WO2012070867A2 - 와이어를 이용한 자율이동장치 제어 시스템 및 방법 - Google Patents

와이어를 이용한 자율이동장치 제어 시스템 및 방법 Download PDF

Info

Publication number
WO2012070867A2
WO2012070867A2 PCT/KR2011/008983 KR2011008983W WO2012070867A2 WO 2012070867 A2 WO2012070867 A2 WO 2012070867A2 KR 2011008983 W KR2011008983 W KR 2011008983W WO 2012070867 A2 WO2012070867 A2 WO 2012070867A2
Authority
WO
WIPO (PCT)
Prior art keywords
information
wire
length
autonomous platform
tension
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/KR2011/008983
Other languages
English (en)
French (fr)
Korean (ko)
Other versions
WO2012070867A3 (ko
Inventor
최윤서
우갑주
은종호
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Samsung Heavy Industries Co Ltd
Original Assignee
Samsung Heavy Industries Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from KR1020100117504A external-priority patent/KR101194747B1/ko
Priority claimed from KR1020100118173A external-priority patent/KR101194749B1/ko
Application filed by Samsung Heavy Industries Co Ltd filed Critical Samsung Heavy Industries Co Ltd
Priority to US13/989,337 priority Critical patent/US20130253751A1/en
Priority to DE112011103897T priority patent/DE112011103897T5/de
Priority to CN201180056631XA priority patent/CN103260832A/zh
Priority to JP2013540892A priority patent/JP2014504397A/ja
Publication of WO2012070867A2 publication Critical patent/WO2012070867A2/ko
Publication of WO2012070867A3 publication Critical patent/WO2012070867A3/ko
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • 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
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/1623—Parallel manipulator, Stewart platform, links are attached to a common base and to a common platform, plate which is moved parallel to the base
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B43/00—Improving safety of vessels, e.g. damage control, not otherwise provided for
    • B63B43/02—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking
    • B63B43/04—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking by improving stability
    • B63B2043/047—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking by improving stability by means of hull shapes comprising a wide hull portion near the design water line, and a slender, buoyancy providing, main hull portion extending towards the bottom
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B71/00—Designing vessels; Predicting their performance

