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WO1996003259A1 - Unite mobile autonome comportant un manipulateur a encombrement reduit et procede de commande correspondant - Google Patents

Unite mobile autonome comportant un manipulateur a encombrement reduit et procede de commande correspondant Download PDF

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Publication number
WO1996003259A1
WO1996003259A1 PCT/DE1995/000945 DE9500945W WO9603259A1 WO 1996003259 A1 WO1996003259 A1 WO 1996003259A1 DE 9500945 W DE9500945 W DE 9500945W WO 9603259 A1 WO9603259 A1 WO 9603259A1
Authority
WO
WIPO (PCT)
Prior art keywords
effector
manipulator
unit
arm
force
Prior art date
Application number
PCT/DE1995/000945
Other languages
German (de)
English (en)
Inventor
Werner Neubauer
Wendelin Feiten
Christopher Minekime
Original Assignee
Siemens Aktiengesellschaft
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens Aktiengesellschaft filed Critical Siemens Aktiengesellschaft
Publication of WO1996003259A1 publication Critical patent/WO1996003259A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/4038—Disk shaped surface treating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/4044—Vacuuming or pick-up tools; Squeegees
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
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    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • A—HUMAN NECESSITIES
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
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    • G—PHYSICS
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    • G—PHYSICS
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    • G—PHYSICS
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    • G—PHYSICS
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    • G—PHYSICS
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    • G—PHYSICS
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    • G—PHYSICS
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
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Definitions

