WO2024057487A1 - Corps mobile et système de corps mobile - Google Patents

Corps mobile et système de corps mobile Download PDF

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Publication number
WO2024057487A1
WO2024057487A1 PCT/JP2022/034573 JP2022034573W WO2024057487A1 WO 2024057487 A1 WO2024057487 A1 WO 2024057487A1 JP 2022034573 W JP2022034573 W JP 2022034573W WO 2024057487 A1 WO2024057487 A1 WO 2024057487A1
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WO
WIPO (PCT)
Prior art keywords
wheels
vehicle body
wheel
slip
elimination control
Prior art date
Application number
PCT/JP2022/034573
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English (en)
Japanese (ja)
Inventor
浩二 河口
Original Assignee
株式会社Fuji
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 株式会社Fuji filed Critical 株式会社Fuji
Priority to PCT/JP2022/034573 priority Critical patent/WO2024057487A1/fr
Publication of WO2024057487A1 publication Critical patent/WO2024057487A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
    • B61B13/00—Other railway systems

Definitions

  • This specification discloses a mobile object and a mobile system.
  • Patent Document 1 describes a plurality of drive wheels, a plurality of motors respectively connected to the plurality of drive wheels, an external sensor that repeatedly scans the environment and outputs sensor data for each scan, and a plurality of drive wheels.
  • a plurality of rotary encoders each detecting a rotational speed of a plurality of rotary encoders, and a displacement of first position information indicating a position of the moving body estimated based on sensor data of an external sensor, and rotation of a plurality of drive wheels.
  • a system has been disclosed that detects idle rotation of the drive wheels based on a difference between second position information indicating the position of the moving body estimated from the speed and the displacement.
  • Patent Document 1 describes detecting idling of the driving wheels, it does not mention how to appropriately respond to the idling that occurs in the driving wheels.
  • the main purpose of the present disclosure is to appropriately respond to wheel slippage by simple control when wheel slippage occurs.
  • the present disclosure has taken the following measures to achieve the above-mentioned main objective.
  • the mobile object of the present disclosure is A moving body comprising a plurality of wheels attached to a vehicle body and capable of changing the traveling direction of the vehicle body by driving the plurality of wheels without changing the direction of the wheels, a determination unit that determines whether at least one wheel of the plurality of wheels is idling; a wheel slip elimination control section that executes wheel slip elimination control that drives and controls the plurality of wheels so that the vehicle body changes the traveling direction and travels when the determination section determines that wheel slip has occurred;
  • the main point is to have the following.
  • slip elimination control is executed to drive and control a plurality of wheels so that the vehicle moves by changing the traveling direction of the vehicle.
  • the mobile system of the present disclosure includes: A mobile body system including a mobile body having a plurality of wheels attached to a vehicle body and traveling according to a travel route set based on map information, a detection unit that detects the position of the vehicle body; a determination unit that determines whether at least one wheel of the plurality of wheels is idling; Update of updating the map information by setting an obstacle at the position of the vehicle body detected by the detection unit when the wheel slip occurs when the determination unit determines that the wheel is slipping.
  • Department and The main point is to have the following.
  • FIG. 2 is an external perspective view of an object to be transported and a moving body that transports the object.
  • FIG. 2 is a schematic configuration diagram of a moving body.
  • FIG. 1 is a block diagram of a mobile system including a mobile body and a management device. It is a flowchart which shows an example of a travel control routine.
  • FIG. 3 is an explanatory diagram showing how the vehicle travels.
  • FIG. 3 is an explanatory diagram showing how slip elimination control is executed when a slip occurs.
  • 3 is a flowchart illustrating an example of a map update processing routine.
  • FIG. 3 is an explanatory diagram showing an example of a travel route that is set when there is an obstacle on the map.
  • FIG. 1 is an external perspective view of an object 100 to be transported and a moving body 10 that transports the object 100.
  • FIG. 2 is a schematic configuration diagram of the mobile body 10.
  • FIG. 3 is a block diagram of the mobile system 1 including the mobile 10 and the management device 60.
  • the mobile object 10 of this embodiment is used as a logistics sensor, a warehouse, a store, etc., and as shown in FIG. 1, an autonomous mobile robot (AMR) that connects to and transports an object 100 It is.
