JPH023582A - Guide of walking leg type movable body - Google Patents
Guide of walking leg type movable bodyInfo
- Publication number
- JPH023582A JPH023582A JP63143631A JP14363188A JPH023582A JP H023582 A JPH023582 A JP H023582A JP 63143631 A JP63143631 A JP 63143631A JP 14363188 A JP14363188 A JP 14363188A JP H023582 A JPH023582 A JP H023582A
- Authority
- JP
- Japan
- Prior art keywords
- visual
- pattern
- control
- moving object
- walking
- Prior art date
- Legal status (The legal status 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 status listed.)
- Pending
Links
- 230000000007 visual effect Effects 0.000 claims abstract description 30
- 238000001514 detection method Methods 0.000 claims description 5
- 230000007246 mechanism Effects 0.000 abstract description 10
- 230000003466 anti-cipated effect Effects 0.000 abstract 2
- 238000002789 length control Methods 0.000 abstract 1
- 239000000284 extract Substances 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は脚歩行ロボッ１−等の脚歩行型の移動体の誘導
装置に関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a guidance device for a leg-walking moving object such as a leg-walking robot 1-.
従来、移動ロボット等の移動体を移動制御する装置は、
環境認識手段と移動体の移動機構制御手段とで構成され
ている。この移動制御装置の一例としては、例えば特開
昭６０−２１７４１３号公報に記載されているように、
車輪、無限軌道履帯等の走行部を備える移動体を高速で
誘導しようとするものである。一方、近年では原子力施
設内の配管等の障害物をまたぎ越えることができる脚歩
行型の移動体が種々堤案されていると共に、その開発の
ために多くの試みがなされている。Conventionally, devices that control the movement of mobile objects such as mobile robots are
It is composed of environment recognition means and moving body movement mechanism control means. As an example of this movement control device, for example, as described in Japanese Patent Application Laid-Open No. 60-217413,
The purpose is to guide a moving body equipped with a running part such as wheels or trackless tracks at high speed. On the other hand, in recent years, various leg-walking vehicles that can straddle obstacles such as pipes in nuclear facilities have been proposed, and many attempts have been made to develop them.
上述した脚歩行型の移動体の開発においては、種々の問
題が存在しているが、その１つには８動体を安定に歩行
させることである。すなわち、この種の移動体は左右の
脚を交互に移動して歩行するため移動体の重心移動また
は路面の変化等にょり転倒を生じることがある。さらに
、移動体の歩行する環境が複雑に構成されている場合に
は、さらに転倒する確率が大きくなるという問題点があ
る。There are various problems in the development of the above-mentioned leg-walking moving object, one of which is making the 8-moving object walk stably. That is, since this type of moving object walks by alternately moving its left and right legs, it may fall over due to a shift in the center of gravity of the moving object or a change in the road surface. Furthermore, if the environment in which the moving object walks is configured in a complex manner, there is a problem that the probability of falling becomes even greater.
本発明の目的は複雑な環境を認識しつつ脚歩行型移動体
を安定に歩行させることができる脚歩行型移ｅＪ体の誘
導装置を提供する。SUMMARY OF THE INVENTION An object of the present invention is to provide a guidance device for a leg-walking mobile eJ body, which can recognize a complex environment and cause the leg-walking mobile body to walk stably.