  • the object on which the invention is based is therefore to specify an autonomous mobile unit which has a manipulator which has a long range within the area on which the unit is moving and which does not hinder the unit from moving. Should continue for the unit and the manipulator a suitable Steue "- are given approximately procedures.
  • this object is achieved according to the features of claim 1.
  • the object is achieved according to the features of claim 11.
  • a great advantage of the unit according to the invention is that a manipulator arm does not prevent it from moving in complex surroundings and the manipulator is very compact in comparison to its range.
  • the individual segments of the manipulator come to lie one above the other in the retracted state and close with the contour of the autonomous mobile unit, so that the base area is only slightly enlarged by the manipulator.
  • the individual segments of the manipulator can advantageously be actuated by cable pulls which are guided over deflection rollers.
  • This embodiment is of particular benefit to an application in the consumer area, since it is not technically very complex and has been tried and tested in many different ways in practice.
  • servomotors are provided in the individual swivel joints of the manipulator arm which, independently of one another, can bring the respective segment into a rotational position predetermined by the control.
  • manipulator arm is hollow on the inside and that the individual segments close together in a pressure-tight manner.
  • paint can be applied or it can be vacuumed from surfaces with a vacuum.
  • a further advantage is achieved in the unit according to the invention in that the last segment of the manipulator arm is designed as an effector.
  • a brush or a suction nozzle can be controlled directly and positioned exactly according to the control in the environment, for example to follow a wall, or to work through a predefined movement pattern.
  • Such an effector of an autonomous mobile unit is advantageously equipped with a sensor that reacts to obstacles. In this way, the effector can easily be guided along a wall. If this sensor is advantageously designed as a force sensor, the controller can additionally specify a corresponding torque with which a pressing force of the effector against, for example, a wall can be achieved.
  • This force sensor is advantageously designed as a wheel which is attached to the effector with an axis, strain gauges being attached to the axis, with which the force vector can be determined.
  • the wheel reliably prevents frictional influences from falsifying the control processes.
  • the unit according to the invention is advantageously operated according to a control method which takes into account the movement of the autonomous mobile unit in the environment and the effector which is attached to the unit at a housing point.
  • the effector can advantageously be applied to the unit in those parts of the environment that are not obstructed, and in other parts of the environment that require it, the effector can be extended and operate below objects in the environment.
  • the method according to the invention advantageously see that the effector never gets into a singular position from which it can no longer operate. That is, in the event that it lies too close to the unit, its movement is stopped, or in the event that the manipulator is at risk of being fully stretched, the unit is guided behind the effector in order to buckle the manipulator again.
  • It is advantageously provided to control the effector hybrid with the method according to the invention ie a force is applied in one coordinate direction, which is determined by the force sensor, and in the other direction the control specifies and maintains a constant speed.
  • Figures la and b show a global or a local coordinate system of the manipulator or the effector.
  • FIGS. 2a and b show examples of the regulation of the effector, once for the case that free travel takes place and the other time for the case that the effector should follow a wall.
  • Figure 3 shows an embodiment of an effector with a force sensor.
  • FIGS. 4a and b show an autonomous mobile according to the invention
  • FIG. 1 a shows a coordinate system that is expediently used for modeling the manipulator arm in the control unit of the mobile unit.
  • the manipulator is attached to the autonomous mobile unit and is rotatably mounted.
  • a speed vector v is specified at this point.
  • the position of the individual segments SGI to SG3 can then be described by the individual angles ⁇ l, ⁇ 2 and ⁇ 3, which form the respective arm segments with one another.
  • the SG3 segment can also be designed as an effector, for example. With this effector, the autonomous mobile unit can, for example, deliver mail, paint walls, vacuum, or perform similar operations.
  • the dynamics of the arm have no effects on the dynamics of the autonomous mobile unit.
  • Equation 14 The model of the manipulator arm shown in FIG. 1a is easier to calculate.
  • the generalized coordinates are given in Equation 14 and the generalized forces in Equation 15.
  • the kinetic energies result from equation 16 and the kinetic energy of the system is shown in equation 17.
  • the potential energy of the Systems is described using Equation 18.
  • Equation 18 the assumption was made that point A, in which the manipulator arm is fastened, has a position and a speed and an acceleration. This describes a movement or an acceleration or deceleration of the mobile unit to which the arm is attached.
  • Equations 17 and 18 are used in Equation 8 to solve the differential equation. Together with Equations 14 and 15, they are then inserted into Equation 7 to obtain the second order differential equations. Three second order differential equations result from this procedure.
  • Equation 19 represents the form of the equations which are obtained from the Lagran ⁇ ge's dynamic.
  • the matrix M and the vector N must be developed.
  • the variable ß is the vector of the second derivative of the generalized variable.
  • the general form is in Equation 20 and the specific values for this system are given in Equation 21.
  • the matrix M is shown in equation 22 and the vector N in equation 23. From the solution of equation 19 for x, the differential equations result in the
  • Figure lb shows the effector EF, which is introduced on a segment of the manipulator arm SG.
  • a local coordinate system Yf and Xf is preferably used for this effector.
  • This coordinate system forms the angle ⁇ f with the global coordinates.
  • Index i is the number of the segment, segment 1 being directly connected to the autonomous mobile unit and the highest value, for example 3 being the effector.
  • the angle ⁇ is given in local coordinates. In order to achieve a smoother movement behavior of the manipulator, it is more advantageous not to control the position but the speed of the effector.
  • FIG. 2a shows a control block diagram for checking the speed of the effector EF attached to the manipulator.
  • the control of the speed instead of the position of the effector can be used to obtain a more smooth movement of the effector.
  • the information in FIG. 2a is again based on the coordinate system from FIG. 1b.
  • the speeds Xf, Yf and ⁇ f can be specified by a user or by the control unit. From these speeds the angular velocities of the individual motors which are attached to the joints of the segments of the manipulator are calculated. The derivation valid for this can again be found in the formula section. Three different speeds can be controlled on the effector.
  • the control block diagram shown in FIG. 2a illustrates the individual relationships.
