CN110414706A - The methods, devices and systems in formation curve path - Google Patents
The methods, devices and systems in formation curve path Download PDFInfo
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Abstract
The embodiment of the invention discloses a kind of methods, devices and systems in formation curve path, to solve the problems, such as that the prior art is unable to satisfy the curved path design requirement of complex job environment and invents, including obtaining coordinate data of all first control points under plane coordinate system on base curves path；The offset distance according to the coordinate data of the pre- acquisition and being first arranged, control point can be deviated by obtaining from first control point；Calculations of offset is carried out to the control point that deviates according to the offset distance, the coordinate data at the second control point after can deviating control point offset described in acquisition generates curve of deviation path；The curve of deviation path is smoothed according to pre-set minimum profile curvature radius, the curve of deviation path after generating correction；The curve of deviation path after the correction is smoothed according to pre-set maximum course angle, generates target offset curved path.The present invention can apply in agricultural machinery automatic field.
Description
Technical field
The present invention relates to a kind of information processing technologies, and in particular to a kind of methods, devices and systems in formation curve path.
Background technique
During agricultural machinery automated job, equidistant straight line operation can greatly improve operating speed and operation matter
Amount.However, actual operating environment is extremely complex, simple straight line path is not able to satisfy actual job needs, it is often necessary to will
Working path is designed to equidistant curve form.
The method that the prior art generates equidistant curved path includes: firstly, driving agricultural machinery carries out operation, and acquisition is dynamic in real time
State (Real-time kinematic, RTK) location data draws primitive curve path according to RTK location data；Then, according to
Primitive curve path eliminates bias curve selfing algorithm using Interval Computation and quaternary tree and generates equidistant curved path.
However, in the implementation of the present invention inventors have found that the prior art provide formation curve path method,
Requirement to primitive curve path is more, such as: needing primitive curve to meet RTK positioning, and need to constitute closed loop curve etc., make
It is inconvenient to use to obtain the technical solution that the prior art provides, once primitive curve path is unsatisfactory for condition, the curved path of generation
It is second-rate, to be unable to satisfy the demand of actual complex operating environment, influence actual automatic job efficiency and quality.
Summary of the invention
To solve the above problems, the embodiment of the present invention proposes a kind of methods, devices and systems in formation curve path, it is raw
At curved path quality it is higher, can satisfy the demand of actual complex operating environment.
The method in formation curve path provided in an embodiment of the present invention, comprising: obtain all first controls on base curves path
Coordinate data of the system point under plane coordinate system；According to the coordinate data of the acquisition and pre-set offset distance, from
Control point can be deviated by obtaining in first control point；Offset meter is carried out to the control point that deviates according to the offset distance
It calculates, the coordinate data at the second control point after can deviating control point offset described in acquisition generates curve of deviation path；According to preparatory
The minimum profile curvature radius of setting is smoothed the curve of deviation path, the curve of deviation path after generating correction；Root
The curve of deviation path after the correction is smoothed according to pre-set maximum course angle, generates target offset curve
Path.
Further, described according to pre-set offset distance and the coordinate data, from first control point
It includes: the curvature K that first control point is obtained according to the coordinate data at first control point that middle acquisition, which can deviate control point:Wherein, x, y are the coordinate data at first control point；If 1/Ki < d and Ki*d > 0, for
Control point can not be deviated, control point can not be deviated described in removal from first control point, acquisition can deviate control point,
In, Ki is the curvature at i-th of first control point, and d is offset distance.
Further, described that the curve of deviation path is smoothly located according to pre-set minimum profile curvature radius
Reason, the curve of deviation path after generating correction includes: to be deviated according to the minimum profile curvature radius to second control point
It calculates, the coordinate data at the third control point after obtaining the second control point offset generates curvature curve of deviation path；Using
Rapid rejection is tested and is tested across vertical detection, obtains intersecting point coordinate from curvature curve of deviation path；According to the intersection point
Coordinate obtains the point of contact coordinate on the curve of deviation path；It is carried out according to curve of deviation path described in the point of contact coordinate pair flat
Sliding processing, the curve of deviation path after generating correction.
Further, it is described the curve of deviation path after the correction is carried out according to pre-set maximum course angle it is flat
Sliding processing, generating target offset curved path includes: the course angular data for obtaining second control point；If the course angle
Greater than pre-set maximum course angle, Bezier is generated using interpolation, to the curve of deviation path after the correction into
Row smoothing processing generates target offset curved path.
