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1. WO2020207910 - METHOD FOR CONTROLLING A MOBILE ROBOT

Publication Number WO/2020/207910
Publication Date 15.10.2020
International Application No. PCT/EP2020/059517
International Filing Date 03.04.2020
IPC
G05D 1/02 2020.01
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
B25J 9/16 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
G01C 21/00 2006.01
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in groups G01C1/-G01C19/104
CPC
B25J 9/1653
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1628characterised by the control loop
1653parameters identification, estimation, stiffness, accuracy, error analysis
B25J 9/1664
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1656characterised by programming, planning systems for manipulators
1664characterised by motion, path, trajectory planning
G01C 21/005
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00
005with correlation of navigation data from several sources, e.g. map or contour matching
G05D 1/0248
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
021specially adapted to land vehicles
0231using optical position detecting means
0246using a video camera in combination with image processing means
0248in combination with a laser
G05D 1/0274
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
021specially adapted to land vehicles
0268using internal positioning means
0274using mapping information stored in a memory device
G05D 2201/0216
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
2201Application
02Control of position of land vehicles
0216Vehicle for transporting goods in a warehouse, factory or similar
Applicants
  • KUKA DEUTSCHLAND GMBH [DE]/[DE]
Inventors
  • CAPRANO, Pascal
  • AHMAD, Bilal
  • AKBAS, Adil
Agents
  • TILLMANN, Axel
Priority Data
10 2019 205 247.911.04.2019DE
Publication Language German (DE)
Filing Language German (DE)
Designated States
Title
(DE) VERFAHREN ZUM STEUERN EINES MOBILEN ROBOTERS
(EN) METHOD FOR CONTROLLING A MOBILE ROBOT
(FR) PROCÉDÉ DE COMMANDE D'UN ROBOT MOBILE
Abstract
(DE)
Nach einem erfindungsgemäßen Verfahren zum Steuern eines mobilen Roboters (10), mit den, insbesondere zyklisch wiederholten, Schritten: a1) Anfahren einer ersten Pose eines Fahrwerks (12) des Roboters auf einer Oberfläche (20) zum Einnehmen einer ersten vorgegebenen Pose (P1) des Fahrwerks; b1) Ermitteln der in diesem Schritt a1) angefahrenen ersten Pose (P1'); und an) Anfahren einer zweiten Pose des Fahrwerks auf der Oberfläche zum Einnehmen einer zweiten vorgegebenen Pose (Pn) des Fahrwerks zeitlich nach diesem Schritt a1); wobei - eine erste Korrektur auf Basis einer Abweichung zwischen der angefahrenen und vorgegebenen ersten Pose des aktuellen Schrittes a1) und/oder wenigstens eines früheren Schrittes a1), insbesondere eines Filter- und/oder Mittelwerts dieser Abweichungen, ermittelt wird; und Schritt a1) zeitlich nach diesem Schritt an) erneut durchgeführt und dabei die erste Pose auf Basis dieser zuvor ermittelten ersten Korrektur angefahren wird.
(EN)
Disclosed is a method according to the invention for controlling a mobile robot (10), having the following, in particular cyclically repeated, steps: a1) approaching a first pose of a chassis (12) of the robot on a surface (20) in order to assume a first predefined pose (P1) of the chassis; b1) determining the first pose (P1') approached in this step a1); and an) approaching a second pose of the chassis on the surface in order to assume a second predefined pose (Pn) of the chassis after this step a1) in terms of time; wherein - a first correction is determined on the basis of a discrepancy between the approached and predefined first poses of the current step a1) and/or at least one earlier step a1), in particular a filter and/or mean value of these discrepancies; and step a1) is carried out again after this step an) in terms of time and the first pose is approached here on the basis of this previously determined first correction.
(FR)
La présente invention concerne un procédé de commande d'un robot (10) mobile, comprenant les étapes suivantes, en particulier cycliquement répétées : a1) l'atteinte d'une première pose d'un train de roulement (12) du robot sur une surface (20) pour prendre une première pose (P1) prédéterminée du train de roulement ; b1) la détermination d'une première pose (P1') atteinte dans ladite étape a1) ; et an) l'atteinte d'une seconde pose du train de roulement sur la surface pour prendre une seconde pose (Pn) prédéterminée du train de roulement temporellement après ladite étape a1) ; une première correction étant déterminée en fonction d'un écart entre la première pose atteinte et prédéterminée de l'étape a1) actuelle et/ou au moins d'une étape a1) antérieure, en particulier d'un filtre et/ou de la valeur moyenne desdits écarts ; et la mise en œuvre à nouveau de l'étape a1) temporellement après ladite étape an) et la première pose étant ainsi atteinte en fonction de ladite première correction préalablement déterminée.
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