WO2017134805A1 - Dispositif de détection de position, dispositif de commande et corps mobile - Google Patents

Dispositif de détection de position, dispositif de commande et corps mobile Download PDF

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Publication number
WO2017134805A1
WO2017134805A1 PCT/JP2016/053436 JP2016053436W WO2017134805A1 WO 2017134805 A1 WO2017134805 A1 WO 2017134805A1 JP 2016053436 W JP2016053436 W JP 2016053436W WO 2017134805 A1 WO2017134805 A1 WO 2017134805A1
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WO
WIPO (PCT)
Prior art keywords
target
switching
target point
moving body
relative
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PCT/JP2016/053436
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English (en)
Japanese (ja)
Inventor
正木　良三
修一 槙
一登 白根
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株式会社日立産機システム
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Application filed by 株式会社日立産機システム filed Critical 株式会社日立産機システム
Priority to PCT/JP2016/053436 priority Critical patent/WO2017134805A1/fr
Priority to JP2017565358A priority patent/JP6830452B2/ja
Priority to CN201680077623.6A priority patent/CN108475060B/zh
Publication of WO2017134805A1 publication Critical patent/WO2017134805A1/fr

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    • 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

Definitions

  • the present invention relates to a position detection device that provides information related to a position necessary for control processing to a traveling control means of a moving body in order to guide the moving body to a target location, and a moving body that autonomously travels using the position detecting device. Is.
  • Patent Document 1 discloses an automatic guided vehicle (AGV) called AGV (Automated Guided Vehicle) that travels along a guideline drawn on a travel route for parts transportation or cargo handling work in a factory or a distribution warehouse. It has been known.
  • AGV Automatic Guided Vehicle
  • This automatic guided vehicle is provided with a route detector for magnetically detecting a guideline in the vehicle, and a detection signal from the route detector is sent to a control device on the vehicle side to control the driving wheel. Driving along the guidelines.
  • Patent Document 2 As a technique for controlling the autonomous movement of a mobile robot to a destination, for example, a mobile body system shown in Patent Document 2 is known.
  • This mobile system includes a distance sensor that detects a distance and a direction to an object existing within a search range of a mobile robot, and a map information storage unit that stores map information of a travel route including a position where a flat sign is installed.
  • a travel direction determination means for determining the travel direction of the mobile robot by collating the detection result of the distance direction detection device with the map information stored in the map information storage means, and measuring information from the map information and the distance sensor
  • the travel drive system (wheels) of the mobile robot By controlling the travel drive system (wheels) of the mobile robot while estimating the position of the mobile robot on the map, the mobile robot is guided to the target location by following a preset route. It is composed.
  • Patent Document 3 discloses a position detection device that calculates a relative position and a relative angle to a target point when a target point is input for the purpose
  • the automatic guided vehicle shown in Patent Document 1 travels along the vehicle route by detecting the guideline for traveling route guidance, it is necessary to reset the guideline when changing the traveling route of the automatic guided vehicle.
  • the mobile body system shown in Patent Document 2 is a system for autonomously moving while estimating the position / posture of a mobile robot in a moving route by following a preset route, It has a function that can easily change the route of a mobile robot simply by changing it.
  • the mobile robot is controlled so that the relative position to the target point and the relative angle are set to 0 using the position detection device shown in Patent Document 3, it is possible to travel to the target point. Therefore, it is described that the route from the start point to the final target point (end point) can be automatically traveled by sequentially switching the target points.
  • Patent Document 3 it is shown that the target point is output from the input means 6, but the switching method is not necessarily clarified.
  • the target point cannot be switched smoothly, there is a possibility that a problem may arise such that the target point on the way must be paused until the next target point is set.
  • an object of the present invention is to realize a system in which a travel control device that travels a mobile robot performs control without performing unexpected stop or deceleration on the way through a plurality of target points.
  • data from a path input means for inputting a plurality of target points constituting a path of the moving body and a distance sensor for measuring the distance from the moving body to the surrounding environment are input.
  • a switching means for switching the target point for switching the target point.
  • FIG. 1 is a schematic configuration block diagram of a first embodiment of a control system applied to a mobile robot 1 using a position detection device 3 according to the present invention.
  • a mobile robot 1 is attached in front of a left motor 20 that drives left and right wheels, a traveling device 2 that includes a right motor 21, a route storage device 5 that stores a plurality of routes, and a robot 1,
  • a laser distance sensor 6 that measures the distance to the surroundings in a horizontal range of 270 °
  • a position detection device 3 that identifies the position of the robot 1 from the distance data of the laser distance sensor, and calculates a relative position and a relative angle with respect to the target point
  • the travel control device 4 controls the left and right motors 20 and 21 of the travel device 2 using data of relative position and relative angle.
  • the route storage device 5 may be incorporated in the position detection device 3 or the travel control device 4.
  • the position detection device 3 is an independent unit. In the system configuration of FIG. 1, it is applied to the mobile robot 1, but only the position detection device 3 can be applied to another mobile body to detect its position.
  • the distance data from the laser distance sensor 6 is input to the position identification means 7 via the data input means (not shown) of the position detection device 3.
  • this position identification means 7 a map of the area where the robot 1 travels stored in advance in the map storage means 9 is output, and the data collating means 8 collates the distance data with the map. By evaluating that the map and the distance data match, the absolute position X, Y and absolute angle ⁇ in this map are identified.
