JPH1165662A - Method for controlling unmanned traveling vehicle and device thereof - Google Patents
Method for controlling unmanned traveling vehicle and device thereofInfo
- Publication number
- JPH1165662A JPH1165662A JP9216229A JP21622997A JPH1165662A JP H1165662 A JPH1165662 A JP H1165662A JP 9216229 A JP9216229 A JP 9216229A JP 21622997 A JP21622997 A JP 21622997A JP H1165662 A JPH1165662 A JP H1165662A
- Authority
- JP
- Japan
- Prior art keywords
- steering angle
- speed
- wheels
- master
- wheel
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000001514 detection method Methods 0.000 claims description 38
- 238000010586 diagram Methods 0.000 description 10
- 230000004044 response Effects 0.000 description 6
- 238000004364 calculation method Methods 0.000 description 4
- 230000004043 responsiveness Effects 0.000 description 1
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は，それぞれ独立して
速度及び操舵角の制御が可能な２つのマスタ輪と，それ
ぞれ独立して速度及び操舵角の制御が可能な１つ以上の
スレーブ輪とを有する無人走行車を，所定の走行経路に
沿って走行させる無人走行車の制御方法及びその装置に
関するものである。BACKGROUND OF THE INVENTION The present invention relates to two master wheels capable of independently controlling the speed and the steering angle, and one or more slave wheels capable of independently controlling the speed and the steering angle. The present invention relates to a method and an apparatus for controlling an unmanned traveling vehicle that causes an unmanned traveling vehicle having a vehicle to travel along a predetermined traveling route.
【０００２】[0002]
【従来の技術】例えば，図６に示すような，それぞれ独
立して速度及び操舵角の制御が可能な３つ以上の車輪Ｗ
（図６ではＷ１〜Ｗ３の３つ）を有する無人走行車Ｂ０
を，所定の走行経路に沿って走行させる場合，従来は，
上記各車輪Ｗ１〜Ｗ３の操舵角α１〜α３及び速度Ｖ１
〜Ｖ３に基づいて車体Ｂ０の位置・姿勢・進行方向を推
定し，該推定値と，予め記憶されている上記所定の走行
経路情報との偏差を小さくするように，各車輪Ｗ１〜Ｗ
３の操舵角α１〜α３及び速度Ｖ１〜Ｖ３を制御してい
た。その際，上記車体Ｂ０の位置・姿勢・進行方向の推
定値は，車輪Ｗ１〜Ｗ３の軸線の交点として求められた
車体の回転中心位置Ｃ，各車輪Ｗ１〜Ｗ３の速度Ｖ１〜
Ｖ３，及び前回得られた車体の位置・姿勢・進行方向の
値から求められていた。また，各車輪の操舵角及び速度
を制御する際には，各車輪の軸線が，車体の目標回転中
心位置Ｃ′を通るように各車輪の操舵角α１〜α３が制
御され，上記目標回転中心位置Ｃ′から各車輪Ｗ１〜Ｗ
３までの距離に応じて各車輪の速度Ｖ１〜Ｖ３が制御さ
れていた。2. Description of the Related Art For example, as shown in FIG. 6, three or more wheels W each capable of independently controlling a speed and a steering angle.
(In FIG. 6, three of W1 to W3).
When traveling along a predetermined traveling route, conventionally,
The steering angles α1 to α3 and the speed V1 of the respective wheels W1 to W3
Estimate the position, attitude, and traveling direction of the vehicle body B0 on the basis of V1 to V3, and reduce the deviation between the estimated value and the predetermined traveling route information stored in advance so as to reduce the deviation.
The three steering angles α1 to α3 and the velocities V1 to V3 were controlled. At this time, the estimated values of the position, posture, and traveling direction of the vehicle body B0 are determined by the rotation center position C of the vehicle body determined as the intersection of the axes of the wheels W1 to W3, and the speeds V1 to V3 of the wheels W1 to W3.
V3 and the values of the position, attitude, and traveling direction of the vehicle body obtained last time. When controlling the steering angle and speed of each wheel, the steering angles α1 to α3 of each wheel are controlled so that the axis of each wheel passes through the target rotation center position C ′ of the vehicle body. Each wheel W1 to W from position C '
The speeds V1 to V3 of the respective wheels are controlled according to the distance up to 3.
【０００３】[0003]
【発明が解決しようとする課題】ところで，車体Ｂ０が
進行方向を変えながら走行している場合には，車体Ｂ０
は必ずある点を回転中心として走行するため，上述のよ
うに，上記各車輪Ｗ１〜Ｗ３は原則としてその軸線が一
点（上記回転中心）で交差するようにそれぞれの操舵角
α１〜α３が制御される。しかしながら，各車輪の操舵
モータの応答性の違いや外乱などにより，上記各車輪Ｗ
１〜Ｗ３の軸線が一点で交わらない場合には（図７参
照），全車輪の交点の平均位置を車体の回転中心と推定
して車体の位置・姿勢・進行方向が推定される。ところ
が，上記各車輪の操舵モータの応答性の違いや外乱など
が大きく，各車輪の軸線の交点のズレが大きくなると，
車輪同士の進行方向が大きく干渉し，各車輪のモータや
車軸に過負荷がかかったり，車体が振動するなどの不具
合が発生する場合があった。本発明は上記事情に鑑みて
なされたものであり，その目的とするところは，それぞ
れ独立して速度及び操舵角の制御が可能な２つのマスタ
輪と，それぞれ独立して速度及び操舵角の制御が可能な
１つ以上のスレーブ輪とを有する無人走行車において，
各車輪同士の干渉を最小限に抑えることが可能な無人走
行車の制御方法及びその装置を提供することである。By the way, when the vehicle body B0 is traveling while changing its traveling direction, the vehicle body B0
Since the vehicle always travels around a certain point as the center of rotation, as described above, the steering angles α1 to α3 of the wheels W1 to W3 are controlled such that their axes intersect at one point (the center of rotation) in principle. You. However, due to differences in the responsiveness of the steering motor of each wheel and disturbances, the above-mentioned wheel W
If the axes 1 to W3 do not intersect at one point (see FIG. 7), the average position of the intersection of all the wheels is estimated as the rotation center of the vehicle body, and the position, attitude, and traveling direction of the vehicle body are estimated. However, if the difference in the response of the steering motor of each wheel or disturbance is large, and the deviation of the intersection of the axis of each wheel becomes large,
In some cases, the traveling directions of the wheels greatly interfere with each other, causing problems such as overloading the motor and axle of each wheel and vibration of the vehicle body. The present invention has been made in view of the above circumstances, and has as its object to control two master wheels capable of independently controlling the speed and the steering angle, and independently controlling the speed and the steering angle. In an unmanned vehicle with one or more slave wheels capable of
An object of the present invention is to provide an unmanned traveling vehicle control method and apparatus capable of minimizing interference between wheels.
