JP2014220890A - Autonomous movable body moving controller, autonomous movable body, and autonomous movable body control method - Google Patents

Abstract

Control is performed to improve operability for a user and to faithfully travel a taught travel route. A movement control device includes a switching unit, a speed control command unit, a motor control command unit, and a motor drive unit. The switching unit 27 switches the travel mode to either the autonomous travel mode or the manual travel mode. The speed control command unit outputs a speed control command based on the travel mode. When the travel mode is the manual travel mode, the motor control command unit outputs a first motor control command that limits the torque that can be output by the motors 13a and 13b. On the other hand, when the traveling mode is the autonomous traveling mode, a second motor control command for causing the speeds of the motors 13a and 13b to follow the speed control command is output. The motor drive unit 25 drives the motors 13a and 13b based on the speed control command and the motor control command. [Selection] Figure 3

Description

  The present invention relates to an autonomous mobile body that autonomously travels along the taught travel route, a movement control device for the autonomous mobile body, and a control method for the autonomous mobile body.

  Conventionally, an autonomous moving body that autonomously travels along the taught travel route is known. For example, in Patent Document 1, the cleaner is moved according to the cleaning course while being operated by a human, the data on the direction of travel of the cleaner and the rotation of the wheel is stored in a storage device, and at the time of the next cleaning, A self-propelled cleaner that reads the data stored in a storage device and moves the cleaner is disclosed.

Japanese Patent Publication No.61-3484

  In the case of the self-propelled cleaner disclosed in Patent Document 1, since there is no function for assisting the operation of the self-propelled cleaner by a human, it becomes difficult for a human (user) to operate the self-propelled cleaner. Therefore, the user may not be able to teach a desired cleaning course to the self-propelled cleaner with high accuracy.

  It is an object of the present invention to improve the operability of an autonomous moving body by a user and to control the autonomous traveling body so that the traveling path taught by the user can be faithfully traveled.

Hereinafter, a plurality of modes will be described as means for solving the problems. These aspects can be arbitrarily combined as necessary.
An autonomous mobile body movement control device according to an aspect of the present invention includes a plurality of wheels and a plurality of motors connected to each of the plurality of wheels, and is capable of autonomous traveling and manual traveling by manual operation. It is a movement control apparatus of a moving body. The movement control device includes a switching unit, a speed control command unit, a motor control command unit, and a motor drive unit. The switching unit switches the travel mode to either an autonomous travel mode in which the autonomous mobile body travels autonomously or a manual travel mode in which the autonomous mobile body travels manually. The speed control command unit outputs a speed control command for controlling the speed of the motor based on the travel mode. When the travel mode is the manual travel mode, the motor control command unit outputs a first motor control command for limiting the torque that can be output by the motor. On the other hand, when the travel mode is the autonomous travel mode, the motor control command unit outputs a second motor control command that causes the speed of the motor to follow the speed control command. The motor drive unit drives the motor based on the speed control command output from the speed control command unit and the motor control command output from the motor control command unit.

In this movement control device, first, the switching unit switches and sets the travel mode to either the autonomous travel mode or the manual travel mode. Next, the speed control command unit outputs a speed control command for controlling the speed of the motor based on the travel mode. The motor control command unit outputs a motor control command based on the travel mode. At this time, the motor control command unit outputs the first motor control command as the motor control command when the travel mode is the manual travel mode. On the other hand, when the travel mode is the autonomous travel mode, the motor control command unit outputs a second motor control command as the motor control command.
Thereafter, the motor drive unit controls the motor based on the speed control command and the motor control command.

  With such a movement control device, when the user manually operates the autonomous mobile body, the torque output from the motor of the autonomous mobile body is limited. On the other hand, when the autonomous mobile body travels autonomously, the torque that can be output from the motor is not limited, and the motor is controlled so as to follow the speed control command created in the speed control command unit. As a result, when the user is operating the autonomous mobile body, the user can operate the autonomous mobile body without applying an excessive external force. On the other hand, when the autonomous mobile body travels autonomously, the autonomous mobile body can travel according to the speed control command.

  Therefore, the operability of the autonomous mobile body by the user can be improved. The autonomous mobile body can travel faithfully on the travel route taught by the user.

  The motor drive unit may include a power control unit and a power supply unit. The power control unit calculates a power instruction value based on a control parameter determined based on the speed control command and the motor control command. The power supply unit supplies motor driving power to the motor based on the power instruction value.

  By using such a motor drive unit, the torque that can be output from the motor and the rotation speed of the motor can be controlled by the motor drive power supplied to the motor. As a result, the motor control by the motor drive unit is facilitated.

The control parameter of the power control unit may include a control gain. In this case, the power control unit includes a control gain storage unit and a control gain setting unit. The control gain storage unit stores a predetermined number of predetermined control gains. The control gain setting unit selects one control gain from a predetermined number of control gains stored in the control gain storage unit based on the motor control command.
Here, the control gain is a constant that determines a control amount to the motor that is necessary for a motor control value (for example, a motor rotation speed, motor drive power, etc.) to reach a target value.

  By using the control parameter of the power control unit as the control gain and determining the control gain based on the motor control command, a plurality of controls having different characteristics can be performed using only one power control unit. As a result, the structure of the motor drive unit can be simplified.

The control gain setting unit selects the second control gain when the motor control command is the second motor control command, and is smaller than the second control gain when the motor control command is the first motor control command. May be selected.
Thereby, the power control unit can suppress the motor driving power input to the motor when the traveling mode is the manual traveling mode. Therefore, when the travel mode is the manual travel mode, the torque that can be output from the motor can be limited.

The motor driving unit may further include a power value detecting unit and a power limiting unit. The power value detection unit detects the power value of the motor driving power. The power limiting unit limits the upper limit of the motor driving power to a predetermined first power value when the motor control command is the first motor control command.
Thereby, when the travel mode is the manual travel mode, the upper limit value of the motor driving power input to the motor can be reliably limited. As a result, when the travel mode is the manual travel mode, it is possible to reliably limit the torque that can be output by the motor.

When the driving mode is the manual driving mode and the motor driving power exceeds a predetermined threshold for a predetermined time or longer, the power limiting unit may limit the upper limit of the motor driving power to the second power value.
Thereby, it can suppress that excessive motor drive electric power is input into a motor more than predetermined time. As a result, when the autonomous mobile body is manually operated, the user does not need to apply an excessive external force for a long time to operate the autonomous mobile body. As a result, the operability of the autonomous mobile body by the user is improved.

The movement control device may further include a main control unit that outputs a travel instruction to the speed control command unit. In this case, the speed control command unit calculates a speed control command based on a travel instruction from the main control unit. Further, the travel instruction output from the main control unit may include position information and time information based on a travel route for autonomous travel when the travel mode is the autonomous travel mode.
As a result, the speed control command unit can calculate a speed control command that can easily travel on the travel route faithfully based on the travel instruction including the position information and the time information.

  An autonomous mobile body according to another aspect of the present invention includes a plurality of wheels, a plurality of motors, a switching unit, a speed control command unit, a motor control command unit, and a motor drive unit. The plurality of motors are connected to the plurality of wheels. The switching unit switches the traveling mode to either an autonomous traveling mode in which autonomous traveling is performed or a manual traveling mode that is manually operated. The speed control command unit outputs a speed control command for controlling the speed of the motor based on the travel mode. When the travel mode is the manual travel mode, the motor control command unit outputs a first motor control command for limiting the torque that can be output by the motor. On the other hand, when the travel mode is the autonomous travel mode, the motor control command unit outputs a second motor control command that causes the speed of the motor to follow the speed control command as a motor control command. The motor driving unit drives the motor based on the speed control command and the motor control command.

  In such an autonomous mobile body, when the user manually operates the autonomous mobile body, the torque output from the motor of the autonomous mobile body is limited. On the other hand, when the autonomous mobile body travels autonomously, the torque that can be output from the motor is not limited, and the motor is controlled so as to follow the speed control command created in the speed control command unit. As a result, when the user is operating the autonomous mobile body, the user can operate the autonomous mobile body without applying an excessive external force. On the other hand, when the autonomous mobile body travels autonomously, the autonomous mobile body can travel according to the speed control command.

  Therefore, the operability of the autonomous mobile body by the user can be improved. The autonomous mobile body can travel faithfully on the travel route taught by the user.

