CN111039231A - Intelligent forklift turning path planning method - Google Patents
Intelligent forklift turning path planning method Download PDFInfo
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- CN111039231A CN111039231A CN201911408042.8A CN201911408042A CN111039231A CN 111039231 A CN111039231 A CN 111039231A CN 201911408042 A CN201911408042 A CN 201911408042A CN 111039231 A CN111039231 A CN 111039231A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
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Abstract
The invention discloses an intelligent forklift turning path planning method, which comprises the following steps: s1, calculating the circle center, the starting point and the end point of the turning reference circle; s2, determining aiming points of the forklift at different positions; s3, determining the information of the real track circle; and S4, acquiring the motion information. The intelligent forklift turning path planning method can realize smooth transition from a turning algorithm to a straight line algorithm; and the method is based on virtual model design, and can be applied to model mapping of various types of forklifts.
Description
Technical Field
The invention belongs to the technical field of intelligent forklifts, and particularly relates to a method for planning a turning path of an intelligent forklift.
Background
The internet of things is a network which expands and extends the terminals of the internet to any article and performs information communication and exchange through information sensor equipment such as radio frequency, infrared, global positioning systems and laser scanners on the basis of the internet, so that the work of identifying, positioning and managing the articles is realized.
With the rapid development of the Internet, wide area and local wireless networks, Mobile information devices, and Mobile Computing (Mobile Computing) technology becoming the direction of information technology development, Mobilizing- "M" has become the core of enterprise competitiveness. The intelligent forklift technology, one of logistics M technology, extends enterprise information systems to forklifts, and such automation makes many production, storage and logistics links benefit only insignificantly. An intelligent forklift and an agv (automated guided vehicle) are important transportation tools of industrial 4.0 intelligent factories, and are mainly used for storing and transferring raw materials, semi-finished products and finished parts, so that an important guarantee is provided for the flexibility and the intellectualization of a production system, and meanwhile, a technical support is provided for the system to keep efficient and stable operation. In recent years, trackless navigation is gradually replacing traditional rail-guided navigation (such as magnetic guide rails) with the advantages of high path flexibility, good controllability, simple field arrangement and the like, and the implementation modes of the trackless navigation include laser radar navigation, infrared topmark sensor navigation and the like.
The laser radar is one of the terminal devices of the internet of things, and the measuring means is a symbol that the surveying and mapping industry enters the digital measuring era from the traditional measuring era. Laser radar measurement system can be fast effectual acquires the abundant geographic information data in district, including coordinate and image data, can acquire hundreds of square kilometers' survey district data in the time of a day, compares in traditional measured data laser radar quantity very big, and information is very abundant in the ground, and the data type of acquireing is more, just can obtain the data achievement through later stage fusion data processing.
The intelligent forklift is required to turn frequently in the advancing process, and the forklift can conveniently achieve the most rapid movement direction adjustment of the optimal path in a narrow space. Under the environment of a large number of intelligent forklifts with differential wheels and steering wheels, the intelligent forklifts are also regulated and controlled by a turning algorithm in the process of walking straight lines due to mechanical errors or software control errors and the like.
In the process of controlling the turning algorithm of the intelligent forklift, the prior art only aims at planning a path and controlling the intelligent forklift in the turning process, and does not consider the correction of the control when the intelligent forklift travels to a target straight line, so that the control quantity is always defined on a track circle. Aiming at linear walking control, the prior art of aiming point design mainly uses a result after smoothing treatment in a control procedure. In addition, the prior art is in non-modular design, low in reusability of specific models, high in modification difficulty and huge in debugging work.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides an intelligent forklift turning path planning method, and aims to realize smooth transition from a turning algorithm to a straight line algorithm.
In order to achieve the purpose, the invention adopts the technical scheme that: the intelligent forklift turning path planning method comprises the following steps:
s1, calculating the circle center, the starting point and the end point of the turning reference circle;
s2, determining aiming points of the forklift at different positions;
s3, determining the information of the real track circle;
and S4, acquiring the motion information.