【０００４】[0004]
【課題を解決するための手段】上記目的を達成するため
に本発明の方法は，それぞれ独立して速度及び操舵角の
制御が可能な２つのマスタ輪と，それぞれ独立して速度
及び操舵角の制御が可能な１つ以上のスレーブ輪とを有
する無人走行車を，所定の走行経路に沿って走行させる
無人走行車の制御方法において，上記２つのマスタ輪の
操舵角を検出する操舵角検出工程と，上記操舵角検出工
程で検出された上記マスタ輪の操舵角に基づいて，上記
スレーブ輪の操舵角を制御するスレーブ輪制御工程と，
上記２つのマスタ輪の速度を検出する速度検出工程と，
上記操舵角検出工程及び上記速度検出工程で検出された
上記両マスタ輪の速度及び操舵角に基づいて，車体の走
行軌跡を推定する推定工程と，上記推定工程で推定され
た車体の走行軌跡と上記所定の走行経路とに基づいて，
上記マスタ輪の速度及び操舵角を制御する走行制御工程
とを具備し，上記スレーブ輪制御工程において，上記操
舵角検出工程で検出された上記両マスタ輪の操舵角よ
り，該両マスタ輪の軸線の交点を求め，上記スレーブ輪
の軸線が上記交点を通るように上記スレーブ輪の操舵角
を制御すると共に，上記操舵角検出工程及び上記速度検
出工程で検出された上記マスタ輪の速度及び操舵角に基
づいて，上記スレーブ輪の速度を制御することを特徴と
する無人走行車の制御方法として構成されている。ま
た，上記スレーブ輪制御工程は，例えば上記操舵角検出
工程で検出された上記両マスタ輪の操舵角より該両マス
タ輪の軸線の交点を求め，上記速度検出工程で検出され
た上記両マスタ輪の速度と，上記交点から各車輪までの
距離の比とを用いて，上記スレーブ輪の速度を制御する
ように構成できる。更に，上記推定工程は，例えば上記
両マスタ輪の軸線の交点より車体の回転中心位置を求
め，上記回転中心位置と上記両マスタ輪との距離，及び
上記両マスタ輪の速度を用いて，車体座標系における車
体の並進速度，回転速度，及び進行方向を求め，上記車
体座標系における車体の並進速度，回転速度，及び進行
方向と，前回の制御時における車体の推定位置・姿勢・
進行方向とに基づいて，現在の車体の推定位置・姿勢・
進行方向を求めるように構成できる。In order to achieve the above object, the method of the present invention comprises two master wheels, each of which can independently control the speed and the steering angle, and each of which independently controls the speed and the steering angle. A steering angle detecting step of detecting a steering angle of the two master wheels in a method of controlling an unmanned traveling vehicle having at least one controllable slave wheel along a predetermined traveling route; A slave wheel control step of controlling the steering angle of the slave wheel based on the steering angle of the master wheel detected in the steering angle detection step;
A speed detecting step of detecting the speed of the two master wheels;
An estimating step of estimating a traveling locus of the vehicle body based on the speed and the steering angle of the two master wheels detected in the steering angle detecting step and the speed detecting step; Based on the predetermined traveling route,
A traveling control step of controlling the speed and the steering angle of the master wheel, wherein in the slave wheel control step, the axes of the master wheels are determined based on the steering angles of the master wheels detected in the steering angle detection step. The steering angle of the slave wheel is controlled so that the axis of the slave wheel passes through the intersection, and the speed and steering angle of the master wheel detected in the steering angle detecting step and the speed detecting step are obtained. Based on the above, the speed of the slave wheel is controlled, and the method is configured as a control method of an unmanned traveling vehicle. In the slave wheel control step, for example, an intersection of the axes of the master wheels is obtained from the steering angles of the master wheels detected in the steering angle detection step, and the master wheels detected in the speed detection step are determined. The speed of the slave wheel can be controlled using the speed of the vehicle and the ratio of the distance from the intersection to each wheel. Further, in the estimating step, for example, a rotation center position of the vehicle body is obtained from an intersection of the axes of the two master wheels, and a distance between the rotation center position and the two master wheels and a speed of the two master wheels are used. The translation speed, rotation speed, and traveling direction of the vehicle body in the coordinate system are determined, and the translation speed, rotation speed, and traveling direction of the vehicle body in the vehicle body coordinate system, and the estimated position, posture, and
Based on the traveling direction, the current estimated position, posture,
It can be configured to determine the traveling direction.
【０００５】また，上記目的を達成するために本発明の
装置は，それぞれ独立して速度及び操舵角の制御が可能
な２つのマスタ輪と，それぞれ独立して速度及び操舵角
の制御が可能な１つ以上のスレーブ輪とを有する無人走
行車を，所定の走行経路に沿って走行させる無人走行車
の制御装置において，上記所定の走行経路の情報が予め
記憶された地図情報記憶手段と，上記２つのマスタ輪の
操舵角を検出する操舵角検出手段と，上記操舵角検出手
段で検出された上記両マスタ輪の操舵角に基づいて，上
記スレーブ輪の操舵角を制御するスレーブ輪制御手段
と，上記２つのマスタ輪の速度を検出する速度検出手段
と，上記操舵角検出手段及び上記速度検出手段で検出さ
れた上記両マスタ輪の速度及び操舵角に基づいて，車体
の走行軌跡を推定する推定手段と，上記推定手段で推定
された車体の走行軌跡と上記地図情報記憶手段に記憶さ
れた上記所定の走行経路とに基づいて，上記マスタ輪の
速度及び操舵角を制御する走行制御手段とを具備し，上
記スレーブ輪制御手段が，上記操舵角検出手段で検出さ
れた上記両マスタ輪の操舵角より，該両マスタ輪の軸線
の交点を求め，上記スレーブ輪の軸線が上記交点を通る
ように上記スレーブ輪の操舵角を制御すると共に，上記
操舵角検出手段及び上記速度検出手段で検出された上記
両マスタ輪の速度及び操舵角に基づいて，上記スレーブ
輪の速度を制御することを特徴とする無人走行車の制御
装置として構成されている。In order to achieve the above object, the apparatus of the present invention comprises two master wheels capable of independently controlling the speed and the steering angle, and capable of independently controlling the speed and the steering angle. An unmanned traveling vehicle control device for causing an unmanned traveling vehicle having one or more slave wheels to travel along a predetermined traveling route; a map information storage means in which information on the predetermined traveling route is stored in advance; Steering angle detecting means for detecting the steering angles of the two master wheels; slave wheel control means for controlling the steering angles of the slave wheels based on the steering angles of the two master wheels detected by the steering angle detecting means; A speed detecting means for detecting the speeds of the two master wheels, and a traveling locus of the vehicle body is estimated based on the steering angle detecting means and the speeds and the steering angles of the two master wheels detected by the speed detecting means. Estimating means, traveling control means for controlling a speed and a steering angle of the master wheel based on the traveling locus of the vehicle body estimated by the estimating means and the predetermined traveling route stored in the map information storage means. Wherein the slave wheel control means determines an intersection of the axes of the master wheels from the steering angles of the master wheels detected by the steering angle detection means, and the axis of the slave wheels passes through the intersection. Controlling the steering angle of the slave wheel as described above, and controlling the speed of the slave wheel based on the speed and the steering angle of both master wheels detected by the steering angle detecting means and the speed detecting means. It is configured as a control device for an unmanned traveling vehicle.
【０００６】[0006]
【作用】本発明に係る無人走行車の制御装置では，無人
走行車の走行中，まず操舵角検出手段及び速度検出手段
により，両マスタ輪の操舵角及び移動速度が検出され
る。そして，スレーブ輪制御手段により，上記両マスタ
輪の操舵角の実測値に基づいて，スレーブ輪の操舵角が
制御される。その方法としては，例えば上記操舵角検出
手段で検出された上記両マスタ輪の操舵角より該両マス
タ輪の軸線の交点が求められ，スレーブ輪の軸線が上記
交点を通るように上記スレーブ輪の操舵角が制御され
る。また，スレーブ輪の移動速度は，上記両マスタ輪の
操舵角及び移動速度の実測値に基づいて制御される。そ
の方法としては，例えば上記操舵角検出手段で検出され
た両マスタ輪の操舵角より該両マスタ輪の軸線の交点が
求められ，上記速度検出手段で検出された両マスタ輪の
速度と，上記交点から各車輪までの距離の比とを用い
て，スレーブ輪の速度が制御される。このように，スレ
ーブ輪の操舵角及び移動速度が，両マスタ輪の操舵角及
び移動速度の実測値に基づいて制御されるため，従来の
制御装置のように各車輪の軸線の交点がズレて車輪同士
の進行方向の干渉が大きくなり，各車輪のモータや車軸
に過負荷がかかったり車体が振動するなどの不具合が防
止される。In the control device for an unmanned traveling vehicle according to the present invention, during traveling of the unmanned traveling vehicle, first, the steering angle and the moving speed of both master wheels are detected by the steering angle detecting means and the speed detecting means. Then, the slave wheel control means controls the steering angles of the slave wheels based on the measured values of the steering angles of both master wheels. For example, the intersection of the axes of the master wheels is obtained from the steering angles of the master wheels detected by the steering angle detection means, and the axis of the slave wheels passes through the intersection so that the axis of the slave wheels passes through the intersection. The steering angle is controlled. The moving speed of the slave wheels is controlled based on the measured values of the steering angle and the moving speed of the master wheels. For example, the intersection of the axes of the two master wheels is obtained from the steering angles of the two master wheels detected by the steering angle detecting means, and the speeds of the two master wheels detected by the speed detecting means are calculated. The speed of the slave wheel is controlled using the ratio of the distance from the intersection to each wheel. As described above, since the steering angle and the moving speed of the slave wheels are controlled based on the measured values of the steering angle and the moving speed of both master wheels, the intersection of the axis of each wheel is shifted as in the conventional control device. Interference in the traveling direction between the wheels is increased, and problems such as overloading the motor and axle of each wheel and vibration of the vehicle body are prevented.
