WO2021069292A1 - Procédé pour faire fonctionner un véhicule autonome, véhicule autonome et produit-programme informatique - Google Patents

Procédé pour faire fonctionner un véhicule autonome, véhicule autonome et produit-programme informatique Download PDF

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Publication number
WO2021069292A1
WO2021069292A1 PCT/EP2020/077488 EP2020077488W WO2021069292A1 WO 2021069292 A1 WO2021069292 A1 WO 2021069292A1 EP 2020077488 W EP2020077488 W EP 2020077488W WO 2021069292 A1 WO2021069292 A1 WO 2021069292A1
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WIPO (PCT)
Prior art keywords
measuring wheel
wheel
wheels
measuring
autonomous vehicle
Prior art date
Application number
PCT/EP2020/077488
Other languages
German (de)
English (en)
Inventor
Christian Scheurer
Christoph Prummer
Markus Hoelzle
Original Assignee
Kuka Deutschland Gmbh
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 Kuka Deutschland Gmbh filed Critical Kuka Deutschland Gmbh
Publication of WO2021069292A1 publication Critical patent/WO2021069292A1/fr

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Classifications

    • 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
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
    • B60B19/003—Multidirectional wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles

Definitions

  • the invention relates to a method for operating an autonomous vehicle having a vehicle body on which a plurality of wheels are rotatably mounted, of which at least one wheel is driven, the wheels being designed for moving the autonomous vehicle on a ground in which the wheels are controlled by means of a control device in their respective directions of rotation, rotational speeds and / or steering positions.
  • the invention also relates to an autonomous vehicle, in particular an autonomous omnidirectional wheel vehicle and an associated computer program product.
  • an omnidirectional vehicle which has omnidirectional wheels and a vehicle body to which at least one of the omnidirectional wheels is attached by means of an independent wheel suspension.
  • a Mecanum wheel is known, for example, from EP 1912 799 B1 and from EP 2176 075 B1.
  • the object of the invention is to create a method with which an autonomous vehicle can be controlled particularly flexibly and with high driving precision by a control device for automatically driving the wheels.
  • high driving precision should also be achieved when the autonomous vehicle changes from a first surface to a second surface, with a relative movement between the first surface and the second surface.
  • the object is achieved by a method for operating an autonomous vehicle which has a vehicle body on which a plurality of wheels are rotatably mounted, of which at least one wheel is driven, the wheels being designed to move the autonomous vehicle on a ground, in that the wheels are controlled by means of a control device in their respective directions of rotation, rotational speeds and / or steering positions, having the following steps:
  • the autonomous vehicle is designed for driverless driving.
  • the autonomous vehicle has a control device, which can also be referred to as a driving control device.
  • the control device controls and / or regulates the directions of rotation and the rotational speeds or possibly also the rotational accelerations of the driven wheels of the autonomous vehicle automatically.
  • the autonomous vehicle can also have non-powered wheels which, without being controlled by the control device, are only rotatably mounted on the vehicle body of the autonomous vehicle without being connected to a drive device.
  • the autonomous vehicle can, for example, be a driverless transport system (AGV).
  • Each driven wheel can have a hub or axle that is connected to a motor.
  • each individual wheel can be assigned its own motor.
  • the control device drives the respective drivable wheel in that the control device controls the respective motor and the respective motor drives or brakes the corresponding wheel.
  • the driven wheels are regularly mounted rotatably about a wheel axis on the vehicle body, in particular on a chassis forming the vehicle body.
  • omnidirectional wheels apart from their rotatable bearing around the wheel axis, they cannot regularly be reoriented or pivoted about any other axis, ie the wheels are not steerable wheels.
  • the autonomous vehicle can also have steering wheels.
  • the omnidirectional wheels are operated at different turning speeds. Depending on the rotational speed differences, which can also include different directions of rotation, one wheel to another wheel produces a resulting movement of the autonomous vehicle.
  • the ground can be any ground, any roadway or any facility on which the autonomous vehicle is able to move independently by means of its driven wheels.
  • a subsurface (second subsurface) that moves in relation to the environment (first subsurface) can be, for example, a ground-level conveyor belt in an assembly line in a factory.
