WO1999004225A1 - Method for determining the rotating position of a self-contained mobile unit, and self-contained mobile unit - Google Patents
Method for determining the rotating position of a self-contained mobile unit, and self-contained mobile unit Download PDFInfo
- Publication number
- WO1999004225A1 WO1999004225A1 PCT/DE1998/001866 DE9801866W WO9904225A1 WO 1999004225 A1 WO1999004225 A1 WO 1999004225A1 DE 9801866 W DE9801866 W DE 9801866W WO 9904225 A1 WO9904225 A1 WO 9904225A1
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- WO
- WIPO (PCT)
- Prior art keywords
- rotational position
- unit
- gyroscope
- change
- mobile unit
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 39
- 238000005259 measurement Methods 0.000 claims abstract description 31
- 230000033001 locomotion Effects 0.000 claims description 10
- 238000006073 displacement reaction Methods 0.000 claims description 5
- 238000011156 evaluation Methods 0.000 claims 1
- 230000000052 comparative effect Effects 0.000 abstract 1
- 230000001419 dependent effect Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 3
- 230000009897 systematic effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 238000013528 artificial neural network Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000036962 time dependent Effects 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/183—Compensation of inertial measurements, e.g. for temperature effects
- G01C21/188—Compensation of inertial measurements, e.g. for temperature effects for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
Definitions
- the invention relates to a method and an arrangement for determining the rotational position of a mobile system while driving, as can be used for example in autonomous mobile robots and other autonomous vehicles.
- the general problem with autonomous mobile systems is that they have to get an idea of their surroundings while driving.
- Different sensors are used for this purpose, which record measurement data from the environment.
- a particularly favorable method for determining displacement measurement data is odometry, which is known from DE 33 15 422 AI.
- odometry which is known from DE 33 15 422 AI.
- encoders on the wheel axles are used to measure the wheel rotations.
- the position of the unit can then be continuously estimated, for example, using the odometry data obtained from these internal sensors.
- a disadvantage of this form of dead reckoning navigation is that the position estimation based on odometry data is fraught with errors. With these errors, a distinction can be made between systematic and unsystematic errors. Systematic errors are understood to mean, for example, unequal wheel diameters or an imprecisely measured wheel distance.
- a rotational change in position is the use of a gyroscope, which is arranged on the autonomous mobile unit ⁇ actual means of this gyroscope, accelerometer or another can change the rotary position of the autonomous mobile unit be relatively determined.
- the absolute rotational position can then be determined by integrating the raw data once or twice.
- the disadvantage of these systems is that the sensor signals have to be integrated in order to obtain the desired measured variable. Every smallest constant error in the sensor data leads to a drift of the measured variable. Since this error increases over time, these systems can only be used alone for a short period of time, for example approx. A few minutes.
- DE 39 10 945 AI It is known from the prior art DE 39 10 945 AI that two redundant ones are used for the navigation of autonomous mobile units To use dead reckoning systems, switching between the two systems in a controlled manner.
- DE 39 10 945 AI mentions the combination of odometer and gyro system as a redundant system.
- the switching between the two systems is controlled in accordance with DE 39 10 945 AI in that both the actual position of the autonomous mobile unit determined by the odometry system and the actual position of the autonomous mobile unit determined by the gyro system with the target position of the autonomous mobile unit is calculated from a driving course stored in a computer, is compared. Depending on the two comparison results, the system with the smaller deviation of the actual value from the target value is used for navigation of the autonomous mobile unit.
- the object on which the invention is based is to specify a further method and a further arrangement for determining the rotational position of an autonomous mobile unit while driving.
- a particular advantage of the method according to the invention is that the change in the rotational position of the autonomous mobile unit is determined by two different measuring means and that in each case that measuring means is used to determine the rotational position that provides the more reliable measurement results at the moment.
- the distance measurement can advantageously be carried out by means of odometry, since this method ren used in many autonomous units and inexpensive sensors are available.
- the rotational position can be determined particularly advantageously as the rotational position that was measured by the gyroscope, or as the rotational position that was determined from the odometry data.
