CN111123942B - Method and device for generating spline path of AGV (automatic guided vehicle) and AGV - Google Patents
Method and device for generating spline path of AGV (automatic guided vehicle) and AGV Download PDFInfo
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Abstract
The embodiment of the invention discloses a method and a device for generating a spline path of an AGV (automatic guided vehicle) and the AGV, wherein a first control point of a first distance from a starting point to a straight line of a preset starting running direction and a second control point of a second distance from a terminal point to a straight line of the preset ending running direction are determined according to coordinates of the starting point and the terminal point, the preset starting running direction of the starting point and the preset ending running direction of the terminal point; taking a symmetrical point of the first control point, which takes the starting point as a symmetrical center, as a third control point; taking a symmetrical point of the second control point, which takes the end point as a symmetrical center, as a fourth control point; and connecting B spline curves generated by every four adjacent points to form a curve as a spline path of the AGV according to the coordinates of the first control point, the starting point, the second control point, the third control point, the fourth control point and the terminal point, the preset starting running direction and the preset ending running direction. The invention can prevent the path curvature from being overlarge due to deviation of control point selection.
Description
Technical Field
The invention relates to the technical field of AGV, in particular to a spline path generation method and device of an AGV and the AGV.
Background
During the course of an AGV fork truck, it is essential to use the spline curve as a path. The spline curve is drawn at the control points of the spline curve, but when the control points of the spline curve are manually controlled, the curvature of the spline curve is too large, so that the forklift deflects too fast in the operation process, and unnecessary loss is caused.
Disclosure of Invention
The invention aims to provide a spline path generation method and device for an AGV and the AGV, aiming at the problems in the traditional technology.
In one embodiment, the invention provides a spline path generation method for an AGV, comprising the following steps:
determining a first control point corresponding to a first distance from the starting point to a straight line of the preset starting running direction and a second control point corresponding to a second distance from the end point to a straight line of the preset ending running direction according to the obtained coordinates of the starting point, the obtained coordinates of the end point, the preset starting running direction of the starting point and the preset ending running direction of the end point;
taking a symmetrical point of the first control point, which takes the starting point as a symmetrical center, as a third control point; taking a symmetrical point of the second control point, which takes the end point as a symmetrical center, as a fourth control point;
and connecting three B-spline curves generated by four adjacent points together to form a curve as a spline path of the AGV according to the acquired coordinates of the first control point, the initial point, the second control point, the third control point, the fourth control point and the terminal point, the preset initial running direction and the preset finishing running direction.
In one embodiment, determining a first control point corresponding to a first distance from the starting point to a straight line along which the preset starting operation direction is located and a second control point corresponding to a second distance from the end point to a straight line along which the preset ending operation direction is located according to the obtained coordinates of the starting point, the obtained coordinates of the end point, the obtained preset starting operation direction of the starting point and the obtained preset ending operation direction of the end point includes:
acquiring a plurality of pre-adjusted course values of a spline path of the AGV trolley to be generated, and a first preselected distance and a second preselected distance corresponding to the pre-adjusted course values; the pre-adjustment course value is a direction value determined according to the pre-adjustment starting running direction of the starting point and the pre-adjustment ending running direction of the terminal point; the first preselected distance is the distance from the starting point to a control point determined on a straight line where the starting operation direction is pre-adjusted; the second preselected distance is the distance from the terminal point to a control point determined on the straight line of the pre-adjustment ending running direction;
obtaining initial course values according to a preset initial running direction and a preset ending running direction, and if no initial course value exists in the preset course values, selecting a first preset course value and a second preset course value which are greater than or less than the initial course values;
taking a first preselected distance corresponding to the first pre-adjusted course value and a first preselected distance corresponding to the second pre-adjusted course value as end values of a first interval, and taking a second preselected distance corresponding to the first pre-adjusted course value and a second preselected distance corresponding to the second pre-adjusted course value as end values of a second interval;
determining a distance value in a first interval as a first distance according to a preset rule, and determining another distance value in a second interval as a second distance; the distance value and the distance value are distances which enable the maximum curvature of a spline path of the AGV trolley to be generated to be the minimum value;
and obtaining a first control point and a second control point according to the coordinates of the starting point, the coordinates of the end point, the preset starting running direction of the starting point, the preset ending running direction of the end point, the first distance and the second distance.
In one embodiment, the preset rule is:
based on the initial course value, calculating the maximum curvature corresponding to the spline path of the AGV to be generated by using a distance value in the first interval and another distance value corresponding to the second interval each time, and determining the distance value and the another distance value corresponding to the maximum curvature with the minimum numerical value as the first distance and the second distance;
and obtaining the next distance value by a preset interval value from the end value corresponding to the first pre-adjusted course value or the second pre-adjusted course value in the first interval and the second interval.