  • the control device is designed to control the motors, to each of which a driven wheel are connected, with regard to their direction of rotation and rotational speed or Drehbe acceleration, so that in cooperation of all driven omnidirectional wheels, a resulting direction of movement, rotation and / or speed of movement of the entire Omnidirectional wheels vehicle is set in order to be able to automatically drive along a predetermined path of movement, and / or to be able to navigate automatically to a specific location.
  • the control of the omnidirectional wheels can preferably be coordinated in such a way that all omnidirectional wheels are in rolling, in particular slip-free, frictional engagement with the ground
  • the control device can be designed and set up to automatically set the respective steering positions of the steering wheels.
  • the at least one measuring wheel can be a measuring wheel that differs from the wheels for moving the autonomous vehicle.
  • the at least one measuring wheel can be used in addition to the wheels Moving the autonomous vehicle can be provided on the autonomous vehicle.
  • the measuring wheel which cannot be driven in this respect, can be formed in one embodiment by a wheel of the autonomous vehicle, which rolls on a surface or a roadway to move the autonomous vehicle and thus carries the chassis of the autonomous vehicle, but not to drive the autonomous vehicle contributes, but only serves as a load-bearing, passive support wheel.
  • the measuring wheel can only be designed as a type of measuring sensor.
  • the measuring wheel is designed neither as a drive wheel nor as a support wheel, but can be pressed against the ground, i.e. the roadway, independently of the dead weight of the autonomous vehicle, for example by means of a movable support arm.
  • the at least one measuring wheel can be at least one of the wheels for moving the autonomous vehicle.
  • the autonomous vehicle has a redundant number of wheels.
  • the autonomous vehicle can have at least four or more wheels for moving the autonomous vehicle.
  • the wheel in question which is otherwise provided in the other operating mode for moving the autonomous vehicle, can be switched to driveless mode in the operating mode as a measuring wheel.
  • the orientation of the measuring wheel can be changed in particular by turning the measuring wheel.
  • the orientation of the measuring wheel can be changed by changing the orientation of the autonomous vehicle.
  • the vertical axis of rotation only requires a directional component that protrudes from the plane of the ground. Accordingly, the vertical axis of rotation does not necessarily have to be oriented at exactly 90 °, that is to say protruding at right angles from the plane of the subsurface. So the wheel in question can have toe and / or camber to a certain extent. Equally well, the vertical axis of rotation can be oriented by exactly 90 ° that protrudes at the right angle from the plane of the ground.
  • the motion vector comprises the direction of movement of the second underground relative to the first underground in the plane of the second underground, i.e. in particular in a horizontal plane, and the speed of movement of the second underground relative to the first underground.
  • the motion vector of the second subsurface is determined from a first angle and a second angle of the at least one orientation of the at least one measuring wheel, and a measured first rotational speed and a measured second rotational speed of the at least one measuring wheel.
  • the first basic embodiment at least two measuring wheels are used.
  • a first measuring wheel is arranged in a first orientation relative to the second substrate and a second measuring wheel is arranged in a second orientation relative to the second substrate.
  • the first angle of the first orientation of the first measuring wheel and the second angle of the second orientation of the second measuring wheel are known.
  • the first rotational speed of the first measuring wheel is then recorded in the first orientation and the second rotational speed of the second measuring wheel is recorded in the second orientation.
  • only a single measuring wheel is used. In order to be able to generate two different angles, the individual measuring wheel is reoriented from its first orientation, which corresponds to the first angle, to a second orientation of the individual measuring wheel, which corresponds to the second angle. Accordingly, the method can be developed as follows.
  • an amplitude A of a sinusoid can be derived from the angle 0 ⁇ w of the first orientation of the individual measuring wheel, the measured first rotational speed V ⁇ w of the individual measuring wheel, the angle 0 ' ⁇ w of the second orientation of the individual measuring wheel and the measured second rotational speed V ' iw of the individual measuring wheel according to the formula: can be calculated, the speed of movement Vbeit of the second underground from the amplitude A, as well as the rolling radius r of the individual measuring wheel according to the formula: and the angle ⁇ beit the direction of movement of the second underground from the measured first rotational speed V ⁇ w of the individual measuring wheel and the amplitude A via the angular difference of the angle Q ' ⁇
  • the sine curve is set in a Cartesian coordinate system when the angle of the orientation of the individual measuring wheel is plotted on the abscissa axis of the coordinate system and the assigned rotational speeds V ⁇ w of the individual measuring wheel are plotted on the ordinate axis, which vary depending on the Determine the orientation of the individual measuring wheel and the constant relative speed between the first background and the second background.
