WO2011084012A2 - Procédé d'estimation et de correction de localisation par satellite d'un robot mobile utilisant des points de repère magnétiques - Google Patents

Procédé d'estimation et de correction de localisation par satellite d'un robot mobile utilisant des points de repère magnétiques Download PDF

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Publication number
WO2011084012A2
WO2011084012A2 PCT/KR2011/000125 KR2011000125W WO2011084012A2 WO 2011084012 A2 WO2011084012 A2 WO 2011084012A2 KR 2011000125 W KR2011000125 W KR 2011000125W WO 2011084012 A2 WO2011084012 A2 WO 2011084012A2
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WIPO (PCT)
Prior art keywords
landmark
mobile robot
pattern
axis
landmarks
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PCT/KR2011/000125
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English (en)
Korean (ko)
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WO2011084012A3 (fr
Inventor
최혁렬
구자춘
문형필
최병준
김범수
유원석
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성균관대학교 산학협력단
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Publication of WO2011084012A2 publication Critical patent/WO2011084012A2/fr
Publication of WO2011084012A3 publication Critical patent/WO2011084012A3/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • 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
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G05D1/0261—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic plots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning

Definitions

  • the present invention relates to a method for estimating and correcting a position error of a mobile robot, and in particular, a moving plate having a plurality of kinds of landmarks formed by changing the arrangement of magnets of a mobile robot having four Hall sensors attached to the floor.
  • the mobile robot recognizes a pattern of a specific landmark and a neighboring landmark, and compares it with the stored landmark space map, whereby the absolute position coordinates of the landmark where the mobile robot is currently located.
  • the present invention relates to a global position estimation and correction method of a mobile robot using a magnetic landmark that can easily estimate a value and can easily correct a position error of the mobile robot.
  • robots that can be applied to real life are appearing one after another.
  • Such a robot performs a given role based on the movement.
  • the hardware structure for the movement is based on the mobile robot, and since the movement is the main role, the position recognition technology for the autonomous movement is essential.
  • a typical mobile robot uses an odormetery to recognize a position by driving two wheels respectively.
  • the odometry has an error, and the error increases with time due to the accumulation of errors.
  • UMBmark University of Michigan Benchmark test
  • a mobile robot having four Hall sensors attached to the bottom surface is a movement in which a plurality of kinds of landmarks formed by changing the arrangement of the magnets are arranged
  • the mobile robot recognizes a pattern of a specific landmark and neighboring landmarks, and then compares it with the stored landmark space map, whereby the absolute position of the landmark where the mobile robot is currently located.
  • An object of the present invention is to provide a global position estimation and correction method of a mobile robot using a magnetic landmark that can easily estimate coordinate values and easily correct a position error of the mobile robot.
  • the constituent means of the global position estimation and correction method of the mobile robot using the magnetic landmark of the present invention is a mobile robot in the global position estimation and correction method of the mobile robot using a hall sensor. Estimating an absolute position coordinate value of a landmark currently located by the mobile robot by recognizing a pattern of a specific landmark located and a neighboring landmark, wherein the deviation from the absolute position coordinate value of the estimated landmark is determined. Estimating a position error (x e , y e , ⁇ e ) of the mobile robot, such that the estimated position error (x e , y e ,) can be moved to an absolute position coordinate value of the landmark. and e ) correcting the position error by moving the mobile robot by ⁇ e ).
  • the estimating an absolute position coordinate value of the landmark may include a first process of recognizing a pattern of the specific landmark from a specific landmark where the mobile robot is located and then moving to a neighboring landmark, wherein the movement A second process of recognizing a pattern of a landmark in a neighboring landmark, a third process of comparing the pattern of the recognized neighboring landmark and a pattern of the specific landmark with a landmark space map, and the comparison result And when there is only one landmark group pattern composed of the neighboring landmark pattern and the specific landmark pattern in the landmark space map, the landmark of the landmark on which the mobile robot is currently located on the landmark space map. Extract absolute position coordinates and, if two or more exist, move to another neighboring landmark And a fourth process of performing the second process after the movement.
  • the landmark space map is configured to correspond to the respective patterns of the landmarks arranged on the moving plate which is the space in which the mobile robot moves, and the patterns of the landmarks are n magnet positions constituting each landmark. It is characterized in that the P pattern formed by changing the.
  • N is the number of magnets
  • 1 H N is an overlapping combination that means the number of cases where N magnets are placed in one direction
  • m is the number of cases in the direction of magnet placement
  • gcd (a , Na) is the greatest common divisor of a and Na
  • l ⁇ gcd (a, Na) means that l is a divisor of gcd (a, Na)
  • the mobile robot is configured to store one-to-one matching of the patterns of the P landmarks and the output voltage when the mobile robot rotates on the P landmarks.
  • the mobile robot having four Hall sensors attached to the bottom surface is formed by changing the arrangement of the magnets.
  • the mobile robot recognizes a pattern of a specific landmark and a neighboring landmark, and then compares it with the stored landmark space map, thereby the mobile.
  • the advantage is that the absolute position coordinates of the landmark where the robot is currently located can be easily estimated.
