CN108415413A - A kind of intelligent forklift part obstacle-avoiding route planning method based on round region of interest - Google Patents
A kind of intelligent forklift part obstacle-avoiding route planning method based on round region of interest Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0094—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
Abstract
The invention discloses a kind of intelligent forklift part obstacle-avoiding route planning method based on round region of interest, this method include：Environment global coordinate system is established according to navigational route type scanning laser sensor；Ambient condition information is detected using ranging type scanning laser sensor.Analyzing processing is carried out to obtained data, all characteristic points therein are extracted for all data points in region of interest.Appropriate point is chosen from characteristic point as Small object point and B-spline curves control point.It generates B-spline curves path and executes.Avoidance running efficiency of the present invention is high；The extraction of characteristic point is very accurate, and the path for having stringent pose requirement to terminal can be quickly cooked up in complex environment, and the path of generation also meets vehicle kinematics requirement and body dimensions constraint；And B-spline curves are used in intelligent forklift part obstacle-avoiding route planning so that planning process is more succinct, quick, and the selection at control point is more exquisite, can ensure that institute's planning path terminal pose meets the requirements.
Description
Technical field
The present invention relates to intelligent forklift technical field more particularly to it is a kind of on intelligent forklift based on round region of interest
Intelligent forklift part obstacle-avoiding route planning method.
Background technology
For ease of management and control, the generation of personnel casualty accidents is reduced, reduces enterprise operation cost, while being docking《China's system
Make 2025》National development strategy plans that fork truck technology is maked rapid progress, the especially intelligence of fork truck；So-called intelligent forklift, i.e. work
It need not artificially be manipulated during work, can independently complete heap, picking object, and the motor-driven industrial vehicle with preliminary artificial intelligence
.And intelligent forklift is in the process of running, will certainly encounter some unpredictable barriers, influenced by barrier and can not
By original route planned, need to plan that a paths reach target point with avoiding obstacles again.At present both at home and abroad
To occurring more being BUG algorithms, Artificial Potential Field Method, biomimetic method, bubble in the research of intelligent forklift part obstacle-avoiding route planning
Band technology, curvature speed techniques, dynamic window method etc., the processing mode to barrier is mostly the side of the ring of encirclement or bounding box
Formula, this mode at the end of one's rope illusion it is easy to appear barrier everywhere；Or to detour along obstacles borders
Mode carry out collision prevention, the avoiding obstacles although this kind of mode can succeed, running efficiency is relatively low, and plan gained path
Requirement to pose constraint is not stringent enough, or causes procedure quantity excessive since redundant data is excessive, and reaction is insensitive.
So-called circle region of interest refers to improve program overall operation efficiency, using fork truck current location as the center of circle, present bit
It is that radius does circle to set the distance between final goal point, and reservation ranging type laser scanning sensing institute device obtains the data point in circle and is
Useful data, remaining rejecting.And so-called local obstacle-avoiding route planning refers to the traveling when intelligent forklift is to reach aiming spot
Unknown barrier is encountered in the process, and target point is smoothly reached for avoiding obstacles, the environmental data obtained using sensor
The local paths planning of progress.
Therefore, the prior art requires further improvement and perfect.
Invention content
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of for being had based on circle on intelligent forklift
With the intelligent forklift part obstacle-avoiding route planning method in domain.
The purpose of the invention is achieved by the following technical solution：
A kind of intelligent forklift part obstacle-avoiding route planning method based on round region of interest, this method includes following step
Suddenly：
Step S1：Environment global coordinate system is established according to navigational route type scanning laser sensor；Utilize ranging type laser scanning
Sensor detects ambient condition information.
Step S2：Analyzing processing is carried out to the sensing data obtained, is extracted for all data points in region of interest
Go out all characteristic points therein.
Step S3：Appropriate point is chosen from gained characteristic point as Small object point and B-spline curves control point.
Step S4：B-spline curves path is generated, and is executed.
Step S5：Until reach final goal point, otherwise repeatedly above step S1-S4.
As a preferred solution, the step S1 is specifically included：
It is asymmetric in intelligent forklift working environment to paste reflecting mark plaster, utilize navigational route type scanning laser sensor scan ring
Descartes's global coordinate system is established in border, later with the current global position information and vehicle body of the acquisition of navigational route type scanning laser sensor
Position relationship between dimensional parameters and each sensor is extrapolated the world coordinates of each sensor current location point, then will be surveyed
It is converted into world coordinates away from the surrounding objects relative coordinate that type scanning laser sensor is obtained.
