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Corner speed planning method and device of automatic guiding device

A technology of speed planning and automatic guidance, applied in two-dimensional position/course control, vehicle position/route/altitude control, non-electric variable control, etc., can solve the problems of poor control accuracy and high cost

Inactive Publication Date: 2019-07-05
ZHIJIU XIAMEN ROBOT TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The object of the present invention is to provide a curve speed planning method, device, computer-readable storage medium, and automatic guidance device for an automatic guidance device, so as to solve the problem of poor control accuracy or problems caused by curve speed planning in the prior art. high cost problem

Method used

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  • Corner speed planning method and device of automatic guiding device
  • Corner speed planning method and device of automatic guiding device
  • Corner speed planning method and device of automatic guiding device

Examples

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no. 1 example

[0041] This embodiment provides a curve speed planning method for an automatic guidance device, refer to figure 1 , the curve speed planning method of the automatic guidance device includes:

[0042] Obtain a specific path within a preset time in real time;

[0043] calculating the curvature of said particular path, determining and storing the maximum curvature;

[0044] obtaining the relationship between velocity and said maximum curvature;

[0045] Velocity is determined from said maximum curvature.

[0046] The automatic guidance device will obtain a walking path from the first location to the second location during the task execution from the first location to the second location, and the walking path may be static or dynamic, but no matter Whether it is a static or dynamic walking path, the automatic guiding device will obtain the subsequent walking path in advance during the process of walking along the walking path.

[0047] The preset time is a time window after th...

no. 2 example

[0069] This embodiment provides a curve speed planning device for an automatic guidance device, refer to image 3 ,include:

[0070] a path acquisition module, the path acquisition module acquires the specific path within the preset time in real time;

[0071] a curvature calculation module, the curvature calculation module calculates the curvature of the specific path, and determines and saves the maximum curvature;

[0072] a velocity-curvature relationship module, the relationship between the velocity and the maximum curvature is stored in the velocity-curvature relationship module;

[0073] a velocity planning module that determines the velocity.

[0074] That is, the path acquisition module acquires the specific path within the preset time in real time, and outputs it to the curvature calculation module, and the curvature calculation module calculates the curvature of the specific path in real time, determines and saves the maximum curvature, and the The speed planning...

no. 3 example

[0077] This embodiment provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the curve speed of the automatic guidance device according to any one of the first embodiment is realized. planning method.

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Abstract

A corner speed planning method and device of an automatic guiding device, a computer readable storage medium and the automatic guiding device are disclosed. The method comprises the following steps ofacquiring a specific path in preset time in real time; calculating a curvature of the specific path, determining and storing a maximum curvature; acquiring a relation between the speed and the maximum curvature; and according to the maximum curvature, determining the speed. By using the method, the maximum curvature of the specific path of a corner path within the preset time is calculated in real time; and according to the maximum curvature, an appropriate operation speed is automatically planned so that the automatic guiding device can operate efficiently and stably and can not deviate froma set walking path.

Description

technical field [0001] The present invention relates to the field of speed planning, in particular to a curve speed planning method, device, computer-readable storage medium, and automatic guiding device for an automatic guiding device. Background technique [0002] The automatic guidance device generally plans a walking path in advance and moves according to the planned walking path. The walking path is a part of the path, and the path includes a path line and path points at both ends of the path line. [0003] In some working scenarios of the automatic guidance device, such as in the warehouse, due to the limitation of the site, there will be path lines with different curvatures in the path line, that is, various types of curves, such as storage line, road curve curve, roadway curve curve Wait. During operation, if the curvature of the planned walking path is too large and the driving speed of the automatic guiding device is too high, it is easy to cause the automatic gui...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0223
Inventor 郭兆琴
Owner ZHIJIU XIAMEN ROBOT TECH CO LTD
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