  • FIG. 1 is a perspective view of a mobile robot applied to the present invention.
  • Figure 2 is a detailed view showing the bottom surface of the mobile robot applied to the present invention.
  • 3 is an understanding diagram for explaining the relationship between the Hall sensor output voltage and the Hall sensor position applied to the present invention.
  • FIG 4 is an exemplary view of a moving plate applied to the present invention.
  • FIG. 5 is an exemplary view illustrating a landmark space map in which a plurality of landmarks are formed on a moving plate applied to the present invention and are stored corresponding to the landmarks.
  • FIG. 6 is a detailed view showing patterns of landmarks applied to the present invention.
  • FIG. 7 is an exemplary view for explaining a procedure of extracting absolute position coordinate values applied to the present invention.
  • FIG. 8 is an exemplary view for explaining a landmark coordinate system applied to the present invention.
  • FIG. 9 is an understanding diagram for explaining a position error estimation applied to the present invention.
  • FIG. 10 is a flowchart illustrating a global position estimation and correction method of a mobile robot using magnetic landmarks applied to the present invention.
  • FIG. 11 is an understanding diagram for explaining a position error estimation applied to the present invention.
  • FIG. 13 is a flowchart illustrating a position error correction procedure applied to the present invention.
  • Mobile robots are generally two wheels or four wheels, and two-wheeled mobile robots are most widely used.
  • a mobile robot driven by two wheels can dynamically express the movement of the robot using the angular velocity of both wheels.
  • the two wheels shown in FIGS. 1 and 2 are used in a mobile robot of a differential-drive.
  • two wheels 1 protrude outside the bottom surface. These two wheels 1 are in contact with the upper surface of the moving plate formed with a plurality of landmarks to be described later to allow the mobile robot to move.
  • a plurality of Hall sensors 3 are attached to the bottom surface of the mobile robot 10. 2 illustrates a state in which four Hall sensors 3 are attached. Of the four Hall sensors 3, two are attached on the central axis (straight line connecting the two wheels) of the two wheels, the other two are attached to the mobile robot movement direction line. As a result, the four Hall sensors 3 are arranged in a rectangular shape, and the distance between the respective Hall sensors facing each other (the distance between the two Hall sensors attached on the center axis of the two wheels and the mobile robot). The distance between the two Hall sensors attached by the direction of movement of is equal to.
  • a plurality of Hall sensors 3 (four Hall sensors in FIG. 2) attached to the bottom surface of the mobile robot 10 may detect a magnetic field of each magnet constituting a landmark as a voltage. Perform the function.
  • the Hall sensor 3 is a magnetic sensor manufactured based on the Hall effect, and can detect magnetic flux flux density as a voltage in a magnetic field.
  • the Hall sensor 3 reacts linearly according to the strength of the magnetic field, and outputs a stable voltage even in a fine magnetic field, thereby increasing accuracy when applied to position recognition.
  • the Hall sensor output voltage detected from the Hall sensor located above the magnet and the position of the Hall sensor (center line of the magnet ("c" in FIG. Look at the characteristic graph (graph shown in Figure 3) showing the relationship of the position) of the Hall sensor spaced apart from the indicated line).
  • the hall sensor 3 since the mobile robot having two wheels moves a moving plate made up of a plurality of landmarks, when the mobile robot is located on each of the landmarks, the hall sensor 3 has a magnet and predetermined air. Assume that a gap (air gap, denoted by "h” in FIG. 3) is set to output a voltage between 0 and 5 V by driving a 5 V voltage.
  • the moving plate 20 provides a space in which the mobile robot can move. If the mobile robot 10 performs the work in the industrial site, the moving plate 20 may be regarded as the bottom surface of the working space.
  • the moving plate 20 is provided with a plurality of magnetic landmarks 21 provided to recognize the position of the mobile robot 10 moving as shown in FIGS. 4 and 5.
  • Each magnetic landmark 21 is composed of n (natural numbers) magnets.
  • the magnets constituting each magnetic landmark are composed of n pieces (where n is a natural number). That is, the magnetic landmark may be composed of a plurality of magnets, and arranged in various forms.
  • the magnetic landmark consisting of the plurality of magnets is in the form of a polygon (a triangle (when the three magnets)), a square (when the four magnets), a hexagon (when the six magnets), etc.) It is preferred to be configured.
  • the magnetic landmark is composed of four magnets. As shown in Figures 4 and 5, the landmark consisting of the four magnets are arranged symmetrically with the magnets. Each landmark 21 maintains a predetermined interval in the form of a grid in the moving plate 20 and has specific coordinates.
  • the magnets constituting the respective landmarks 21 are configured to be inserted into the moving plate.
  • the moving plate 20 is processed in a flat state after the magnets are inserted so as not to interfere with the movement of the mobile robot 10.
  • a plurality of landmarks 21 are disposed on the moving plate 20 at predetermined intervals from each other, and each of the landmarks 21 illustrates n magnets (four magnets in FIGS. 4 and 5). ) Magnets are arranged symmetrically with each other.
