CN112666945A

CN112666945A - AGV curve path optimization method

Info

Publication number: CN112666945A
Application number: CN202011508776.6A
Authority: CN
Inventors: 欧阳长志; 周小和; 郭海涛
Original assignee: Guangdong Jaten Robot and Automation Co Ltd
Current assignee: Guangdong Jaten Robot and Automation Co Ltd
Priority date: 2020-12-18
Filing date: 2020-12-18
Publication date: 2021-04-16

Abstract

The invention discloses an AGV curve path optimization method and a storage device, wherein the method comprises the following steps: a. the maximum curvature a of the spline curve and the maximum distance B from the arc F2 are determined. b. An initial spline path of the AGV is obtained. c. The tangent direction of the starting endpoint a of the spline curve is taken as a perpendicular line S1, the tangent direction of the ending endpoint b of the spline curve is taken as a perpendicular line S2, the perpendicular line S1 and the perpendicular line S2 intersect with a point O, and the point O is taken as a dot to form an arc F2. d. The position adjustment is performed for each control point of the spline F1 so as to satisfy the constraint condition of step a. According to the AGV curve path optimization method, the initial spline curve path of the AGV is obtained, and each control point of the spline curve path is limited in the preset condition, so that the situation that the curvature and radian of local segments of the spline curve path are large is effectively avoided, the situation that the AGV turns sharply when walking on the curve path is avoided, and the smooth and stable running of the AGV and the like is ensured.

Description

AGV curve path optimization method

Technical Field

The invention belongs to the technical field of AGV, and particularly relates to an AGV curve path optimization method.

Background

In the field of logistics robot (AGV) control, a curved path is an indispensable movement mode. When a spline curve of the robot is drawn, a starting path point and a target path point of the AGV are determined, a plurality of control points are arranged on two sides of a line segment formed between the starting path point and the end path point, and each segment of the line segment is enabled to deviate towards one side of the corresponding control point so as to change the curvature and radian of each segment of the line segment, so that the spline curve path of the AGV is formed. However, the existing drawing mode is to manually and directly click the control points of the spline curve in the computer, because the input mode of the control points is manual operation, the dispersion of partial control points is easy to be large, the curvature and radian of partial segments of the spline curve path are large, and unsmooth running conditions such as sharp turning and the like occur when the modeling AGV travels on the curve path,

disclosure of Invention

The invention aims to overcome the defects of the prior art and provide an AGV curve path optimization method which can effectively avoid the occurrence of local curvature and overlarge radian of an AGV spline curve path.

An AGV curve path optimization method comprises the following steps:

a. the maximum curvature a of the spline curve and the maximum distance B from the arc F2 are determined.

b. An initial spline path of the AGV is taken and the start end point a and the end point b of the spline F1 are determined.

c. A perpendicular line S1 is drawn in the tangential direction of the starting endpoint a, a perpendicular line S2 is drawn in the tangential direction of the ending endpoint b, the perpendicular line S1 intersects with the perpendicular line S2 and intersects with a point O, the point O is used as a dot, and an arc F2 is drawn in the tangential direction of the starting endpoint a and the ending endpoint b.

d. The respective control points of the spline curve F1 are positionally adjusted so that the respective control points of the spline curve F1 are located at a distance from the circular arc F2 which is less than the maximum distance B, and so that the respective segmental curvatures of the spline curve F1 are less than the maximum curvature a.

Wherein step a may be performed after step b.

Compared with the prior art, the AGV curve path optimization method has the advantages that the initial spline curve path of the AGV is obtained, each control point of the spline curve path is limited in the preset condition, the situation that the curvature and radian of local segmentation are large in the spline curve path is effectively avoided, the situation that the AGV makes a sharp turn when walking on the curve path is avoided, and the smooth and stable running of the AGV and the like is guaranteed.

The storage device is used for storing a plurality of execution instructions, and the execution instructions are used for loading and executing the following operations by the central control center:

Wherein step a may be performed after step b.

Through setting up like this, through the initial spline curve path who acquires AGV, each control point restriction to this spline curve path is in the condition of predetermineeing, effectively avoids spline curve path to appear the camber and the bigger condition of radian of local segmentation, avoids AGV the condition that sharp turn appears when this curve path walking, guarantees that AGV etc. traveles smoothly.