  • the mobile system 1 includes a mobile body 10 and a management device 60 that manages the operation of the mobile body 10.
  • the transported object 100 includes a loading platform 101 on which cargo can be loaded, and a plurality of (for example, four) casters 110 rotatably attached to the lower surface of the loading platform 101.
  • This is a cart with a basket.
  • the transported object 100 is provided with a marker such as an AR marker, a two-dimensional code, or a barcode for identifying the transported object 100.
  • the moving body 10 recognizes the object 100 to be transported by reading the marker.
  • the moving body 10 of this embodiment has a substantially L-shaped appearance when viewed from the front.
  • the moving body 10 includes a substantially flat body part 11 and a box-shaped housing part 12 connected to the right end of the vehicle body part 11 and housing a control part 40 and the like.
  • the moving body 10 also includes a plurality of (for example, four) wheels 21 attached to the lower surface of the vehicle body portion 11, and a plurality of (for example, four) drive motors 22 that rotationally drive the corresponding wheels 21.
  • a connecting part 30 is provided on the upper surface of the vehicle body part 11 and is connected to the transported object 100.
  • the plurality of wheels 21 are configured as mecanum wheels having a plurality of rollers 21r rotatable around an axis inclined at 45 degrees with respect to the rotation axis of the wheel on the outer periphery of the wheel.
  • the mobile body 10 vehicle body 11
  • the plurality of wheels 21 may be configured as an omniwheel having a plurality of rollers that are rotatable around an axis that intersects the rotation axis of the wheel.
  • the connecting portion 30 includes a lifting device 31 and an engaging portion 32 that is raised and lowered by the lifting device 31.
  • the engaging portion 32 is raised by the lifting device 31 in a state where the vehicle body portion 11 is under the conveyed object 100 (basket truck).
  • the engaging portion 32 engages with the back side of the loading platform 101 of the transported object 100, and the movable body 10 and the transported object 100 are connected.
  • the mobile body 10 includes a control unit 40 that manages overall control, a storage unit 41 that stores various information including map information, and communication with the management device 60 and other mobile bodies ( It includes a communication section 42 for performing (wireless communication), camera sections 51 and 52 as imaging devices, and sensor sections 53 and 54 for detecting surrounding objects.
  • the camera section 51 is installed on the left side of the vehicle body section 11, and the camera section 52 is installed on the left side of the housing section 12.
  • the sensor sections 53 and 54 are installed on both front and rear sides of the vehicle body section 11, respectively.
  • the sensor units 53 and 54 detect surrounding objects and distances to objects.
  • the sensor units 53 and 54 measure distance data for each scanning angle by scanning the surroundings with laser light, receiving each reflected light, and measuring the time until receiving the reflected light.
  • a LiDAR (Light Detection And Ranging) sensor that obtains surrounding point cloud data is used.
  • the control unit 40 is configured as a microprocessor centered on a CPU, and includes, in addition to the CPU, a ROM that stores processing programs, a RAM that temporarily stores data, a timer, and the like.
  • the control section 40 receives image signals from the camera sections 51 and 52, detection signals from the sensor sections 53 and 54, and the like.
  • the control unit 40 outputs control signals to the drive motor 22 and the lifting device 31.
  • the management device 60 includes a processing section 61, a storage section 62 for storing various information including map information, and a communication section 63 for communicating (wireless communication) with each mobile object 10.
  • the processing unit 61 is configured as a microprocessor centered on a CPU, and includes, in addition to the CPU, a ROM for storing processing programs, a RAM for temporarily storing data, and the like.
  • FIG. 6 is a flowchart illustrating an example of a traveling control routine executed by the control unit 40 of the moving body 10. This process is executed after the management device 60 gives an instruction to transport the object 100 (baggage). Note that when the control unit 40 is instructed to transport the transported object 100 (baggage), the controller 40 moves to the front of the transported object 100 and images the transported object 100 (marker) with the camera section 51, and then moves the vehicle body. The part 11 is inserted under the object 100 to be transported, and the engaging part 32 is raised to connect the vehicle body part 11 to the object 100 to be transported. Thereby, the moving body 10 travels to the designated destination, and the transported object 100 can be transported (pulled) to the designated destination.
  • the travel control routine will be described below with reference to FIGS. 5A and 5B.
  • the control unit 40 first obtains a driving route from the current location to the destination (S100), and starts automatic driving according to the acquired driving route (S110, see FIG. 5A).
  • the driving route is acquired by grasping the surrounding shape based on the point cloud data measured by the sensor units 53 and 54 (LiDAR), and comparing the grasped surrounding shape with the map information stored in the storage unit 41 ( This is done by recognizing the current location (self-location) of the own vehicle by comparing the current location (self-location), and searching for a route based on map information based on the recognized current location and the specified destination.
  • the map information includes information regarding obstacles (obstacle information). Obstacle information includes the position of the obstacle on the map and the size (range) of the obstacle.
  • the driving route will be changed based on the obstacle. is set to bypass.
  • the control unit 40 recognizes the current location of the own vehicle and transmits it to the management device 60, and the management device 60 that receives the current location stores it in the storage unit 62 based on the current location and the destination. This may be done by searching for a route based on map information and transmitting the obtained travel route to the control unit 40.
  • the control unit 40 determines whether slip due to slipping has occurred in any of the plurality of wheels 21 for a predetermined period of time (S104). This determination is made, for example, by providing a rotation sensor for each of the plurality of wheels 21, and checking whether the difference in wheel speed of each wheel 21 detected by each rotation sensor continues to be a predetermined value or more for a predetermined period of time. This can be done by making a judgment. In addition, this determination is made by measuring the vehicle body speed of the vehicle based on the temporal change in the vehicle's own position detected by the sensor units 53 and 54, and by measuring the vehicle body speed of the vehicle based on the wheel speed of each wheel 21 detected by each rotation sensor. This can be done by estimating the vehicle speed and determining whether the difference between the measured value and the estimated value of the vehicle speed continues to be a predetermined value or more for a predetermined period of time.
  • control unit 40 determines in S104 that no slip has occurred, the process proceeds to S120, and determines whether the destination has been reached (S120). If the control unit 40 determines that the vehicle has not arrived at the destination, the process returns to S104, and if it determines that the vehicle has arrived at the destination, it stops traveling (S122) and ends this routine.
  • the control unit 40 acquires the self-position using the sensors 53 and 54, and associates the acquired self-position with the current time as the slip position, and stores the slip history in the storage unit 41. It is stored in the storage area (S106). Then, the control unit 40 determines whether or not the past slip history (slip position) is stored in the storage unit 41 (slip history storage area) during one trip to the destination (S108). If the control unit 40 determines that the past slip history is stored, it determines whether the slip that occurred this time occurred at the same position as the slip that occurred most recently (S110). This determination can be made by comparing the slip positions of the slip that occurred this time and the slip that occurred most recently.
  • the control unit 40 determines in S108 that the past slip history is not stored, or determines that the past slip history is stored, but in S110 that the current slip occurred at the same position as the most recent slip. If it is determined that this is not the case, slip elimination control is executed to eliminate the slip that has occurred this time. That is, the control unit 40 determines whether it is possible to move in a direction different from the current direction of travel (S116). This process can be performed by determining whether or not there is a space in which the vehicle can travel in a direction different from the current direction of travel based on the surrounding shape ascertained using the sensor units 53 and 54. can.
  • control unit 40 determines that movement is possible in another direction, it adds a waypoint in the other direction to the driving route acquired in S100 and performs automatic driving (S118, see FIG. 5B).
  • the plurality of wheels 21 included in the moving body 10 are constituted by mecanum wheels, the rotational directions of the plurality of motors that respectively drive the corresponding wheels 21 can be changed without changing the direction of the wheels 21.
  • movement in all directions is possible. Therefore, as slip elimination control, by controlling the drive of the plurality of wheels 21 with a new direction of movement different from the direction of movement when the slip occurred, the grip of the wheels 21 is restored and the escape from the slip is performed. can be achieved.