  • the landmarks made of the n magnets are P kinds of landmarks that can be formed by changing the position of the magnets. This will be described with reference to FIG. 6 as follows.
  • N is the number of magnets
  • 1 H N is an overlapping combination that means the number of cases where N magnets are placed in one direction
  • m is the number of cases in the direction of magnet placement
  • gcd (a , Na) is the greatest common divisor of a and Na
  • l ⁇ gcd (a, Na) means that l is a divisor of gcd (a, Na)
  • the magnetic landmark may be composed of n magnets to form P patterns. More specifically, in the case of constituting the landmark in the form of a triangle with three magnets, four (P) patterns may be formed, and in the case of constituting the landmark in the form of a fire with four magnets, six (P ), And in the case of constituting a hexagonal landmark with six magnets, 14 (P) patterns can be formed. Of course, when constituting a landmark with more magnets, P patterns can be formed.
  • the number P of patterns that can be formed using three magnets can be obtained according to the following calculation.
  • the number P of patterns that can be formed using four magnets can be obtained according to the following calculation.
  • the number P of patterns that can be formed using six magnets can be obtained according to the following calculation.
  • FIG. 6 illustrates the patterns that can be formed when constructing a landmark with four magnets. Referring to this example, patterns that can be formed will be described.
  • each landmark is composed of four magnets. Therefore, there are a total of six patterns that can be formed by modifying the arrangement of the magnets. Among the magnets constituting each landmark, if the polarities of the magnets are arranged in the counterclockwise direction from the magnet on the right side, six patterns as shown in FIG. 6 can be formed.
  • Pattern 1 has a magnet listing pattern of (NS SN NS SN)
  • Pattern 2 has a magnet listing pattern of (NS NS NS SN)
  • Pattern 3 has (NS SN SN SN) has a magnet listing pattern
  • Pattern 4 has a magnet listing pattern of (SN NS NS SN)
  • Pattern 5 has a magnet listing pattern of (NS NS NS NS NS NS NS)
  • the pattern (Pattern) 6 has a magnet ordering pattern of (SN SN SN SN SN).
  • the output voltage patterns output by the plurality of Hall sensors may also be different according to the respective landmark patterns.
  • the output voltage patterns output by the plurality of Hall sensors may also be different according to the respective landmark patterns.
  • the mobile robot stores one-to-one matching of the output voltage patterns when rotating on the respective landmark patterns and the respective landmark patterns (P patterns). Therefore, when the mobile robot is located at a specific landmark, the mobile robot can easily know which of the P patterns the landmark on which it is located is.
  • the mobile robot stores a layout map of a plurality of landmarks arranged in a moving plate which is a space (work space) to which the mobile robot moves in advance. That is, the layout of a plurality of landmarks composed of P patterns is stored in advance. This is called a landmark space map.
  • the landmark space map is as shown on the right side of FIG.
  • the landmark space map has a map of patterns of 32 landmarks arranged in a specific area (area divided by dotted lines) of the moving plate.
  • the mobile robot in the dotted area is a landmark of pattern 5 (one of six patterns that can be formed when constructing a landmark with four magnets) on the landmark space map. It can be seen that the phase is located.
  • the mobile robot has spatial absolute coordinate information that stores the absolute position coordinate value of each landmark pattern on the landmark space map.
  • the mobile robot located on a specific landmark of the moving plate is at the position of (1).
  • the specific landmark is pattern 2 (one of six patterns composed of four magnets). Specifically, if the landmark is stopped or rotated, it can be seen that the specific landmark is pattern 2.
  • the landmark at each position is respectively pattern 6 (landmark pattern of position (2)) and pattern. It can be seen that it is 4 (a landmark pattern at position (3)).
  • the present invention relates to a method for estimating the global position of a mobile robot and correcting an error. That is, it is assumed that a position error of the mobile robot occurs.
  • the position error of the mobile robot is when the mobile robot is located away from each landmark coordinate origin (indicated by “0” in FIG. 8) where the mobile robot is located, and the center of the mobile robot is the landmark coordinate origin.
  • the deviation degree corresponding to the position error includes not only the deviation degree in the x-axis direction and the y-axis direction, but also a spaced angle between the central axis of the two wheels of the mobile robot and the x-axis or the y-axis.
  • the center of the mobile robot means a center point of a space formed by a plurality of Hall sensors (when composed of four Hall sensors, an intersection point of each virtual line connecting the Hall sensors facing each other).
  • the center of the mobile robot is located on the origin of the landmark coordinate system, and the moving direction line (or the center axis of the two wheels) of the mobile robot is the x axis or the landmark coordinate system. when it coincides with the y-axis.
  • the Hall sensors are each the same centerline of the corresponding magnet. It will be located on the top of the map (when the landmark is made up of four magnets and four Hall sensors are used).
  • the center of the mobile robot coincides with the origin O of the landmark coordinate system, and the direction of movement of the mobile robot (in FIG. 9).
  • L m is coincident with the x-axis or y-axis (illustrated as coinciding with the y-axis in FIG. 9) and each Hall sensor 3 is each disposed on the same position of the centerline of the corresponding magnet. The case is when there is no position error.