Further, the method in formation curve path can also include: to carry out uniformly to the target offset curved path
Sampling generates the 4th control point of uniform sampling, obtains the 4th control point coordinates.
The device in formation curve path provided in an embodiment of the present invention, comprising:
First obtains module, for obtaining number of coordinates of all first control points under plane coordinate system on base curves path
According to；
Second obtains module, for obtaining the coordinate data and pre-set offset that module obtains according to described first
Distance, control point can be deviated by obtaining from first control point；
Third obtains module, for deviating control point to what the second acquisition module obtained according to the offset distance
Calculations of offset is carried out, the coordinate data at the second control point after can deviating control point offset described in acquisition generates curve of deviation road
Diameter；
First processing module, for obtaining the inclined of module generation to the third according to pre-set minimum profile curvature radius
It moves curved path to be smoothed, the curve of deviation path after generating correction；
Second processing module, for inclined after being corrected according to pre-set maximum course angle to the first processing module
It moves curved path to be smoothed, generates target offset curved path.
Further, the second acquisition module includes:
First acquisition submodule, for obtaining the song at first control point according to the coordinate data at first control point
Rate K:
Wherein, x, y are the coordinate data at first control point；
Second acquisition submodule, if 1/Ki < d and Ki*d > 0 are used for, for control point can not be deviated, from described first
Control point can not be deviated described in removal in control point, acquisition can deviate control point, wherein Ki is i-th of first control point
Curvature, d is offset distance.
Further, the first processing module includes:
Third acquisition submodule, for carrying out calculations of offset to second control point according to the minimum profile curvature radius,
The coordinate data at the third control point after obtaining the second control point offset, generates curvature curve of deviation path；
4th acquisition submodule, is tested for being tested using rapid rejection and across vertical detection, obtains submodule from the third
Intersecting point coordinate is obtained in the curvature curve of deviation path that block obtains；
5th acquisition submodule, it is bent that the intersecting point coordinate for being obtained according to the 4th acquisition submodule obtains the offset
Point of contact coordinate on thread path；
First generates submodule, curve of deviation described in the point of contact coordinate pair for obtaining according to the 5th acquisition submodule
Path is smoothed, the curve of deviation path after generating correction.
Further, the Second processing module includes:
6th acquisition submodule, for obtaining the course angular data at second control point；
Second generate submodule, if for the 6th acquisition submodule obtain course angle be greater than it is pre-set most
Big course angle generates Bezier using interpolation, is smoothed to the curve of deviation path after the correction, generates mesh
Mark curve of deviation path.
Further, the device in formation curve path can also include:
4th obtains module, and the target offset curved path for generating to the Second processing module is uniformly adopted
Sample generates the 4th control point of uniform sampling, obtains the 4th control point coordinates.
The system in formation curve path provided in an embodiment of the present invention, the dress including above-described formation curve path
It sets.
The present invention compared with prior art, does not limit base curves path, and base curves path can be arbitrary shape
Formula, technical solution provided in an embodiment of the present invention, can according on base curves path the first control point coordinates data and partially
Move distance and generate curve of deviation path, and according to pre-set path constraints --- minimum profile curvature radius and maximum course
Angle handles curve of deviation path, generates final target offset curved path.Both path constraints pair are considered
The influence in curve of deviation path, it is also contemplated that error caused by base curves path accuracy is inaccurate influences, so that according to the present invention
The target offset curved path that the technical solution that embodiment provides generates more is able to satisfy the demand of actual complex operating environment, generates
Target offset curved path quality it is higher.