  • a route designated from the routes stored in the route storage unit 5 is input via a route input unit (not shown) of the position detection device 3.
  • a route is defined by listing a plurality of target points on the route.
  • This switching means can switch the target point based on the internal relative position and relative angle information and the external switching signal.
  • the target point specified by the switching unit 11 is input to the relative position calculation unit 12 as vector information (target point vector) of the target positions Xtp and Ytp and the target angle ⁇ tp.
  • the relative positions dx and dy and the relative angle d ⁇ are calculated. These values are output to the traveling control device 4.
  • the travel control device 4 uses the relative positions dx and dy and the relative angle d ⁇ input from the position detection device 3 to control a travel speed command that specifies the travel speed of the mobile robot and a turn command that determines the turning radius. Calculated in command 13. If the relative positions dx and dy and the relative angle d ⁇ can be controlled to be 0, the target point can be reached. Next, the speed control means 14 obtains a left motor speed command and a right motor speed command from the turning command and the traveling speed command. By outputting these values to the left motor 20 and the right motor 21 of the traveling device 2, the traveling state of the robot 1 can be controlled.
  • the travel control device 4 outputs information on the route selected from the route storage means 5 to the switching determination means 15.
  • the absolute position X, Y, the absolute angle ⁇ , the relative position dx, dy, the relative angle d ⁇ , and the speed control unit 14 are input to the switching determination unit 15.
  • an external switching signal is transmitted to the switching unit 11 of the position detection device 3.
  • you may comprise as a control apparatus which controls a mobile body combining the position detection apparatus 3 and the traveling control apparatus 4.
  • target point TP0 the start point
  • target point TP6 target points
  • target points TP1, TP2 target points
  • Neighboring target points including the start point and the end point are required to be connected by a straight line or an arc.
  • An arc is defined as an arc of a circle having a certain radius of curvature. The radius of curvature may be a different value for each arc.
  • a straight line can also be regarded as an arc having an infinite curvature radius.
  • the path of the robot can be uniquely defined by specifying the position X, Y, angle ⁇ of the target point TPi, and the radius of curvature to the target point. it can. In other words, this means that the route is represented by a target point. In this route, it is assumed that the travel is started after checking the position state before traveling at the start point TP0, and is temporarily stopped at the target point TP4.
  • FIG. 3 shows an example of a method of representing the route shown in FIG. 2 with a list of target points.
  • Target points TPi from the start point to the end point are sequentially arranged in the row direction.
  • the target point number TPNumber, name, position X, Y, angle ⁇ , curvature, speed limit, and switching flag F are described.
  • the position X, Y, and angle ⁇ at each target point are as described above, but instead of the radius of curvature R that reaches the target point, the curvature (1 / R) that is the reciprocal thereof is described.
  • a curvature of 0 can represent a straight line
  • a positive value of curvature can represent a counterclockwise turn
  • a negative value can represent a turn in a clockwise direction.
  • the curvature of the target point TP2 and the target point TP5 is 0.2 [1 / m]. It turns out that it turns counterclockwise with a curvature radius of 5 m and reaches the target point TP1 to TP2 or TP4 to TP5.
  • traveling to the target point TP3 while turning clockwise with a curvature of ⁇ 0.2 [1 / m] is a basic route.
  • the target points TP1, TP4, TP6 are basically straight running because the curvature is zero.
  • the switching means 11 of FIG. 1 which is the main point of the present invention will be described using the switching flag F shown in FIG. 3 and the flowchart of the switching means 11 shown in FIG. A processing method for traveling along the route shown in FIG. 3 when the mobile robot 1 is in the vicinity of the target point TP0 that is the starting point will be described.
  • step 90 of FIG. 4 If it is determined in step 90 of FIG. 4 that the current state is the initial state, the processing of step 91 and step 92 is performed. That is, the target point number TPNumber is set to 0, and the target point positions X (0), Y (0), and angle ⁇ (0) are set. In FIG. 3, when the target point number TPNumber is 0, the switching flag F of the target point TP0 is set to 1. Next, the switching means 11 performs the processing in step 101 since the switching flag F is 1 in step 100. Here, the flowchart is terminated without performing the switching process until the external switching signal is input. This means the following: The selected route is based on the assumption that the mobile robot 1 is at the starting point.
  • the switching determination means 15 determines that the position of the mobile robot 1 is within an allowable range with respect to the target point. Judge whether there is.
  • an external switching signal is output from the switching determination unit 15 of the travel control device 4 to the switching unit 11 of the position detection device 3.
  • the switching means 11 When an external switching signal is input to the switching means 11, in step 101 in FIG.
  • step 103 by adding 1 to the target point number TPNumber, the target point number TPNumber becomes 1, and the target point number TP1 is switched to.
  • step 100 when the target point number TPNumber becomes 1, the switching flag F is reset to 0. Therefore, in the flowchart of FIG. 4, it is determined in step 100 that the process proceeds to step 102.
  • step 102 when the relative position dx is a negative value and the absolute value is larger than a preset switching setting value, it is determined that the target point has not been approached yet, and “No” is selected and switching processing is performed. Exit.
  • the switching means 11 of the position detection device 3 determines that the target point is almost approached, and steps 103 and 104 are performed in order to perform target point switching processing.
  • the contents of this processing are as described above, the target point number TPNumber is set to 2, and the position and angle of the target point TP2 are set.
  • the switching flag F is 0 when the target point number TPNumber is 1 to 3, the above processing is performed, and the mobile robot is switched to the next target point before reaching the target point. Without decelerating 1, the position of the target point can be passed through almost the angle of the target point.