  • the distance from the center of the mobile robot to each hall sensor and the distance from the origin of the landmark to the center of the center line of each magnet may be slightly different, but the same is preferable.
  • FIG. 9 since the distance from the center of the mobile robot to each hall sensor and the distance from the origin of the landmark to the center of the center line of each magnet are the same, it is determined that each hall sensor is located on the center of the center line of the corresponding magnet. can see.
  • each magnet corresponding to each Hall sensor or each Hall sensor corresponding to each magnet means a positional error estimation and correction when each Hall sensor is located on the magnet, so that the relationship overlapping each other ( In other words, it corresponds to a case where a specific hall sensor is overlapped when present on a specific magnet.
  • the present invention is a case where all Hall sensors are located on each corresponding magnet to use the "actual data range" shown in FIG. That is, if any of the four Hall sensors are located out of the corresponding magnets (when located out of the "real data range” in the graph of Figure 3), there is basically a big problem in the mobile robot control system. It is not treated as an error correction problem.
  • the present invention when the mobile robot in motion moves to a specific landmark as a destination and stops, naturally all hall sensors are positioned on each corresponding magnet without departing from the magnet.
  • FIG. 10 is a flowchart illustrating a global position estimation and correction method of a mobile robot using magnetic landmarks according to an exemplary embodiment of the present invention.
  • the mobile robot moving the moving plate arrives or lies at a certain landmark, before moving to the landmark corresponding to the next destination, the mobile robot estimates the global absolute position coordinate value of the landmark where the mobile robot is currently located, and the absolute A position error corresponding to the deviation of the mobile robot from the position coordinate value is estimated, and a procedure for correcting the position error is performed.
  • the mobile robot recognizes a pattern of a specific landmark and a pattern of neighboring landmarks and estimates the absolute position coordinate value of the landmark currently located.
  • the process of estimating the absolute position coordinate value of the landmark where the mobile robot is currently located is as follows.
  • the mobile robot When the mobile robot is placed on the moving plate, it is placed on a specific landmark. After the mobile robot recognizes the pattern of the specific landmark, the mobile robot moves to the neighboring landmark.
  • the pattern recognition of the specific landmark may be recognized as a stationary state on the landmark or may be recognized by a rotation operation.
  • the mobile robot stores the patterns of the plurality of different landmarks and the voltage output patterns output when the patterns are stationary or rotated in the patterns. Therefore, when rotating at the specific landmark, an output voltage is generated through the Hall sensor, and the mobile robot compares the generated output voltage with the stored output voltage patterns. As a result of the comparison, an output voltage pattern having a pattern similar to the generated output voltage may be found, and a landmark pattern stored corresponding to the found output voltage pattern may be recognized as the pattern of the specific landmark.
  • the pattern After recognizing the pattern of a specific landmark as described above, the pattern is moved to a neighboring landmark, and the pattern of the landmark is recognized from the moved neighboring landmark.
  • the method of recognizing the pattern of the neighboring landmark is the same as the process of recognizing the pattern of the specific landmark.
  • the mobile robot moves from the specific landmark to a neighboring landmark at position (2), and then in a stationary state or through rotation, the neighboring land at position (2). It can be recognized that the pattern of the mark is pattern 6.
  • the pattern of the recognized neighboring landmark and the pattern of the specific landmark are compared with a landmark space map.
  • the pattern 2 of the specific landmark and the pattern 6 of the neighboring landmark are compared with the landmark space map stored by the mobile robot.
  • the mobile robot on the landmark space map is currently located. If the location coordinate value of the landmark is extracted and two or more exist, the process of recognizing the pattern of the landmark in the neighboring landmark after moving to another neighboring landmark until only one exists, and the landmark The process of comparing the patterns of the landmark map with the landmark space map is repeated.
  • the landmark group pattern refers to a pattern group of landmarks recognized by a mobile robot in a stationary state or recognized through rotation. That is, in FIG. 7, the pattern 2 of a specific landmark (landmark at position (1)) and a landmark (landmark at position (2)) adjacent to each other in the positive x-axis direction at this particular landmark Pattern 6 is called a landmark group pattern.
  • the mobile robot on the landmark space map is currently located. Extract the absolute position coordinates of a landmark.
  • a landmark group pattern including a pattern 2 of a specific landmark and a pattern 6 of a neighboring landmark in a positive x-axis direction are compared with the landmark spatial map illustrated in FIG. 7.
  • the absolute position coordinate value of the landmark in which the mobile robot is currently located in this case, the landmark of position (2) in FIG. 7 is obtained.
  • the mobile robot stores absolute coordinate values of positions of patterns constituting the landmark space map.
  • FIG. 7 there are actually a plurality of landmark group patterns composed of the landmark pattern 2 and the landmark pattern 6 in the positive x-axis direction of the landmark pattern 2.
  • the mobile robot moves to another neighboring landmark. For example, it moves to the landmark at position (3) in FIG. Then, in a stationary state, the landmark pattern is recognized or rotated to recognize the landmark pattern.
  • the pattern of the landmark of the position (3) is recognized as the pattern 4.