A control method according to still another aspect of the present invention includes a plurality of wheels and a plurality of motors connected to the respective wheels so as to be rotatable, and is capable of autonomous travel and manual travel by manual operation. It is a body control method. The control method includes the following steps.
◎ Switching the travel mode to either an autonomous travel mode in which the autonomous mobile body travels autonomously or a manual travel mode in which the autonomous mobile body travels manually.
A step of outputting a speed control command for controlling the speed of the motor based on the running mode.
◎ When the travel mode is the manual travel mode, the first motor control command for limiting the torque that can be output by the motor is output. When the travel mode is the autonomous travel mode, the motor speed is set to the speed control command. Outputting a second motor control command to be followed as a motor control command.
A step of driving the motor based on the speed control command and the motor control command.

  With such a control method, when the user manually operates the autonomous mobile body, the torque output from the motor of the autonomous mobile body is limited. On the other hand, when the autonomous mobile body travels autonomously, the torque that can be output from the motor is not limited, and the motor is controlled so as to follow the speed control command created in the speed control command unit. As a result, when the user is operating the autonomous mobile body, the user can operate the autonomous mobile body without applying an excessive external force. On the other hand, when the autonomous mobile body travels autonomously, the autonomous mobile body can travel according to the speed control command.

  Therefore, the operability of the autonomous mobile body by the user can be improved. The autonomous mobile body can travel faithfully on the travel route taught by the user.

  In the present invention, it is possible to control the autonomous traveling body so that the operability of the autonomous moving body by the user is improved and the traveling route taught by the user can be faithfully traveled.

Diagram showing the overall configuration of an autonomous mobile body Diagram showing the configuration of the operation unit The figure which shows the whole structure of a movement control apparatus Diagram showing the configuration of the travel control unit The figure which shows the whole structure of a motor drive part Diagram showing basic configuration of motor driver The figure which shows the structure of the motor driver which does not have an electric power limiting part and an electric power value detection part. Flow chart showing overall operation of autonomous mobile body The figure which shows the time change of operation of an autonomous mobile body, and motor drive current when the rotational speed of one main wheel is decelerated The figure which shows the time change of a motor drive current when an integral term is effective (K _i1 ≠ 0) and an integral term is invalid (K _i1 = 0). The figure which shows the time change of a motor drive current when it does not have a power limiting part, and when it has a power limiting part The figure which shows the time change of operation of an autonomous mobile body and motor drive current at the time of pivot operation

1. First Embodiment (1) Overall Configuration of Autonomous Mobile Body First, the overall configuration of an autonomous mobile body according to the present embodiment will be described with reference to FIG. FIG. 1 is a diagram illustrating an overall configuration of an autonomous mobile body. The autonomous mobile body 100 of the present embodiment is a mobile body that can travel autonomously while reproducing the planned travel route taught by the user.
The autonomous mobile body 100 includes a moving unit 1, a movement control device 2, a detection unit 3, and an operation unit 5. The moving unit 1 moves the autonomous mobile body 100. The detection unit 3 is connected to the movement control device 2. Then, the detection unit 3 detects an obstacle or a wall on the travel route, and outputs position information such as the obstacle or the wall to the movement control device 2. The operation unit 5 is fixed to the main body 7 of the autonomous mobile body 100 via an attachment member 9. The operation unit 5 is connected to the movement control device 2 so that signals can be transmitted and received. The operation unit 5 is operated by the user when the user teaches the autonomous mobile body 100 the planned travel route. Thereby, when the travel mode of the autonomous mobile body 100 is the manual travel mode, the autonomous mobile body 100 is controlled based on the operation of the operation unit 5 by the user. In addition, the operation unit 5 performs various settings of the autonomous mobile body 100.

The movement control device 2 is electrically connected to the moving unit 1. The movement control device 2 is connected to a detection unit 3. When the traveling mode of the autonomous mobile body 100 is the manual traveling mode, the movement control device 2 controls the moving unit 1 based on the operation of the operation unit 5 by the user. On the other hand, when the traveling mode of the autonomous mobile body 100 is a mode in which the autonomous mobile body 100 moves autonomously, the movement control device 2 creates a movement command for the autonomous mobile body 100 so as to travel along the planned travel route taught in the manual travel mode, for example. And the movement control apparatus 2 controls the moving part 1 based on the produced movement command.
Moreover, the movement control apparatus 2 grasps position information such as obstacles and walls. Moreover, the movement control apparatus 2 grasps | ascertains the position of the autonomous mobile body 100 in a movement plane based on positional information, such as an obstruction and a wall.
The details of the configuration of the moving unit 1, the movement control device 2, the detection unit 3, and the operation unit 5 of the autonomous moving body 100 will be described later.

The autonomous mobile body 100 further includes an auxiliary wheel unit 8. The auxiliary wheel portion 8 has two auxiliary wheels 8a and 8b. The two auxiliary wheels 8a and 8b are attached so that each can rotate independently. By providing the auxiliary wheel part 8, the autonomous mobile body 100 can move stably and smoothly.
In addition, when the moving part 1 itself has the structure which can drive | work the autonomous mobile body 100 stably, when the moving part 1 has two or more wheels, the auxiliary wheel part 8 does not need to be provided.

(2) Configuration of Moving Unit Next, the configuration of the moving unit 1 will be described in detail with reference to FIG. The moving unit 1 includes two main wheels 11a and 11b and two motors 13a and 13b. In the moving part 1 of this embodiment, each main wheel 11a, 11b can rotate independently. In the moving part 1 having such a configuration, the direction of the autonomous moving body 100 is changed by causing a difference in the rotational speeds of the main wheels 11a and 11b.
The main wheels 11a and 11b are connected to output rotation shafts of the motors 13a and 13b, respectively. Thereby, the main wheel 11a rotates according to the rotation of the motor 13a, and the main wheel 11b rotates according to the rotation of the motor 13b.

The motors 13 a and 13 b are electrically connected to the movement control device 2. The motors 13a and 13b can be independently controlled by motor drivers 25a and 25b (FIG. 5) of the movement control device 2, respectively. Therefore, each of the motors 13a and 13b can independently generate an arbitrary rotational speed and torque. As a result, the main wheels 11a and 11b can independently control the rotation speed and torque.
As the motors 13a and 13b, electric motors such as servo motors and brushless motors can be used.

(3) Configuration of Detection Unit Next, the configuration of the detection unit 3 will be described with reference to FIG. The detection unit 3 detects obstacles and walls around the travel route of the autonomous mobile body 100, and outputs position information such as the obstacles and walls. Therefore, the detection unit 3 includes a front detector 31 and a rear detector 33. The front detector 31 detects an obstacle or a wall in front of the autonomous mobile body 100. The rear detector 33 detects an obstacle or a wall behind the autonomous mobile body 100. In addition, the front detector 31 and the rear detector 33 indicate information about the distance between the autonomous mobile body 100 and an obstacle, a wall, and the like, and information regarding the direction in which the obstacle, the wall, and the like as seen from the autonomous mobile body 100 exist. Output signal including. Accordingly, the detection unit 3 can output relative position information such as an obstacle or a wall viewed from the autonomous mobile body 100 to the movement control device 2.
As the front detector 31 and the rear detector 33 of the detection unit 3, for example, a laser range finder (LRF) or the like can be used.

(4) Configuration of Operation Unit Next, the configuration of the operation unit 5 will be described with reference to FIG. FIG. 2 is a diagram illustrating a configuration of the operation unit 5. The operation unit 5 includes operation handles 51 a and 51 b, a setting unit 53, a display unit 55, and an interface 57.
The operation handles 51a and 51b are attached to the left and right sides of the housing 59 of the operation unit 5, respectively. Thereby, when the travel mode of the autonomous mobile body 100 is the manual travel mode, the user can operate the autonomous mobile body 100 by applying an appropriate external force F _u (described later) to the operation handles 51a and 51b.
The operation handles 51a and 51b may be attached to the housing 59 so as to be rotatable. In this case, the operation handles 51 a and 51 b are connected to the interface 57. Thereby, the rotation amounts (operation amounts) of the operation handles 51 a and 51 b are converted into electric signals at the interface 57 and can be input to the movement control device 2. When the operation mode is the manual travel mode, the autonomous mobile body 100 can be operated according to the operation amount of the operation handles 51a and 51b.

The setting unit 53 is connected to the interface 57. The setting unit 53 switches the traveling mode of the autonomous mobile body 100 to either the autonomous traveling mode or the manual traveling mode. Then, the travel mode set in the setting unit 53 is input to the switching unit 27 (FIG. 3) of the movement control device 2 via the interface 57. The setting unit 53 may be capable of setting other various settings of the autonomous mobile body 100.
The setting unit 53 can be configured by, for example, a switch or a keyboard for performing a traveling mode of the autonomous mobile body 100, various settings, and the like. Alternatively, the setting unit 53 may be configured as a touch panel and formed integrally with the display unit 55.

