WO2020017356A1 - Corps mobile, procédé de commande et programme - Google Patents

Corps mobile, procédé de commande et programme Download PDF

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Publication number
WO2020017356A1
WO2020017356A1 PCT/JP2019/026788 JP2019026788W WO2020017356A1 WO 2020017356 A1 WO2020017356 A1 WO 2020017356A1 JP 2019026788 W JP2019026788 W JP 2019026788W WO 2020017356 A1 WO2020017356 A1 WO 2020017356A1
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WIPO (PCT)
Prior art keywords
information
robot
virtual reaction
unit
moving body
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PCT/JP2019/026788
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English (en)
Japanese (ja)
Inventor
康久 神川
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ソニー株式会社
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Publication of WO2020017356A1 publication Critical patent/WO2020017356A1/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

Definitions

  • the present technology relates to a moving object, a control method, and a program, and particularly to a moving object, a control method, and a program capable of avoiding a collision while continuing to move smoothly.
  • a collision prevention technology that can be performed by a single robot or a collision prevention technology that can be performed by a plurality of robots in an environment where a plurality of robots exist has been proposed.
  • Patent Document 1 proposes a technique in which a robot recognizes another object by itself and performs a shielding operation in accordance with a relative distance to the object in order to avoid collision with the object.
  • Patent Literature 2 proposes a technique of avoiding collision by stopping a robot by determining whether a plurality of robots are present in a previously set intrusion prohibition area or not.
  • the present technology has been made in view of such a situation, and is intended to avoid a collision while continuing to move smoothly.
  • the moving body is virtual space that is information of a space set so as to surround a housing, and in which a parameter of a reaction force to be generated according to a distance from another moving body is set.
  • a control unit that shares information on the reaction wall with the other moving body and controls a driving unit based on the shared information on the plurality of virtual reaction walls;
  • virtual reaction force is space information that is set to surround a housing, and is a space in which a parameter of a reaction force to be generated according to a distance from another moving object is set.
  • the information on the wall is shared with the other moving body, and the driving unit is controlled based on the shared information on the plurality of virtual reaction walls.
  • FIG. 14 is a diagram illustrating an example of a virtual reaction wall set in a robot to which the present technology is applied. It is a figure showing an example of a virtual reaction wall set to each of a plurality of robots. It is a figure showing an example when another robot has invaded the virtual reaction wall. It is a figure showing the example of the shape of a virtual reaction wall. It is a figure showing the example of the shape of a virtual reaction wall.
  • FIG. 1 is a diagram illustrating a first configuration example of a robot control system to which the present technology is applied.
  • FIG. 3 is a diagram illustrating an example of information shared by a robot. It is a figure showing an example of a parameter showing the shape of a virtual reaction wall.
  • FIG. 1 is a diagram illustrating a first configuration example of a robot control system to which the present technology is applied.
  • FIG. 3 is a diagram illustrating an example of information shared by a robot. It is a figure showing an example of a parameter showing the shape of a virtual
  • FIG. 3 is a block diagram illustrating a configuration example of a robot.
  • FIG. 3 is a diagram illustrating a functional configuration example of a control unit. It is a flowchart explaining a process of a robot.
  • FIG. 3 is a diagram illustrating a timing chart of transmission and reception of information.
  • FIG. 14 is a diagram illustrating a second configuration example of the robot control system to which the present technology is applied.
  • FIG. 14 is a block diagram illustrating a functional configuration example of a control unit in the case of the robot in FIG. 13.
  • FIG. 3 is a block diagram illustrating a hardware configuration example of a server.
  • FIG. 3 is a block diagram illustrating a functional configuration example of a server.
  • 14 is a flowchart illustrating processing of the robot and the server in FIG. 13.
  • FIG. 14 is a diagram illustrating a timing chart of transmission and reception of the information in FIG. 13.
  • FIG. 13 is a diagram illustrating a third configuration example of the robot control system to
  • First embodiment virtual reaction wall
  • Second embodiment use of communication between robots
  • Third embodiment use of server
  • Fourth embodiment robot having drive unit
  • FIG. 1 is a diagram illustrating an example of a virtual reaction wall set in a robot to which the present technology is applied.
  • the robot 1 is a so-called drone, which is an aircraft capable of unmanned flight.
  • the robot 1 is not limited to a drone, and may be configured by a robot, a car, or a trolley, which is a mobile body that can move autonomously.
  • a virtual reaction wall 2 is set around the robot 1.
  • the virtual reaction wall 2 is a space set according to the size of the housing of the robot 1 so as to surround the housing of the robot 1.
  • parameters of a reaction force generated in the robot 1 when an object such as an obstacle enters a space set as the virtual reaction wall 2.
  • the reaction force is, for example, a repulsive force generated between the object and the invading object.
  • the robot 1 has map information.
  • the robot 1 calculates a parameter of the reaction force according to the position of the obstacle (the distance between the robot 1 and the obstacle) in the map information.
  • the robot 1 changes the moving direction and the acceleration based on the calculated reaction force parameter, and drives the robot 1 to avoid an obstacle.
  • the robot 1 can avoid the obstacle.
  • FIG. 2 is a diagram illustrating an example of a virtual reaction wall set for each of a plurality of robots.
  • virtual reaction walls 2-1 to 2-3 are set in the robots 1-1 to 1-3, respectively.
  • the robots 1-1 to 1-3 are connected by wireless communication.
  • the robot 1-1 transmits the information and the position information of its own virtual reaction wall 2-1 to the robot 1-2 and the robot 1-3 as indicated by the arrow P1.
