CN109887056B - System and method for detecting cataract obstacle in place where mobile equipment is located based on CAD (computer aided design) - Google Patents
System and method for detecting cataract obstacle in place where mobile equipment is located based on CAD (computer aided design) Download PDFInfo
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- CN109887056B CN109887056B CN201910025079.6A CN201910025079A CN109887056B CN 109887056 B CN109887056 B CN 109887056B CN 201910025079 A CN201910025079 A CN 201910025079A CN 109887056 B CN109887056 B CN 109887056B
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Abstract
The invention relates to the technical field of intelligent obstacle avoidance, in particular to a system and a method for detecting cataract obstacles in a place where mobile equipment is located based on CAD (computer aided design). The detection system comprises a CAD map module, a storage module and a calculation module; the detection method comprises the steps of inputting a CAD map, selecting an obstacle avoidance map set, setting a pre-obstacle avoidance area and carrying out obstacle avoidance comparison; compared with the prior art, the invention can realize obstacle avoidance detection during macroscopic path planning, can realize better line planning at the earlier stage of scheme implementation, and avoids the problem that the mobile equipment cannot work normally due to improper path planning.
Description
Technical Field
The invention relates to the technical field of intelligent obstacle avoidance, in particular to a system and a method for detecting cataract obstacles in a place where mobile equipment is located based on CAD.
Background
In the process of driving the mobile equipment, the macro path is required to be planned according to the earlier stage, so that certain requirements are required on map data. And (3) path drawing is carried out in a CAD graph with a building structure background, the planned path needs to avoid the entity structure, and obstacle avoidance processing in a map path planning stage is realized.
At present, most of existing obstacle avoidance schemes are actual scene obstacle avoidance, certain limitations exist when the obstacle avoidance schemes are used, problems can only be found in the actual operation process, and most of the solved problems are microscopic problems, so that if unreasonable macro path design occurs, accumulative influence is generated on the operation of mobile equipment.
Therefore, the prior art has yet to be developed.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, it is an object of the present invention to provide a system and method for detecting a cataract in a location where a mobile device based on CAD is located. The method aims to solve the problem of macroscopic path planning in the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides a mobile device location cataract obstacle detection system based on CAD, comprising:
the CAD map module is used for displaying and editing a CAD map of a place where the mobile equipment is located;
the storage module is used for storing a user-defined area or layer set in the CAD map;
and the calculation module is used for calculating the position relationship among the user-defined areas in the CAD map, and the position relationship comprises the intersection point of the intersected user-defined areas and the minimum distance among the intersected user-defined areas.
The invention also provides a mobile device location cataract obstacle detection method based on CAD, which comprises the obstacle detection system and is characterized by further comprising the following steps:
1) Acquiring a CAD map of a place where the mobile equipment is located, wherein different elements in the CAD map are stored in a layered mode, the CAD map also comprises a complete track area of the mobile equipment, and the complete track area is composed of a plurality of segmented track areas;
2) Selecting the image layers needing obstacle avoidance processing to an obstacle avoidance atlas;
3) Selecting a first definition point and a second definition point in each section of the segmented track area, and drawing a rectangle taking a connecting line between the first definition point and the second definition point as a diagonal line as a pre-obstacle avoidance area;
4) Acquiring all the entities in the range of the obstacle avoidance areas, screening the entities belonging to the obstacle avoidance atlas and forming an entity set to be detected;
5) And comparing all the entities in the entity set to be detected with the complete track area one by one, detecting whether the complete track area is intersected with the current entity, if so, putting the current entity into an obstacle avoidance entity set, otherwise, discarding the current entity.
Further, the complete track area in step 1) is a bar-shaped area taking the line of the moving track of the mobile device as a symmetry axis, and the width of the complete track area is equal to or greater than the width of the mobile device.
Further, the complete track area in the step 1) is an area through which a circular area with a circle center moving along the trolley track line passes, and the diameter of the circular area is equal to or larger than the diagonal length of the mobile device.
Further, in step 3), the abscissa of the first defined point is the same as the abscissa of the point with the smallest abscissa value in the segmented track area, and the ordinate of the first defined point is the same as the abscissa of the point with the smallest ordinate value in the track area; the abscissa of the second defining point is the same as the abscissa of the point in the track area where the abscissa value is the largest, and the ordinate of the second defining point is the same as the ordinate of the point in the track area where the ordinate value is the largest.
Further, in the step 4), the manner of acquiring all the entities within the pre-obstacle avoidance area range is to call a view selection interface of CAD software to acquire all the entities within the pre-obstacle avoidance area range.
Further, in the step 5), the manner of detecting whether the current entity and the complete track area intersect is to call a graph intersection point solving interface in CAD software to solve intersection point coordinates of the current entity and the complete track area, and when the solved intersection point coordinates are greater than or equal to 1, the current entity is added to the obstacle avoidance entity set, otherwise, the current entity is discarded.
