Automatic counterbalance forklift truck control method and system based on multi-source data

A three-layer progressive center of gravity offset model constructed by multi-source data fusion solves the problem of inaccurate center of gravity estimation for automated forklifts in complex environments, achieving high-precision center of gravity offset calculation and safety improvement, and reducing the risk of tipping over.

CN121609272AActive Publication Date: 2026-03-06ZHEJIANG YUNLIAN INTELLIGENT MFG RES INST CO LTD
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Patent Information

Application Number
CN202610141962.1
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2026-02-02
Publication Date
2026-03-06
Estimated Expiration
2046-02-02

AI Technical Summary

Technical Problem

Existing automated forklift control systems are inaccurate in estimating the center of gravity in complex and dynamic operating environments, leading to the failure of balance control strategies and the risk of tipping over or instability. In particular, even small disturbances in the center of gravity can cause significant overturning moments under high-lift conditions.

Method used

A multi-source data fusion method is adopted, including data such as fork weighing value, attitude angle, lateral acceleration and ground slope angle, to construct a three-layer progressive center of gravity offset model. Through attitude compensation, eccentric decoupling and dynamic disturbance fusion, the center of gravity offset is calculated and the balance control strategy is triggered.

Benefits of technology

It significantly improves the accuracy of lateral offset estimation of the center of gravity, reduces the risk of tipping over, meets industrial-grade real-time requirements, and has robustness and high interpretability, thereby improving the operational safety and intelligence level of automated forklifts.

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Abstract

The invention relates to the field of automatic balance weight forklifts, in particular to an automatic balance weight forklift control method and system based on multi-source data, and the method comprises the steps that the multi-source data of a sensor are obtained; compensating the weighing value of the left pallet fork and the weighing value of the right pallet fork according to the real-time attitude angle of the forklift, and generating an equivalent left weighing value and an equivalent right weighing value under the horizontal reference system; calculating a static gravity center offset component and a dynamic inertia offset component; performing addition or weighted summation on the static gravity center offset component and the dynamic inertia offset component to obtain a dynamic gravity center offset; inputting the real-time center-of-gravity offset into a balance controller, and judging whether the absolute value of the center-of-gravity offset reaches or exceeds a preset stable safety threshold value or not by the balance controller; and if so, triggering a balance control strategy. Through hierarchical feature construction and physical constraint fusion of multi-source data, high-precision and low-delay dynamic gravity center estimation is realized, so that the effect of dynamically adjusting a forklift control strategy is achieved.
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