Method and device for predicting motion trail of boom and telescopic boom forklift loader

Abstract

The invention discloses a method and device for predicting the motion trail of a boom and a telescopic boom forklift loader, and belongs to the field of high-altitude machinery. The telescopic boom forklift loader comprises a boom and a plurality of operating mechanisms used for controlling the boom to move, operating instructions of the operating mechanisms correspond to the moving speeds of the boom in different moving directions, and the method comprises the steps that target operating instructions of at least two target operating mechanisms and the current position of the tail end of the boom are obtained; according to the target operation instructions of the at least two target operation mechanisms, deviation component velocities of the tail end of the arm support in the at least two movement directions are obtained; determining the offset displacement of the tail end of the arm support according to the offset component velocities of the tail end of the arm support in the at least two movement directions; and according to the current position, the offset displacement and a preset time interval, a predicted movement track of the tail end of the boom is obtained. According to the method, the accurate predicted motion trail of the tail end of the boom can be obtained.

Description

Technical Field

[0001] The present application relates to the technical field of aerial machinery, and in particular to a method and device for predicting boom motion trajectory, and a telescopic boom forklift. Background Art

[0002] With the rapid development of infrastructure construction, telescopic forklifts including booms are widely used in the fields of construction, steel structure, stadiums, shipyards and leasing, and the performance requirements for telescopic forklifts are getting higher and higher. In the prior art, telescopic forklifts can perform telescopic movement and / or pitching movement and / or slewing movement, wherein the telescopic movement is the movement of the boom in the length direction, the pitching movement is the movement of the boom up and down in the vertical direction, and the slewing movement is the movement of the boom rotating in the horizontal direction. The boom can realize the operation of the telescopic forklift in different positions through the movement in the above different directions. However, how to predict the movement trajectory of the boom is a problem that needs to be solved urgently in the prior art. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide a method, device and telescopic forklift for predicting the motion trajectory of a boom, so as to solve the problem of how to predict the motion trajectory of a boom in the prior art.

[0004] In order to achieve the above-mentioned object, the first aspect of the present application provides a method for predicting the motion trajectory of a boom, which is applied to a telescopic forklift, wherein the telescopic forklift includes a boom and a plurality of operating mechanisms for controlling the motion of the boom, wherein the operating instructions of each operating mechanism correspond to the motion speed of the boom in different motion directions, and the method includes:

[0005] Obtaining target operation instructions of at least two target operating mechanisms and a current position of a boom end of the boom;

[0006] According to the target operation instructions of at least two target operating mechanisms, the offset component speed of the boom end in at least two movement directions is obtained;

[0007] Determining the offset displacement of the end of the boom according to the offset component velocities of the end of the boom in at least two movement directions;

[0008] According to the current position, offset displacement and preset time interval, the predicted motion trajectory of the boom end is obtained.

[0009] In an embodiment of the present application, an offset component velocity of the boom end in at least two directions of motion is obtained according to target operation instructions of at least two target operating mechanisms, including: based on a correspondence between the operation instruction value and the speed of the pre-stored operating mechanism, and according to the target operation instruction values ​​corresponding to the target operation instructions of at least two target operating mechanisms, determining the offset component velocity of the boom end in at least two directions of motion.

[0010] In an embodiment of the present application, the target operating mechanism includes a pitch action operating mechanism and a telescopic action operating mechanism, the offset component velocity includes a first offset component velocity corresponding to an operation instruction of the pitch action operating mechanism and a second offset component velocity corresponding to an operation instruction of the telescopic action operating mechanism, the first direction corresponding to the first offset component velocity and the second direction corresponding to the second offset component velocity are perpendicular to each other, and the offset displacement includes an offset displacement in the first direction and an offset displacement in the second direction; according to the offset component velocity of the boom end in at least two movement directions, the offset displacement of the boom end is determined, including: determining an arc tangent value of a ratio of the first offset component velocity to the second offset component velocity to obtain a target offset pitch angle of the boom; determining a square sum of the first offset component velocity and the second offset component velocity, and taking the square root of the square sum to obtain a target offset telescopic length of the boom; determining a product value of a sine value of the target offset pitch angle and a target offset telescopic length to obtain an offset displacement of the boom end in the first direction; determining a product value of a cosine value of the target offset pitch angle and a target offset telescopic length to obtain an offset displacement of the boom end in the second direction.