Further, the navigational route type scanning laser sensor is mounted on fork truck top centre position, and arrives four wheels
Distance it is equal；Sensor coordinates axis horizontal axis forward direction is fork truck direction of advance, after establishing global coordinate system, this direction and the overall situation
The angle of coordinate system horizontal axis forward direction is vehicle body deflection；And the ranging type scanning laser sensor is mounted in fork truck front
Between position, depending on scanning range is as needed, be traditionally arranged to be 0 degree arrive 180 degree, gained polar data result need combine institute
The sensor angles resolution ratio of setting and the acquisition sequence of each data are converted.
As a preferred solution, the step S2 is specifically included：
First, using fork truck current location as the center of circle, current location to the distance between final goal point is that radius does circle, is retained
It is useful data that ranging type laser scanning sensing institute device, which obtains the data point in circle, remaining rejecting.By in the region of interest of acquisition
One data point is labeled as characteristic point, based on this characteristic point, selects continuous several points, crosses first point and last
A point does straight line, judges whether remaining intermediate point is less than certain threshold value of setting to the distance of the straight line, is if it is selecting
Point on the basis of add a point in order after repeat the above steps, until have a little be more than the threshold value when, by this plus
The point entered is designated as characteristic point, then starts new cycle based on this characteristic point, until all Data Analysis Services are complete.
As a preferred solution, the step S3 is specifically included：
In all characteristic points obtained from step S2, select apart from current location point at a distance from final goal point line
All conjunctions of small Mr. Yu's threshold value require characteristic point；Again one by one using these characteristic points as the center of circle, it is more than a certain length of half of vehicle width
Value is that radius work is justified, and after current location, point makees the tangent line of the circle respectively, and each circle can get two point of contacts.
Further, respectively using the point of contact obtained as the center of circle, a certain length value more than half of vehicle width is that radius work is justified,
Judge otherwise to retain the point of contact if then rejecting the point of contact with the presence or absence of more raw data points in circle again.
Further, it is Small object point that the point nearest apart from current location point is selected from remaining point of contact, is also B-spline
A control point last of curve, and close apart from Small object point in the point of contact tangential direction and close starting point side is selected
It takes and is a little used as penultimate control point；Simultaneously by fork truck current location o'clock as first control point, i.e. path starting point；
Chosen in the current direction of advance of fork truck one at a distance of starting point it is close o'clock as second control point.Finally, can be chosen
Intermediate point between two control points and penultimate control point is a control point newly, or can also be selected as needed
Other points of this point-to-point transmission are used as new control point.
As a preferred solution, the step S4 is specifically included：
Local path rule is realized in the control point obtained using step S3 in conjunction with B-spline curves generating mode, and will knot
Fruit is transmitted to path tracking algorithm execution.
Further, since fork truck part avoidance process is to run at a low speed, to ensure that driving process wheel turning angle turns degree
Continuous and reduction program calculation amount, the B-spline curves are typically chosen 4 order forms；And the basic function of n times B-spline curves is such as
Under：
In formula
And the expression formula of B-spline curves：
[0,1] u ∈ in formula, i=1,2, m；
Wherein, n indicates that the order of spline curve, m indicate that curve is smoothly connected by m sections of spline curve, and i indicates i-th
Section B-spline curves, Pi+kIndicate k-th of control point of i-th section of B-spline curves.
Further, the selection sum at the control point has to be larger than the order of selected B-spline curves；By selected
B-spline curves order calculates corresponding basic function, in conjunction with selected control point and the expression formula of B-spline curves, you can obtain
Obtain the function of each section of spline curve of institute's planning path.
As a preferred solution, the step S5 is specifically included：
When the final goal point that can go directly, i.e. cut-through object but when having not arrived final goal point, directly with most
Whole target point substitutes the Small object point in above-mentioned steps, repeats step S3, S4 and reaches final goal point, and pose meets the requirements
Until；Otherwise repeat the above steps S2, S3, S4.
Compared with prior art, the present invention has further the advantage that：
(1) the intelligent forklift part obstacle-avoiding route planning method provided by the present invention based on round region of interest is not in
Barrier and at the end of one's rope illusion everywhere, will not be absorbed in local trap, and avoidance running efficiency is high.
(2) the intelligent forklift part obstacle-avoiding route planning method provided by the present invention based on round region of interest is due to circle
The restriction of region of interest reduces calculation amount while reducing redundancy, improves the operational efficiency of program entirety.