Definitions

  • the present invention relates to an autonomous platform control system, and more particularly, to an autonomous platform control system and method using a wire.
  • the blocks that make up the hull are also becoming larger.
  • the hull of a large ship is manufactured in units of blocks constituting part of the hull, and then the blocks are assembled to each other.
  • 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 invention of the autonomous mobile device using the existing tension material is not only wider working radius than the Stewart platform (Linear actuator) using a linear actuator, but also has a strong characteristic against very large loads.
  • the autonomous platform was able to control position and posture only in a weightless state (ie, no load) to prevent the wire from stretching.
  • a weightless state ie, no load
  • the wire is stretched due to the weight of the autonomous mobile device, and the wire sag occurs.
  • disturbance acts in a state where the wire sag occurs it becomes difficult to maintain the position and posture of the autonomous platform.
  • the autonomous platform since the autonomous platform has weight in the state of gravity, the wire is stretched and it is not easy to move the autonomous platform to the desired position and posture, thereby causing an error in performing welding, painting, and inspection. .
  • One embodiment of the present invention is to provide an autonomous platform control system and method using a wire to prevent sagging of the wire connected to the autonomous platform.
  • an embodiment of the present invention is to provide a system and method for controlling an autonomous platform using a wire to control the tension generated in the wire.
  • an embodiment of the present invention is to provide an autonomous platform and a control system and method using a wire that can accurately determine the length of the wire fixed to the block and the autonomous platform.
  • an embodiment of the present invention is to provide a system and method for controlling the autonomous platform using a wire that can determine the exact position and attitude of the autonomous platform in the block by using the tension acting on the wire.
  • an autonomous platform control system for controlling the autonomous platform connected to the wire.
  • the path setting unit for generating the movement control information of the autonomous platform using the last position information and initial position information ;
  • a speed manager for controlling the speed of the autonomous platform by using the movement control information to move the autonomous platform;
  • a processor configured to generate current position information using the rotation angle measurement values for the wire and the moved autonomous apparatus, and generate wire operation length information using the current position information; And determining the deflection of the wire by using wire tension measurement information acting on the wire when the wire operation length information is generated, and when the wire deflection occurs, controlling the autonomous platform using the wire by using the wire tension measurement information.
  • the deflection management unit sets tension reference information as a reference to determine deflection of the wire. If the wire tension measurement information is less than the tension reference information, the deflection manager determines the deflection of the wire, and determines the wire tension measurement information. The wire can be adjusted.
  • the sag management unit may compare the wire tension measurement information and the tension reference information to generate tension comparison information, and may pull the wire using the tension comparison information.
  • the processing unit a wire management module for generating wire current length information by setting the length of the wire using the rotation angle measurement value; A position management module for generating the current position information using the wire current length information; A length management module generating the wire operation length information by using the current position information and the movement position information of the movement control information; And a winch control module for controlling the winch by using the wire operation length information to move the autonomous device in which the deflection of the wire is solved by unwinding or winding the wire, wherein the movement position information is the autonomous movement for each unit time. It may indicate the position and posture that the device should move.
  • the wire management module may further include a rotation angle analysis module configured to generate the current wire length information using the rotation angle measurement value measured through an encoder connected to the wire. And a tension analysis module configured to generate the wire tension measurement information by using a tension measurement value measured through a load cell connected to the wire.
  • the position management module may further include: a prediction module configured to set arbitrary position information indicating an arbitrary position in a block in which the autonomous mobile device is located, and set wire arbitrary length information using the arbitrary position information; And a generation module for generating the current position information by using the wire arbitrary length information and the wire current length information.
  • the generation module may generate a length difference value by comparing the arbitrary length information of the wire and the current length information of the wire, and determine whether the length difference value is less than the length reference information so that the length difference value is the length reference information. If less than the current location information can be generated from the arbitrary location information.
  • the generation module may reset the arbitrary position information by using the length difference value when the length difference value is equal to or greater than the length reference information.
  • an autonomous platform control system for controlling the autonomous platform connected to the wire.
  • an autonomous platform control system for controlling an autonomous platform connected to a wire, the system comprising: a path setting unit for setting movement control information using final position information and initial position information; A speed manager for controlling the speed of the autonomous platform by using the movement control information to move the autonomous platform; The wire current length information is generated using the rotation angle measurement information of the wire and the moved autonomous device and the wire tension information acting on the wire, and the current of the moved autonomous device is used using the wire present length information.
  • a location manager for generating location information; And a processor configured to generate wire operation length information using the current position information and the movement control information, and generate rotation angle control information using the wire operation length information and the rotation angle measurement information.
  • a mobile control system is provided.
  • the autonomous platform may include at least one of movement speed information and movement position information to which the autonomous platform moves.
  • the processor may further include: a length analysis module configured to generate the wire operation length information using the current position information and the movement position information; A prediction module for generating rotation angle prediction information using the wire operation length information; And a determination module configured to generate the rotation angle control information by comparing the rotation angle prediction information with the rotation angle measurement information.
  • the prediction module may generate tension prediction information corresponding to the wire operation length information, and generate the rotation angle prediction information by using the wire operation length information and the tension prediction information.
  • the position management unit a rotation angle analysis module for generating wire base length information using the rotation angle measurement information measured through an encoder (encoder) connected to the wire;
  • a tension analysis module for generating the wire tension information by using tension measurement information measured through a load cell connected to the wire;
  • a length setting module that sets the length of the wire by using the wire base length information and the wire tension information to generate the current wire length information.
  • the position management unit a calculation module for setting the arbitrary position information indicating the position where the autonomous mobile device is located in the block, and using the arbitrary position information to set the arbitrary length information; And generating a length difference value by comparing the wire arbitrary length information with the wire current length information, and setting the arbitrary position information as the current position information when the length difference value is less than the length reference information.
  • the generation module may reset the arbitrary position information by using the length difference value when the length difference value is equal to or greater than the length reference information.
  • an autonomous platform control system using a wire controls the autonomous platform.
  • the movement control information of the autonomous mobile device using the final position information and initial position information; Generating and moving the autonomous platform using the movement control information; (b) generating current position information by setting a position and attitude of the autonomous platform by using a rotation angle measurement value of a winch connected to the wire; (c) generating wire operation length information by setting the length of the wire using the current position information; (d) determining the deflection of the wire by using wire tension measurement information acting on the wire, and adjusting the wire by using the wire tension measurement information when the deflection of the wire occurs; And (e) controlling the speed of the autonomous platform by using the movement control information to move the autonomous platform in which the deflection of the wire has been solved.
  • the step (d) may include generating wire tension measurement information by measuring a tension of a wire connected to the autonomous platform; Setting tension reference information as a reference to determine deflection of the wire; And determining the deflection of the wire when the wire tension measurement information is less than the tension reference information, and adjusting the wire by using the wire tension measurement information.
  • the step (b) may include: (b1) generating wire current length information by setting a length of the wire using the rotation angle measurement value; And (b2) generating the current position information through forward kinematics using the wire current length information.
  • step (b2) may include setting arbitrary position information indicating an arbitrary position in a block in which the autonomous platform is located; Setting wire arbitrary length information using the arbitrary position information; And generating the current location information by using the wire arbitrary length information and the wire current length information.
  • the generating of the current position information using the wire arbitrary length information and the wire current length information may include: generating a length difference value by comparing the wire arbitrary length information and the wire current length information; Generating length determination result information by determining whether the length difference value is less than length reference information; And generating the current position information using the arbitrary position information when the length determination result information is the length difference value is less than the length reference information.
  • the generating of the current position information by using the arbitrary length information of the wire and the current length information of the wire may be performed by using the length difference value when the length determination result is greater than or equal to the reference information.
  • the method may further include resetting the location information.
  • step (c) may include generating the wire operation length information through inverse kinematics using the current position information.
  • a method for controlling an autonomous platform by the autonomous platform control system using a wire is provided.
  • the method of controlling the autonomous mobile device by the autonomous mobile device control system using a wire (a) setting the movement control information using the final position information and the initial position information, the movement Moving the autonomous platform by using control information; (b) generating wire current length information using rotation angle measurement information for the wire and the autonomous mobile device moved and wire tension information acting on the wire; (c) generating current position information of the moved autonomous platform by using the current length information of the wire; (d) generating wire operation length information using the current position information and the movement control information; And (e) moving the autonomous platform using the rotation angle control information in which the wire operation length information and the rotation angle measurement information are set.
