined in the local coordinate system (coordinate system in which the origin moves according to the change of the position of the movable body with respect to the movable body) is fixed in the movable body. At this time,

,

,

Since the fixed position point of the wire is determined on the basis of the moving object, it does not change even when the moving object moves, so it is confirmed by using the device fixing position value included in the block design information. c _θ and s _θ represent cos _θ and sin _θ . P _x , P _y , and P _z indicate the position and attitude of the moving object in the global coordinate system.

,

,

에 블록 설계 정보의 장치 고정 위치값을 대입하고, P_x, P_y, P_z에 현재 위치 정보, 위치 차이 정보 및 위치 단위 정보를 더하기 연산한 정보를 대입하여 와이어 고정 위치값인 A_n을 생성한다. Therefore, the length calculation unit 300 of the equation (6)

,

,

Substitute device fixed position value of block design information into, and substitute information calculated by adding current position information, position difference information, and position unit information to P _x , P _y , and P _z to generate wire fixed position value A _n . do.

Subsequently, the wire fixing position value generated in A _n of [Equation 5] is substituted, and the block fixing position value of the block design information is substituted in B _n to generate the wire length information.

The central control unit 400 controls the drum included in the winch and virtually changes the diameter of the drum using the tension measured from the tension measuring unit 500.

5 is a block diagram of a central control unit which is a part of a moving body control apparatus according to an embodiment of the present invention.

As shown in FIG. 5, the central controller 400 measures the path setting module 410 for setting path information of the moving object, the speed management module 420 for generating speed information of the moving object, and the tension measuring unit 500. Virtual drum generation module 430 for generating virtual diameter information by virtually changing the diameter of the drum included in the winch using the tension and controlling the winch 700 using the path information, speed information, virtual diameter information of the drum. And a control module 440.

The path setting module 410 sets a path to which the moving object moves to the target position by using the initial position information, the target position information, and the internal topographic information of the block. The movement path can be set in various ways. In particular, the path for the movement of the moving object is generated through CAD data or other movement information about the block.

The speed management module 420 generates speed information of the moving object. Based on the initial position information and the target position information to be moved, the moving object determines how to move with time.

In general, the acceleration / deceleration section and the constant velocity section of the moving body are determined using a trapezoidal velocity profile. The moving object can be moved by directly generating various types of profiles in consideration of the shape of the block, the movement time, and the like.

The virtual drum generation module 430 virtually changes the diameter of the drum when a tension abnormality occurs in the tension measuring unit 500 described above. Before explaining the functions and roles in the virtual drum generation module 430, the reason for introducing the virtual drum concept will be described.

All the information produced by the forward and reverse kinematics operations discussed earlier depends on the length of the wire being unwound or wound on the drum. In other words, the length of the wire to be released from the drum should be kept constant and the tension abnormality should be compensated for some wires. Otherwise, if the wire tension error is corrected simply by controlling the rotation speed and rotation speed of the actual drum, the information calculated by the actual forward kinematic and inverse kinematic calculations is incorrect.

As such, the control module 440 for controlling the drum of the winch should recognize that there is no change in the length of the wire and correct the tension abnormality. This is done by changing the diameter of the drum on which the wire is wound or unwound.

If the virtual drum generation module 430 receives the tension abnormality information from the tension measuring unit 500 that the tension of some wires exceeds the maximum reference tension, the control module 440 loosens the wires more or less and relieves the tension. Should be. At this time, the virtual drum generation module 430 allows the control module 440 to recognize the actual drum as a virtual drum having a larger diameter. The control module 440, which controls the drum included in the winch, recognizes that it controls a virtual drum having a diameter larger than that of the actual drum, thereby reducing the rotation speed or the amount of rotation of the drum so that the wire that is released or wound at the reference time is constant. However, the wire unwinding and winding speed and wire length of the actual drum unwinding and winding is reduced, reducing the tension of the wire below the maximum reference tension.

On the contrary, if the virtual drum generation module 430 receives the tension abnormality information that the tension of some wires is less than the minimum reference tension from the tension measuring unit 500, the tension should be increased by further winding or unwinding the wires. At this time, the virtual drum generation module 430 allows the control module 440 to recognize the actual drum as a virtual drum having a smaller diameter. The control module 440 for controlling the drum included in the winch is recognized to control the virtual drum with a reduced diameter than the actual drum, so that the rotational speed and the amount of rotation of the drum so that the wire to be released or wound at the reference time is constant. However, the speed and length of the wires unwinding or winding on the actual drum increases, increasing the wire tension beyond the minimum standard tension.

The control module 440 controls the winch 700. In more detail, the moving object is moved to the target position by controlling the speed and the rotation amount of the drum included in the winch 700. As described above, the control module 440 is controlled by the virtual drum generation module 430 with respect to the diameter information of the drum.

The tension measuring unit 500 measures the tension of the wire in real time. The tension measuring unit 500 compares the tension reference information input by the user from the input unit 100 to determine the deflection of the wire. The tension reference information is set to the maximum reference tension (T _max ) and the minimum reference tension (T _min ). The tension measuring unit 500 measures the tension of the wire and generates tension abnormality information when a wire outside the maximum reference tension and the minimum reference tension range is detected, and transmits the tension abnormality information to the central control unit 400.