Detailed description of the invention
By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, the application's is other
Feature, objects and advantages will become more apparent upon:
Fig. 1 is the flow chart of the method in formation curve path provided in an embodiment of the present invention；
Fig. 2 be base curves path in the method in formation curve path provided in an embodiment of the present invention, curve of deviation path and
The relational graph in curvature curve of deviation path；
Fig. 3 is the flow chart of step 102 in the method in formation curve path provided in an embodiment of the present invention shown in FIG. 1；
Fig. 4 is the flow chart of step 104 in the method in formation curve path provided in an embodiment of the present invention shown in FIG. 1；
Fig. 5 is the curve synoptic diagram that step 404 shown in Fig. 4 is smoothed；
Fig. 6 is the flow chart of step 105 in the method in formation curve path provided in an embodiment of the present invention shown in FIG. 1；
Fig. 7 is the curve synoptic diagram that step 602 shown in fig. 6 is smoothed；
Fig. 8 be another embodiment of the present invention provides formation curve path method flow chart；
Fig. 9 is the curved path schematic diagram obtained using the method in formation curve path provided in an embodiment of the present invention；
Figure 10 is the apparatus structure schematic diagram one in formation curve path provided in an embodiment of the present invention；
Figure 11 is the second acquisition module in the device in formation curve path provided in an embodiment of the present invention shown in Fig. 10
1002 structural schematic diagram；
Figure 12 is first processing module in the device in formation curve path provided in an embodiment of the present invention shown in Fig. 10
1004 structural schematic diagram；
Figure 13 is Second processing module in the device in formation curve path provided in an embodiment of the present invention shown in Fig. 10
1005 structural schematic diagram；
Figure 14 is the apparatus structure schematic diagram two in formation curve path provided in an embodiment of the present invention.
Specific embodiment
The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining related invention, rather than the restriction to the invention.It also should be noted that in order to
Convenient for description, part relevant to invention is illustrated only in attached drawing.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
In order to solve the problems, such as that the prior art is unable to satisfy the curved path design requirement of complex job environment, the present invention is real
It applies example and a kind of methods, devices and systems in formation curve path is provided.
As shown in Figure 1, the method in formation curve path provided in an embodiment of the present invention includes:
Step 101, coordinate data of all first control points under plane coordinate system on base curves path is obtained.
In the present embodiment, base curves path can be the RTK location data obtained by machine real time job and be depicted as
, be also possible to by being designed on map, certainly, the embodiment of the present invention not to the acquisition methods in base curves paths into
Row limits, and in the actual use process, base curves paths can be to be obtained by other means, herein not to each case
It is repeated one by one.
It should be noted that in order to guarantee that the quality of curved path is good, when base curves path is obtained by RTK location data
Take or according to curvilinear function when being designed on map, do not need to be smoothed, otherwise need to base curves path into
Row smoothing processing.The present embodiment is not defined specific smoothing processing method, in the actual use process, this field skill
Art personnel can be realized by any feasible algorithm, be not repeated herein.
Specifically, the location data at first control point in base curves path can be converted into plane coordinate system by step 101
Under coordinate data.
Step 102, according to pre-set offset distance and coordinate data, control can be deviated by obtaining from the first control point
Point processed.
As shown in Fig. 2, L0 is base curves path, d is tape symbol offset distance, at this point, as shown in figure 3, step 102 can be with
Include:
Step 301, the tape symbol curvature at the first control point is obtained according to the coordinate data at the first control point and formula (1)
K:
Wherein, x, y are the coordinate data at the first control point.
Step 302, if 1/Ki < d and Ki*d > 0 are removed not from the first control point for that can not deviate control point
Control point can be deviated, acquisition can deviate control point, wherein Ki is the curvature at i-th of first control points.
In actual operating environment, when the radius of curvature at the first control point is less than minimum turning radius, and curvature direction
When identical as offset direction, trend of first control point on curve of deviation path can be with base curves path on the contrary, therefore by such as
Step shown in Fig. 3 can be defined as above-described first control point that can not deviate control point, and be deleted, thus
It obtains in the first control point and deviates control point.Control point can not be deviated in base curves path due to deleting, so that this hair
The curve of deviation path quality that bright technical solution generates is more preferable.
Step 103, calculations of offset is carried out to that can deviate control point according to offset distance, after acquisition can deviate control point offset
The second control point coordinate data, generate curve of deviation path.
As shown in Fig. 2, base curves path is L0, offset distance d, step 103 (2) can specifically obtain according to the following formula
Take curve of deviation path L1:
L1=L0 ± d*n0 (2)
Wherein, n0 is the law vector of L0,X, y is the coordinate data that control point can be deviated on L0.
In the present embodiment, L1 is there are local self-intersection, and step 103 can directly acquire intersecting point coordinate and by intersection point pair at this time
The the second control point deletion answered, to further increase the quality in curve of deviation path.
Step 104, curve of deviation path is smoothed according to pre-set minimum profile curvature radius, generates correction
Curve of deviation path afterwards.