  • FIG. 7 the pattern of the landmark of the position (3) is recognized as the pattern 4.
  • the mobile robot generates a pattern of the neighboring landmarks with the pattern of the specific landmark (pattern 2), that is, the landmark pattern (pattern 6) at position (2) and the landmark pattern at position (3) in FIG. It is checked whether only one landmark pattern group consisting of (pattern 4) exists in the landmark space map.
  • the landmark pattern group consisting of the specific landmark pattern 2, the landmark pattern 6 neighboring in the positive x-axis direction, and the landmark pattern 4 neighboring in the positive y-axis direction, are selected from the land shown in FIG. Only one exists in the mark space map.
  • the mobile robot extracts the absolute position coordinate value of the landmark where the mobile robot is currently located (in this case, the landmark of position (3)).
  • the mobile robot may know not only the absolute position coordinate values of the landmark currently located but also the absolute position coordinate values of all the landmarks. This is because the mobile robot stores absolute position coordinate values corresponding to all patterns constituting the landmark space map.
  • the global absolute position coordinate values can be known.
  • a procedure of estimating and correcting a position error is performed in a process of moving to a neighboring landmark and moving from a neighboring landmark to another neighboring landmark. Can be performed further.
  • a procedure of estimating and correcting a position error of a mobile robot located at the specific landmark is performed or a pattern of a neighboring landmark is recognized. Thereafter, before moving to another neighboring landmark, a procedure of estimating and correcting a position error of the mobile robot located at the neighboring landmark may be performed.
  • the procedure for estimating and correcting the position error of the mobile robot may apply the position error estimation and correction procedure described below.
  • the plurality of hall sensors each generate a hall sensor output voltage. That is, each of the plurality of Hall sensors attached to the bottom surface of the mobile robot stationary on a landmark composed of four magnets detects a voltage under the influence of a magnetic field generated by the corresponding magnet.
  • the position error of the mobile robot deviating from the origin of the landmark coordinate system is estimated by using the voltages detected by the plurality of Hall sensors and the Hall sensor output voltage-Hall sensor positional relationship determined by experiment in advance.
  • This equation is the relationship between the voltage detected by each Hall sensor and the horizontal shortest distance from the centerline of the magnet to the Hall sensor.
  • k i is a linear proportionality constant voltage (V i) and the horizontal shortest distance (l i).
  • i is a natural number in the range of 1-4.
  • the k i value is a value determined through experiment in advance. Accordingly, when the value V i is detected, the horizontal shortest distance i is determined by the Hall sensor output voltage-hall sensor positional relationship.
  • the Hall sensor output voltage-Hall sensor position relation equation is determined through the graph shown in FIG. 3 (characteristic graph regarding Hall sensor output voltage and Hall sensor position). That is, it can be seen the through the graph, the sensor output voltage (V i) and the horizontal shortest distance (l i) shown in Figure 3, this time to determine the proportionality constant k i between the sensor output voltage and the horizontal minimum distance have.
  • the Hall sensor output voltage is generated, and then the Hall sensor output voltage-Hall sensor positional relationship is used.
  • the horizontal shortest distances (l 1 , l 2 , l 3 , l 4 ) between the centerline of each magnet corresponding to the hall sensor can be obtained.
  • the position error (x e , y e , ⁇ e ) of the mobile robot deviating from the origin of the landmark coordinate system is estimated using these. can do.
  • x e is a land means the degree to which the center of the mobile robot away from the origin of the marked coordinates on the x-axis of landmark coordinate system
  • y e is the landmark coordinate system
  • the origin of landmark coordinate system y-axis ⁇ e means the degree of deviation of the center of the mobile robot
  • ⁇ e means the degree of inclination of the two wheel center axis of the mobile robot relative to the x axis or y axis of the landmark coordinate system.
  • the estimated position error may be moved to the origin of the landmark coordinate system. Compensating for the position error by driving the mobile robot as much as possible.
  • the step of estimating and correcting the position error may be performed again.
  • the error tolerance reference value is a value determined through a prior experiment and is a boundary value of the position error that can be ignored.
  • the error tolerance reference value may be relatively small when very precise position recognition is required, and may be relatively large in a position recognition system that may be relatively inaccurate.
  • the estimated position error (x e , y e , ⁇ e ) is equal to or less than a predetermined error tolerance reference value, and when the estimated position error is less than or equal to the error tolerance reference value, the next destination (land Mark), and the above-described step is performed, and if the estimated position error is not equal to or less than the error tolerance reference value (if exceeded), the position error must be corrected.
  • the meaning that the estimated position error (x e , y e , ⁇ e ) is equal to or less than the predetermined error tolerance reference value means that all of the components of the estimated position error are equal to or less than the error tolerance reference value for the component.
  • the error tolerance reference values for each component (x e , y e , ⁇ e ) of the position error are determined to be (5 mm, 5 mm, 5 °), respectively, then each component of the estimated position error is the error tolerance mood. It means the case below the each component of a value (for example, (3mm, 3mm, 4 degrees)).
  • FIG. 11 is an exemplary diagram for describing an error estimation in the case of the magnet arrangement corresponding to the pattern 1 among the six patterns shown in FIG. 6.