[0011] In an embodiment of the present application, the target operating mechanism includes a non-rotating action operating mechanism and a rotating action operating mechanism, the non-rotating action operating mechanism includes a pitching action operating mechanism and / or a telescopic action operating mechanism, the offset component speed includes a first offset component speed corresponding to an operation instruction of the pitching action operating mechanism, a second offset component speed corresponding to an operation instruction of the telescopic action operating mechanism, and a third offset component speed corresponding to an operation instruction of the rotating action operating mechanism, the first direction corresponding to the first offset component speed, the second direction corresponding to the second offset component speed, and the third direction corresponding to the third offset component speed are perpendicular to each other, and the offset displacement includes a final offset displacement in the first direction, a final offset displacement in the second direction, and a final offset displacement in the third direction; according to the offset component speeds of the boom end in at least two movement directions, determining the offset displacement of the boom end includes: determining the first offset component speed and the second offset component speed The invention relates to a method for obtaining a target offset pitch angle of the boom by calculating the arc tangent value of the ratio of the first offset component velocity to the second offset component velocity, and obtaining the target offset telescopic length of the boom by taking the square root of the square sum value; determining the third offset component velocity as the target offset rotation angle of the boom; determining the product value of the sine value of the target offset pitch angle and the target offset telescopic length to obtain the final offset displacement of the boom end in the first direction; determining the product value of the cosine value of the target offset pitch angle and the target offset telescopic length to obtain the initial offset displacement of the boom end in the second direction; adding the product value of the initial offset displacement in the second direction and the cosine value of the target offset rotation angle to the initial offset displacement in the second direction to obtain the final offset displacement in the second direction; determining the product value of the initial offset displacement in the second direction and the sine value of the target offset rotation angle to obtain the final offset displacement in the third direction.

[0012] In an embodiment of the present application, a predicted motion trajectory of the boom end is obtained based on the current position, offset displacement and preset time interval, including: adding the product value of the offset displacement and the preset time interval to the current position to obtain the predicted position of the boom end after the preset time interval; and obtaining the predicted motion trajectory of the boom end based on the predicted positions after multiple preset time intervals.

[0013] A second aspect of the present application provides a method for controlling boom motion, which is applied to a telescopic forklift, wherein the telescopic forklift comprises a boom and a plurality of operating mechanisms for controlling the movement of the boom, wherein the operating instructions of each operating mechanism correspond to the movement speed of the boom in different movement directions, and the method comprises:

[0014] Obtaining a predicted motion trajectory of the boom, wherein the predicted motion trajectory is obtained according to the above-mentioned method for predicting the motion trajectory of the boom;

[0015] During the movement of the boom, the actual movement trajectory of the end of the boom is obtained;

[0016] Based on PID control, the movement of the boom is controlled according to the predicted motion trajectory and the actual motion trajectory, so that the actual motion trajectory is close to the predicted motion trajectory.

[0017] A third aspect of the present application provides a device for predicting boom motion trajectory, comprising: a memory configured to store instructions; and a processor configured to call instructions from the memory and implement the above-mentioned method for predicting boom motion trajectory when executing the instructions.

[0018] A fourth aspect of the present application provides a device for boom motion control, comprising: a memory configured to store instructions; and a processor configured to call instructions from the memory and to implement the above-mentioned method for boom motion control when executing the instructions.

[0019] A fifth aspect of the present application provides a telescopic forklift, comprising: a boom; a plurality of operating mechanisms for controlling the movement of the boom, the operating instructions of each operating mechanism corresponding to the movement speed of the boom in different movement directions; and a device for predicting the movement trajectory of the boom according to the above-mentioned device, and / or, a device for controlling the movement of the boom according to the above-mentioned device.