  The display unit 55 is connected to the interface 57. The display unit 55 reads and displays various settings and position information of the autonomous mobile body 100 from the movement control device 2 via the interface 57. A display such as a liquid crystal display can be used as the display unit 55. When the setting unit 53 and the display unit 55 are integrally formed as described above, a display with a touch panel function can be used as the display unit 55 (and the setting unit 53).

The interface 57 is connected to the movement control device 2. The interface 57 converts a switch, key input, and the like of the setting unit 53 into an electric signal and outputs it to the movement control device 2. Further, if necessary, the operation amount of the operation handles 51 a and 51 b is converted into an electric signal and output to the movement control device 2. Furthermore, the interface 57 reads out information related to the autonomous mobile body 100 from the movement control device 2 in accordance with a user instruction and displays the information on the display unit 55.
Accordingly, the interface 57 includes a signal converter that converts the setting state (the operation amounts of the operation handles 51 a and 51 b as necessary) in the setting unit 53 into an electrical signal, and a display for displaying information on the display unit 55. A microcomputer board provided with a unit drive circuit, a communication interface for transmitting / receiving signals to / from the movement control device 2, and the like can be used.

(5) Configuration of movement control device Overall Configuration of Movement Control Device Next, the overall configuration of the movement control device 2 of the moving unit 1 will be described with reference to FIG. FIG. 3 is a diagram illustrating an overall configuration of the movement control device 2.
The movement control device 2 performs signal conversion with a CPU (Central Processing Unit), a hard disk device, a ROM (Read Only Memory), a RAM (Random Access Memory), and a storage device such as a storage medium reading device. It can be realized by a microcomputer system equipped with an interface. In addition, some or all of the functions of the respective units of the movement control device 2 described below may be realized as a program. Further, the program may be stored in a storage device of the microcomputer board. Alternatively, some or all of the functions of the respective units of the movement control device 2 may be realized by a custom IC or the like.
The movement control device 2 includes a teaching unit 21, a self-position estimation unit 22, a storage unit 23, a travel control unit 24, a motor drive unit 25, an obstacle information acquisition unit 26, a switching unit 27, and a main control. Part 28.

The teaching unit 21 acquires a movement route at a predetermined time interval when the user moves the autonomous mobile body 100 using the operation unit 5 when the traveling mode is the manual traveling mode. Then, the teaching unit 21 converts the acquired movement route into a coordinate value on a coordinate system (hereinafter referred to as a movement coordinate) representing a movement plane on which the autonomous mobile body 100 moves, and the coordinate value and Associate the travel route with the acquired time. Furthermore, the teaching unit 21 stores the coordinate-converted movement route in the storage unit 23.
Here, a set of coordinate values of the movement route generated by the teaching unit 21 as described above is referred to as a planned travel route. The scheduled travel route is associated with the time when the travel route is acquired.
As will be described later, the rotational speeds of the motors 13 a and 13 b are controlled by the user applying an external force to the autonomous mobile body 100. The teaching unit 21 also acquires the rotation speeds of the motors 13a and 13b adjusted by the user's operation at predetermined time intervals.

  Further, the teaching unit 21 may acquire the posture of the autonomous mobile body 100 that is moving on the moving route when acquiring the moving route. Here, the attitude | position of the autonomous mobile body 100 means the direction where the front of the autonomous mobile body 100 faced. Thereby, the scheduled travel route can further include information (posture information) regarding the posture of the autonomous mobile body 100.

The self-position estimating unit 22 estimates the position of the autonomous mobile body 100 on the moving plane. The self-position estimation unit 22 can estimate the position of the autonomous mobile body 100 on the movement plane using, for example, a SLAM (Simultaneous Localization And Mapping) method.
The self-position estimation unit 22 converts relative position information such as an obstacle or a wall viewed from the autonomous mobile body 100 acquired by the detection unit 3 into a coordinate value on the movement coordinates. Then, the self-position estimation unit 22 is based on the position information such as an obstacle or a wall detected by the front detector 31 and the rear detector 33 of the detection unit 3, and the map information on the moving plane around the autonomous mobile body 100 ( Create a local map). In addition, the self-position estimation unit 22 stores map information (referred to as an environment map) on the moving plane in the storage unit 23. Then, the self-position estimation unit 22 compares the environment map and the local map to estimate at which position on the moving plane the autonomous mobile body 100 exists.
Furthermore, the self-position estimation unit 22 may be configured to estimate the position of the autonomous mobile body 100 even based on the rotation speeds of the motors 13a and 13b.

  When the movement control device 2 is realized by a microcomputer system, the storage unit 23 corresponds to a storage device of the microcomputer system (or a part of a storage area of the storage device). The memory | storage part 23 memorize | stores information, such as various settings of the autonomous mobile body 100, a plan driving | running route, location information, such as an obstruction and a wall. Further, when some or all of the functions of the respective units of the movement control device 2 are realized by software, the storage unit 23 may store the software.

Travel control unit 24 outputs a speed control command _{v c} for controlling the speed of the motor 13a, 13b, the motor driver 25 (to be described later). In addition, the traveling control unit 24 outputs a motor control command to the motor driving unit 25 based on the traveling mode set in the switching unit 27 (described later).
In the present embodiment, the travel control unit 24 outputs a first motor control command when the travel mode is the manual travel mode. On the other hand, when the traveling mode is the autonomous traveling mode, the second motor control command is output. Here, the first motor control command is a motor control command for limiting the torque that can be output by the motors 13a and 13b. On the other hand, the second motor control command, the motor 13a, without limiting the torque of 13b, is that the motor control command to follow the motor 13a, the speed of 13b to the speed control command v _c.
The detailed configuration and operation of the travel control unit 24 will be described later.

The motor drive unit 25 is connected to the motors 13a and 13b. Thereby, the motor drive part 25 can control the motors 13a and 13b.
Further, the motor driver 25 inputs the speed control command v _c and a motor control command from the travel controller 24. Then, the motor driver 25, based on the speed control command _{v c} and a motor control command to control the motor 13a, a 13b.
The detailed structure and operation of the motor drive unit 25 will be described later.

  The obstacle information acquisition unit 26 is connected to the front detector 31 and the rear detector 33 of the detection unit 3. The obstacle information acquisition unit 26 acquires positional information such as obstacles and walls based on signals output from the front detector 31 and the rear detector 33. And the obstruction information acquisition part 26 memorize | stores positional information, such as an obstruction and a wall, in the memory | storage part 23 as needed. At this time, the obstacle information acquisition unit 26 may output position information such as an obstacle or a wall to the self-position estimation unit 22. Then, the self-position estimation unit 22 may convert the position information such as the obstacle and the wall into coordinate values on the movement coordinates, and store the position information such as the obstacle and the wall in the storage unit 23.

  The switching unit 27 switches and sets the traveling mode to either the autonomous traveling mode or the manual traveling mode based on the traveling mode setting state in the setting unit 53 of the operation unit 5. And each part of the movement control apparatus 2 can refer to the driving mode set in the switching part 27 as needed.

The main control unit 28 outputs a travel instruction to a speed control command unit 241 (described later) of the travel control unit 24. In this case, the speed control command unit 241, based on the running instruction from the main control unit 28 calculates a speed control instruction v _c.
The travel instruction output from the main control unit 28 includes position information and time information based on a travel route on which the travel mode is autonomous when the travel mode is the autonomous travel mode. At this time, the travel route is generated from the planned travel route taught by the user.
Thus, the speed control command unit 241, based on the travel instruction including the location information and time information, it calculates the speed control command v _c that can faithfully traveling along the traveling path. As a result, when the travel mode is the autonomous travel mode, the autonomous mobile body 100 can travel faithfully on the travel route.

II. Configuration of Travel Control Unit Next, the configuration of the travel control unit 24 will be described with reference to FIG. FIG. 4 is a diagram illustrating a configuration of the travel control unit 24. The travel control unit 24 includes a speed control command unit 241 and a motor control command unit 243.
Speed control instruction unit 241, based on the running mode, and outputs a speed control command v _c. In the present embodiment, the traveling mode is when the autonomous mode, outputs a speed control command v _c traveling the planned travel route as taught. That is, the speed control command unit 241, the motor 13a acquired by the teaching unit 21 to the manual driving mode, based on the rotational speed of 13b, and outputs a speed control command v _c.
On the other hand, when the travel mode is the manual driving mode, in accordance with such setting value set in the setting unit 53 of the operation unit 5, the motor 13a, 13b is, the speed control command v _c of rotating at the same predetermined speed Output. When the operating handle 51a, 51b is pivotally operating handle 51a, according to amount of rotation of 51b, may output the speed control command _{v c.}

Here, the above the same predetermined speed, it will be referred to as no-load manually velocity v _n. This is because the same predetermined speed when the travel mode is the manual travel mode is a speed at which the motor can output when no external force is applied to the autonomous mobile body 100 from the user. As described later, when the traveling mode is the manual driving mode, the user, with respect to the traveling direction of the autonomous moving body 100, mainly the reverse of the external force F _u in addition to autonomous moving body 100, the autonomous moving body 100 Control the direction. Incidentally, when the running mode is the manual driving mode, the autonomous moving body 100, when an external force is not applied, straight in unloaded manually velocity v _n.