Specifically, as shown in figure 4, step 104 may include:
Step 401, calculations of offset is carried out to the second control point according to minimum profile curvature radius, after obtaining the offset of the second control point
Third control point coordinate data, generate curvature curve of deviation path.
As shown in Fig. 2, in the present embodiment, minimum profile curvature radius is set as r, step 401 can pass through following formula (3)
Obtain curvature curve of deviation path L2:
L2=L0 ± (d+r) * n0 (3)
Wherein, n0 is the law vector of L0,X, y is the coordinate data that control point can be deviated on L0.
Step 402, it is tested using rapid rejection and is tested across vertical detection, intersection point is obtained from curvature curve of deviation path and is sat
Mark.
In order to enable those skilled in the art to be more clearly understood that technical solution provided in an embodiment of the present invention, below it is right
Rapid rejection is tested and is described in detail across vertical detection test.
1, rapid rejection is tested
Assuming that continuous two o'clock L1 on L1i=(xi, yi), L1i+1=(xi+1, yi+1) constitute line segment L1iL1i+1, with L1iL1i+1For
Diagonal line constitutes rectangle R1.
Assuming that other continuous two o'clock L1 on L1k=(xk, yk), L1k+1=(xk+1, yk+1) constitute line segment L1kL1k+1, with
L1kL1k+1Constituting rectangle for diagonal line is R2.
Then the minimum boundary of the x coordinate of rectangle R1 is minx=min (xi, xi+1), maxx=max (xi, xi+1), rectangle R1
Y-coordinate minimum boundary be miny=min (yi, yi+1), maxy=max (yi, yi+1).Therefore rectangle R1 is represented by R1=
(minR1x, minR1y, maxR1x, maxR1y) can similarly be obtained, rectangle R2 be represented by R2=(minR2x, minR2y,
MaxR2x, maxR2y).If R1 intersects with R2, intersection point constitutes new matrix R3, then rectangle R3 can be expressed as public affairs
Formula (4)
As minR3X > maxR3X or minR3Y > maxR3Y, then rectangle can not be constituted, and then available R1 and R2 are not
Intersect, then line segment L1iL1i+1With line segment L1kL1k+1Non-intersecting, otherwise two line segments may intersect, at this time can further by across
Vertical detection test judges Intersection.
2, it is tested across vertical detection
When the product of A and B is more than or equal to 0, then claim L1iL1i+1Across vertical L1kL1k+1, two line segment intersections.
It is tested by the above rapid rejection and L2 intersecting point coordinate can be quickly obtained across vertical detection test.
Step 403, the point of contact coordinate on curve of deviation path is obtained according to intersecting point coordinate.
Specifically, as shown in figure 5, point P on L2i, Pi+1The line segment and point P of compositionk-1, PkThe line segment intersection of composition in
Point o, according to point o in line segment PiPi+1With line segment Pk-1PkOn relative position, the P obtained on L1 can be calculatediPi+1And Pk-1PkLine
Point of contact t1 in section, t2.
Step 404, it is smoothed according to point of contact coordinate pair curve of deviation path, the curve of deviation road after generating correction
Diameter.
As shown in figure 5, step 403, after obtained intersection point o and point of contact t1, t2, step 404 can use most Chinese yeast
Rate justifies the smooth L1 of method, so that the point on L1 is all satisfied radius of curvature constraint, the curve of deviation path after generating correction.
By step as shown in Figure 4, technical solution provided in an embodiment of the present invention can be according to actual environment to maximum
The constraint condition of curvature generates the curve of deviation path for meeting actual complex environmental demand.
Step 105, the curve of deviation path after correction is smoothed according to pre-set maximum course angle, it is raw
At target offset curved path.
Specifically, as shown in fig. 6, step 105 may include:
Step 601, the course angular data at the second control point is obtained.
Step 602, if course angle is greater than pre-set maximum course angle, Bezier is generated using interpolation, it is right
Curve of deviation path after correction is smoothed, and generates target offset curved path.
In the present embodiment, the expression formula of k Bezier is following formula (6):
Wherein, [0,1] u ∈, (i=0,1 ... k), LiFor controlling polygon vertex, BN, i(u) multinomial for Bernstein
Formula, and then accurate Bezier position is being sought using deCasteljua algorithm, by parameter u, in characteristic polygon
A cut-point is selected in each edge, the line segment ratio after segmentation is u:1-u.And then acquire the point vector after the j segmentation on i-th side
For
According to above-mentioned implementation procedure and the points k of input, k point is uniformly taken, obtains smoothed out second control point
Set generates target offset curved path, as shown in Figure 7.
