The invention discloses a control method for an omni-directional counterbalance forklift truck. The method specifically comprises the following steps that S1, the instantaneous center O from the current pose to the target pose at the next moment is determined; s2, calculating the linear speed of the omni-directional counterbalance forklift truck based on the instantaneous center O; and S3, the omni-directional counterweight forklift is controlled to run to the target position of the next moment at the linear speed, and the posture of the omni-directional counterweight forklift at the target position is the target posture. The omni-directional structure is adopted to replace a single steering wheel structure in a counterweight logistics forklift, synchronization of angle control and position control of the counterweight forklift is achieved, and the working efficiency and the control precision of the omni-directional counterweight forklift are improved.
本发明公开一种全向平衡重叉车控制方法,该方法具体包括如下步骤:S1、确定当前位姿到下一时刻目标位姿的瞬心O;S2、基于瞬心O计算全向平衡重叉车的线速度;S3、控制全向平衡重叉车以该线速度行驶至下一时刻的目标位置,全向平衡重叉车在目标位置时的姿态为目标姿态。本发明采用全向结构代替平衡重物流叉车中的单舵轮结构,且实现了平衡重叉车的角度控制与位置控制的同步,提高了全向重平衡叉车的工作效率及控制精度。
Omni-directional counterbalance forklift control method and device
一种全向平衡重叉车控制方法及装置
2023-04-25
Patent
Electronic Resource
Chinese
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 |
All-wheel electronic steering rear double-drive omni-directional counterbalance forklift truck
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