  • the step (a) may include at least one of movement speed information to be moved by the autonomous device and movement position information indicating a position and attitude by unit time using the final position information and the initial position information. Setting the movement control information; And moving the autonomous platform by using the movement control information.
  • the step (e) may include generating tension prediction information corresponding to the wire operation length information; Generating rotation angle prediction information using the wire operation length information and the tension prediction information; And comparing the rotation angle prediction information with the rotation angle measurement information to generate the rotation angle control information.
  • step (d) may be a step of generating the wire operation length information through inverse kinematics using the current position information and the movement position information.
  • step (b) the step of generating the wire base length information using the rotation angle measurement information measured by the encoder connected to the wire; Generating wire tension information using tension measurement information measured through a load cell connected to the wire; And generating wire current length information by setting a length of a wire by using the wire base length information and the wire tension information.
  • step (c) may include generating the current position information through forward kinematics using the current wire length information.
  • the autonomous platform is a step of setting any position information located in the block; Setting wire arbitrary length information using the arbitrary position information; Generating a length difference value by comparing the wire arbitrary length information with the wire current length information; And setting the arbitrary position information as the current position information when the length difference value is less than the length reference information.
  • FIG. 1 is a block diagram showing an autonomous platform control system using a wire according to an embodiment of the present invention.
  • Figure 2 is a block diagram showing in detail the processing unit of the autonomous platform control system using a wire according to an embodiment of the present invention.
  • 3 and 4 are flowcharts showing in detail a method for controlling an autonomous platform using a wire according to an embodiment of the present invention.
  • FIG. 5 is a block diagram illustrating an autonomous platform control system using wires according to an embodiment of the present invention.
  • FIG. 6 is a detailed block diagram illustrating a position manager of the autonomous platform control system using the wire shown in FIG. 5.
  • FIG. 7 is a block diagram showing in detail a processing unit of the autonomous platform control system using the wire shown in FIG.
  • FIGS. 8 and 9 are flowcharts showing in detail a method for controlling an autonomous platform using a wire according to an embodiment of the present invention.
  • FIG. 10 is an exemplary diagram illustrating a method of generating current location information among autonomous platform control methods using wires according to an embodiment of the present invention.
  • FIG. 11 is an exemplary diagram illustrating a method of generating wire operation length information in an autonomous platform control method using a wire according to an embodiment of the present invention.
  • FIGS. 1 and 2 An autonomous platform control system using a wire according to an embodiment of the present invention will be described with reference to FIGS. 1 and 2.
  • FIG. 1 is a block diagram showing an autonomous platform control system using a wire according to an embodiment of the present invention.
  • an autonomous platform control system using a wire controls a device to move the autonomous platform in a block using a wire.
  • the autonomous mobile device 10 is fixed by the wire 20 in the block 50, as shown in Figure 11, a plurality of wires 20 are connected is movable by the wire 20.
  • the autonomous mobile device 10 may include a mobile platform and a work device, and the work device may include a work robot and a base. Accordingly, the autonomous mobile device 10 can easily perform the welding, blasting, painting and surface work inside the block 50 while moving freely inside the block 50 which is a working space.
  • eight wires 20 may be connected to the autonomous platform 10.
  • One end of the wire 20 is coupled to the block 50, and the other end is coupled to a winch (not shown) installed in the autonomous platform 10.
  • the winch can be precisely adjusted the length of the wire 20 by winding or unwinding the wire 20.
  • the autonomous platform 10 may operate to precisely move to the desired position in the block 50 by adjusting the length of the wire 20 using the winch.
  • the autonomous platform control system 100 includes an input unit 110, a path setting unit 120, a speed managing unit 130, a processing unit 200, a sag managing unit 170, a display unit 150, and the like.
  • the storage unit 160 is included.
  • the input unit 110 may receive final location information from the user.
  • the final position information indicates the position and attitude of the autonomous platform 10 to finally move within the block 50.
  • the position of the autonomous platform 10 may be represented by a coordinate value including x, y, z where the autonomous platform 10 is located in the block 50.
  • the attitude of the autonomous platform 10 may be expressed by an oscillator angle including ⁇ , ⁇ , and ⁇ at an angle of inclination of the autonomous platform 10 based on its position in the block 50.
  • the final position information may finally express the position and posture of the autonomous platform 10 to move in the block 50 as x, y, z, ⁇ , ⁇ , ⁇ .
  • the final location information may include at least one of a local coordinate value based on the autonomous platform 10 and a global coordinate value based on any one point in the block 50.
  • the input unit 110 is a user interface (UI) for receiving various types of data from a user, and the implementation thereof is not particularly limited.
  • the input unit 110 may be any means that can receive data such as a keyboard, a touch-pad, a mouse, and a key-pad.
  • the input unit 110 may receive final position information through a macro generated by using CAD / CAM (Computer Aided Design / Computer Aided Manufacturing).
  • CAD / CAM Computer Aided Design / Computer Aided Manufacturing
  • the route setting unit 120 generates movement control information of the autonomous platform 10 by using the final position information and the initial position information.
  • the movement control information indicates control information necessary for moving the autonomous platform 10 from initial position information to final position information.
  • the path setting unit 120 generates initial position information indicating a position and a posture before the autonomous platform 10 moves. That is, the initial position information indicates the position and attitude before the autonomous platform 10 moves, and the position includes coordinates including x, y, and z where the autonomous platform 10 is located in the block 50.
  • the posture may be expressed by a value, and the posture may be expressed by an oscillator angle including ⁇ , ⁇ , and ⁇ of the angle in which the autonomous mobile device 10 is in the block 50.
  • the route setting unit 120 may generate initial position information using the sensor value input through the sensor unit 60, or may generate initial position information using the wire initial length information provided from the processor 200. .
  • the sensor unit 60 may be any type as long as it is a device capable of generating a sensor value by measuring a position and posture in a space.
  • the sensor unit 60 may be at least one of a global positioning system (GPS), an indoor GPS (IGPS), and an ultrasonic sensor.
  • GPS global positioning system
  • IGPS indoor GPS
  • ultrasonic sensor ultrasonic sensor
  • the route setting unit 120 determines the movement route to which the autonomous platform 10 should move using the final position information and the initial position information.
  • the movement path indicates a path in which the autonomous mobile device 10 must move from initial position information to final position information in the block 50.
  • the route setting unit 120 generates movement speed information indicating a speed at which the autonomous platform 10 should move along the movement path for each unit time.
  • the route setting unit 120 may set acceleration section information, constant speed section information, and deceleration section information.
  • the route setting unit 120 generates movement speed information including acceleration section information, constant speed section information, and deceleration section information.
  • the path setting unit 120 receives an input from the user through the input unit 110 to set the acceleration section information, the constant velocity section information, and the deceleration section information, or use a predetermined algorithm (for example, a program and a probability model). Acceleration section information, constant speed section information and deceleration section information can be set.
  • the route setting unit 120 sets movement position information indicating a position and a posture to which the autonomous platform 10 moves per unit time.
  • the movement position information indicates a position and attitude at which the autonomous platform 10 should move after a unit time.
  • the route setting unit 120 generates movement control information including at least one of movement speed information and movement position information.
  • the route setting unit 120 may set position unit information indicating a position and a posture to which the autonomous platform 10 should move every unit time, and may further include it in the movement control information.
  • the position unit information indicates how much the autonomous platform 10 needs to move according to the movement speed information every unit time.
  • the speed manager 130 generates wire unit length information to be provided to the processor 200 to move the autonomous platform 10 using the movement control information.
  • the speed manager 130 generates the wire unit length information by setting the length of the wire 20 for each unit time based on the movement control information.
  • the speed management unit 130 provides the wire unit length information to the processor 200, and the processor 200 winds or unwinds the wire 20 connected to the winch 70 using the wire unit length information. Move).
  • the speed management unit 130 uses the movement control information to determine the final position information of the autonomous platform 10. Generates wire length information to move toward.
  • the processor 200 generates wire current length information, current position information, and wire operation length information by using the rotation angle measurement value of the rotation angle of the winch 70 (shown in FIG. 2).
  • the rotation angle measurement value represents the angle of the original value 70 when the winch 70 is loosened or wound by the wire 20. That is, the processor 200 generates the wire current length information by setting the length of the wire 20 unwound by the winch 70 using the rotation angle measurement value of the winch 70.
  • the wire current length information indicates the length of the wire 20 loosened by the winch 70, and indicates the length of the wire 20 connecting between the moved autonomous platform 10 and the block 50.
  • Wire current length information may include the length of each of the plurality of wires 20 connected to the autonomous platform 10.
  • the processor 200 generating the wire current length information will be described in detail with reference to FIG. 2.
  • the processor 200 generates the current position information by setting the position and attitude of the autonomous platform 10 using the wire current length information.
  • the current position information indicates the position and attitude of the autonomous platform 10 moved by the speed manager 130 in the block 50.
  • the current position information may represent the position of the autonomous platform 10 as a coordinate value such as x, y, z, and the posture of the autonomous platform 10 may be represented by an oscillator angle such as ⁇ , ⁇ , ⁇ . .
  • the processor 200 generates wire operation length information by using current position information and movement control information.
  • the wire operation length information indicates the length of the wire 20 corresponding to the position and attitude to which the autonomous platform 10 should move based on the current position information and the movement control information. This, the processing unit 200 will be described in more detail with reference to FIG.