  • a mobile robot is located on a landmark, but the center of the mobile robot is stopped from the origin O of the landmark where the mobile robot is currently located. At this time, the center of the mobile robot is located at the coordinate values (x e , y e ) of the landmark coordinate system, and the four Hall sensors 3 attached to the bottom surface of the mobile robot are respectively shown in FIG. 11, Located on each corresponding magnet (located on the magnet away from the centerline of the corresponding magnet).
  • the central axis of the two wheels 1 of the mobile robot is distorted by ⁇ e from the x axis of the landmark coordinate system. Therefore, the position error of the mobile robot is (x e , y e , ⁇ e ).
  • the voltages detected by the Hall sensors and the Hall sensor output voltage-Hall sensor positional relation of the formula (1) Use to find the horizontal shortest distance from the centerline of each magnet to the Hall sensor.
  • the voltage detected by the Hall sensor located on the magnet located on the x axis is V 1 and the magnetic field of the magnet located on the positive y axis is determined by the magnetic field of the magnet located on the positive x axis. Therefore, the voltage detected by the Hall sensor located on the magnet located on this y axis is V 2, and the Hall sensor located on the magnet located on this x axis by the magnetic field of the magnet located on the negative x axis.
  • the voltage detected by V is V 3
  • the voltage detected by the Hall sensor located on the magnet located on this y axis is V 4 due to the magnetic field of the magnet located on the negative y axis.
  • the shortest horizontal distance between the center line of each magnet and the hall sensor corresponding to each magnet can be obtained by the Hall sensor output voltage-Hall sensor positional relational expression of Equation (1).
  • the obtained horizontal shortest distances become l 1 , l 2 , l 3 , and l 4 , respectively.
  • l 2 and l 4 which are used to find x e, which is an error of the x axis, are the horizontal shortest distances between the y axis of the landmark coordinate system and the hall sensors respectively corresponding to two magnets located on the y axis. to be. That is, l 2 is the horizontal shortest distance between the positive y axis and the Hall sensor corresponding to the magnet lying on this y axis, and l 4 corresponds to the negative y axis and the magnet lying on this y axis. Is the shortest horizontal distance between Hall sensors.
  • l 1 and l 3 used to find y e are the horizontal shortest distances between the x axis of the landmark coordinate system and the hall sensors respectively corresponding to two magnets located on the x axis. That is, l 1 is the horizontal shortest distance between the positive x axis and the Hall sensor corresponding to the magnet lying on the x axis, and l 3 corresponds to the negative x axis and the magnet lying on the x axis. Is the shortest horizontal distance between Hall sensors.
  • d used to obtain an error ⁇ e corresponding to an angle at which the center line of the two wheels 1 of the mobile robot is spaced based on the x-axis or the y-axis is opposite to each other, as shown in FIG.
  • Distance between the Hall sensors (in the direction).
  • l 1 , l 2 , l 3 , l 4 are the horizontal shortest distances used when estimating x e and y e .
  • ⁇ e is an angle between the central axis (denoted as “w” in FIG. 12) of the two wheels of the mobile robot and the x-axis or y-axis of the landmark coordinate system, as shown in FIG. 12.
  • the absolute value corresponds to the smaller angle. Accordingly, in the case of FIG. 12, the angle between the central axis w of the two wheels 1 of the mobile robot and the x axis of the landmark coordinate system is selected as ⁇ e .
  • k 1 , k 2 , k 3 , and k 4 have a value of 1 or -1 depending on the moving direction of the mobile robot in the landmark. Accordingly, the values of k 1 , k 2 , k 3 , and k 4 have a value of 1 or -1 depending on the pattern of each landmark and the direction in which the mobile robot moves in each landmark. This is described below.
  • the equation for obtaining the position error (x e , y e , ⁇ e ) in the case of the magnet arrangement of the pattern 1 will be described. Even in this case, the position error (x e , y e , ⁇ e ) is basically calculated through Equations (2) to (4).
  • the values of k 1 , k 2 , k 3 and k 4 vary depending on the direction of movement of the mobile robot.
  • the equation for obtaining the position error (x e , y e , ⁇ e ) in the case of the magnet arrangement of the pattern 2 will be described. Even in this case, the position error (x e , y e , ⁇ e ) is basically calculated through Equations (2) to (4).
  • the equations for obtaining the position error (x e , y e , ⁇ e ) in the case of the magnet arrangement of the pattern 3 among the landmark patterns shown in FIG. 6 will be described. Even in this case, the position error (x e , y e , ⁇ e ) is basically calculated through the above formulas (2) to (4).
  • the equation for obtaining the position error (x e , y e , ⁇ e ) in the case of the magnet arrangement of the pattern 4 will be described. Even in this case, the position error (x e , y e , ⁇ e ) is basically calculated through Equations (2) to (4).
  • the equation for obtaining the position error (x e , y e , ⁇ e ) in the case of the magnet arrangement of the pattern 5 will be described. Even in this case, the position error (x e , y e , ⁇ e ) is basically calculated through Equations (2) to (4).