  • Information and position information of the virtual reaction wall 2-1 of the robot 1-1 are received by the robot 1-2 and the robot 1-3.
  • the robot 1-2 transmits the information and position information of its own virtual reaction wall 2-2 to the robot 1-3 and the robot 1-1, as indicated by the arrow P2.
  • the information and position information of the virtual reaction wall 2-2 of the robot 1-2 are received by the robot 1-3 and the robot 1-1.
  • the robot 1-3 transmits the information and the position information of its own virtual reaction wall 2-3 to the robot 1-1 and the robot 1-2 as indicated by the arrow P3.
  • the information and the position information of the virtual reaction wall 2-3 of the robot 1-3 are transmitted by the robot 1-1 and the robot 1-2.
  • the information of the virtual reaction walls 2-1 to 2-3 and the position information are shared between the robots 1-1 to 1-3.
  • the process of updating the information and the position information of the virtual reaction wall of the other robot in the map information of the robot is repeated based on the information from the other robot.
  • FIG. 3 is a diagram showing an example in which another robot has entered the virtual reaction wall.
  • the robot 1-1 it is determined whether the robot 1-2 or the robot 1-3 has entered the virtual reaction wall 2-1 based on the map information.
  • the robot 1-1 determines the position information of the robot 1-2 and the virtual reaction wall 2.
  • the parameter AF12 of the reaction force is calculated according to -2.
  • the robot 1-1 controls its own drive so as to change the moving direction and the acceleration based on the calculated reaction force parameter AF12.
  • the robot 1-1 when the robot 1-3 or the virtual reaction wall 2-3 of the robot 1-3 enters the virtual reaction wall 2-1, the robot 1-1 also determines the position information of the robot 1-3 and the virtual reaction wall. A parameter AF13 of the reaction force is calculated according to the force wall 2-3. The robot 1-1 controls its own drive so as to change the moving direction and the acceleration based on the calculated reaction force parameter AF13.
  • the driving is controlled based on the parameters of the reaction force calculated according to the information of the other robots. This makes it possible to realize collision avoidance while continuing to move smoothly without stopping movement, that is, seamless collision avoidance.
  • FIGS. 4 and 5 are diagrams showing examples of the shape of the virtual reaction wall.
  • the shape of the housing of the robot 1-1 is elliptical, and the shape of the housing of the robot 1-2 is circular. Further, the shape of the housing of the robot 1-3 is rectangular. The housing of the robot 1-1 is larger than the housing of the robot 1-2 and smaller than the housing of the robot 1-3. Two ellipses shown above each robot represent propellers provided in the housing.
  • the robot 1-1 is provided with a medium-sized elliptical virtual reaction wall 2-1 corresponding to the shape (oval) and size (medium) of the housing.
  • a small circular virtual reaction wall 2-2 is set in the robot 1-2 according to the shape (circle) and size (small) of the housing.
  • a large rectangular virtual reaction wall 2-3 according to the shape (rectangle) and size (large) of the housing is set in the robot 1-3.
  • the size of the virtual reaction walls 2-1 to 2-3 may be changed according to the degree of tolerance for the risk of collision.
  • the tolerance for the risk of collision is large, the virtual reaction walls 2-1 to 2-3 having small sizes are set.
  • the tolerance for the risk of collision is small, the virtual reaction walls 2-1 to 2-3 having large sizes are set.
  • the tolerance for the risk of collision is set as a large value.
  • FIG. 5 is a diagram showing an example of the shape of the virtual reaction wall during movement.
  • white arrows V1 to V3 indicate the traveling directions of the robots 1-1 to 1-3, respectively.
  • the lengths of the outlined arrows V1 to V3 indicate the speed (V2 ⁇ V1 ⁇ 3).
  • the bidirectional arrows L1 to L3 indicate the lengths (widths) of the virtual reaction walls 2-1 to 2-3 in the traveling direction, and the bidirectional arrows N1 to N3 indicate the opposite directions to the traveling direction. It represents the length of the virtual reaction walls 2-1 to 2-3.
  • the length of the virtual reaction walls 2-1 to 2-3 in the traveling direction is longer than the length of the virtual reaction walls 2-1 to 2-3 in the direction opposite to the traveling direction.
  • the length of the virtual reaction wall 2-1 is longer in the traveling direction than in N1, which is the length in the direction opposite to the traveling direction. L1 is longer.
  • the shapes and sizes of the virtual reaction walls 2-1 to 2-3 can be changed according to the traveling directions and speeds of the robots 1-1 to 1-3.
  • FIG. 6 is a diagram illustrating a first configuration example of a robot control system to which the present technology is applied.
  • the robot control system in FIG. 6 is configured by connecting the robots 1-1 to 1-5 by wireless communication.
  • the robots 1-1 to 1-5 are driven, for example, in an environment where the robots act closely.
  • the virtual reaction wall is set in the robots 1-1 to 1-5 as described above.
  • the dashed-dotted circle represents the range of information exchange with other robots set for the robot 1-1.
  • the reach of radio waves is set as the transmission / reception range.
  • the transmission / reception range of the robot 1-1 is, for example, a range of a predetermined radius such as about 200 m around the position of the robot 1-1.
  • the dashed circle indicates the range of information exchange with other robots set for the robot 1-5.
  • the robot 1-1 mutually transmits and receives the virtual reaction wall information and the positional information to and from the robots 1-2 and 1-3 existing in the transmission / reception range.
