The embodiment of the invention discloses a forklift positioning method and a forklift. The method comprises the following steps: calculating the current attitude information of the forklift at the current positioning moment according to the angle of a main steering wheel of the forklift, the linear speed of the current main steering wheel, the axle distance of the forklift, the positioning interval time and the previous attitude information of the forklift at the previous positioning moment; determining at least one forklift turning radius corresponding to the forklift axle distance accordingto the forklift main steering wheel angle; according to the turning radius of the at least one forklift, the current posture information and the previous posture information, calculating at least oneforklift offset distance between the previous positioning moment and the later positioning moment; and calculating the current position information of the forklift at the current positioning moment according to the at least one forklift offset distance and the previous position information of the forklift at the previous positioning moment. The current position information can be determined through local calculation of the forklift, an additional odometer is not needed, time delay can be reduced, the forklift cost can be reduced, and forklift maintenance points can be reduced.
本发明实施例公开了一种叉车的定位方法及叉车。该方法包括:根据叉车主舵轮角度、当前主舵轮线速度、叉车轴距、定位间隔时间和叉车在前一定位时刻的前一姿态信息,计算叉车在当前定位时刻的当前姿态信息;根据叉车主舵轮角度,确定与叉车轴距对应的至少一个叉车回转半径;根据至少一个叉车回转半径、当前姿态信息和前一姿态信息,计算前后定位时刻间的至少一个叉车偏移距离;根据至少一个叉车偏移距离和叉车在前一定位时刻的前一位置信息,计算叉车在当前定位时刻的当前位置信息。可以通过叉车的本地计算确定当前位置信息,无需额外的里程计,可以减少时延,降低叉车成本,减少叉车维修点。
Forklift positioning method and forklift
一种叉车的定位方法及叉车
2020-11-10
Patent
Electronic Resource
Chinese
IPC: | G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / 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 |
FORKLIFT, FORKLIFT CONTROL DEVICE, AND FORKLIFT CONTROL METHOD
European Patent Office | 2022
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