[0020] A sixth aspect of the present application provides a machine-readable storage medium, on which instructions are stored, the instructions being used to enable a machine to execute the above-mentioned method for predicting boom motion trajectories and / or the above-mentioned method for controlling boom motion.

[0021] The above technical solution obtains the target operation instructions of at least two target operating mechanisms and the current position of the boom end of the boom, obtains the offset component speed of the boom end in at least two movement directions according to the target operation instructions of the at least two target operating mechanisms, determines the offset displacement of the boom end according to the offset component speed of the boom end in at least two movement directions, and obtains the predicted motion trajectory of the boom end according to the current position, the offset displacement and the preset time interval. The above technical solution can obtain the offset displacement of the boom end through the combination of the target operation instructions of at least two target operating mechanisms, and then obtain the accurate predicted motion trajectory of the boom end, so that the operator can control the telescopic forklift operation based on the predicted motion trajectory, thereby improving the control accuracy of the telescopic forklift.

[0022] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0024] Figure 1 A flow chart of a method for predicting boom motion trajectory according to an embodiment of the present application is schematically shown. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0026] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application are in compliance with the relevant provisions of national laws and regulations. In the embodiments of this application, some existing solutions in the industry such as certain software, components, and models may be mentioned, which should be considered as exemplary. Their purpose is only to illustrate the feasibility of implementing the technical solution of this application, but it does not mean that the applicant has or will necessarily use the solution.

[0027] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0028] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0029] Figure 1 The following schematically shows a flow chart of a method for predicting the motion trajectory of a boom according to an embodiment of the present application. Figure 1 As shown, an embodiment of the present application provides a method for predicting a boom motion trajectory, which is applied to a telescopic forklift, wherein the telescopic forklift includes a boom and a plurality of operating mechanisms for controlling the movement of the boom, and the operating instructions of each operating mechanism correspond to the movement speed of the boom in different movement directions. The method is described by taking the method applied to a processor as an example, and the method may include the following steps:

[0030] Step S102, obtaining target operation instructions of at least two target operating mechanisms and the current position of the boom end of the boom.

[0031] Step S104, obtaining the offset component velocities of the boom end in at least two movement directions according to the target operation instructions of at least two target operation mechanisms.

[0032] Step S106, determining the offset displacement of the boom end according to the offset component velocities of the boom end in at least two movement directions.

[0033] Step S108, obtaining a predicted motion trajectory of the boom end according to the current position, the offset displacement and the preset time interval.

[0034] It can be understood that the target operating mechanism is an operating mechanism that receives the expected operating instruction, and the operating mechanism can be a handle, etc. The target operating instruction is the operating instruction corresponding to the target operating mechanism, that is, the operating instruction received by the target operating mechanism, and the operating instruction can be an instruction generated by the user operating the handle. The current position of the boom end is the actual position of the boom end at the current moment, which can be obtained by a position detection device or a positioning device. The boom end of the telescopic arm forklift can be a fork. Since the operating instruction corresponds to the movement speed (i.e., the offset speed) in different movement directions of the boom, the offset component speed of the boom end in at least two movement directions can be obtained according to the target operating instructions of at least two target operating mechanisms. It can be understood that the offset component speed is the speed component of the offset speed in different directions. The offset displacement is the displacement information of the expected position offset. The preset time interval is a preset time interval, such as 1 second or 0.5 seconds. The predicted motion trajectory is the motion trajectory predicted in the future period of time based on the target operation instruction. .

[0035] Specifically, the processor can obtain the target operation instructions of at least two target operating mechanisms and the current position of the boom end of the boom, and then obtain the offset component velocity of the boom end in at least two movement directions according to the target operation instructions of the at least two target operating mechanisms, and determine the offset displacement of the boom end according to the offset component velocity of the boom end in at least two movement directions, so as to obtain the predicted motion trajectory of the boom end according to the current position, the offset displacement and the preset time interval.