The step S1 includes:
s101, confirming a forklift starting straight line according to a starting position and the forklift traveling direction;
s102, confirming the circle center positions of the two circumscribed circles according to the intersection point of the starting straight line and the target straight line, the starting vector and the target direction;
s103, obtaining an angular bisector of the initial straight line and the target straight line according to the intersection point of the initial straight line and the target straight line and the circle center position of the circumscribed circle;
s104, obtaining the circle center position and the radius of a turning reference circle according to the intersection point of the vertical line and the angular bisector of the starting direction of the forklift, and constructing a turning reference circle;
and S105, obtaining the end point of the forklift by making the intersection point of the circle center of the turning reference circle and the target straight line as the vertical line.
In step S2, a forklift model is set, and before the forklift model enters a curve, the intersection point position of the bisector of the starting straight line and the target straight line and the turning reference circle is set as the aiming point.
In step S2, a forklift model is set, and after the forklift model enters a curve, a point on the turning reference circle or a point on the target straight line is calculated at a fixed angle increment.
In step S2, a forklift model is set, and after the forklift model bends, the projection of the model reference point on the target straight line is obtained, and the maximum point in the target direction is taken as the aiming point to pull back the model.
The step S3 includes:
s301, defining a central axis of the forklift model, and taking one point on the central axis of the forklift model as a reference point;
s302, acquiring reference center position information and current environment aiming point information;
and S303, rounding according to the three points of the reference point, the reference center and the current environment aiming point to obtain a real track circle of the current environment.
The intelligent forklift turning path planning method can realize smooth transition from a turning algorithm to a straight line algorithm; and the method is based on virtual model design, and can be applied to model mapping of various types of forklifts.
Drawings
The description includes the following figures, the contents shown are respectively:
FIG. 1 is a schematic diagram of path planning and computation;
FIG. 2 is a diagram of real-time control of a model real-time trajectory;
FIG. 3 is a simulated plot of a turn plan, where the circle points represent a point on the medial axis, the star points represent the reference center, and the lines represent the start and stop lines.
Detailed Description
The following detailed description of the embodiments of the present invention will be given with reference to the accompanying drawings for a purpose of helping those skilled in the art to more fully, accurately and deeply understand the concept and technical solution of the present invention and to facilitate its implementation.
The invention provides an intelligent forklift turning path planning method, which comprises the following steps:
s1, calculating the circle center, the starting point and the end point of the turning reference circle;
s2, determining aiming points of the forklift at different positions;
s3, determining the information of the real track circle;
and S4, acquiring the motion information.
Particularly, the intelligent forklift needs to turn frequently in the advancing process, and the forklift can conveniently achieve the most rapid movement direction adjustment of the optimal path in a narrow space. Under the environment of a large number of intelligent forklifts with differential wheels and steering wheels, due to mechanical errors or software control errors and the like, most of the forklifts are also regulated and controlled by a turning algorithm in the process of walking straight lines.
Before the truck makes a turn, the following reference values are available: the forklift model, the control type of the forklift, and the starting and ending amount of the path. The control type of the forklift is the difference that the forklift specifically uses differential wheels, steering wheels, universal wheels and the like as driving wheels. The starting and ending path amounts refer to the starting position of the forklift and the target position amount that the forklift needs to travel. In the turning process of the forklift, the initial quantity is a vector formed by the current position of the forklift and the traveling direction of the forklift, and the final position and the direction vector of the target position of the forklift are the final quantities in the same way. The reference center of the forklift model and the reference position in the whole motion engineering need to be established so as to determine the specific position of the forklift, wherein the reference center position is the starting position.
In order to determine the turning path, the reference circle and the target position of the turning need to be obtained in the known condition, as shown in fig. 1, the above step S1 includes:
s101, confirming a forklift starting straight line according to a starting position and the forklift traveling direction;
s102, confirming the circle center positions of the two circumscribed circles according to the intersection point of the starting straight line and the target straight line, the starting vector and the target direction;
s103, obtaining an angular bisector of the initial straight line and the target straight line according to the intersection point of the initial straight line and the target straight line and the circle center position of the circumscribed circle;
s104, obtaining the circle center position and the radius of a turning reference circle according to the intersection point of the vertical line and the angular bisector of the starting direction of the forklift, and constructing a turning reference circle;
and S105, obtaining the end point of the forklift by making the intersection point of the circle center of the turning reference circle and the perpendicular line of the target straight line, namely the target position of the forklift is the intersection point of the perpendicular line of the target straight line and the target straight line, and the circle center of the turning reference circle is located on the perpendicular line.
And (4) calculating according to the previous path planning to obtain the center, the starting point and the end point of the turning reference circle. During the movement of the forklift, it is not useful to know that light determines these because of software and hardware errors, so that the control of the forklift cannot be completely consistent according to the route on the total path plan, and at this time, real-time adjustment needs to be added. In order to adjust the control algorithm conveniently, a forklift model is set, the forklift model is a non-real forklift model, a control algorithm suitable for the type of forklift is configured by simulating the control access frequency of each type of forklift, and the control algorithm is mapped into the real model according to the virtual model after a conclusion is obtained in order to obtain the real forklift speed. And setting the whole movement process into a plurality of time periods according to the access frequency controlled by the forklift, wherein each time period defines a target aiming point.
The target aiming point is used for dividing the whole movement process of the forklift into a plurality of small segments, and the reference of the divided segments is determined by the control access frequency of each type of forklift, so that the movement around a circle is actually divided into a plurality of linear movements. The design of the target aiming point basically refers to a far point, and the adjustment amount of the model speed is reduced.
In the above step S2, the forklift model is set, and the intersection point position of the bisector of the start straight line and the target straight line and the turning reference circle is set as the sighting point before the forklift model enters the curve, as shown in fig. 2.
In step S2, a forklift model is set, and after the forklift model enters a curve, a point on the curve reference circle or a point on the target straight line is calculated as an aiming point at a fixed angle increment, and the aiming point is distinguished between the center of the circle and the left and right sides of the target point.
After the curve is formed, the actual straight line algorithm can be directly switched to, but the control quantity is reserved to prevent the error of the forklift during the advancing from being overlarge. Therefore, in step S2, after the forklift model curves out, the projection of the reference point of the forklift model on the target straight line is acquired, and the maximum point in the target direction is taken as the sighting point to pull back the model.
In the actual movement process of the forklift, the reference center of the forklift model cannot be used as the control quantity alone, and the forklift model needs to be added into the reference at the same time, because if only the reference center is used as the control quantity, although the reference center in the actual control process advances in a user control mode, the forklift body can move irregularly with the reference center as an axis, so the forklift model must be input in the control process, and at least one central axis is defined in the traveling direction of the forklift at the beginning before design calculation, as shown in fig. 2.
Therefore, the above step S3 includes:
s301, defining a central axis of the forklift model, and taking one point on the central axis of the forklift model as a reference point;
s302, acquiring reference center position information and current environment aiming point information;
and S303, rounding according to the three points of the reference point, the reference center and the current environment aiming point to obtain a real track circle of the current environment.
Even if the reference center is not on the globally planned track, the round-wound track can still determine a track circle according to the information of the three points, the three points are still used as track references to plan the overall path track of the model on the motion route, and the calculation amount is not required to be increased.
In the above step S4, information of the real trajectory circle has been acquired, and the acquired motion information includes the steering angle of the forklift or the speed of the differential wheel of the forklift. For a forklift with a steering wheel, the steering angle information required by the steering wheel can be directly obtained, and the steering angle is the angle between the track tangent line travelling direction of the track central axis track and the world coordinate system. For a forklift with a differential wheel, the speeds of the left and right wheels of the differential wheel need to be obtained according to a reference center speed given by a user, and the differential wheel derivation formula is just needed, and the description is not repeated here. And finally, directly converting the speed calculated by the virtual model according to the difference between the real model and the virtual model.
