WO2023120223A1 - 制御システム、制御装置、制御方法、制御プログラム - Google Patents

制御システム、制御装置、制御方法、制御プログラム Download PDF

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Publication number
WO2023120223A1
WO2023120223A1 PCT/JP2022/045358 JP2022045358W WO2023120223A1 WO 2023120223 A1 WO2023120223 A1 WO 2023120223A1 JP 2022045358 W JP2022045358 W JP 2022045358W WO 2023120223 A1 WO2023120223 A1 WO 2023120223A1
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Prior art keywords
maximum
acceleration
constraint
turning
speed
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Ceased
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PCT/JP2022/045358
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English (en)
French (fr)
Japanese (ja)
Inventor
崇 青木
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Denso Corp
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Denso Corp
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Priority to CN202280083607.3A priority Critical patent/CN118525257A/zh
Publication of WO2023120223A1 publication Critical patent/WO2023120223A1/ja
Priority to US18/747,274 priority patent/US20240338039A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • G05D1/60—Intended control result
    • G05D1/65—Following a desired speed profile
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • 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
    • G05D1/60—Intended control result
    • G05D1/646—Following a predefined trajectory, e.g. a line marked on the floor or a flight path
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2036—Electric differentials, e.g. for supporting steering vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/22—Yaw angle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/10—Land vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2111/00—Details of signals used for control of position, course, altitude or attitude of land, water, air or space vehicles
    • G05D2111/50—Internal signals, i.e. from sensors located in the vehicle, e.g. from compasses or angular sensors

Definitions

  • This disclosure relates to control technology for controlling an autonomous mobile robot.
  • Patent document 1 describes controlling an autonomous mobile robot that switches between straight travel and turning travel according to the rotational speed difference between a pair of drive wheels driven by individual electric actuators, along a route as a target trajectory. The technology is disclosed.
  • An electric autonomous mobile robot such as the technology disclosed in Patent Document 1 needs to operate individual electric actuators that drive each drive wheel by power supply from a battery.
  • the power that can be supplied to the battery mounted on the autonomous mobile robot is restricted according to the amount of charge, and thus the rotation speed of each drive wheel is also restricted.
  • the actual trajectory followed by the autonomous mobile robot may deviate from the target trajectory, especially during turning, due to restrictions on the drive wheels on the side that increases the rotational speed.
  • An object of the present disclosure is to provide a control system that suppresses orbital deviation of an autonomous mobile robot. Another object of the present disclosure is to provide a control device that suppresses track deviation of an autonomous mobile robot. Yet another object of the present disclosure is to provide a control method for suppressing orbit deviation of an autonomous mobile robot. Yet another object of the present disclosure is to provide a control program that suppresses orbit deviation of an autonomous mobile robot.
  • a first aspect of the present disclosure is An autonomous mobile robot that has a processor and is driven by individual electric actuators that are supplied with power from a battery, and which switches between straight traveling and turning traveling according to the rotational speed difference between a pair of drive wheels along a target trajectory.
  • a control system that controls The processor monitoring travel constraints, including battery power constraints; limiting the maximum turning speed, which is the maximum speed during turning with the minimum turning radius, to be lower than the maximum straight-ahead speed, which is the maximum speed during straight-ahead running, in accordance with the establishment of the traveling constraint conditions. configured to
  • a second aspect of the present disclosure is It has a processor and is configured to be mountable on an autonomous mobile robot that switches between straight traveling and turning traveling according to the rotational speed difference between a pair of drive wheels driven by individual electric actuators supplied with power from a battery,
  • a control device for controlling an autonomous mobile robot along a target trajectory The processor monitoring travel constraints, including battery power constraints; limiting the maximum turning speed, which is the maximum speed during turning with the minimum turning radius, to be lower than the maximum straight-ahead speed, which is the maximum speed during straight-ahead running, in accordance with the establishment of the traveling constraint conditions. configured to
  • a third aspect of the present disclosure is In order to control along a target trajectory an autonomous mobile robot that switches between straight travel and turning travel according to the rotational speed difference between a pair of drive wheels driven by individual electric actuators powered by a battery,
  • a control method executed by a processor comprising: monitoring travel constraints, including battery power constraints; Restricting the maximum turning speed, which is the maximum speed during turning at the minimum turning radius, to be lower than the maximum straight-ahead speed, which is the maximum speed during straight-ahead running, in accordance with the establishment of the conditions for running restrictions.
  • a fourth aspect of the present disclosure is Memory for controlling an autonomous mobile robot that switches between straight traveling and turning traveling according to the rotational speed difference between a pair of driving wheels driven by individual electric actuators powered by a battery along a target trajectory.
  • the maximum turning speed at the minimum turning radius is restricted to be lower than the maximum straight-ahead speed in accordance with the satisfaction of the conditions of the travel restrictions. be done. According to this, even if there is a power constraint, it is possible to generate a rotation speed difference in each drive wheel so that the actual trajectory of the autonomous mobile robot follows the target trajectory, and output a limited speed during turning travel. . Therefore, regardless of the power supply state of the battery, it is possible to suppress the trajectory deviation of the autonomous mobile robot.
  • a fifth aspect of the present disclosure includes: An autonomous mobile robot that has a processor and is driven by individual electric actuators that are supplied with power from a battery, and which switches between straight traveling and turning traveling according to the rotational speed difference between a pair of drive wheels along a target trajectory.