【０００７】続いて，推定手段により，上記操舵角検出
手段及び速度検出手段で検出された両マスタ輪の操舵角
及び移動速度に基づいて，車体の走行軌跡，例えば現在
の位置・姿勢・進行方向が推定される。その方法として
は，例えば上記両マスタ輪の軸線の交点より車体の回転
中心位置が求められ，上記回転中心位置と上記両マスタ
輪との距離，及び上記両マスタ輪の速度を用いて，車体
座標系における車体の並進速度，回転速度，及び進行方
向が求められ，上記車体座標系における車体の並進速
度，回転速度，及び進行方向と，前回の制御時における
車体の推定位置・姿勢・進行方向とに基づいて，現在の
車体の推定位置・姿勢・進行方向が求められる。続い
て，マスタ輪制御手段により，地図情報記憶手段に予め
記憶された走行経路上での車体の位置・進行方向・姿勢
と，上記推定手段で推定された車体の現在の位置・進行
方向・姿勢との偏差を小さくするように両マスタ輪の速
度及び操舵角が制御される。このように，２つのマスタ
輪のみを用いて車体の現在の位置・姿勢・進行方向が推
定され，更に所定の走行経路に近付ける制御についても
上記２つのマスタ輪に対して行われるため，上記従来の
制御装置のように各車輪の操舵モータの応答性の違いや
外乱などが大きくなっても，車体の回転中心は必ず１点
に決められ，正確な推定が行える。Then, based on the steering angle and the moving speed of the two master wheels detected by the steering angle detecting means and the speed detecting means, the estimating means calculates the traveling locus of the vehicle body, for example, the current position, attitude, and traveling direction. Is estimated. For example, the position of the center of rotation of the vehicle body is determined from the intersection of the axes of the two master wheels, and the distance between the center of rotation and the two master wheels and the speed of the two master wheels are used to calculate the body coordinates. The translation speed, rotation speed, and traveling direction of the vehicle body in the coordinate system are obtained, and the translation speed, rotation speed, and traveling direction of the vehicle body in the vehicle body coordinate system, and the estimated position, attitude, and traveling direction of the vehicle body at the time of the previous control are obtained. , The current estimated position, posture, and traveling direction of the vehicle body are obtained. Subsequently, the master wheel control means controls the position, traveling direction, and attitude of the vehicle body on the traveling route stored in the map information storage means, and the current position, traveling direction, and attitude of the vehicle body estimated by the estimating means. The speed and the steering angle of both master wheels are controlled so as to reduce the deviation from. As described above, the current position, posture, and traveling direction of the vehicle body are estimated using only the two master wheels, and control for approaching a predetermined traveling route is also performed on the two master wheels. Even if the response of the steering motor of each wheel is different or disturbance is large as in the control device of the above, the rotation center of the vehicle body is always determined to be one point and accurate estimation can be performed.
【０００８】[0008]
【発明の実施の形態】以下添付図面を参照して，本発明
の実施の形態及び実施例につき説明し，本発明の理解に
供する。尚，以下の実施の形態及び実施例は本発明を具
体化した一例であって，本発明の技術的範囲を限定する
性格のものではない。ここに，図１は本発明の実施の形
態に係る無人走行車の制御装置Ａ１の概略構成を示す模
式図，図２は本発明の実施の形態に係る無人走行車の制
御方法の概略処理手順を示すフローチャート，図３は上
記制御装置Ａ１による無人走行車Ｂ１の制御手順の説明
図，図４は上記制御装置Ａ１による無人走行車Ｂ１の制
御手順の説明図，図５は無人走行車Ｂ１の推定位置の算
出方法の説明図である。本実施の形態において制御対象
とする無人走行車Ｂ１は，図３に示すように，３つの車
輪Ｗ１〜Ｗ３を有している。これら３つの車輪Ｗ１〜Ｗ
３にはそれぞれ図示しない操舵モータと駆動モータとが
接続されており，それぞれ独立して速度及び操舵角の制
御が可能である。また，上記３つの車輪Ｗ１〜Ｗ３のう
ち，Ｗ１とＷ２をマスタ輪，Ｗ３をスレーブ輪とする。
上記無人走行車Ｂ１の走行制御を行う制御装置Ａ１は，
図１に示すように，無人走行車Ｂ１のマスタ輪Ｗ１，Ｗ
２の操舵角検出センサ１，３と，マスタ輪Ｗ１，Ｗ２の
移動速度検出センサ２，４と，上記各検出センサ１〜４
に接続されたスレーブ輪制御部５と，上記各検出センサ
１〜４に接続された推定部６と，地図情報記憶部７と，
上記推定部６及び上記地図情報記憶部７に接続されたマ
スタ輪制御部８と，上記マスタ輪制御部８に接続された
マスタ輪Ｗ１，Ｗ２の操舵モータコントローラ９，１
１，及びマスタ輪Ｗ１，Ｗ２の駆動モータコントローラ
１０，１２と，上記スレーブ輪制御部５に接続されたス
レーブ輪Ｗ３の操舵モータコントローラ１３及び駆動モ
ータコントローラ１４とで構成されている。上記マスタ
輪Ｗ１，Ｗ２の操舵角検出センサ１，３はそれぞれマス
タ輪Ｗ１，Ｗ２の操舵角を検出し，マスタ輪Ｗ１，Ｗ２
の移動速度検出センサ２，４はそれぞれマスタ輪Ｗ１，
Ｗ２の移動速度を検出する。上記スレーブ輪制御部５
は，上記検出センサ１〜４で検出された両マスタ輪の操
舵角及び移動速度に基づいて，スレーブ輪Ｗ３の操舵角
及び移動速度を求め，上記スレーブ輪Ｗ３の操舵モータ
コントローラ１３及び駆動モータコントローラ１４に操
舵角及び移動速度の変更を指示する。上記推定部６は，
上記検出センサ１〜４で検出された両マスタ輪の操舵角
及び移動速度に基づいて，車体Ｂ１の現在の位置・姿勢
・進行方向を推定する。上記マスタ輪制御部８では，上
記地図情報記憶部７に予め記憶されている車体Ｂ１の走
行経路情報と，上記推定部６で推定された車体Ｂ１の現
在の位置・姿勢・進行方向との偏差を小さくするような
両マスタ輪Ｗ１，Ｗ２の速度及び操舵角を求め，上記マ
スタ輪Ｗ１，Ｗ２の操舵モータコントローラ９，１１及
び駆動モータコントローラ１０，１２に操舵角及び移動
速度の変更を指示する。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments and examples of the present invention will be described below with reference to the accompanying drawings to facilitate understanding of the present invention. The following embodiments and examples are mere examples embodying the present invention, and do not limit the technical scope of the present invention. Here, FIG. 1 is a schematic diagram showing a schematic configuration of an unmanned traveling vehicle control device A1 according to an embodiment of the present invention, and FIG. 2 is a schematic processing procedure of an unmanned traveling vehicle control method according to an embodiment of the present invention. 3 is an explanatory diagram of a control procedure of the unmanned traveling vehicle B1 by the control device A1, FIG. 4 is an explanatory diagram of a control procedure of the unmanned traveling vehicle B1 by the control device A1, and FIG. FIG. 4 is an explanatory diagram of a calculation method of an estimated position. The unmanned traveling vehicle B1 to be controlled in the present embodiment has three wheels W1 to W3 as shown in FIG. These three wheels W1 to W
A steering motor and a drive motor (not shown) are connected to each of the motors 3, and the speed and the steering angle can be independently controlled. Of the three wheels W1 to W3, W1 and W2 are master wheels, and W3 is a slave wheel.
