KR20200072032A - Ground moving object and method for controlling the same - Google Patents

Abstract

The present invention relates to a ground moving object and a control method thereof, the control method comprising the steps of detecting the rotation of the pitch (pitch), roll (roll) direction and yaw (yaw) direction of the ground moving object; Determining a tilt of the ground moving object due to disturbance based on at least one of the detected rotation angle in the yaw direction and the rotation angle in the roll direction; And adjusting the yaw rate of the ground moving object to compensate for the inclination of the ground moving body according to the determination result.

Description

Ground moving object and its control method {GROUND MOVING OBJECT AND METHOD FOR CONTROLLING THE SAME}

The present invention relates to a method for controlling the movement of a ground moving object capable of stair-climbing.

Recently, due to the development of robot technology, there is a need for an intelligent robot capable of performing various tasks on behalf of humans in addition to industrial robots, and research and development are actively underway.

In order to develop an intelligent robot, advanced technologies such as new materials, semiconductors, artificial intelligence, and sensor software are required along with traditional technologies such as machinery and electronics, and the intelligent robot has functions and performance required in the future market, unlike existing industrial robots. It can be said to be a robot.

On the other hand, in the case of a robot driving in a city or indoors, the stair climbing function is a necessary matter. In recent years, various types of robots have been developed to drive rough terrain.

If there are two types of ground mobiles capable of climbing stairs, there are a track-based structure and a wheel-based structure.

The track-based ground mobile body is characterized by no direct contact between the wheel and the ground, and the track is effective in driving a discontinuous road surface because it mitigates the surface influence of an uneven road surface.

However, the track-based structure causes unnecessary noise due to the excessive contact area with the road surface, and may also damage the floor as you drive.

On the other hand, the wheel-based structure of the ground mobile body adopts a link mechanism (linkage mechanism), and has the advantage of being stable in that the wheel is always in contact with the ground while driving. You may have difficulty moving obstacles.

An object of the present invention is to solve the problems as described above, and to provide a ground moving object having a structure capable of efficiently climbing stairs and a control method thereof.

The ground moving object control method according to an embodiment of the present invention is a method for controlling the movement of the ground moving object capable of climbing stairs, and the pitch direction, the roll direction, and the yaw direction rotation of the ground moving object are controlled. Detecting; Determining an inclination of the ground moving object due to disturbance based on at least one of the detected rotation angle in the yaw direction and the rotation angle in the roll direction; And adjusting the yaw rate of the ground moving object according to the determination result to compensate for the tilting of the ground moving object.

In addition, based on the detected rotational angle of the pitch direction, it is determined whether the staircase is raised or lowered.

The control method may be performed by a ground moving object according to an embodiment of the present invention.

In addition, the steps according to the control method may be configured as a computer program to be performed in the series elastic actuator system according to an embodiment of the present invention, and the computer program may be stored in a computer-readable medium.

On the other hand, the ground mobile body according to an embodiment of the present invention is a track-based ground mobile body capable of climbing stairs, and rotates in a pitch direction, a roll direction, and a yaw direction of the ground mobile body. An inertial measurement unit (IMU) to detect; And a control unit configured to determine the inclination of the ground moving object due to disturbance based on at least one of the detected rotation angle in the yaw direction and the rotation angle in the roll direction. The control unit includes: In order to compensate for the load, a yaw angular velocity controller that adjusts the yaw rate of the ground moving object.

According to an embodiment of the present invention, in order to control the movement of the ground movable body capable of climbing stairs, the inclination of the ground movable body due to disturbance is determined based on the rotation angle in the yaw direction and the rotation angle in the roll direction, and the pitch direction Based on the angle of rotation, it is determined whether the staircase rises or falls. Movement can be controlled stably.

1 is a perspective view for explaining the configuration of a ground moving object according to the first embodiment of the present invention.
Figure 2 is a perspective view for explaining the configuration of the ground moving object according to the second embodiment of the present invention.
3 is a flowchart illustrating a method for controlling a ground moving object according to an embodiment of the present invention.
4 is a block diagram illustrating a configuration for controlling a ground moving object according to an embodiment of the present invention.
5 is a view for explaining an embodiment of the algorithm for controlling the ground moving object.

The following is merely illustrative of the principles of the invention. Therefore, a person skilled in the art can implement various principles included in the concept and scope of the present invention and implement the principles of the present invention, although not explicitly described or illustrated in the present specification. In addition, it is understood that all conditional terms and examples listed in this specification are intended to be understood in principle only for the purpose of understanding the concept of the present invention, and are not limited to the specifically listed examples and states. Should be.