  • a control system that controls The processor monitoring travel constraints, including battery power constraints; limiting the maximum turning acceleration, which is the maximum acceleration during turning with the minimum turning radius, to a value lower than the maximum straight-ahead acceleration, which is the maximum acceleration during straight-ahead running, in response to the establishment of the running constraint conditions. configured to
  • a sixth aspect of the present disclosure is It has a processor and is configured to be mountable on an autonomous mobile robot that switches between straight traveling and turning traveling according to the rotational speed difference between a pair of drive wheels driven by individual electric actuators supplied with power from a battery,
  • a control device for controlling an autonomous mobile robot along a target trajectory The processor monitoring travel constraints, including battery power constraints; limiting the maximum turning acceleration, which is the maximum acceleration during turning with the minimum turning radius, to a value lower than the maximum straight-ahead acceleration, which is the maximum acceleration during straight-ahead running, in response to the establishment of the running constraint conditions. configured to
  • a seventh aspect of the present disclosure comprises: In order to control along a target trajectory an autonomous mobile robot that switches between straight travel and turning travel according to the rotational speed difference between a pair of drive wheels driven by individual electric actuators powered by a battery, A control method executed by a processor, comprising: monitoring travel constraints, including battery power constraints; Restricting the maximum turning acceleration, which is the maximum acceleration during turning with the minimum turning radius, to be smaller than the maximum straight-ahead acceleration, which is the maximum acceleration during straight-ahead running, in accordance with the establishment of the running constraint conditions.
  • An eighth aspect of the present disclosure comprises: Memory for controlling an autonomous mobile robot that switches between straight traveling and turning traveling according to the rotational speed difference between a pair of driving wheels driven by individual electric actuators powered by a battery along a target trajectory.
  • the maximum turning acceleration at the minimum turning radius is limited to be smaller than the maximum straight-ahead acceleration in accordance with the satisfaction of the conditions of the travel restrictions. be done. According to this, even if there is a power constraint, it is possible to generate a rotation speed difference in each drive wheel so that the actual trajectory of the autonomous mobile robot follows the target trajectory, and output a limited acceleration during turning travel. . Therefore, regardless of the power supply state of the battery, it is possible to suppress the trajectory deviation of the autonomous mobile robot.
  • FIG. 1 is a block diagram showing the overall configuration of a control system according to one embodiment
  • FIG. 1 is a block diagram showing the configuration of an automatic traveling robot to which one embodiment is applied
  • FIG. 1 is a block diagram showing the functional configuration of a control system according to one embodiment
  • FIG. 1 is a block diagram showing the overall configuration of a control system according to one embodiment
  • 4 is a graph for explaining a first velocity correlation block according to one embodiment; 4 is a graph for explaining a second velocity correlation block according to one embodiment; 4 is a graph illustrating a combined velocity correlation block according to one embodiment; 4 is a graph illustrating a speed limiting block according to one embodiment; 4 is a graph illustrating a speed limiting block according to one embodiment; 4 is a graph for explaining a first acceleration correlation block according to one embodiment; 4 is a graph for explaining a second acceleration correlation block according to one embodiment; 4 is a graph for explaining a synthetic acceleration correlation block according to one embodiment; 4 is a graph illustrating an acceleration limiting block according to one embodiment; 4 is a graph illustrating an acceleration limiting block according to one embodiment; 4 is a flow chart illustrating control flow according to one embodiment. It is a block diagram which shows the functional structure of the control system by a modification. It is a block diagram which shows the functional structure of the control system by a modification. It is a block diagram which shows the functional structure of the control system by a modification. It
  • the control system 10 of one embodiment shown in FIG. 1 controls the autonomous mobile robot 1 shown in FIG.
  • the autonomous mobile robot 1 autonomously travels forward, backward, left and right in any direction.
  • the autonomous mobile robot 1 may be a delivery robot that autonomously travels on roads to deliver packages.
  • the autonomous mobile robot 1 may be a physical distribution robot that autonomously travels inside and outside the warehouse to transport packages.
  • the autonomous mobile robot 1 may be a disaster support robot that autonomously travels in a disaster area to transport supplies or collect information.
  • the autonomous mobile robot 1 may be a robot other than these.
  • any type of autonomous mobile robot 1 may receive remote travel support or travel control from an external sensor.
  • the autonomous mobile robot 1 includes a vehicle body 2, wheels 3, a battery 4, an electric actuator 5, a sensor system 6, a map database 7, and an information presentation system 8.
  • the vehicle body 2 is made of metal or the like and is hollow.
  • a plurality of wheels 3 are supported by the vehicle body 2 .
  • Each wheel 3 is configured to be rotatable independently.
  • a pair of driving wheels 30 on each side of the vehicle body 2 are independently driven by individual electric actuators 5 .
  • the running state of the autonomous mobile robot 1 is switched between straight-ahead running and turning running according to the rotational speed difference (that is, the rotational speed difference per unit time) between the drive wheels 30 .
  • the autonomous mobile robot 1 travels straight in a range in which the rotational speed difference between the drive wheels 30 is zero or can be assumed to be zero.
  • the turning radius of the autonomous mobile robot 1 is reduced as the rotation speed difference increases.
  • the turning radius means the distance between the vertical center line of the vehicle body 2 and the turning center of turning travel.
  • the plurality of wheels 3 may include at least one driven wheel that rotates following the drive wheel 30 .
  • the battery 4 is mounted inside the vehicle body 2 .
  • the battery 4 is mainly composed of a storage battery such as a lithium ion battery.
  • the battery 4 stores electric power to be supplied to the electrical components in the vehicle body 2 by discharging and by charging from the outside.
  • the battery 4 may store regenerated electric power from the electric actuator 5 .
  • the battery 4 is connected to the electric actuator 5, the sensor system 6, the map database 7, and the information presentation system 8 to which electric power is supplied via wire harnesses so as to be able to supply electric power.
  • a pair of electric actuators 5 are mounted in the vehicle body 2 .