  • the robot that has received the information transmitted from the other robot replies (replies) its information to the transmission source robot.
  • the robot 1-1 knows that the robot 1-2 and the robot 1-3 exist within the transmission / reception range.
  • the method of checking whether or not the robot 1 exists within the transmission / reception range is not limited to the method described above. Further, the size of the transmission / reception range may be changed according to the size of the robot or the virtual reaction wall.
  • the robot 1-5 mutually transmits and receives information on the virtual reaction wall and position information to and from the robot 1-4 existing within the transmission / reception range.
  • the robot 1-5 knows that the robot 1-4 is within the transmission / reception range.
  • the robots 1-2 to 1-4 also transmit and receive the information on the virtual reaction wall and the positional information to and from other robots within the transmission and reception ranges of the robots 1-2 to 1-4.
  • FIG. 7 is a diagram illustrating an example of information shared by a plurality of robots.
  • the shared information includes a basic size (X, Y, Z), a physical property value (k, ⁇ ), a position (x, y, z), a speed (Vx, Vy, Vz), and a virtual Information on the reaction wall shape ( ⁇ , Af, Ab, B) is included.
  • Basic size (X, Y, Z), physical property value (k, ⁇ ) are fixed values, position (x, y, z), velocity (Vx, Vy, Vz), virtual reaction wall shape ( ⁇ , Af , Ab, B) are updated information.
  • the basic size (X, Y, Z) indicates the three-dimensional size of the robot.
  • the basic sizes of the robots 1-1 to 1-4 are (80, 200, 80), (80, 300, 80), (80, 50, 80), and (100, 80, 100). I have.
  • the physical property value (k, ⁇ ) is material information (spring constant k, viscosity coefficient ⁇ ) of the virtual reaction wall.
  • the physical property values (k, ⁇ ) of the robots 1-1 to 1-4 are (5, 8), (5, 8), (10, 8), (5, 8) It has been.
  • Position (x, y, z) indicates the three-dimensional position of the robot.
  • the positions (x, y, z) of the robots 1-1 to 1-4 are (100, 20, 60), (120, 40, 40), (140, 25, 55). ), (105, 28, 80).
  • Speed (Vx, Vy, Vz) indicates the speed of the robot.
  • the speeds (Vx, Vy, Vz) of the robots 1-1 to 1-4 are (10, 2, 5), (12, 4, 4), (0, -20, 8), (-3, -15, -25).
  • Virtual reaction wall shape ( ⁇ , Af, Ab, B) indicates the shape of the virtual reaction wall.
  • the virtual reaction wall shapes of the robots 1-1 to 1-4 are (100, 100, 300, 90), (-60, 800, 500, 90), (15, 400, 300, 50), and (-45, 700, 350, 85). ing.
  • a white circle in FIG. 8 represents the position (x, y, z) of the robot.
  • ⁇ indicates the angle of the velocity vector of the robot with respect to the horizontal direction.
  • the virtual reaction wall is formed of a semi-ellipsoid having a major axis in the traveling direction around the position (x, y, z) and a minor axis in a direction perpendicular to the traveling direction.
  • the length of the major axis is different on the traveling direction side and on the opposite side to the traveling direction.
  • Af indicates the length of the major axis of the semiellipsoid in the traveling direction on a line parallel to the velocity vector from the position (x, y, z) of the robot.
  • Ab indicates a length from the robot position (x, y, z) on a line parallel to the velocity vector in a direction opposite to the traveling direction of the major axis of the semiellipsoid.
  • B indicates the length of the radius of the minor axis of the semi-ellipsoid.
  • G is a coefficient that converts the speed V of the robot into the shape of the virtual reaction wall.
  • FIG. 9 is a block diagram illustrating a configuration example of the robot 1.
  • the robot 1 includes a control unit 21, a wireless communication unit 22, an input unit 23, an output unit 24, and a drive unit 25.
  • the control unit 21 is configured by a computer having a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), a flash memory, and the like.
  • the control unit 21 executes a predetermined program by the CPU and controls the entire operation of the robot 1.
  • control unit 21 generates a virtual reaction wall based on the position information supplied from the sensor of the input unit 23, and transmits the generated information and the position information of the virtual reaction wall to another robot.
  • the control unit 21 updates the information and the position information of the virtual reaction wall of the other robot in the map information.
  • the control unit 21 calculates a reaction force parameter based on the map information, for example, by superimposing information on the virtual reaction wall of itself and another robot.
  • the control unit 21 controls the driving unit 25 based on the calculated reaction force parameter.
  • the wireless communication unit 22 performs wireless communication with another robot, a server, a controller for operating the robot 1, or any other device.
  • the input unit 23 includes a camera, a sensor, and the like.
  • the input unit 23 outputs an image obtained by photographing and data obtained by the sensor to the control unit 21.
  • the sensors include a distance measuring sensor that measures the distance to a surrounding object, a positioning sensor such as GPS, and the like.
  • the output unit 24 includes a monitor, an indicator, and the like.
  • the drive unit 25 is a mechanism for causing the robot 1 to fly and move.
  • the drive unit 25 includes, for example, a motor and a propeller.
  • the drive unit 25 drives according to the control of the control unit 21 to implement the action of the robot 1.
  • FIG. 10 is a block diagram illustrating a functional configuration example of the control unit 21.