Incidentally, no-load manual speed _{v n} is set portion 53 of the operation unit 5, or the operating handle 51a, the 51b, it may be adjustable. Thus, in accordance with the characteristics of the user to teach the planned travel route to the autonomous moving body 100, the no-load manual speed v _n can be appropriately adjusted.

The motor control command unit 243 outputs a motor control command based on the travel mode. The motor control command unit 243 outputs a first motor control command when the travel mode is the manual travel mode. On the other hand, when the travel mode is the autonomous travel mode, the motor control command unit 243 outputs a second motor control command.
In the present embodiment, the the first motor control command, to the motor driver 25, the motor 13a, 13b so that it becomes difficult to follow with respect to the speed control command _{v c,} so as to control the motor 13a, 13b Contains motor control commands. In addition, when the motor drive unit 25 includes a power limiting unit (FIG. 6A), the motor drive that can be output by the motor drive unit 25 when the travel mode is the manual travel mode in the first motor control command. Information regarding the upper limit value (first current value I ₁ and / or second current value I ₂ ) (described later) of the current I _d is included. As described above, when the first motor control command includes the first current value I ₁ and the second current value I ₂ , the current (motor drive current) that the motor drive unit 25 outputs to the motors 13a and 13b. In this case, the electric power of the motors 13a and 13b is controlled by I _d ).
When the running mode is the manual driving mode, the motor control command unit 243, from the output the first motor control command as described above, the motor 13a, the motor drive current I _d supplied to 13b is limited. As a result, the torque that can be output from the motors 13a and 13b can be limited.

On the other hand, when the traveling mode is the autonomous mode, the second motor control command output from the motor control command unit 243, such as to follow the motor 13a, and 13b to the speed control command v _c, a first motor control command Include different motor control commands. Further, when the information is included regarding the upper limit value of the motor drive current I _d to the first motor control command, the second motor control command, including a motor control command to release the upper limit value of the motor driving current I _d.
When the running mode is the autonomous mode, the motor control instruction unit 243, by outputting the second motor control command as described above, the motor 13a, 13b can follow the speed control command v _c. As a result, the autonomous mobile body 100 can travel faithfully on the travel route.

The reason to include in the first motor control command, the motor 13a, 13b is the upper limit of the motor control command and the motor drive current I _d as difficult to follow with respect to the speed control command v _c, and the first motor The reason why the control command is different from the second motor control command will be described in detail later.

III. Configuration of Motor Drive Unit (i) Overall Configuration Next, the configuration of the motor drive unit 25 will be described. First, the overall configuration of the motor drive unit 25 will be described with reference to FIG. FIG. 5 is a diagram illustrating an overall configuration of the motor driving unit 25.
The motor drive unit 25 includes a first motor driver 25a and a second motor driver 25b. The first motor driver 25a and the second motor driver 25b are connected to the motors 13a and 13b, respectively. Therefore, the first motor driver 25a drives the motor 13a and the second motor driver 25b drives the motor 13b independently.
Therefore, the first motor driver 25a, the second motor driver 25b, the travel control unit 24 independently, the speed control command v _c and a motor control command is inputted.

(Ii) Configuration of Motor Driver Next, the configuration of the first motor driver 25a and the second motor driver 25b will be described with reference to FIGS. 6A and 6B. Since the first motor driver 25a and the second motor driver 25b have the same structure, the structure of the motor driver will be described here by taking the first motor driver 25a as an example. FIG. 6A is a diagram illustrating a basic configuration of the first motor driver 25a.
The motor drivers 25a and 25b according to the present embodiment control the motor 13a, the motor 13a, and the motor 13a by controlling the motor drive current I _d (an example of the motor drive power) that is input to drive the motors 13a and 13b. The power of 13b is controlled.
The first motor driver 25 a includes a power control unit 251 and a power supply unit 253. The power control unit 251, a speed control command v _c and a motor control command, and can input from the travel control unit 24. Further, the rotational speed v of the motor 13a can be input from the motor 13a. The rotational speed v of the motor 13a is determined based on a signal from an encoder provided in the motor 13a.

The power control unit 251 calculates a current instruction value I _c (an example of a power instruction value) based on the control parameter determined based on the speed control command v _c and the motor control command and the rotation speed v of the motor 13a. And output. Here, the control parameter is a parameter for determining the control characteristic of the power control unit 251. The current instruction value I _c is a command for the power supply unit 253 (described later), and is a signal that indicates a motor drive current I _d (described later) that the power supply unit 253 should output.
In addition, as the power control unit 251, a control device using control that can change the control characteristics of the power control unit 251 by using a control parameter is used. Examples of such a control device include a control device using PI (Proportional Integral) control theory and a control device using PID (Proportional Integral Differential (Derivative)) control theory.
The configuration of the power control unit 251 in this embodiment will be described later.

Power supply unit 253 is capable of inputting a current instruction value I _c from the power control unit 251. The power supply unit 253 is connected to the motor 13a. Therefore, the power supply unit 253, based on the current command value _{I c,} can be supplied to the motor drive current _{I d} to the motor 13a.
The power supply unit 253 feeds back the actual motor driving current I _d which is supplied to the motor 13a, on the basis of the difference between the current command value I _c and the motor drive current I _d, the motor drive to be output The current _Id is calculated and output.

(Iii) Configuration of Power Control Unit Next, the configuration of the power control unit 251 will be described with reference to FIG. 6A. As illustrated in FIG. 6A, the power control unit 251 includes a difference calculation unit 2511, a control unit 2513, a control gain setting unit 2515, a control gain storage unit 2517, and a current limiting unit 2519.
Difference calculating unit 2511 is enabled input speed control command v _c from the travel control unit 24, and can enter the actual rotational speed v of the motor 13a from the motor 13a. Difference calculating unit 2511, a speed control command _{v c,} to calculate the actual speed v and the speed deviation Δv _(v c -v) output of the motor 13a.

The control unit 2513 is connected to be able to receive a signal from the control gain setting unit 2515. Thereby, the control characteristic of the control unit 2513 is adjusted by the signal received from the control gain setting unit 2515. Further, the control unit 2513 can input the speed deviation Δv from the difference calculation unit 2511. Further, the control unit 2513 is connected to the power supply unit 253. Thus, the control unit 2513 can calculate the current instruction value I _c from the speed deviation Δv and output the current instruction value I _c to the power supply unit 253.
In the control unit 2513, the rotation speed v of the motor 13a (to be referred to as additional controlled variable) is the control amount to be added to reach the speed control command v _c a [Delta] T, was calculated from the speed deviation Δv Thereafter, ΔT is converted into a current instruction value I _c to be output.

In the present embodiment, the control unit 2513 operates based on the PI control theory. At this time, the control unit 2513 calculates the additional control amount ΔT from the equation: ΔT = K _p × Δv + K _i × Int (Δv). Here, Int (Δv) is a time integration of the speed deviation Δv. K _p is a constant that determines the output amount of ΔT with respect to the speed deviation Δv (proportional term). K _i is a constant that determines the output amount of ΔT with respect to the time integration Int (Δv) (integral term) of the speed deviation Δv.
The control unit 2513 that operates based on the PI control theory can adjust the control characteristics of the control unit 2513 by adjusting the values of the constants K _p and K _i . The constants K _p and K _i are called control gains. The control gains K _p and K _i are adjusted by a signal from the control gain setting unit 2515.

In the present embodiment, a control device that operates based on the PI control theory is used as the control unit 2513, but is not limited thereto. For example, the control unit 2513 may be a control device that operates based on PID control theory. In the PID control theory, ΔT is expressed by the following equation: ΔT = K _p × Δv + K _i × Int (Δv) + K _d × (Δv) ′. Here, (Δv) ′ is a time derivative of the speed deviation Δv. K _d is a constant that determines the output amount of ΔT with respect to the time derivative (Δv) ′ (derivative term) of Δv.