In one embodiment, the first pre-adjusted heading value and the second pre-adjusted heading value are two adjacent values in each pre-adjusted heading value.
In one embodiment, the maximum curvature corresponding to the spline path of the AGV car to be generated is calculated from the end value corresponding to the pre-adjusted heading value with the minimum difference value with the initial heading value.
In one embodiment, the initial heading value is 90 °.
In one embodiment, the present invention also provides a spline path device for an AGV cart, comprising:
the first control point acquisition module is used for determining a first control point corresponding to a first distance from the starting point to a straight line where the preset starting running direction is located and a second control point corresponding to a second distance from the end point to a straight line where the preset ending running direction is located according to the acquired coordinates of the starting point, the acquired coordinates of the end point, the preset starting running direction of the starting point and the preset ending running direction of the end point;
the second control point acquisition module is used for taking a symmetrical point of the first control point, which takes the starting point as a symmetrical center, as a third control point; taking a symmetrical point of the second control point, which takes the end point as a symmetrical center, as a fourth control point;
and the path generation module is used for connecting three B spline curves generated by four adjacent points together to form a curve as a spline path of the AGV according to the acquired coordinates of the first control point, the initial point, the second control point, the third control point, the fourth control point, the terminal point, the preset initial running direction and the preset ending running direction.
In one embodiment, the first control point obtaining module includes:
the device comprises a pre-adjustment value acquisition unit, a pre-adjustment value generation unit and a display unit, wherein the pre-adjustment value acquisition unit is used for acquiring a plurality of pre-adjustment course values of a spline path of the AGV to be generated and a first pre-selection distance and a second pre-selection distance corresponding to the pre-adjustment course values; the pre-adjustment course value is a direction value determined according to the pre-adjustment starting running direction of the starting point and the pre-adjustment ending running direction of the terminal point; the first preselected distance is the distance from the starting point to a control point determined on a straight line where the starting operation direction is pre-adjusted; the second preselected distance is the distance from the terminal point to a control point determined on the straight line of the pre-adjustment ending running direction;
the pre-adjustment value selection unit is used for obtaining an initial course value according to a preset initial running direction and a preset ending running direction, and if the initial course value does not exist in the pre-adjustment course values, selecting a first pre-adjustment course value and a second pre-adjustment course value which are larger than or smaller than the initial course value;
the interval establishing unit is used for taking a first preselected distance corresponding to the first pre-adjusted course value and a first preselected distance corresponding to the second pre-adjusted course value as end values of the first interval, and taking a second preselected distance corresponding to the first pre-adjusted course value and a second preselected distance corresponding to the second pre-adjusted course value as end values of the second interval;
the distance value selecting unit is used for determining a distance value in the first interval as a first distance according to a preset rule and determining another distance value in the second interval as a second distance; the distance value and the distance value are distances which enable the maximum curvature of the spline path of the AGV trolley to be generated to be the minimum value;
and the control point calculating unit is used for obtaining a first control point and a second control point according to the coordinates of the starting point, the coordinates of the end point, the preset starting running direction of the starting point, the preset ending running direction of the end point, the first distance and the second distance.
In one embodiment, the present invention further provides an AGV cart including a memory storing a computer program and a processor implementing the steps of spline path generation for the AGV cart when the processor executes the computer program.
In one embodiment, the present invention further provides a computer readable storage medium having a computer program stored thereon, which when executed by a processor, performs the steps of spline path generation for an AGV.
According to the method and the device for generating the spline path of the AGV and the AGV, the first control point corresponding to the first distance from the starting point to the straight line where the preset starting running direction is located and the second control point corresponding to the second distance from the terminal point to the straight line where the preset ending running direction is located can be determined through the coordinates of the starting point and the terminal point and the corresponding running directions. Furthermore, the end point, the second control point and the fourth control point are located on a straight line by taking the end point as a middle point, the first control point and the third control point are located on a straight line by taking the start point as a middle point, and therefore the end to end of three B spline curves generated by every four adjacent points can be ensured to be connected, and the spline path of the AGV from the start point to the end point can be obtained. The method can effectively and accurately obtain the control points for generating the sample path of the AGV trolley, thereby reducing the time cost for on-site measurement due to the selection of the control points, improving the mapping efficiency, further optimizing the sample path, and simultaneously preventing the overlarge curvature of the sample path caused by the deviation of the control point selection.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings required to be used in the embodiments will be briefly described below, and it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope of the present invention. Like components are numbered similarly in the various figures.