By step as shown in Figure 6, technical solution provided in an embodiment of the present invention can be according to actual environment to maximum
The constraint condition of course angle generates the curve of deviation path for meeting actual complex environmental demand.
In the actual use process, if two o'clock was both not parallel or non-intersecting along normal direction on curved path, with inclined
It moves distance to increase, distance of the two o'clock on curve of deviation path will be smaller and smaller, until intersecting along normal direction, or both
Apart from increasing.The actual tracking control of all not applicable curved path of both distribution modes.To solve the above-mentioned problems, such as
Shown in Fig. 8, another embodiment of the present invention also provides a kind of method in formation curve path, this method and basic phase shown in FIG. 1
Together, difference is, after step 105, further includes:
Step 106, uniform sampling is carried out to target offset curved path, generates the 4th control point of uniform sampling, obtained
4th control point coordinates.
Specifically, in the present embodiment, step 106 can carry out Parameter Spline interpolation to target offset curve, and interpolation obtains
To point be equidistantly uniformly distributed by chord length again so that the distance value of adjacent point-to-point transmission is certain.
Cumulative inborn is recycled as variable and calculates separately interpolating function, obtains parametric spline curve x=x (s)；Y=y
(s)；
S is divided into n point again, the coordinate at the control point that new n are equally spaced is found out by interpolating function.
Certainly, the above is only specific citing, in the actual use process the implementation method of step 106 it is more than in this way,
Each case is not repeated one by one herein.
The curved path that the method for using formation curve path provided in an embodiment of the present invention obtains is as shown in figure 9, originally
Invention compared with prior art, does not limit base curves path, and base curves path can be arbitrary form, and the present invention is real
The technical solution of example offer is provided, can according on base curves path the first control point coordinates data and offset distance generate it is inclined
Curved path is moved, and according to pre-set path constraints --- minimum profile curvature radius and maximum course angle, it is bent to offset
Thread path is handled, and final target offset curved path is generated.Both path constraints had been considered to curve of deviation road
The influence of diameter, it is also contemplated that error caused by base curves path accuracy is inaccurate influences, so that provide according to the embodiment of the present invention
The target offset curved path that generates of technical solution be more able to satisfy the demand of actual complex operating environment, the target offset of generation
Curved path quality is higher.
As shown in Figure 10, the embodiment of the present invention also provides a kind of device in formation curve path, comprising:
First obtains module 1001, for obtaining seat of all first control points under plane coordinate system on base curves path
Mark data；
Second obtains module 1002, coordinate data for being obtained according to the first acquisition module 1001 and in advance sets
The offset distance set, control point can be deviated by obtaining from first control point:
Third obtain module 1003, for according to the offset distance to it is described second obtain module 1002 obtain can be inclined
It moves control point and carries out calculations of offset, the coordinate data at the second control point after can deviating control point offset described in acquisition generates inclined
Move curved path；
First processing module 1004, for obtaining module 1003 to the third according to pre-set minimum profile curvature radius
The curve of deviation path of generation is smoothed, the curve of deviation path after generating correction；
Second processing module 1005 is used for according to pre-set maximum course angle to 1004 school of first processing module
Curve of deviation path after just is smoothed, and generates target offset curved path.
Further, as shown in figure 11, the second acquisition module 1002 includes:
First acquisition submodule 1101, for obtaining first control point according to the coordinate data at first control point
Tape symbol curvature K:
Wherein, x, y are the coordinate data at first control point；
Second acquisition submodule 1102, if being used for 1/Ki < d and Ki*d > 0, for control point can not be deviated, from described
Control point can not be deviated described in removal in first control point, acquisition can deviate control point, wherein Ki is i-th of first control
The curvature of point is made, d is offset distance.