When the control unit 2513 is a control device that operates based on the PID control theory, the control unit 2513 responds faster to time. Thus, the motor 13a, 13b, when the traveling mode is the autonomous mode, the speed control command v _c, can be more faithfully follow.
When the control unit 2513 that operates based on the PID control theory is used, the control unit 2513 operates based on the PI control theory by setting the constant _Kd to 0 by the control gain setting unit 2515. become.

The control gain setting unit 2515 is connected to the control unit 2513 so that a signal can be transmitted. Further, the control gain setting unit 2515 is connected so that data can be input from a control gain storage unit 2517 (described later). Accordingly, the control gain setting unit 2515 selects and reads one predetermined control gain from the control gain storage unit 2517 based on the motor control command output from the travel control unit 24. Then, the control gain setting unit 2515 outputs the read control gain to the control unit 2513, and sets the control gain of the control unit 2513.
The control gain setting unit 2515 selects the second control gain from the control gain storage unit 2517 when the motor control command is the second motor control command. On the other hand, when the motor control command is the first motor control command, the control gain setting unit 2515 selects the first control gain from the control gain storage unit 2517.

The control gain storage unit 2517 is connected to the control gain setting unit 2515 so that signals can be transmitted. The control gain storage unit 2517 stores a predetermined number of predetermined control gains. Then, the control gain stored in the control gain storage unit 2517 is read from the control gain setting unit 2515 and set in the control unit 2513.
When the control unit 2513 operates based on the PI control theory, the control gain stored in the control gain storage unit 2517 has two constants K _p and K _i as one unit. That is, the control gain is expressed as a two-dimensional constant (K _p , K _i ). In addition, when the control unit 2513 operates based on the PID control theory, in addition to K _p and K _i , K _d is further added, and a three-dimensional constant (K _p , K _i , K _d ).

The control gain storage unit 2517 stores at least two control gains of a first control gain (K _p1 , K _i1 ) and a second control gain (K _p2 , K _i2 ). Note that the second control gain, the rotational speed v of the motor 13a is set to the optimum value capable of following the speed control command v _c. Such an optimal value of the second control gain may be performed by manual adjustment, or may be automatically adjusted by the motor driving unit 25.
The first control gain has a smaller value than the second control gain. That is, a relationship of K _p1 <K _p2 and K _i1 <K _i2 is established between the first control gain and the second control gain. In this way, by setting the first control gain to a value smaller than the second control gain, the motors 13a and 13b are more speedy when the travel mode is the manual travel mode than when the travel mode is the autonomous travel mode. it outputs a control command v becomes difficult to follow the _c such current command value I _c. As a result, when the travel mode is the manual driving mode, it is possible to suppress the motor driving current I _c input motor 13a, to 13b. Therefore, when the travel mode is the manual travel mode, the torque that can be output from the motor can be limited.
Furthermore, the control gain K _i1 related to the integral term of the first control gain is preferably zero. Thereby, in addition long external force F _u, a motor 13a, also in the case of maintaining the rotational speed of 13b, operations such as gradually increasing the magnitude of the external force F _u is unnecessary. As a result, the operability of the autonomous mobile body 100 by the user is improved.
Also, by making the first control gain value different from the second control gain value, a plurality of controls having different characteristics can be performed using only one control unit 2513. As a result, the structure of the motor drive unit 25 can be simplified.

  The control gain storage unit 2517 may store two or more control gains. Thus, the control gain setting unit 2515 can select an appropriate control gain according to the environment (such as the state of the moving plane) in which the autonomous mobile body 100 travels. Even when there are two or more control gains, the value of the first control gain is smaller than the value of the second control gain.

Furthermore, the control gain storage unit 2517 may store a plurality of control gains as a group of first control gains, and store a plurality of other control gains as a group of second gains.
In this case, the control gain setting unit 2515 selects one control gain from the group of first control gains as the first control gain based on the motor control command, and controls one control gain from the group of second control gains. A gain may be selected and set as the control gain of the control unit 2513 as the second control gain.
Thus, the control gain setting unit 2515 can select an appropriate control gain according to the environment in which the autonomous mobile body 100 travels, the characteristics of the user who manually operates the autonomous mobile body 100, and the like.
As the control gain storage unit 2517, a part of the storage area of the storage device (storage unit 23) provided in the movement control device 2 can be used. In addition, a storage unit for storing the control gain may exist separately from the storage device and the storage unit 23 of the movement control device 2.

The current limiting unit 2519 is connected between the output of the control unit 2513 and the power supply unit 253. Current limiting unit 2519, when the motor control command to the first motor control command, the upper limit of the motor drive current I _d, is limited to a predetermined first current value I _{1 (an} example of a first power value). In the present embodiment, since the control of the power of the motor 13a, 13b by controlling the motor drive current I _d, the current limiting unit 2519, as described above, the upper limit value of the motor driving current I _d Is limiting. When the motor driver 25a has the current limiting unit 2519, a power value detection unit 255 is provided between the output of the motor driver 25a and the input of the motor 13a. Power detection unit 255 in the present embodiment, detects a current value of the motor driving current I _d (an example of the power value). As the power value detection unit 255, a device that converts current into voltage, such as a shunt resistor, can be used. Alternatively, as the power value detection unit 255, a device that measures current by detecting a magnetic field generated around the electric wire through which current flows, for example, a clamp ammeter or a transcurrent can be used.
As shown in FIG. 6A, the current value detection result of the power value detection unit 255 is input to the current limiting unit 2519. Thus, the current limiting unit 2519 monitors the current value of the actual motor driving current I _d output from the motor driver 25a, when the motor driving current I _d becomes larger than the first current value I _1, the motor and it outputs a current instruction value I _c so as to set the drive current I _d to the first current value I _1.

When the driving mode is the manual driving mode, if the motor driving current I _d exceeds a predetermined threshold I _T (described later) for a predetermined time t ₂ (described later), the current limiting unit 2519 performs motor driving. limiting the upper limit of the current I _d to the second current value I _{2 (an} example of a second power value).
Thereby, it can suppress that the excessive motor drive current _Id is input into the motor 13a more than predetermined time. As a result, when manually operating the autonomous moving body 100, it is not necessary for the user to operate the autonomous moving body 100 by adding excessive external force F _u long. As a result, the operability of the autonomous mobile body 100 by the user is improved.
The first current value I ₁ and the second current value I ₂ in the current limiting unit 2519 are set by information regarding the first current value I ₁ and the second current value I ₂ included in the first motor control command. On the other hand, the running mode is at the autonomous mode, limits the motor driving current I _d at the current limiting unit 2519 is canceled. This can be realized, for example, by setting the first current value I ₁ and the second current value I ₂ having values equal to or higher than the rated currents of the motors 13 a and 13 b in the current limiting unit 2519. Even if the first current value I ₁ and the second current value I ₂ are set to values equal to or higher than the rated currents of the motors 13a and 13b, the motor drive current I _d that can be input to the motors 13a and 13b is the maximum current I. _Max is not exceeded.

The current limiting unit 2519, when the current command value I _c output from the control unit 2513, the motor drive current I _d is a command value exceeding the first current value I _1, the current instruction value I _c may be corrected to the instruction value as the motor drive current I _d becomes the first current value I _1. The current limiting unit 2519 may output the corrected command value as a current command value I _c. With such a method, the current limiting unit 2519, the upper limit of the motor drive current I _d, can be limited to first current value I _1.
The current limiting unit 2519, by a method for correcting the command value from the control unit 2513, to limit the upper limit of the motor drive current I _d to the first current value I ₁ is power detection unit 255, without May be.

Thus, power limiting section 2519 is also calculated current command value I _c is a large value, it limits the magnitude of the motor drive current I _d. As a result, the torque of the motors 13a and 13b can be limited.
Incidentally, in particular, when the running mode is the manual driving mode, if even only the control unit 2513 can be sufficiently limit the motor drive current I _d, as shown in FIG. 6B, the power control unit 251, the current The restriction unit 2519 may not be provided. Further, when the motor driver 25a does not include the current limiting unit 2519, the power value detection unit 255 is not particularly necessary.

(6) Operation of autonomous mobile body Next, the operation of the autonomous mobile body 100 will be described. First, an overall operation of the autonomous mobile body 100 from the start of the autonomous mobile body 100 to the end of traveling will be described with reference to FIG. FIG. 7 is a flowchart showing an overall operation of the autonomous mobile body 100 from the start of the autonomous mobile body 100 to the end of traveling.
When the autonomous mobile body 100 is started, first, the user operates the setting unit 53 of the operation unit 5 to set the traveling mode of the autonomous mobile body 100. Then, the setting in the setting unit 53 is reflected in the switching unit 27. That is, the switching unit 27 switches the traveling mode to either an autonomous traveling mode in which autonomous traveling is performed or a manual traveling mode that is manually operated. As a result, the travel mode is set in the movement control device 2. (Step S1).