  • Each electric actuator 5 is mainly composed of a set of an electric motor 50 and a motor driver 52 .
  • the electric motor 50 in each electric actuator 5 independently rotationally drives the corresponding drive wheel 30 .
  • the motor driver 52 controls the current applied to the electric motors 50 of the same group according to the current command value from the control system 10, so that the corresponding current command value is applied to the corresponding drive wheel 30. to generate a rotational speed (ie, the number of revolutions per unit time) according to
  • Each electric actuator 5 may be provided with a brake unit that applies braking while the corresponding drive wheel 30 is rotating.
  • Each electric actuator 5 may have a lock unit that locks the corresponding drive wheel 30 while it is stopped.
  • the sensor system 6 acquires sensing information that can be used by the control system 10 by sensing the external and internal worlds of the autonomous mobile robot 1 . Therefore, the constituent elements of the sensor system 6 are mounted on the vehicle body 2 at a plurality of locations. Specifically, the sensor system 6 includes an external sensor 60 and an internal sensor 61 .
  • the external world sensor 60 acquires external world information as sensing information from the external world that is the surrounding environment of the autonomous mobile robot 1 .
  • the external sensor 60 acquires external world information by detecting targets existing in the external world of the autonomous mobile robot 1 .
  • the target detection type external sensor 60 is, for example, at least one type of camera, LiDAR (Light Detection and Ranging/Laser Imaging Detection and Ranging), radar, sonar, and the like.
  • the external sensor 60 may acquire external world information by receiving positioning signals from GNSS (Global Navigation Satellite System) artificial satellites existing in the external world of the autonomous mobile robot 1 .
  • the positioning type external sensor 60 is, for example, a GNSS receiver or the like.
  • the external world sensor 60 may acquire external world information by transmitting/receiving communication signals to/from the V2X system existing in the external world of the autonomous mobile robot 1 .
  • the communication type external sensor 60 is, for example, a DSRC (Dedicated Short Range Communications) communication device, a cellular V2X (C-V2X) communication device, a Bluetooth (registered trademark) device, a Wi-Fi (registered trademark) device, and an infrared communication device. At least one type of equipment, etc.
  • the inner world sensor 61 acquires inner world information as sensing information from the inner world that is the internal environment of the autonomous mobile robot 1 .
  • the inner world sensor 61 acquires inner world information by detecting a specific kinematic physical quantity in the inner world of the autonomous mobile robot 1 .
  • the physical quantity sensing type internal sensor 61 is of a plurality of types including at least a speed sensor, an acceleration sensor, and a yaw rate sensor, for example.
  • the map database 7 stores map information that can be used by the control system 10.
  • the map database 7 includes at least one type of non-transitory tangible storage medium, such as semiconductor memory, magnetic medium, and optical medium.
  • the map database 7 may be a locator database for estimating self-state quantities including the self-position of the autonomous mobile robot 1 .
  • the map database 7 may be a database of a planning unit that plans the travel of the autonomous mobile robot 1 .
  • the map database 7 may be configured by combining a plurality of types of these databases.
  • the map database 7 acquires and stores the latest map information through communication with an external center, for example.
  • the map information is two-dimensional or three-dimensional data as information representing the traveling environment of the autonomous mobile robot 1 .
  • the three-dimensional map data digital data of a high-precision map should be adopted.
  • the map information may include road information representing at least one of the position, shape, road surface condition, and the like of the road itself.
  • the map information may include sign information representing at least one of the position and shape of signs attached to roads and lane markings, for example.
  • the map information may include structure information representing at least one of the positions and shapes of buildings facing roads and traffic lights, for example.
  • the information presentation system 8 presents notification information for people around the autonomous mobile robot 1.
  • the information presentation system 8 may present notification information by stimulating the vision of surrounding people.
  • the visual stimulus type information presentation system 8 is at least one of, for example, a monitor unit and a light emitting unit.
  • the information presentation system 8 may present the notification information by stimulating the hearing of the surrounding people.
  • the auditory stimulus type information presentation system 8 is at least one of a speaker, a buzzer, a vibration unit, and the like.
  • the control system 10 shown in FIG. 1 includes at least one dedicated computer, which is mainly composed of a computer mounted on the vehicle body 2 . Therefore, the dedicated computer that constitutes the control system 10 communicates with the battery 4 and the electric actuator shown in FIG. 5, sensor system 6, map database 7, and information presentation system 8.
  • the dedicated computer that configures the control system 10 in FIG. 1 may be a planning ECU (Electronic Control Unit) that plans the target trajectory for the autonomous mobile robot 1 to travel.
  • the dedicated computer that configures the control system 10 may be a trajectory control ECU that causes the target trajectory of the autonomous mobile robot 1 to follow the actual trajectory.
  • a dedicated computer that configures the control system 10 may be an actuator ECU that controls the electric actuator 5 of the autonomous mobile robot 1 .
  • a dedicated computer that configures the control system 10 may be a sensing ECU that controls the sensor system 6 of the autonomous mobile robot 1 .
  • the dedicated computer that constitutes the control system 10 may be a locator ECU that estimates the self-state quantity including the self-position of the autonomous mobile robot 1 based on the map database 7 .
  • a dedicated computer that configures the control system 10 may be a display ECU that controls the information presentation system 8 of the autonomous mobile robot 1 .
  • the dedicated computer that configures the control system 10 may be a computer outside the vehicle body 2 that configures an external center or a mobile terminal that can communicate via the communication type external sensor 60, for example.
  • a dedicated computer that constitutes the control system 10 has at least one memory 11 and at least one processor 12 .
  • the memory 11 stores computer-readable programs and data non-temporarily, and includes at least one type of non-transitory storage medium such as a semiconductor memory, a magnetic medium, and an optical medium. tangible storage medium).