Drawings

FIG. 1 is a flowchart of an AGV curve path optimization method

FIG. 2 is a schematic diagram of an initial spline path of an AGV

FIG. 3 is a schematic diagram of step c in the AGV curve path optimization method

FIG. 4 is a schematic diagram of step d in the AGV curve path optimization method

Detailed Description

The technical scheme of the invention is described in the following with the accompanying drawings:

the first embodiment is as follows:

referring to fig. 1 to 4, the AGV curve path optimizing method of the present invention includes the following steps:

d. The respective control points C of the spline curve F1 are positionally adjusted so that the respective control points C of the spline curve F1 are located at a distance from the circular arc F2 which is less than the maximum distance B, and so that the respective segmental curvatures of the spline curve F1 are less than the maximum curvature a.

Wherein step a may be performed after step b.

In the step b, the mode of obtaining the initial spline curve path of the AGV may be to call a drawn spline curve path or to draw the spline curve path in real time.

Compared with the prior art, the AGV curve path optimization method has the advantages that the initial spline curve path of the AGV is obtained, each control point C of the spline curve path is limited in the preset condition, the situation that the curvature and radian of local segmentation are large in the spline curve path is effectively avoided, the situation that the AGV makes a sharp turn when walking on the curve path is avoided, and the smooth and stable running of the AGV and the like is guaranteed.

According to the AGV curve path optimization method, the drawn spline curve is compared with the starting endpoint a and the ending endpoint b of the spline curve and the arc F2 obtained through course calculation, the spline curve is adjusted according to the arc F2, and the AGV spline curve path with a better curve path is obtained.

In one embodiment, the maximum curvature A ≦ 0.002; through the arrangement, all the segments of the spline curve path of the AGV are controlled in a range with smaller curvature, and the AGV can walk smoothly.

In one embodiment, maximum distance B is less than or equal to one fifth of the radius of arc F2; through setting up like this, the whole in less radian of effective control AGV spline curve path, the turn radius of avoiding AGV to travel in curve path is too big.

In a preferred embodiment, when the local segment curvature of the spline curve F1 is greater than the maximum curvature a, one or more control points C within the local segment are shifted in the radial direction of the circular arc F2 so that the local segment curvature satisfies the condition of being less than or equal to the maximum curvature a.

When the local segment of the spline curve F1 is a distance from the arc F2 that is greater than the maximum distance B, one or more control points C within the local segment are offset in the radial direction of the arc F2 so that the local segment satisfies the condition of being at most the maximum distance B from the arc F2.

Example two:

referring to fig. 1 to 4, the storage device of the present invention stores a plurality of execution instructions, where the execution instructions are used for the central control center to load and execute the following operations:

Wherein step a may be performed after step b.

Through setting up like this, through the initial spline curve path who acquires AGV, each control point C to this spline curve path restricts in the condition of predetermineeing, effectively avoids spline curve path to appear the camber and the bigger condition of radian of local segmentation, avoids AGV the condition that sharp turn appears when this curve path walking, guarantees that AGV etc. traveles smoothly.

In one embodiment, the maximum curvature A ≦ 0.002; through setting up like this, make each sectional control of AGV's spline curve path in the less within range of camber, make AGV strip curve path more slick and sly, guarantee that AGV walking is smooth in the same direction as well.

Variations and modifications to the above-described embodiments may occur to those skilled in the art, which fall within the scope and spirit of the above description. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and variations of the present invention should fall within the scope of the claims of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.

Claims

1. An AGV curve path optimization method is characterized by comprising the following steps:

a. determining the maximum curvature A of the spline curve and the maximum distance B from the arc F2;

b. acquiring an initial spline curve path of the AGV, and determining a starting endpoint a and a terminal endpoint b of a spline curve F1;

c. drawing a perpendicular line S1 in the tangential direction of the starting endpoint a, drawing a perpendicular line S2 in the tangential direction of the ending endpoint b, intersecting the perpendicular line S1 and the perpendicular line S2 with a point O, taking the point O as a dot, and drawing an arc F2 in the tangential direction of the starting endpoint a and the ending endpoint b;

d. adjusting the position of each control point of the spline curve F1 to enable the distance between each control point of the spline curve F1 and the arc F2 to be smaller than the maximum distance B, and enabling the curvature of each segment of the spline curve F1 to be smaller than the maximum curvature A;

wherein step a may be performed after step b.

2. The AGV curve path optimization method of claim 1 wherein the maximum curvature A is less than or equal to 0.002.

3. The AGV curve path optimization method of claim 1, wherein the maximum distance B is less than or equal to one fifth of the radius of arc F2.

4. The storage device is used for storing a plurality of execution instructions, and the execution instructions are used for loading and executing the following operations by the central control center:

wherein step a may be performed after step b.

5. A storage device as claimed in claim 4, characterized in that the maximum curvature A ≦ 0.002.

6. Storage device according to claim 4, characterized in that the maximum distance B is less than or equal to one fifth of the radius of the circular arc F2.