In addition, it should be understood that all detailed descriptions that list the principles, aspects and embodiments of the present invention as well as specific embodiments are intended to include structural and functional equivalents of these matters. In addition, it should be understood that these equivalents include not only currently known equivalents, but also equivalents to be developed in the future, ie, all devices invented to perform the same function regardless of structure.

Thus, for example, it should be understood that the block diagrams herein represent conceptual views of exemplary circuits embodying the principles of the invention. Similarly, all flow diagrams, state transition diagrams, pseudo-codes, etc. are understood to represent the various processes performed by a computer or processor, whether or not the computer or processor is clearly depicted, which may be substantially represented on a computer-readable medium. Should be.

The functionality of the various elements shown in the figures, including the processor or functional blocks represented by similar concepts, may be provided by the use of dedicated hardware as well as hardware capable of executing software in connection with appropriate software. When provided by a processor, the functionality may be provided by a single dedicated processor, a single shared processor, or a plurality of individual processors, some of which may be shared.

The above objects, features, and advantages will become more apparent through the following detailed description in connection with the accompanying drawings, and accordingly, those skilled in the art to which the present invention pertains can easily implement the technical spirit of the present invention. There will be. In addition, in the description of the present invention, when it is determined that the detailed description of the known technology related to the present invention may unnecessarily obscure the subject matter of the present invention, the detailed description will be omitted.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a perspective view for explaining the configuration of a ground moving object according to the first embodiment of the present invention.

The ground mobile body as shown in FIG. 1 has a configuration such as an unmanned ground robot having a structure capable of climbing stairs, which is used to check the situation of a dangerous area that is difficult for humans to access, such as a disaster area or a military area. Can be.

The ground moving object may be moved by a user's manipulation, but may perform a task such as actively moving by using a sensor provided according to an embodiment of the present invention and photographing and transmitting a situation around the input area to the user. It is desirable.

The ground movable body may be a track-type ground movable body capable of driving not only on a paved road but also on a difficult terrain with various obstacles including stairs.

Referring to FIG. 1, the ground moving body 100 is driven by moving the caterpillar while the tracks 120 and 125 are wound around and rotated on a plurality of driving pulleys on both front and rear sides of the body 110. Can be.

On the other hand, as described above, the track-based ground moving object 100 has an auxiliary pulley or auxiliary tracks or a separate flipper that is connected to the driving pulley so as to smoothly pass through obstacles such as stairs and vertical obstacles. It may be provided.

For example, the flipper is provided with a flipper drive pulley that receives the rotational force of the drive pulley and rotates therewith, and a flipper frame in which the flipper drive pulley is rotatably mounted and rotates by a separate flipper drive unit, and a flipper frame. It may include a flipper drive pulley, a flipper idle pulley that is rotatably spaced apart from the flipper drive pulley, a flipper track on which both ends are respectively wound on the flipper drive pulley and the flipper idle pulley.

The ground moving object 100 as shown in FIG. 1 shows an embodiment according to the present invention, and the control method according to the present invention may not be limited to the ground moving object having the configuration as shown in FIG. 1.

For example, the control method according to the present invention may be applicable to a ground mobile body having a configuration as shown in FIG. 2.

According to an embodiment of the present invention, the ground moving body is mostly formed of carbon for weight reduction, and may be designed in consideration of securing waterproof/dustproof and heat resistance.

In addition, the ground moving body is designed to perform a double waterproof treatment by placing an inner case on the fuselage for waterproofing the control system, and can be designed to facilitate motor replacement.

And the ground moving body, the track width can be reduced for weight reduction, in this case it can be designed to prevent the sagging of the track when climbing.

On the other hand, the ground moving body, the fastening position of the upper dropping device is set in consideration of the center of gravity, and is preferably designed not to exceed 4kg including all the electrical equipment.

When changing from the front wheel drive method to the rear wheel drive method, the traction between the track and the pulley can be improved, and the guard is designed using the front guide and lower case to prevent the track from sagging. It can be designed to.

The belt tension is adjusted by using the first pulley with the lowest load and impact when flying from a flying vehicle, and the height of the center of the fuselage can be designed to allow water to flow to the center, and sensors are mounted to be mounted directly on the outside. It can be designed with a tilt of 8.5 degrees to the site.