The control device A1 for controlling the traveling of the unmanned traveling vehicle B1 includes:
As shown in FIG. 1, the master wheels W1, W of the unmanned traveling vehicle B1
2, the steering angle detection sensors 1 and 3, the moving speed detection sensors 2 and 4 for the master wheels W1 and W2, and the above detection sensors 1 to 4
, A estimation unit 6 connected to each of the detection sensors 1 to 4, a map information storage unit 7,
A master wheel control unit 8 connected to the estimating unit 6 and the map information storage unit 7, and a steering motor controller 9, 1 for the master wheels W1, W2 connected to the master wheel control unit 8.
1 and the drive motor controllers 10 and 12 for the master wheels W1 and W2, and the steering motor controller 13 and the drive motor controller 14 for the slave wheel W3 connected to the slave wheel control unit 5. The steering angle detection sensors 1 and 3 for the master wheels W1 and W2 detect the steering angles of the master wheels W1 and W2, respectively.
The moving speed detection sensors 2 and 4 of the master wheel W1,
The moving speed of W2 is detected. Slave wheel controller 5
Calculates the steering angle and the moving speed of the slave wheel W3 based on the steering angle and the moving speed of both master wheels detected by the detection sensors 1 to 4, and calculates the steering motor controller 13 and the drive motor controller of the slave wheel W3. 14 is instructed to change the steering angle and the moving speed. The estimating unit 6
The current position, posture, and traveling direction of the vehicle body B1 are estimated based on the steering angles and moving speeds of both master wheels detected by the detection sensors 1 to 4. The master wheel control unit 8 calculates a deviation between the traveling route information of the vehicle body B1 stored in the map information storage unit 7 in advance and the current position, posture, and traveling direction of the vehicle body B1 estimated by the estimation unit 6. The speed and the steering angle of both master wheels W1 and W2 are determined so as to reduce the steering angle. .
【０００９】以下，上記制御装置Ａ１による無人走行車
Ｂ１の制御動作について，図２に示すフローチャート，
及び図３，図４に示す説明図を用いて詳述する。無人走
行車Ｂ１の走行中，まず上記両マスタ輪Ｗ１，Ｗ２の操
舵角，移動速度検出センサ１〜４により，両マスタ輪の
操舵角α1 ，α2 及び移動速度Ｖ1 ，Ｖ 2 が検出される
（ステップＳ１）。続いて，スレーブ輪制御部５は，上
記各検出センサ１〜４で検出された両マスタ輪の操舵角
及び移動速度に基づいて，以下のようにスレーブ輪Ｗ３
の操舵角及び移動速度を求める（ステップＳ２）。図３
に示すように，車体中心を原点とする車体座標系におけ
る上記両マスタ輪の操舵角α1 ，α2 ，及び座標値（Ｘ
1 ，Ｙ1 ），（Ｘ2 ，Ｙ2 ）を用いて，車体の回転中心
座標（Ｘp ，Ｙp ）を上記車体座標系で表すと次のよう
になる。Hereinafter, an unmanned traveling vehicle using the control device A1 will be described.
The control operation of B1 is shown in the flowchart of FIG.
This will be described in detail with reference to FIGS. Unmanned running
During traveling of the traveling vehicle B1, first, the operation of the two master wheels W1 and W2 is performed.
The steering angle and moving speed detection sensors 1 to 4
Steering angle α1, ΑTwoAnd moving speed V1, V TwoIs detected
(Step S1). Subsequently, the slave wheel control unit 5
The steering angles of both master wheels detected by the respective detection sensors 1 to 4
And the slave wheel W3 based on the
Then, the steering angle and the moving speed are obtained (step S2). FIG.
As shown in the figure, in the body coordinate system with the body center as the origin,
Steering angle α of both master wheels1, ΑTwo, And coordinate values (X
1, Y1), (XTwo, YTwo), The center of rotation of the vehicle body
Coordinates (Xp, Yp) In the vehicle body coordinate system is as follows:
become.
【数１】 また，車体Ｂ１の並進速度Ｖc ，回転速度ωc ，進行方
向θc-bodyを上記車体座標系に対して算出すると次のよ
うになる。(Equation 1) Further, the translational velocity V c of the vehicle body B1, the rotational speed omega c, the traveling direction theta c-body when calculated with respect to the vehicle body coordinate system is as follows.
【数２】 上記車体の回転中心座標（Ｘp ，Ｙp ）と車輪Ｗ３（座
標（Ｘ3 ，Ｙ3 ））とを結んだ直線に対して，車輪Ｗ３
が垂直になるように，車輪Ｗ３の操舵角α3 を次式によ
り求める。 α3 ＝ｔａｎ-1（（Ｘ3 −Ｘp ）／（Ｙp −Ｙ3 ）） …（６） また，車輪Ｗ３の移動速度Ｖ3 は， Ｖc ／Ｒ0 ＝Ｖ3 ／Ｒ3 ＝ωc …（７） の関係より，次のように求められる。(Equation 2) A straight line connecting the rotation center coordinates (X p , Y p ) of the vehicle body and the wheel W3 (coordinates (X 3 , Y 3 )) corresponds to the wheel W3
As it is perpendicular to determine the steering angle alpha 3 of the wheel W3 by the following equation. α 3 = tan −1 ((X 3 −X p ) / (Y p −Y 3 )) (6) Further, the moving speed V 3 of the wheel W3 is represented by V c / R 0 = V 3 / R 3 = From the relationship of ω c (7), it can be obtained as follows.
【数３】 以上のようにして車輪Ｗ３の操舵角α3 及び移動速度Ｖ
3 が求められると，上記スレーブ輪制御部５は，車輪Ｗ
３の操舵，駆動モータコントローラ１３，１４に対し
て，車輪Ｗ３の操舵角及び移動速度をそれぞれ上記
α3 ，Ｖ3 とするように指示する。このように，スレー
ブ輪Ｗ３は，両マスタ輪Ｗ１，Ｗ２の操舵角及び移動速
度の実測値に基づいて得られた車体Ｂ１の回転中心，並
進速度，回転速度に合わせて操舵角及び駆動速度が制御
されるため，従来の制御装置のように各車輪の軸線の交
点がズレて車輪同士の進行方向の干渉が大きくなり，各
車輪のモータや車軸に過負荷がかかったり車体が振動す
るなどの不具合が防止できる。(Equation 3) As described above, the steering angle α 3 and the moving speed V of the wheel W3 are obtained.
3 is obtained, the slave wheel control unit 5
3 of the steering, the drive motor controller 13, an instruction to the steering angle and the moving speed of the wheel W3, respectively, and the alpha 3, V 3. In this way, the slave wheel W3 has a steering angle and a driving speed corresponding to the rotation center, the translation speed, and the rotation speed of the vehicle body B1 obtained based on the measured values of the steering angle and the moving speed of the master wheels W1 and W2. As a result, the intersections of the axes of the wheels are displaced and interference in the direction of travel between the wheels is increased, as in the case of conventional control devices, and the motors and axles of the wheels are overloaded and the vehicle body vibrates. Failure can be prevented.