FIG. 1 is a schematic flow chart illustrating a spline path generation method for an AGV according to one embodiment of the present invention;
FIG. 2 is a schematic diagram showing a spline path of an AGV cart in one embodiment of the present invention;
FIG. 3 is a schematic flow chart illustrating the generation of control points in a spline path generation method for an AGV according to one embodiment of the present invention;
FIG. 4 is a schematic diagram showing the arrangement of control points in one embodiment of the present invention;
FIG. 5 shows a schematic of a cubic B-spline curve formation;
FIG. 6 shows a schematic diagram of the spline path generator for an AGV according to one embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
Hereinafter, the terms "including", "having", and their derivatives, which may be used in various embodiments of the present invention, are only intended to indicate specific features, numbers, steps, operations, elements, components, or combinations of the foregoing, and should not be construed as first excluding the existence of, or adding to, one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing.
Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which various embodiments of the present invention belong. The terms (such as terms defined in a commonly used dictionary) will be construed to have the same meaning as the contextual meaning in the related art and will not be construed to have an idealized or overly formal meaning unless expressly so defined in various embodiments of the present invention.
Referring to FIG. 1, in one embodiment, the present invention provides a spline path generation method for an AGV comprising:
step S110: according to the obtained coordinates of the starting point, the coordinates of the end point, the preset starting running direction of the starting point and the preset ending running direction of the end point, a first control point corresponding to a first distance from the starting point to a straight line of the preset starting running direction and a second control point corresponding to a second distance from the end point to a straight line of the preset ending running direction are determined.
For example, as shown in fig. 4, in a preset rectangular coordinate, two nodes are respectively clicked as a start point P0 and an end point P5 of a spline path of the AGV to be generated, and a preset start running direction of the start point P0 and a preset end running direction of the end point P5 are obtained. Thus, the distance L1 on the straight line where the preset ending operation direction from the starting point P0 to the end point P5 is located, the distance L2 on the straight line where the preset starting operation direction from the end point P5 to the starting point P0 is located are obtained according to the similar triangle principle, then the first distance N1 on the straight line where the starting point P0 to the preset starting operation direction is located and the second distance N2 on the straight line where the end point P5 to the preset ending operation direction are located are obtained according to the coordinates of the starting point P0 and the end point P5, which are mathematically obtained by combining the similar triangle principle, so that the first control point P9 and the second control point P2 can be obtained in the rectangular coordinate system according to the coordinate of the starting point P0, the coordinate of the end point P5, the preset starting operation direction of the starting point, the preset ending operation direction of the end point, the first distance N1 and the second distance N2, that the coordinate system of the first control point P1 in the rectangular coordinate system as shown in fig. 4 can be clarified, the coordinates of the second control point P2 in the rectangular coordinate system as shown in fig. 4.
For another example, the first distance and the second distance may be determined according to predetermined parameters, thereby obtaining the first control point and the second control point. If the initial running course value can be obtained according to the preset initial running direction and the preset ending running direction, two preset course values are determined as a course value range in the preset course values, and the preset course values are determined according to the preset initial running direction of the initial point and the preset ending running direction of the end point. And further, obtaining a distance interval according to the first preselected distance and the second preselected distance corresponding to the determined pre-adjusted heading value. Therefore, according to the corresponding distance interval, the corresponding distance value is selected from the distance interval and substituted into the maximum curvature formula of the spline curve to calculate the maximum curvature of the spline path of the AGV to be generated, the maximum curvature of the minimum value is selected from the calculated maximum curvatures, and the distance value corresponding to the maximum curvature of the minimum value is determined to be the first distance N1 and the second distance N2. So that the first control point and the second control point are obtained according to the coordinates of the start point and the end point, the preset start running direction and the preset end running direction, and the first distance N1 and the second distance N2. And calculating a first preselected distance and a second preselected distance corresponding to the pre-adjusted heading value in a preset rectangular coordinate system. The first preselected distance is the distance from the starting point to a control point determined on the straight line of the pre-adjustment starting running direction, and the second preselected distance is the distance from the end point to a control point determined on the straight line of the pre-adjustment ending running direction.
The embodiment of the invention can quickly and accurately determine the first control point P1 and the second control point P2 on the basis of the starting point P0 and the end point P5.
Step S120: taking a symmetrical point of the first control point, which takes the starting point as a symmetrical center, as a third control point; and taking a symmetrical point of the second control point, which takes the end point as a symmetrical center, as a fourth control point.