According to an embodiment of the present invention, in order to control the movement of the ground movable body capable of climbing stairs, the inclination of the ground movable body due to disturbance is determined based on the rotation angle in the yaw direction and the rotation angle in the roll direction, and the pitch direction Based on the angle of rotation, it is determined whether the staircase rises or falls. Movement can be controlled stably.

Hereinafter, a method and apparatus for controlling the movement of the ground moving object according to the present invention will be described with reference to FIGS. 3 to 5.

3 is a flow chart showing a method for controlling a ground moving object according to an embodiment of the present invention, and may be performed by the ground moving object according to the present invention as described above.

Referring to FIG. 3, in order to control the movement of the ground movable body capable of climbing stairs, first, the pitch direction, the roll direction, and the yaw direction rotation of the ground movable body are detected (step S300).

Based on at least one of the rotational angle in the yaw direction and the rotational angle in the roll direction detected in step S300, it is determined that the inclination of the ground mobile body is caused by disturbance (step S310).

On the other hand, before or after the step S310, based on the rotation angle of the pitch direction detected in the step S300, it may be determined whether the staircase rises or falls of the ground moving object.

In step S310, the inclined direction of the ground moving object may be determined based on the sign of the yaw direction rotation angle and the roll direction rotation angle.

For example, if the yaw direction rotation angle and the roll direction rotation angle are changed to the same sign when the staircase of the ground movable body is raised, it may be determined that the ground movable body is inclined.

More specifically, when the step of the ground moving object is raised, when the yaw direction rotation angle and the roll direction rotation angle are changed to the same positive value, it may be determined that the ground mobile body is inclined in the right direction.

And, when the step of the ground moving object is raised, when the rotation angle of the yaw direction and the rotation angle of the roll direction are changed to the same negative value, it may be determined that the ground moving object is inclined in the left direction.

Meanwhile, when the yaw direction rotation angle and the roll direction rotation angle are changed to different signs when the ground moving body descends the stairs, it may be determined that the ground moving body is inclined.

More specifically, if the yaw direction rotation angle and the roll direction rotation angle are changed to positive and negative values, respectively, when descending the stairs of the ground mobile body, it is determined that the ground mobile body is tilted in the right direction, and conversely, the yaw direction rotation angle and When the rotation angle of the roll direction is changed to a negative value and a positive value, respectively, it may be determined that the ground moving object is inclined in the left direction.

As described above, the method for determining the inclination direction of the ground moving object is an embodiment of the present invention, and the sign values and numerical values, etc., which are the criteria for determination may be changed as necessary.

Thereafter, the yaw rate of the ground mobile body is adjusted according to the determination result in step S310 (step S320), so that the tilt of the ground mobile body is compensated.

According to another embodiment of the present invention, a position error of a ground moving object is detected, and a yaw rate command corresponding to a position value to be processed is generated based on the detected position error, thereby generating The ground moving object can autonomously drive while following the set route point.

4 is a block diagram for explaining a configuration for controlling a ground moving object according to an embodiment of the present invention, wherein the ground moving object includes an inertial measurement unit (400, IMU, Inertial Measurement Unit) and a control unit 410 Can be.

Referring to FIG. 4, the inertial measurement units 400 and IMU detect rotation of a pitch direction, a roll direction, and a yaw direction of a ground moving object.

When moving the stairs of the ground moving object, it may move in a diagonal line, not perpendicular to the stairs due to disturbance, and in this case, the movement of the ground moving object in the roll direction and yaw direction occurs, and the ground is controlled through feedback control. The tilt of the moving body needs to be adjusted.

The control unit 410 determines the inclination of the ground moving object due to the disturbance, based on at least one of the rotation angle in the yaw direction and the rotation angle in the roll direction detected by the inertial measurement units 400 and IMU.

For example, when the ground moving object is inclined to the right due to disturbance while climbing the stairs, the rotational angles in the roll direction and the yaw direction may have positive values.

On the other hand, when the ground moving object is inclined due to disturbance in the state of descending the stairs, the sign may be different in the rotational direction of the roll direction and the yaw direction in different directions.

And when the rotation angle in the pitch direction is -10 degrees or more (based on the absolute value), it may be determined that the ground moving object descends the stairs.

Also, the control unit 420 may include a yaw angular velocity controller 411 that adjusts a yaw rate of the ground mobile body to compensate for the inclination of the ground mobile body.