本発明の上記目的は、脚歩行型の移動体を所定の経路に
沿って誘導する装置において、前記移動体の周囲の実環
境を観８１’ｌする視覚手段と、前記移動体の経路移動
を検出する経路移動検出手段と、前記移！ｌ！ｌ＋体の
位置情報に関連する予２１１１１パターンを記憶する予
測パターン記憶手段と、前記視覚手段からの実画像から
観測特徴パターンを抽出する画像処理手段と、前記経路
移動検出手段によって記憶装置から得られる予測パター
ンと画像処理手段からの観測特徴パターンとを比較して
ずれを補正するように、前記視覚手段の方向を制御する
視覚制御手段と、前記視覚制御手段からの視覚手段の方
向制御信号にもとづいて移動体の歩幅を制御する信号を
移動体に出力する誘導制御手段とを備えることにより達
成される。The above-mentioned object of the present invention is to provide a device for guiding a legged moving body along a predetermined route, including a visual means for viewing the actual environment around the moving body, and a visual means for viewing the actual environment around the moving body; Route movement detecting means for detecting the movement! l! predicted pattern storage means for storing predicted pattern 21111 related to the position information of the l+ body; image processing means for extracting observed feature patterns from the actual image from the visual means; a visual control means for controlling the direction of the visual means, and a direction control signal for the visual means from the visual control means so as to compare the predicted pattern and the observed feature pattern from the image processing means and correct a deviation; This is achieved by providing a guidance control means for outputting a signal to the moving body to control the stride length of the moving body.
視覚手段は移動体の周囲の実環境を観測する。 The visual means observes the real environment around the moving object.
画像処理手段は視覚手段からの実画像から観測特徴パタ
ーンを抽出する。一方、予測パターン記憶手段は経路移
動検出手段からの移動体の位置情報にもとづいて予測パ
ターンを出力する。視覚制御手段は予測パターンと観測
特徴パターンを比較してずれを補正するように前記視ユ
を手段の方向を制御する。誘導制御手段は視覚制御手段
からの視覚手段の方向制御信号にもとづいて移プＪ体の
歩幅を制御する信号を移動体に出力する。これにより、
脚歩行型の移動体は複雑な環境中でも安定に歩行するこ
とができる。The image processing means extracts observed feature patterns from the real image from the visual means. On the other hand, the predicted pattern storage means outputs a predicted pattern based on the position information of the moving object from the route movement detection means. The visual control means controls the direction of the visual control means so as to compare the predicted pattern and the observed feature pattern and correct the deviation. The guidance control means outputs a signal for controlling the stride length of the moving body to the moving body based on the direction control signal of the visual means from the visual control means. This results in
Leg-walking vehicles can walk stably even in complex environments.
以下、本発明の実施例を図面に参照して説明する。 Embodiments of the present invention will be described below with reference to the drawings.
図面は本発明の装置の一実施例を備えた脚歩行型移動体
の全体構成を示すもので、この図において、移動体１は
その本体２と本体２に設けた脚機構３，４とで構成され
ている。この図示の例では説明の、便宜上、移動体１の
本体の左側の前脚機構３および後脚機構４のみを示して
いるが、右側にも同様な脚機構が設けられている。１Ｉ
ｉ（述した脚機構３，４はそれぞれ本体２に設けた第１
の関節部３Ａ、４Ａと、この第１の関節部３Ａ、４Ａに
連結した第１の脚部３Ｂ、４Ｂと、この第１の脚部３Ｂ
、４Ｂの他端に設けた第２の関節部３Ｃ９４Ｃと、この
第２の関節部３Ｃ，４Ｃに連結した第２の脚部３Ｄ、４
Ｄとを備えている。これらの脚機構３，４にはこれらを
駆動するために、第１の関節部３Ａ、４Ａおよび第２の
関節部；３Ｃ９４Ｃにそれぞれアクチュエータ３Ｅ、４
１”：、３）？。The drawing shows the overall configuration of a leg-walking type mobile body equipped with an embodiment of the device of the present invention. In this figure, a mobile body 1 has a main body 2 and leg mechanisms 3 and 4 provided on the main body 2. It is configured. In this illustrated example, for convenience of explanation, only the front leg mechanism 3 and rear leg mechanism 4 on the left side of the main body of the moving body 1 are shown, but a similar leg mechanism is also provided on the right side. 1I
i (the leg mechanisms 3 and 4 described above are each provided in the main body 2).
joint parts 3A, 4A, first leg parts 3B, 4B connected to the first joint parts 3A, 4A, and this first leg part 3B.
