Automatic forking method of unmanned forklift

Abstract

The invention discloses an automatic forking method of an unmanned forklift, and particularly relates to the technical field of unmanned forklifts.The automatic forking method comprises the steps that on the basis of a target coordinate system and a forklift coordinate system, the forking pose of a target tray relative to the forklift is obtained through a visual sensor; according to the forking posture, the forklift is controlled to move to an adjustment point right in front of the target tray based on a posture stabilization algorithm; constructing a kinematic model of the forklift according to the real-time speed information of the forklift; according to the kinematic model, constructing an error equation of a forklift pose and a forking pose at the current moment in the advancing and forking process of the forklift; obtaining a differential equation differentiated from the error equation, substituting the differential equation into a trajectory tracking control law formula, and obtaining speed information at the next moment; and according to the speed information at the next moment, the forklift is controlled to conduct speed state adjustment till the position and posture of the forklift reach the forking position and posture. According to the method, the tray forking process of the forklift is divided into two stages, and efficient and accurate target tray forking of the unmanned forklift is achieved through different algorithms.

Description

technical field [0001] The invention relates to the technical field of unmanned forklifts, in particular to an automatic fork picking method of unmanned forklifts. Background technique [0002] The current unmanned forklift is mainly based on the laser / vision system for navigation and positioning, so that the forklift can independently carry goods. The specific implementation method is: install the laser / vision device on the top of the main body of the forklift, so that the laser / vision device has a higher field of vision, which is used to identify the surrounding environment or preset targets, and then obtain the position information of the forklift to realize Forklifts move goods autonomously. However, in the automatic pallet handling task in the existing unmanned storage application, the pallet position after upstream operation (due to manual or other factors) often has a large deviation (such as figure 2 shown). Therefore, it is difficult to align the target pallet so...

AI Technical Summary

Problems solved by technology

However, in the automatic pallet handling task in the existing unmanned storage application, the pallet position after upstream operation (due to manual or other factors) often has a large deviation (such as figure 2 shown)

Therefore, it is difficult to align the target pallet socket well according to the standard target-receptacle azimuth relationship only by simply adjusting the pose according to the position of the forklift, resulting in unmanned forklift pallet forking failure, it may also cause damage to the unmanned forklift or the pallet and the goods on it

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