The rotation angle measuring unit 600 measures the rotation amount of the drum included in the winch 700. It is possible to calculate the rotation speed by measuring the rotation amount per reference time. Receiving information from the rotation angle measuring unit 600, the length calculation unit 300, the central control unit 400 may predict the length of the wire.

Winch 700 includes a drum as a device to which wires are wound or unwound. In general, the three-dimensional moving object of the cube is a winch is connected to each of the eight vertices to control the wire.

6 is a data graph measuring the tension of the wire.

As shown in FIG. 6, the tension measuring unit 500 measures the tension of the wire in real time, and when the measured tension falls below the minimum reference tension, generates a virtual drum having a diameter smaller than that of the actual drum to increase the tension. If the tension is greater than the maximum standard tension, the tension is reduced by generating a virtual drum having a diameter larger than the actual drum. The tension range of the wire connected to the movable body is limited to the reference tension information range to precisely control the position of the movable body.

The above is a description of the moving object control device which is an aspect of the present invention.

Hereinafter will be described a moving object control method of another aspect of the present invention.

7 is a flowchart of a moving object control method according to an embodiment of the present invention.

Moving object control method according to an embodiment of the present invention is a step of receiving the initial length information of the wire, the target position information of the moving object (S1000), the step of generating the initial position information of the moving object, the target length information of the wire (S2000), of the wire Measuring the tension (S3000), comparing the tension measurement information and the tension reference information (S4000), determining whether the tension abnormality occurs (S4100), if the tension abnormality does not occur, the step of controlling the drum If a tension abnormality occurs, comparing the measured tension measurement information with the tension reference information (S4200), if the tension measurement information exceeds the maximum reference tension to apply the virtual drum to increase the diameter of the actual drum In operation S5100, when the tension measurement information is less than the minimum reference tension, the method may include applying a virtual drum in which the diameter of the actual drum is reduced (S5200), and controlling the drum using the virtual drum. Includes a step (S6000).

The scope of the present invention is not limited to the above-described embodiments but may be implemented in various forms of embodiments within the scope of the appended claims. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present invention as defined by the appended claims.

100 inputs
200 position calculation unit
300 length
400 central control unit
500 tension measuring unit
600 rotation angle measuring unit
700 winch

Claims (11)

As a moving body control device,
A position calculating unit receiving first length information of a wire and calculating first position information of the moving body;
A length calculator configured to receive second position information of the moving body and calculate second length information of the wire;
A tension measuring unit measuring a tension of the wire; And
And a central control unit controlling a drum included in the winch for winding or unwinding the wire, and virtually changing the diameter of the drum by using the tension of the wire measured from the tension measuring unit.
The method of claim 1,
And the position calculating unit converts first length information of the wire into first position information of the movable body through forward kinematics.
The method of claim 1,
And the length calculator converts second position information of the movable body into second length information of the wire through inverse kinematics.
The method of claim 1,
The tension measuring unit compares the measured tension and tension reference information of the wire to determine the deflection of the wire,
And the tension reference information is information set to a maximum reference tension value (T _max ) and a minimum reference tension value (T _min ) applied to the wire.
5. The method of claim 4,
And the tension measuring unit transmits the tension abnormality information to the central control unit when the measured tension of the wire is outside the range of the maximum reference tension value and the minimum reference tension.
6. The method of claim 5,
The central control unit comprises a path setting module for setting path information of the moving object;
A speed management module for generating speed information of the moving object;
A virtual drum generation module for generating virtual diameter information by virtually changing the diameter of the drum by using the tension measured by the tension measuring unit; And
And a control module for controlling the winch using the route information, the speed information, and the virtual diameter information.
The method according to claim 6,
And the virtual drum generation module transmits the virtual diameter information to the control module when the tension abnormality information is received.
The method of claim 7, wherein
The virtual drum generation module generates virtual diameter information in which the diameter of the drum is larger than the actual drum when the tension measured by the tension measuring unit exceeds the maximum reference tension, and the diameter of the drum when the measured tension is less than the minimum reference tension. A moving object control device, characterized in that for generating virtual diameter information smaller than the actual drum.
As a moving body control method
(a) receiving initial length information of a wire and target position information of a moving object;
(b) generating initial position information of the moving object and target length information of the wire;
(c) generating tension measurement information by measuring tension of the wire;
(d) comparing the tension measurement information with the tension reference information to determine a tension abnormality; And
(e) virtually changing the diameter of the drum included in the winch to wind or unwind the wire when tension abnormality occurs.
10. The method of claim 9,
The step (b)
Generating initial position information of the moving body by forward kinematics, and generating target length information of the wire by inverse kinematics.
10. The method of claim 9,
The step (e)
Controlling the drum to recognize that the diameter of the drum is larger than the actual drum when the tension measurement information exceeds the maximum reference tension; And
And recognizing that the diameter of the drum is smaller than the actual drum when the tension measurement information is less than the minimum reference tension.

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