The embodiment of the invention is used for drawing the spline path of the AGV based on the cubic B spline curve principle. The cubic B-spline curve has the following physical significance, a B-spline curve is generated for every four adjacent points, and three points in every four adjacent points form a triangle, as shown in fig. 5. The curve starting point S is located on the center line BM1 of the triangle ABC, and the curve ending point E is located on the center line CM2 of the triangle BCD. The start point of the curve, srtangent, is parallel to AC and the end point, ecrtangent, is parallel to BD. Therefore, based on the principle of cubic B-spline, when three points are on the same straight line and are equidistant, the midpoints of the three points become the endpoints of the spline. Thus, to make the spline curve generated end-point with the start point P0 and end point P5 of the spline path for the AGV cart, a complete path is obtained. Further, a symmetric point of the first control point P1 is obtained as a third control point P3 with the start point P0 as a central symmetric point, and a symmetric point of the second control point P2 is obtained as a fourth control point P4 with the end point P5 as a central symmetric point, as shown in fig. 2.
Step S130: and connecting three B spline curves generated by four adjacent points together to form a spline curve as a spline path of the AGV according to the acquired coordinates of the first control point, the initial point, the second control point, the third control point, the fourth control point and the terminal point, the preset initial running direction and the preset finishing running direction.
According to the curve generation algorithm of the cubic B-spline curve, spline curves of the third control point P3, the start point P0, the first control point P1 and the second control point P2, such as P0N0 shown in fig. 2, spline curves of the start point P0, the first control point P1, the second control point P2 and the end point P5, such as N0K0 shown in fig. 2, and spline curves of the first control point P1, the second control point P2, the end point P5 and the fourth control point P4, such as K0P5 shown in fig. 2, can be obtained in sequence according to the acquired coordinates of the first control point, the start point, the second control point, the third control point, the fourth control point and the end point, the preset starting running direction and the preset ending running direction.
The method can be used for executing the algorithm simply and easily, can generate the spline path of the AGV based on a proper number of control points, and can avoid the problem of degree redundancy.
According to the spline path generation method of the AGV trolley, a first control point corresponding to a first distance from a starting point to a straight line where a preset starting running direction is located and a second control point corresponding to a second distance from a terminal point to a straight line where a preset ending running direction is located are determined through coordinates of the starting point and the terminal point and corresponding running directions. Furthermore, the end point, the second control point and the fourth control point are located on the same straight line by taking the end point as a middle point, the first control point and the third control point are located on the same straight line by taking the starting point as a middle point, and therefore the heads and the tails of three B-spline curves generated by every four adjacent points can be ensured to be connected, and the spline path of the AGV from the starting point to the end point can be obtained. The method can effectively and accurately obtain the control points for generating the sample path of the AGV trolley, thereby reducing the time cost for on-site measurement due to the selection of the control points, improving the mapping efficiency, further optimizing the sample path, and simultaneously preventing the overlarge curvature of the sample path caused by the deviation of the control point selection.
Referring to fig. 3, in a specific embodiment, determining, according to the obtained coordinates of the start point, the obtained coordinates of the end point, the obtained preset start running direction of the start point, and the obtained preset end running direction of the end point, a first control point corresponding to a first distance from the start point to a straight line of the preset start running direction, and a second control point corresponding to a second distance from the end point to a straight line of the preset end running direction, includes:
step S310: acquiring a plurality of pre-adjusted course values of a spline path of the AGV trolley to be generated, and a first preselected distance and a second preselected distance corresponding to the pre-adjusted course values; the pre-adjustment course value is a direction value determined according to the pre-adjustment starting running direction of the starting point and the pre-adjustment ending running direction of the terminal point; the first preselected distance is the distance from the starting point to a control point determined on a straight line where the starting operation direction is pre-adjusted; the second preselected distance is the distance from the end point to a control point defined on a line where the pre-adjustment end travel direction is located.