  • the control unit 21 includes a position detection unit 51, a virtual reaction wall generation unit 52, a data transmission / reception unit 53, a map calculation unit 54, a reaction force calculation unit 55, a movement purpose command unit 56, an acceleration / posture. It comprises a control unit 57 and a drive control unit 58. At least a part of the functional units shown in FIG. 10 is realized by executing a predetermined program by the CPU constituting the control unit 21.
  • the position detection unit 51 detects the position of the robot 1 based on the information of the positioning sensor of the input unit 23, and outputs the detected position information to the virtual reaction wall generation unit 52 and the acceleration / posture control unit 57.
  • the virtual reaction wall generation unit 52 generates a virtual reaction force based on the position information supplied from the position detection unit 51 and information such as physical property values (k, ⁇ ) of the virtual reaction wall of the robot 1 set in advance. Generate a wall.
  • the virtual reaction wall generation unit 52 outputs the generated virtual reaction wall information and position information of the robot 1 to the data transmission / reception unit 53.
  • the data transmission / reception unit 53 transmits / receives data to / from the outside via the wireless communication unit 22.
  • the data transmission / reception unit 53 outputs the information and position information of the virtual reaction wall of the robot 1 supplied from the virtual reaction wall generation unit 52 to the map calculation unit 54 and transmits the information to another robot.
  • the data transmission / reception unit 53 uses the received information and position information of the virtual reaction wall of another robot as the map calculation unit 54.
  • the map calculation unit 54 updates the virtual reaction wall information and the position information of itself and other robots in the map information.
  • the map calculation unit 54 outputs the updated map information to the reaction force calculation unit 55.
  • the reaction force calculation unit 55 calculates the parameters of the reaction force by superimposing the virtual reaction walls of itself and another robot based on the map information supplied from the map calculation unit 54.
  • the reaction force calculation unit 55 outputs the calculated parameters of the reaction force to the acceleration / posture control unit 57.
  • FF (x, y) is a reaction force vector applied to the robot.
  • K and ⁇ are the spring constant and the viscosity coefficient described above with reference to FIG.
  • x is a position vector that interferes with the two virtual reaction walls.
  • v is a velocity vector that interferes with the virtual reaction wall.
  • the exercise purpose command unit 56 outputs exercise command information based on a preset route or the like to the acceleration / posture control unit 57. In addition, the exercise purpose command unit 56 outputs the exercise command information received from the controller that steers itself to the acceleration / posture control unit 57.
  • the acceleration / posture control unit 57 generates control information of the acceleration of the robot 1 based on the reaction force parameter supplied from the reaction force calculation unit 55.
  • the acceleration / posture control unit 57 supplies the generated control information to the drive control unit 58.
  • the control expression of the acceleration of the robot itself based on the reaction force of the virtual reaction wall is expressed by the following expression (3).
  • M is the mass of the robot.
  • ⁇ is the acceleration of the robot.
  • a ( ⁇ ) is the acceleration force based on the command information for achieving the exercise purpose.
  • the acceleration / posture control unit 57 When an instruction is given from the user, the acceleration / posture control unit 57 generates control information based on the instruction information supplied from the exercise purpose instruction unit 56.
  • the drive control unit 58 controls the drive unit 25 based on the control information from the acceleration / posture control unit 57 to realize the behavior of the robot 1.
  • step S11 the position detecting section 51 detects its own position information.
  • the virtual reaction wall generation unit 52 generates a virtual reaction wall based on the position information supplied from the position detection unit 51.
  • step S12 the data transmitting / receiving unit 53 determines whether or not a predetermined time such as one second has elapsed since the last transmission to another robot. If it is determined in step S12 that one second has elapsed, the process proceeds to step S13.
  • a predetermined time such as one second has elapsed since the last transmission to another robot.
  • step S13 the data transmission / reception unit 53 updates its own virtual reaction wall and transmits information and position information of the virtual reaction wall to other robots.
  • step S12 If it is determined in step S12 that one second has not elapsed, the processing in step S13 is skipped.
  • step S14 the data transmission / reception unit 53 determines whether another robot exists within the transmission / reception range. If a reply to the transmitted information has arrived in step S13, it is determined in step S14 that another robot exists within the transmission / reception range, and the process proceeds to step S15.
  • step S15 the data transmitting / receiving unit 53 determines whether or not update information of another robot has been transmitted.
  • the update information indicates the virtual reaction wall information and the position information.
  • step S15 If the virtual reaction wall information and the position information transmitted from another robot are received, it is determined in step S15 that update information of another robot has been transmitted, and the process proceeds to step S16.
  • the data transmitting / receiving unit 53 converts the received information and position information of the virtual reaction wall of another robot into the map calculation unit 54.
  • step S16 the map calculation unit 54 updates the virtual reaction wall information and the position information, which are the update information of the other robots in its own map information.
  • step S14 If it is determined in step S14 that no other robot exists within the transmission / reception range, the processing in steps S15 and S16 is skipped. If it is determined in step S15 that the update information has not been transmitted from another robot, the process of step S16 is skipped.
  • step S17 the reaction force calculation unit 55 calculates a parameter of the reaction force by superimposing the virtual reaction walls of the robot itself and another robot based on the map information.
  • step S18 the acceleration / posture control unit 57 performs a motion control calculation based on the reaction force parameter supplied from the reaction force calculation unit 55.
  • the motion control calculation includes an acceleration calculation.
  • step S19 the drive control unit 58 executes control on the drive unit 25. After the process in step S19, the process returns to step S11, and the subsequent processes are repeated.
  • FIG. 12 is a diagram showing a timing chart of information transmission and reception.
  • the horizontal axis represents time.