- the method according to the invention can be used to distinguish, by means of a preferably experimentally determined threshold value, which of the two measuring systems is currently delivering the more reliable results and can use this measuring system to determine the rotational position.
- the difference in the amount is formed particularly advantageously to form the comparison result from the two rotational positions, since this can be computationally calculated with little effort and sign effects are eliminated.
- a gyroscope is particularly advantageously calibrated while the autonomous mobile unit is traveling if the odometry data appear reliable at the moment, which can be determined on the basis of the threshold value.
- a Cayman filter is advantageously used to estimate the offset of the gyroscope, since this filter is used in a variety of ways and known methods exist for implementing treasures for time-dependent variables.
- an error payer is implemented particularly advantageously, which is paid up as a function of the threshold values and which is used to detect a sensor error after a predetermined error limit has been exceeded.
- An autonomous mobile unit which has measuring means for determining displacement measurement data and a gyroscope, the rotational position of which is determined by the method according to the invention, is particularly advantageous since it is thus possible for the first time to calibrate a gyroscope while driving.
- Figure 1 shows an example of a unit in a reference coordinate system.
- Figure 2 illustrates an unsystematic error in the odometry measurement.
- Figure 3 shows an example of a Cayman filter.
- FIG. 4 shows a block diagram as an example of a method according to the invention.
- FIG. 5 shows a method for determining the sensor error on the basis of the threshold value and an error counter.
- Figure 1 shows the movement model of an autonomous vehicle
- the configuration of the mobile system in the form of position and rotational position in a fixed reference system is shown as an example. This position information is to be determined continuously, for example, relative to the coordinate system while driving. This configuration
- Odometry has the following advantages:
- FIG. 2 shows how a wheel travels over a small obstacle H. This is to show the effect of an unsystematic error on the position estimate.
- a wheel R with a radius r is about to pass an unknown obstacle H with a height h.
- the wheel R moves exactly and without slipping over the contact point C.
- the wheel center M rotates over the contact point C until it is exactly above this in the position M '.
- the wheel encoders preferably measure the wheel rotation ⁇ , which is interpreted as the travel distance d mßß .
- the real horizontal movement of the wheel in the direction Bew is only d hor -
- ⁇ T dist • sin ( ⁇ ) a translational error ⁇ T of approximately 13 cm.
- the angle error is actually the decisive error, since the resulting position error grows indefinitely when you continue driving.
- a second measuring means for example in the form of a gyroscope or an accelerometer, which does not have such errors, can therefore be used expediently.
- This allows the rotation of a robot to be determined relatively.
- the rotational position is determined by integrating the measured raw data once or twice.
- the disadvantage of these systems is that the Sensor signals must be integrated in order to obtain the desired measurement size. Every smallest constant error in the sensor data leads to a drift of the required measurement quantity. The error in determining the rotational position thus grows over time without limits. If these systems are only used in general, they can therefore only guarantee an accurate determination of the orientation for a few minutes.
- the gyroscope delivers a voltage oul ; / which is proportional to the angular velocity ⁇ .
- the rotational position can be with
- the offset should therefore preferably be recalibrated every minute when the gyroscope is used for orientation. Then:
- Offset U out . (12) If the robot is to carry out a transport job, for example, a robot downtime per minute is unacceptable. The invention therefore presents a method which allows the offset to be calibrated / readjusted during the robot run.
- the speed of rotation is determined, to determine the position of rotation it must be integrated. It is therefore very much dependent on an exact determination of the zero point. 2.
- the zero point is exposed to a very strong drift, which is also dependent on changing environmental influences. The zero point must therefore be constantly recalibrated. Previous solution: Every minute the robot comes to a standstill for 2 seconds. 3. Only the rotational position can be determined
- the invention takes advantage of the advantages of the odo-et ⁇ e and the measurement with gyroscopes, without having to accept their disadvantages
- the aim at the time of sampling (k + 1) is to determine the change in the ⁇ Odomet ⁇ eGyr0sk0p and thus the
- the two sensors deliver different angular velocities. If it is assumed that both sensors are working properly, it is much more plausible that the correct angular velocity is provided by the gyroscope.