  • the deflection management unit 170 determines the deflection of the wire 20 using the wire tension measurement information, and adjusts the wire using the wire tension measurement information when deflection of the wire 20 occurs.
  • the sag management unit 170 receives the wire tension measurement information from the processing unit 200.
  • the wire tension measurement information may indicate a tension acting on the wire 20 and may include tension information about each of the plurality of wires 20 connected to the autonomous platform 10.
  • the deflection management unit 170 sets tension reference information that is a reference for tension acting on the wire 20 to determine deflection of the wire 20.
  • the sag management unit 170 may set the tension reference information by receiving the input from the user through the input unit 110, or set the tension reference information by using a preset algorithm. For example, the sag management unit 170 may set the tension reference information using the block design information.
  • the block design information represents the information set when the block 50 is designed to fix the autonomous platform 10 in the block, and the wire for the position where the wire 20 is fixed to the autonomous platform 10.
  • the fixed position value, the block fixed position value for the position where the wire 20 is fixed to the block 50, and physical property information such as the size of the autonomous platform 10 may be included.
  • the block design information may be set by receiving input from the user through the input unit 110 or received from an external device (not shown) connected to the autonomous platform control system 100 and set by the sag management unit 170.
  • the sag management unit 170 determines the sag of the wire 20 by using the wire tension measurement information and the tension reference information. Specifically, the deflection management unit 170 determines that deflection occurs in the wire 20 when the wire tension measurement information is less than the tension reference information.
  • the tension reference information indicates the minimum tension that should be applied to the wire 20 in order to prevent the wire 20 from sagging. Therefore, if the wire tension measurement information is less than the tension reference information, the sagging occurs in the wire 20. You can judge.
  • the sag management unit 170 generates tension comparison information by comparing the wire tension measurement information and the tension reference information.
  • the sag management unit 170 provides the tension comparison information to the processing unit 200.
  • the processor 200 may prevent the sagging of the wire 20 by pulling the wire 20 by using the tension comparison information.
  • the display unit 150 may display a process and a result performed by the input unit 110, the path setting unit 120, the speed managing unit 130, the processing unit 200, and the sag managing unit 170, and the storage unit. Data stored in 160 may be displayed.
  • the display unit 150 may display a user interface to receive movement initial information from the user.
  • the user may check the display items displayed through the display unit 150 and may input initial movement information through the input unit 110.
  • the display unit 150 may set initial position information in the path setting unit 120 and display a process and a result of generating movement control information.
  • the display unit 150 may display a process and a result of generating the wire current length information, the current position information, and the wire operation length information in the processor 200.
  • the display unit 150 may display the sensor value measured by the sensor unit 60.
  • the display unit 150 may display an error occurrence item when an error occurs in the input unit 110, the path setting unit 120, the speed managing unit 130, the processing unit 200, and the sag managing unit 170. Accordingly, the user can check the error occurrence displayed through the display unit 150 and resolve the error.
  • the display unit 150 includes a cathode ray tube, a liquid crystal display (LCD), an organic light emitting display (OLED), a light emitting diode (LED), an electrophoretic display (Electrophoretic display): EPD), a plasma display panel (PDP), or the like, and a display device, or a computer including the display device.
  • the display unit 150 may be integrated with the input unit 110 by using a touch screen.
  • the storage unit 160 may include data and input units required by the autonomous platform control system 100, such as the input unit 110, the path setting unit 120, the speed managing unit 130, the processing unit 200, and the sag managing unit 170. 110, the path setting unit 120, the speed managing unit 130, the processing unit 200, and the sag managing unit 170 store the data generated.
  • the storage unit 160 may store final position information received from the input unit 110, and store initial position information and movement control information generated by the path setting unit 120.
  • the storage unit 160 may store the sensor value measured by the sensor unit 60, and store the wire current length information, the current position information, and the wire operation length information generated by the processor 200.
  • the storage unit 160 may provide necessary data according to a request of the input unit 110, the path setting unit 120, the speed managing unit 130, the processing unit 200, the sag managing unit 170, and the display unit 150.
  • the storage unit 160 may be formed of an integrated memory or divided into a plurality of memories.
  • the storage unit 160 may include a read only memory (ROM), a random access memory (RAM), a flash memory, and the like.
  • Figure 2 is a block diagram showing in detail the processing unit of the autonomous platform control system using a wire according to an embodiment of the present invention.
  • the processor 200 includes a wire management module 210, a location management module 250, and a length management module 280.
  • the wire management module 210 generates wire current length information by setting the length of the wire 20 using the rotation angle measurement value.
  • the wire management module 210 includes a rotation angle analysis module 220, a tension analysis module 230, and a winch control module 240.
  • the rotation angle analysis module 220 generates wire current length information indicating the length of the wire 20 released from the winch 70 by using the rotation angle measurement value of the winch 70 measured by the encoder 80. .
  • the rotation angle analysis module 220 may represent a relationship between the rotation angle measurement value and the length information of the wire 20 as a function, and generate wire current length information by substituting the rotation angle measurement value into the function.
  • the rotation angle analysis module 220 may generate wire current length information by using a length table in which the length of the wire 20 is matched with the rotation angle measurement value.
  • the rotation angle analysis module 220 provides the wire current length information to the location management module 250.
  • the encoder 80 is connected to the winch 70 to generate a rotation angle measurement value through the rotation of the winch 70.
  • the encoder 80 is connected to a pulley (not shown) to which the wire 20 is discharged to measure an amount of rotation of the pulley, or conversely, to measure an amount of rotation of the wire 20 to be discharged. You can also create
  • the rotation angle analysis module 220 uses the rotation angle measurement value of the encoder 80 connected to the wire 20 of the autonomous platform 10 before moving when receiving the length request signal from the path setting unit 120. To generate the initial length information of the wire. In addition, the rotation angle analysis module 220 provides wire initial length information to the path setting unit 120.
  • the tension analysis module 230 generates wire tension measurement information by using the tension measurement value measured by the load cell 90.
  • the tension analysis module 230 represents the relationship between the tension measurement measured in the load cell 90 and the wire tension acting on the wire 20 as a linear or nonlinear function, and substitutes the tension measurement to the function to wire the wire.
  • Tension measurement information can be generated.
  • the tension analysis module 230 may generate wire tension measurement information by using a tension table in which wire tension is matched to a tension measurement value.
  • the load cell 90 is connected to the wire 20 to measure the tension acting on the wire 20 to generate a tension measurement value.
  • the load cell 90 is connected to the processing unit 200 and transmits a tension measurement value to the tension analysis module 230 of the processing unit 200.
  • the winch control module 240 is connected to the winch 70, and controls the winch 70, the wire 20 is wound to adjust the length of the wire 20, the autonomous mobile device 10 connected to the wire 20 Move it.
  • the winch control module 240 controls the winch 70 by using the wire unit length information provided from the speed management unit 130 to move or unwind the autonomous platform 10 by unwinding or winding the wire 20. You can.
  • the winch control module 240 may solve the deflection generated in the wire 20 by winding or unwinding the wire 20 connected to the winch 70 by using the tension comparison information provided from the deflection manager 170.
  • the location management module 250 generates current location information by using wire current length information. To this end, the location management module 250 includes a prediction module 260 and a generation module 270.
  • the prediction module 260 sets wire arbitrary length information using arbitrary position information. That is, the prediction module 260 sets arbitrary position information in order to assume that the autonomous platform 10 is at an arbitrary position in the fixed block 50.
  • the arbitrary position information is information representing an arbitrary place where the autonomous platform 10 is virtually located in the block 50 as a coordinate value.
  • the arbitrary position information is irrelevant anywhere in the block 50 as long as the autonomous platform 10 can move within the block 50.
  • the arbitrary position information may be set by the prediction module 260 by the user input through the input unit 110 or by the prediction module 260 using a preset algorithm.
  • the prediction module 260 sets wire arbitrary length information through inverse kinematics using the arbitrary position information.
  • the arbitrary length information of the wire indicates the length of the wire 20 connecting between the block 50 and the autonomous platform 10 located in the arbitrary position information.
  • the arbitrary length information of the wire may include the lengths of the plurality of wires 20 connected to the autonomous platform 10.
  • the generation module 270 generates current position information through forward kinematics using the arbitrary length information of the wire and the current length information of the wire. In other words, the generation module 270 generates a length difference value by comparing wire arbitrary length information with wire current length information.
  • the generation module 270 sets length reference information that is a standard that can tolerate an error. In this case, the generation module 270 may set the length reference information by receiving the input from the user through the input unit 110 or by using a preset algorithm.
  • the generation module 270 may generate the length determination result information by determining whether the length difference value is less than the length reference information.
  • the generation module 270 generates current position information as arbitrary position information if the length difference value is less than the length reference information according to the length determination result information.
  • the generation module 270 generates the current position information by resetting arbitrary position information if the length difference value is greater than the length reference information according to the length determination result information.
  • the length management module 280 generates wire operation length information using the current position information and the movement control information. That is, the length management module 280 determines the movement position information included in the current position information and the movement control information to determine whether the autonomous platform 10 has moved based on the movement control information set by the path setting unit 120. Compare and generate position difference information.
  • the length management module 280 generates a wire fixing position value by adding the current position information, the position difference information, and the position unit information.
  • the length management module 280 may generate wire operation length information by substituting the wire fixing position value into the inverse kinematics.
