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A compound path planning method for an automatic homing chair

A path planning and automatic homing technology, applied in navigation and calculation tools, etc., can solve the problems of single technical mode, inability to coexist two modes, low efficiency, etc., and achieve reasonable transportation effect.

Active Publication Date: 2021-05-25
ZHEJIANG SUNON FURNITURE MFG
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] 1. The existing technical model is single, and the two models cannot coexist
[0005] 2. The existing straight bending mode is inefficient

Method used

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  • A compound path planning method for an automatic homing chair
  • A compound path planning method for an automatic homing chair
  • A compound path planning method for an automatic homing chair

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Embodiment Construction

[0026] The present invention will be further described below in conjunction with accompanying drawing.

[0027] Such as figure 1 As shown, a compound path planning method for an automatic homing chair, including:

[0028] Step 1) The host computer sends down a set of site data, the site data includes the site pose, straight / arc bend, turning radius, forward / backward, such as {[(x,y,theta),Straight,0.0 ,Forward],[(x,y,theta),Curve,1.0,Forward],[(x,y,theta),Curve,0.6,Backward]...};

[0029] Step 2) After receiving the stations, the receiver classifies them, calculates the straight bend point as num_s, and the arc bend point as num_c, traverses all the stations, and sends them to the straight line generator and the curve generator respectively;

[0030] Step 3) If the line generator receives a station, calculate its orientation angle ori and distance dist from the previous station (if this point is the first point, then the previous point is the initial position of the automati...

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Abstract

The invention belongs to the field of automatic homing chairs, and specifically relates to a composite path planning method for automatic homing chairs, including: step 1) the upper computer sends a set of site data downward; step 2) after the receiver receives the site, the site is Classification, traversing all stations; Step 3) When the line generator receives a station, calculate its direction angle and distance from the previous station; Step 4.1) When the curve generator receives a station, according to the station and its proximity Calculate the arc and the radian of the arc when turning at this station, and then call the line generator to generate a straight line from the previous station to the starting point of the turn; step 4.2) use the curve generator to generate the starting point of the turn to the end of the turn arc point. The present invention combines the curve mode and the straight mode, and under the condition of ensuring safety, some stations adopt the curve mode, so that the transportation is more reasonable and efficient.

Description

technical field [0001] The invention belongs to the field of automatic homing chairs, and in particular relates to a compound path planning method for automatic homing chairs. Background technique [0002] Self-guiding stools or chairs, referred to as self-returning chairs, have become a part of modern business progress and life that has attracted more and more attention. In the existing field of commercial automatic homing chairs, path planning is generally divided into two modes according to the straight or arc bend at the turning point: (1) straight line mode, (2) curve mode. In the straight line mode, all paths are composed of straight lines, and the turning points are all straight bends with a given included angle. Such a path can ensure the safety of the automatic homing chair during operation, but the automatic homing chair will go through a series of processes such as deceleration, stop, rotation, and acceleration at each turning point, which reduces the transportat...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 倪良正张叙俊朱志华黎启坤谢淑辉胡芳园
Owner ZHEJIANG SUNON FURNITURE MFG
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