  • the equations for obtaining the position error (x e , y e , ⁇ e ) in the case of the magnet arrangement of the pattern 6 among the landmark patterns shown in FIG. 6 will be described. Even in this case, the position error (x e , y e , ⁇ e ) is basically calculated through Equations (2) to (4).
  • the position is corrected using the estimated position error (correction of moving the center of the mobile robot to the origin of the landmark coordinate system and coinciding the moving direction line of the mobile robot with the x or y axis of the landmark coordinate system).
  • the estimated position error correction of moving the center of the mobile robot to the origin of the landmark coordinate system and coinciding the moving direction line of the mobile robot with the x or y axis of the landmark coordinate system.
  • a first position error correction method will be described with reference to FIG. 13.
  • the mobile robot estimates the position error in a state where the mobile robot is stationary on the landmark, as shown in Fig. 13A. Then, position error correction is performed using the estimated position error.
  • FIG. 13B In order to correct the position error, as shown in FIG. 13B, the moving direction line of the mobile robot passes through the origin of the landmark coordinate system using the estimated position error values. Rotate the mobile robot. The rotation direction at this time rotates in the direction in which a rotation angle is small. Accordingly, FIG. 13B is a state in which the counterclockwise direction is rotated in FIG. 13A. The rotation angle at this time may be calculated according to various equations using the estimated position error values.
  • the mobile robot is moved to the origin of the landmark coordinate system. That is, the center of the mobile robot is moved to the origin of the landmark coordinate system.
  • the distance from the origin of the landmark coordinate system to the coordinate point (x e , y e ) may be calculated by various equations using the estimated position error values.
  • FIG. 13D is a state in which FIG. 13C is rotated clockwise.
  • the position error correction step shown in FIG. 13 is a step of correcting the position error on the x-axis and the y-axis in one movement.
  • the position error is caused by moving directly to the origin of the landmark coordinate system without performing x-axis movement and y-axis movement separately. Step to calibrate.
  • the landmark coordinate system As shown in Figure 14 (b) Rotate the mobile robot so that it is horizontal to the x axis.
  • the rotation angle can be obtained using (90 ° - ⁇ e ). For example, if ⁇ e is 30 °, the rotation angle will be 60 °. Such a result is that in order to be changed from the state of FIG. 14A to the state of FIG. 14B, it may be rotated clockwise or counterclockwise. (b) It means to go to the state. (B) of FIG. 14 is a state which rotated clockwise in the state (a) of FIG.
  • the movement in the x-axis direction is a movement for correcting the x-axis of the landmark coordinate system, and as shown in FIG. 14 (c), it means a movement such that the center axes of two wheels of the mobile robot coincide with the y-axis. do.
  • the mobile robot Since the x-axis correction was performed, the following performs the y-axis correction. To this end, the mobile robot is rotated 90 degrees so that the direction of movement of the mobile robot coincides with the y axis. Then, the state shown in FIG. 14 (d) is obtained. Then, the mobile robot is moved by y e in the y axis direction to correct the position in the y axis direction. Then, the state shown in FIG. 14E is obtained. In this case, the movement in the y-axis direction is a movement for correcting the y-axis of the landmark coordinate system, and as shown in FIG. 14E, a movement in which the center axes of two wheels of the mobile robot coincide with the x-axis. do.
  • the positional error can be corrected by moving the center of the mobile robot to the origin of the landmark coordinate system.
  • the position error correction process since the direction of movement of the mobile robot coincides with the x-axis or the y-axis, the center axes of the two wheels of the mobile robot also coincide with the x-axis or the y-axis.
  • the above-described procedure is a process of performing position error correction by first performing x-axis correction and then performing y-axis correction.
  • the position error correction may be performed by performing the y-axis correction first and then performing the x-axis correction. This is briefly described as follows.
  • the mobile robot is positioned such that the direction of movement of the mobile robot is horizontal to the y axis of the landmark coordinate system using ⁇ e .
  • the mobile robot is rotated counterclockwise by ⁇ e .
  • the mobile robot is rotated in a counterclockwise direction so that the direction of movement of the mobile robot is horizontal to the y axis of the landmark coordinate system by rotating at the minimum angle.
  • the mobile robot is moved by y e in the y axis direction to correct a position error in the y axis direction.
  • the movement in the y-axis direction is a movement for correcting the y-axis of the landmark coordinate system, and means a movement such that the center axes of the two wheels of the mobile robot coincide with the x-axis.
  • the mobile robot Since the y-axis correction has been performed, the following performs the x-axis correction. To this end, the mobile robot is rotated 90 ° so that the moving direction line of the mobile robot coincides with the x-axis. Then, the mobile robot is moved by x e in the x axis direction to correct the position in the x axis direction.
  • the movement in the x-axis direction is a movement for correcting the x-axis of the landmark coordinate system, and means a movement such that the center axes of the two wheels of the mobile robot coincide with the y-axis.
  • the position error can be corrected by moving the center of the mobile robot to the origin of the landmark.
  • the position error correction process since the direction of movement of the mobile robot coincides with the x-axis or the y-axis, the center axes of the two wheels of the mobile robot also coincide with the x-axis or the y-axis.
