Forklift, forklift control method and device and computer equipment
Forklift, forklift control method and device and computer equipment
- Neue Suche nach: XIONG FENG
- Neue Suche nach: JIANG BO
- Neue Suche nach: XIONG FENG
- Neue Suche nach: JIANG BO
The invention relates to the technical field of engineering machinery, and discloses a forklift, a forklift control method and device and computer equipment, and control of the forklift comprises the steps that first pose information of a tray in a vehicle body coordinate system is obtained; performing coordinate conversion on the first pose information to obtain second pose information of the tray in a global coordinate system; controlling the forklift to run according to the second pose information; when the heading adjustment amount of the forklift is smaller than a preset first threshold value, third pose information of the tray in the forklift body coordinate system continues to be obtained; and target real-time tracking is carried out according to the third pose information. Therefore, the problem of forking failure caused by the calibration error of the sensor introduced during coordinate system conversion can be solved; and the problem that a detection target is lost due to the fact that the forklift enters a detection blind area when the forklift is controlled by using a real-time detection method can be solved.
本发明涉及工程机械技术领域，公开了一种叉车、叉车控制方法、装置及计算机设备，其中叉车的控制包括：获取托盘在车身坐标系中的第一位姿信息；对所述第一位姿信息进行坐标转换得到所述托盘在全局坐标系中的第二位姿信息；根据所述第二位姿信息控制叉车行驶；当所述叉车的航向调整量小于预设的第一阈值时，继续获取所述托盘在所述车身坐标系的第三位姿信息；根据所述第三位姿信息进行目标实时跟踪。由此可以解决由于在坐标系的转换时引入传感器的标定误差而导致的叉取失败的问题；又可以解决在利用实时检测方法来控制叉车时因为进入检测盲区导致检测目标丢失的问题。
Dokumentinformationen
Forklift, forklift control method and device and computer equipment
一种叉车、叉车的控制方法、装置及计算机设备
2024-02-06
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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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