, a second joint 3C94C provided at the other end of 4B, and second legs 3D, 4 connected to the second joints 3C, 4C.
It is equipped with D. In order to drive these leg mechanisms 3, 4, actuators 3E, 4 are provided at first joints 3A, 4A and second joints; 3C94C, respectively.
1”:, 3)?.
４Ｆが設けられている。There are 4F.
次に、前述した脚歩行型の移動体１を誘導歩行させるた
めの構成を説明すると、前述したアクチュエータ３Ｅ、
３Ｆにはそれぞれ移動体１の歩行量を１１）るための歩
幅計数用の検出器５が設けられている。さらに移動体１
の本体２は移動体の自己の位置を予測するための情報を
提供する方位検出用のジャイロスコープ６および移動体
の前方の状況を画像情報として取り込むテレビカメラ７
とその方向変更手段７Ａを備えている。Next, the configuration for guiding the leg-walking moving object 1 described above to walk will be described. The aforementioned actuator 3E,
On the third floor, a detector 5 for counting stride length is provided to calculate the amount of walking of the moving body 1 (11). Furthermore, moving object 1
The main body 2 includes a gyroscope 6 for detecting direction, which provides information for predicting the position of the moving object, and a television camera 7, which captures the situation in front of the moving object as image information.
and a direction changing means 7A.
前述した移動体を歩行誘導する制御装置は、ジャイロス
コープ６および検出器５からの情報信号にもとづいて移
動体１の経路中の位置を検出する移動***置検出手段８
と、この移動***置検出手段８からの移動体１の位置に
もとづいてその位ＩＩ！Ｊから推定される環境の特徴推
定パターン、例えば建屋内の階段の平行線群、廊下と壁
との境界、窓等の線形状のパターンおよび建屋内径路ｆ
、＋ｆ報を記憶している記憶手段９と、テレビカメラ７
からの観Ｋｌｌ＋画像を同時に複数の特徴パターンに処
理すると共に、照合のために有効な特徴パターンを抽出
する画像処理手段１０と、この画像処理手段１０からの
有効な♂Ｍ観測特徴パターン前記記憶手段９からの予２
１１１＋特徴パターンとの一致性を検討する照合手段１
１と、この照合手段１１で得られた観測特徴パターンと
予測特徴パターンとの比較により。The above-mentioned control device for guiding the moving object in walking includes a moving object position detecting means 8 that detects the position of the moving object 1 on the route based on information signals from the gyroscope 6 and the detector 5.
Based on the position of the moving body 1 from the moving body position detecting means 8, the position II! Estimated environmental feature patterns estimated from J, such as parallel line groups of stairs in the building, boundaries between corridors and walls, line-shaped patterns such as windows, and paths in the building f
, +f-report storage means 9, and a television camera 7.
An image processing means 10 that simultaneously processes a Kll+ image into a plurality of feature patterns and extracts effective feature patterns for matching, and a storage means for storing effective ♂M observed feature patterns from this image processing means 10. Preliminary 2 from 9
111+ Matching means 1 for examining consistency with feature patterns
1, and by comparing the observed feature pattern obtained by this matching means 11 with the predicted feature pattern.
テレビカメラ７の方向を制御する信号を演算し、テレビ
カメラ７８方向変更手段７Ａに出力する視覚制御手段１
２と、移動体１における脚機構の歩幅を制御する誘導制
御手段１３とを備えている。Visual control means 1 that calculates a signal for controlling the direction of the television camera 7 and outputs it to the direction change means 7A of the television camera 78
2, and a guidance control means 13 for controlling the stride length of the leg mechanism in the mobile body 1.
