WO2019111560A1 - 移動ロボットの制御装置および移動ロボットシステム - Google Patents

移動ロボットの制御装置および移動ロボットシステム Download PDF

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Publication number
WO2019111560A1
WO2019111560A1 PCT/JP2018/039141 JP2018039141W WO2019111560A1 WO 2019111560 A1 WO2019111560 A1 WO 2019111560A1 JP 2018039141 W JP2018039141 W JP 2018039141W WO 2019111560 A1 WO2019111560 A1 WO 2019111560A1
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WO
WIPO (PCT)
Prior art keywords
motor
mobile robot
abnormality
wheels
control unit
Prior art date
Application number
PCT/JP2018/039141
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English (en)
French (fr)
Japanese (ja)
Inventor
惇史 山本
Original Assignee
日本電産株式会社
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
Application filed by 日本電産株式会社 filed Critical 日本電産株式会社
Priority to CN201880078198.1A priority Critical patent/CN111433069A/zh
Priority to JP2019558057A priority patent/JP7078058B2/ja
Publication of WO2019111560A1 publication Critical patent/WO2019111560A1/ja

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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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the present invention relates to a control device of a mobile robot and a mobile robot system.
  • Patent Document 1 discloses a point in which an unmanned transfer vehicle stopped by another unmanned transfer vehicle (relief vehicle) is towed in order to quickly withdraw the unmanned transfer vehicle stopped due to an abnormality occurring from the traveling path. It is done.
  • FIG. 1 is a perspective view showing a mobile unit constituting a mobile robot system.
  • FIG. 2 is a front view of a rotating table unit of a moving body.
  • FIG. 3 is a side view showing a mobile robot provided with a plurality of mobile bodies.
  • FIG. 4 is a perspective view showing a mobile robot provided with a plurality of mobile bodies.
  • FIG. 5 is a block diagram of a control system including a mobile.
  • FIG. 6 is an example of the abnormality determination process performed by the abnormality detection unit.
  • FIG. 7 is an example of the abnormality determination process performed by the abnormality detection unit.
  • FIG. 8 shows a combination in the case where an abnormality occurs in the single wheel motor.
  • FIG. 9 is an example of a traveling control process performed by the arrangement position changing unit.
  • FIG. 10 shows an example of changing the arrangement position when an abnormality occurs.
  • FIG. 11 is another example of changing the arrangement position when an abnormality occurs.
  • FIG. 3 and FIG. 4 show a mobile robot 30 configuring a mobile robot system according to the embodiment.
  • the mobile robot 30 has a configuration in which rotating stands 20 of two mobile units 1 are connected by a connection loading platform (connection member) 32.
  • a groove or recess 34 is formed at a central position on the upper surface of each rotary table 20, and two projections 36 are formed or attached to the lower surface of the connection carrier 32. .
  • the protrusions 36 are fitted into the recesses 34 respectively.
  • the recess 34 and the protrusion 36 are, for example, triangular in top view, and the connection loading platform 32 does not rotate with respect to the rotation platform 20 of each moving body 1.
  • the shape of the recess 34 and the protrusion 36 is not limited to a triangle, and may be any shape as long as the connection loading platform 32 does not rotate with respect to the rotation table 20 by fitting, for example, a square or the like. It may be.
  • the motor drive control unit 50A controls the drive (for example, the rotational speed) of the motor 6A in accordance with a command from the main control unit 46A.
  • the motor drive control unit 50B controls the drive (for example, the rotational speed) of the motor 6B in accordance with a command from the main control unit 46B.
  • Each of the motor drive control units 50A and 50B can perform, for example, PID control or vector control, and is configured of, for example, a microprocessor, an application specific integrated circuit (ASIC), or a digital signal processor (DSP).
  • a command for controlling the drive of the motors 6A, 6B is given.
  • the speed sensor is a Hall sensor attached to the inside of the motors 6A and 6B, and converts a magnetic field into an electrical signal.
  • the motor drive control units 50A and 50B can determine the rotational speed of the motors 6A and 6B based on the output signal of the speed sensor. That is, the motor drive control unit 50A can measure the rotational speed of the motor 6A, and the motor drive control unit 50B can measure the rotational speed of the motor 6B.
  • the motor drive control units 50A and 50B can calculate the torques of the motors 6A and 6B by a known calculation method based on the current values of the drive circuits 52A and 52B, respectively. That is, the motor drive control unit 50A can measure the torque of the motor 6A, and the motor drive control unit 50B can measure the torque of the motor 6B.
  • step S15 the external computer 40 transmits a rotation command to the first motor unit 42A, and proceeds to step S16.
  • the rotation command is a command for rotating the motor by a predetermined amount, and the external computer 40 rotates the motor 6A in CW (clockwise) and CCW (counterclockwise) with respect to the first motor unit 42A.
  • Send commands to make the external computer 40 acquires the rotation angle ⁇ r as the rotation information of the rotation table 20.
  • step S17 the external computer 40 determines whether the rotation amount of the turntable 20 exceeds the threshold value, that is, whether the rotation angle ⁇ r acquired in step S16 exceeds the predetermined angle.
  • the external computer 40 determines that the right motor 6A is appropriately rotated according to the rotation command, and determines that the right motor 6A is normal, and proceeds to step S20.
  • the external computer 40 determines whether or not an abnormality has occurred for each of the four motors by the abnormality determination process shown in FIGS. 6 and 7.
  • the external computer 40 drives and controls the remaining normal motors to a predetermined target position for inspecting or repairing the motors. Run it.
  • the traveling control of the mobile robot 30 becomes impossible.
  • the normal motor of the rear moving body (symbol 1b in the drawing) is controlled and the rear wheels are By turning the supported wheel support by 180 °, the right front wheel and the left rear wheel are changed to a state where an abnormality has occurred. That is, the two wheels corresponding to the normal motor are disposed at mutually offset positions in the left-right direction of the mobile robot 30.
  • the two wheels corresponding to the normal motor are disposed at mutually offset positions in the left-right direction of the mobile robot 30.
  • FIG. 10 although the case where a rear wheel support part was rotated 180 degrees was demonstrated, you may rotate a front wheel support part 180 degree.
  • the mobile robot 30 has a wheel support that supports a pair of left and right wheels disposed forward and a pair of left and right wheels disposed rearward among the four wheels. These wheel support portions are rotatably connected to the main body portion of the mobile robot 30 about an axis in the vertical direction. Then, the external computer 40 rotates one of the wheel support portions of the mobile robot 30 by 180 ° about the axis in the vertical direction with respect to the main body portion when changing the arrangement position of the wheels. By rotating one wheel support by 180 °, it is possible to rotate the pair of left and right wheels arranged forward or backward by 180 °, so the wheels corresponding to the normal motor are arranged at diagonal positions of the mobile robot 30 can do. Therefore, the mobile robot 30 can be reliably driven.
  • the external computer 40 determines that an abnormality has occurred in the motor corresponding to the motor control unit. can do.
  • the external computer 40 detects that the motor corresponding to the motor control unit has performed an operation different from the operation command in response to the operation command transmitted to the motor control unit (motor unit) of the mobile robot 30 Also, it can be determined that an abnormality has occurred in the motor corresponding to the motor control unit. Therefore, the abnormality of each motor can be detected appropriately.