  • the final state of the mobile robot is a state in which the movement direction line of the mobile robot coincides with the x-axis while the position error correction is completed. Is in.
  • the position error correction may be performed in the y-axis correction order after the x-axis correction, or may be performed in the x-axis correction order after the y-axis correction.
  • the position error correction process by minimizing the total rotation angle of the mobile mobile robot, it is necessary to reduce the power consumption and to improve the working speed or the moving speed of the mobile robot.
  • next destination movement direction M D is the x axis direction
  • the position error correction in the y axis direction is first performed, and then the position error correction in the x axis direction is performed, and the next destination movement direction M D is y.
  • the position error correction in the x-axis direction is first performed, and then the position error correction in the y-axis direction is performed.
  • the total rotation angle of the mobile robot in the position error correction process may be minimized. For example, as shown in (a) of FIG. 14, if the next destination movement direction M D is in the y-axis direction, after performing position error correction in the x-axis direction first, according to the procedure shown in FIG. 14. It is preferable to perform position error correction in the y-axis direction to perform final position error correction.
  • the mobile robot rotates by a total of 150 ° in the position error correction process, thereby correcting the position error.
  • the rotation angle for the x-axis correction is 60 ° (rotation angle for moving from (a) to FIG. 12 (b) in FIG. 14) and the rotation angle for the y-axis correction is 90 ° (FIG. 14). (C) to (d) in FIG. 14), and when the position error correction is completed, since it is necessary to move to the next destination without additional rotation, the total rotation angle becomes 150 °.
  • the mobile robot rotates by 210 ° in order to move to the next destination.
  • the angle to rotate to perform the first y-axis correction is 30 °
  • the angle to rotate to perform the next x-axis correction is 90 °, in order to face the direction of movement of the mobile robot in the next destination movement direction Since the angle of rotation is 90 °, the total angle of rotation of the mobile robot is 210 °.
  • the position error correction of the mobile robot which repeats the position error correction and the movement to the next destination (landmark) has the advantage of minimizing the power consumption.
  • a mobile robot having four Hall sensors attached to the floor moves a moving plate on which a plurality of kinds of landmarks formed by changing the arrangement of magnets are moved
  • the mobile robot is located at a specific landmark and neighbors.
  • the absolute position coordinate value of the landmark where the mobile robot is currently located can be easily estimated, and the position error of the mobile robot can be estimated.
  • a global position estimation and correction method of a mobile robot using a magnetic landmark that can be easily corrected is provided.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Electromagnetism (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Manipulator (AREA)

Abstract

La présente invention a trait à un procédé d'estimation et de correction d'erreur de positionnement d'un robot mobile et, plus particulièrement, à un procédé d'estimation et de correction de localisation par satellite d'un robot mobile utilisant des points de repère magnétiques. Ledit robot mobile reconnaît les motifs d'un point de repère particulier et d'un point de repère voisin et compare les motifs reconnus avec une carte satellite de points de repère stockée, si le robot mobile doté de quatre capteurs à effet Hall attachés sur sa surface inférieure se déplace sur une plaque mobile sur laquelle de multiples types de points de repère formés en changeant l'agencement des aimants sont disposés, ce qui permet d'estimer facilement les valeurs de coordonnées d'un positionnement spatial d'un point de repère sur lequel le robot mobile est actuellement placé et de corriger facilement les erreurs de positionnement du robot mobile. La présente invention, à savoir, le procédé d'estimation et de correction de localisation par satellite du robot mobile utilisant les points de repère magnétiques, est constituée d'un composant et le procédé d'estimation et de correction de localisation par satellite du robot mobile utilisant les points de repère magnétiques comprend les étapes consistant : estimer les valeurs de coordonnées d'un positionnement spatial d'un point de repère sur lequel le robot mobile est actuellement placé, en reconnaissant un motif d'un point de repère particulier sur lequel le robot mobile est placé et un motif d'un point de repère voisin ; à estimer les erreurs de positionnement (xe, ye, θe) du robot mobile qui dévie des valeurs de coordonnées estimées du positionnement spatial du point de repère ; et à corriger les erreurs de positionnement en déplaçant le robot mobile d'une valeur égale à la valeur des erreurs de positionnement estimées (xe, ye, θe), de sorte que le robot mobile peut se déplacer vers les valeurs de coordonnées du positionnement spatial du point de repère.
PCT/KR2011/000125 2010-01-08 2011-01-07 Procédé d'estimation et de correction de localisation par satellite d'un robot mobile utilisant des points de repère magnétiques WO2011084012A2 (fr)

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KR101798837B1 (ko) * 2016-01-25 2017-12-12 충북대학교 산학협력단 마그네틱 랜드마크를 이용한 이동 로봇 위치 인식 시스템 및 방법
CN110488838B (zh) * 2019-08-29 2022-08-02 四川阿泰因机器人智能装备有限公司 一种室内自主导航机器人精确重复定位方法

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CN107160397A (zh) * 2017-06-09 2017-09-15 杭州亚美利嘉科技有限公司 机器人行走的模块地标、地标及其机器人
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