前述した視覚制御手段１２の方向制御信号は上述のよう
にテレビカメラ７を目標経路に沿って移動させる。視覚
制御手段１２は位置誤差変換のための予測パターンと観
測パターンとを比較し、これらのパターン間に力学的モ
デルを導入し、これによって得られるダイナミックな位
置を推定する手法を採用しており、具体的には、予測パ
ターンとｍ！ ８１＋１パターンとの間に働くポテンシ
ャルφ＾の揚を演算するポテンシャ′ル揚演算手段１２
Ａと、このポテンシャルφ＾の場によって得られる観測
パターンの予測パターンに対する作用力ＦＢの勾配ベク
トルを演算する作用力演算手段１２Ｂとを備えている。The direction control signal from the visual control means 12 described above causes the television camera 7 to move along the target path as described above. The visual control means 12 employs a method of comparing a predicted pattern and an observed pattern for position error conversion, introducing a dynamic model between these patterns, and estimating the dynamic position obtained by this, Specifically, the predicted pattern and m! Potential lift calculation means 12 for calculating the lift of the potential φ^ acting between the 81+1 pattern
A, and acting force calculating means 12B for calculating the gradient vector of the acting force FB for the predicted pattern of the observed pattern obtained by the field of this potential φ^.
これらの演算手段１２Ａ、１２Ｂの演算内容は、特開昭
６０−２１７４１３号公報に開示されているので、その
詳細な説明は省略する。The calculation contents of these calculation means 12A and 12B are disclosed in Japanese Patent Application Laid-Open No. 60-217413, so a detailed explanation thereof will be omitted.
視覚制御手段１２は前述したようにテレビカメラ７の方
向を制−御する。The visual control means 12 controls the direction of the television camera 7 as described above.
また、誘導制御手段１３は１テレビカメラ７の方向制御
信号にもとづいて移動体１の脚機構にその歩幅を制御す
る信号を出力する。すなわち誘導制御手段１３は視覚制
御手段の出力所謂テレビカメラ７の移動方向に対して次
の表１に示すように移動体１の脚歩幅制御操作を行なう
。Further, the guidance control means 13 outputs a signal for controlling the stride length of the leg mechanism of the moving object 1 based on the direction control signal from the television camera 7. That is, the guidance control means 13 performs a leg step control operation of the moving object 1 as shown in Table 1 below with respect to the output of the visual control means, so-called moving direction of the television camera 7.
表 １
前述した。ｖｌ導制御手段１３は例えば視覚制御手段１
２からの視覚制御信号にもとづき、予め記憶した加速あ
るいは減速のための歩幅を得る関節部の関節角指令値を
順次出力することにより１脚歩幅を制御することができ
る。Table 1 As mentioned above. The vl guidance control means 13 is, for example, the visual control means 1.
Based on the visual control signal from 2, the monopod stride length can be controlled by sequentially outputting joint angle command values for the joints that obtain pre-stored stride lengths for acceleration or deceleration.
次に前述した本発明の装置の実施例によって移動体を歩
行制御させるための動作を説明する。Next, the operation for controlling the walking of a mobile object using the embodiment of the device of the present invention described above will be explained.
いま、第１図に示す移１Ｐｌｒ体１はその前方にある建
屋内の通路に沿って移動する場合を設定する。Now, a case is set in which the transport 1Plr body 1 shown in FIG. 1 moves along a passage in a building in front of it.
このとき、テレビカメラ７はその階段を撮影し。At this time, the television camera 7 photographs the stairs.
その画像信号を画像処理手段に出力する。画像処理手段
１０は画像信号を複数の特徴パターンに処理すると共に
、照合のために有効な特徴パターンを抽出する。一方、
ジャイロスコープ６および検出器５からの情報信号は移
動***置検出手段８に出力される。これにより、移動体
位置検出手段８は、移動体１の現在の位置および方向を
求める。The image signal is output to image processing means. The image processing means 10 processes the image signal into a plurality of characteristic patterns, and extracts characteristic patterns effective for verification. on the other hand,
Information signals from the gyroscope 6 and the detector 5 are output to the moving object position detection means 8. Thereby, the moving body position detecting means 8 determines the current position and direction of the moving body 1.