  • the length management module 280 generates rotation angle prediction information by using wire operation length information.
  • the rotation angle prediction information indicates the rotation angle of the winch 70 to move the autonomous platform 10.
  • the length management module 280 rotates the rotation angle measurement value and the rotation to move the autonomous platform 10 to a position and posture to be moved from the position and the posture of the current autonomous platform 10 within the block 50.
  • the movement control information is generated by comparing each prediction information.
  • 3 and 4 are flowcharts showing in detail a method for controlling an autonomous platform using a wire according to an embodiment of the present invention.
  • the autonomous platform control system 100 generates initial position information using the sensor value or the initial length information of the wire measured by the sensor unit 60 (S310).
  • the autonomous platform control system 100 generates movement control information including at least one of movement speed information, movement position information, and position unit information by using final position information and initial position information (S320).
  • the autonomous platform control system 100 generates wire unit length information using the movement control information, and unwinds or pulls a plurality of wires 20 connected to the autonomous platform 10 according to the wire unit length information.
  • the moving device 10 is moved.
  • the autonomous platform control system 100 generates wire current length information using the rotation angle measurement value of the winch 70 (S330).
  • the autonomous platform control system 100 sets arbitrary position information indicating an arbitrary position in the block 50 in which the autonomous platform 10 is located (S340).
  • the autonomous platform control system 100 substitutes arbitrary positional information into inverse kinematics to set wire arbitrary length information (S350).
  • the autonomous platform control system 100 compares the wire current length information and the wire arbitrary length information to generate a length difference value (S360). That is, the generation module 270 may define the length difference value as shown in [Equation 1].
  • D is a length difference value
  • L m is wire current length information
  • L k is wire arbitrary length information. Therefore, the generation module 270 of the autonomous platform control system 100 substitutes the wire current length information generated by the rotation angle analysis module 220 into L m of Equation 1, and predicts the module into L k .
  • the length difference value is generated by substituting the arbitrary length information of the wire set in step 260. In this case, the generation module 270 may generate a length difference value to correspond to each of the plurality of wires 20 connected to the autonomous mobile device 10.
  • the autonomous platform control system 100 determines whether the length difference value is less than the length reference information (S370).
  • the autonomous platform control system 100 may return to step S340 and reset the arbitrary position information if the length difference value is greater than or equal to the length reference information according to the determined result (S380).
  • the autonomous platform control system 100 If the length difference value is less than the length reference information, the autonomous platform control system 100 generates the current position information using the arbitrary position information and the length difference value (S390).
  • the generation module 270 of the autonomous platform control system 100 may generate current location information by using Equation 2.
  • X k + 1 by using the movement control information based on the X k is an arbitrary position information indicates the position and attitude of the autonomous mobile unit 10 is moved
  • X k is an arbitrary location
  • JM is a Jacobian matrix Determined by the kinematic shape of the wire 20
  • D is the length difference value.
  • the generation module 270 may convert [Equation 2] to [Equation 3].
  • Shall mean that a differential value obtained by the subtraction operation in the X k X k + 1, Means the derivative of L m minus L k . Thereafter, the generation module 270 may convert [Equation 3] to [Equation 4] to generate the current position information.
  • JM L is the unitary matrix I
  • s n is n as B n at the position where the nth wire 20 is fixed in the autonomous platform 10 having A n as shown in FIGS. 5 and 6.
  • the first wire 20 is a unit vector from the block 50 to the fixed position
  • b n means a vector from the robot center to A n
  • N is a natural number.
  • the generation module 270 calculates s n and b n using the length difference value and the block fixed position value of the block design information.
  • the generation module 270 generates current position information by substituting s n and b n calculated in Equation 4 below.
  • the autonomous platform control system 100 generates position difference information by comparing the current position information and the movement position information of the movement control information, and generates wire operation length information from the position difference information (S410).
  • the length management module 280 of the autonomous platform control system 100 may define the wire operation length information as shown in [Equation 5].
  • L is wire operation length information, as shown in FIG. 6, A n is a wire fixing position value at which the nth wire 20 is fixed in the autonomous platform 10, and B n is the nth wire 20.
  • N represents the number of wires 20 connected to the autonomous platform 10, and is a natural number.
  • Is a wire fixing position value in which the nth wire 20 defined in the global coordinate system is fixed to the autonomous platform 10 Is a block fixed position value at which the nth wire 20 defined in the global coordinate system is fixed to the block 50.
  • B n is a position where the n-th wire 20 is fixed in the block 50, since it does not change even when the autonomous platform 10 moves, it may be confirmed using a block fixed position value of the block design information.
  • the length management module 280 may define A n as shown in [Equation 6].
  • R is a rotation matrix and T is a translation matrix.
  • T is a translation matrix.
  • the length management module 280 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.
  • the length management module 280 substitutes the wire fixing position value generated in A n of Equation 5 and substitutes the block fixing position value of the block design information in B n to generate wire operation length information.
  • the autonomous platform control system 100 generates wire tension measurement information indicating the tension acting on the wire 20 (S420).
  • the autonomous platform control system 100 sets the tension reference information as a reference to determine the deflection of the wire 20 (S430).
  • the autonomous platform control system 100 determines whether the wire tension measurement information is less than the tension reference information (S440).
  • the deflection management unit 170 of the autonomous platform control system 100 determines that the wire tension measurement information is greater than or equal to the tension reference information, the deflection is not generated in the wire 20 and the autonomous platform 10 is determined. Adjust the length of the wire 20 to move (S450). How to adjust the length of the wire 20 will be described in detail in step S470.
  • the autonomous platform control system 100 uses the wire tension measurement information by using the tension comparison information generated by comparing the wire tension measurement information and the tension reference information. Adjust the wire 20 (S460).
  • the sag management unit 170 of the autonomous platform control system 100 may define the tension comparison information as shown in [Equation 7].
  • TS tension comparison information
  • K t tension proportional gain for compensating for tension information
  • (T n ) t tension reference information
  • (T n ) c wire tension measurement information.
  • the sag management unit 170 may receive the input from the user to set the tension proportional gain, or may set the tension proportional gain using a preset algorithm.
  • the sag management unit 170 sets tension comparison information by substituting the tension reference information into (T n ) t of Equation 7 and substituting the wire tension measurement information into (T n ) c .
  • the autonomous platform control system 100 may solve the deflection occurring in the wire 20 by using the tension comparison information.
  • the autonomous platform control system 100 generates the rotation angle prediction information using the wire operation length information, and the length of the wire 20 using the movement control information generated by comparing the rotation angle prediction information and the rotation angle measurement value. Adjust (S470).
  • the length management module 280 of the autonomous platform control system 100 may define the movement control information as shown in [Equation 8].
  • CL movement control information
  • K p rotation angle proportional gain for compensating rotation angle information
  • (J n ) t rotation angle prediction information
  • (J n ) c rotation angle measurement value.
  • the length management module 280 may receive the input from the user to set the length proportional gain, or set the length proportional gain using a preset algorithm.
  • the length management module 280 substitutes rotation angle prediction information into (J n ) t of Equation 8, and sets movement control information by inserting rotation angle measurement information into (J n ) c .
  • the autonomous platform control system 100 controls the speed of the autonomous platform 10 by using the movement speed information and the movement control information of the movement control information to move the autonomous platform 10 (S480).
  • the position reference information is the reference information to determine the allowable error by comparing the position and posture of the current autonomous mobile device with the position and posture to be moved, and is set by the speed management unit 130 by receiving input from the user. Or using a preset algorithm.
  • FIG. 5 is a block diagram illustrating an autonomous platform control system using wires according to an embodiment of the present invention.
  • the autonomous platform control system 100 includes an input unit 110, a path setting unit 120, a speed managing unit 130, a winch control unit 140, a position managing unit 300, a processing unit 200, The display unit 150 and the storage unit 160 are included.
  • the input unit 110 may receive final location information from the user.
  • the final position information indicates the position and attitude of the autonomous platform 10 to finally move within the block 50 and may be represented by a coordinate value including x, y, and z.
  • the position of the autonomous platform 10 indicates where the autonomous platform 10 is located in the block 50.
  • the attitude of the autonomous platform 10 may indicate an angle at which the autonomous platform 10 is inclined based on the position of the autonomous platform 10 by the wire 20 in the block 50.
  • the final location information may include at least one of a local coordinate value based on the autonomous platform 10 and a global coordinate value based on any one point in the block.
  • the input unit 110 may receive block design information from a user.
  • the block design information is a wire fixed position value for the position where the wire 20 is fixed to the autonomous platform 10, a block fixed position value and the autonomous movement for the position where the wire 20 is fixed to the block 50 Property information such as the size of the device 10, and the like.
  • the block design information may be received from an external device (not shown) connected to the autonomous platform control system 100.
  • the route setting unit 120 sets movement control information of the autonomous platform 10 by using final position information and initial position information.
  • the initial position information indicates the position and attitude before the autonomous platform 10 moves, and is represented by coordinate values as in the final position information.
  • the movement control information represents control information necessary for moving the autonomous platform 10 from initial position information to final position information.
  • the path setting unit 120 sets initial position information indicating a position and a posture before the autonomous platform 10 moves.
  • the route setting unit 120 may set initial position information by using a sensor value input through the sensor unit 60, or may set initial position information by using wire initial length information provided from the position manager 300. .
  • the initial wire length information indicates the length of the wire 20 released from the winch 70 in a state before the autonomous platform 10 moves.
  • the route setting unit 120 determines a movement route to which the autonomous platform 10 should move using the final position information and the initial position information.
