The invention provides a vehicle obstacle avoidance route planning method, a vehicle obstacle avoidance method, a computer readable storage medium and an AGV. The vehicle obstacle avoidance route planning method comprises the following steps: performing scanning to obtain a horizontal two-dimensional point cloud image in a certain area range in front of a vehicle; performing shooting to obtain a three-dimensional image with depth of field in a height range from the ground to not less than the height of the vehicle body in front of the vehicle; mapping the three-dimensional image into the horizontal two-dimensional point cloud image to form a new horizontal two-dimensional point cloud image; if the obstacle exists on the new horizontal two-dimensional point cloud image, planning an obstacleavoidance path for avoiding the obstacle on the new horizontal two-dimensional point cloud image. According to the method, the problem that the AGV cannot avoid the obstacle because the obstacle in front of the vehicle is lower than the top end of the vehicle body but higher than the radar scanning horizontal plane and cannot be scanned by the radar is solved. Compared with a method adopting a fisheye camera or a three-dimensional radar for obstacle avoidance, the method has the advantages of being small in calculated amount and good in real-time performance.

    本发明提供车辆避障路线规划方法、车辆避障方法、计算机可读存储介质及AGV小车,车辆避障路线规划方法包括如下步骤:扫描得到车前一定区域范围内的水平二维点云图像;拍摄得到车前从地面到不低于车体高度的高度范围内具有景深的三维图像;将所述三维图像映射到所述水平二维点云图像中,形成新的水平二维点云图像;若所述新的水平二维点云图像上存在障碍物,则在所述新的水平二维点云图像上规划出避开障碍物的避障路线。该方法解决了车前的障碍物低于车体顶端但高于雷达扫描水平面而不会被雷达扫描到所导致的AGV小车无法避障的问题。相较于采用鱼眼摄像头或三维雷达避障的方法,具有计算量少,实时性能好的优点。


    Access

    Download


    Export, share and cite



    Title :

    Vehicle obstacle avoidance route planning method, vehicle obstacle avoidance method, computer readable storage medium and AGV


    Additional title:

    车辆避障路线规划方法、车辆避障方法、计算机可读存储介质及AGV小车


    Contributors:
    FU FENGFENG (author) / JIANG ZHIQIANG (author) / LIN LINQI (author)

    Publication date :

    2021-01-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G06K Erkennen von Daten , RECOGNITION OF DATA / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion