The invention discloses a self-adaptive attitude calibration method and system for an unmanned forklift. The method comprises the steps that coordinates of two end points, facing the forklift, of a target tray in a world coordinate system are obtained; calculating a perpendicular bisector L1 of a connecting line of the two end points according to the coordinates of the two end points; coordinates of a midpoint A of a connecting line of two steering wheels of the forklift and a perpendicular bisector L2 are obtained; making an auxiliary circle 1; making an auxiliary circle 2; coordinates of a point B where the auxiliary circle 1 and the auxiliary circle 2 are tangent and coordinates of a point C where the auxiliary circle 2 and the perpendicular bisector L1 are tangent are obtained, and an arc AB on the auxiliary circle 1 and an arc BC on the auxiliary circle 2 are intercepted; and the pallet can be inserted and taken after the forklift backs up along the curve ABC and straightly moves forwards. The method is short in time consumption, high in efficiency and cost-saving.

    本发明公开了一种无人驾驶叉车自适应姿态校准方法及系统,该方法包括:获取目标托盘面向叉车的两个端点在世界坐标系下的坐标;根据两个端点的坐标计算其连线的中垂线L1;获取叉车两个转向轮连线的中点A的坐标及中垂线L2;做辅助圆1;做辅助圆2;获取辅助圆1和辅助圆2相切的点B的坐标、辅助圆2与中垂线L1相切的点C的坐标,截取辅助圆1上的圆弧AB以及辅助圆2上的圆弧BC;叉车沿曲线ABC倒车后向前直行即可插取托盘。本发明耗时短,效率高,节约成本。


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    Title :

    Self-adaptive attitude calibration method and system for unmanned forklift


    Additional title:

    一种无人驾驶叉车自适应姿态校准方法及系统


    Contributors:
    YANG YUTING (author) / PEI BO (author) / LIU YONGJUN (author) / HE MINGXUE (author) / LI XINYUAN (author) / WANG JIANJUN (author)

    Publication date :

    2023-04-25


    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



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