KR-102963670-B1 - METHOD AND COMPUTER SYSTEM FOR CONTROLLING MOVING DEVICE BASED ON DRIVING FORCE GENERATED CONSIDERING EXTERNAL FORCE

KR102963670B1KR 102963670 B1KR102963670 B1KR 102963670B1KR-102963670-B1

Abstract

A method for controlling a moving body traveling in space is provided, which is performed by a moving body or a control system controlling said moving body. The method for controlling the moving body includes determining a second force representing an external force applied to the moving body while the moving body travels in space according to a first force generated by a driving unit, determining a third force for controlling the moving body considering the external force based on the first force and the second force, and controlling the driving unit to generate the third force.

Inventors

박경식
박현우
이재량
변재정
권재운

Assignees

네이버 주식회사

Dates

Publication Date: 20260512
Application Date: 20241223

Claims (20)

A method for controlling a moving body traveling in space, performed by a moving body or a control system controlling said moving body, wherein A step of determining a second force representing an external force applied to the moving body while the moving body travels in the space according to a first force generated by a driving unit of the moving body; A step of determining a third force for controlling the moving body considering the external force based on the first force and the second force; and Step of controlling the driving unit of the moving body to generate the determined third force Includes, The above external force is generated by a collision between the moving body and an obstacle, and The step of determining the third force above is, Determining the third force that causes the moving body to move without contact between the obstacle and the moving body, or causes the moving body to move while the resistance force or friction force against the obstacle becomes less than or equal to a certain value while the moving body is in contact with the obstacle, A control method for determining the third force that causes the moving body to come into contact with the obstacle when the moving body does not move for a certain period of time or when the magnitude of the second force is greater than or equal to a predetermined threshold.
In paragraph 1, The above-mentioned moving body autonomously drives in the space according to the first force, and A step of determining the first force based on at least one of sensing data obtained from a sensor of the moving body or a preset path for the moving body; and Step of controlling the driving unit of the moving body to generate the determined first force A control method that further includes
In paragraph 1, The step of determining the second force above is, A control method for determining the second force based on at least one of an indirect determination method, which determines the second force using a force calculated based on a control signal for controlling the driving unit at the time when the above external force is applied, or a direct determination method, which directly measures the external force.
In paragraph 3, The step of determining the second force above is, As the above indirect determination method, A step of calculating a fourth force generated by the driving unit based on a control signal for controlling the driving unit at the time when the above external force is applied; A step of determining the actual force associated with the moving body at the time when the above external force is applied; and A step of determining the second force representing the external force based on a comparison between the actual force and the calculated fourth force. A control method that further includes
In paragraph 4, The above control signal is a current value for controlling the driving unit, and The fourth force is a wheel torque output by the wheel of the drive unit according to the current value or a force based on the wheel torque, and A control method in which the actual force is measured by the sensor part of the moving body at the time when the external force is applied.
In paragraph 5, Based on the above comparison, the step of determining the second force is, A control method for determining the second force representing the external force by comparing the acceleration or velocity of the moving body calculated according to the fourth force with the acceleration or velocity of the moving body measured by the sensor unit.
In paragraph 3, The step of determining the second force above is, As the above direct determination method, A control method for determining the second force by measuring the external force based on a force sensor of the moving body, or by measuring the degree of deformation of a bumper or mechanism provided on the moving body according to the external force.
In paragraph 3, The step of determining the second force above is, A control method for determining the second force based on the above indirect determination method and the above direct determination method.
In paragraph 1, The step of determining the third force above is, A control method for determining the third force based on the resultant force of the second force and the first force.
In Paragraph 9, The step of determining the third force above is, A rotational component of magnitude proportional to the resultant force of the second force and the first force, or Determining the third force comprising at least one linear component of a magnitude inversely proportional to the resultant force of the second force and the first force, and A control method in which the moving body is controlled to rotate by the above rotational component and the moving body is controlled to move in a straight line by the above linear component.
In Paragraph 9, The step of determining the third force above is, A control method for determining the third force based on the resultant force of the first force and the second force and the resultant force of the second force such that the second force becomes zero or within a certain range.
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In paragraph 1, The step of determining the third force above is, A control method for determining, depending on the type of obstacle, the third force that prevents the obstacle from coming into contact with the moving body or the third force that causes the obstacle to come into contact with the moving body.
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In paragraph 1, The step of determining the third force above is, A control method for determining the third force based on the location of the destination to which the above-mentioned moving body must move.
In paragraph 1, The step of determining the third force above is, A step of decomposing the above second force into a first component force and a second component force that are perpendicular to each other; A step of converting the first component force into a rotational component for rotating the moving body; A step of converting the above second component force into a linear component for moving the moving body in a straight line; and Step of determining the third force including the rotational component and the linear component A control method including
In Paragraph 16, A control method in which the rotational component has a direction and magnitude for rotating the moving body to reduce the magnitude of the first component force and the second component force or the resultant force of the first component force and the second component force to a value less than or equal to a certain value.
A method for controlling a moving body traveling in space, performed by a moving body or a control system controlling said moving body, wherein A step of determining a second force representing an external force applied to the moving body while the moving body travels in the space according to a first force generated by a driving unit of the moving body; A step of determining a third force for controlling the moving body considering the external force based on the first force and the second force; and Step of controlling the driving unit of the moving body to generate the determined third force Includes, A step of determining the state of the moving body based on sensing data obtained from the sensor unit of the moving body; A step of further determining a feedback force to be generated by the driving unit of the moving body based on the determined state of the moving body; and A step of controlling the driving unit of the moving body to generate the determined feedback force. Includes more, The step of determining the state of the above-mentioned moving body is, The state of the above-mentioned moving body, A first state in which the mobile body is located in a first area which is a free area where the mobile body can freely drive, A second state in which the moving body is located in a second area, which is a drag area where a first reverse force with respect to the direction of movement of the moving body is applied to the moving body, or A third state is determined in which the moving body is located in a third region, which is a repulsive region where a second reverse force with respect to the moving body's direction of movement is applied to the moving body. In the first state above, the feedback force is determined to be 0, and The first reverse force calculated based on the speed of the moving body in the direction of movement in the second state is determined as the feedback force, and A control method for determining the second reverse force, calculated based on the distance traveled by the moving body within the third region in the third state, as the feedback force.
In a computer system that constitutes a control system for controlling a moving body within space, At least one processor implemented to execute computer-readable instructions Includes, The above at least one processor is, A second force representing an external force applied to the moving body while the moving body travels in the space according to a first force generated by a driving unit of the moving body is determined, and based on the first force and the second force, a third force for controlling the moving body considering the external force is determined, and the driving unit of the moving body is controlled to generate the determined third force. The above external force is generated by a collision between the moving body and an obstacle, and The above at least one processor, in determining the third force, Determining the third force that causes the moving body to move without contact between the obstacle and the moving body, or causes the moving body to move while the resistance force or friction force against the obstacle becomes less than or equal to a certain value while the moving body is in contact with the obstacle, A computer system that controls the driving unit of the moving body to determine the third force that causes the moving body to come into contact with the obstacle when the moving body does not move for a certain period of time or when the magnitude of the second force is greater than or equal to a predetermined threshold.
In the case of a robot driving within a space, A control unit comprising at least one processor; and A drive unit that operates for the driving of the robot according to control by the robot control system or the control unit. Includes, The control unit determines a second force representing an external force applied to the robot while the robot travels in the space according to a first force generated by the driving unit, determines a third force for controlling the robot considering the external force based on the first force and the second force, and controls the driving unit to generate the determined third force. The above external force is generated by a collision between the robot and an obstacle, and The above control unit, in determining the third force, Determining the third force that causes the robot to move without contacting the obstacle and the robot, or causes the robot to move while in contact with the obstacle and the resistance or frictional force against the obstacle becomes less than or equal to a certain value, A robot that determines the third force to cause the robot to come into contact with the obstacle when the robot does not move for a certain period of time or when the magnitude of the second force is greater than or equal to a predetermined threshold, and controls the drive unit to generate the determined third force.