  • the movement path indicates a path in which the autonomous mobile device 10 must move from initial position information to final position information in the block 50.
  • the route setting unit 120 generates movement speed information indicating a speed at which the autonomous platform 10 should move along the movement path for each unit time.
  • the route setting unit 120 sets moving speed information including acceleration section information, constant speed section information, and deceleration section information.
  • the path setting unit 120 receives an input from the user through the input unit 110 to set the acceleration section information, the constant velocity section information, and the deceleration section information, or use a predetermined algorithm (for example, a program and a probability model). Acceleration section information, constant speed section information and deceleration section information can be set.
  • the route setting unit 120 sets movement position information indicating a position and a posture to which the autonomous platform 10 moves per unit time.
  • the movement position information indicates a position and attitude at which the autonomous platform 10 should move after a unit time.
  • the route setting unit 120 sets movement control information including at least one of movement speed information and movement position information.
  • the route setting unit 120 may set position unit information indicating a position and a posture to which the autonomous platform 10 should move every unit time, and may further include it in the movement control information.
  • the position unit information indicates how much the autonomous platform 10 needs to move according to the movement speed information every unit time.
  • the route setting unit 120 sets rotation angle processing information corresponding to the final position information.
  • the rotation angle processing information may indicate the rotation angle of the winch 70 corresponding to the position and posture in which the autonomous platform 10 should move by unit time.
  • the speed manager 130 moves the autonomous platform 10 using the movement control information.
  • the speed manager 130 may generate the wire unit length information by setting the length of the wire 20 for each unit time based on the movement speed information.
  • the speed manager 130 provides the wire unit length information to the winch controller 140.
  • the winch controller 140 is connected to the winch 70 and controls the winch 70 in which the wire 20 is wound to adjust the length of the wire 20 to connect the autonomous mobile device 10 connected to the wire 20. Move it.
  • the winch controller 140 may control the winch 70 using the wire unit length information provided from the speed manager 130 to move or unwind the autonomous platform 10 by unwinding or winding the wire 20. Can be.
  • the position manager 300 generates current position information by using rotation angle measurement information and wire tension information.
  • the position manager 300 generates wire current length information by using rotation angle measurement information for the wire 20 and the autonomous platform 10 and wire tension information acting on the wire 20.
  • the rotation angle measurement information indicates the angle of the winch 70 when the winch 70 is loosened or wound.
  • the wire tension information indicates a tension acting on the wire 20 and may include tension information about each of the plurality of wires 20 connected to the autonomous platform 10.
  • the wire current length information indicates the length of the wire 20 loosened by the winch 70, and indicates the length of the wire 20 connecting between the moved autonomous platform 10 and the block 50. Wire current length information may include the length of each of the plurality of wires 20 connected to the autonomous platform 10.
  • the location manager 300 generates current location information by using wire current length information.
  • the current position information may indicate a position and attitude in which the autonomous platform 10 is currently located in the block 50.
  • Such a location manager 300 will be described in more detail with reference to FIG. 2.
  • the processor 200 generates wire operation length information and rotation angle control information using the current position information. That is, the processor 200 generates wire operation length information indicating the length of the wire 20 at the position and the posture at which the autonomous platform 10 should move using the current position information and the movement position information of the movement control information. . The processor 200 generates rotation angle control information using wire operation length information and rotation angle information. At this time, the rotation angle control information indicates the rotation angle of the winch 70 to move the autonomous platform 10 to the movement position information. This, the processing unit 200 will be described in more detail with reference to FIG.
  • the display unit 150 displays processes and results performed by the input unit 110, the path setting unit 120, the speed managing unit 130, the winch control unit 140, the position managing unit 300, and the processing unit 200.
  • the data stored in the storage 160 may be displayed.
  • the display unit 150 may display a user interface to receive movement initial information from the user.
  • the user may check the display items displayed through the display unit 150 and may input initial movement information through the input unit 110.
  • the display unit 150 may display a process and a result of setting initial position information and movement control information in the route setting unit 120, and display a sensor value measured by the sensor unit 60. .
  • the display unit 150 may display a process and a result of generating the current length information and the current position information in the position manager 300, and a process and a result of generating the wire operation length information in the processor 200. Can be displayed.
  • the display unit 150 displays an error occurrence matter. I can display it. Accordingly, the user can check the error occurrence displayed through the display unit 150 and resolve the error.
  • the storage unit 160 stores data necessary for moving the autonomous platform 10 and generated data. That is, the storage unit 160 includes an input unit 110, a path setting unit 120, a speed managing unit 130, a winch control unit 140, a position managing unit 300, which are components of the autonomous platform control system 100.
  • the processor 200 may store necessary data and generated data.
  • the storage unit 160 may store final position information received through the input unit 110 and sensor values measured through the sensor unit 60.
  • the storage 160 may store the current length information and the current position information generated by the location manager 300, and may store the wire operation length information generated by the processor 200.
  • the storage unit 160 responds to requests from the input unit 110, the path setting unit 120, the speed managing unit 130, the winch control unit 140, the position managing unit 300, the processing unit 200, and the display unit 150. Can provide the necessary data.
  • FIG. 6 is a detailed block diagram illustrating a position manager of the autonomous platform control system using the wire shown in FIG. 5.
  • the position manager 300 includes a rotation angle analysis module 220, a tension analysis module 230, a length setting module 310, a calculation module 320, and a generation module 330.
  • the rotation angle analysis module 220 generates wire base length information corresponding to the rotation angle measurement information of the winch 70 measured by the encoder 80.
  • the wire base length information indicates the length of the wire 20 unwound by the winch 70.
  • the rotation angle analysis module 220 may represent the relationship between the rotation angle measurement information and the length information of the wire 20 as a function, and generate the wire base length information by substituting the rotation angle measurement information into the function.
  • the rotation angle analysis module 220 may generate wire foundation length information by using a length table in which the length of the wire 20 is matched with the rotation angle information.
  • the encoder 80 is connected to the winch 70 to generate the rotation angle measurement information through the rotation of the winch 70.
  • the encoder 80 is connected to a pulley (pulley (not shown)) from which the wire 20 is discharged, and measures the amount of rotation of the pulley or, on the contrary, the rotation angle measurement information by measuring the amount of wire 20 is discharged.
  • the rotation angle analysis module 220 When the rotation angle analysis module 220 receives the length request signal from the path setting unit 120, the rotation angle analysis module 220 transmits the rotation angle measurement information of the winch 70 mounted on the autonomous platform 10 before moving to the winch 70 shaft. Measurement through the connected encoder 80 generates the initial wire length information. In addition, the rotation angle analysis module 220 provides wire initial length information to the path setting unit 120.
  • the tension analysis module 230 generates wire tension information using the tension measurement information measured by the load cell 90.
  • the tension analysis module 230 represents the relationship between the tension measurement information measured by the load cell 90 and the wire tension acting on the wire 20 as a linear or nonlinear function, and substitutes the tension measurement information to the function to wire Tension information can be generated.
  • the tension analysis module 230 may generate wire tension information by using a tension table matching wire tension acting on the wire 20 to tension measurement information.
  • the load cell 90 is connected to the wire 20 to measure the tension acting on the wire 20 to generate the tension measurement information.
  • the load cell 90 is connected to the tension analysis module 230 and transmits the tension measurement information to the tension analysis module 230.
  • the length setting module 310 generates wire current length information by using wire base length information and wire tension information. In other words, the length setting module 310 may generate wire current length information by reflecting wire tension information in the wire base length information.
  • the autonomous platform control system 100 using the wire 20 generates the wire current length information, including the tension acting on the wire 20, so that the autonomous platform within the block 50 ( 10) position and posture can be determined.
  • the calculation module 320 sets arbitrary position information of the autonomous platform 10 and sets arbitrary length information for the arbitrary position information. Specifically, the arithmetic module 320 sets arbitrary position information to assume that the autonomous platform 10 is at an arbitrary position within the fixed block 50. In this case, the arbitrary position information indicates an arbitrary place where the autonomous platform 10 is virtually located in the block 50, and may be represented by a coordinate value. The arbitrary position information is irrelevant anywhere in the block 50 as long as the autonomous platform 10 can move within the block 50. The arbitrary position information may be set by the user through the input unit 110 in the calculation module 320 or in the calculation module 320 using a preset algorithm.
  • the calculation module 320 sets wire arbitrary length information through inverse kinematics using arbitrary position information.
  • the arbitrary length information of the wire may indicate the length of the wire 20 released from the winch 70 on the basis of the arbitrary position information, and may include the lengths of the plurality of wires 20 connected to the autonomous platform 10. have.
  • the generation module 330 generates current position information through forward kinematics using the arbitrary length information of the wire and the current length information of the wire. In other words, the generation module 330 generates a length difference value by comparing wire arbitrary length information with wire operation length information.
  • the generation module 330 may set the length reference information as a reference for allowing an error by comparing the arbitrary length information of the wire and the current length information of the wire. In this case, the generation module 330 may set the length reference information by receiving the input from the user through the input unit 110 or set the length reference information by using a preset algorithm.
  • the generation module 330 determines whether the length difference value is less than the length reference information.
  • the generation module 330 generates the current position information with arbitrary position information if the length difference value is less than the length reference information according to the determined result.