Further, as shown in figure 12, the first processing module 1004 includes:
Third acquisition submodule 1201, by being carried out based on offset according to the minimum profile curvature radius to second control point
It calculates, the coordinate data at the third control point after obtaining the second control point offset generates curvature curve of deviation path；
4th acquisition submodule 1202 is tested for being tested using rapid rejection and across vertical detection, is obtained from the third
Intersecting point coordinate is obtained in the curvature curve of deviation path that submodule 1201 obtains；
5th acquisition submodule 1203, the intersecting point coordinate for being obtained according to the 4th acquisition submodule 1202 obtain institute
State the point of contact coordinate on curve of deviation path；
First generates submodule 1204, described in the point of contact coordinate pair for being obtained according to the 5th acquisition submodule 1203
Curve of deviation path is smoothed, the curve of deviation path after generating correction.
Further, as shown in figure 13, the Second processing module 1005 includes:
6th acquisition submodule 1301, for obtaining the course angular data at second control point；
Second generates submodule 1302, if be greater than for the course angle that the 6th acquisition submodule 1301 obtains preparatory
The maximum course angle of setting generates Bezier using interpolation, is smoothly located to the curve of deviation path after the correction
Reason generates target offset curved path.
Further, as shown in figure 14, the device in formation curve path provided in an embodiment of the present invention, further includes:
4th obtains module 1006, and the target offset curved path for generating to the Second processing module 1005 carries out
Uniform sampling generates the 4th control point of uniform sampling, obtains the 4th control point coordinates.
The concrete methods of realizing of the device in formation curve path provided in an embodiment of the present invention may refer to implementation of the present invention
Described in the method in the formation curve path that example provides, details are not described herein again.
The present invention compared with prior art, does not limit base curves path, and base curves path can be arbitrary shape
Formula, technical solution provided in an embodiment of the present invention, can according on base curves path the first control point coordinates data and partially
Move distance and generate curve of deviation path, and according to pre-set path constraints --- minimum profile curvature radius and maximum course
Angle handles curve of deviation path, generates final target offset curved path.Both path constraints pair are considered
The influence in curve of deviation path, it is also contemplated that error caused by base curves path accuracy is inaccurate influences, so that according to the present invention
The target offset curved path that the technical solution that embodiment provides generates more is able to satisfy the demand of actual complex operating environment, generates
Target offset curved path quality it is higher.
The embodiment of the present invention also provides a kind of system in formation curve path, which includes sheet as shown in figures 10-14
The device for the formation curve that inventive embodiments provide.
The present invention compared with prior art, does not limit base curves path, and base curves path can be arbitrary shape
Formula, technical solution provided in an embodiment of the present invention, can according on base curves path the first control point coordinates data and partially
Move distance and generate curve of deviation path, and according to pre-set path constraints --- minimum profile curvature radius and maximum course
Angle handles curve of deviation path, generates final target offset curved path.Both path constraints pair are considered
The influence in curve of deviation path, it is also contemplated that error caused by base curves path accuracy is inaccurate influences, so that according to the present invention
The target offset curved path that the technical solution that embodiment provides generates more is able to satisfy the demand of actual complex operating environment, generates
Target offset curved path quality it is higher.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.Those skilled in the art
Member is it should be appreciated that invention scope involved in the application, however it is not limited to technology made of the specific combination of above-mentioned technical characteristic
Scheme, while should also cover in the case where not departing from the inventive concept, it is carried out by above-mentioned technical characteristic or its equivalent feature
Any combination and the other technical solutions formed.Such as features described above has similar function with (but being not limited to) disclosed herein
Can technical characteristic replaced mutually and the technical solution that is formed.
Claims (11)
1. a kind of method in formation curve path characterized by comprising
Obtain coordinate data of all first control points under plane coordinate system on base curves path；
According to the coordinate data of the acquisition and pre-set offset distance, obtaining from first control point can be deviated
Control point；
Calculations of offset is carried out to the control point that deviates according to the offset distance, after control point offset can be deviated described in acquisition
The second control point coordinate data, generate curve of deviation path；
The curve of deviation path is smoothed according to pre-set minimum profile curvature radius, the offset after generating correction
Curved path；
The curve of deviation path after the correction is smoothed according to pre-set maximum course angle, it is inclined to generate target
Move curved path.
2. the method according to claim 1, wherein described according to pre-set offset distance and the seat
Data are marked, control point can be deviated by, which obtaining from first control point, includes:
The curvature K of the tape symbol at first control point is obtained according to the coordinate data at first control point:
Wherein, x, y are the coordinate data at first control point；
It, can not be inclined described in removal from first control point for control point can not be deviated if 1/Ki < d and Ki*d > 0
Control point is moved, acquisition can deviate control point, wherein Ki is the curvature at i-th of first control point, and d is offset distance.