次に記憶手段９は移動***ｉｉ検出手段８からの移動体
１の位置情報にもとづいてその位ｉ４から推定される１
２境の特徴推定パターン、例えば建屋内の階段の平行線
群、廊下と壁との境界、窓等の線形状のパターンを選択
する。この特徴推定パターンは照合手段１１に出力され
る。照合手段１１は特徴推定パターンと前述した観測特
徴パターンとの一致性を比較検討する。この比較検討結
果は視覚制御手段１２に出力される。視覚制御手段１２
は前述した特徴推定パターンと７３１８１１１特徴パタ
ーンとノ比較結果にもとづいてテレビカメラ７の設定方
向に対する移動ずれ量を求め、このずれｔを補正する方
向制御信号をテレビカメラ７の方向変更手段７Ａに出力
するとともに、誘導制御手段１：′３にも出力する。こ
れにより、テレビカメラ７の方向変更手段７Ａはテレビ
カメラ７を所定の経路に沿ってその方向を制御する。一
方、前述のように方向制御信号を人力した誘導制御手段
１３は、テレビカメラ７の移動方向に対して前述した表
１に示す脚歩幅の制御を行う。Next, the storage means 9 stores 1 which is estimated from the position i4 based on the position information of the mobile body 1 from the mobile body position ii detection means 8.
A feature estimation pattern between two boundaries is selected, for example, a line-shaped pattern such as a group of parallel lines of stairs in a building, a boundary between a corridor and a wall, or a window. This feature estimation pattern is output to the matching means 11. The matching means 11 compares and examines the consistency between the estimated feature pattern and the observed feature pattern described above. The results of this comparison are output to the visual control means 12. Visual control means 12
calculates the displacement amount of the television camera 7 with respect to the set direction based on the comparison result between the above-mentioned feature estimation pattern and the 7318111 characteristic pattern, and outputs a direction control signal for correcting this displacement t to the direction changing means 7A of the television camera 7. At the same time, it is also output to the guidance control means 1:'3. Thereby, the direction changing means 7A of the television camera 7 controls the direction of the television camera 7 along a predetermined path. On the other hand, the guidance control means 13, which manually receives the direction control signal as described above, controls the leg stride length shown in Table 1 above with respect to the moving direction of the television camera 7.
これにより、移動体を目標方向に安定に歩行させること
ができる。Thereby, the moving object can be stably walked in the target direction.
本発明によれば、特徴推定パターンとｆｆｌ ？ｌｌｌ
＋特徴パターンとのずれ情報を用いて歩行型移動体を歩
行制御し得るので、歩行型移動体特有の姿勢の大幅な変
化に対しても、移動体を目標方向に向って迅速に歩行？
Ａ導させることができる。According to the present invention, the feature estimation pattern and ffl? lll
+ Since it is possible to control the gait of a walking moving object using the information on the deviation from the characteristic pattern, the moving object can quickly walk toward the target direction even when the posture of a walking moving object is significantly changed.
A can be guided.