  • the amplitude defines the maximum speed Viw of the individual measuring wheel in its 90 ° orientation to the second underground.
  • the rolling radius is half the diameter of the rolling roller of the measuring wheel rolling on the second substrate on axi- al height of the point of contact of the rolling roller on the second surface.
  • the commanded reorientation angle is the angle to be specified on the control side by which the measuring wheel is to be swiveled from its first orientation to its second orientation in order to be able to obtain two different measured values in two different orientations of the measuring wheel.
  • the relative angle is the angle difference between the axis of rotation of the measuring wheel and the axis of rotation of the rolling roller rolling on the second underground.
  • the respective axis of rotation of the respective generating roller is oriented differently at an angle of 45 ° relative to the axis of rotation of the measuring wheel. In this case the relative angle is 45 °.
  • a further development of the method according to the invention for operating an autonomous vehicle has the following steps:
  • the movement speed Vbeit of the second background can be calculated by vector addition from a total speed V s , r es of the first rotational speed Vi, w of the first measuring wheel and the second rotational speed V2, w of the second measuring wheel, as well as the rolling - Radius r of the first and second measuring wheel is calculated, where in the case of a first measuring wheel and a second measuring wheel, each in the form of a Mecanum wheel, the speed of movement Vbeit of the second underground according to the formula: are calculated, and the angle Obeit the direction of movement of the second underground from the measured first rotational speed V ⁇ w of the individual measuring wheel and the amplitude A via the angular difference of the angle Q ' iw of the second Orientie tion of the individual measuring wheel and the angle 0iw of the first orientation of the individual measuring wheel according to the formulas: q ' iw - sin 1 (Viw / A)
  • the method can have the following steps:
  • the speed of movement Vbeit of the second background can be calculated on the basis of the measured n rotational speeds Vi, w of the n measuring wheels from the Jakobi matrix J or its pseudo inverse according to the formula:
  • V belt - J + f '[1,2, ... n], where cp' [i, 2, ... n] are the measured angular speeds of the n measuring wheels, in particular the n Mecanum wheels, and J + die Pseudo-inverse of the Jacobi matrix with so together be calculated.
  • an autonomous vehicle having a vehicle body on which a plurality of wheels are rotatably mounted, of which at least one wheel is driven, the wheels being designed for moving the autonomous vehicle on a surface in which the Wheels are controlled by means of a control device in their respective directions of rotation, rotational speeds and / or steering positions, and having at least one measuring wheel mounted on the vehicle body, which is an omnidirectional wheel or a Mecanum wheel with a rotating axis around the measuring wheel Measuring wheel body and with non-drive rollers arranged on the measuring wheel body distributed over the circumference, which in the case of an omnidirectional wheel are aligned at a design-related angle to the measuring wheel axis of rotation, and in the case of a Mecanum wheel at an angle of 45 degrees to the measuring wheel axis of rotation, the on driftless rollers on the ground rolling, is formed, wherein the control device is designed to perform a procedural Ren, as described in one of the embodiments of the invention, the at least one measuring wheel
  • the omnidirectional wheels can generally each have a wheel hub that is rotatable about an axis of rotation, with at least one wheel body connected to the wheel hub. are provided by a number of spherical rolling elements, which are arranged distributed evenly along a circumferential jacket of the wheel and are aligned with their rolling axes at a bauartbe related angle to the axis of rotation of the wheel hub.
  • the rolling bodies can be supported freely rotatably ge at their opposite ends with respect to the wheel body, for example.
  • the omnidirectional wheels can be designed analogously to US Pat. No. 3,789,947, for example.
  • the design-related angle of the rolling axes of the rolling elements to the axis of rotation of the wheel hub for example 90 °.
  • the omnidirectional wheels can be designed as Mecanum wheels, for example, and can in particular have a wheel hub that is rotatable about an axis of rotation, two wheel disks connected to the wheel hub being arranged coaxially to the wheel hub and a number of spherical rolling elements being provided which arranged between the wheel disks, evenly distributed along a circumferential surface of the wheel and aligned with their roll axes at a diagonal angle of 45 ° to the axis of rotation of the wheel hub.