(3) the intelligent forklift part obstacle-avoiding route planning method provided by the present invention based on round region of interest is special in using
The extraction for levying point is very accurate, and the road for meeting and having stringent pose requirement to terminal can be quickly cooked up in more complex environment
The path of diameter, generation also meets vehicle kinematics requirement and body dimensions constraint.
(4) it is provided by the present invention based on the intelligent forklift part obstacle-avoiding route planning method of round region of interest by B-spline
Curve is used in intelligent forklift part obstacle-avoiding route planning so that planning process is more succinct, quick, it is only necessary to which selection is suitable
Control point, and the selection at control point is more exquisite, can ensure that institute's planning path terminal pose meets the requirements.
Description of the drawings
Fig. 1 is the use of the intelligent forklift part obstacle-avoiding route planning method provided by the present invention based on round region of interest
Schematic diagram of a scenario；
Fig. 2 is the work of the intelligent forklift part obstacle-avoiding route planning method provided by the present invention based on round region of interest
Flow chart；
Specific implementation mode
To make the objectives, technical solutions, and advantages of the present invention clearer and more explicit, develop simultaneously embodiment pair referring to the drawings
The present invention is described further.
Embodiment 1：
As depicted in figs. 1 and 2, the invention discloses one kind when intelligent forklift is to reach aiming spot, driving process
In encounter unknown barrier, smoothly reach the target point for having strict demand to pose for avoiding obstacles, and to improve journey
Sort run efficiency, the local paths planning method carried out using the useful environmental data that sensor obtains, this method include mainly
Following steps：
(1) environment global coordinate system is established according to navigational route type scanning laser sensor；It is sensed using ranging type laser scanning
Device detects ambient condition information.
(2) analyzing processing is carried out to the sensing data obtained, it is extracted for all data points in region of interest
In all characteristic points.
(3) appropriate point is chosen from gained characteristic point as Small object point and B-spline curves control point.
(4) B-spline curves path is generated, and is executed.
(5) until reaching final goal point, otherwise repeatedly above step.
(1) step specifically includes：It is asymmetric in intelligent forklift working environment to paste reflecting mark plaster, utilize SICK-
NAV350 navigational route type scanning laser sensor scanning circumstances establish Descartes global coordinate system XOY, later with SICK-NAV350
Position between the current global position information that navigational route type scanning laser sensor obtains and body dimensions parameter and each sensor
Relationship is set, extrapolates the world coordinates of each sensor current location point, then SICK-LMS111 ranging type laser scannings are sensed
The surrounding objects relative coordinate that device is obtained is converted into world coordinates.
The navigational route type scanning laser sensor S is mounted on fork truck top centre position, and arrives the distance phase of four wheels
Deng, visible Fig. 1 in plane projection position, the black matrix polygon in figure is barrier, is region of interest range in circle dotted line, outside circle dotted line
Grey body polygon is redundancy；Sensor coordinates axis horizontal axis x forward directions are fork truck direction of advance, global coordinate system XOY to be established
Afterwards, this direction x and the angle of global coordinate system horizontal axis X forward directions are vehicle body deflection；And the ranging type laser scanning sensing
Device S1 is mounted on fork truck front centre position, depending on scanning range is as needed, is traditionally arranged to be 0 degree and arrives 180 degree, gained pole is sat
Mark data result needs the acquisition sequence in conjunction with set sensor angles resolution ratio and each data to be converted.
The sensor S world coordinates is (xs, ys, θs), sensor S1 world coordinates is (xs1, ys1, θs1), in conjunction with above
Description is apparent from, and is existed
θs=θs1；
xs1=xs+SS1*COSθs；
ys1=ys+SS1*SINθs；
(2) step specifically includes：First, using fork truck current location as the center of circle, current location is between final goal point
Distance be that radius does circle, it is useful data to retain ranging type laser scanning sensing institute device to obtain the data point in circle, remaining is picked
It removes, due to the difference of ranging type sensor scanning range setting, round region of interest is generally incomplete circle.By the region of interest of acquisition
Interior first data point is labeled as characteristic point, based on this characteristic point, selects continuous several points, crosses first point and most
The latter point does straight line, judges whether remaining intermediate point is less than certain threshold value of setting to the distance of the straight line, if it is
It repeats the above steps after adding a point on the basis of selecting a little in order, when being a little more than the threshold value until having, by this
The point of secondary addition is designated as characteristic point, then starts new cycle based on this characteristic point, is until all Data Analysis Services are complete
Only.
