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Forklift positioning method, forklift and computer readable storage medium

A forklift and variance technology, which is applied in the field of forklift positioning, forklifts and computer-readable storage media, can solve the problems of unfavorable truck safety, inability to avoid obstacles in a low-position range, and high cost of measuring lidar

Pending Publication Date: 2020-09-08
广州蓝胖子移动科技有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, this kind of transformation cannot avoid obstacles in the range of low positions; the cost of measuring laser radar is high; when the fork is full of goods, it is not conducive to the safety of the truck.

Method used

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  • Forklift positioning method, forklift and computer readable storage medium
  • Forklift positioning method, forklift and computer readable storage medium
  • Forklift positioning method, forklift and computer readable storage medium

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Embodiment Construction

[0040] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer and clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only for explaining the present invention, and are not intended to limit the present invention.

[0041] In the following description, use of suffixes such as 'module', 'part' or 'unit' for denoting elements is only for facilitating description of the present invention and has no specific meaning by itself. Therefore, 'module', 'part' or 'unit' may be used in combination.

[0042] It should be noted that the terms "first" and "second" in the description and claims of the present invention and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence.

[0043] In on...

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Abstract

The invention discloses a forklift positioning method, a forklift and a computer readable storage medium. The method comprises steps that left laser radar data and right laser radar data are acquiredrespectively; Scan Match processing is carried out on the left laser radar data and the right laser radar data to obtain state estimation between frames, and error estimation and variance of the stateestimation are obtained at the same time; state estimation of a wheel disc encoder odometer is obtained through the wheel disc encoder odometer; time synchronization of the obtained laser radar dataand the odometer data of a wheel disc encoder are carried out; and Kalman filtering on the data subjected to time synchronization is carried out to obtain optimal state estimation. The method is advantaged in that the pose and the state of a forklift can be estimated more accurately, navigation precision is improved, the obstacle avoidance function is realized, meanwhile, a model selection range of the two-dimensional laser radar can be increased, and cost is reduced.

Description

technical field [0001] The invention relates to the field of object handling, in particular to a method for positioning a forklift, a forklift and a computer-readable storage medium. Background technique [0002] At present, forklifts (such as trucks) are commonly used in workshops and workshops to move goods. At present, most of the forklifts in the workshop are still manually operated. In order to reduce the high cost caused by manual handling and reduce accidents caused by personnel fatigue, automatic forklifts are being used more and more. In order to realize the automatic operation of the forklift, and at the same time to ensure the safety of the forklift in the workshop and workshop without colliding with people, it needs to be modified. For the transformation of common trucks, the measuring laser radar is generally placed at a height of about 2m from the ground, because the physical environment at this height is almost the support column of the workshop and factory b...

Claims

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Application Information

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IPC IPC(8): G01S17/931G01S17/86G01C21/16G01C22/00G06T7/70G06T7/277
CPCG01S17/931G01S17/86G01C21/165G01C22/00G06T7/70G06T7/277G06T2207/10044
Inventor 张冠华陈凯
Owner 广州蓝胖子移动科技有限公司
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