  • the rolling elements are freely rotatable with respect to the wheel disks.
  • the rolling bodies can be mounted directly on the inside of the wheel discs via associated bearings or be mounted on separate receiving components that are attached to the wheel discs.
  • the design-related angle of the rolling axes of the rolling elements to the axis of rotation of the wheel hub is 45 °, for example.
  • the Mecanum wheels can be designed, for example, in accordance with EP 2 176 075 A1 or in accordance with EP 1 912 799 B1.
  • a coordinated control of the driven wheels can be done by the control device by the
  • the control device controls the motors, to each of which a driven wheel are connected, with regard to their direction of rotation and rotational speed or rotational acceleration, so that a resulting movement direction, rotation and / or movement speed of the entire omnidirectional wheels vehicle is set in cooperation with all driven omnidirectional wheels in order to be able to automatically follow a specified path of movement and / or to be able to navigate to a specific location automatically.
  • the control of the omnidirectional wheels can preferably be coordinated so that all omnidirectional wheels are in rolling, in particular slip-free, friction engagement with the ground.
  • the autonomous vehicle can in particular be an autonomous omnidirectional wheels vehicle, having a vehicle body on which several omnidirectional wheels or Mecanum wheels are rotatably and independently driven to move the autonomous vehicle on a ground by the omnidirectional wheels or Mecanum wheels are controlled by means of a control device in their respective directions of rotation and rotational speeds, the omnidi rectal wheels or Mecanum wheels each having a measuring wheel body rotatable about the measuring wheel axis of rotation and non-drive Rol len arranged on the measuring wheel body distributed over the circumference, which in the case of a omnidirectional wheel are aligned at a design-related angle to the measuring wheel axis of rotation, and in the case of a Mecanum wheel are aligned at an angle of 45 degrees to the measuring wheel axis of rotation, with the non-driven rollers rolling on the ground and with a steering movement of the Omn idirectional wheels vehicle can be executed through differences in the directions of rotation and speed of rotation of the omnidirectional wheels or Mecanum wheels, and at least one measuring
  • the object of the invention is also achieved by a computer program product having a machine-readable carrier on which program code is stored, which can be read out by a driving control device of the autonomous vehicle, as described in accordance with the invention, or of the autonomous omnidirectional wheel vehicle, as described in accordance with the invention, and which the drive control device trains and / or sets up a method as described according to one of the inventive embodiments, if the program code from the drive control device of the autonomous vehicle, as described according to the invention, or the autonomous omnidirectional wheeled vehicle, as described according to the invention, is performed.
  • FIG. 1 shows a schematic representation of an autonomous vehicle in the exemplary design of an omnidirectional wheel vehicle with Mecanum wheels
  • FIG. 2 shows a schematic representation of a kinematic model of the omnidirectional wheel vehicle according to FIG. 1,
  • FIG. 3 shows a perspective illustration of an exemplary Mecanum wheel with a relative angle of 45 ° on its own
  • Fig. 4 is a perspective view of an exemplary omnidirectional wheel of a different type with a relative angle of 90 °
  • FIG. 5 shows a schematic representation of the reorientation of a measuring wheel according to the invention on the second underground
  • FIG. 6 shows a diagram of the rotational speed of the measuring wheel over the angle of the orientations of the measuring wheel on the second substrate using the example of the Mecanum wheel
  • FIG. 7 to 14 show a schematic sequence of driving an omnidirectional wheel vehicle from a stationary surface onto a conveyor track moving in the direction of the arrow according to the method according to the invention.
  • the exemplary autonomous vehicle 1 shown in Fig. 1 has a vehicle body 2 on which a plurality of wheels 4 are rotatably mounted, of which at least one wheel 4 is being driven, the wheels 4 for moving the autonomous vehicle 1 on a ground 5.1, 5.2, 5.3 are trained. To this end, the wheels 4 are controlled in their respective directions of rotation, rotational speeds and / or steering positions by means of a control device 3.
