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Method, device, equipment and medium for dynamic correction of zero deflection angle of unmanned forklift

An unmanned, zero-declination technology, applied in hoisting devices, two-dimensional position/channel control, vehicle position/route/altitude control, etc., which can solve problems such as loss of pulse signals and inconsistencies in angles.

Active Publication Date: 2021-04-20
国以贤智能科技(上海)股份有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, regarding the angle feedback signal, there may be a loss of the pulse signal, which makes the actual physical angle of the steering wheel of the unmanned forklift inconsistent with the angle fed back by the rear steering wheel. Driving (along the direction of the navigation line), the rear steering wheel is not in the direction of zero position (for example, the actual physical position is at 5 degrees)

Method used

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  • Method, device, equipment and medium for dynamic correction of zero deflection angle of unmanned forklift
  • Method, device, equipment and medium for dynamic correction of zero deflection angle of unmanned forklift
  • Method, device, equipment and medium for dynamic correction of zero deflection angle of unmanned forklift

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Embodiment 1

[0025] figure 1 It is a flow chart of a method for dynamically correcting the zero deflection angle of an unmanned forklift provided by Embodiment 1 of the present invention. This embodiment is applicable to the situation where the zero deflection angle is dynamically corrected during the driving of an unmanned forklift. This method can be performed by the dynamic correction device for the zero deflection angle of the unmanned forklift provided by any embodiment of the present invention. The device can be implemented by It consists of hardware and / or software, and can generally be integrated into computer equipment, such as the controller of an unmanned forklift.

[0026] Such as figure 1 As shown, the method for dynamically correcting the zero deflection angle of the unmanned forklift provided in this embodiment includes the following steps:

[0027] S110, regularly acquire the current angle value of the rear steering wheel zero deflection angle of the unmanned forklift.

...

Embodiment 2

[0050] figure 2 It is a flow chart of a method for dynamically correcting the zero deflection angle of an unmanned forklift provided by Embodiment 2 of the present invention. This embodiment is embodied on the basis of the above-mentioned embodiments, wherein, before correcting and updating the current angle value, it also includes:

[0051] determining the current driving mode of the unmanned forklift, the driving mode including a high-speed driving mode and a low-speed driving mode;

[0052] Correspondingly, according to the current driving speed of the unmanned forklift, and the average distance of the unmanned forklift deviating from the navigation line, the driving slope value of the deviation from the guidance line, the number of times the unmanned forklift has driven through the guidance line, and The number of driving fluctuations is used to correct and update the current angle value, including:

[0053] If the current driving mode is a low-speed driving mode, the l...

Embodiment 3

[0096] image 3 It is a flowchart of a method for dynamically correcting the zero deflection angle of an unmanned forklift provided by Embodiment 3 of the present invention. This embodiment provides a specific implementation on the basis of the above embodiments, wherein the command initiated by the controller is a high-speed back command, so that the driving mode of the unmanned forklift is the high-speed driving mode.

[0097] Such as image 3 As shown, the method for dynamically correcting the zero deflection angle of an unmanned forklift provided in this embodiment includes the following steps:

[0098] S310. Periodically acquire the current angle value of the rear steering wheel zero deflection angle of the unmanned forklift.

[0099] S320. Determine that the current driving mode of the unmanned forklift is the high-speed driving mode.

[0100] S330. Determine whether the unmanned forklift continues to drive at high speed, if yes, execute S340, and if not, execute S360...

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Abstract

The embodiment of the invention discloses a method, device, equipment and medium for dynamically correcting the zero deflection angle of an unmanned forklift. The method includes: regularly acquiring the current angle value of the rear steering wheel zero deflection angle of the unmanned forklift; , the driving slope value that deviates from the guidance line, the number of times of driving past the guidance line, and the number of driving fluctuations, and correct and update the current angle value of the rear steering wheel zero deflection angle. The above technical solution realizes the dynamic correction of the zero deflection angle during the driving of the unmanned forklift, and corrects the zero deflection angle to a small accurate range, so that the unmanned forklift can drive as straight as possible.

Description

technical field [0001] The embodiments of the present invention relate to the technical field of unmanned driving control, and in particular to a method, device, device and medium for dynamically correcting the zero deflection angle of an unmanned forklift. Background technique [0002] In the driving control of the unmanned forklift, the angle and speed of the rear steering wheel will be fed back to the controller, so that the controller can control the front steering wheel according to the angle feedback signal and the speed feedback signal. [0003] Among them, the accuracy of the angle feedback signal and speed feedback signal will affect the mileage calculation of the unmanned forklift. Generally, the speed feedback signal does not have the problem of accumulation accuracy. However, regarding the angle feedback signal, there may be a loss of the pulse signal, which makes the actual physical angle of the steering wheel of the unmanned forklift inconsistent with the angl...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02B66F9/075
CPCG05D1/0223G05D1/0276B66F9/07504
Inventor 沙学东余涛谢勇贺松陈庆陈祥肖长雷
Owner 国以贤智能科技(上海)股份有限公司
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