  • the processor 12 is, for example, CPU (Central Processing Unit), GPU (Graphics Processing Unit), RISC (Reduced Instruction Set Computer)-CPU, DFP (Data Flow Processor), GSP (Graph Streaming Processor), etc. At least one type as a core.
  • the processor 12 executes a plurality of instructions contained in the control program stored in the memory 11 to control the autonomous mobile robot 1.
  • the control system 10 constructs a plurality of functional blocks for controlling the autonomous mobile robot 1 .
  • a plurality of functional blocks constructed in the control system 10 include a pre-stage target setting block 100, a constraint monitoring block 110, a speed adjustment block 120, an acceleration adjustment block 130, and a command adjustment block 140 as shown in FIG. there is
  • the preceding target setting block 100 has a target trajectory planning block 101 and a trajectory following control block 102 as a plurality of sub-functional blocks.
  • the target trajectory planning block 101 plans the target trajectory Tt in order to control the autonomous mobile robot 1 along the target trajectory Tt.
  • the target trajectory planning block 101 estimates the self-state quantity of the autonomous mobile robot 1 based on various information acquired by the sensor system 6 .
  • the self-state quantity includes the self-position of the autonomous mobile robot 1 .
  • the self-state quantity may also include at least one of, for example, the speed and yaw angle of the autonomous mobile robot 1 .
  • the target trajectory Tt means a target travel trajectory that defines such a time-series change in the self-state quantity for the autonomous mobile robot 1 .
  • the trajectory tracking control block 102 takes over the latest target trajectory Tt from the target trajectory planning block 101. At the same time, the trajectory tracking control block 102 acquires the latest self-state quantity representing the actual trajectory of the autonomous mobile robot 1 based on various information acquired by the sensor system 6 . Therefore, the trajectory following control block 102 executes trajectory following control so that the actual trajectory of the autonomous mobile robot 1 follows the target trajectory Tt. With such trajectory following control, the trajectory following control block 102 converts the deviation between the self-state quantities respectively defined by the actual trajectory and the target trajectory Tt by feedback control, so that the target velocity Vt and the target speed Vt for following the target trajectory Tt and the target Set the yaw rate YVt.
  • the constraint monitoring block 110 has a first constraint setting block 111 and a second constraint setting block 112 as a plurality of sub-functional blocks.
  • the first constraint setting block 111 estimates the latest maximum power that can be supplied from the battery 4 by monitoring the state of charge (that is, state of charge) of the battery 4 . Therefore, the first constraint setting block 111 sets the travel constraint L, which is constrained according to the maximum power, as the power constraint Lw and monitors it. Here, the first constraint setting block 111 determines the maximum velocity Vw, the maximum yaw rate YVw, the maximum acceleration Aw, and the maximum yaw rate change rate YAw for the autonomous mobile robot 1 as the power constraint Lw.
  • each of the motion physical quantities Vw, YVw, Aw, and YAw which becomes the power constraint Lw, is stored in the memory 11 so as to define the correlation with the maximum power. It may be obtained based on the type.
  • the yaw rate which is the yaw angular velocity, is defined as the time rate of change of the yaw rate, which is the yaw angular acceleration.
  • the second constraint setting block 112 sets the traveling constraint L, which depends on the traveling environment of the autonomous mobile robot 1, as the environmental constraint Le and monitors it.
  • the environmental constraint Le refers to environmental factors such as width information, traffic information, weather information, obstacle information, time zone information, and light and shade information regarding the running environment in which the autonomous mobile robot 1 is operated. Constraints are defined. Therefore, as the environmental constraint Le, the second constraint setting block 112 sets the maximum velocity Ve, the maximum yaw rate YVe, the maximum acceleration Ae, and the maximum yaw rate change rate YAe for the autonomous mobile robot 1 so as to correspond to the respective motion physical quantities of the power constraint Lw. to decide. At this time, each of the motion physical quantities Ve, YVe, Ae, and YAe, which are the environmental constraints Le, are stored in the memory 11 so as to define their respective correlations with the environmental factors. It may be obtained based on one type.
  • the speed adjustment block 120 has a first speed correlation block 121, a second speed correlation block 122, a combined speed correlation block 123, and a speed limit block 124 as a plurality of sub-functional blocks.
  • the first speed correlation block 121 takes over the maximum speed Vw and the maximum yaw rate YVw as the latest power constraints Lw from the first constraint setting block 111 . Therefore, the first speed correlation block 121 sets the correlation range of the speed and yaw rate in which the conditions of the power constraint Lw are not satisfied as the first speed correlation range Cvw, as shown in FIG. .
  • the positive and negative of the speed are defined as positive for forward straight running and turning, and negative for backward straight running and turning, with a zero value meaning stop of running. It may be defined vice versa.
  • the positive and negative yaw rates are defined as positive for turning to the right and negative for turning to the left, with a zero value that means both straight running and stopping. may be defined.
  • the first speed correlation block 121 sets the maximum straight speed Vmw, which is the maximum speed during straight running, to the positive or negative maximum speed Vw.
  • the first speed correlation block 121 sets the maximum turning yaw rate YVmw, which is the maximum yaw rate during turning, to the positive or negative maximum yaw rate YVw. Based on these settings, the first speed correlation block 121 acquires a range in which the absolute value of the speed is equal to or less than the maximum straight-ahead speed Vmw and the absolute value of the yaw rate is equal to or less than the maximum turning yaw rate YVmw as the first speed correlation range Cvw. .
