Intelligent forklift laser positioning method based on motion compensation and reflection plate optimization sorting

Abstract

The invention discloses an intelligent forklift laser positioning method based on motion compensation and reflecting plate optimization sorting, relates to the technical field of laser navigation, and solves the technical problem that reflecting plates are mismatched when a forklift moves at a high speed and turns at a large angular speed. A laser radar is used for collecting two-dimensional point cloud data of the reflecting plates, and the positioning positions of the centers of the reflecting plates is identified by adopting a reflecting plate center positioning method, so that high precision of subsequent forklift positioning calculation is ensured. Through a motion compensation algorithm, the motion speed and the possible position of the forklift at the next moment are pre-calculated through speed calculation in an algorithm software speedometer, and high precision is guaranteed for matching of the reflecting plates in high-speed motion. Then, the most probable reflecting plates at the estimated positions can be arranged through a sorting algorithm, evaluation calculation is carried out, and the reflecting plate with the highest matching degree is found, so that the anti-interference capability of a navigation algorithm is more outstanding, and the technical problem that the reflecting plates are mismatched when the forklift moves at a high speed and turns at a large angular speed is solved.

Description

technical field [0001] The invention relates to the technical field of laser navigation, in particular to an intelligent forklift laser positioning method based on motion compensation and reflective plate optimization sorting. Background technique [0002] With the application of artificial intelligence technology in the field of industrial intelligence, how to realize the high-precision positioning of intelligent forklifts is a key part of realizing the automatic driving of automatic driving forklifts. [0003] At present, the laser positioning technology for intelligent forklifts in the market mostly adopts the triangular relationship positioning method of reflectors, but this method determines the positioning position through a simple triangular relationship, which has high requirements for map design and requires regular maintenance of the site by professionals. , the later cost is higher; another method is to use SLAM technology for map establishment and positioning, wh...

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Problems solved by technology

[0003] At present, the laser positioning technology for intelligent forklifts in the market mostly adopts the triangular relationship positioning method of reflectors, but this method determines the positioning position through a simple triangular relationship, which has high requirements for map design and requires regular maintenance of the site by professionals. , the later cost is higher; another method is to use SLAM technology for map establishment and positioning, which requires high computing power of the system, and lacks stability in long-term operation, and is currently only suitable for low-speed motion (<1m / s ) positioning calculation; to this end, we propose a laser positioning method for intelligent forklifts based on motion compensation and optimal sorting of reflectors

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