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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)
PCT/JP2018/039141 2017-12-05 2018-10-22 移動ロボットの制御装置および移動ロボットシステム WO2019111560A1 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201880078198.1A CN111433069A (zh) 2017-12-05 2018-10-22 移动机器人的控制装置和移动机器人系统
JP2019558057A JP7078058B2 (ja) 2017-12-05 2018-10-22 移動ロボットの制御装置および移動ロボットシステム

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2017-233086 2017-12-05
JP2017233086 2017-12-05

Publications (1)

Publication Number Publication Date
WO2019111560A1 true WO2019111560A1 (ja) 2019-06-13

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Application Number Title Priority Date Filing Date
PCT/JP2018/039141 WO2019111560A1 (ja) 2017-12-05 2018-10-22 移動ロボットの制御装置および移動ロボットシステム

Country Status (3)

Country Link
JP (1) JP7078058B2 (zh)
CN (1) CN111433069A (zh)
WO (1) WO2019111560A1 (zh)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2021064119A (ja) * 2019-10-11 2021-04-22 トヨタ自動車株式会社 物品搬送システム
WO2022113683A1 (ja) * 2020-11-24 2022-06-02 株式会社デンソー 複合走行体

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5456332A (en) * 1992-11-10 1995-10-10 The Board Of Regents Of The University Of Michigan Multiple-degree-of-freedom vehicle
JPH0869323A (ja) * 1994-06-23 1996-03-12 Toyota Motor Corp 無人車の走行制御装置
JP2014075867A (ja) * 2012-10-03 2014-04-24 Ntn Corp 電気自動車の制御装置
JP2018148728A (ja) * 2017-03-07 2018-09-20 株式会社豊田自動織機 全方向移動車両

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH115520A (ja) * 1997-06-16 1999-01-12 Hitachi Kiden Kogyo Ltd 無人搬送車
JP2008052324A (ja) * 2006-08-22 2008-03-06 Murata Mach Ltd 搬送車及び搬送車システム
JP5305082B2 (ja) * 2008-11-20 2013-10-02 村田機械株式会社 自律移動装置
JP5784930B2 (ja) * 2011-03-07 2015-09-24 Ntn株式会社 電気自動車
JP6629567B2 (ja) * 2015-10-27 2020-01-15 株式会社Ｓｏｋｅｎ 搬送装置
CN106585764A (zh) * 2017-02-07 2017-04-26 河南森源电气股份有限公司 一种agv运输车

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5456332A (en) * 1992-11-10 1995-10-10 The Board Of Regents Of The University Of Michigan Multiple-degree-of-freedom vehicle
JPH0869323A (ja) * 1994-06-23 1996-03-12 Toyota Motor Corp 無人車の走行制御装置
JP2014075867A (ja) * 2012-10-03 2014-04-24 Ntn Corp 電気自動車の制御装置
JP2018148728A (ja) * 2017-03-07 2018-09-20 株式会社豊田自動織機 全方向移動車両

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2021064119A (ja) * 2019-10-11 2021-04-22 トヨタ自動車株式会社 物品搬送システム
JP7255446B2 (ja) 2019-10-11 2023-04-11 トヨタ自動車株式会社 物品搬送システム
WO2022113683A1 (ja) * 2020-11-24 2022-06-02 株式会社デンソー 複合走行体
JP7491195B2 (ja) 2020-11-24 2024-05-28 株式会社デンソー 複合走行体

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Publication number Publication date
CN111433069A (zh) 2020-07-17
JPWO2019111560A1 (ja) 2020-11-26
JP7078058B2 (ja) 2022-05-31

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