Next, the speed control command unit 241 of the travel control unit 24, based on the running mode switching unit 27 is set, to create a speed control command v _c outputs (step S2).
In step S2, the speed control command unit 241, the traveling mode is the case of the manual driving mode, creates the velocity control command v _c to rotate the motor 13a, 13b at the no-load manual speed.
On the other hand, the traveling mode is in the case of autonomous mode, based on the running instruction of the main controller 28, the speed control command v _c is created. At this time, the main control unit 28 creates a travel route from the planned travel route taught to the autonomous mobile body 100. Then, the main control unit 28 creates a travel instruction including position information and time information based on the travel route and the position information of the obstacle obtained from the detection unit 3. By running instruction contains the location information and time information, the speed control instruction unit 241, the speed control command v _c indicated by the relationship between time and speed can be easily created.

Then, when the travel mode is the manual travel mode, the motor control command unit 243 creates a first motor control command for controlling the motors 13a and 13b so as to limit the torque that can be output from the motors 13a and 13b. To do. On the other hand, the traveling mode is in the case of autonomous mode, the motor 13a, the rotational speed of 13b the motor 13a so as to follow the speed control command v _c, to create a second motor control command for controlling 13b outputs (Step S3).

Next, the control gain setting unit 2515 detects the setting state of the motor control command (step S4). When the motor control command is the first motor control command (in the case of “first motor control command” in step S4), the autonomous mobile body 100 performs manual travel (step S6). At this time, the control gain setting unit 2515 reads the first control gain from the control gain storage unit 2517 and sets the first control gain in the control unit 2513 (step S61). Here, the current limiting unit 2519, based on the first current value _{I 1} and the second information on the current value _{I 2} included in the first motor control command, the first current value _{I 1,} and the second current value _{I 2} Set.
Thereafter, the motor driving unit 25, based on the speed control command _{v c,} and controls the motor 13a, a 13b. And the autonomous mobile body 100 carries out manual driving | running | working in the state in which the torque output of motor 13a, 13b was restrict | limited (step S62). At this time, the autonomous moving body 100, the external force F _u applied by the user through the operation unit 5 is operated.

On the other hand, when the motor control command is the second motor control command (in the case of “second motor control command” in step S4), the autonomous mobile body 100 performs autonomous traveling (step S5). At this time, the control gain setting unit 2515 reads the second control gain from the control gain storage unit 2517 and sets the second control gain in the control unit 2513 (step S51). Thereafter, the motor driving unit 25, based on the speed control command _{v c,} and controls the motor 13a, a 13b. Then, the autonomous moving body 100 is autonomous while following the speed control command _{v c} (step S52).
At this time, the upper limit value of the motor driving current I _d in the current limiting unit 2519 is canceled (however, the motor driving current I _d does not become the maximum current I _max or more).

As described above, by setting an appropriate control gain in the control unit 2513 based on the travel mode, the autonomous mobile body 100 can control the speed in the autonomous travel mode without limiting the torque output of the motors 13a and 13b. It can travel following the command v _c. On the other hand, in the manual travel mode, the autonomous mobile body 100 travels in a state where the torque output of the motors 13a and 13b is limited. As a result, in the manual travel mode, the operability of the autonomous mobile body 100 by the user is improved.

II. Operation of Autonomous Mobile Body in Manual Travel Mode Next, the operation of the autonomous mobile body 100 in the manual travel mode will be described with reference to FIGS. 8A to 8D. In particular, the user operating handle 51a, the traveling direction of the autonomous moving body 100 via 51b by applying an external force _{F u} of the reverse, main wheel 11a of the autonomous moving body 100, reducing one of the rotational speed of 11b The operation will be described. At this time, the autonomous mobile body 100 rotates to the main wheel side whose rotation speed is reduced. This is because a speed difference is generated between the two main wheels 11a and 11b.
As shown in FIG. 8A, it is assumed that an external force _Fu is applied by the user to the main wheel 11a on the left side in the traveling direction. As a result, the rotational speed _{v L} of the main wheel 11a is (also the speed control command _{v c, v} is set to _n) unloaded manually velocity _{v n} than, and becomes smaller only speed deviation Delta] v _n. At this time, the main wheel 11b since no external force is applied, the main wheel 11b is rotated at no-load manually velocity v _n. Thereby, the autonomous mobile body 100 turns left.

At this time, as shown in FIG. 8A, a motor driver 25a for controlling the motor 13a is controlled as eliminate the speed deviation Delta] v _n, an attempt is made to the motor 13a. That is, the motor driver 25a is a motor drive current _{I d} from _{I min,} increases. At this time, the torque output from the motor 13a also increases. This is because the torque output from the motor 13a, 13b is because increases as the motor drive current I _d increases.
_{Incidentally, I min} is the motor driving current _{I d} when the motor 13a, 13b is rotated at no-load manually velocity _{v n.}
At this time, the control unit 2513 calculates an additional control amount ΔT from an expression indicating the additional control amount ΔT, ΔT = K _p1 × Δv + K _i1 × Int (Δv) (additional control amount ΔT: K _p1 Δv _n + K _i1 Δv _n ). Then, the control unit 2513, the current of the current command value I _c, adds the instruction value determined based on the additional control amount [Delta] T, and outputs it as a new current command value I _c. As a result, a motor drive current _Id larger than _Imin is output from the power supply unit 253.

Further, as shown in FIG. 8A, the value of the control gain K _p and K _i, the time variation of the motor driving current I _d is different to be output. That is, the larger the control gain _{K p} and _{K i} are reacted quickly to changes in the rotational speed of the motor 13a. Therefore, when the value of the control gain is large, the motor drive current I _d is rapidly increased, reaching the maximum current I _max in a short time. On the other hand, the lower the control gain, the slower the motor drive current _Id increases. That is, stops fast response to speed deviations Delta] v _n.
Thus, in the manual travel mode, the motor drive current _Id is unlikely to increase by setting the control gain of the control unit 2513 to the first control gain smaller than the second control gain. As a result, the torque output from the motors 13a and 13b is also difficult to increase. That is, the torque that can be output from the motors 13a and 13b is limited.

As described above, the control gain K _i1 relating to the integral term of the control unit 2513 when the travel mode is the manual travel mode is preferably 0. That is, it is preferable to invalidate the integral term of PI control. As shown in FIG. 8B, the control unit 2513, when the integral term is valid, in order to eliminate the speed variation Delta] v _n, to flow more motor driving current I _d than if the integral term is disabled generating a such current command value I _c.
Further, as shown in FIG. 8B, the influence of the integral term, the time speed deviation Delta] v _n is held becomes more pronounced as longer. This is because the integral term is because a term corresponding to the cumulative value of the speed deviation Delta] v _n. That is, when the speed deviation Δv _n exists for a long time, the speed deviation Δv _n is accumulated, and the current instruction value I _c (that is, the motor driving current I _d ) rapidly increases.
When the motor control command to the first motor control command, the 0 control gain K _i1 about the integral term, by such integral term (cumulative value of the speed deviation Delta] v _n) does not affect the additional control quantity ΔT It is possible to suppress the motor drive current _Id from rapidly increasing. As a result, the torque output from the motors 13a and 13b is limited.

In the present embodiment, the power control unit 251, the current limiting unit 2519, as shown in FIG. 8C, are not to rise above the motor driving current I _d is the first current value I _1. That is, even when the current instruction value I _c from the control unit 2513 increases and the motor drive current I _d becomes larger than the first current value I ₁ , the motor drive current I _d becomes the first current value I ₁ . Limited.
In this way, the running mode is at the manual driving mode, the upper limit value of the motor driving current I _d inputted motor 13a, and 13b is reliably restricted. As a result, when the travel mode is the manual travel mode, the torque that can be output by the motors 13a and 13b can be reliably limited.

Next, another operation of the autonomous mobile body 100 will be described with reference to FIG. 8D. FIG. 8D is a diagram illustrating the state of the autonomous mobile body 100 when the autonomous mobile body 100 is rotated with the rotation of either of the main wheels 11a and 11b almost or completely stopped.
In this way, an operation of rotating either of the main wheels 11a and 11b almost or completely and rotating the autonomous mobile body 100 may be referred to as a pivot operation. By the pivot operation, the autonomous mobile body 100 can rotate (pivot rotation) with a smaller rotation radius.
In FIG. 8D, the rotation of the left main wheel 11a of the autonomous mobile body 100 is substantially stopped, and the autonomous mobile body 100 is pivoted to the left. In this case, the rotation speed v _L of the left main wheel 11a is almost zero. Therefore, the speed deviation Delta] v _n is greater than that shown in Figure 8A. As a result, the current command value I _c output from the control unit 2513 becomes a large value.