- the wheels can spin here or drive over a bump, for example.
- the gyroscope offset is not too old, i.e. definitely not older than about 1 minute. Otherwise, the deviation of the sensors could result from a temperature change.
- the gyroscope is preferably not recalibrated if both sensors deliver different angular velocities.
- odometry is used to determine the rotational position.
- the measured value of the gyroscope and the odometry values are preferably used according to the invention additionally for calibration / re-calibration of the gyroscope offset while the mobile unit is traveling.
- FIG. 3 shows an example of its estimation using a filter.
- a Kaiman filter K can be used, for example, to determine the gyroscope offset. Since the gyroscope offset to be estimated changes very strongly over time, an iterative or recursive estimator should be used for calibration. Since the measurement data is also very noisy (eg due to A / D conversion), the estimator should preferably be able to take system uncertainties and measurement noise into account.
- the parameters characterizing the gyroscope are the states for the Kaiman filter
- the angular velocity measurement value M supplied by the gyroscope is greater or smaller than the current zero point, the angular velocity is increased via the measurement equation of the Cayman filter
- the odometry and the gyroscope are preferably monitored for the agreement of their data.
- FIG. 5 shows an example of a flow chart for determining sensor errors using an error counter. If the sensor measurement results over F_max consecutive cycles do not match, then there is a plausibility error in either the gyroscope or in odometry. In this case, the robot should preferably cancel its mission and stop.
- FIG. 4 The relationships and the relevant variables for the OV method according to the invention are illustrated in FIG. 4 in a block diagram
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Gyroscopes (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Navigation (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2000503392A JP2001510890A (en) | 1997-07-16 | 1998-07-06 | Method for detecting the rotational state of an autonomous mobile unit and autonomous mobile unit |
EP98942495A EP0995080A1 (en) | 1997-07-16 | 1998-07-06 | Method for determining the rotating position of a self-contained mobile unit, and self-contained mobile unit |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19730483A DE19730483C2 (en) | 1997-07-16 | 1997-07-16 | Method for determining the rotational position of an autonomous mobile unit and autonomous mobile unit |
DE19730483.4 | 1997-07-16 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1999004225A1 true WO1999004225A1 (en) | 1999-01-28 |
Family
ID=7835890
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/DE1998/001866 WO1999004225A1 (en) | 1997-07-16 | 1998-07-06 | Method for determining the rotating position of a self-contained mobile unit, and self-contained mobile unit |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP0995080A1 (en) |
JP (1) | JP2001510890A (en) |
DE (1) | DE19730483C2 (en) |
WO (1) | WO1999004225A1 (en) |
Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10008289A1 (en) * | 2000-02-23 | 2001-09-06 | Siemens Ag | Method and device for determining the orientation and / or the direction of movement of a movable object, in particular a robot, in a movement space |
DE10234730A1 (en) * | 2002-07-30 | 2004-02-19 | Josef Schreiner | Position determination method for use with industrial trucks, e.g. forklift trucks, within a defined area, wherein the positions of transport and reference fixed objects are known and truck positions are determined from them |
JP2007040762A (en) * | 2005-08-01 | 2007-02-15 | Toyota Motor Corp | Optical gyro calibration system, robot equipped with optical gyro, and optical gyro calibration program |