  • the control unit 40 determines that a slip has occurred in S104, and in S108 and S110, the past slip history is stored and the current slip is located at the same position as the most recent slip. It is determined that this occurred in In this case, the control unit 40 counts the number of consecutive slips N (S112), and determines whether the counted number of consecutive slips N is less than a predetermined number Nref (S114). When the control unit 40 determines that the number of consecutive slips N is less than the predetermined number Nref, it determines whether movement in another direction is possible (S116).
  • the other direction here is a direction different from both the traveling direction when the slip first occurs with respect to the target slip position and the traveling direction changed by the previous slip elimination control.
  • control unit 40 determines that movement is possible in another direction, it adds a waypoint in another direction to the driving route and performs automatic driving (S118). In this way, if the slip is not resolved, and if movement in another direction is possible, the control unit 40 performs slip elimination control while changing the direction of travel until the number of consecutive slips N reaches the predetermined number Nref. is executed repeatedly.
  • control unit 40 determines in S114 that the number of consecutive slips is equal to or greater than the predetermined number of times Nref, or if it determines in S116 that movement is not possible in other directions, it determines that the slip elimination control cannot be executed. Then, the process is stopped due to an error (S124), and this routine is ended.
  • FIG. 6 is a flowchart illustrating an example of a map update processing routine executed by the control unit 40.
  • the control unit 40 first determines whether or not traveling has been completed (S200). If the control unit 40 determines that the vehicle has not completed its travel, that is, that the vehicle is still traveling, it ends this routine. On the other hand, when the control unit 40 determines that the traveling is completed, the control unit 40 determines whether the slip history (slip position) during the traveling is stored in the storage unit 41 (S202). If the control unit 40 determines that the slip history during driving is not stored, it ends this routine. On the other hand, if the control unit 40 determines that the slip history during driving is stored, it sets an obstacle on the map at the coordinates corresponding to the slip position stored in the storage unit 41 (S204).
  • the information is updated (S206), the updated map information or obstacle information is sent to the management device 60 (S208), and this routine ends.
  • the map information includes obstacle information, so if there is an obstacle between the current location and the destination, the map information will be displayed as shown in FIG. Then, a driving route that detours around the obstacle is acquired. This makes it possible to avoid repeated slips at the same position.
  • the processing unit 61 of the management device 60 receives updated map information or obstacle information from the control unit 40 and updates the map information stored in the storage unit 62. Then, the processing unit 61 transmits the updated map information and obstacle information to other moving objects 10. Thereby, map information on which obstacle information is reflected can be shared among all the moving bodies 10 whose operation is managed by the management device 60. Therefore, when a certain moving body 10 slips, it is possible to avoid another moving body 10 from slipping at the same position.
  • the mobile body 10 of the present embodiment is an example of the mobile body of the present disclosure
  • the control unit 40 that executes the process of S104 of the travel control routine is an example of the determination unit
  • the control unit 40 that executes the process of S118 of the travel control routine is an example of a spin elimination control unit.
  • the sensor sections 53 and 54 are examples of detection sections.
  • the control unit 40 that executes the processes of S204 and S206 of the map update process routine is an example of the update unit.
  • the control unit 40 of the mobile object 10 updates the map information
  • the processing unit 61 of the management device 60 may update the map information.
  • the processing unit 61 receives the slip position from the control unit 40 of the moving body 10 and corresponds the map information stored in the storage unit 62 to the received slip position.
  • the map information can be updated by setting obstacles at the coordinates.
  • the idling elimination control is executed to drive and control a plurality of wheels so that the moving direction of the vehicle body is changed and the vehicle travels. It is equipped with a spin elimination control section.
  • the wheels include mecanum wheels, omni wheels, and the like.
  • the idle elimination control unit determines whether the generated idle is eliminated or the idle elimination control is performed.
  • the slip elimination control may be repeatedly executed by further changing the traveling direction until the number of executions reaches a predetermined number of times. In this way, it is possible to increase the possibility that the slipping will be eliminated by repeating the slipping elimination control, and it is possible to avoid the inconvenience caused by repeating the slipping elimination control indefinitely.