On the other hand, the power control unit 251 of the present embodiment, the current limiting unit 2519 as shown in FIG. 8D, the predetermined time t ₂ above, when the motor driving current I _d flows beyond a predetermined threshold value I _T is , it limits the motor driving current _{I d} to the second current value _{I 2.} Therefore, it limits the motor 13a, and 13b also substantially current command value I _c by stopping is calculated as a larger value, ensures the motor drive current I _d appropriate current value (second current value I ₂₎ . Therefore, even when an operation that reliably stops the rotation of the motors 13a and 13b, such as a pivot operation, is desired, the user does not need to apply a large external force _Fu to the autonomous mobile body 100. That is, the operability of the autonomous mobile body 100 by the user is improved.

III. The reason why the control gain is made different between the manual travel mode and the autonomous travel mode Here, the reason why the first control gain is used in the manual travel mode and the second control gain is used in the autonomous trend mode will be described. The reason why the first control gain is used in the manual travel mode is as described above. That is, when using the second control gain having a large control gain, the motor 13a, when the rotational speed of 13b attempts to slower than unloaded manually velocity v _n, a motor 13a, flows a large motor drive current I _d to 13b Because. As a result, when trying to turn the autonomous moving body 100 by a manual operation, the user will not has to be to strong external force F _u. As a result, the operability of the autonomous mobile body 100 by the user is reduced.

On the other hand, the case of using the first control gain in autonomous mode, since the control gain is small, the motor 13a, 13b rotational speed v of, no longer follow the speed control command v _c. Therefore, the speed control command unit 241, based on the travel instruction created by the main control unit 28, even when creating a faithful travelable speed control command v _c a travel route, the autonomous moving body 100 is traveling path You will not be able to travel faithfully.
Therefore, as the second control gain used in the control unit 2513 to the autonomous mode, the motor driver 25a, 25b is, the motor 13a, without limiting the possible output torque of 13b, a motor 13a, 13b of the speed control command _{v c} A control gain is used so as to follow the control. That is, when the traveling mode is the autonomous traveling mode, the control unit 2513 controls the motors 13a and 13b with an emphasis on the autonomous moving body 100 traveling faithfully on the planned traveling route. Therefore, a control gain having a value larger than the first control gain is set as the second control gain.

(7) Effects of this embodiment The effects of this embodiment will be described below.
The autonomous mobile body 100 (an example of an autonomous mobile body) includes two main wheels 11a and 11b (an example of a plurality of wheels), two motors 13a and 13b (an example of a plurality of motors), and a switching unit 27 (a switching unit). ), A speed control command unit 241 (an example of a speed control command unit), a motor control command unit 243 (an example of a motor control command unit), and a motor drive unit 25 (an example of a motor drive unit). . The main wheels 11a and 11b cause the autonomous mobile body 100 to travel. The motors 13a and 13b are connected to the main wheels 11a and 11b, respectively. The motors 13a and 13b rotate the connected main wheels 11a and 11b. For example, as shown in step S1 of FIG. 7, the switching unit 27 sets the travel mode (an example of the travel mode), the autonomous travel mode in which the autonomous travel is performed (an example of the autonomous travel mode), or the manual travel that is manually operated. Switch to one of the modes (an example of manual travel mode). The speed control command unit 241 outputs a speed control command v _c (an example of a speed control command) for controlling the speeds of the motors 13a and 13b based on the travel mode, for example, as in step S2 of FIG. For example, when the travel mode is the manual travel mode as in step S3 of FIG. 7, the motor control command unit 243 limits the torque that can be output by the motors 13a and 13b (first motor control command (first An example of a motor control command is output. On the other hand, when the traveling mode is the autonomous driving mode, the motor control command unit 243, for example, as in step S3 in FIG. 7, the second motor control command to follow the speed of the motor to the speed control command v _c ( An example of a second motor control command is output as a motor control command (an example of a motor control command). The motor drive unit 25, based on the motor control command speed control command _{v c,} to drive motor 13a, a 13b.

In this autonomous mobile body 100, first, the switching unit 27 switches and sets the traveling mode to either the autonomous traveling mode or the manual traveling mode. Next, the speed control command unit 241, based on the running mode, the motor 13a, and outputs a speed control command _{v c} for controlling the speed of 13b. Then, the motor control command unit 243 outputs a motor control command based on the travel mode. At this time, the motor control command unit 243 outputs the first motor control command as the motor control command when the travel mode is the manual travel mode. On the other hand, when the travel mode is the autonomous travel mode, the motor control command unit 243 outputs the second motor control command as the motor control command.
Thereafter, the motor driving unit 25, the speed control command v _c and based on the motor control command to control the motor.

With such an autonomous mobile body 100, when the user manually operates the autonomous mobile body 100, the torque output from the motors 13a and 13b is limited. On the other hand, when the autonomous moving body 100 is autonomous traveling without limiting the output torque that can be from the motor, so as to follow the velocity control instruction v _c generated in the speed control command unit 241, the motor 13a, 13b is controlled Is done. As a result, when the user is operating the autonomous mobile body 100, the user can operate the autonomous mobile body 100 without applying an excessive external force F _u (an example of an external force). On the other hand, when the autonomous moving body 100 is autonomous traveling, the autonomous moving body 100 can travel along the speed control command v _c.

  Therefore, the operability of the autonomous mobile body 100 by the user can be improved. And the autonomous mobile body 100 can drive | work faithfully the driving | running route (an example of a driving | running route) taught by the user.

In the autonomous mobile body 100 of the present embodiment, the motor drive unit 25 includes a power control unit 251 (an example of a power control unit) and a power supply unit 253 (an example of a power supply unit). The power control unit 251 calculates a current command value I _c (an example of a power command value) based on a control parameter (an example of a control parameter) determined based on the speed control command v _c and the motor control command. The power supply unit 253 supplies a motor drive current I _d (an example of motor drive power) to the motors 13 a and 13 b based on the current instruction value I _c .

Such a motor drive unit 25, the torque output from the motor 13a, 13b is, can be controlled by the motor drive current _{I d} supplied motor 13a, to 13b. As a result, the motor drive unit 25 can more easily control the torque output from the motor.

  In the autonomous mobile body 100 of the present embodiment, the control parameter of the power control unit 251 includes a control gain. Therefore, the power control unit 251 includes a control gain storage unit 2517 (an example of a control gain storage unit) and a control gain setting unit 2515 (an example of a control gain setting unit). The control gain storage unit 2517 stores a predetermined number of predetermined control gains. The control gain setting unit 2515 selects one control gain from a predetermined number of control gains stored in the control gain storage unit 2517 based on the motor control command.

  By using the control parameter of the power control unit 251 as a control gain and determining the control gain based on the motor control command, a plurality of controls with different characteristics can be performed using only one power control unit 251. As a result, the structure of the motor drive unit 25 can be simplified.

In the autonomous mobile body 100 of the present embodiment, the control gain setting unit 2515 selects the second control gain (an example of the second control gain) when the motor control command is the second motor control command, and performs motor control. When the command is the first motor control command, the first control gain (an example of the first control gain) having a value smaller than the second control gain is selected.
Thus, the power control unit 251, when the traveling mode is the manual driving mode, it is possible to suppress the motor drive current I _d to be input motor 13a, to 13b. Therefore, when the travel mode is the manual travel mode, the torque that can be output from the motor can be limited.

In the autonomous mobile body 100 of the present embodiment, the motor driving unit 25 further includes a power value detection unit 255 (an example of a power value detection unit) and a current limiting unit 2519 (an example of a power limiting unit). Yes. Power detection unit 255 detects a current value of the motor driving current I _d (an example of the power value). Current limiting unit 2519, when the motor control command is a first motor control command, setting the upper limit of the motor drive current I _d to the first current value predetermined I _{1 (an} example of a first power value).
Thus, when the travel mode is the manual driving mode can be reliably limit the upper limit value of the motor driving current I _d inputted motor 13a, to 13b. As a result, when the travel mode is the manual travel mode, the torque that can be output by the motors 13a and 13b can be reliably limited.

In the autonomous moving body 100 of the present embodiment, when the traveling mode is the manual driving mode, the motor driving current I _d is the time t _{2 (an} example of a predetermined time), the threshold value I _{T (an} example of a predetermined threshold value) exceeding, the current limiting unit 2519 limits the upper limit of the motor drive current I _d to the second current value I _{2 (an} example of a second power value).
Thus, it is possible to suppress the time _{t 2} or more, the motor 13a, an excessive motor drive current _{I d} to 13b are input. As a result, when manually operating the autonomous moving body 100, it is not necessary for the user to operate the autonomous moving body 100 by adding excessive external force F _u long. As a result, the operability of the autonomous mobile body 100 by the user is improved.