  • the version of the cruise control shown in FIG. 2a can be used if the autonomous mobile unit is moving in an environment that is largely free of obstacles. In this case it applies that no interactions such as riding forces or impulses act on the manipulator and so no vibrations caused thereby can occur in the control of the arm.
  • FIG. 2 shows an exemplary block diagram for the regulation of the manipulator when a force acts on it from outside.
  • This force can be measured, for example, with a force sensor, which is attached to the effector.
  • the force value is forwarded to the control unit, for example, and this controls the motor moments in such a way that this force with respect to a border, for example a space boundary along which the Robot should move, is kept constant.
  • the hybrid principle is used in this advantageous control of the autonomous mobile unit according to the invention. An attempt is made to press the effector in a direction of the local axis cross of the effector, for example the Y direction, with a defined force against a wall of the room in which the unit is moving.
  • a certain speed of the unit or of the effector is maintained parallel to the wall, for example in the X direction.
  • a decoupling matrix can advantageously be dispensed with in the embodiment according to the invention.
  • the force to be used can be predetermined, for example, by a user depending on the application at hand.
  • the torques for generating the correct angular velocities in the individual joints are calculated here, as was the case with the method of speed control.
  • the respective moments for the speeds and the forces are then added and the individual motors are controlled together with them.
  • the control method avoids singularities of the system in particular.
  • the control method is basically based on the fact that when the arm reaches a singular point, the vehicle tries to follow the arm.
  • a safety zone can be set to limit the reach of the arm. For example, it can be chosen so that if the arm reaches 85% of its length, the vehicle will follow the arm and thus prevent the arm from reaching 100% of its possible stretching length. The same can apply, for example, to the inner end of the reach of the arm. For example, if the arm has reached 15% of its total stretch, the vehicle can be controlled so that it gate moved away.
  • a reflex-like behavior of the autonomous mobile unit is achieved in this way.
  • the process of pressing the effector against a wall and driving ahead of the unit can be compared analogously to a person who holds his hand against a wall and who follows the wall with his hand simply by touching it.
  • FIG. 3 shows an example of an effector that has a force sensor.
  • FIG. 3a is a top view and
  • FIG. 3b shows a side view of the effector.
  • the force sensor consists of a wheel R, which is rotatably mounted on an axis AC. Furthermore, AC strain gauges are attached to the axis, with which a force vector acting on the wheel can be determined.
  • touch sensors BS are attached to its outer edges. With these touch sensors, an evasive maneuver can be initiated, for example, if an obstacle occurs in a control unit, depending on a movement trajectory of the effector EF.
  • the type of contact sensor secondly the position of the touch sensor on the effector and thirdly the shape of the effector itself.
  • the simplest form of the effector is a rectangle, at the corners of which touch sensors are attached.
  • Another embodiment of an effector is that the rectangle is retained, but one side of the rectangle with which the wall is touched is formed as a semicircle, to which a plurality of touch sensors are attached at the same distance.
  • the number and position of the touch sensors which emit a signal can be used in a control unit to determine how a suitable evasive maneuver or a control maneuver is concerned to follow the wall.
  • the wheel on which the force is measured protrudes slightly beyond the contour of the effector.
  • the force with which the effector presses against the wall can be controlled.
  • the effector can be controlled much better since the force vector also contains directional information with regard to the force effect.
  • Another advantage is that the friction between the wall and the effector is reduced.
  • Another advantage is that with this embodiment not only individual signals are supplied point by point, but that a control unit of the arm is provided with a continuous Kra tinformation and thus a smoother movement of the effector is achievable than when individual switches are operated or not become.
  • the force vector can be used to ensure that the effector is absolutely perpendicular to the wall.
  • a control vector can be specified to control the effector EF. This vector is shown in equation 3 of the formula part.
  • the first three elements represent the assigned speeds of the effector.
  • the last three elements represent the assigned forces and moments that should be exerted on the effector.
  • the control vector is reduced to the shape which is given in equation 4. Equation 5 and equation 6 also apply here.
  • the vector indicating the direction of force is denoted by F and the vector standing vertically thereon is denoted by n.
  • the Lagrangian dynamic was used to derive the differential equations of the manipulator arm.
  • the equation for this is given in equation 7 of the formula part.
  • the L in the equation represents the Lagrangian see given in Equation 8.
  • T is the sum of the kinetic energy of the individual parts and V the sum of the potential energy of the parts.
  • the generalized variables are denoted by q and the generalized external forces are denoted by Qj.
  • the individual different segments of the arm have a mass, an inertia and a length. These are described here for example with m ⁇ , m2, m3, and Ii, I2, I3 and 1] _, I2, I3.
  • the bearing friction coefficients of the individual rotary bearings are designated B ⁇ to B3.
  • the arm segment that is attached to the robot receives the number 1.
  • the local variables ⁇ i to ⁇ 3 were converted into the global variables ßi to ß3. These mean the respective angles that form the individual arm segments with the global X axis.
  • the variables X ⁇ to X3 and Y ⁇ to Y3 the coordinates of the center of gravity of the individual Called arm segments.
  • the following physical parameters apply in detail in this exemplary embodiment:
  • the individual axes of the respective swivel joints are axially parallel and perpendicular to the surface on which the unit is moving. In in individual applications, it may also make sense to choose the rotational position of the swivel joint 1 other than perpendicular to the ground. For example, if walls are to be painted, it can make sense to extend the arm upwards, ie to mount the arm laterally rotated by 90 ° on a side wall of the unit in order to be able to paint walls from top to bottom.
  • Figure 4b shows an autonomous mobile unit according to the invention with a retracted manipulator arm. It should be noted that the segments SG2, SGI and the effector lie on top of each other. This advantageous embodiment of the manipulator prevents the manipulator from impairing the freedom of movement of the unit in the retracted state. It can be clearly seen that the retracted manipulator projects slightly beyond the base area of the autonomous mobile unit AE.
  • N - / 2 sin /? 2 ( ⁇ + m 3 ) x + / 2 cos & ( ⁇ + m 3 ) y + l; m 3 ⁇ flj ⁇ , l, m, ot & ⁇ > ⁇ , l
  • l a ma ttn ( ⁇ , -0,) al, 2 x * r 2 y »2" l "t" l ⁇ f 2 ⁇ ( ⁇ + nn) ⁇ n (ft - ßi) ß- + ⁇ > '* "» TM ">' - M0 3 - r , * + m 3 ) sin (ff, "A) 0? + "+ i ⁇ äi ⁇ Sifi ⁇ üJ _ ⁇ , (23), m, .. n ( g , - a? l? 2 + M3 _ r3
  • ßi - ⁇ [(- c, cos (- A) + c 3 cos (A - A) cos (AA)) f ⁇ -3 - 6 3 (ß 3 - ß - l ⁇ - (hß- sin (A - A) + / 2 A 2 sin (A - A) - i sin A + ü cos 03)) +
  • yj - h (fs) Xc 4 zo cos ⁇ c - y 0 sin ⁇ ,. + /, cos ( ⁇ t 4- ⁇ x ) 4 cos ( ⁇ c 4 ⁇ ⁇ 4 2 ) y c 4 x 0 sin ⁇ c 4 y 0 cos ⁇ , 4- /, sin ( ⁇ f 4 ⁇ ) 4 sin ( ⁇ c 4 ⁇ , 4- ⁇ 2 ) (38)