  • step 101 is a decision branch process for not performing the switching process until an external switching signal is generated. Therefore, the target point number TPNumber remains 4 in a state where the external switching signal from the travel control device 4 of FIG. Therefore, even when the mobile robot 1 approaches the target point TP4 and the absolute value of the relative position dx becomes smaller than the switching set value, the switching process is not performed in FIG. Since the traveling speed command of the mobile robot 1 is determined by the relative distance to the target point, the traveling speed command becomes lower as the relative distance becomes shorter.
  • the traveling speed command is also zero, and the traveling control device 4 performs control so as to stop at the target point TP4.
  • the travel control device 4 has a function of stopping the mobile robot 1 according to the position and angle of the target point.
  • step 101 of FIG. 4 a transition is made to the processing of steps 103 and 104. Since the target point number TPNumber becomes 5, and the relative positions dx, dy and the relative angle d ⁇ up to the target point TP5 are output from the position detection device 3 to the travel control device 4, the travel of the mobile robot 1 is started.
  • the target point is automatically switched using the relative position information inherent in the position detection device 3 except for the start point and the target point to be temporarily stopped. Therefore, there is an advantage that the mobile robot can travel along the route. Further, by reducing the processing of the travel control device 4, the range of mobile bodies on which the position detection device 3 can be mounted is expanded, and there is a feature that a mobile robot system that easily realizes route travel can be constructed.
  • FIG. 5 is a schematic block diagram of the control system showing the second embodiment.
  • FIG. 5 is different from FIG. 1 in that one relative position calculation means 12 is a first relative position calculation means 17 and a second relative position calculation means 18, and relative positions and relative angles with respect to two target points. Is output from the position detection device 3. Therefore, the switching means 11 outputs the target positions Xtpi, Ytpi, Xtpj, Ytpj and target angles ⁇ tpi, ⁇ tpj of the two target points TPijTPj.
  • step 13 the target positions Xtpj and Ytpj and the target angle ⁇ tpj are similarly set to X (1), Y (1) and ⁇ (1), respectively.
  • the switching flag F is 1 in step 100, the process always transitions to step 101, and the switching process is not performed until the external switching signal is input to the switching means 11.
  • the travel start condition of the mobile robot 1 is set.
  • the switching determination means 15 of the travel control device 4 can determine whether or not it is satisfied. When it is determined that traveling can be started, the relative position and relative angle from the next target point TP1 have already been output from the second relative position calculation means 18, so that regardless of whether or not an external switching signal is generated, The traveling control device 4 can start traveling toward the target point TP1 based on the determination. As a matter of course, an external switching signal is also output from the switching determination means 15 to the position detection device 3 regardless of the robot traveling state.
  • the target point number TPNumber becomes 1 in step 103, and the target positions Xtpi and Ytpi and the target angle ⁇ tpi become X (1), Y (1) and ⁇ (1) in step 104, respectively. .
  • the process proceeds to step 106.
  • the target positions Xtpj and Ytpj and the target angle ⁇ tpj are X (2), Y (2) and ⁇ (2), respectively.
  • the relative position and relative angle from the target point TP1 and the target point TP2 are output from the position detection device 3 to the travel control device 4.
  • the position detection device 3 outputs the relative position and relative angle with respect to a plurality of target points, so that it passes over the target point without decelerating and is directed to the next target point. There is an advantage that can be controlled.
  • the traveling control device 4 can switch to the relative position and relative angle from the target points TP2 and TP3 by outputting an external switching signal to the position detecting device 3.
  • step 107 the process proceeds to step 107 according to the determination of step 105 in FIG. Similar to the angle ⁇ tpi, X (6), Y (2), and ⁇ (6).
  • the position detection device 3 outputs the same value for the two relative positions and relative angles, thereby indicating to the travel control device 4 that the end point is reached. Using this, the travel control device 4 can also perform positioning control at the end point.
  • FIG. 8 is a list of target points when the switching flags F are all 0, unlike FIG. A state when the control system of FIG. 5 is operated according to the information of the route will be described with reference to the flowchart of the switching means shown in FIG. Since the switching flag F is always 0, in step 100 of FIG. Unlike step 102, this process determines whether or not the relative distance is greater than or equal to a preset passing setting value after the mobile robot 1 passes the target point. It is desirable to set the passage set value based on the amount of overshoot in the positioning control during the temporary stop. For example, if the overshoot amount is 0.05 m or less at the relative position dx, the passage set value is set to 0.1 m or 0.2 m.
  • the target point is TP1, TP2, TP3, or TP5
  • control may be performed so as to continue traveling toward the next target point even after passing through the target point.
  • the relative position dx of the mobile robot 1 becomes larger than the pass setting value with respect to the target point, the process proceeds to step 103 in step 108 of FIG.
  • the position detection device shown here can automatically switch the target point without the travel control device outputting a switching signal to the position detection device. Therefore, as in the control block diagram shown in FIG. 9, the external switching signal output to the position detection device 3 from the travel control device 4 shown in FIG. 5 can be deleted.
  • the external switching signal is set to -1 and outputted so that the target point determined to be most appropriate is obtained.
  • the process proceeds to step 111, and the target point number TPNumber is decreased by -1.
  • the target point moves from the end point to the start point side one by one. And it can restart smoothly by starting driving
  • the position detection device 3 when used for a mobile robot, functions related to position information can be integrated into the position detection device 3, so that it is easy to construct a robot system that travels along a route.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (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)