  • a boundary line means the limit point group of the first velocity correlation range Cvw. Therefore, in the example of FIG. 4, the limit point group forming the boundary of the first speed correlation range Cvw is such that the absolute value of the yaw rate gradually increases to the maximum turning yaw rate YVmw as the absolute value of the speed gradually decreases from the maximum straight-ahead speed Vmw. It is assumed that
  • the second velocity correlation block 122 shown in FIG. 3 takes over the maximum velocity Ve and the maximum yaw rate YVe from the second constraint setting block 112 as the latest environmental constraints Le. Therefore, the second speed correlation block 122 sets the correlation range of the speed and yaw rate in which the condition of the environmental constraint Le is not satisfied as the second speed correlation range Cve, as shown in FIG. . At this time, the positive/negative of the velocity is defined in the same manner as in the case of the first velocity correlation range Cvw.
  • the second speed correlation block 122 sets the maximum straight speed Vme, which is the maximum speed during straight running, to the positive and negative maximum speed Ve.
  • the second speed correlation block 122 sets the maximum turning yaw rate YVme, which is the maximum yaw rate during turning, to the positive or negative maximum yaw rate YVe. Based on these settings, the second speed correlation block 122 acquires the range in which the absolute value of the speed is equal to or less than the maximum straight-line speed Vme and the absolute value of the yaw rate is equal to or less than the maximum turning yaw rate YVme as the second speed correlation range Cve. .
  • a boundary line outside the second velocity correlation range Cve that satisfies the condition of the environmental constraint Le means the limit point group of the second velocity correlation range Cve. Therefore, in the example of FIG. 5, the limit point group forming the boundary of the second speed correlation range Cve is set so that the absolute value of the speed maintains the maximum straight-ahead speed Vme and the absolute value of the yaw rate maintains the maximum turning yaw rate YVme. It is assumed.
  • the combined speed correlation block 123 shown in FIG. 3 takes over the latest first speed correlation range Cvw from the first speed correlation block 121.
  • the composite velocity correlation block 123 takes over the latest second velocity correlation range Cve from the second velocity correlation block 122 . Therefore, as shown with cross-hatching in FIG. is set as a composite speed correlation range Cv obtained by combining the correlation ranges Cvw and Cve.
  • the maximum turning speed Vm which is the maximum speed during turning at the minimum turning radius, is limited to be lower than the maximum straight running speed Vme in the second speed correlation range Cve. adjusted to the range.
  • the composite speed correlation range Cv determined in this manner is such that, with respect to the driving constraint L including the electric power constraint Lw and the environmental constraint Le, the internal correlation points are allowed to be outside of the conditions, while the external correlation points are allowed to satisfy the conditions. will be subject to the restrictions of
  • the speed limit block 124 shown in FIG. 3 takes over the latest composite speed correlation range Cv from the composite speed correlation block 123. At the same time, the speed limit block 124 takes over the target speed Vt and the target yaw rate YVt from the trajectory following control block 102 as the latest target values. Therefore, the speed limit block 124 adjusts the target speed Vt and the target yaw rate YVt so that the actual speed and the actual yaw rate of the autonomous mobile robot 1 are controlled within the combined speed correlation range Cv.
  • the correlation point between the target speed Vt and the target yaw rate YVt exists within the combined speed correlation range Cv, and when the condition of the travel constraint L is not satisfied, the speed limit block 124 Each of these target values Vt and YVt is maintained as it is.
  • the correlation point between the target speed Vt and the target yaw rate YVt is outside the combined speed correlation range Cv, and when the traveling constraint L is satisfied, the speed limit block 124 sets these target values Each of Vt and YVt is adjusted down.
  • the target speed Vt and the target yaw rate YVt are multiplied by a common limit ratio Rv of less than 1 by the reduction adjustment, so that the values Vl and YVl that give the limit point Pv within the combined speed correlation range Cv are obtained.
  • the limit values Vl and YVl of the respective target values Vt and YVt due to these limits are the boundary line with the outside of the combined speed correlation range Cv and the virtual line extending from the correlation point of the respective target values Vt and YVt before the limit to the zero point. At the point of intersection with the line, a limit point Pv will be constructed.
  • the acceleration adjustment block 130 shown in FIG. 3 has a first acceleration correlation block 131, a second acceleration correlation block 132, a synthesized acceleration correlation block 133, a subsequent stage target setting block 134, and an acceleration limit block 135 as a plurality of sub-functional blocks. ing.
  • the first acceleration correlation block 131 takes over the maximum acceleration Aw and the maximum yaw rate change rate YAw from the first constraint setting block 111 as the latest power constraint Lw. Therefore, as indicated by hatching in FIG. set.
  • the positive and negative of the acceleration are defined as positive for both forward straight travel and turning travel, and negative for both straight backward travel and corner travel, with a zero value meaning stop of travel. It may be defined vice versa.
  • the positive and negative values of the yaw rate change rate are defined as positive for turning to the right and negative for turning to the left, with a zero value that means both straight running and stop running. It may be defined vice versa.
  • the first acceleration correlation block 131 sets the maximum straight acceleration Amw, which is the maximum acceleration during straight running, to the positive and negative maximum acceleration Aw.
  • the first acceleration correlation block 131 sets the turning maximum yaw rate change rate YAmw, which is the maximum yaw rate change rate during turning travel, to a positive or negative maximum yaw rate change rate YAw.
  • the first acceleration correlation block 131 determines a range in which the absolute value of acceleration is equal to or less than the maximum straight acceleration Amw and the absolute value of the yaw rate change rate is equal to or less than the maximum turning yaw rate change rate YAmw.
  • the boundary line outside the first acceleration correlation range Caw that satisfies the condition of the power constraint Lw means the limit point group of the first acceleration correlation range Caw. Therefore, in the example of FIG. 9, the limit point group constituting the boundary of the first acceleration correlation range Caw is such that the absolute value of the yaw rate change rate becomes the maximum turning yaw rate change rate as the absolute value of the acceleration gradually decreases from the maximum straight-ahead acceleration Amw. It is assumed to gradually increase up to YAmw.