DE102007020328A1 (en) * | 2007-04-30 | 2008-11-06 | Betebe Gmbh | Driving machine, particularly stud cleaning machine for use in construction, has chassis, energy storage and driving motor that proceeds automatically, are propelled by energy taken from energy storage |
JP5245531B2 (en) * | 2008-05-15 | 2013-07-24 | 富士通株式会社 | Angular velocity detection device, angular velocity detection method, and angular velocity detection program |
DE102009003181B4 (en) | 2008-06-06 | 2024-07-04 | Robert Bosch Gmbh | Locating method and locating device |
JP5685842B2 (en) | 2010-07-12 | 2015-03-18 | セイコーエプソン株式会社 | Robot device and control method of robot device |
DE102012018629A1 (en) | 2012-09-21 | 2014-03-27 | Clariant International Ltd. | Process for purifying exhaust gas and regenerating an oxidation catalyst |
US9250083B2 (en) * | 2013-03-22 | 2016-02-02 | Qualcomm Incorporated | Heading, velocity, and position estimation with vehicle sensors, mobile device, and GNSS inputs |
JP2016060219A (en) * | 2014-09-12 | 2016-04-25 | アイシン精機株式会社 | Vehicle position detector |
JP2015062994A (en) * | 2015-01-14 | 2015-04-09 | セイコーエプソン株式会社 | Robot device, and control method for robot device |
CN106393104B (en) * | 2016-08-25 | 2019-06-28 | 北京创想智控科技有限公司 | A kind of stroke calibration method of mobile robot |
DE102018101049A1 (en) * | 2018-01-18 | 2019-07-18 | Valeo Schalter Und Sensoren Gmbh | Configuration of a motor vehicle odometry device with a neural network |
JP6516042B2 (en) * | 2018-05-11 | 2019-05-22 | セイコーエプソン株式会社 | Signal processing device, detection device, sensor, electronic device and moving body |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4556940A (en) * | 1980-09-05 | 1985-12-03 | Mitsubishi Denki Kabushiki Kaisha | Robot vehicle |
JPH01169612A (en) * | 1987-12-25 | 1989-07-04 | Hitachi Ltd | Autonomous travelling guiding device |
DE3910945A1 (en) * | 1989-04-05 | 1990-10-11 | Ar Autonome Roboter Gmbh | Redundant integrated navigation method for freely navigating vehicles in the industrial field |
EP0502249A2 (en) * | 1991-03-04 | 1992-09-09 | TZN Forschungs- und Entwicklungszentrum Unterlüss GmbH | Method for detecting vehicle rotation rates and device for performing the method |
EP0762363A1 (en) * | 1995-08-24 | 1997-03-12 | The Penn State Research Foundation | Apparatus and method for tracking a vehicle |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS58187807A (en) * | 1982-04-28 | 1983-11-02 | Nippon Soken Inc | Running position displaying device of vehicle |
DE3831166C2 (en) * | 1988-09-13 | 1997-12-04 | Bayerische Motoren Werke Ag | Vehicle position indicator |
-
1997
- 1997-07-16 DE DE19730483A patent/DE19730483C2/en not_active Expired - Fee Related
-
1998
- 1998-07-06 WO PCT/DE1998/001866 patent/WO1999004225A1/en not_active Application Discontinuation
- 1998-07-06 EP EP98942495A patent/EP0995080A1/en not_active Ceased
- 1998-07-06 JP JP2000503392A patent/JP2001510890A/en not_active Withdrawn
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4556940A (en) * | 1980-09-05 | 1985-12-03 | Mitsubishi Denki Kabushiki Kaisha | Robot vehicle |
JPH01169612A (en) * | 1987-12-25 | 1989-07-04 | Hitachi Ltd | Autonomous travelling guiding device |
DE3910945A1 (en) * | 1989-04-05 | 1990-10-11 | Ar Autonome Roboter Gmbh | Redundant integrated navigation method for freely navigating vehicles in the industrial field |
EP0502249A2 (en) * | 1991-03-04 | 1992-09-09 | TZN Forschungs- und Entwicklungszentrum Unterlüss GmbH | Method for detecting vehicle rotation rates and device for performing the method |
EP0762363A1 (en) * | 1995-08-24 | 1997-03-12 | The Penn State Research Foundation | Apparatus and method for tracking a vehicle |
Non-Patent Citations (1)
Title |
---|
PATENT ABSTRACTS OF JAPAN vol. 013, no. 440 (P - 940) 4 October 1989 (1989-10-04) * |
Also Published As
Publication number | Publication date |
---|---|
DE19730483A1 (en) | 1999-02-11 |
EP0995080A1 (en) | 2000-04-26 |
JP2001510890A (en) | 2001-08-07 |
DE19730483C2 (en) | 1999-06-02 |
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