Abstract

La présente invention réalise facilement un système qui commande le déplacement d'un robot mobile le long d'une route à partir d'un point de départ vers un point final sans arrêt brusque ou réduction de vitesse en cours de route. Un dispositif de détection de position selon la présente invention comporte : un moyen d'entrée de route pour recevoir une pluralité de points cibles constituant une route d'un corps mobile; et un moyen d'entrée de données pour recevoir des données à partir d'un capteur de distance qui mesure la distance du corps mobile à un environnement environnant, le dispositif de détection de position étant caractérisé en ce qu'il comprend : un moyen d'identification de position pour identifier la position et l'angle du corps mobile en utilisant des informations cartographiques sur l'environnement environnant du corps mobile et les informations obtenues à partir du capteur de distance; un moyen de calcul de position relative pour calculer la position relative et l'angle relatif du corps mobile par rapport à un angle cible et une position cible qui est le point cible du corps mobile reçu par le moyen d'entrée de route; et un moyen de commutation capable de commuter, selon le mouvement du corps mobile, le point cible pour lequel la position relative doit être calculée.
PCT/JP2016/053436 2016-02-05 2016-02-05 Dispositif de détection de position, dispositif de commande et corps mobile WO2017134805A1 (fr)

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PCT/JP2016/053436 WO2017134805A1 (fr) 2016-02-05 2016-02-05 Dispositif de détection de position, dispositif de commande et corps mobile
JP2017565358A JP6830452B2 (ja) 2016-02-05 2016-02-05 位置検出装置及び制御装置
CN201680077623.6A CN108475060B (zh) 2016-02-05 2016-02-05 位置检测装置、控制装置和移动体

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CN110858075A (zh) * 2018-08-15 2020-03-03 杭州海康机器人技术有限公司 一种移动机器人跨区域方法、装置、调度系统

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