(3) step specifically includes：From all characteristic points that step (2) is obtained, select apart from current location point
All conjunctions with small Mr. Yu's threshold value at a distance from final goal point line require characteristic point；Again one by one using these characteristic points as the center of circle,
A certain length value more than half of vehicle width is that radius work is justified, and after current location, point makees the tangent line of the circle respectively, and each circle can obtain
Obtain two point of contacts.
Further, respectively using the point of contact obtained as the center of circle, a certain length value more than half of vehicle width is that radius work is justified,
Judge otherwise to retain the point of contact if then rejecting the point of contact with the presence or absence of more raw data points in circle again.
Further, it is Small object point that the point nearest apart from current location point is selected from remaining point of contact, is also B-spline
A control point last of curve, and close apart from Small object point in the point of contact tangential direction and close starting point side is selected
It takes and is a little used as penultimate control point；Simultaneously by fork truck current location o'clock as first control point, i.e. path starting point；
Chosen in the current direction of advance of fork truck one at a distance of starting point it is close o'clock as second control point.Finally, can be chosen
Intermediate point between two control points and penultimate control point is a control point newly, or can also be selected as needed
Other points of this point-to-point transmission are used as new control point.
It is described to cross two point Q of plane1(x1,y1) and point Q2(x2,y2) straight line equation is：
y(x2-x1)-x(y2-y1)+x1y2-x2y1=0
Point Q0(x0,y0) to the distance of the straight line be：
(4) step specifically includes：The control point obtained using step (3), it is real in conjunction with B-spline curves generating mode
Existing local path rule, and result is transmitted to path tracking algorithm and is executed.
Further, since fork truck part avoidance process is to run at a low speed, to ensure that driving process wheel turning angle turns degree
Continuous and reduction program calculation amount, the B-spline curves are typically chosen 4 order forms；Corresponding basic function is as follows：
And the expression formula of B-spline curves：
Wherein, n indicates that the order of spline curve, m indicate that curve is smoothly connected by m sections of spline curve, and i indicates i-th
Section B-spline curves, Pi+kK-th of control point of i-th section of B-spline curves of expression, k=0,1,2, n；U ∈ [0,1] i=
1,2,···,m。
Further, the selection sum at the control point has to be larger than the order of selected B-spline curves；By selected
B-spline curves order calculates corresponding basic function, in conjunction with selected control point and the expression formula of B-spline curves, you can obtain
Obtain the function of each section of spline curve of institute's planning path.
(5) step specifically includes：As the final goal point P that can go directly, i.e., cut-through object but have not arrived
When final goal point P, the Small object point in above-mentioned steps is directly substituted with final goal point, repeats step (3), (4) reach most
Whole target point, and until pose meets the requirements；Otherwise above-mentioned (2), (3), (4) step are repeated.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, it is other it is any without departing from the spirit and principles of the present invention made by changes, modifications, substitutions, combinations, simplifications,
Equivalent substitute mode is should be, is included within the scope of the present invention.
Claims (9)
1. a kind of intelligent forklift part obstacle-avoiding route planning method based on round region of interest, which is characterized in that including walking as follows
Suddenly：
Step S1：Environment global coordinate system is established according to navigational route type scanning laser sensor；It is sensed using ranging type laser scanning
Device detects ambient condition information；
Step S2：Analyzing processing is carried out to the sensing data obtained, it is extracted for all data points in region of interest
In all characteristic points；
Step S3：Appropriate point is chosen from gained characteristic point as Small object point and B-spline curves control point；
Step S4：B-spline curves path is generated, and is executed；
Step S5：Until reaching final goal point, it is otherwise repeated in step S1 to S4.
2. the intelligent forklift part obstacle-avoiding route planning method according to claim 1 based on round region of interest, feature
It is, following operation is specifically included in the step S1：
Reflecting mark plaster is asymmetrically pasted in intelligent forklift working environment, utilizes navigational route type scanning laser sensor scanning circumstance
Descartes's global coordinate system is established, later with the current global position information and vehicle body ruler of the acquisition of navigational route type scanning laser sensor
Position relationship between very little parameter and each sensor, extrapolates the world coordinates of each sensor current location point, then by ranging
The surrounding objects relative coordinate that type scanning laser sensor is obtained is converted into world coordinates.