[0036] The above method for predicting the motion trajectory of the boom obtains the target operation instructions of at least two target operating mechanisms and the current position of the boom end of the boom, obtains the offset component velocity of the boom end in at least two motion directions according to the target operation instructions of the at least two target operating mechanisms, determines the offset displacement of the boom end according to the offset component velocity of the boom end in at least two motion directions, and obtains the predicted motion trajectory of the boom end according to the current position, the offset displacement and the preset time interval. The above technical solution can obtain the offset displacement of the boom end through the combination of the target operation instructions of at least two target operating mechanisms, and then obtain the accurate predicted motion trajectory of the boom end, so that the operator can control the telescopic forklift operation based on the predicted motion trajectory, thereby improving the control accuracy of the telescopic forklift.

[0037] In one embodiment, after the predicted motion trajectory of the boom end is obtained, the predicted motion trajectory can be displayed on a display screen to present it to the operator. In addition, the processor can also perform a collision warning based on the predicted motion trajectory to prompt the operator to prevent the boom from colliding.

[0038] In one embodiment, the offset component velocity of the boom end in at least two movement directions is obtained according to the target operation instructions of at least two target operating mechanisms, including: based on the correspondence between the operation instruction value and the speed of the pre-stored operating mechanism, according to the target operation instruction values ​​corresponding to the target operation instructions of at least two target operating mechanisms, determining the offset component velocity of the boom end in at least two movement directions.

[0039] It can be understood that the operation instruction value is the instruction value of the operation instruction of the operating mechanism. For example, when the operating mechanism is a telescopic handle, the operation instruction value can be the amplitude of the telescopic handle, and its range can be, for example, -100% to 100%, that is, the amplitude can be positive or negative. For example, if the upward value is positive, the downward value can be negative. The speed range corresponding to the operation instruction value can be, for example, -v max to v max The speed can be a positive value or a negative value, which is related to the direction. Taking the vertical direction as an example, the upward direction is a positive value, while the downward direction is a negative value. The target operation instruction value is the instruction value corresponding to the target operation instruction. It can be understood that the corresponding relationship between the operation instruction value and the speed of different operating mechanisms may be different.

[0040] Specifically, the processor can search and determine the offset component velocity of the arm end in at least two movement directions corresponding to the target operation instruction based on the pre-stored correspondence between the operation instruction value and the speed of the operating mechanism, such as a correspondence table, according to the target operation instruction values ​​corresponding to the target operation instructions of at least two target operating mechanisms.

[0041] In one embodiment, a Cartesian coordinate system may be established with the rotation center of the telescopic forklift as the origin, the axle direction as the x-axis, the vehicle length direction as the y-axis, and the direction perpendicular to the plane where the x-axis and y-axis are located as the z-axis.

[0042] In one embodiment, the target operating mechanism includes a pitch action operating mechanism and a telescopic action operating mechanism, the offset component velocity includes a first offset component velocity corresponding to the operation instruction of the pitch action operating mechanism and a second offset component velocity corresponding to the operation instruction of the telescopic action operating mechanism, the first direction corresponding to the first offset component velocity and the second direction corresponding to the second offset component velocity are perpendicular to each other, and the offset displacement includes an offset displacement in the first direction and an offset displacement in the second direction; according to the offset component velocity of the boom end in at least two movement directions, the offset displacement of the boom end is determined, including: determining an arc tangent value of the ratio of the first offset component velocity to the second offset component velocity to obtain a target offset pitch angle of the boom; determining a square sum of the first offset component velocity and the second offset component velocity, and taking the square root of the square sum to obtain a target offset telescopic length of the boom; determining a product value of the sine value of the target offset pitch angle and the target offset telescopic length to obtain an offset displacement of the boom end in the first direction; determining a product value of the cosine value of the target offset pitch angle and the target offset telescopic length to obtain an offset displacement of the boom end in the second direction.

