The invention discloses an AGV pallet fork speed control method based on CatBoost. The AGV pallet fork speed control method comprises the following steps that sensors are installed, wherein the sensors comprise a piezoelectric sensor, a photoelectric encoder, a stay wire encoder and a timer module; data is collected and preprocessed, wherein the data is vehicle internal and external information and comprises the load Fw of a fork tooth, the running speed V of the vehicle, the current height Fh of the fork tooth, the expected lifting speed S and the actual lifting speed Sreal; a Catboost hyper-parameter is optimized by using random search; carrying out Catboost gradient lifting training; and using the model F (x) trained by the Catboost to predict the fork tooth lifting speed. By adopting the technical scheme, the actual lifting speed is predicted by integrating the data of the forklift type AGV sensor and inputting the expected speed, so that the predicted speed is close to the actual fork tooth movement speed under various conditions.
本发明公开了一种基于CatBoost的AGV货叉速度控制方法,包括以下过程:安装传感器:所述的传感器包括压电传感器、光电编码器、拉线编码器和定时器模块;数据收集与预处理:所述的数据为车辆内外部信息,包括叉齿的载重Fw、车辆的行驶速度V、叉齿当前的高度Fh、期望升降速度S、实际升降速度Sreal;使用随机搜索优化Catboost超参数;Catboost梯度提升训练;使用Catboost完成训练的模型F(x)预测叉齿抬升速度。采用上述技术方案,通过综合叉车式AGV传感器数据和输入期望速度来预测真实抬升速度,使得在各种条件下预测速度都接近实际叉齿运动速度。
AGV pallet fork speed control method based on CatBoost
一种基于CatBoost的AGV货叉速度控制方法
12.11.2024
Patent
Elektronische Ressource
Chinesisch
IPC: | B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last |
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