  • the second acceleration correlation block 132 shown in FIG. 3 takes over the maximum acceleration Ae and the maximum yaw rate change rate YAe from the second constraint setting block 112 as the latest environmental constraints Le. Therefore, the second acceleration correlation block 132 designates the correlation range of the acceleration and yaw rate change rate in which the condition of the environmental constraint Le is not satisfied as the second acceleration correlation range Cae, as indicated by left-up diagonal hatching in FIG. set. At this time, the positive/negative of the acceleration is defined in the same manner as in the case of the first acceleration correlation range Caw.
  • the second acceleration correlation block 132 sets the maximum straight acceleration Ame, which is the maximum acceleration during straight running, to the maximum positive and negative acceleration Ae.
  • the second acceleration correlation block 132 sets the turning maximum yaw rate change rate YAme, which is the maximum yaw rate change rate during turning, to the positive or negative maximum yaw rate change rate YAe.
  • the second acceleration correlation block 132 determines the second acceleration correlation range, which is the range in which the absolute value of acceleration is equal to or less than the maximum straight acceleration Ame and the absolute value of the yaw rate change rate is equal to or less than the maximum turning yaw rate change rate YAme. Obtained as Cae.
  • the boundary line outside the second acceleration correlation range Cae satisfying the condition of the environmental constraint Le means the limit point group of the second acceleration correlation range Cae. Therefore, in the example of FIG. 10, the limit point group forming the boundary of the second acceleration correlation range Cae is such that the absolute value of acceleration maintains the maximum straight acceleration Ame and the absolute value of the yaw rate change rate maintains the maximum turning yaw rate change rate YAme. It is assumed to keep
  • the synthetic acceleration correlation block 133 shown in FIG. 3 takes over the latest first acceleration correlation range Caw from the first acceleration correlation block 131 .
  • the synthesized acceleration correlation block 133 takes over the latest second acceleration correlation range Cae from the second acceleration correlation block 132 . Therefore, as shown with cross hatching in FIG. 11, the synthetic acceleration correlation block 133 is a set of products of correlation points between the first acceleration correlation range Caw and the second acceleration correlation range Cae (that is, the intersection Caw ⁇ Cae). is set as a synthesized acceleration correlation range Ca obtained by synthesizing the correlation ranges Caw and Cae.
  • the maximum turning acceleration Am which is the maximum acceleration during turning in the minimum turning radius, is limited to be smaller than the straight-ahead maximum acceleration Ame in the second acceleration correlation range Cae. adjusted to the range.
  • the synthetic acceleration correlation range Ca determined in this manner is such that, with respect to the driving constraint L including the electric power constraint Lw and the environmental constraint Le, the internal correlation points are allowed to be outside the condition, while the external correlation points are allowed to satisfy the condition. will be subject to the restrictions of
  • the subsequent target setting block 134 shown in FIG. 3 takes over the target speed Vt and the target yaw rate YVt from the speed limit block 124 as the latest target values.
  • the post-stage target setting block 134 acquires from the memory 11 the target velocity Vt and the target yaw rate YVt adjusted by the command adjustment block 140 as will be described later in the rate of change in the last control cycle that is past the latest current control cycle. do. Therefore, the post-stage target setting block 134 obtains the difference between the latest and past target values Vt and YVt for each type of value and time-differentiates them. and a target yaw rate change rate YAt.
  • the acceleration limit block 135 takes over the latest synthetic acceleration correlation range Ca from the synthetic acceleration correlation block 133 . At the same time, the acceleration limit block 135 takes over the target acceleration At and the target yaw rate change rate YAt as the latest target values from the subsequent target setting block 134 . Therefore, the acceleration limit block 135 further adjusts the target acceleration At and the target yaw rate change rate YAt so that the actual acceleration and the actual yaw rate change rate of the autonomous mobile robot 1 are controlled within the synthetic acceleration correlation range Ca.
  • the acceleration limit block 135 maintains each of these target values At and YAt as they are.
  • the correlation point between the target acceleration At and the target yaw rate change rate YAt is outside the combined acceleration correlation range Ca, and when the travel constraint L is satisfied, the acceleration limit block 135
  • Each of the target values At and YAt is adjusted to decrease.
  • the target acceleration At and the target yaw rate change rate YAt are multiplied by a common limit ratio Ra of less than 1 through the reduction adjustment, resulting in values Al, Limited to YAl.
  • the limit values Al and YAl of the respective target values At and YAt due to these limits are a virtual line extending from the boundary line with the outside of the synthetic acceleration correlation range Ca and the correlation point of the respective target values At and YAt before the limit to the zero point. At the point of intersection with the line, the limit point Pa will be constructed.
  • the command adjustment block 140 shown in FIG. 3 has a change rate adjustment block 141 and a command output block 142 as a plurality of sub-functional blocks.
  • the change rate adjustment block 141 takes over the latest target speed Vt and target yaw rate YVt from the speed limit block 124 . At the same time, the change rate adjustment block 141 takes over the latest target acceleration At and target yaw rate change rate YAt from the acceleration limit block 135 . Further, the rate of change adjustment block 141 acquires from the memory 11 the target velocity Vt and the target yaw rate YVt adjusted by the same block 141 in the previous control period past the most recent current control period. Therefore, as shown in FIG.
  • the rate of change adjustment block 141 adjusts the target velocity Vt and the target yaw rate YVt so that the time rate of change between the latest and the past matches the latest target acceleration At and target yaw rate change rate YAt. , are readjusted and stored in the memory 11 .