The pre-adjustment course value is a value to be adjusted for the course value of a spline path of the AGV trolley, the spline path of the AGV trolley can be adjusted due to the fact that the field changes, the spline path of the AGV trolley can be generated rapidly in time for adjustment, a plurality of pre-adjustment course values can be obtained in advance, the pre-adjustment course values are direction values determined according to the pre-adjustment starting running direction of a starting point and the pre-adjustment ending running direction of a terminal point, and the pre-adjustment starting running direction and the pre-adjustment ending running direction are preset parameters. Further, a first preselected distance and a second preselected distance corresponding to the pre-adjusted heading value can be calculated in a preset rectangular coordinate system, so that a control point from the starting point to the straight line where the pre-adjusted starting running direction is located and a control point from the end point to the straight line where the pre-adjusted starting running direction is located are obtained. When the sample path course value of the AGV trolley needs to be adjusted in the later period, parameters can be directly selected from the sample path course value which needs to be adjusted, so that a sample path can be generated. Taking 0 °, 45 °, 90 °, 135 °, 180 °, 225 °, 270 °, and 315 ° as the pre-adjusted heading values, respectively, for example, from 360 °, the first pre-selected distance and the second pre-selected distance, which correspond to each other, are calculated by a brute force algorithm. And if the course value of the spline path of the AGV trolley needs to be adjusted to 45 degrees, directly adopting a first preselected distance corresponding to 45 degrees as a first distance and a second preselected distance as a second distance to generate the spline path. And if the course value of the spline path which needs to be adjusted does not exist, selecting an approximate pre-adjusted course value from the course values, and obtaining the first distance and the second distance for generating the spline path of the AGV according to the corresponding first pre-selected distance and the second pre-selected distance through proper adjustment.
The method and the device can select the parameters for generating the spline path of the AGV car from the plurality of pre-adjusted course values and the corresponding first preselected distance and second preselected distance so as to improve the drawing efficiency and reduce the time cost of on-site measurement.
Step S320: and obtaining an initial course value according to the preset initial running direction and the preset ending running direction, and selecting a first pre-adjusted course value and a second pre-adjusted course value which are greater than or less than the initial course value if the initial course value does not exist in the pre-adjusted course values.
According to the method and the device, the initial course value is obtained according to the preset initial running direction and the preset ending running direction, so that the first pre-adjusted course value and the second pre-adjusted course value can be selected to determine a course value range, the first distance and the second distance of the spline path of the AGV trolley to be generated can be adjusted conveniently, and extra calculation execution steps can be omitted.
Step S330: and taking a first preselected distance corresponding to the first pre-adjusted course value and a first preselected distance corresponding to the second pre-adjusted course value as end values of a first interval, and taking a second preselected distance corresponding to the first pre-adjusted course value and a second preselected distance corresponding to the second pre-adjusted course value as end values of a second interval.
And if the first preselected distance corresponding to the first pre-adjusted heading value is x, the second preselected distance is y, the first preselected distance corresponding to the second pre-adjusted heading value is i, and the second preselected distance is j, the first interval is [ x, y ], and the second interval is [ i, j ].
Step S340: determining a distance value in a first interval as a first distance according to a preset rule, and determining another distance value in a second interval as a second distance; one distance value and the other distance value are distances that minimize the maximum curvature of the spline path of the AGV cart to be generated.
And according to a preset rule, sequentially selecting a distance value in the first interval, substituting the distance value corresponding to the second interval into a spline curve formula for calculating the maximum curvature, calculating the maximum curvature of the spline path of the AGV to be generated, and selecting the distance value corresponding to the minimum value from the maximum curvatures as the first distance and the second distance.
Step S350: and obtaining a first control point and a second control point according to the coordinates of the starting point, the coordinates of the end point, the preset starting running direction of the starting point, the preset ending running direction of the end point, the first distance and the second distance.
According to the parameters in step S350, the first control point and the second control point can be obtained in the preset rectangular coordinate system, that is, the coordinates of the first control point and the second control point can be determined.
According to the method and the device, the initial running course value is obtained according to the preset initial running direction and the preset ending running direction, so that a course value range can be determined in each preset course value, a first interval and a second interval used for determining the first distance and the second distance according to the preset rule can be obtained according to the corresponding first distance to be selected and the corresponding second distance to be selected, the distance adjusting range can be provided, and the first control point and the second control point which enable the maximum curvature of the spline path of the AGV trolley to be minimum are obtained. The embodiment of the invention is beneficial to saving extra algorithm execution steps and improving the effect of drawing the map path. Meanwhile, the problem that the spline path is too curved due to deviation of control point selection can be reduced, and the spline path of the AGV trolley is further optimized.
In a specific embodiment, the preset rule is:
and based on the initial heading value, calculating the maximum curvature corresponding to the spline path of the AGV to be generated by using a distance value in the first interval and another distance value corresponding to the second interval each time, and determining the distance value and the another distance value corresponding to the maximum curvature with the minimum numerical value as the first distance and the second distance.
And obtaining the next distance value by a preset interval value from the end value corresponding to the first pre-adjusted course value or the second pre-adjusted course value in the first interval and the second interval.
For example, the first pre-selected distance for the first pre-adjusted heading value is 13 and the second pre-selected distance is 16; the first preselected distance for the second pre-adjusted heading value is 15 and the second preselected distance is 14. The first interval is then [13, 15] and the second interval is [14, 16 ]. Assuming that a distance value in the first interval is the end 13, then the distance value corresponding to it in the second interval is the end 16, the maximum curvature corresponding to the spline path of the AGV car is calculated based on the initial heading value. The next distance value, i.e. 13.01, is obtained at a preset interval value, e.g. 0.01, in the first interval, and the next distance value, i.e. 15.99, i.e. another distance value corresponding to 13.01, is obtained at a preset interval value, e.g. 0.01, in the second interval. If the maximum curvature is calculated from the end values corresponding to the first preselected distance and the second preselected distance corresponding to the first pre-adjusted course value, the maximum curvature of the spline path of the AGV trolley can be calculated from the end values corresponding to the first preselected distance and the second preselected distance corresponding to the second pre-adjusted course value by increasing or decreasing the preset interval value to obtain the next distance value. Or obtaining each distance value in the first interval and the second interval in advance according to the preset interval value, and then calculating in sequence.
The embodiment of the invention is beneficial to saving additional algorithm execution steps and improving the effect of drawing the map path. Meanwhile, the problem that the curvature of the spline path is too large due to deviation in control point selection can be reduced, and the spline path of the AGV is further optimized.
In a particular embodiment, the first pre-adjusted heading value and the second pre-adjusted heading value are adjacent values in each pre-adjusted heading value.
For example, the pre-adjusted heading values are 0 °, 45 °, 90 °, 135 °, 180 °, 225 °, 270 °, 315 °, and if the initial heading value is 60 °, 45 ° and 90 ° are selected according to the initial heading value.
The embodiment of the invention can reduce the range of the course value, further improve the efficiency of generating the spline path of the AGV trolley, and reduce the adjustment time so as to quickly finish the drawing of the map path.
In a specific embodiment, the maximum curvature corresponding to the spline path of the AGV to be generated starts to be calculated from the end value corresponding to the pre-adjusted heading value with the minimum difference value from the initial heading value.
For example, if the initial course value is 60 °, 45 ° is selected as the first pre-adjusted course value, and 90 ° is selected as the second pre-adjusted course value, the end value corresponding to the first pre-selected distance of 45 ° is selected from the first interval, and the maximum curvature corresponding to the AGV cart spline path to be generated starts to be calculated from the end value corresponding to the second pre-selected distance of 45 ° selected from the second interval.
The embodiment of the invention further improves the efficiency of generating the spline path of the AGV trolley and reduces the adjustment time so as to rapidly finish the drawing of the map path.
In one particular embodiment, the initial heading value is 90 °.
The initial course value of the embodiment of the invention is 90 degrees, so that a first distance from the starting point to a straight line of the preset starting running direction and a second distance from the end point to a straight line of the preset ending running direction can be conveniently obtained.
Referring to fig. 6, in one embodiment, the present invention further provides an AGV cart spline path generating device, including:
the first control point obtaining module 610 is configured to determine, according to the obtained coordinates of the start point, the obtained coordinates of the end point, the obtained preset start running direction of the start point, and the obtained preset end running direction of the end point, a first control point corresponding to a first distance from the start point to a straight line where the preset start running direction is located, and a second control point corresponding to a second distance from the end point to a straight line where the preset end running direction is located.
A second control point obtaining module 620, configured to use a symmetric point of the first control point, where the initial point is a symmetric center, as a third control point; and taking a symmetrical point of the second control point, which takes the end point as a symmetrical center, as a fourth control point.
And a path generating module 630, configured to, according to the obtained coordinates of the first control point, the start point, the second control point, the third control point, the fourth control point, and the end point, the preset starting operation direction, and the preset ending operation direction, use a curve formed by connecting three B-spline curves generated by every four adjacent points as a spline path of the AGV.
According to the spline path generating device of the AGV trolley, the first control point corresponding to the first distance from the starting point to the straight line where the preset starting running direction is located and the second control point corresponding to the second distance from the end point to the straight line where the preset ending running direction is located can be determined through the coordinates of the starting point and the end point and the corresponding running directions. Furthermore, the end point, the second control point and the fourth control point are located on the same straight line by taking the end point as a middle point, the first control point and the third control point are located on the same straight line by taking the starting point as a middle point, and therefore the heads and the tails of three B-spline curves generated by every four adjacent points can be ensured to be connected, and the spline path of the AGV from the starting point to the end point can be obtained. The method can effectively and accurately obtain the control points for generating the sample path of the AGV trolley, thereby reducing the time cost for on-site measurement due to the selection of the control points, improving the mapping efficiency, further optimizing the sample path, and simultaneously preventing the overlarge curvature of the sample path caused by the deviation of the control point selection.