The invention is described above with reference to the accompanying drawings. It is to be understood that the specific implementations of the invention are not limited in this respect. Various insubstantial improvements are made by adopting the method conception and the technical scheme of the invention; the present invention is not limited to the above embodiments, and can be modified in various ways.
Claims (6)
1. The intelligent forklift turning path planning method is characterized by comprising the following steps:
s1, calculating the circle center, the starting point and the end point of the turning reference circle;
s2, determining aiming points of the forklift at different positions;
s3, determining the information of the real track circle;
and S4, acquiring the motion information.
2. The intelligent forklift turning path planning method according to claim 1, wherein the step S1 includes:
s101, confirming a forklift starting straight line according to a starting position and the forklift traveling direction;
s102, confirming the circle center positions of the two circumscribed circles according to the intersection point of the starting straight line and the target straight line, the starting vector and the target direction;
s103, obtaining an angular bisector of the initial straight line and the target straight line according to the intersection point of the initial straight line and the target straight line and the circle center position of the circumscribed circle;
s104, obtaining the circle center position and the radius of a turning reference circle according to the intersection point of the vertical line and the angular bisector of the starting direction of the forklift, and constructing a turning reference circle;
and S105, obtaining the end point of the forklift by making the intersection point of the circle center of the turning reference circle and the target straight line as the vertical line.
3. The method for planning a turning path of an intelligent forklift according to claim 2, wherein in step S2, a forklift model is set, and before the forklift model enters a curve, an intersection point of an angle bisector of the starting straight line and the target straight line and a turning reference circle is set as an aiming point.
4. The intelligent forklift turning path planning method according to claim 2 or 3, wherein in the step S2, a forklift model is set, and after the forklift model enters a bend, a point on a turning reference circle or a point on a target straight line is calculated at a fixed angle increment.
5. The method for planning a turning path of a forklift according to claim 2 or 3, wherein in the step S2, a forklift model is set, after the forklift model bends, a projection of a model reference point on a target straight line is obtained, and a maximum point in a target direction is taken as an aiming point to pull back the model.
6. The method for planning a turning path of a forklift according to any one of claims 1 to 5, wherein the step S3 includes:
s301, defining a central axis of the forklift model, and taking one point on the central axis of the forklift model as a reference point;
s302, acquiring reference center position information and current environment aiming point information;
and S303, rounding according to the three points of the reference point, the reference center and the current environment aiming point to obtain a real track circle of the current environment.
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| CN111561938A (en) * | 2020-05-28 | 2020-08-21 | 北京百度网讯科技有限公司 | AR navigation method and device |
| CN111766876A (en) * | 2020-06-19 | 2020-10-13 | 上海工程技术大学 | Method for realizing intelligent planning of turning path of flat car |
| CN111998858A (en) * | 2020-09-15 | 2020-11-27 | 长春工业大学 | Unmanned aerial vehicle route planning method based on improved A-star algorithm |
| CN114442643A (en) * | 2022-04-07 | 2022-05-06 | 遨博（江苏）机器人有限公司 | Speed look-ahead method and device for combined path of robot |
| CN114690225A (en) * | 2022-03-21 | 2022-07-01 | 深圳旗鱼体育传播有限公司 | Identification method for moving object bypassing target |
| CN115815939A (en) * | 2023-02-20 | 2023-03-21 | 国网山东省电力公司东营供电公司 | Auxiliary positioning method for capacitor installation |
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| CN115815939A (en) * | 2023-02-20 | 2023-03-21 | 国网山东省电力公司东营供电公司 | Auxiliary positioning method for capacitor installation |
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