Description

Method and Computer System for Controlling Moving Device Based on Driving Force Generated Considering External Force The following description relates to a computer system and a control method for controlling a moving body according to a driving force generated by considering an external force when an external force is applied to a robot traveling within a space. Mobile devices, including robots, are used to provide various services in indoor and outdoor spaces. These robots include autonomous robots configured to navigate autonomously within a space to perform specific tasks or provide services. A robot moves toward a destination along a predetermined path or moves toward a destination while sensing the space using sensors. While the robot is traveling within the space, it may collide with obstacles that are stationary or moving. Collision with an obstacle applies an external force to the robot, and this external force hinders the robot's normal movement. For example, the external force applied to the robot can cause it to deviate from the predetermined path by a certain amount or move the robot by a certain amount, thereby inducing contact with other obstacles. Therefore, technology is required to control the robot by determining the driving force to reduce the impact of external forces applied to the robot upon collision with an obstacle, by additionally considering the external forces applied to the robot. Korean Registered Patent No. 10-1231771 discloses a method for dynamically reconfiguring a robot software component by downloading from an external server or a software component provided inside the robot to enable the robot to autonomously perform appropriate actions and responses suitable for external or internal environmental changes and situational conditions that are changed by movement or internal failure. The information described above is for illustrative purposes only and may include content that does not constitute part of the prior art and may not include what the prior art would present to a person skilled in the art. FIG. 1 illustrates a method for determining a force (driving force) to control a moving body by considering an external force applied to the moving body while the moving body travels through space, according to one embodiment, and controlling the moving body accordingly. FIG. 2 is a block diagram showing a moving body and its control system according to one embodiment. FIGS. 3 and FIGS. 4 are block diagrams illustrating a control system for controlling a moving body according to one embodiment. FIG. 5 is a flowchart illustrating a method for determining a force (driving force) to control a moving body by considering an external force applied to the moving body while the moving body travels through space, and controlling the moving body accordingly, according to one embodiment. FIG. 6 is a flowchart illustrating a method for determining an external force applied to a moving body while the moving body travels through space, according to an indirect determination method according to one example. FIG. 7 illustrates a method for determining a driving force including a rotational component and a linear component for controlling a moving body based on an external force applied to the moving body while it travels through space, according to one example. FIG. 8 is a flowchart illustrating a method for controlling a moving body by determining the state of the moving body based on sensing data according to one example, and determining the feedback force to be generated by the driving unit according to the determined state. FIG. 9 illustrates a method for determining a feedback force to control a moving body based on the state of the moving body determined based on sensing data, according to one example. FIG. 10 is a flowchart illustrating a method for determining a force (driving force) to control a moving body by considering an external force applied to the moving body while the moving body travels through space, according to one example, and controlling the moving body accordingly. FIGS. 11 and 12 illustrate a method for generating a third force to control a moving body based on a first force generated by a driving part of the moving body and a second force representing an external force applied to the moving body, according to one example. FIG. 13 illustrates a method for determining a driving force including a rotational component and a linear component for optimally controlling a moving body based on a first force and a second force representing an external force applied to the moving body, according to one example. FIG. 14 illustrates a method for determining an external force applied to a moving body upon collision with an obstacle, according to one example. Hereinafter, embodiments will be described in detail with reference to the attached drawings. FIG. 1 illustrates a method for determining a force (driving force) to control a moving body by considering an external force appli