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne une unité mobile autonome qui comporte un bras de manipulateur repliable, dont l'extrémité se présente sous forme d'effecteur, par exemple d'ajutage d'aspiration ou de pinceau. A cet effet, le bras est monté rotatif sur l'unité mobile et peut balayer une surface. Ce bras se compose de plusieurs segments dont les extrémités sont solidarisées de manière à tourner. Les angles de rotation peuvent être ajustés indépendamment les uns des autres, ce qui permet d'obtenir une grande flexibilité du mouvement du bras. Le procédé de commande fournit un algorithme avantageux qui permet de piloter l'unité et le bras du manipulateur. La préférence est accordée à une variante hybride dans laquelle l'effecteur est appliqué contre une paroi avec une force de pression pouvant être mesurée par un détecteur de force, et l'unité suit l'effecteur. Cette invention s'utilise par exemple dans les aspirateurs à usage industriel, les robots autonomes qui doivent peindre des parois, ou les véhicules de distribution du courrier.
PCT/DE1995/000945 1994-07-21 1995-07-18 Unite mobile autonome comportant un manipulateur a encombrement reduit et procede de commande correspondant WO1996003259A1 (fr)

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DE4425924A DE4425924A1 (de) 1994-07-21 1994-07-21 Autonome mobile Einheit mit raumsparendem Manipulator und zugehöriges Steuerungsverfahren
DEP4425924.7 1994-07-21

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US8303720B2 (en) 2006-04-04 2012-11-06 Maasland N.V. Apparatus for and a method for cleaning the floor of an accommodation of an animal
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US8612083B2 (en) 2010-05-12 2013-12-17 Lely Patent N.V. Vehicle for displacing feed
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JPWO2019043936A1 (ja) * 2017-09-04 2020-04-02 学校法人千葉工業大学 自走式掃除機

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NL1012139C2 (nl) * 1999-05-25 2000-11-28 Lely Res Holding Onbemand voertuig dat geschikt is om te worden ingezet in een stal, zoals een koeienstal.
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US7934469B2 (en) 2005-12-07 2011-05-03 Maasland N.V. Installation for supplying liquid feed to an animal and an autonomously displaceable vehicle for use in such an installation
US8316799B2 (en) 2005-12-07 2012-11-27 Maasland N.V. Installation for supplying liquid feed to an animal and an autonomously displaceable vehicle for use in such an installation
US8303720B2 (en) 2006-04-04 2012-11-06 Maasland N.V. Apparatus for and a method for cleaning the floor of an accommodation of an animal
US8543276B2 (en) 2006-04-18 2013-09-24 Lely Patent N.V. Unmanned autonomous vehicle for displacing feed
US8694191B2 (en) 2006-04-18 2014-04-08 Maasland N.V. Unmanned autonomous vehicle for displacing feed
US8612083B2 (en) 2010-05-12 2013-12-17 Lely Patent N.V. Vehicle for displacing feed
JPWO2019043936A1 (ja) * 2017-09-04 2020-04-02 学校法人千葉工業大学 自走式掃除機

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