  • the vertical arrows represent the exchange of information. Specifically, an arrow indicating transmission from operation control at time t1 or the like indicates output of own information from virtual reaction force wall generation unit 52 to data transmission / reception unit 53.
  • the arrow pointing from the transmission at time t2 or the like to the reception of another robot indicates the transmission of own information from the data transmission / reception unit 53 to the other robot.
  • the arrow indicating the motion control from the transmission at the time t2 or the like indicates the transmission of its own information from the data transmission / reception unit 53 to the map calculation unit 54.
  • An arrow indicating the motion control from the reception at the time t3 or the like indicates the output of information of another robot from the data transmission / reception unit 53 to the map calculation unit 54.
  • information of the robot (1-2) is output from the virtual reaction wall generating unit 52 of the robot 1-2 to the data transmitting / receiving unit 53.
  • the information of the robot 1-2 is transmitted from the data transmission / reception unit 53 of the robot 1-2 to the robot 1-1, and the information of itself (the robot 1-2) is transmitted to the map calculation unit 54. Is output.
  • information on the robot 1-2 is output from the data transmission / reception unit 53 of the robot 1-1 to the map calculation unit 54.
  • information of the robot (1-1) is output from the virtual reaction wall generating unit 52 of the robot 1-1 to the data transmitting / receiving unit 53.
  • the information of the robot 1-1 is transmitted from the data transmission / reception unit 53 of the robot 1-1 to the robot 1-2, and the information of the robot (1-1) is transmitted to the map calculation unit 54. Is output.
  • the virtual reaction force is a space that is set to surround the housing and in which a parameter of a reaction force to be generated according to the distance to another moving object is set.
  • Wall information is shared with other mobiles.
  • the driving unit is controlled so as to change the moving direction and the acceleration based on the shared information of the plurality of virtual reaction walls and avoid an obstacle.
  • FIG. 13 is a diagram illustrating a second configuration example of the robot control system to which the present technology is applied.
  • the robot control system in FIG. 13 differs from the robot control system in FIG. 9 in that a server 112 is added.
  • the robot control system is a cloud system configured by connecting the robots 111-1 to 111-5 and the server 112 by wireless communication.
  • the virtual reaction walls are set in the robots 111-1 to 111-5 as described above.
  • the dashed-dotted circle indicates the range of information exchange with other robots set for the robot 111-1, as in the example of FIG.
  • the server 112 can determine another robot within the transmission / reception range based on the position information of each robot.
  • the transmission / reception range of the robot 111-1 is, for example, a range of a predetermined waveform such as about 200 m around the position of the robot 111-1.
  • the robots 111-1 to 111-5 transmit the position information of the robot to the server 112.
  • Each of the robots 111-1 to 111-5 receives the information and the position information of its own virtual reaction wall transmitted from the server 112 and the virtual reaction wall of another robot.
  • the robots 111-1 to 111-5 calculate the parameters of the reaction force using the received information on the virtual reaction wall of the robot itself, the information on the virtual reaction wall of the other robot, and the position information, and calculate the calculated reaction force. It controls its own drive based on the parameters.
  • the server 112 is configured by a computer or the like.
  • the server 112 has a function of generating a virtual reaction wall.
  • the server 112 When receiving the position information from the robots 111-1 to 111-5, the server 112 generates the virtual reaction walls of the robots 111-1 to 111-5.
  • the server 112 stores information on the virtual reaction wall of each of the robots 111-1 to 111-5 and information and position information on the virtual reaction wall of another robot existing within a predetermined range of each of the robots 111-1 to 111-5. 1 to 111-5.
  • the server 112 retrieves, from the robot information storage unit 154, information and position information of the virtual reaction wall of another robot existing within the transmission / reception range of the robot 111-1, based on the position information of the robot 111-1.
  • the server 112 transmits information and position information of the virtual reaction wall of the robot 111-1 and the virtual reaction wall of another robot existing within the transmission / reception range of the robot 111-1 to the robot 111-1.
  • the server 112 exists in the virtual reaction wall of each of the robots 111-2 to 111-4 and the transmission / reception range of each of the robots 111-2 to 111-4. Transmits information and position information on the virtual reaction wall of another robot.
  • the robots 111-1 to 111-5 are referred to as the robots 111 when there is no need to particularly distinguish them.
  • the robot control system may be configured to include a plurality of robots.
  • the number of robots is not limited to five.
  • FIG. 14 is a block diagram illustrating a functional configuration example of the control unit 21 in the case of the robot 111.
  • the control unit 21 includes a position detection unit 51, a data transmission / reception unit 121, a map calculation unit 54, a reaction force calculation unit 55, a movement purpose command unit 56, an acceleration / posture control unit 57, and a drive control unit. 58. That is, the control unit 21 of FIG. 14 differs from the control unit 21 of FIG. 10 in that the data transmission / reception unit 53 is replaced with the data transmission / reception unit 121 and that the virtual reaction wall generation unit 52 is removed.
  • the position detection unit 51 outputs the position information of the robot 111 to the acceleration / posture control unit 57 and the data transmission / reception unit 121.
  • the data transmission / reception unit 121 outputs the position information of the robot 111 supplied from the position detection unit 51 to the map calculation unit 54 and transmits it to the server 112.
  • the data transmitting / receiving unit 121 outputs the received information on the own virtual reaction wall and the information and position information on the virtual reaction wall of another robot to the map calculation unit 54.
  • FIG. 15 is a block diagram illustrating an example of a hardware configuration of a server.