  • the autonomous vehicle 1 has at least one measuring wheel 4a mounted on the vehicle body 2, which can be designed as a Mecanum wheel 4b (FIG. 3) or as an omnidirectional wheel 4c (FIG. 4), for example, as shown in FIG. 1 .
  • the measuring wheel 4a has a measuring wheel body 7 rotatable about the measuring wheel axis of rotation D and with non-drive rollers 6 arranged on the measuring wheel body 7 distributed over the circumference, which in the case of an omnidirectional wheel 4c (Fig. 4) at a design-related angle of 90 degrees to Measuring wheel axis of rotation D are aligned, and in the case of the Mecanum wheel 4b (Fig. 3) at an angle of 45 degrees to measuring wheel axis of rotation D are aligned.
  • the non-driven rollers 6 are each designed to roll on the substrate 5.1, 5.2, 5.3.
  • the control device 3 is designed to carry out one or more of the methods according to the invention.
  • the at least one measuring wheel 4a for carrying out one or more embodiments of the method according to the invention is formed in the case of the exemplary embodiment in FIG. 1 by at least one of the Mecanum wheels 4b for moving the autonomous vehicle 1.
  • the Steuervor direction 3 is designed accordingly to carry out one of the inventive method.
  • the basic method comprises driving the autonomous vehicle 1 on a first surface 5.1 by controlling the wheels 4 by means of the control device 3 in mutually coordinated directions of rotation, rotational speeds and / or steering positions such that the autonomous vehicle 1 approaches a second surface 5.2, which second subsurface 5.2 moves relative to the first subsurface 5.1 at a speed difference to the first subsoil 5.1.
  • the at least one measuring wheel 4a of the autonomous vehicle 1 is applied to the second surface 5.2 in an orientation of the measuring wheel 4a with respect to an axis of rotation A (Fig.
  • a motion vector of the second subsurface 5.2 is then determined from a first angle Q and a second angle Q 'of the at least one orientation of the at least one measuring wheel 4a, and a measured first rotational speed and a measured second rotational speed of the at least one measuring wheel 4a.
  • FIG. 5 illustrates in particular the application of an individual measuring wheel 4a of the autonomous vehicle 1 in a first orientation Q of the individual measuring wheel 4a with respect to an axis of rotation A of the individual measuring wheel 4a vertical to the second background 5.2, the measurement of a first rotational speed V2 w of the individual measuring wheel 4a in the first orientation Q, as shown in dashed lines in FIG.
  • the individual measuring wheel 4a is reoriented from the first orientation Q into a second orientation Q 'different from the first orientation Q around the axis of rotation A of the individual measuring wheel 4a on the second background 5.2, vertical to the second background 5.2, when the autonomous vehicle is 1 continues to be supported on the first substrate 5.1, as shown in Fig. 5 not dashed, that is, shown in solid lines.
  • a second rotational speed V'2 w of the individual measuring wheel 4a is measured in the second orientation q', and then the movement vector is determined.
  • FIGS. 7 to 14 each show an omnidirectional wheel vehicle 1, having a vehicle body 2, with rotatably mounted thereon, in the case of the present exemplary embodiment four drivable, omnidirectional wheels 4, each of the four wheels 4 is designed to move the omnidirectional wheel vehicle 1 on a ground 5.1, 5.2, 5.3.
  • the omnidirectional wheels vehicle 1 also has a control device 3 for individual control of the four wheels 4 in their directions of rotation and speeds.
  • the control device 3 is designed to carry out one or more of the method according to the invention.
  • the method is illustrated below using an omnidirectional wheeled vehicle 1 with four driven omnidirectional wheels 4. All of the descriptions mentioned in this regard can also be used for omnidirectional vehicles 1 with more than four driven omnidirectional wheels 4 in the same sense. Regardless of how many driven omnidirectional wheels 4 the omnidirectional wheels vehicle 1 has, the basic requirement is that at least three wheels 4 from the control device 3 must always be in a controlling, driven or braking state so that the position and orientation of the omnidirectional wheels vehicle 1 is intended. So that at least one individual wheel 4 can be switched to driveless mode and the omnidirectional wheel vehicle 1 still remains in a controlled state, the omnidirectional wheel vehicle 1 must therefore have at least four wheels 4. Therefore, in the following the simplest embodiment described so far.
