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Envelope establishment method and device for AGV forklift and memory

A construction method and forklift technology, which are applied in measurement devices, instruments, surveying and mapping, and navigation, etc., can solve the problems of large amount of calculation, occupy many resources, and inefficient methods, and achieve a low-occupancy of resources, improve work efficiency, and calculate high efficiency. Effect

Inactive Publication Date: 2019-08-13
芜湖智久机器人有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The object of the present invention is to provide an envelope construction method, device and memory for an AGV forklift, so as to solve the problems of low efficiency, large amount of calculation, and large resource occupation in the envelope calculation method in the prior art;

Method used

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  • Envelope establishment method and device for AGV forklift and memory
  • Envelope establishment method and device for AGV forklift and memory
  • Envelope establishment method and device for AGV forklift and memory

Examples

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no. 1 example

[0055] refer to figure 1 , this embodiment provides an envelope construction method for an AGV forklift, including:

[0056] Obtain the range of the AGV forklift and the path of the AGV forklift;

[0057] computing a set of perpendiculars to said path;

[0058] Calculate the intersection set of the vertical line set and the range of the AGV forklift;

[0059] Fitting the set of intersection points completes the envelope construction.

[0060] Wherein, the scope of the AGV forklift includes the AGV forklift body, which mainly refers to obtaining the size information of the AGV forklift, and in some embodiments, obtaining a body model information of the forklift body; understandably, the AGV forklift is A three-dimensional object, in the process of obtaining the body information of the AGV forklift, can obtain the overall outline information of the AGV forklift body, but the AGV forklift has many functions and complex structures, so that the AGV forklift body itself is not a ...

no. 2 example

[0083] This embodiment provides an envelope construction method for an AGV forklift, including:

[0084] Obtain the range of the AGV forklift and the path of the AGV forklift;

[0085] computing a set of perpendiculars to said path;

[0086] Calculate the intersection set of the vertical line set and the AGV forklift;

[0087] Fitting the set of intersection points completes the envelope construction.

[0088] Wherein, the range of the AGV forklift includes the information of the AGV forklift body and the preset safe distance between the AGV forklift and the outside world, the information of the AGV forklift body is the size information of the body, and the preset safe distance information between the AGV forklift and the outside world is as far as possible The reserved distance between the AGV forklift and the outside world further ensures safety, because during the working process of the AGV forklift, the cargo it carries may appear larger than the size information of the ...

no. 3 example

[0106] refer to Figure 6 , this embodiment provides an envelope construction device for an AGV forklift, including:

[0107] Information acquisition module, the information acquisition module acquires AGV type forklift range information and path;

[0108] A calculation module, the calculation module calculates the set of perpendicular lines of the path and the set of intersections between the set of perpendicular lines and the AGV forklift;

[0109] A fitting module, which fits the set of intersection points and constructs an envelope.

[0110] Wherein, the information acquisition module can obtain the scope and path of the AGV forklift in various ways, which is a common technical means in the prior art, and will not be described in detail here; the calculation module is connected with the information acquisition module, and the calculation module obtains the information from the information The information extracted from the module is used for calculation. Specifically, the ...

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Abstract

The invention discloses an envelope establishment method and device for an AGV forklift and a memory and relates to the technical field of automatic guide. The method comprises the steps of obtainingan AGV forklift range and a path of the AGV forklift; computing a vertical line set of the path; computing an intersection point set of the vertical line set and the AGV forklift range; and fitting the intersection point set to finish envelope establishment. According to the envelope establishment method for the AGV forklift provided by the invention, through utilization of an analytic geometry method, a walking envelope of the AGV forklift is rapidly established and computed and computation is efficient. Compared with computation methods such as a graph computation method, the method has theadvantage that occupied resources are few.

Description

technical field [0001] The invention relates to the technical field of automatic guidance, in particular to an envelope construction method, device and memory of an AGV forklift. Background technique [0002] AGV-type forklifts are forklifts equipped with automatic guidance technology, which can realize automatic guidance functions and are currently commonly used in storage scenarios. The work of AGV-type forklifts in the storage environment includes handling, stacking, etc. Most of the tasks require AGV-type forklifts to use automatic guidance technology to move from one location to another in the storage environment. In order to reduce storage costs, most storage environments The aisles in the warehouse are all as narrow as possible, and the storage space is reserved for other uses as much as possible; and in the storage environment, there are often people walking or working inside. This makes it very important to determine the travel envelope of the AGV forklift. [000...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
CPCG01C21/206
Inventor 何驭西
Owner 芜湖智久机器人有限公司