  • the CPU 131, the ROM 132, and the RAM 133 are interconnected by a bus 134.
  • the input / output interface 135 is further connected to the bus 134.
  • the input / output interface 135 is connected to an input unit 136, an output unit 137, a storage unit 138, a communication unit 139, and a drive 140.
  • the input unit 136 includes a keyboard, a mouse, a microphone, and the like.
  • the output unit 137 includes a display, a speaker, and the like.
  • the storage unit 138 includes a hard disk, a nonvolatile memory, and the like.
  • the communication unit 139 includes a network interface and the like.
  • the drive 140 drives a removable medium 141 such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory.
  • FIG. 16 is a block diagram showing a functional configuration example of the server.
  • At least a part of the functional units shown in FIG. 16 is realized by executing a predetermined program by the CPU 131 of FIG.
  • a data transmission / reception unit 151 As shown in FIG. 16, in the server 112, a data transmission / reception unit 151, a control unit 152, a virtual reaction wall generation unit 153, and a robot information storage unit 154 are realized.
  • the data transmitting / receiving unit 151 receives the position information of the robot 111 transmitted from the robot 111.
  • the data transmitting / receiving unit 151 outputs the received position information of the robot 111 to the control unit 152.
  • the data transmission / reception unit 151 transmits to the robot 111 information on the virtual reaction wall of the robot 111 output from the control unit 152 and information and position information on the virtual reaction wall of another robot.
  • the control unit 152 outputs the position information of the robot 111 supplied from the data transmission / reception unit 151 to the virtual reaction wall generation unit 153. Based on the position information of the robot 111 supplied from the data transmission / reception unit 151, the control unit 152 stores information and position information of the virtual reaction wall of another robot existing within the transmission / reception range from the robot 111 in the robot information storage unit. Remove from 154.
  • the control unit 152 outputs the information on the virtual reaction wall of the robot 111 supplied from the virtual reaction wall generation unit 153 to the data transmission / reception unit 151.
  • the control unit 152 outputs information and position information of the virtual reaction wall of another robot extracted from the robot information storage unit 154 to the data transmission / reception unit 151.
  • the virtual reaction wall generation unit 153 generates a virtual reaction wall based on position information of the robot 111 supplied from the control unit 152 and information such as physical property values (k, ⁇ ) of the virtual reaction wall of the robot 111 set in advance. Generate reaction walls.
  • the virtual reaction wall generation unit 153 outputs information on the generated virtual reaction wall of the robot 111 to the control unit 152.
  • the virtual reaction wall generation unit 153 outputs the generated information and the position information of the virtual reaction wall of the robot 111 to the robot information storage unit 154.
  • the robot information storage unit 154 stores information on the virtual reaction wall of the robot 111 and position information.
  • step S111 the position detection unit 51 of the robot 111 detects its own position information.
  • step S112 the data transmitting / receiving unit 121 determines whether a predetermined time such as one second has elapsed since the last transmission to another robot. If it is determined in step S112 that one second has elapsed, the process proceeds to step S113.
  • step S113 the data transmission / reception unit 121 transmits position information to the server 112.
  • step S112 If it is determined in step S112 that one second has not elapsed, the processing in step S13 is skipped.
  • step S131 the control unit 152 of the server 112 waits until the data transmission / reception unit 151 determines that the position information has been received from the robot 111. If it is determined in step S131 that the position information has been received, the process proceeds to step S132.
  • step S132 the virtual reaction wall generation unit 153 converts the position information of the robot 111 supplied from the control unit 152 and information such as physical property values (k, ⁇ ) of the virtual reaction wall of the robot 111 that are set in advance. Based on this, a virtual reaction wall is generated.
  • the generated information and position information of the virtual reaction wall of the robot 111 are stored in the robot information storage unit 154 via the control unit 152 and output to the data transmission / reception unit 151.
  • step S133 the data transmission / reception unit 151 transmits information on the virtual reaction wall to the robot 111.
  • step S134 the control unit 152 refers to the position information stored in the robot information storage unit 154, and determines whether or not another robot exists within the transmission / reception range from the robot 111. If it is determined in step S134 that another robot exists within the transmission / reception range, the process proceeds to step S135.
  • step S135 the control unit 152 determines whether update information of another robot has been transmitted.
  • the update information represents the information and the position information of the virtual reaction wall of another robot.
  • step S135 If the information and the position information of the virtual reaction wall of another robot have been received and updated, it is determined in step S135 that update information of another robot has been transmitted, and the process proceeds to step S136.
  • the control unit 152 reads the information on the virtual reaction wall and the position information, which are the update information of the other robots, from the robot information storage unit 154, and outputs the information to the data transmission / reception unit 151.
  • step S ⁇ b> 136 the data transmitting / receiving unit 151 transmits update information (information on the virtual reaction wall and position information) of another robot to the robot 111. After the process in step S136, the process returns to step S131, and the subsequent processes are repeated.
  • the data transmission / reception unit 121 of the robot 111 receives the information of its own virtual reaction wall transmitted from the server 112 in step S133.
  • the data transmission / reception unit 121 receives the information and the position information of the virtual reaction wall of another robot transmitted from the server 112 in step S136.
  • step S114 the map calculation unit 54 updates the information of its own virtual reaction wall and the information and position information of the virtual reaction wall of another robot in its own map information.
  • step S115 the reaction force calculation unit 55 calculates a reaction force parameter by superimposing the virtual reaction walls of itself and another robot.
  • step S116 the acceleration / posture control unit 57 performs a motion control calculation based on the reaction force parameter supplied from the reaction force calculation unit 55.
  • step S117 the drive control unit 58 controls the drive unit 25. After the process in step S117, the process returns to step S111, and the subsequent processes are repeated.
  • FIG. 18 is a diagram showing a timing chart of information transmission and reception.
  • the horizontal axis represents time.
  • the vertical arrows represent the exchange of information. Specifically, an arrow indicating transmission from operation control at time T ⁇ b> 1 or the like indicates output of own position information from the position detection unit 51 to the data transmission / reception unit 121.
  • the arrow pointing to the server 112 from the transmission at the time T2 or the like indicates the transmission of its own position information from the data transmitting / receiving unit 121 to the server 112.
  • An arrow indicating reception from the server at time T5 or the like indicates transmission of information on the robot itself and other robots from the server 112 to the data transmission / reception unit 121.
  • the arrow indicating the motion control from the reception at the time T6 or the like indicates transmission of information on the robot itself and other robots from the data transmission / reception unit 121 to the map calculation unit 54.
  • the position information of the robot (111-2) is output from the position detection unit 51 of the robot 111-2 to the data transmission / reception unit 121.
  • the data transmission / reception unit 121 of the robot 111-2 transmits its own (robot 111-2) position information to the server 112.
  • the information of the robot (111-1) is output from the position detecting unit 51 of the robot 111-1 to the data transmitting / receiving unit 121.
  • the data transmission / reception unit 121 of the robot 111-1 transmits its own (robot 111-1) position information to the server 112.
  • the server 112 transmits information about itself (the robot 111-1) and the robot 111-2 to the data transmission / reception unit 121 of the robot 111-1.
  • information on the robot (111-1) and the robot 111-2 is output from the data transmission / reception unit 121 of the robot 111-1 to the map calculation unit 54.
  • the server 112 transmits information about itself (the robot 111-2) and the robot 111-1 to the data transmission / reception unit 121 of the robot 111-2.
  • information on the robot (111-2) and the robot 111-1 is output from the data transmission / reception unit 121 of the robot 111-2 to the map calculation unit 54.
  • the virtual reaction wall is generated by the server, so that the virtual reaction wall in each robot is generated.
  • the calculation load for generation can be reduced.
  • FIG. 19 is a diagram illustrating a third configuration example of the robot control system to which the present technology is applied.
  • the robot control system in FIG. 19 is configured by connecting the robot 211 and the robot 212 by wireless communication.
  • the robot 211 and the robot 212 are provided in an environment where work is performed densely.
  • the robot 211 and the robot 212 are humanoid robots.
  • a virtual reaction wall 221 is set around the robot 211.
  • a virtual reaction wall 222 is set around the robot 212.
  • the robot 211 includes a head drive unit 211-1, a body drive unit 211-2, a right foot drive unit 211-3, a left foot drive unit 211-4, an upper arm drive unit 211-5, and a lower arm drive unit. 211-6. In the robot 211, each drive unit is electrically connected.
  • the robot 212 includes a head driving unit 212-1, a body driving unit 212-2, a right foot driving unit 212-3, a left foot driving unit 212-4, an upper arm driving unit 212-5, and a lower arm driving unit. 212-6. In the robot 212, each drive unit is electrically connected.
  • the virtual reaction wall 221 is configured by a virtual reaction wall corresponding to a driving unit of the robot 211.
  • the virtual reaction wall 221 includes a virtual reaction wall 221-1 on the head, a virtual reaction wall 221-2 on the body, a virtual reaction wall 221-3 on the right foot, and a virtual reaction wall 221-4 on the left foot. , An upper arm virtual reaction wall 221-5 and a lower arm virtual reaction wall 221-6.
  • the virtual reaction wall 222 is constituted by a virtual reaction wall corresponding to the drive unit of the robot 212.
  • the virtual reaction wall 222 includes a virtual reaction wall 222-1 at the head, a virtual reaction wall 222-2 at the body, a virtual reaction wall 222-3 at the right foot, and a virtual reaction wall 222-4 at the left foot. , An upper arm virtual reaction wall 222-5 and a lower arm virtual reaction wall 222-6.
  • the robot 211 and the robot 212 share information and position information of virtual reaction walls of all drive units of the robot 211, and information and position information of virtual reaction walls of all drive units of the robot 212.
  • the robot 211 and the robot 212 When the robot 211 and the robot 212 receive the information transmitted from the other robot, the robot 211 and the robot 212 update the virtual reaction wall information and the position information of the other robot in the map information of the robot 211 and the robot 212.
  • outline arrows VP1 and VP2 indicate the moving directions of the lower arm drive units 211-6 and 212-6, respectively.
  • the length of the outlined arrows VP1 and VP2 indicates the speed (VP2 ⁇ VP1).
  • the robot 211 drives the lower arm drive unit 211-6 so as to move in the direction of the body drive unit 212-2 at a speed higher than that of the lower arm drive unit 212-6, as indicated by VP1. .
  • the robot 212 drives the lower arm drive unit 212-6 to move in the direction of the lower arm drive unit 211-6 at a lower speed than the lower arm drive unit 211-6 as indicated by VP2. I do.
  • the virtual reaction wall 222-6 of the lower arm of the robot 212 penetrates into the virtual reaction wall 221-6 of the lower arm of the robot 211. And the parameters of the reaction force are calculated according to the position.
  • the robot 211 controls the necessary driving of the driving unit based on the calculated reaction force parameter so as to avoid the lower arm driving unit 212-6.
