CN108759829A - A kind of local obstacle-avoiding route planning method of intelligent forklift - Google Patents
A kind of local obstacle-avoiding route planning method of intelligent forklift Download PDFInfo
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- CN108759829A CN108759829A CN201810263821.2A CN201810263821A CN108759829A CN 108759829 A CN108759829 A CN 108759829A CN 201810263821 A CN201810263821 A CN 201810263821A CN 108759829 A CN108759829 A CN 108759829A
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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
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
Abstract
The invention discloses a kind of local obstacle-avoiding route planning method of intelligent forklift, this method includes：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 the data obtained, extracts all characteristic points.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.The present invention is not in that barrier and at the end of one's rope illusion, avoidance running efficiency are high everywhere；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 field more particularly to a kind of local obstacle-avoiding route planning sides on intelligent forklift
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.
So-called part obstacle-avoiding route planning refers to being encountered not in driving process when intelligent forklift is to reach aiming spot
The barrier known, target point is smoothly reached for avoiding obstacles, the local road carried out using the environmental data that sensor obtains
Diameter is planned.
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 utilizing sensor on intelligent forklift
The method that the environmental data of acquisition carries out local paths planning.
The purpose of the invention is achieved by the following technical solution：
A kind of local obstacle-avoiding route planning method of intelligent forklift, this method includes following steps：
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, extracts all characteristic points in environment.
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, first point of the data of acquisition is selected into continuous number labeled as characteristic point based on this characteristic point
It is a, it crosses first point and the last one point does straight line, judge whether remaining intermediate point is less than setting to the distance of the straight line
Certain threshold value repeats the above steps after if it is adding a point in order on the basis of having selected point, until having one
When point is more than the threshold value, the point of this addition is designated as characteristic point, then start new cycle based on this characteristic point, Zhi Daosuo
Have Data Analysis Services it is complete until.
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 local obstacle-avoiding route planning method of intelligent forklift provided by the present invention is not in barrier everywhere
And at the end of one's rope illusion, it will not be absorbed in local trap, avoidance running efficiency is high.
(2) intelligent forklift provided by the present invention local obstacle-avoiding route planning method use in characteristic point extraction very
Accurately, the path for meeting and having stringent pose requirement to terminal, the path of generation can be quickly cooked up in more complex environment
Also meet vehicle kinematics requirement and body dimensions constraint.
(3) B-spline curves are used in intelligence by the local obstacle-avoiding route planning method of intelligent forklift provided by the present invention
Fork truck part obstacle-avoiding route planning so that planning process is more succinct, quick, it is only necessary to suitable control point is selected, 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 usage scenario schematic diagram of the local obstacle-avoiding route planning method of intelligent forklift provided by the present invention；
Fig. 2 is the work flow diagram of the local obstacle-avoiding route planning method of intelligent forklift provided by the present invention；
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, the target point for having strict demand to pose is smoothly reached for avoiding obstacles, utilizes sensor
The local paths planning method that the environmental data of acquisition carries out.This method includes 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, extracts all characteristic points in environment.
(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；Sensor coordinates axis horizontal axis x forward directions is before fork trucks
Into direction, after establishing global coordinate system XOY, this direction x and the angle of global coordinate system horizontal axis X forward directions are vehicle body direction
Angle；And the ranging type scanning laser sensor S1 is mounted on fork truck front centre position, and depending on scanning range is as needed, one
As be set as 0 degree arrive 180 degree, gained polar data result need combine set sensor angles resolution ratio and each data
Acquisition sequence 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, first point of the data of acquisition is labeled as characteristic point, with this feature
Based on point, continuous several points are selected, first point is crossed and the last one point does straight line, judge that remaining intermediate point arrives the straight line
Distance whether be less than certain threshold value of setting, if it is add on the basis of having selected point and repeated after a point in order
Step is stated, when being a little more than the threshold value until having, the point of this addition is designated as characteristic point, then based on this characteristic point
Start new cycle, until all Data Analysis Services are complete.
(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 local obstacle-avoiding route planning method of intelligent forklift, which is characterized in that include the following steps：
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, extracts all characteristic points in environment；
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 local obstacle-avoiding route planning method of intelligent forklift according to claim 1, which is characterized in that the step S1
In specifically include following operation：
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 local obstacle-avoiding route planning method of intelligent forklift according to claim 1 or 2, which is characterized in that described to lead
Boat 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, and after establishing global coordinate system, this direction and the angle of global coordinate system horizontal axis forward direction are
For vehicle body deflection；And the ranging type scanning laser sensor is mounted on fork truck front centre position, scanning range is according to need
Depending on wanting, it is traditionally arranged to be 0 degree and arrives 180 degree, gained polar data result needs that set sensor angles is combined to differentiate
The acquisition sequence of rate and each data is converted.
4. the local obstacle-avoiding route planning method of intelligent forklift according to claim 1, which is characterized in that the step S2
It specifically includes：
First, first point of the data of acquisition is labeled as characteristic point, based on this characteristic point, selected continuous several
Point, crosses first point and the last one point does straight line, judges whether remaining intermediate point is less than certain of setting to the distance of the straight line
Threshold value repeats the above steps after if it is adding a point in order on the basis of having selected point, until having a bit
When more than the threshold value, the point of this addition is designated as characteristic point, then start new cycle based on this characteristic point, until all
Until Data Analysis Services are complete.
5. the local obstacle-avoiding route planning method of intelligent forklift according to claim 1 or 4, which is characterized in that the step
Rapid 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 local obstacle-avoiding route planning method of the intelligent forklift according to claim 1 or 4 or 5, which is characterized in that from surplus
It is Small object point that the point nearest apart from current location point is selected in cotangent point, and is set as last control of B-spline curves
Point, close apart from Small object point in the point of contact tangential direction and close starting point side, which is chosen, is a little used as penultimate control
Point processed；Simultaneously by fork truck current location o'clock as first control point, i.e. path starting point；It is selected in the current direction of advance of fork truck
Take one at a distance of starting point it is close o'clock as second control point；Finally, second control point and penultimate control are chosen
Intermediate point between system point is a control point newly, or selects other points of this point-to-point transmission as new control point as needed.
7. the local obstacle-avoiding route planning method of intelligent forklift according to claim 1, which is characterized in that the step S4
It specifically includes：
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 local obstacle-avoiding route planning method of the intelligent forklift according to claim 1,5,6, any one of 7, feature
It is, the selection sum at the control point has to be larger than the order of selected B-spline curves；Pass through selected B-spline curves rank
It is secondary to calculate corresponding basic function, in conjunction with selected control point and the expression formula of B-spline curves, you can obtain institute's planning path
Each section of spline curve function.
9. the local obstacle-avoiding route planning method of intelligent forklift according to claim 1, which is characterized in that the step S5
It specifically includes：When can go directly final goal point when, i.e. cut-through object but when having not arrived final goal point, directly with
Final goal point substitutes the Small object point in above-mentioned steps, repeats step S3 and S4 and reaches final goal point, and pose meets
Until it is required that；Otherwise repeat the above steps S2, S3 and S4.
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| CN111158365A (en) * | 2019-12-31 | 2020-05-15 | 深圳优地科技有限公司 | Path planning method and device, robot and storage medium |
| CN111158365B (en) * | 2019-12-31 | 2023-05-16 | 深圳优地科技有限公司 | Path planning method, device, robot and storage medium |
| CN113050636A (en) * | 2021-03-15 | 2021-06-29 | 广东省农业科学院 | Control method, system and device for autonomous tray picking of forklift |
| CN113985881A (en) * | 2021-10-29 | 2022-01-28 | 温州大学 | Mobile robot path planning method based on bidirectional crawler |
| CN114265412A (en) * | 2021-12-29 | 2022-04-01 | 深圳创维数字技术有限公司 | Vehicle control method, device, equipment and computer readable storage medium |
| CN114265412B (en) * | 2021-12-29 | 2023-10-24 | 深圳创维数字技术有限公司 | Vehicle control method, device, equipment and computer readable storage medium |
| CN115077534A (en) * | 2022-08-11 | 2022-09-20 | 合肥井松智能科技股份有限公司 | AGV path planning method based on B spline curve |
| CN115077534B (en) * | 2022-08-11 | 2022-11-15 | 合肥井松智能科技股份有限公司 | AGV path planning method based on B spline curve |
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