3. the intelligent forklift part obstacle-avoiding route planning method according to claim 1 or 2 based on round region of interest, special
Sign is that the navigational route type scanning laser sensor is mounted on fork truck top centre position, and equal to the distance of four wheels；
Sensor coordinates axis horizontal axis forward direction is fork truck direction of advance, after establishing global coordinate system, this direction and global coordinate system horizontal axis
Positive angle is vehicle body deflection；And the ranging type scanning laser sensor is mounted on fork truck front centre position, sweeps
Retouch range it is as needed depending on, be traditionally arranged to be 0 degree arrive 180 degree, gained polar data result need combine set biography
The acquisition sequence of sensor angular resolution and each data is converted.
4. the intelligent forklift part obstacle-avoiding route planning method according to claim 1 based on round region of interest, feature
It is, the step S2 is specifically included：
First, using fork truck current location as the center of circle, the distance between current location to final goal point is that radius does circle, retains and surveys
It is useful data away from the data point in circle that type scanning laser sensor is obtained, remaining rejecting；It will be in the region of interest of acquisition
First data point is labeled as characteristic point, based on this characteristic point, selects continuous several points, crosses first point and last
One point does straight line, judges whether remaining intermediate point is less than certain threshold value of setting to the distance of the straight line, if it is, having selected
It repeats the above steps after adding a point on the basis of going out a little in order, when being a little more than the threshold value until having, by this
The point of addition is designated as characteristic point, then starts new cycle based on this characteristic point, until all Data Analysis Services are complete.
5. the intelligent forklift part obstacle-avoiding route planning method according to claim 1 or 4 based on round region of interest, special
Sign is that the step S3 is specifically included：
In all characteristic points obtained from step S2, selects and be less than at a distance from final goal point line apart from current location point
All conjunctions of certain threshold value require characteristic point；Then one by one using these characteristic points as the center of circle, it is more than a certain length value of half of vehicle width
Justify for radius work, after current location, point makees the tangent line of the circle respectively, and each circle can get two point of contacts；Then respectively to be obtained
The point of contact obtained is the center of circle, and a certain length value more than half of vehicle width is that radius work is justified, then judges to whether there is in circle more original
Otherwise data point retains the point of contact if then rejecting the point of contact.
6. the intelligent forklift part obstacle-avoiding route planning method based on round region of interest according to claim 1 or 4 or 5,
It is characterized in that, it is Small object point to select the point nearest apart from current location point from remaining point of contact, and it is set as B-spline curves
A control point last, close apart from Small object point in the point of contact tangential direction and close starting point side, which is chosen, a little to be made
For penultimate control point；Simultaneously by fork truck current location o'clock as first control point, i.e. path starting point；Work as in fork truck
Chosen in preceding direction of advance one at a distance of starting point it is close o'clock as second control point；Finally, second control point is chosen
Intermediate point between penultimate control point is a control point newly, or selects other points of this point-to-point transmission as needed
As new control point.
7. the intelligent forklift part obstacle-avoiding route planning method according to claim 1 based on round region of interest, feature
It is, the step S4 is specifically included：
Local path rule is realized in conjunction with B-spline curves generating mode, and result is passed in the control point obtained using step S3
It is executed to path tracking algorithm, and B-spline curves select 4 order forms.
8. the intelligent forklift part avoidance path rule based on round region of interest according to claim 1,5,6, any one of 7
The method of drawing, which is characterized in that the selection sum at the control point has to be larger than the order of selected B-spline curves；By selecting
B-spline curves order calculate corresponding basic function, in conjunction with selected control point and the expression formula of B-spline curves, you can
Obtain the function of each section of spline curve of institute's planning path.
9. the intelligent forklift part obstacle-avoiding route planning method according to claim 1 based on round region of interest, feature
It is, the step S5 is specifically included：When the final goal point that can go directly, i.e., cut-through object but final mesh is had not arrived
When punctuate, the Small object point in above-mentioned steps is directly substituted with final goal point, step S3 and S4 is repeated and reaches final goal point,
And until pose meets the requirements；Otherwise repeat the above steps S2, S3 and S4.
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| CN109471432A (en) * | 2018-11-08 | 2019-03-15 | 南京农业大学 | A kind of independent navigation agricultural vehicle Short Path Avoiding Obstructions planing method |
| CN109557929A (en) * | 2019-02-18 | 2019-04-02 | 深兰人工智能芯片研究院（江苏）有限公司 | The motion control method and device of mobile robot |
| WO2020094056A1 (en) * | 2018-11-06 | 2020-05-14 | 苏州艾吉威机器人有限公司 | B-spline curve-based agv movement control method |
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