  • the robot 212 Since the virtual reaction wall 221-6 of the lower arm of the robot 211 penetrates into the virtual reaction wall 222-6 of the lower arm of the robot 212, the robot 212 moves to the position corresponding to the virtual reaction wall of the robot 211.
  • the parameter of the reaction force is calculated accordingly.
  • the robot 212 controls necessary driving of the driving unit based on the calculated reaction force parameter so as to avoid the lower arm driving unit 211-6.
  • map information is updated with the shared information.
  • shape and size of the virtual reaction wall are changed according to the moving speed and direction of each robot.
  • the program to be installed is provided by being recorded on a removable medium 141 shown in FIG. 15 including an optical disk (CD-ROM (Compact Disc-Only Only Memory), DVD (Digital Versatile Disc), etc.), a semiconductor memory, or the like. Further, the program may be provided via a wired or wireless transmission medium such as a local area network, the Internet, or digital broadcasting.
  • the program can be installed in the ROM 132 or the storage unit 138 in advance.
  • the program executed by the computer may be a program in which processing is performed in chronological order in the order described in this specification, or may be performed in parallel or at a necessary timing such as when a call is made. It may be a program that performs processing.
  • a system refers to a set of a plurality of components (devices, modules (parts), and the like), and it does not matter whether all components are in the same housing. Accordingly, a plurality of devices housed in separate housings and connected via a network, and one device housing a plurality of modules in one housing are all systems. .
  • the present technology can adopt a configuration of cloud computing in which one function is shared by a plurality of devices via a network, and processing is performed jointly.
  • each step described in the above-described flowchart can be executed by a single device, or can be shared and executed by a plurality of devices.
  • one step includes a plurality of processes
  • the plurality of processes included in the one step can be executed by one device or can be shared and executed by a plurality of devices.
  • the present technology can also have the following configurations.
  • a moving body including a control unit that is shared with the moving body and controls a driving unit based on information of the shared plurality of virtual reaction walls.
  • the control unit controls the driving unit using a parameter of the reaction force obtained by superimposing a plurality of the virtual reaction walls.
  • a receiving unit that receives information of the virtual reaction wall of the other moving body and position information of the other moving body, Using the received information of the virtual reaction wall and the position information of the other moving body, a map calculation unit that updates corresponding information of the map information, The movement according to (2) or (3), wherein the control unit controls the driving unit using a parameter of the reaction force obtained by superimposing a plurality of the virtual reaction walls based on the map information. body.
  • a transmitting unit that transmits the location information of the server to a server, The moving body according to (4), wherein the receiving unit receives information on the virtual reaction wall calculated by the server.
  • a transmitting unit that transmits the information of the virtual reaction wall of the own and the position information of the own to the other moving body, The receiving unit according to any one of (4) to (6), wherein the receiving unit receives information on the virtual reaction wall of the another moving object and the position information of the other moving object from the other moving object.
  • Moving body A generation unit that generates information of the virtual reaction wall of the own, The movement according to any one of (4) to (6), further including a transmission unit configured to transmit the generated information of the virtual reaction force wall of the own and the position information of the own to the other moving body. body.
  • the moving body according to (1) wherein information on the plurality of virtual reaction walls is shared with the other moving body existing within a predetermined range.
  • the moving object is Information of a space set to surround the housing, and information of a virtual reaction wall, which is a space in which a parameter of a reaction force to be generated according to the distance to another moving body is set, A control method for controlling a drive unit based on information on a plurality of virtual reaction force walls shared with a moving body.

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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)
  • Manipulator (AREA)

Abstract

La présente invention concerne un corps mobile, un procédé de commande et un programme qui permettent de prévenir une collision tout en maintenant un déplacement fluide. Selon la présente invention, une unité de commande partage, avec d'autres corps mobiles, des informations concernant un espace défini de façon à entourer un boîtier, c'est-à-dire, des informations concernant des parois de force de réaction virtuelles indiquant l'espace qui est défini avec des paramètres de force de réaction générés en fonction des distances des autres corps mobiles, et commande une unité d'entraînement sur la base des informations partagées concernant les parois de force de réaction virtuelles. La présente invention peut être appliquée à un système de commande de robot qui commande un robot mobile.
PCT/JP2019/026788 2018-07-19 2019-07-05 Corps mobile, procédé de commande et programme WO2020017356A1 (fr)

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Citations (5)

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US20170069214A1 (en) * 2015-07-29 2017-03-09 Dennis J. Dupray Unmanned aerial vehicles
JP2017142551A (ja) * 2016-02-08 2017-08-17 エレメンタルデザイン＆コンサルティング株式会社 移動体の群制御方法
WO2017212987A1 (fr) * 2016-06-06 2017-12-14 学校法人東京電機大学 Robot de groupe, et procédé de commande de mouvement de population destiné à un robot de groupe
JP2018092256A (ja) * 2016-11-30 2018-06-14 株式会社豊田中央研究所 死角カバレッジ装置、制御装置、移動体の分散制御プログラム

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US20170069214A1 (en) * 2015-07-29 2017-03-09 Dennis J. Dupray Unmanned aerial vehicles
JP2017142551A (ja) * 2016-02-08 2017-08-17 エレメンタルデザイン＆コンサルティング株式会社 移動体の群制御方法
WO2017212987A1 (fr) * 2016-06-06 2017-12-14 学校法人東京電機大学 Robot de groupe, et procédé de commande de mouvement de population destiné à un robot de groupe
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