Further, the detecting whether the current entity intersects with the complete track area in step 5) is performed by calculating a distance from the current entity to the corresponding segmented track line, and if the distance is smaller than a predetermined value, the current entity is added to the obstacle avoidance entity set, otherwise, the current entity is discarded.
Compared with the prior art, the obstacle avoidance detection can be realized during the macroscopic path planning, the better line planning can be realized at the earlier stage of the implementation of the scheme, and the phenomenon that the mobile equipment cannot work normally due to improper path planning is avoided.
Drawings
FIG. 1 is a schematic flow chart of the detection method of the present invention.
Detailed Description
The preferred embodiments of the present invention are described below, and it should be understood that the preferred embodiments described herein are only for illustrating and explaining the present invention and are not to be construed as limiting the present invention.
Example 1
The invention provides a mobile device location cataract obstacle detection system based on CAD, which is characterized by comprising:
the CAD map module is used for displaying and editing a CAD map of a place where the mobile equipment is located;
the storage module is used for storing a user-defined area or layer set in the CAD map;
and the calculation module is used for calculating the position relation between a plurality of user-defined areas in the CAD map, calculating the position of an overlapping area if the corresponding two user-defined areas are overlapped, and calculating the distance between the nearest points of the two user-defined areas if the overlapping areas are not calculated.
Example 2
As shown in fig. 1, the present invention provides a method for detecting a cataract in a location where a mobile device based on CAD is located, which includes the following steps:
1) Obtaining a CAD map of a place where the mobile device is located, wherein different elements in the CAD map are stored in a layered mode, if Wall entities are classified into layers 'Wall', the CAD map also comprises a complete track area of the mobile device, the complete track area is composed of a plurality of segmented track areas, and the segmentation rule of the complete track area specifically comprises the following steps: when the trend of the track changes, in up/down direction
Performing primary segmentation processing at the trend-reducing switching position;
2) Selecting the image layers needing obstacle avoidance processing to an obstacle avoidance atlas;
3) Selecting a first definition point and a second definition point in each section of the segmented track area, and drawing a rectangle taking a connecting line between the first definition point and the second definition point as a diagonal line as a pre-obstacle avoidance area;
4) Acquiring all the entities in the range of the obstacle avoidance areas, screening the entities belonging to the obstacle avoidance atlas and forming an entity set to be detected;
5) And comparing all the entities in the entity set to be detected with the complete track area one by one, detecting whether the complete track area is intersected with the current entity, if so, putting the current entity into an obstacle avoidance entity set, otherwise, discarding the current entity.
Further, in step 1), the complete track area is a strip-shaped area taking a running track line of the mobile device as a symmetry axis, and the width of the complete track area is slightly larger than that of the mobile device.
In addition, in step 1), the complete trajectory area may also be an area through which a circular area with a circle center moving along the trolley trajectory line passes, and the diameter of the circular area is slightly larger than the length of the diagonal line of the mobile device.
Further, in step 3), the abscissa of the first defined point is the same as the abscissa of the point with the smallest abscissa value in the segmented track area, and the ordinate of the first defined point is the same as the abscissa of the point with the smallest ordinate value in the track area; the abscissa of the second defined point is the same as the abscissa of the point with the largest abscissa value in the track area, and the ordinate of the second defined point is the same as the ordinate of the point with the largest ordinate value in the track area.
Further, in the step 4), the manner of acquiring all the entities within the pre-obstacle avoidance area range is to call a view selection interface of CAD software to acquire all the entities within the pre-obstacle avoidance area range.
Further, in the step 5), the manner of detecting whether the current entity and the complete track area intersect is to call a graph intersection point solving interface in CAD software to solve intersection point coordinates of the current entity and the complete track area, and when the solved intersection point coordinates are greater than or equal to 1, the current entity is added to the obstacle avoidance entity set, otherwise, the current entity is discarded.
In addition, the method for detecting whether the current entity intersects with the complete track area in step 5) may also be implemented by calculating a distance from the current entity to the corresponding segmented track line, and if the distance is smaller than a predetermined value, adding the current entity to the obstacle avoidance entity set, otherwise discarding the current entity.
Claims (8)
1. Mobile device place cataract obstruction detecting system based on CAD, its characterized in that includes:
the CAD map module is used for displaying and editing a CAD map of a place where the mobile equipment is located;
the storage module is used for storing a user-defined area or layer set in the CAD map;
and the calculation module is used for calculating the position relationship among the user-defined areas in the CAD map, and the position relationship comprises the intersection point of the intersected user-defined areas and the minimum distance among the intersected user-defined areas.