As described above, in order to compensate for movement in the yaw direction that occurs when overcoming disturbances, it is possible to secure a straight running property of the ground moving object by feeding back the yaw rate.

In addition, when the ground vehicle is overturned by any force, it can be developed to determine whether to overturn using the z-axis acceleration and to enable continuous driving.

5 is a view for explaining an embodiment of the algorithm for controlling the ground moving object.

Referring to FIG. 5, when the detected pitch, roll, and yaw rotation angles for the ground moving object and input from the angular velocity command generator (Yaw rate command) and speed commands are input, , By controlling the wheel speed of the ground moving object by the roll controller, the yaw rate controller and the speed controller by the input as described above, the movement of the ground moving object can be stably implemented.

In addition, the control method according to an embodiment of the present invention described above may be manufactured as a program for execution on a computer, and the program may be stored in a computer-readable recording medium. Examples of computer-readable recording media include ROM, RAM, CD-ROM, magnetic tapes, floppy disks, optical data storage devices, etc., and are also implemented in the form of carrier waves (for example, transmission via the Internet). Includes.

The computer-readable recording medium can be distributed over network coupled computer systems so that the computer readable code is stored and executed in a distributed fashion. In addition, functional programs, codes, and code segments for implementing the method can be easily inferred by programmers in the technical field to which the present invention pertains.

In addition, although the preferred embodiments of the present invention have been shown and described above, the present invention is not limited to the specific embodiments described above, and the technical field to which the present invention belongs without departing from the gist of the present invention claimed in the claims. In addition, various modifications can be implemented by a person having ordinary knowledge in the course, and these modifications should not be individually understood from the technical idea or prospect of the present invention.

Claims (13)

In the method for controlling the movement of the ground mobile body capable of climbing stairs,
Detecting rotation of a pitch direction, a roll direction, and a yaw direction of the ground moving object;
Determining an inclination of the ground moving object due to disturbance based on at least one of the detected rotation angle in the yaw direction and the rotation angle in the roll direction; And
And adjusting the yaw rate of the ground moving object to compensate for the tilting of the ground moving object according to the determination result. According to claim 1,
And determining whether the ground moving object rises or falls on the stairs based on the detected rotational angle in the pitch direction. The method of claim 1, wherein the determining step
And determining the inclined direction of the ground moving object based on the sign of the yaw direction rotation angle and the sign of the roll direction rotation angle. The method of claim 3, wherein the determining step
And when the step of the ground moving object is raised, when the yaw direction rotation angle and the roll direction rotation angle are changed to the same sign, determining that the ground mobile body is inclined. The method of claim 1, wherein the determining step
And when the yaw direction rotation angle and the roll direction rotation angle are changed to different signs when descending the stairs of the ground mobile body, determining that the ground mobile body is inclined. According to claim 1,
Detecting a position error of the ground moving object; And
And based on the detected position error, generating a yaw rate command corresponding to a position value to be advanced. A ground mobile body performing the method of claim 1. In a track-based ground vehicle capable of climbing stairs,
An inertial measurement unit (IMU) that detects rotation of a pitch direction, a roll direction, and a yaw direction of the ground moving object; And
It includes; at least one of the detected rotation angle in the yaw direction and the rotation angle in the roll direction, the control unit for determining the inclination of the ground moving object due to disturbance; includes,
The control unit, to compensate for the inclination of the ground mobile body, a yaw angular velocity controller for adjusting the yaw rate (yaw rate) of the ground mobile body; includes a ground mobile body. The method of claim 8, wherein the control unit
Based on the detected rotational angle in the pitch direction, the ground moving object control to determine whether the ground moving object is raised or lowered. The method of claim 8, wherein the control unit
A ground moving body that determines the inclined direction of the ground moving body based on the sign of the yaw direction rotation angle and the roll direction rotation angle. 11. The method of claim 10, The control unit
When the step of the ground moving object rises, when the yaw direction rotation angle and the roll direction rotation angle are changed to the same sign, the ground mobile body determines that the ground mobile body is inclined. 11. The method of claim 10, The control unit
When the yaw direction rotation angle and the roll direction rotation angle are changed to different signs when the stairs of the ground mobile body descend, the ground mobile body determines that the ground mobile body is inclined. The method of claim 8,
And a command generator configured to generate a yaw rate command corresponding to a position value to be progressed based on the position error of the ground moving object.

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