  • the generation module 330 may generate the current position information by resetting arbitrary position information using the length difference value when the length difference value is greater than the length reference information according to the length determination result information.
  • FIG. 7 is a block diagram showing in detail a processing unit of the autonomous platform control system using the wire shown in FIG.
  • the processor 200 includes a length analysis module 211, a prediction module 212, and a determination module 213.
  • the length analysis module 211 generates wire operation length information by using current position information and movement control information. That is, the length analysis module 211 uses the movement position information included in the current position information and the movement control information to determine whether the autonomous platform 10 has moved based on the movement control information set by the path setting unit 120. Compare and generate position difference information.
  • the length analysis module 211 generates wire operation length information by adding the position unit information included in the current position information, the position difference information, and the movement control information.
  • the wire operation length information indicates the length of the wire 20 connecting between the block 50 and the autonomous platform 10 positioned at the position and posture of each unit time to which the autonomous platform 10 should move.
  • the length analysis module 211 may generate wire operation length information through inverse kinematics using current position information, position difference information, and movement control information.
  • the prediction module 212 generates rotation angle prediction information using wire operation length information.
  • the rotation angle prediction information indicates the rotation angles of the autonomous platform 10 and the winch 70 to move the autonomous platform 10.
  • the prediction module 212 may generate tension prediction information corresponding to wire operation length information.
  • the prediction module 212 generates rotation angle prediction information by using wire operation length information and tension prediction information.
  • the prediction module 212 may represent the relationship between the rotation angle information and the length information of the wire 20 as a function, and generate rotation angle prediction information by substituting the wire operation length information into the function.
  • the prediction module 212 may generate rotation angle prediction information by using rotation angle information matched with wire operation length information in the length table.
  • the determination module 213 generates the rotation angle control information by using the rotation angle measurement information and the rotation angle prediction information. That is, the determination module 213 and the rotation angle measurement information to move the autonomous platform 10 to the position and posture to be moved in the position and posture of the current autonomous platform 10 in the block 50
  • the rotation angle control information may be generated by comparing the rotation angle prediction information.
  • FIGS. 8 and 9 are flowcharts showing in detail a method for controlling an autonomous platform using a wire according to an embodiment of the present invention.
  • the autonomous platform control system 100 sets initial position information indicating the position and attitude of the autonomous platform 10 before moving (S810).
  • the autonomous platform control system 100 sets movement control information including at least one of movement speed information, movement position information, and position unit information by using final position information and initial position information (S820).
  • the autonomous platform control system 100 generates wire unit length information by using the movement speed information of the movement control information, and uses a plurality of autonomous platform 10 connected to the autonomous platform 10 by using the movement speed information and the wire unit length information.
  • the autonomous platform 10 is moved by loosening or pulling the wire 20.
  • the autonomous platform control system 100 generates wire base length information using the rotation angle measurement information of the winch 70 (S830).
  • the autonomous platform control system 100 generates the wire tension information acting on the wire 20 (S840).
  • the autonomous platform control system 100 generates wire current length information by using wire base length information and wire tension information (S850).
  • the autonomous platform control system 100 sets arbitrary position information of the autonomous platform 10 in order to assume that the autonomous platform 10 is at an arbitrary position in the block 50 (S860).
  • the autonomous platform control system 100 substitutes arbitrary positional information into inverse kinematics to set wire arbitrary length information (S870).
  • the autonomous platform control system 100 compares the wire current length information with the wire arbitrary length information to generate a length difference value (S880).
  • the generation module 330 of the autonomous platform control system 100 may define the length difference value as shown in [Equation 9].
  • the generation module 330 substitutes the current length information of the wire generated by the length setting module 310 in L m in [Equation 1], and inputs the arbitrary length information of the wire set in the calculation module 320 in L k . Substitute the length difference. In this case, the generation module 330 may generate a length difference value to correspond to each of the plurality of wires 20 connected to the autonomous mobile device 10.
  • the autonomous platform control system 100 determines whether the length difference value is less than the length reference information (S890).
  • the autonomous platform control system 100 returns to step S860 to set the arbitrary position information again using the length difference value (S910).
  • the autonomous platform control system 100 substitutes arbitrary position information into the forward kinematics to generate current position information (S920).
  • the generation module 330 of the autonomous platform control system 100 may generate current location information by using Equation 10.
  • X k + 1 by using the moving velocity information relative to the X k is an arbitrary position information indicates the position and attitude of the autonomous mobile unit 10 is moved
  • X k is an arbitrary location
  • JM is a Jacobian matrix Determined by the kinematic shape of the wire 20
  • D is the length difference value.
  • the generation module 330 may convert [Equation 10] to [Equation 11].
  • Shall mean that a differential value obtained by the subtraction operation in the X k X k + 1, Means the derivative of L m minus L k . Then, the generation module 330 converts [Equation 11] to [Equation 12] to generate the current position information.
  • JM L is the unitary matrix (I)
  • s n is the wire 20 of B n at the position where the wire 20 is fixed in the autonomous mobile device 10 is A n as shown in Figs. )
  • b n means a vector from the robot center to A n
  • N is a natural number.
  • the generation module 330 calculates s n and b n using the length difference value and the block 50 fixed position value of the block 50 design information.
  • the generation module 330 generates current position information by substituting s n and b n calculated in Equation 12.
  • the autonomous platform control system 100 generates the wire operation length information by adding the current position information, the position difference information, and the position unit information of the movement control information to substitute inverse kinematics (S930).
  • the length analysis module 211 of the autonomous platform control system 100 may define wire operation length information as shown in [Equation 13].
  • L is wire operation length information
  • a n is a wire fixing position value at which the wire 20 is fixed in the autonomous mobile device 10
  • B n is a block ( A block fixed position value fixed at 50)
  • N represents the number of wires 20 connected to the autonomous platform 10, and is a natural number.
  • B n is a position where the wire 20 is fixed in the block 50
  • the autonomous platform 10 does not change, it may be confirmed by using a block fixing position value of the block design information.
  • the length analysis module 211 may define A n as shown in [Equation 14].
  • R may be a rotation matrix and T may be a translation matrix.
  • c ⁇ and s ⁇ are cos ⁇ and sin ⁇ .
  • P x , P y , and P z indicate the position and attitude of the autonomous platform 10 in the global coordinate system.
  • the length analysis module 211 is represented by [Equation 14] 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.
  • the length analysis module 211 substitutes the wire fixing position value generated in A n of Equation 13, and substitutes the block fixing position value of the block design information in B n to generate wire operation length information.
  • the autonomous platform control system 100 generates tension prediction information corresponding to wire operation length information (S940).
  • the autonomous platform control system 100 generates rotation angle prediction information by using wire operation length information and tension prediction information (S950).
  • the autonomous platform control system 100 generates the rotation angle control information by comparing the rotation angle measurement information and the rotation angle prediction information (S960).
  • the prediction module 212 of the autonomous platform control system 100 may define the rotation angle control information as shown in [Equation 15].
  • CL rotation angle control information
  • K p rotation angle proportional gain for compensating rotation angle information
  • (J n ) t rotation angle prediction information
  • (J n ) c rotation angle measurement information.
  • the prediction module 212 may set the rotation angle proportional gain by receiving an input from the user, or set the rotation angle proportional gain using a preset algorithm.
  • the prediction module 212 substitutes rotation angle prediction information into (J n ) t of Equation 15, and sets rotation angle control information by substituting rotation angle measurement information into (J n ) c .
  • the autonomous platform control system 100 moves the autonomous platform 10 toward the final position information by using the rotation angle control information and the movement speed information of the movement control information (S970).
  • the autonomous platform control system 100 determines whether the rotation angle difference information is less than the rotation angle reference information (S980). That is, the path setting unit 120 of the autonomous platform control system 100 determines the angle of rotation angle obtained by subtracting the rotation angle prediction information from the rotation angle processing information to determine whether the autonomous platform 10 has reached the final position information. You can set the information.
  • the path setting unit 120 determines whether the rotation angle difference information is less than the rotation angle reference information.
  • the rotation angle reference information is information used as a reference for determining whether the autonomous platform 10 has arrived at the final position information.
  • the rotation angle reference information is set by the path setting unit 120 or received from a user, It may be set in the setting unit 120.
  • the path setting unit 120 of the autonomous platform control system 100 receives the final position information. The movement ends (S990).
  • the path setting unit 120 of the autonomous platform control system 100 determines that the autonomous platform 10 has not yet arrived at the final position information if the rotation angle difference information is greater than or equal to the rotation angle reference information.
  • the autonomous platform 10 may be moved and the autonomous platform 10 may be moved until the rotation angle difference information becomes smaller than the rotation angle reference information (S1010).
  • the autonomous platform control system and method using the wire according to the embodiment of the present invention can prevent the sagging of the wire connected to the autonomous platform.
  • the autonomous platform control system and method using a wire can control the tension acting on the wire so that the deflection of the wire does not occur.
  • the autonomous platform control system and method using a wire can control the speed of the wire to move the autonomous platform to a position and posture to be moved.
  • the autonomous platform control system and method using a wire can accurately determine the length of the wire fixed in the block.
  • the autonomous platform control system and method using the wire can accurately determine the length of the wire fixed to the autonomous platform and the block using the tension acting on the wire.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Manipulator (AREA)
  • Control And Safety Of Cranes (AREA)
PCT/KR2011/008983 2010-11-24 2011-11-23 와이어를 이용한 자율이동장치 제어 시스템 및 방법 Ceased WO2012070867A2 (ko)