2. A method for detecting a cataract in a location where a CAD-based mobile device is located, comprising the obstacle detection system of claim 1, further comprising the steps of:
1) Acquiring a CAD map of a place where the mobile equipment is located, wherein different elements in the CAD map are stored in a layered mode, the CAD map also comprises a complete track area of the mobile equipment, and the complete track area is composed of a plurality of segmented track areas;
2) Selecting the layer to be subjected to obstacle avoidance processing to an obstacle avoidance atlas;
3) Selecting a first definition point and a second definition point in each section of the segmented track area, and drawing a rectangle taking a connecting line between the first definition point and the second definition point as a diagonal line as a pre-obstacle avoidance area;
4) Acquiring all the entities in the range of the obstacle avoidance area, screening the entities belonging to the obstacle avoidance atlas and forming an entity set to be detected;
5) And comparing all the entities in the entity set to be detected with the complete track area one by one, detecting whether the complete track area is intersected with the current entity, if so, putting the current entity into an obstacle avoidance entity set, otherwise, discarding the current entity.
3. The method for detecting the obstacle in the field where the CAD-based mobile device is located according to claim 2, wherein the full track area in step 1) is a bar-shaped area with the line of the moving track of the mobile device as a symmetry axis, and the width of the full track area is equal to or greater than the width of the mobile device.
4. The method for detecting the blocking object in the place where the mobile CAD-based equipment is located according to claim 2, characterized in that the complete track area in step 1) is an area where a circular area with the center moving along the line of the trolley track passes, and the diameter of the circular area is equal to or larger than the diagonal length of the mobile equipment.
5. The method for detecting the cataract on the site where the mobile CAD-based device is located according to claim 2, wherein in step 3), the abscissa of the first defined point is the same as the abscissa of the point with the smallest value of the abscissa in the segmented track area, and the ordinate of the first defined point is the same as the abscissa of the point with the smallest value of the ordinate in the track area; the abscissa of the second defining point is the same as the abscissa of the point in the track area where the abscissa value is the largest, and the ordinate of the second defining point is the same as the ordinate of the point in the track area where the ordinate value is the largest.
6. The method for detecting the cataract in the field where the mobile CAD-based device is located according to claim 2, wherein the manner of acquiring all the entities within the pre-obstacle-avoidance area in step 4) is to call a view selection interface of CAD software to acquire all the entities within the pre-obstacle-avoidance area.
7. The method for detecting the cataract in the place where the mobile device based on the CAD is located according to claim 2, wherein the manner of detecting whether the current entity intersects with the complete track area in step 5) is to call a graphic intersection-finding interface in CAD software to find intersection coordinates of the current entity and the complete track area, when the found intersection coordinates are greater than or equal to 1, the current entity is added to the obstacle-avoiding entity set, otherwise, the current entity is discarded.
8. The method according to claim 2, wherein the detecting whether the current entity intersects with the complete track area in step 5) is performed by calculating a distance between the current entity and the corresponding segmented track line, and if the distance is smaller than a predetermined value, adding the current entity to the obstacle avoidance entity set, otherwise discarding the current entity.
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| CN201910025079.6A CN109887056B (en) | 2019-01-11 | 2019-01-11 | System and method for detecting cataract obstacle in place where mobile equipment is located based on CAD (computer aided design) |
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| CA2957627A1 (en) * | 2014-09-29 | 2016-04-07 | Hitachi Construction Machinery Co., Ltd. | Obstacle avoidance system |
| CN107480638A (en) * | 2017-08-16 | 2017-12-15 | 北京京东尚科信息技术有限公司 | Vehicle obstacle-avoidance method, controller, device and vehicle |
| CN108701362A (en) * | 2016-02-29 | 2018-10-23 | 深圳市大疆创新科技有限公司 | Obstacle during target following avoids |
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- 2019-01-11 CN CN201910025079.6A patent/CN109887056B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2957627A1 (en) * | 2014-09-29 | 2016-04-07 | Hitachi Construction Machinery Co., Ltd. | Obstacle avoidance system |
| CN108701362A (en) * | 2016-02-29 | 2018-10-23 | 深圳市大疆创新科技有限公司 | Obstacle during target following avoids |
| CN107480638A (en) * | 2017-08-16 | 2017-12-15 | 北京京东尚科信息技术有限公司 | Vehicle obstacle-avoidance method, controller, device and vehicle |
Non-Patent Citations (1)
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| 水果收获机器人避障路径规划;蔡健荣等;《农业机械学报》;20070325(第03期);全文 * |
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Effective date of registration: 20221208 Address after: 241000 room 122, building a, Wanchun Middle Road (Jiujiang Electronic Industrial Park), Wuhu Jiujiang Economic Development Zone, Wuhu City, Anhui Province Applicant after: Anhui Hongtu Robot Technology Co.,Ltd. Address before: 241000 building B11, self built workshop, East District, Anhui Xinwu Economic Development Zone, Wuhu County, Wuhu City, Anhui Province Applicant before: WUHU ZHIJIU ROBOT Co.,Ltd. |
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