  • the moving object of the present disclosure includes a detection unit that detects a shape of the surroundings of the vehicle body, and the slip elimination control unit is configured to perform the slip elimination control by causing the vehicle to travel in another direction based on the shape of the surroundings of the vehicle body. It may be determined whether or not it is possible to travel in the other direction, and if it is possible to travel in the other direction, the plurality of wheels may be drive-controlled so that the traveling direction is changed to the other direction. In this way, the wheel slip elimination control can be appropriately executed.
  • the mobile system of the present disclosure includes an updating unit that updates map information by setting an obstacle at the position of the vehicle body detected when wheel slipping occurs when it is determined that wheel slipping has occurred. There is.
  • an updating unit that updates map information by setting an obstacle at the position of the vehicle body detected when wheel slipping occurs when it is determined that wheel slipping has occurred.
  • the wheel slip elimination control is executed to drive and control the plurality of wheels so that the vehicle body changes the traveling direction and runs.
  • the updating unit may update the map information after the slip caused by the slip elimination control is resolved. In this way, it is possible to avoid the situation where the map information is updated while the wheel slip has not been resolved, and the wheel slip elimination control cannot be executed.
  • the present disclosure can be used in the mobile body manufacturing industry, etc.
  • 1 Mobile body system 10 Mobile body, 11 Vehicle body, 12 Housing, 21 Wheels, 21r rollers, 22 Drive motor, 30 Connection unit, 31 Lifting device, 32 Engagement unit, 40 Control unit, 41 Storage unit, 42 Communication section, 51, 52 camera section, 53, 54 sensor section, 60 management device, 61 processing section, 62 storage section, 63 communication section, 100 object to be transported, 101 loading platform section, 110 casters.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un corps mobile comprenant une pluralité de roues de véhicule fixées à une carrosserie de véhicule, la direction d'avancement de la carrosserie de véhicule pouvant être modifiée par l'entraînement de la pluralité de roues de véhicule sans changer les orientations des roues de véhicule. Le corps mobile comprend : une unité de détermination qui détermine si une rotation au ralenti se produit dans au moins une roue de véhicule parmi la pluralité de roues de véhicule ; et une unité de commande de résolution de rotation au ralenti qui, lorsque l'unité de détermination a déterminé qu'une rotation au ralenti s'est produite dans une roue de véhicule, exécute une commande de résolution de rotation au ralenti pour commander l'entraînement de la pluralité de roues de véhicule de sorte que le corps mobile change la direction d'avancement de la carrosserie de véhicule et se déplace.
PCT/JP2022/034573 2022-09-15 2022-09-15 Corps mobile et système de corps mobile WO2024057487A1 (fr)

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007323119A (ja) * 2006-05-30 2007-12-13 Toyota Motor Corp 自律移動体および自律移動体制御方法
JP2013508183A (ja) * 2009-10-30 2013-03-07 ユージン ロボット シーオー．， エルティーディー． 移動ロボットのスリップ感知装置および方法
WO2017119255A1 (fr) * 2016-01-08 2017-07-13 東芝ライフスタイル株式会社 Corps à déplacement autonome
JP2019175136A (ja) * 2018-03-28 2019-10-10 日本電産シンポ株式会社 移動体
US20200293057A1 (en) * 2019-03-15 2020-09-17 Mission Control Space Services Inc. Terrain trafficability assessment for autonomous or semi-autonomous rover or vehicle
WO2022185447A1 (fr) * 2021-03-03 2022-09-09 株式会社Fuji Corps mobile

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007323119A (ja) * 2006-05-30 2007-12-13 Toyota Motor Corp 自律移動体および自律移動体制御方法
JP2013508183A (ja) * 2009-10-30 2013-03-07 ユージン ロボット シーオー．， エルティーディー． 移動ロボットのスリップ感知装置および方法
WO2017119255A1 (fr) * 2016-01-08 2017-07-13 東芝ライフスタイル株式会社 Corps à déplacement autonome
JP2019175136A (ja) * 2018-03-28 2019-10-10 日本電産シンポ株式会社 移動体
US20200293057A1 (en) * 2019-03-15 2020-09-17 Mission Control Space Services Inc. Terrain trafficability assessment for autonomous or semi-autonomous rover or vehicle
WO2022185447A1 (fr) * 2021-03-03 2022-09-09 株式会社Fuji Corps mobile

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