In a specific embodiment, the first control point obtaining module includes:
the device comprises a pre-adjustment value acquisition unit, a pre-adjustment value generation unit and a display unit, wherein the pre-adjustment value acquisition unit is used for acquiring a plurality of pre-adjustment course values of a spline path of the AGV to be generated and a first pre-selection distance and a second pre-selection distance corresponding to the pre-adjustment course values; the pre-adjustment course value is a direction value determined according to the pre-adjustment starting running direction of the starting point and the pre-adjustment ending running direction of the terminal point; the first preselected distance is the distance from the starting point to a control point determined on a straight line where the starting operation direction is pre-adjusted; the second preselected distance is the distance from the end point to a control point defined on a line on which the pre-adjustment end travel direction lies.
And the pre-adjustment value selecting unit is used for obtaining an initial course value according to the preset initial running direction and the preset ending running direction, and selecting a first pre-adjustment course value and a second pre-adjustment course value which are greater than or less than the initial course value if the initial course value does not exist in the pre-adjustment course values.
And the interval establishing unit is used for taking the first preselected distance corresponding to the first pre-adjusted course value and the first preselected distance corresponding to the second pre-adjusted course value as end values of the first interval, and taking the second preselected distance corresponding to the first pre-adjusted course value and the second preselected distance corresponding to the second pre-adjusted course value as end values of the second interval.
The distance value selecting unit is used for determining a distance value in the first interval as a first distance according to a preset rule and determining another distance value in the second interval as a second distance; the distance value and the distance value are distances which enable the maximum curvature of a spline path of the AGV trolley to be generated to be the minimum value;
and the control point calculating unit is used for obtaining a first control point and a second control point according to the coordinates of the starting point, the coordinates of the end point, the preset starting running direction of the starting point, the preset ending running direction of the end point, the first distance and the second distance.
The specific definition of the spline path generating device for the AGV cart can be referred to the definition of the spline path generating method for the AGV cart, and is not described herein again. All or part of the modules in the spline path generation device of the AGV can be realized through software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, the invention further provides an AGV cart comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method for generating a spline path of an AGV cart when executing the computer program.
It should be noted that, in the present embodiment, for specific limitations on the spline path generation method of the AGV, reference may be made to the above limitations on the spline path generation method of the AGV, and details are not described herein again.
In one embodiment, the present invention also provides a computer readable storage medium having a computer program stored thereon, which when executed by a processor, performs the steps of a spline path generation method for an AGV.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The apparatus embodiments described above are merely illustrative and, for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, each functional module or unit in each embodiment of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention or a part of the technical solution that contributes to the prior art in essence can be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a smart phone, a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention.
Claims (8)
1. A spline path generation method of an AGV is characterized by comprising the following steps:
determining a first control point corresponding to a first distance from the starting point to a straight line of the preset starting running direction and a second control point corresponding to a second distance from the end point to a straight line of the preset ending running direction according to the obtained coordinates of the starting point, the obtained coordinates of the end point, the preset starting running direction of the starting point and the preset ending running direction of the end point;
taking a symmetrical point of the first control point, which takes the starting point as a symmetrical center, as a third control point; taking a symmetrical point of the second control point, which takes the end point as a symmetrical center, as a fourth control point;
according to the obtained coordinates of the first control point, the starting point, the second control point, the third control point, the fourth control point and the terminal point, the preset starting running direction and the preset ending running direction, connecting three B spline curves generated by four adjacent points together to form a curve as a spline path of the AGV;
the method for determining a first control point corresponding to a first distance from a starting point to a straight line of a preset starting running direction and a second control point corresponding to a second distance from an end point to a straight line of the preset ending running direction according to the obtained coordinates of the starting point, the obtained coordinates of the end point, the obtained preset starting running direction of the starting point and the obtained preset ending running direction of the end point comprises the following steps:
acquiring a plurality of pre-adjusted course values of a spline path of the AGV to be generated, and a first preselected distance and a second preselected distance corresponding to the pre-adjusted course values; the pre-adjustment course value is a direction value determined according to the pre-adjustment starting running direction of the starting point and the pre-adjustment ending running direction of the terminal point; the first preselected distance is the distance from the starting point to a control point determined on a straight line where the preset starting running direction is located; the second preselected distance is the distance from the terminal point to a control point determined on the straight line of the pre-adjustment ending running direction;
obtaining an initial course value according to the preset initial running direction and the preset ending running direction, and if the initial course value does not exist in each pre-adjusted course value, selecting a first pre-adjusted course value and a second pre-adjusted course value which are greater than or less than the initial course value;
taking a first preselected distance corresponding to the first pre-adjusted course value and a first preselected distance corresponding to the second pre-adjusted course value as end values of a first interval, and taking a second preselected distance corresponding to the first pre-adjusted course value and a second preselected distance corresponding to the second pre-adjusted course value as end values of a second interval;
determining a distance value in the first interval as the first distance according to a preset rule, and determining another distance value in the second interval as the second distance; the distance value and the other distance value are distances which enable the maximum curvature of a spline path of the AGV trolley to be generated to be the minimum value;
and obtaining the first control point and the second control point according to the coordinate of the starting point, the coordinate of the end point, the preset starting running direction of the starting point, the preset ending running direction of the end point, the first distance and the second distance.