【００１０】続いて，推定部６は，上記各検出センサ１
〜４で検出された両マスタ輪の操舵角及び移動速度に基
づいて，以下のように車体Ｂ１の現在の位置・姿勢・進
行方向を推定する。（ステップＳ３）。車体Ｂ１は，上
式（１）〜（５）に示すように，回転中心を（Ｘp ，Ｙ
p ）として，並進速度Ｖc ，回転速度ωc ，進行方向θ
c-body（全て車体座標系）で走行している。そこで，上
式（１）〜（５）を用いて，経路座標系における車体Ｂ
１の位置・進行方向・姿勢（Ｘn ，Ｙn ，θn ，φn ）
を求める。車体Ｂ１は回転速度ωc で回転しているか
ら，微小単位時間ΔＴの間にはωcΔＴだけ車体姿勢が
変化する。従って，車体姿勢φn は，前回の算出結果φ
n-1に変化分を加算することにより次のように求められ
る。 φn ＝φn-1 ＋ωc ΔＴ …（９） 進行方向θn は，車体姿勢φn に車体座標系での進行方
向θc-bodyを加算することにより次のように求められ
る。 θn ＝θc-body＋φn …（１０） 車体の位置（Ｘn ，Ｙn ）は，微小時間内での走行軌跡
を円弧と仮定し，前回の算出結果（Ｘn-1 ，Ｙn-1 ）に
位置の変化分を加算することにより次のように求められ
る。 Ｘn ＝Ｘn-1 ＋ｄ・ｃｏｓ（θn-1 ＋Δθ／２） …（１１） Ｙn ＝Ｙn-1 ＋ｄ・ｓｉｎ（θn-1 ＋Δθ／２） …（１２） ここで，Δθ≠０のとき（回転走行のとき），Δｓ＝Ｒ
0 Δθ，ｄ＝２Ｒ0 ｓｉｎ（Δθ／２）より（図５参
照）， ｄ＝（ｓｉｎ（Δθ／２）／（Δθ／２））・Δｓ Δθ＝０（直線走行のとき）， ｄ＝Δｓ 但し，Δθ＝θn −θn-1 ， Δｓ＝（（Ｖn −Ｖn-1 ）／２）・ΔＴ 以上のように，車体Ｂ１の経路座標系における位置・進
行方向・姿勢（Ｘn ，Ｙn ，θn ，φn ）が求められ
た。Subsequently, the estimating unit 6 is configured to detect each of the detection sensors 1
Based on the steering angles and moving speeds of the two master wheels detected in steps (1) to (4), the current position, posture, and traveling direction of the vehicle body B1 are estimated as follows. (Step S3). As shown in the above equations (1) to (5), the vehicle body B1 has its center of rotation ( Xp , Y
p ), translation speed V c , rotation speed ω c , traveling direction θ
You are traveling in c-body (all body coordinates). Therefore, using the above equations (1) to (5), the vehicle B in the route coordinate system
1 position, direction and orientation (X n, Y n, θ n, φ n)
Ask for. Body B1 is from rotating at a rotational speed omega c, between the minute unit time [Delta] T is the body attitude only omega c [Delta] T changes. Therefore, the body posture φ n is calculated by the previous calculation result φ
It is obtained as follows by adding the variation to n-1 . φ n = φ n-1 + ω c ΔT (9) The traveling direction θ n is obtained as follows by adding the traveling direction θ c-body in the vehicle body coordinate system to the vehicle body posture φ n . θ n = θ c-body + φ n (10) The position (X n , Y n ) of the vehicle body is calculated on the basis of the previous calculation result (X n−1 , Y n -1 ) is obtained as follows by adding the change in position to: X n = X n-1 + d · cos (θ n-1 + Δθ / 2) (11) Y n = Y n-1 + d · sin (θ n-1 + Δθ / 2) (12) where Δθ When ≠ 0 (when rotating), Δs = R
0 Δθ, d = 2R 0 From sin (Δθ / 2) (see FIG. 5), d = (sin (Δθ / 2) / (Δθ / 2)) · Δs Δθ = 0 (for straight running), d = Δs where Δθ = θ n −θ n−1 , Δs = ((V n −V n−1 ) / 2) · ΔT As described above, the position, traveling direction, and posture (X n , Y n , θ n , φ n ).
【００１１】続いて，マスタ輪制御部８では，地図情報
記憶部７に予め記憶されている走行経路上での車体Ｂ１
の位置・進行方向・姿勢（Ｘr ，Ｙr ，θr ，φr ）
と，上記推定部６で推定された車体Ｂ１の現在の位置・
進行方向・姿勢（Ｘn ，Ｙn ，θn ，φn ）との偏差
（Ｘe ，Ｙe ，θe ，φe ）を小さくするような両マス
タ輪Ｗ１，Ｗ２の速度Ｖ1 ′，Ｖ2 ′及び操舵角
α1 ′，α2 ′を以下のように求める（ステップＳ
４）。まず，上記偏差（Ｘe ，Ｙe ，θe ，φe ）が小
さくなるような車体Ｂ１の並進速度Ｖ0 ，回転速度
ω0 ，進行方向θ0 （図４参照）を，車体座標系に対し
て算出する。ここで，基本的な考え方として，Ｘ方向の
偏差は並進速度で，Ｙ方向の偏差は進行方向で，車体姿
勢の偏差は角速度でそれぞれ補正する。 Ｖ0 ＝Ｖr ＋Ｋｘ・Ｘe …（１３） ω0 ＝ωr ＋Ｋφ・φe …（１４） θ0-body＝θr-body＋Ｋｙ・Ｙe …（１５） 但し，Ｖr ：目標速度 ωr ：目標各速度 θr-body：車体座標系における目標進行方向（＝θr −
φr ） Ｋｘ：Ｘ方向偏差の補正ゲイン（正の定数） Ｋｙ：Ｙ方向偏差の補正ゲイン（正の定数） Ｋφ：車体姿勢偏差の補正ゲイン（正の定数）Subsequently, in the master wheel control section 8, the vehicle body B1 on the traveling route stored in the map information storage section 7 in advance.
Position, direction and orientation of the (X r, Y r, θ r, φ r)
And the current position of the vehicle body B1 estimated by the estimation unit 6
The speed V 1 ′ of the two master wheels W 1, W 2, such that the deviation (X e , Y e , θ e , φ e ) from the traveling direction / posture (X n , Y n , θ n , φ n ) is reduced. V 2 ′ and steering angles α 1 ′, α 2 ′ are obtained as follows (step S:
4). First, the translation speed V 0 , the rotation speed ω 0 , and the traveling direction θ 0 (see FIG. 4) of the vehicle body B1 such that the deviations (X e , Y e , θ e , φ e ) are reduced are represented in the vehicle body coordinate system. Calculated for Here, as a basic idea, the deviation in the X direction is corrected by the translation speed, the deviation in the Y direction is corrected by the traveling direction, and the deviation of the vehicle body posture is corrected by the angular velocity. V 0 = V r + Kx · X e ... (13) ω 0 = ω r + Kφ · φ e ... (14) θ 0-body = θ r-body + Ky · Y e ... (15) However, V r: target speed ω r : target speeds θ r-body : target traveling direction in the body coordinate system (= θ r −
φ r ) Kx: X direction deviation correction gain (positive constant) Ky: Y direction deviation correction gain (positive constant) Kφ: Body posture deviation correction gain (positive constant)
【００１２】次に，上記（１３）〜（１５）式を用い
て，次のようにマスタ輪Ｗ１，Ｗ２の速度Ｖ1 ′，
Ｖ2 ′，及び操舵角α1 ′，α2 ′を求める（図４参
照）。まず，車体Ｂ１の回転半径Ｒ0 ′は， Ｒ0 ′＝Ｖ0 ／ω0 …（１６） であるため，車体Ｂ１の回転中心座標（Ｘp ′，
Ｙp ′）は次式で表せる。 Ｘp ′＝−Ｒ0 ′・ｓｉｎθ0-body …（１７） Ｙp ′＝Ｒ0 ′・ｃｏｓθ0-body …（１８） そこで，マスタ輪Ｗ１，Ｗ２の速度Ｖ1 ′，Ｖ2 ′，及
び操舵角α1 ′，α2′は次式により求められる。Next, using the above equations (13) to (15), the speed V 1 'of the master wheels W1 and W2,
V 2 ′ and steering angles α 1 ′ and α 2 ′ are obtained (see FIG. 4). First, since the turning radius R 0 ′ of the vehicle body B1 is R 0 ′ = V 0 / ω 0 (16), the rotation center coordinates (X p ′,
Y p ') can be expressed by the following equation. X p ′ = −R 0 ′ · sin θ 0 -body (17) Y p ′ = R 0 ′ · cos θ 0 -body (18) Therefore, the velocities V 1 ′, V 2 ′ of the master wheels W 1, W 2 . And the steering angles α 1 ′ and α 2 ′ are obtained by the following equations.
【数４】 以上のようにして，マスタ輪Ｗ１，Ｗ２の速度及び操舵
角が求められると，上記マスタ輪制御部８は，マスタ輪
Ｗ１，Ｗ２の操舵，駆動モータコントローラ９〜１２に
対して，マスタ輪Ｗ１，Ｗ２の操舵角及び駆動速度をそ
れぞれ上記Ｖ1′，Ｖ2 ′，α1 ′，α2 ′とするよう
に指示する。上記ステップＳ４が終了すると，上記ステ
ップＳ１へ戻り，制御後の両マスタ輪の操舵角及び移動
速度が検出され，ステップＳ２において上記検出値に基
づいてスレーブ輪Ｗ３の制御が行われる。(Equation 4) When the speed and the steering angle of the master wheels W1 and W2 are obtained as described above, the master wheel control unit 8 sends the master wheel W1 to the steering and drive motor controllers 9 to 12 of the master wheels W1 and W2. , W2 are instructed to be the above-mentioned V 1 ′, V 2 ′, α 1 ′ and α 2 ′, respectively. When the step S4 is completed, the process returns to the step S1, the steering angles and the moving speeds of the two master wheels after the control are detected, and the control of the slave wheel W3 is performed based on the detected values in the step S2.