In the autonomous mobile body 100 of the present embodiment, the movement control device 2 (an example of a movement control device) outputs a travel instruction (an example of a travel instruction) to the speed control command unit 241 (of the main control unit). An example). In this case, the speed control command unit 241, based on the running instruction from the main control unit 28 calculates a speed control instruction v _c. The travel instruction output from the main control unit 28 includes position information (an example of position information) and time information (time information) based on a travel route (an example of a planned travel route) that travels autonomously when the travel mode is the autonomous travel mode. Example).
Thus, the speed control command unit 241, based on the travel instruction including the position information and time information, it calculates the speed control command v _c that can faithfully travel easily travel route.

2. Other Embodiments Although one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications can be made without departing from the scope of the invention. In particular, a plurality of embodiments and modifications described in this specification can be arbitrarily combined as necessary.
(A) Other embodiment about structure of autonomous mobile body The moving part 1 of the autonomous mobile body 100 in 1st Embodiment had the two main wheels 11a and 11b. And each of the main wheels 11a and 11b was rotatably connected to the output rotating shafts of the motors 13a and 13b. However, the number of main wheels and motors is not limited to two. The moving unit may include two or more main wheels and a plurality of motors connected to each of the main wheels. Depending on the application of the autonomous mobile body, the degree of freedom of movement, etc., the moving unit can be configured by an arbitrary number of main wheels and motors.

(B) the motor driver 25a of the autonomous moving body 100 according to the first embodiment will power control of the motor, 25b, based on the speed control command _{v c,} and controls the motor drive current _{I d} to enter the motor 13a, and 13b Thus, the electric power of the motors 13a and 13b was controlled. However, a method of controlling the power of the motor 13a, 13b is not limited to controlling the motor drive current I _d. Motor driver 25a, 25b, by controlling the motor driving voltage _{V d} to enter the motor 13a, to 13b, the motor 13a, may control the power (current) inputted to 13b. In this case, an instruction value output from the control unit 2513 is a voltage instruction value V _c.
For example, such as PWM (Pulse Width Modulation) inverter, even when the power supply unit 253 was like difficult power supply current control, by controlling the motor drive voltage _{V d,} the motor 13a, and 13b The magnitude of the input current can also be adjusted. Therefore, the electric power of the motors 13a and 13b can be controlled.

As described above, when the power supply unit 253 is a power supply device that can control the frequency or waveform of the output voltage, such as a PWM inverter, the power supply unit 253 receives the motor drive voltage input to the motors 13a and 13b. by controlling the frequency and waveform of V _d, the motor 13a, it may control the power (current) inputted to 13b. For example, when a PWM inverter as a power supply unit 253, by controlling the duty ratio of the motor driving voltage V _d output from the power supply unit 253, controls the power (current) input motor 13a, to 13b it can. In this case, an instruction value output from the control unit 2513, the duty ratio instruction value D _c.

  The present invention can be widely applied to an autonomous mobile body that autonomously travels along the taught travel route.

DESCRIPTION OF SYMBOLS 100 Autonomous moving body 1 Moving part 11a, 11b Main wheel 13a, 13b Motor 2 Movement control apparatus 21 Teaching part 22 Self-position estimation part 23 Storage part 24 Traveling control part 241 Speed control command part 243 Motor control command part 25 Motor drive part 25a First motor driver 25b Second motor driver 251 Power control unit 2511 Difference calculation unit 2513 Control unit 2515 Control gain setting unit 2517 Control gain storage unit 2519 Current limiting unit 253 Power supply unit 255 Power value detection unit 26 Obstacle information acquisition unit 27 Switching unit 28 Main control unit 3 Detection unit 31 Front detector 33 Rear detector 5 Operation unit 51a, 51b Operation handle 53 Setting unit 55 Display unit 57 Interface 59 Housing 7 Body 8 Auxiliary wheel unit 8a, 8b Auxiliary wheel 9 Mounting member t ₂ a predetermined time v speed _{v c} speed control command _{v n} of the motor Load manually velocity _{v L} left main wheel rotational speed _{v R} right main wheel rotational speed Delta] v, Delta] v _n speed deviation _{I 1} first current value _{I 2} second current value _{I c} current instruction value _{I d} the motor drive current _{I min} motor driving current _{I max} maximum current _{I T} threshold _{V d} the motor drive voltage _{V c} voltage instruction value _{D c} duty ratio instruction value _{F u} external force _{K p, K p1, K p2} control gain at no-load during manual speed (proportional term)
K _i , K _i1 , K _i2 control gain (integral term)
_Kd control gain (derivative term)
ΔT Additional control amount

Claims (9)

A movement control device for an autonomous mobile body comprising a plurality of wheels and a plurality of motors connected to each of the plurality of wheels, and capable of autonomous traveling and manual traveling by manual operation,
A switching unit that switches the travel mode to either an autonomous travel mode in which the autonomous mobile body travels autonomously or a manual travel mode in which the autonomous mobile body travels manually.
A speed control command unit that outputs a speed control command for controlling the speed of the motor based on the travel mode;
When the travel mode is the manual travel mode, a first motor control command for limiting the torque that can be output by the motor is set. When the travel mode is the autonomous travel mode, the speed of the motor is set. A motor control command unit that outputs, as a motor control command, a second motor control command that follows the speed control command;
A motor drive unit that drives the motor based on the speed control command and the motor control command;
A movement control device for an autonomous mobile body comprising: The motor drive unit is
A power control unit that calculates a power command value based on a control parameter determined based on the speed control command and the motor control command;
A power supply unit that supplies motor driving power to the motor based on the power instruction value;
The movement control apparatus for an autonomous mobile body according to claim 1, comprising: The control parameter of the power control unit includes a control gain,
The power control unit
A control gain storage unit for storing a predetermined number of predetermined control gains;
A control gain setting unit that selects one control gain from the predetermined number of control gains stored in the control gain storage unit based on the motor control command;
The movement control device for an autonomous mobile body according to claim 2, further comprising: The control gain setting unit selects the second control gain when the motor control command is the second motor control command;
The movement control device for an autonomous mobile body according to claim 3, wherein when the motor control command is the first motor control command, a first control gain having a value smaller than the second control gain is selected. The motor driving unit is configured to detect a power value of the motor driving power;
When the motor control command is the first motor control command, a power limiting unit that limits the upper limit of the motor driving power to a predetermined first power value;
The autonomous mobile moving control device according to any one of claims 2 to 4, further comprising:   When the motor driving power exceeds a predetermined threshold for a predetermined time or more when the driving mode is the manual driving mode, the power limiting unit limits the upper limit of the motor driving power to a second power value. The movement control apparatus of the autonomous mobile body according to claim 5. A main control unit that outputs a travel instruction to the speed control command unit;
The speed control command unit calculates the speed control command based on a travel instruction from the main control unit,
The travel instruction output from the main control unit includes position information and time information based on a travel route for autonomous travel when the travel mode is the autonomous travel mode. Autonomous mobile body movement control device. Multiple wheels,
A plurality of motors connected to each of the plurality of wheels;
A switching unit that switches the driving mode to either an autonomous driving mode for autonomous driving or a manual driving mode that is operated manually;
A speed control command unit that outputs a speed control command for controlling the speed of the motor based on the travel mode;
When the travel mode is the manual travel mode, a first motor control command for limiting the torque that can be output by the motor is set. When the travel mode is the autonomous travel mode, the speed of the motor is set. A motor control command unit that outputs, as a motor control command, a second motor control command that follows the speed control command;
A motor drive unit that drives the motor based on the speed control command and the motor control command;
An autonomous mobile body comprising A control method for an autonomous mobile body comprising a plurality of wheels and a plurality of motors connected to each of the wheels so as to be rotatable, and capable of autonomous traveling and manual traveling by manual operation,
Switching the travel mode to either an autonomous travel mode for autonomously traveling the autonomous mobile body or a manual travel mode for manually traveling the autonomous mobile body;
Outputting a speed control command for controlling the speed of the motor based on the travel mode;
When the travel mode is the manual travel mode, a first motor control command for limiting the torque that can be output by the motor is output, and when the travel mode is the autonomous travel mode, Outputting a second motor control command that causes the speed to follow the speed control command, as a motor control command;
Driving the motor based on the speed control command and the motor control command;
A method for controlling an autonomous mobile object including:

Images