  • the method according to the invention relates to driven wheels 4 and is therefore independent of whether the omnidirectional wheels vehicle 1 has one or more non-driven additional wheels 4, if necessary.
  • additional wheels can be useful, for example, if a high load capacity of the omnidirectional wheels vehicle 1 is to be achieved, ie the load is to be distributed over as many wheels 4 as possible, but only a smaller number of wheels 4 must be driven from, in order to be able to move the omnidirectional wheeled vehicle 1.
  • the omnidirectional wheels vehicle 1 is first driven with all four driven wheels 4 on a first surface 5.1 by controlling all four wheels 4 with means of the control device 3 in mutually coordinated directions of rotation and rotational speeds of all four wheels 4.
  • the first base 5.1 is stationary, ie stationary with respect to the environment.
  • a second background 5.2 has a movement speed relative to the first background 5.1, which is indicated by the arrows.
  • the second underground 5.2 can be, for example, a ground-level conveyor belt in a serial production line of a factory.
  • the omnidirectional wheeled vehicle 1 approaches the second ground 5.2, which second ground 5.2 moves relative to the first ground 5.1 with an in particular constant differential speed to the first ground 5.1.
  • the omnidirectional wheeled vehicle 1 should drive over the moving second ground 5.2, as unaffected as possible by the movement of the second ground 5.2, without inadvertently deviating from the planned path.
  • the actual speed of movement of the second sub- Basically 5.2, the control device 3 of the omnidirectional wheel vehicle 1 is initially unknown, ie not specified.
  • the omnidirectional wheels vehicle 1 is automatically driven by means of the control device 3 by driving all four wheels 4 in mutually coordinated directions of rotation and rotational speeds. Accordingly, all four wheels 4 travel with respect to a common loading system, namely the first substrate 5.1. These wheels 4 are all hatched in their driven states Darge presents.
  • the controlled driving of the wheel 4 to be driven onto the second surface 5.2 is switched off, so that the wheel 4 to be driven onto the second surface 5.2 can rotate freely and thus forms a measuring wheel 4a according to the invention , so that it already assumes a direction of rotation and rotation speed during the subsequent opening and also after the opening, which is set due to the relative movement of the second underground 5.2 with respect to the first underground 5.1 as a function of the differential speed.
  • a shutdown of the drive is shown in Fig. 8 by the fact that the relevant wheel 4, i.e. the measuring wheel 4a, is not hatched, i.e. is shown in white.
  • the direction of rotation is detected by means of the non-driven measuring wheel 4a, which is not shown as a hatching and the speed of rotation of this measuring wheel 4a, which has driven onto the second substrate 5.2, during its free rotation on the second substrate 5.2.
  • the freely rotating wheel 4 according to FIG. 8 is correspondingly accelerated or decelerated by the moving second substrate 5.2 until the measuring wheel 4a has assumed a direction of rotation and rotational speed that corresponds to the movement of the second substrate 5.2.
  • the direction of rotation and the rotational speed of this measuring wheel 4a set in this way can be detected and evaluated by the control device 3.
  • the relevant measuring wheel 4a then forms a measuring device by means of which the control device 3 can determine the direction of movement and the speed of movement of the second substrate 5.2.
  • the control device 3 can then use the detected and / or specific values for the direction of rotation and rotational speed of the measuring wheel 4a to control this later adapted as wheel 4, although this one wheel 4 is on a different underground, ie the second moving one Subsurface 5.2 is located.
  • the so adapted driven wheel 4 on the second Un ground 5.2 is therefore shown in Fig. 9 in black. This means that this wheel is no longer in an idle state, but is driven by the control device 3, taking into account the direction of movement and the speed of movement of the second substrate 5.2, and thus no longer forms a measuring wheel 4a.
  • the omnidirectional wheels vehicle 1 is then driven with three wheels 4 on the first surface 5.1 and one wheel 4 on the second surface 5.2 by driving all four wheels 4 by means of the Steuervor direction 3 in coordinated directions of rotation and rotational speeds of all four wheels 4 as a function of the direction of rotation and speed of rotation detected during the free rotation in the switched-off, non-driven state of the one wheel 4 driven onto the second substrate 5.2, which is shown in black in FIG. 9.
  • the omnidirectional wheels vehicle 1 is driven with three wheels 4 on the first surface 5.1 and a single wheel 4 on the second surface 5.2 by driving exclusively the three wheels 4 remaining on the first surface 5.1 by means of the control device 3 in mutually coordinated directions of rotation and rotational speeds of these remaining three wheels 4.
  • FIG. 10 shows how the method described is repeated with the second wheel 4 approaching.
  • the second approaching wheel 4 is not hatched in Fig. 10, i.e. shown in white.
  • the second wheel 4 driven onto the second underground 5.2 now forms the new measuring wheel 4a and can rotate freely in such a way that it assumes a direction of rotation and speed that is different due to the relative movement of the second underground 5.2 with respect to the first underground 5.1 in Depending on the differential speed.
  • Such a disconnection of the drive is shown in Fig. 10 by the fact that the relevant wheel 4, i.e. the measuring wheel 4a, is not hatched, i.e. is shown in white.
  • the omnidirectional wheels vehicle 1 is then driven with two wheels 4 on the first surface 5.1 and two wheels 4 on the second surface 5.2 by driving all four wheels 4 by means of the Steuervor direction 3 in coordinated directions of rotation and rotational speeds of all four wheels 4 as a function of the direction of rotation and speed of rotation of the two wheels 4 driven onto the second substrate 5.2, both of which are shown in black in FIG. 11, during the free rotation in the switched-off, non-driven state.
  • the omnidirectional wheels vehicle 1 is driven with only a single wheel 4 on the first surface 5.1 and two wheels 4 on the second surface 5.2 by driving both the one remaining on the first surface 5.1 single wheel 4, which is shown hatched in Fig.
  • the two wheels 4 driven on the second surface 5.2 which are shown in black in Fig. 12, by means of the Steuervorrich device 3 in coordinated directions of rotation and Drehge speeds of these three wheels 4 , namely during the He grasp the direction of rotation and the speed of rotation of the wheel 4 driven onto the second underground 5.2, which is shown in white in FIG. 12 and again forms another measuring wheel 4a, during its free rotation on the second underground 5.2.
  • the direction of rotation and the speed of rotation are detected during its free rotation on the second underground 5.2.
  • the direction of rotation and the speed of rotation of the other wheels 4 are regulated by means of the control device 3 in such a way that the omnidirectional wheels vehicle 1 maintains its current or planned orientation, direction of movement, speed of movement and / or acceleration.
  • the omnidirectional wheels vehicle 1 is completely true in terms of its position and orientation solely on the three wheels 4, which are located on the second surface 5.2, and are shown in black in Fig. 7.
  • the fourth wheel 4 can therefore be switched without drive.
  • this fourth wheel 4 has reached the second ground 5.2, as shown in FIG. 8, all four wheels 4 can now be driven again in the same way by the control device 3.
  • the system status according to FIG. 14 then differs in terms of control technically for the control of the four wheels 4 by the STEU er device 3 not from the system state according to Figure 7.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (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

L'invention concerne un procédé pour faire fonctionner un véhicule autonome (1) qui comporte un corps de véhicule (2) sur lequel sont montées de manière rotative plusieurs roues (4) parmi lesquelles au moins une roue (4) est entraînée, les roues (4) étant conçues pour faire avancer le véhicule autonome (1) sur un sol d'infrastructure (5.1, 5.2.5.3) en étant commandées au moyen d'un dispositif de commande (3) quant à leurs sens de rotation, leurs vitesses de rotation et/ou leurs positions de braquage respectives. L'invention concerne également un véhicule autonome (1), en particulier un véhicule à roues omnidirectionnelles autonome et un produit-programme informatique correspondant.
PCT/EP2020/077488 2019-10-08 2020-10-01 Procédé pour faire fonctionner un véhicule autonome, véhicule autonome et produit-programme informatique WO2021069292A1 (fr)

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DE102019215373.9 2019-10-08
DE102019215373.9A DE102019215373B4 (de) 2019-10-08 2019-10-08 Verfahren zum Betreiben eines autonomen Fahrzeugs, autonomes Fahrzeug und Computerprogrammprodukt

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CN114288448B (zh) * 2021-12-30 2022-12-06 西南交通大学 一种高铁车厢消毒机器人

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