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Navigation instruction analysis method of single-steering-wheel type transfer robot

A technology for handling robots and navigation instructions, applied in navigation calculation tools, etc., can solve problems such as inaccurate speed and angle of forklift steering wheels, and achieve the effects of improving operating efficiency, trajectory tracking performance, and accuracy

Inactive Publication Date: 2020-12-15
青岛广运智能装备有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] Aiming at the deficiencies of the prior art, the present invention provides a navigation instruction analysis method for a single steering wheel handling robot, mainly to solve the problem that the speed and angle of the existing forklift steering wheel after analysis are not accurate enough

Method used

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  • Navigation instruction analysis method of single-steering-wheel type transfer robot
  • Navigation instruction analysis method of single-steering-wheel type transfer robot
  • Navigation instruction analysis method of single-steering-wheel type transfer robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0035] refer to Figure 1-3 , a method for parsing navigation instructions of a single rudder wheel handling robot, comprising the following steps:

[0036] S1: Receive signals, receive signal instructions from the navigation system;

[0037] S2: Predict the position of the forklift, the prediction equation is

[0038] S3: Set the state variable, the set state variable is represented by x, and its calculation equation is

[0039]

[0040] S4: Establish the observation equation. After setting the state variables, establish the state observation equation of the single steering wheel forklift. The equation is

[0041]

[0042] S5: Analytical state. Kalman filter algorithm is used to calculate the analytical state. The analytical state includes predicted state, corrected position and noise estimation. The calculation equation is

[0043]

[0044] S6: Navigation, navigate according to the parsed state.

[0045] S1 of the present invention includes a receiving module,...

Embodiment 2

[0048] refer to Figure 1-3 , a method for parsing navigation instructions of a single rudder wheel handling robot, comprising the following steps:

[0049] S1: Receive signals, receive signal instructions from the navigation system;

[0050] S2: Predict the position of the forklift, the prediction equation is

[0051] S3: Set the state variable, the set state variable is represented by x, and its calculation equation is

[0052]

[0053] S4: Establish the observation equation. After setting the state variables, establish the state observation equation of the single steering wheel forklift. The equation is

[0054]

[0055] S5: Analytical state. Kalman filter algorithm is used to calculate the analytical state. The analytical state includes predicted state, corrected position and noise estimation. The calculation equation is

[0056]

[0057] S6: Navigation, navigate according to the parsed state.

[0058] S1 of the present invention includes a receiving module,...

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Abstract

The invention relates to the technical field of navigation instruction analysis, and discloses a navigation instruction analysis method of a single-steering-wheel type transfer robot. The method comprises the steps of S1, receiving a signal, and receiving a signal instruction of departure of a navigation system; S2, predicting the position of a forklift; S3, setting a state variable, wherein the set state variable is represented by x; S4, establishing an observation equation, and and establishing a state observation equation of the single-steering-wheel forklift after the state variable is set; and S5, analyzing the state, calculating by using a Kalman filtering algorithm during state analysis, wherein the state analysis includes state prediction, position correction and noise estimation.According to the method, the navigation instruction is accurately analyzed into the execution speed and angle of the steering wheel, the track tracking performance of automatic driving of the forkliftis greatly improved, the safety and reliability of automatic driving of the forklift are guaranteed, and the operation efficiency of the forklift is improved.

Description

technical field [0001] The invention relates to the technical field of navigation instruction analysis, in particular to a navigation instruction analysis method for a single-rudder-wheel type handling robot. Background technique [0002] In the field of logistics and handling, most of the electric-driven forklifts used are manually controlled, and consume a lot of human resources, especially in warehousing and logistics that have high requirements for the working environment and special environments. The main usage scenarios are seriously affected by human factors. Electric-driven forklifts in the current market are mainly used by people. For example, Linde and Mitsubishi in foreign countries, Anhui Heli, a Sino-foreign joint venture, and Sany Heavy Industry in China, etc., and the main structure is still based on a single steering wheel structure. [0003] When transforming a forklift to automatic control, the navigation instructions issued by the navigation system are c...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 于镭
Owner 青岛广运智能装备有限公司
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