The invention discloses a laser forklift positioning method which is used for automatic loading of a van and comprises the following steps: S1, in a warehouse, scanning a reflective column through a laser radar to obtain the pose of a laser forklift in a map; s2, when the truck travels to a set distance from the tail of the truck, the laser forklift stops, the truck is scanned through a laser radar, and the pose posec of the truck in the map is obtained; and S3, when the laser forklift is driven into the boxcar, scanning the outline of the boxcar through the laser radar to obtain the pose poser of the boxcar in the radar coordinate system, and further calculating the pose of the laser forklift in the map so as to control the laser forklift to drive to the target position of the boxcar. The laser radar is used in the whole process to solve the positioning problem in the automatic loading process of the truck, the system is simple, cost is low, environment transformation is little, and positioning precision is high.

    本发明公开的一种激光叉车定位方法,用于厢式货车的自动装车,包括如下步骤:S1、在仓库内,通过激光雷达扫描反光柱,获取激光叉车在地图中的位姿;S2、行驶至距货车尾部设定距离时,激光叉车停车,通过激光雷达扫描货车,获取货车在地图中的位姿posec_m;S3、激光叉车驶入货车车厢内时,通过激光雷达扫描车厢轮廓获取货车在雷达坐标系中的位姿posec_r,进而计算激光车叉车在地图中的位姿,以控制激光叉车行驶至货车车厢的目标位置。全程使用激光雷达解决了货车自动化装货过程中的定位问题,系统简单成本低,环境改造较少,定位精度高。


    Access

    Download


    Export, share and cite



    Title :

    Laser forklift positioning method and laser forklift


    Additional title:

    激光叉车定位方法及激光叉车


    Contributors:
    CHEN ZHIJUN (author) / HAO QI (author) / ZHENG LIANG (author) / CAO CHUQING (author) / CHEN SHUANG (author)

    Publication date :

    2022-03-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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 / G01S RADIO DIRECTION-FINDING , Funkpeilung



    Forklift positioning method and forklift

    SHA XUEDONG / XIE YONG / YU TAO et al. | European Patent Office | 2020

    Free access

    Forklift positioning system

    WANG JIAN / SUN HUI / PENG CHENG et al. | European Patent Office | 2021

    Free access

    Outdoor unmanned laser forklift

    ZHANG WEIWEI / ZHOU YANGYANG / QU HAIFENG | European Patent Office | 2021

    Free access

    FORKLIFT AND FORKLIFT CONTROL METHOD

    KANEKO SHINJI / OIWA TAISHI | European Patent Office | 2015

    Free access

    FORKLIFT AND FORKLIFT CONTROL METHOD

    KANEKO SHINJI / OIWA TAISHI | European Patent Office | 2015

    Free access