図面は本発明の誘導装置の一実施例の構成を示す図であ
る。
１・・・移動体、２・・・本体、３，４・・・脚腰構、
３Ｅ。
４Ｅ、３Ｆ、４Ｆ・・・アクチュエータ、５・・・検出
器、６・・・ジャイロスコープ、７・・・テレビカメラ
、７Ａ・・・テレビカメラ方向変更手段、８・・・移動
***置検出手段、９・・・記憶手段、１０・・・画像処
理手段、１１・・・照合手段、１２・・・腕立制御手段
、１３・・・誘導制御手段。
特許出願人 工業技術院長 飯塚 十三１９．移動外
ｔ・−じ等Ａロスコ−７゜The drawing is a diagram showing the configuration of an embodiment of the guidance device of the present invention. 1... Moving body, 2... Main body, 3, 4... Leg and waist structure,
3E. 4E, 3F, 4F...Actuator, 5...Detector, 6...Gyroscope, 7...Television camera, 7A...Television camera direction changing means, 8...Moving body position detection means , 9... Storage means, 10... Image processing means, 11... Collation means, 12... Push-up control means, 13... Guidance control means. Patent applicant: Director of the Agency of Industrial Science and Technology Juzo Iizuka 19. Moving outside t-ji etc.A Roscoe-7゜
Claims (1)
置において、前記移動体の周囲の実環境を観測する視覚
手段と、前記移動体の経路移動を検出する経路移動検出
手段と、前記移動体の位置情報に関連する予測パターン
を記憶する予測パターン記憶手段と、前記視覚手段から
の実画像から観測特徴パターンを抽出する画像処理手段
と、前記経路移動検出手段によつて記憶装置から得られ
る予測パターンと画像処理手段からの観測特徴パターン
とを比較してずれを補正するように、前記視覚手段の方
向を制御する視覚制御手段と、前記視覚制御手段からの
視覚手段の方向制御信号にもとづいて移動体の歩幅を制
御する信号を移動体に出力する誘導制御手段とを備えた
ことを特徴とする誘導装置。1. A device for guiding a leg-walking moving body along a predetermined route, comprising: visual means for observing the actual environment around the moving body; and route movement detection means for detecting the route movement of the moving body; a predicted pattern storage means for storing a predicted pattern related to the position information of the moving body; an image processing means for extracting an observed feature pattern from the actual image from the visual means; visual control means for controlling the direction of the visual means so as to compare the obtained predicted pattern with the observed feature pattern from the image processing means and correct the deviation; and a direction control signal for the visual means from the visual control means. 1. A guidance device comprising: guidance control means for outputting a signal to a moving object to control the step length of the moving object based on the speed of the moving object.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63143631A JPH023582A (en) | 1988-06-13 | 1988-06-13 | Guide of walking leg type movable body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63143631A JPH023582A (en) | 1988-06-13 | 1988-06-13 | Guide of walking leg type movable body |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH023582A true JPH023582A (en) | 1990-01-09 |
Family
ID=15343248
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP63143631A Pending JPH023582A (en) | 1988-06-13 | 1988-06-13 | Guide of walking leg type movable body |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH023582A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109048961A (en) * | 2018-09-19 | 2018-12-21 | 哈尔滨工业大学 | It can swing and grasp the climbing truss robot and its control method of remote truss rod |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5227197A (en) * | 1975-08-28 | 1977-03-01 | Nippon Hakuyo Kiki Kaihatsu Kyokai | Device for automatically operating underwater walking machine |
| JPS60217413A (en) * | 1984-04-13 | 1985-10-31 | Hitachi Ltd | Guiding device |
| JPS6297005A (en) * | 1985-10-23 | 1987-05-06 | Hitachi Ltd | Controller for articulated robot |
| JPS63134912A (en) * | 1986-11-27 | 1988-06-07 | Shinko Electric Co Ltd | Detecting method for position of moving robot |
-
1988
- 1988-06-13 JP JP63143631A patent/JPH023582A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5227197A (en) * | 1975-08-28 | 1977-03-01 | Nippon Hakuyo Kiki Kaihatsu Kyokai | Device for automatically operating underwater walking machine |
| JPS60217413A (en) * | 1984-04-13 | 1985-10-31 | Hitachi Ltd | Guiding device |
| JPS6297005A (en) * | 1985-10-23 | 1987-05-06 | Hitachi Ltd | Controller for articulated robot |
| JPS63134912A (en) * | 1986-11-27 | 1988-06-07 | Shinko Electric Co Ltd | Detecting method for position of moving robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109048961A (en) * | 2018-09-19 | 2018-12-21 | 哈尔滨工业大学 | It can swing and grasp the climbing truss robot and its control method of remote truss rod |
| CN109048961B (en) * | 2018-09-19 | 2021-10-01 | 哈尔滨工业大学 | Truss climbing robot capable of swinging and grabbing remote truss rod and control method thereof |
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