【００１３】以上のように，推定部６では，２つのマス
タ輪Ｗ１，Ｗ２のみを用いて車体Ｂ１の現在の位置・姿
勢・進行方向が推定され，更に所定の走行経路に近付け
る制御についても上記２つのマスタ輪に対して行われる
ため，上記従来の制御装置のように各車輪の操舵モータ
の応答性の違いや外乱などが大きくなっても，車体Ｂ１
の回転中心は必ず１点に決めることができ，正確な推定
が行える。以上説明したように，本実施の形態に係る制
御装置Ａ１では，スレーブ輪Ｗ３の操舵角及び移動速度
が，両マスタ輪Ｗ１，Ｗ２の操舵角及び移動速度の実測
値に基づいて制御されるため，従来の制御装置のように
各車輪の軸線の交点がズレて車輪同士の進行方向の干渉
が大きくなり，各車輪のモータや車軸に過負荷がかかっ
たり車体が振動するなどの不具合が防止できる。また，
２つのマスタ輪Ｗ１，Ｗ２のみを用いて車体Ｂ１の現在
の位置・姿勢・進行方向が推定され，更に所定の走行経
路に近付ける制御についても上記２つのマスタ輪に対し
て行われるため，上記従来の制御装置のように各車輪の
操舵モータの応答性の違いや外乱などが大きくなって
も，車体Ｂ１の回転中心は必ず１点に決めることがで
き，正確な推定を行うことができる。As described above, the estimating unit 6 estimates the current position, posture, and traveling direction of the vehicle body B1 using only the two master wheels W1 and W2, and further performs control for approaching a predetermined traveling route. Since the operation is performed for two master wheels, the vehicle body B1 is not affected even if the difference in the response of the steering motor of each wheel or the disturbance increases as in the conventional control device.
The rotation center can always be determined at one point, and accurate estimation can be performed. As described above, in the control device A1 according to the present embodiment, the steering angle and the moving speed of the slave wheel W3 are controlled based on the actually measured values of the steering angle and the moving speed of the master wheels W1 and W2. As in the case of the conventional control device, the intersection of the axis of each wheel is displaced, so that interference in the traveling direction between the wheels becomes large, and problems such as overloading the motor and axle of each wheel and vibration of the vehicle body can be prevented. . Also,
The current position, posture, and traveling direction of the vehicle body B1 are estimated using only the two master wheels W1 and W2, and control for approaching a predetermined traveling route is also performed on the two master wheels. Even if the difference in the response of the steering motor of each wheel or the disturbance becomes large as in the control device of the above, the rotation center of the vehicle body B1 can always be determined to one point, and accurate estimation can be performed.
【００１４】[0014]
【実施例】上記実施の形態では，スレーブ輪が１つの場
合を取り上げたが，スレーブ輪が２つ以上の場合も全く
同様に適用できる。その場合，各スレーブ輪の操舵角及
び移動速度は，上記（６），（８）式内の座標値
（Ｘ3 ，Ｙ3 ）を各スレーブ輪の座標値に入れ替えるこ
とにより求められる。In the above embodiment, the case where the number of slave wheels is one is described, but the case where there are two or more slave wheels can be applied in the same manner. In this case, the steering angle and the moving speed of each slave wheel are obtained by replacing the coordinate values (X 3 , Y 3 ) in the above equations (6) and (8) with the coordinate values of each slave wheel.
【００１５】[0015]
【発明の効果】以上説明したように，本発明に係る無人
走行車の制御方法は，それぞれ独立して速度及び操舵角
の制御が可能な２つのマスタ輪と，それぞれ独立して速
度及び操舵角の制御が可能な１つ以上のスレーブ輪とを
有する無人走行車を，所定の走行経路に沿って走行させ
る無人走行車の制御方法において，上記２つのマスタ輪
の操舵角を検出する操舵角検出工程と，上記操舵角検出
工程で検出された上記マスタ輪の操舵角に基づいて，上
記スレーブ輪の操舵角を制御するスレーブ輪制御工程
と，上記２つのマスタ輪の速度を検出する速度検出工程
と，上記操舵角検出工程及び上記速度検出工程で検出さ
れた上記両マスタ輪の速度及び操舵角に基づいて，車体
の走行軌跡を推定する推定工程と，上記推定工程で推定
された車体の走行軌跡と上記所定の走行経路とに基づい
て，上記マスタ輪の速度及び操舵角を制御する走行制御
工程とを具備し，上記スレーブ輪制御工程において，上
記操舵角検出工程で検出された上記両マスタ輪の操舵角
より，該両マスタ輪の軸線の交点を求め，上記スレーブ
輪の軸線が上記交点を通るように上記スレーブ輪の操舵
角を制御すると共に，上記操舵角検出工程及び上記速度
検出工程で検出された上記マスタ輪の速度及び操舵角に
基づいて，上記スレーブ輪の速度を制御することを特徴
とする無人走行車の制御方法として構成されているた
め，スレーブ輪の操舵角が両マスタ輪の操舵角の実測値
に基づいて制御され，各車輪の軸線の交点がズレて車輪
同士の進行方向の干渉が大きくなっても，各車輪のモー
タや車軸に過負荷がかかったり車体が振動するなどの不
具合が防止できる。また，２つのマスタ輪のみを用いて
車体の現在の位置・姿勢・進行方向が推定され，更に所
定の走行経路に近付ける制御についても上記２つのマス
タ輪に対して行われるため，各車輪の操舵モータの応答
性の違いや外乱などが大きくなっても，車体の回転中心
は必ず１点に決めることができ，正確な推定を行うこと
ができる。As described above, the method for controlling an unmanned vehicle according to the present invention comprises two master wheels capable of controlling the speed and the steering angle independently of each other, and the speed and the steering angle independently of each other. Steering angle detection for detecting the steering angles of the two master wheels in a method of controlling an unmanned traveling vehicle having one or more slave wheels capable of controlling the vehicle along a predetermined traveling route. A slave wheel control step of controlling a steering angle of the slave wheel based on a steering angle of the master wheel detected in the steering angle detecting step; and a speed detecting step of detecting speeds of the two master wheels. An estimation step of estimating a traveling locus of the vehicle body based on the speed and the steering angle of the two master wheels detected in the steering angle detection step and the speed detection step; Gauge A traveling control step of controlling the speed and the steering angle of the master wheel based on the predetermined traveling route and the predetermined traveling path. In the slave wheel control step, the two master wheels detected in the steering angle detection step are provided. The intersection of the axes of the two master wheels is determined from the steering angle of the two wheels, the steering angle of the slave wheel is controlled so that the axis of the slave wheel passes through the intersection, and the steering angle detection step and the speed detection step are performed. Since the control method of the unmanned vehicle is characterized by controlling the speed of the slave wheel based on the detected speed and steering angle of the master wheel, the steering angle of the slave wheel is controlled by the two master wheels. Even if the intersection of the axes of the wheels is displaced and the interference between the wheels in the traveling direction becomes large, the motor or axle of each wheel is overloaded or the body is shaken. Problems such as can be prevented. In addition, the current position, posture, and traveling direction of the vehicle body are estimated using only the two master wheels, and control for approaching a predetermined traveling route is also performed for the two master wheels. Even if the difference in the response of the motor or the disturbance becomes large, the rotation center of the vehicle body can always be determined to one point, and accurate estimation can be performed.
