Posture adjustment path planning method of intelligent forklift

Abstract

The invention discloses a posture adjustment path planning method of an intelligent forklift. The posture adjustment path planning method comprises the following steps in specific: establishing an environment overall coordination system; taking the midpoint between the outer top ends of a left pallet fork and a right pallet fork of the forklift as the current position point of the forklift, judging whether the current posture of the forklift meets the requirement or not, and calculating the distance from the tail part of the forklift to a surrounding object; according to the principle that thevehicle posture is adjusted through autonomous driving under the common working condition in life, adopting two steps of retreating and advancing to realize posture adjustment of the forklift; and ineach step, selecting a proper control point and utilizing a B spline curve to realize path planning. With adoption of the posture adjustment path planning method, the path planning demand with strictposture requirements for starting and ending points can be met, in addition, it is ensured that the intelligent forklift can precisely pile and take cargoes through posture adjustment, so that the posture deviation problem when the cargoes are piled is avoided and the situation about unnecessary wear to a tray caused by posture deviation when the cargoes are forked is also avoided; and the planning process is more concise and faster and the selection of the control point of the B spline curve is more delicate.

Description

technical field [0001] The invention relates to the technical field of intelligent forklifts, in particular to a path planning method for posture adjustment of intelligent forklifts. Background technique [0002] In order to facilitate management and control, reduce the occurrence of casualties and accidents, reduce the operating costs of enterprises, and at the same time, in order to connect with the national development strategy plan of "Made in China 2025", the technology of forklifts is changing with each passing day, especially the intelligence of forklifts; It is a motorized industrial vehicle that can be manually controlled, can independently complete stacking and picking up goods, and has preliminary artificial intelligence. In order to realize the independent stacking and picking of goods by forklifts, it involves the path planning between the current position of the forklift and the target point. At present, most of the researches on the path planning of intelligen...

AI Technical Summary

Problems solved by technology

In order to realize the independent stacking and picking of goods by forklifts, it involves the path planning between the current position of the forklift and the target point. At present, most of the researches on the path planning of intelligent forklifts at home and abroad are based on the magnetic guided path planning. And based on laser-guided path planning, in which, the guidance of forklifts is realized by laying geomagnetic strips based on magnetically-guided path planning, which lacks flexibility; while based on laser-guided path planning, due to the use of laser sensors to detect the environment, It makes path planning more flexible, but the use of different path planning algorithms and the consideration of different constraints make the actual working effect of smart forklifts different, especially in the process of autonomously completing the stacking and picking up of goods by smart forklifts. Whether the fork can be accurately inserted into the pallet hole carrying the cargo pallet and whether the intelligent forklift can accurately stack the pallet at the designated position are very demanding. However, due to insufficient consideration of strict pose constraints, the response speed of the system, the error of the on-board sensor and Influenced by problems such as point stabilization in path tracking, there is a problem of pose deviation when stacking goods, or it is necessary to rely on shelves to correct the misalignment when placing pallets. High edge friction, causing unnecessary wear on the pallet

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