  • the change rate adjustment block 141 may take over the latest limit ratio Ra from the acceleration limit block 135. At this time, if the target acceleration At and the target yaw rate change rate YAt are adjusted to be lower in the acceleration limit block 135, the change rate adjustment block 141 takes over the limit rate Ra of less than 1. On the other hand, when the target acceleration At and the target yaw rate change rate YAt are maintained as they are in the acceleration limit block 135, the change rate adjustment block 141 may take over the limit rate Ra of 1.
  • the change rate adjustment block 141 that has inherited the limit ratio Ra in this way can readjust the latest target values Vt and YVt based on the limit ratio Ra and the latest target values At and YAt.
  • the command output block 142 takes over the latest change rate adjusted target velocity Vt and target yaw rate YVt from the change rate adjustment block 141 . Therefore, the command output block 142 sets the target rotation speed ⁇ R of the right drive wheel 30 and the target rotation speed ⁇ L of the left drive wheel 30 so as to satisfy the following equations 1 and 2 based on the target speed Vt and the target yaw rate YVt. do. 1 and 2, d is the distance from the vertical center line of the vehicle body 2 to each driving wheel 30, and r is the radius of each driving wheel 30. As described above, the command output block 142 converts the target rotation speeds ⁇ R and ⁇ L of the driving wheels 30 into current command values for the electric actuators 5 on the corresponding sides, respectively, and then outputs the current command values.
  • control method in which the control system 10 controls the autonomous mobile robot 1 is executed according to the control flow shown in FIG.
  • This control flow is repeatedly executed according to the control cycle while the autonomous mobile robot 1 is activated.
  • Each "S" in this control flow means a plurality of steps executed by a plurality of instructions included in the control program.
  • the target trajectory Tt of the autonomous mobile robot 1 is planned by the target trajectory planning block 101, and the target velocity Vt and the target yaw rate YVt for controlling the actual trajectory along the target trajectory Tt are set to follow the trajectory.
  • the constraint monitoring block 110 monitors the power constraint Lw and the environment constraint Le as the traveling constraint L by the first and second constraint setting blocks 111 and 112, respectively.
  • the speed adjustment block 120 converts the first and second speed correlation ranges Cvw and Cve obtained by the first and second speed correlation blocks 121 and 122, respectively, into the composite speed correlation block 123. Composite into range Cv.
  • the speed adjustment block 120 adjusts the target values Vt and YVt by the speed limit block 124 so that the correlation point of the target speed Vt and the target yaw rate YVt is controlled within the combined speed correlation range Cv.
  • the acceleration adjustment block 130 converts the first and second acceleration correlation ranges Caw and Cae acquired by the first and second acceleration correlation blocks 131 and 132, respectively, into the synthetic acceleration correlation range Ca by the synthetic acceleration correlation block 133. synthesize to In S106 following S105, the acceleration adjustment block 130 sets the target acceleration At and the target yaw rate change rate YAt by the subsequent target setting block 134. FIG. In S107 following S106, the acceleration adjustment block 130 adjusts the target values At and YAt by the acceleration limit block 135 so that the correlation point between the target acceleration At and the target yaw rate change rate YAt is controlled within the synthetic acceleration correlation range Ca. .
  • the command adjustment block 140 causes the change rate adjustment block 141 to readjust the target speed Vt and the target yaw rate Yt based on the target acceleration At and the target yaw rate change rate YAt.
  • the command adjustment block 140 converts the target rotation speeds ⁇ R and ⁇ L of the driving wheels 30 set according to the target speed Vt and the target yaw rate YVt by the command output block 142 to current commands for the electric actuators 5 by the same block 142. Convert to value and output.
  • the maximum turning speed Vm at the minimum turning radius is higher than the maximum straight traveling speed Vme in accordance with the satisfaction of the traveling constraint L. small and limited. According to this, even if the electric power constraint Lw occurs, while the rotation speed difference is generated in each drive wheel 30 so that the actual trajectory of the autonomous mobile robot 1 follows the target trajectory Tt, a limited speed is output during turning travel. can do. Therefore, regardless of the power supply state of the battery 4 , it is possible to suppress the track deviation of the autonomous mobile robot 1 .
  • an autonomous The actual speed and actual yaw rate of the traveling robot 1 are controlled. According to this, while the rotation speed difference is generated in each drive wheel 30 so that the actual trajectory based on the actual speed and the actual yaw rate within the combined speed correlation range Cv is along the target trajectory Tt, a limited speed is output during cornering. can do. Therefore, it is possible to ensure the reliability of the effect of suppressing the track deviation of the autonomous mobile robot 1 .
  • a target velocity Vt and a target yaw rate YVt for following the target trajectory Tt are set for the autonomous mobile robot 1 . Therefore, according to the present embodiment, the target speed Vt and the target yaw rate YVt at the correlation point outside the combined speed correlation range Cv that satisfies the condition of the traveling constraint L are the values that provide the limit point Pv within the combined speed correlation range Cv. Vl and YVl are adjusted by a common limit ratio Rv.
  • the arrival position of the autonomous mobile robot 1 at the actual speed and the actual yaw rate within the combined speed correlation range Cv can overlap the target trajectory Tt. Therefore, during turning, it is possible to output a limited speed while generating a rotation speed difference in each driving wheel 30 so that the actual trajectory based on the actual speed and the actual yaw rate follows the target trajectory Tt. Therefore, it is possible to improve the reliability of the effect of suppressing the track deviation of the autonomous mobile robot 1 .