【００１６】また，上記制御方法を適用可能な制御装置
として，本発明の装置は，それぞれ独立して速度及び操
舵角の制御が可能な２つのマスタ輪と，それぞれ独立し
て速度及び操舵角の制御が可能な１つ以上のスレーブ輪
とを有する無人走行車を，所定の走行経路に沿って走行
させる無人走行車の制御装置において，上記所定の走行
経路の情報が予め記憶された地図情報記憶手段と，上記
２つのマスタ輪の操舵角を検出する操舵角検出手段と，
上記操舵角検出手段で検出された上記両マスタ輪の操舵
角に基づいて，上記スレーブ輪の操舵角を制御するスレ
ーブ輪制御手段と，上記２つのマスタ輪の速度を検出す
る速度検出手段と，上記操舵角検出手段及び上記速度検
出手段で検出された上記両マスタ輪の速度及び操舵角に
基づいて，車体の走行軌跡を推定する推定手段と，上記
推定手段で推定された車体の走行軌跡と上記地図情報記
憶手段に記憶された上記所定の走行経路とに基づいて，
上記マスタ輪の速度及び操舵角を制御する走行制御手段
とを具備し，上記スレーブ輪制御手段が，上記操舵角検
出手段で検出された上記両マスタ輪の操舵角より，該両
マスタ輪の軸線の交点を求め，上記スレーブ輪の軸線が
上記交点を通るように上記スレーブ輪の操舵角を制御す
ると共に，上記操舵角検出手段及び上記速度検出手段で
検出された上記両マスタ輪の速度及び操舵角に基づい
て，上記スレーブ輪の速度を制御することを特徴とする
無人走行車の制御装置として構成されているため，スレ
ーブ輪の操舵角が両マスタ輪の操舵角の実測値に基づい
て制御され，各車輪の軸線の交点がズレて車輪同士の進
行方向の干渉が大きくなっても，各車輪のモータや車軸
に過負荷がかかったり車体が振動するなどの不具合が防
止できる。更に，２つのマスタ輪のみを用いて車体の走
行軌跡が推定され，更に所定の走行経路に近付ける制御
についても上記２つのマスタ輪に対して行われるため，
各車輪の操舵モータの応答性の違いや外乱などが大きく
なっても，車体の回転中心は必ず１点に決めることがで
き，正確な推定を行うことができる。As a control device to which the above-described control method can be applied, the device of the present invention includes two master wheels capable of independently controlling the speed and the steering angle, and two independent speed and steering angle control devices. In an unmanned vehicle control device for causing an unmanned vehicle having at least one controllable slave wheel to travel along a predetermined traveling route, a map information storage in which information on the predetermined traveling route is stored in advance. Means, steering angle detecting means for detecting the steering angles of the two master wheels,
Slave wheel control means for controlling the steering angle of the slave wheels based on the steering angles of both master wheels detected by the steering angle detection means; speed detection means for detecting the speeds of the two master wheels; Estimating means for estimating a running locus of the vehicle body based on the speed and the steering angle of the two master wheels detected by the steering angle detecting means and the speed detecting means; On the basis of the predetermined traveling route stored in the map information storage means,
Traveling control means for controlling the speed and the steering angle of the master wheel, wherein the slave wheel control means determines the axis of the master wheel based on the steering angles of the master wheels detected by the steering angle detection means. The steering angle of the slave wheel is controlled so that the axis of the slave wheel passes through the intersection, and the speed and steering of both master wheels detected by the steering angle detecting means and the speed detecting means are determined. Since the control device for an unmanned vehicle is configured to control the speed of the slave wheel based on the angle, the steering angle of the slave wheel is controlled based on the measured steering angle of both master wheels. Therefore, even if the intersection of the axes of the wheels is displaced and interference in the traveling direction between the wheels is increased, problems such as overloading the motor and axle of each wheel and vibration of the vehicle body can be prevented. Furthermore, the traveling locus of the vehicle body is estimated using only the two master wheels, and control for approaching a predetermined traveling route is also performed on the two master wheels.
Even if the response of the steering motor of each wheel or the disturbance increases, the center of rotation of the vehicle body can always be determined to one point, and accurate estimation can be performed.
【図１】 本発明の実施の形態に係る無人走行車の制御
装置Ａ１の概略構成を示す模式図。FIG. 1 is a schematic diagram showing a schematic configuration of a control device A1 for an unmanned traveling vehicle according to an embodiment of the present invention.
【図２】 本発明の実施の形態に係る無人走行車の制御
方法の概略処理手順を示すフローチャート。FIG. 2 is a flowchart showing a schematic processing procedure of a method for controlling an unmanned traveling vehicle according to an embodiment of the present invention.
【図３】 上記制御装置Ａ１による無人走行車Ｂ１の制
御手順の説明図。FIG. 3 is an explanatory diagram of a control procedure of the unmanned traveling vehicle B1 by the control device A1.
【図４】 上記制御装置Ａ１による無人走行車Ｂ１の制
御手順の説明図。FIG. 4 is an explanatory diagram of a control procedure of the unmanned traveling vehicle B1 by the control device A1.
【図５】 無人走行車Ｂ１の推定位置の算出方法の説明
図。FIG. 5 is an explanatory diagram of a calculation method of an estimated position of the unmanned traveling vehicle B1.
【図６】 従来の無人走行車Ｂ０の走行制御方法の説明
図。FIG. 6 is an explanatory diagram of a traveling control method of a conventional unmanned traveling vehicle B0.
【図７】 従来の無人走行車Ｂ０の走行制御方法の説明
図。FIG. 7 is an explanatory diagram of a conventional traveling control method for an unmanned traveling vehicle B0.
１…車輪Ｗ１の操舵角検出センサ ２…車輪Ｗ１の移動速度検出センサ ３…車輪Ｗ２の操舵角検出センサ ４…車輪Ｗ２の移動速度検出センサ ５…スレーブ輪制御部 ６…推定部 ７…地図情報記憶部 ８…マスタ輪制御部 ９…車輪Ｗ１の操舵モータコントローラ １０…車輪Ｗ１の駆動モータコントローラ １１…車輪Ｗ２の操舵モータコントローラ １２…車輪Ｗ２の駆動モータコントローラ １３…車輪Ｗ３の操舵モータコントローラ １４…車輪Ｗ３の駆動モータコントローラ Ｂ１…無人走行車 Ｗ１，Ｗ２…マスタ輪 Ｗ３…スレーブ輪 DESCRIPTION OF SYMBOLS 1 ... Steering angle detection sensor of wheel W1 2 ... Moving speed detection sensor of wheel W1 3 ... Steering angle detection sensor of wheel W2 4 ... Moving speed detection sensor of wheel W2 5 ... Slave wheel control unit 6 ... Estimation unit 7 ... Map information Storage unit 8 Master wheel control unit 9 Steering motor controller for wheel W1 10 Drive motor controller for wheel W1 11 Steering motor controller for wheel W2 12 Drive motor controller for wheel W2 13 Steering motor controller for wheel W3 14 ... Drive motor controller for wheel W3 B1: unmanned vehicle W1, W2: master wheel W3: slave wheel
Claims (4)
が可能な２つのマスタ輪と，それぞれ独立して速度及び
操舵角の制御が可能な１つ以上のスレーブ輪とを有する
無人走行車を，所定の走行経路に沿って走行させる無人
走行車の制御方法において，上記２つのマスタ輪の操舵
角を検出する操舵角検出工程と，上記操舵角検出工程で
検出された上記マスタ輪の操舵角に基づいて，上記スレ
ーブ輪の操舵角を制御するスレーブ輪制御工程と，上記
２つのマスタ輪の速度を検出する速度検出工程と，上記
操舵角検出工程及び上記速度検出工程で検出された上記
両マスタ輪の速度及び操舵角に基づいて，車体の走行軌
跡を推定する推定工程と，上記推定工程で推定された車
体の走行軌跡と上記所定の走行経路とに基づいて，上記
マスタ輪の速度及び操舵角を制御する走行制御工程とを
具備し，上記スレーブ輪制御工程において，上記操舵角
検出工程で検出された上記両マスタ輪の操舵角より，該
両マスタ輪の軸線の交点を求め，上記スレーブ輪の軸線
が上記交点を通るように上記スレーブ輪の操舵角を制御
すると共に，上記操舵角検出工程及び上記速度検出工程
で検出された上記マスタ輪の速度及び操舵角に基づい
て，上記スレーブ輪の速度を制御することを特徴とする
無人走行車の制御方法。1. An unmanned vehicle having two master wheels capable of independently controlling the speed and the steering angle and one or more slave wheels capable of independently controlling the speed and the steering angle. A method of controlling an unmanned traveling vehicle traveling along a predetermined traveling route, wherein a steering angle detecting step of detecting a steering angle of the two master wheels, and a steering angle of the master wheel detected in the steering angle detecting step. , A slave wheel control step of controlling the steering angle of the slave wheel, a speed detection step of detecting the speeds of the two master wheels, and a steering angle detection step of the two master wheels. An estimating step of estimating a traveling locus of the vehicle body based on the speed and the steering angle of the master wheel; and a speed and a speed of the master wheel based on the traveling locus of the vehicle body estimated in the estimating step and the predetermined traveling route. And a traveling control step of controlling a steering angle. In the slave wheel control step, an intersection of the axes of both master wheels is obtained from the steering angles of both master wheels detected in the steering angle detection step. The steering angle of the slave wheel is controlled so that the axis of the slave wheel passes through the intersection. Based on the speed and the steering angle of the master wheel detected in the steering angle detecting step and the speed detecting step, the slave wheel is controlled. A method for controlling an unmanned vehicle, comprising controlling the speed of wheels.