2. The spline path generation method for an AGV according to claim 1, wherein the predetermined rule is:
based on the initial course value, calculating the maximum curvature corresponding to the spline path of the AGV to be generated by using one distance value in the first interval and the other distance value corresponding to the second interval each time, and determining the distance value and the other distance value corresponding to the maximum curvature with the minimum numerical value as the first distance and the second distance;
and obtaining a next distance value by a preset interval value from the first preset course value or the end value corresponding to the second preset course value in the first interval and the second interval.
3. The method of claim 1, wherein said first pre-adjusted heading value and said second pre-adjusted heading value are two adjacent values of each pre-adjusted heading value.
4. The method of claim 2, wherein the calculation of the maximum curvature corresponding to the spline path of the AGV to be generated is started from the end value corresponding to the pre-adjusted heading value having the smallest difference from the initial heading value.
5. The spline path generation method for AGVs of claim 1, wherein the initial heading value is 90 °.
6. A spline path generation device for an AGV comprising:
the first control point acquisition module is used for determining a first control point corresponding to a first distance from the starting point to a straight line of a preset starting operation direction and a second control point corresponding to a second distance from the end point to a straight line of the preset ending operation direction according to the acquired coordinates of the starting point, the acquired coordinates of the end point, the preset starting operation direction of the starting point and the preset ending operation direction of the end point;
a second control point obtaining module, configured to use a symmetric point of the first control point, where the symmetric point uses the starting point as a symmetric center, as a third control point; taking a symmetrical point of the second control point, which takes the end point as a symmetrical center, as a fourth control point;
the path generation module is used for connecting three B spline curves generated by four adjacent points together to form a curve as a spline path of the AGV according to the acquired coordinates of the first control point, the starting point, the second control point, the third control point, the fourth control point and the terminal point, the preset starting running direction and the preset ending running direction;
wherein, the first control point obtaining module includes:
the device comprises a pre-adjustment value acquisition unit, a pre-adjustment value generation unit and a display unit, wherein the pre-adjustment value acquisition unit is used for acquiring a plurality of pre-adjustment course values of a spline path of the AGV to be generated and a first pre-selection distance and a second pre-selection distance corresponding to the pre-adjustment course values; the pre-adjustment course value is a direction value determined according to the pre-adjustment starting running direction of the starting point and the pre-adjustment ending running direction of the end point; the first preselected distance is the distance from the starting point to a control point determined on a straight line where the preset starting running direction is located; the second preselected distance is the distance from the terminal point to a control point determined on the straight line of the pre-adjustment ending running direction;
the pre-adjustment value selection unit is used for obtaining an initial course value according to the preset initial running direction and the preset ending running direction, and if the initial course value does not exist in each pre-adjustment course value, selecting a first pre-adjustment course value and a second pre-adjustment course value which are larger than or smaller than the initial course value;
the interval establishing unit is used for taking a first preselected distance corresponding to the first pre-adjusted course value and a first preselected distance corresponding to the second pre-adjusted course value as end values of a first interval, and taking a second preselected distance corresponding to the first pre-adjusted course value and a second preselected distance corresponding to the second pre-adjusted course value as end values of a second interval;
a distance value selecting unit, configured to determine a distance value in the first interval as the first distance according to a preset rule, and determine another distance value in the second interval as the second distance; the distance value and the other distance value are distances which enable the maximum curvature of a spline path of the AGV trolley to be generated to be the minimum value;
and the control point calculating unit is used for obtaining the first control point and the second control point according to the coordinates of the starting point, the coordinates of the end point, the preset starting running direction of the starting point, the preset ending running direction of the end point, the first distance and the second distance.
7. An AGV trolley characterised by a memory storing a computer program and a processor implementing the steps of the method according to any one of claims 1 to 5 when the computer program is executed by the processor.
8. A computer-readable storage medium, characterized in that a computer program is stored thereon, which computer program, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 5.
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