Priority Applications (4)

Application Number Priority Date Filing Date Title
US13/989,337 US20130253751A1 (en) 2010-11-24 2011-11-23 System and method for controllijng autonomous platform using wire
DE112011103897T DE112011103897T5 (de) 2010-11-24 2011-11-23 System und Verfahren zum Steuern einer autonomen Plattform, die ein Seil verwendet
CN201180056631XA CN103260832A (zh) 2010-11-24 2011-11-23 用于控制使用缆线的自主平台的系统和方法
JP2013540892A JP2014504397A (ja) 2010-11-24 2011-11-23 ワイヤを用いた自律移動装置の制御システム及びその方法

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR1020100117504A KR101194747B1 (ko) 2010-11-24 2010-11-24 와이어를 이용한 자율이동장치 제어 시스템 및 방법
KR10-2010-0117504 2010-11-24
KR10-2010-0118173 2010-11-25
KR1020100118173A KR101194749B1 (ko) 2010-11-25 2010-11-25 와이어를 이용한 자율이동장치 제어 시스템 및 방법

Publications (2)

Publication Number Publication Date
WO2012070867A2 true WO2012070867A2 (ko) 2012-05-31
WO2012070867A3 WO2012070867A3 (ko) 2012-09-27

Family

ID=46146304

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2011/008983 Ceased WO2012070867A2 (ko) 2010-11-24 2011-11-23 와이어를 이용한 자율이동장치 제어 시스템 및 방법

Country Status (5)

Country Link
US (1) US20130253751A1 (enExample)
JP (1) JP2014504397A (enExample)
CN (1) CN103260832A (enExample)
DE (1) DE112011103897T5 (enExample)
WO (1) WO2012070867A2 (enExample)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112077836A (zh) * 2020-09-08 2020-12-15 北京北特圣迪科技发展有限公司 一种基于四柔索牵引并联执行器的高架吊杆误差校正方法

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6271288B2 (ja) * 2014-02-20 2018-01-31 Ntn株式会社 リンク作動装置の制御装置および制御方法
DE102014015335B4 (de) * 2014-10-17 2016-08-04 Theodor Trautmann GmbH Bauunternehmen und Beton- und Stahlbetonbaubetrieb Generative Fertigungsvorrichtung und Fertigungsverfahren zm schichtweisen Aufbau von Bauwerken
EP3366430B1 (de) * 2017-02-22 2019-08-07 SICK STEGMANN GmbH Fördervorrichtung zum befördern von objekten und/oder personen
EP3680072B1 (en) * 2017-09-08 2024-05-01 NTN Corporation Work device using parallel link mechanism
US11446812B2 (en) * 2017-12-22 2022-09-20 Marchesini Group S.P.A. Cable-driven robot
KR102019418B1 (ko) * 2018-03-20 2019-09-06 전남대학교산학협력단 병렬 케이블로봇의 견실제어를 위한 스마트 윈치 시스템
WO2019208871A1 (ko) * 2018-04-25 2019-10-31 전남대학교산학협력단 물류이송 케이블 로봇 시스템 및 이를 이용한 물류 관리 방법
JP7440201B2 (ja) * 2019-04-09 2024-02-28 マッスル株式会社 位置制御装置
US12227316B2 (en) * 2021-07-02 2025-02-18 Star Harbor Fly, LLC Suspended payload for parabolic flight
CN113548542B (zh) * 2021-07-12 2023-03-14 三一海洋重工有限公司 一种起重设备的电缆收放缆控制方法、装置以及系统
JP7788695B2 (ja) * 2022-05-27 2025-12-19 国立大学法人東京科学大学 移動体制御装置、移動体制御システム、移動体システム、移動体制御方法及び移動体制御プログラム
CN116494235B (zh) * 2023-05-04 2025-12-19 北京理工大学 连续体机器人的控制方法、装置、设备及介质

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5690798A (en) * 1979-12-24 1981-07-23 Mitsubishi Heavy Ind Ltd Precise moving system of bench vessel
JP3089129B2 (ja) * 1993-03-15 2000-09-18 三菱重工業株式会社 水上浮動体の自動転船装置
US5585707A (en) * 1994-02-28 1996-12-17 Mcdonnell Douglas Corporation Tendon suspended platform robot
JP2731129B2 (ja) * 1995-05-02 1998-03-25 株式会社共和機械製作所 懸吊移動機
JP2003305673A (ja) * 2002-04-15 2003-10-28 Mitsubishi Heavy Ind Ltd 衛星移動ロボットシステム
US20100279255A1 (en) * 2007-02-16 2010-11-04 Ohio University Vehicle simulator system
US7753642B2 (en) * 2007-09-06 2010-07-13 Ohio University Apparatus and method associated with cable robot system
JP2009150056A (ja) * 2007-12-18 2009-07-09 Chugoku Electric Power Co Inc:The ゴンドラ移動装置
KR20090124142A (ko) * 2008-05-29 2009-12-03 삼성중공업 주식회사 선체 블록 내부 작업을 위한 이동장치
JP5738977B2 (ja) * 2010-04-01 2015-06-24 パー システムズ， インコーポレイテッド 張力トラスマスト

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112077836A (zh) * 2020-09-08 2020-12-15 北京北特圣迪科技发展有限公司 一种基于四柔索牵引并联执行器的高架吊杆误差校正方法
CN112077836B (zh) * 2020-09-08 2024-01-23 北京北特圣迪科技发展有限公司 一种基于四柔索牵引并联执行器的高架吊杆误差校正方法

Also Published As

Publication number Publication date
JP2014504397A (ja) 2014-02-20
CN103260832A (zh) 2013-08-21
DE112011103897T5 (de) 2013-08-22
US20130253751A1 (en) 2013-09-26
WO2012070867A3 (ko) 2012-09-27

Similar Documents

Publication Publication Date Title
WO2012070867A2 (ko) 와이어를 이용한 자율이동장치 제어 시스템 및 방법
WO2017191927A1 (en) Dual camera module and method for controlling the same
WO2017155341A1 (en) Apparatus and method for controlling auto focus of camera module
CN108698685A (zh) 无人飞行器及其机架、套件、组装方法、以及操作方法
WO2015046753A1 (en) Impedance matching method and impedance matching system
EP2976766A1 (en) Display device and method for controlling the same
WO2015183050A1 (ko) 옵티컬 트래킹 시스템 및 옵티컬 트래킹 시스템의 마커부 자세 및 위치 산출방법
WO2014196724A1 (ko) 벽걸이형 플렉시블 디스플레이
WO2018212608A1 (ko) 구동형 마킹 시스템, 구동형 마킹 장치의 제어방법 및 컴퓨터 판독 가능한 기록매체
WO2019054676A1 (ko) 이동 로봇 시스템 및 그 제어 방법
WO2022108362A1 (ko) 플렉서블 디스플레이를 포함하는 전자 장치
WO2018074844A1 (ko) 야구 연습 시스템에서 피칭장치의 볼 피칭 제어방법 및 이를 이용한 야구 연습 시스템
WO2014178610A1 (ko) 옵티컬 트랙킹 시스템 및 이를 이용한 트랙킹 방법
WO2017196023A1 (en) Camera module and auto focusing method thereof
WO2021066375A1 (en) Electronic apparatus and controlling method thereof
WO2014171642A1 (ko) 여유구동형 기구 형성 방법 및 구동기 힘 분배 시스템
WO2020122590A1 (en) Method and robot device for sharing object data
WO2018182310A1 (ko) 비디오 부호화 방법 및 장치, 비디오 복호화 방법 및 장치
WO2020222408A1 (ko) 실시간 웨이포인트 경로 개선 방법, 이를 구현하기 위한 프로그램이 저장된 기록매체 및 이를 구현하기 위해 매체에 저장된 컴퓨터프로그램
WO2010087585A2 (ko) 카메라 렌즈 도어 개폐장치
WO2019045320A1 (ko) 소재의 전자 구조를 예측하는 방법 및 전자 장치
WO2025143750A1 (en) Method for processing order
WO2018004035A1 (ko) 카메라 모듈 및 그의 오토 포커스 방법
WO2025037734A1 (ko) 로봇 청소기 및 그 제어 방법
CN107111426A (zh) 调参方法、调参装置、调参系统及调参存储器

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 11843267

Country of ref document: EP

Kind code of ref document: A2

ENP Entry into the national phase

Ref document number: 2013540892

Country of ref document: JP

Kind code of ref document: A

WWE Wipo information: entry into national phase

Ref document number: 13989337

Country of ref document: US

WWE Wipo information: entry into national phase

Ref document number: 1120111038976

Country of ref document: DE

Ref document number: 112011103897

Country of ref document: DE

122 Ep: pct application non-entry in european phase

Ref document number: 11843267

Country of ref document: EP

Kind code of ref document: A2