検出工程で検出された上記両マスタ輪の操舵角より，該
両マスタ輪の軸線の交点を求め，上記速度検出工程で検
出された上記両マスタ輪の速度と，上記交点から各車輪
までの距離の比とを用いて，上記スレーブ輪の速度を制
御するものである請求項１記載の無人走行車の制御方
法。2. The slave wheel control step determines an intersection of the axes of the master wheels from the steering angles of the master wheels detected in the steering angle detection step, and determines the intersection of the axes of the master wheels. 2. The control method for an unmanned traveling vehicle according to claim 1, wherein the speed of the slave wheels is controlled using a speed of both master wheels and a ratio of a distance from the intersection to each wheel.
の交点より車体の回転中心位置を求め，上記回転中心位
置と上記両マスタ輪との距離，及び上記両マスタ輪の速
度を用いて，車体座標系における車体の並進速度，回転
速度，及び進行方向を求め，上記車体座標系における車
体の並進速度，回転速度，及び進行方向と，前回の制御
時における車体の推定位置・姿勢・進行方向とに基づい
て，現在の車体の推定位置・姿勢・進行方向を求めるも
のである請求項１又は２記載の無人走行車の制御方法。3. The estimating step obtains a rotation center position of the vehicle body from an intersection of axes of the master wheels, and uses a distance between the rotation center position and the master wheels and a speed of the master wheels. The translation speed, rotation speed, and traveling direction of the vehicle body in the vehicle body coordinate system are obtained, and the translation speed, rotation speed, and traveling direction of the vehicle body in the vehicle body coordinate system, and the estimated position, posture, and traveling of the vehicle body in the previous control. 3. The control method for an unmanned traveling vehicle according to claim 1, wherein an estimated position, attitude, and traveling direction of the current vehicle body are obtained based on the direction.
が可能な２つのマスタ輪と，それぞれ独立して速度及び
操舵角の制御が可能な１つ以上のスレーブ輪とを有する
無人走行車を，所定の走行経路に沿って走行させる無人
走行車の制御装置において，上記所定の走行経路の情報
が予め記憶された地図情報記憶手段と，上記２つのマス
タ輪の操舵角を検出する操舵角検出手段と，上記操舵角
検出手段で検出された上記両マスタ輪の操舵角に基づい
て，上記スレーブ輪の操舵角を制御するスレーブ輪制御
手段と，上記２つのマスタ輪の速度を検出する速度検出
手段と，上記操舵角検出手段及び上記速度検出手段で検
出された上記両マスタ輪の速度及び操舵角に基づいて，
車体の走行軌跡を推定する推定手段と，上記推定手段で
推定された車体の走行軌跡と上記地図情報記憶手段に記
憶された上記所定の走行経路とに基づいて，上記マスタ
輪の速度及び操舵角を制御する走行制御手段とを具備
し，上記スレーブ輪制御手段が，上記操舵角検出手段で
検出された上記両マスタ輪の操舵角より，該両マスタ輪
の軸線の交点を求め，上記スレーブ輪の軸線が上記交点
を通るように上記スレーブ輪の操舵角を制御すると共
に，上記操舵角検出手段及び上記速度検出手段で検出さ
れた上記両マスタ輪の速度及び操舵角に基づいて，上記
スレーブ輪の速度を制御することを特徴とする無人走行
車の制御装置。4. An unmanned vehicle having two master wheels each capable of independently controlling the speed and the steering angle and one or more slave wheels capable of independently controlling the speed and the steering angle. A control device for an unmanned traveling vehicle traveling along a predetermined traveling route, a map information storage means in which information of the predetermined traveling route is stored in advance, and a steering angle detection for detecting a steering angle of the two master wheels. Means, slave wheel control means for controlling the steering angle of the slave wheels based on the steering angles of both master wheels detected by the steering angle detection means, and speed detection for detecting the speeds of the two master wheels. Based on the speed and the steering angle of the two master wheels detected by the steering angle detecting means and the speed detecting means.
Estimating means for estimating the traveling locus of the vehicle body, and the speed and steering angle of the master wheel based on the traveling locus of the vehicle body estimated by the estimating means and the predetermined traveling route stored in the map information storage means. The slave wheel control means obtains the intersection of the axes of the master wheels from the steering angles of the master wheels detected by the steering angle detection means, The steering angle of the slave wheel is controlled so that the axis of the slave wheel passes through the intersection, and the slave wheel is controlled based on the speed and the steering angle of both master wheels detected by the steering angle detecting means and the speed detecting means. A control device for an unmanned traveling vehicle, which controls the speed of a vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP21622997A JP3952548B2 (en) | 1997-08-11 | 1997-08-11 | Method and apparatus for controlling unmanned vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP21622997A JP3952548B2 (en) | 1997-08-11 | 1997-08-11 | Method and apparatus for controlling unmanned vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH1165662A true JPH1165662A (en) | 1999-03-09 |
| JP3952548B2 JP3952548B2 (en) | 2007-08-01 |
Family
ID=16685312
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP21622997A Expired - Fee Related JP3952548B2 (en) | 1997-08-11 | 1997-08-11 | Method and apparatus for controlling unmanned vehicle |
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| Country | Link |
|---|---|
| JP (1) | JP3952548B2 (en) |
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| JP2010256941A (en) * | 2009-04-21 | 2010-11-11 | Meidensha Corp | Steering drive method and device for automated guided vehicle |
| JP2019109864A (en) * | 2017-12-20 | 2019-07-04 | 株式会社明電舎 | Drive steering device of unmanned carrier |
| CN110377017A (en) * | 2018-08-15 | 2019-10-25 | 北京京东尚科信息技术有限公司 | A kind of method and apparatus controlling unmanned equipment turning |
| JP6970264B1 (en) * | 2020-10-06 | 2021-11-24 | 株式会社Nichijo | vehicle |
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1997
- 1997-08-11 JP JP21622997A patent/JP3952548B2/en not_active Expired - Fee Related
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008143449A (en) * | 2006-12-13 | 2008-06-26 | Nihon Bisoh Co Ltd | Working machine lifting and supporting truck device for structure and its operation method |
| JP2010256941A (en) * | 2009-04-21 | 2010-11-11 | Meidensha Corp | Steering drive method and device for automated guided vehicle |
| JP2019109864A (en) * | 2017-12-20 | 2019-07-04 | 株式会社明電舎 | Drive steering device of unmanned carrier |
| CN110377017A (en) * | 2018-08-15 | 2019-10-25 | 北京京东尚科信息技术有限公司 | A kind of method and apparatus controlling unmanned equipment turning |
| CN110377017B (en) * | 2018-08-15 | 2022-11-08 | 北京京东乾石科技有限公司 | Method and device for controlling unmanned equipment to turn |
| JP6970264B1 (en) * | 2020-10-06 | 2021-11-24 | 株式会社Nichijo | vehicle |
| WO2022074887A1 (en) * | 2020-10-06 | 2022-04-14 | 株式会社Nichijo | Vehicle |
| JP2022061293A (en) * | 2020-10-06 | 2022-04-18 | 株式会社Nichijo | vehicle |
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| JP3952548B2 (en) | 2007-08-01 |
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