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Spline path generation method and device of AGV, and AGV

A path generation, spline technology, applied in two-dimensional position/flight control, vehicle position/route/height control, motor vehicle and other directions, can solve the problems of forklift deflection too fast, loss, large curvature, etc., to improve efficiency , reduce time cost, optimize the effect of spline path

Active Publication Date: 2020-05-08
GUANGDONG JATEN ROBOT & AUTOMATION
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  • Description
  • Claims
  • Application Information

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Problems solved by technology

The drawing of the spline curve lies in 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 may be too large, which will cause the forklift to deflect too quickly during operation, causing unnecessary losses

Method used

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  • Spline path generation method and device of AGV, and AGV
  • Spline path generation method and device of AGV, and AGV
  • Spline path generation method and device of AGV, and AGV

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Embodiment Construction

[0040] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention.

[0041] The components of the embodiments of the invention generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations. Accordingly, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts belong to the protection scope of the present invention.

[0042]Hereinafter, the terms "comprising", ...

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Abstract

The embodiment of the invention discloses a spline path generation method and device of an AGV, and an AGV. The method comprises the following steps: according to the coordinates of a starting point and a terminal point, the preset starting operation direction of the starting point and the preset ending operation direction of the terminal point, determining a first control point of a first distance from the starting point to a straight line where the preset starting operation direction is located and a second control point of a second distance from the terminal point to the straight line wherethe preset ending operation direction is located; taking a symmetric point of the first control point by taking the starting point as a symmetric center as a third control point; taking a symmetric point of the second control point by taking the terminal point as a symmetric center as a fourth control point; and 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, a preset starting operation direction and a preset ending operation direction, taking a curve formed by connecting B spline curves generated by every four adjacent points as a spline path of the AGV. According to the invention, excessive path curvature caused by deviation of control point selection can be prevented.

Description

technical field [0001] The invention relates to the technical field of AGVs, in particular to a spline path generation method and device for an AGV trolley and the AGV trolley. Background technique [0002] In the process of AGV forklift, it is essential to use spline curve as the path. The drawing of the spline curve depends on 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 may be too large, which will cause the forklift to deflect too quickly during operation, causing unnecessary losses. Contents of the invention [0003] The object of the present invention is to provide a method and device for generating a spline path of an AGV car and an AGV car in view of the problems existing in the traditional technology. [0004] In one embodiment, the present invention provides a method for generating a spline path of an AGV trolley, comprising: [0005] According to the obtained ...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0221
Inventor 欧阳长志周小和刘珍
Owner GUANGDONG JATEN ROBOT & AUTOMATION
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