3. the method according to claim 1, wherein it is described according to pre-set minimum profile curvature radius to described
Curve of deviation path is smoothed, and the curve of deviation path after generating correction includes:
Calculations of offset is carried out to second control point according to the minimum profile curvature radius, after obtaining the second control point offset
Third control point coordinate data, generate curvature curve of deviation path；
It is tested using rapid rejection and is tested across vertical detection, obtain intersecting point coordinate from curvature curve of deviation path；
The point of contact coordinate on the curve of deviation path is obtained according to the intersecting point coordinate；
It is smoothed according to curve of deviation path described in the point of contact coordinate pair, the curve of deviation path after generating correction.
4. the method according to claim 1, wherein it is described according to pre-set maximum course angle to the school
Curve of deviation path after just is smoothed, and is generated target offset curved path and is included:
Obtain the course angular data at second control point；
If the course angle is greater than pre-set maximum course angle, Bezier is generated using interpolation, to the correction
Curve of deviation path afterwards is smoothed, and generates target offset curved path.
5. the method according to claim 1, wherein further include:
Uniform sampling is carried out to the target offset curved path, generates the 4th control point of uniform sampling, obtains the described 4th
Control point coordinates.
6. a kind of device in formation curve path characterized by comprising
First obtains module, for obtaining coordinate data of all first control points under plane coordinate system on base curves path；
Second obtains module, for obtaining the coordinate data and pre-set offset distance that module obtains according to described first
From control point can be deviated by obtaining from first control point；
Third obtains module, and the control point that deviates for being obtained according to the offset distance to the second acquisition module carries out
Calculations of offset, the coordinate data at the second control point after can deviating control point offset described in acquisition, generates curve of deviation path；
First processing module, it is bent for obtaining the offset that module generates to the third according to pre-set minimum profile curvature radius
Thread path is smoothed, the curve of deviation path after generating correction；
Second processing module, for bent to the offset after first processing module correction according to pre-set maximum course angle
Thread path is smoothed, and generates target offset curved path.
7. device according to claim 6, which is characterized in that described second, which obtains module, includes:
First acquisition submodule, for obtaining the curvature K at first control point according to the coordinate data at first control point:
Wherein, x, y are the coordinate data at first control point；
Second acquisition submodule, if being used for 1/Ki < d and Ki*d > 0, for control point can not be deviated, from first control
Control point can not be deviated described in removal in point, acquisition can deviate control point, wherein Ki is the song at i-th of first control point
Rate, d are offset distance.
8. device according to claim 6, which is characterized in that the first processing module includes:
Third acquisition submodule is obtained for carrying out calculations of offset to second control point according to the minimum profile curvature radius
The coordinate data at the third control point after the second control point offset, generates curvature curve of deviation path；
4th acquisition submodule is tested for being tested using rapid rejection and across vertical detection, is obtained from the third acquisition submodule
Intersecting point coordinate is obtained in the curvature curve of deviation path taken；
5th acquisition submodule, the intersecting point coordinate for being obtained according to the 4th acquisition submodule obtain the curve of deviation road
Point of contact coordinate on diameter；
First generates submodule, curve of deviation path described in the point of contact coordinate pair for obtaining according to the 5th acquisition submodule
It is smoothed, the curve of deviation path after generating correction.
9. device according to claim 6, which is characterized in that the Second processing module includes:
6th acquisition submodule, for obtaining the course angular data at second control point；
Second generates submodule, if being greater than pre-set maximum boat for the course angle that the 6th acquisition submodule obtains
To angle, Bezier is generated using interpolation, the curve of deviation path after the correction is smoothed, it is inclined to generate target
Move curved path.
10. device according to claim 6, which is characterized in that further include:
4th obtains module, and the target offset curved path for generating to the Second processing module carries out uniform sampling, raw
At the 4th control point of uniform sampling, the 4th control point coordinates are obtained.
11. a kind of system in formation curve path, which is characterized in that including generation described in any one of claim 6-10
The device of curved path.
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| CN114299191A (en) * | 2021-12-17 | 2022-04-08 | 上海百琪迈科技(集团)有限公司 | Two-dimensional sample plate line segment offset method based on control points |
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| Publication number | Priority date | Publication date | Assignee | Title |
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