  • the maximum turning acceleration Am at the minimum turning radius is higher than the maximum straight-ahead acceleration Ame in accordance with the satisfaction of the conditions of the travel constraint L. small and limited. According to this, even if the electric power constraint Lw occurs, while the rotation speed difference is generated in each drive wheel 30 so that the actual trajectory of the autonomous mobile robot 1 follows the target trajectory Tt, a limited acceleration is output during turning travel. can do. Therefore, regardless of the power supply state of the battery 4 , it is possible to suppress the track deviation of the autonomous mobile robot 1 .
  • the correlation range of the acceleration and yaw rate change rate in which the condition of the traveling constraint L is not satisfied is within the synthetic acceleration correlation range Ca in which the maximum turning acceleration Am at the minimum turning radius is smaller than the maximum straight acceleration Ame.
  • the actual acceleration and the actual yaw rate change rate of the autonomous mobile robot 1 are controlled. According to this, while the rotational speed difference is generated in each drive wheel 30 so that the actual trajectory based on the actual acceleration and the actual yaw rate change rate within the synthesized acceleration correlation range Ca is along the target trajectory Tt, the acceleration is limited during turning. can be output. Therefore, it is possible to ensure the reliability of the effect of suppressing the track deviation of the autonomous mobile robot 1 .
  • a target acceleration At and a target yaw rate change rate YAt for following the target trajectory Tt are set for the autonomous mobile robot 1 . Therefore, according to the present embodiment, the target acceleration At and the target yaw rate change rate YAt at the correlation point outside the synthetic acceleration correlation range Ca where the condition of the traveling constraint L is satisfied are set to the limit point Pa within the synthetic acceleration correlation range Ca.
  • the common limit ratio Ra is adjusted to the given values Al and YAl. According to this, the relative ratio At/YAt between the target acceleration At and the target yaw rate change rate YAt is substantially maintained before and after the adjustment.
  • the arrival position of 1 can overlap the target trajectory Tt.
  • a limited acceleration can be output while generating a rotation speed difference in each driving wheel 30 so that the actual trajectory based on the actual acceleration and the actual yaw rate change rate follows the target trajectory Tt. Therefore, it is possible to improve the reliability of the effect of suppressing the track deviation of the autonomous mobile robot 1 .
  • the travel constraint L including not only the power constraint Lw of the battery 4 but also the environmental constraint Le depending on the travel environment of the autonomous mobile robot 1 is monitored. According to this, even when the condition of the environmental constraint Le is satisfied, while the rotation speed difference is generated in each drive wheel 30 so that the actual trajectory of the autonomous mobile robot 1 follows the target trajectory Tt, the rotation speed is restricted during turning travel. can output the calculated velocity and acceleration. Therefore, it is possible to suppress the track deviation of the autonomous mobile robot 1 regardless of the running environment.
  • the dedicated computer that constitutes the control system 10 may have at least one of digital circuits and analog circuits as a processor.
  • Digital circuits here include, for example, ASIC (Application Specific Integrated Circuit), FPGA (Field Programmable Gate Array), SOC (System on a Chip), PGA (Programmable Gate Array), and CPLD (Complex Programmable Logic Device).
  • ASIC Application Specific Integrated Circuit
  • FPGA Field Programmable Gate Array
  • SOC System on a Chip
  • PGA Programmable Gate Array
  • CPLD Complex Programmable Logic Device
  • the second constraint setting block 112 may not be constructed in the modified example.
  • the correlation blocks 122, 123, 132, 133 are also not constructed, and the target values Vt, YVt are set in the correlation ranges Cvw, Caw instead of the correlation ranges Cv, Ca in the limit blocks 124, 135.
  • At, YAt may be adjusted.
  • the correlation ranges Cvw and Caw are preferably adjusted to a range that limits the maximum turning speed Vm and maximum turning acceleration Am at the minimum turning radius to be smaller than the maximum straight speed Vmw and the maximum straight acceleration Amw. .
  • the driving wheel 30 on one side is controlled at the maximum rotational speed in one of the positive and negative directions, while the driving wheel 30 on the opposite side is controlled at the maximum rotational speed in the other of the positive and negative directions.
  • the position of the center of gravity of the autonomous mobile robot 1 is substantially held, and all of the minimum turning radius, maximum turning velocity Vm, and maximum turning acceleration Am are substantially zero. Further, the control flow should be changed according to these deformation points.
  • the speed adjustment block 120 may not be constructed in a modified example.
  • the latest target acceleration At and target yaw rate change rate YAt are set by time differentiation using the target values Vt and YVt from the trajectory following control block 102 in the target setting block 134 at the subsequent stage. good.
  • the change rate adjustment block 141 preferably readjusts the target values Vt and YVt from the trajectory following control block 102 . Further, the control flow should be changed according to these deformation points.
  • the acceleration adjustment block 130 does not have to be constructed in the modified example.
  • the change rate adjustment block 141 is not constructed either, and the target rotation speeds ⁇ R and ⁇ L are preferably set in the command output block 142 according to the target values Vt and YVt from the speed limit block 124 . Also, the control flow may be changed according to these deformation points.
  • the above-described embodiments and modifications are configured to be mountable on the autonomous mobile robot 1 and have at least one processor 12 and at least one memory 11.
  • a processing circuit for example, a processing ECU, etc.
  • a semiconductor device eg, a semiconductor chip, etc.

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JP2016186751A (ja) * 2015-03-27 2016-10-27 本田技研工業株式会社 無人作業車の制御装置
JP2017019265A (ja) * 2015-07-13 2017-01-26 株式会社リコー 印刷物配送装置、印刷物配送システム及び印刷物配送方法

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JP2010058604A (ja) * 2008-09-02 2010-03-18 Toyota Motor Corp 移動体、倒立型移動体、及びその制御方法
JP2016186751A (ja) * 2015-03-27 2016-10-27 本田技研工業株式会社 無人作業車の制御装置
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