[0043] It can be understood that the pitching operation mechanism is an operation mechanism for controlling the boom to perform pitching, such as a pitching handle, and the telescopic operation mechanism is an operation mechanism for controlling the boom to perform telescopic operation, such as a telescopic handle. The first offset component velocity is an offset component velocity corresponding to the operation instruction of the pitching operation mechanism, such as v z The second offset component velocity is the offset component velocity corresponding to the operation instruction of the telescopic operation mechanism, for example, v y , the first direction is the direction corresponding to the first offset component velocity, the second direction is the direction corresponding to the second offset component velocity, and the first direction and the second direction may be perpendicular to each other. The offset displacement may include the offset displacement in the first direction and the offset displacement in the second direction. The inverse tangent value is the inverse tangent function value. The target offset pitch angle is the offset pitch angle of the boom obtained based on the target operation instruction. The target offset telescopic length is the offset telescopic length of the boom obtained based on the target operation instruction.

[0044] Specifically, the processor can determine the arc tangent value of the ratio of the first offset component velocity to the second offset component velocity to obtain the target offset pitch angle of the boom, and determine the square sum of the first offset component velocity and the second offset component velocity, and take the square root of the square sum to obtain the target offset telescopic length of the boom, thereby determining the product value of the sine value of the target offset pitch angle and the target offset telescopic length to obtain the offset displacement of the end of the boom in the first direction, and then determine the product value of the cosine value of the target offset pitch angle and the target offset telescopic length to obtain the offset displacement of the end of the boom in the second direction.

[0045] In one embodiment, the target operating mechanism includes a non-rotating motion operating mechanism and a rotating motion operating mechanism, the non-rotating motion operating mechanism includes a pitching motion operating mechanism and / or a telescopic motion operating mechanism, the offset component speed includes a first offset component speed corresponding to an operating instruction of the pitching motion operating mechanism, a second offset component speed corresponding to an operating instruction of the telescopic motion operating mechanism, and a third offset component speed corresponding to an operating instruction of the rotating motion operating mechanism, a first direction corresponding to the first offset component speed, a second direction corresponding to the second offset component speed, and a third direction corresponding to the third offset component speed are perpendicular to each other, and the offset displacement includes a final offset displacement in the first direction, a final offset displacement in the second direction, and a final offset displacement in the third direction; according to the offset component speeds of the boom end in at least two movement directions, determining the offset displacement of the boom end includes: determining the first offset component speed and the second offset component speed The arc tangent value of the ratio of the first offset velocity and the second offset velocity is determined to obtain the target offset pitch angle of the boom; the square sum of the first offset component velocity and the second offset component velocity is determined, and the square root of the square sum is taken to obtain the target offset telescopic length of the boom; the third offset component velocity is determined as the target offset rotation angle of the boom; the product value of the sine value of the target offset pitch angle and the target offset telescopic length is determined to obtain the final offset displacement of the boom end in the first direction; the product value of the cosine value of the target offset pitch angle and the target offset telescopic length is determined to obtain the initial offset displacement of the boom end in the second direction; on the basis of the initial offset displacement in the second direction, the product value of the initial offset displacement in the second direction and the cosine value of the target offset rotation angle is added to obtain the final offset displacement in the second direction; the product value of the initial offset displacement in the second direction and the sine value of the target offset rotation angle is determined to obtain the final offset displacement in the third direction.

[0046] The non-rotational motion operating mechanism is an operating mechanism other than the rotational motion operating mechanism, for example, a pitching motion operating mechanism and / or a telescopic motion operating mechanism. The pitching motion operating mechanism is an operating mechanism for controlling the boom to perform a pitching motion, for example, a pitching handle, and the telescopic motion operating mechanism is an operating mechanism for controlling the boom to perform a telescopic motion, for example, a telescopic handle. The rotational motion operating mechanism is an operating mechanism for controlling the boom to perform a rotational motion, and the rotational motion of the boom can be achieved by controlling the rotation of the rotation mechanism. The first offset component velocity is an offset component velocity corresponding to the operating instruction of the pitching motion operating mechanism, for example, v z The second offset component velocity is the offset component velocity corresponding to the operation instruction of the telescopic operation mechanism, for example, v y , the third offset component velocity is the offset component velocity corresponding to the operation instruction of the rotary action operating mechanism, for example, v α , i.e., the offset rotation angular velocity, based on which the offset rotation angular velocity can be used to obtain the offset rotation angle. The first direction is the direction corresponding to the first offset component velocity, the second direction is the direction corresponding to the second offset component velocity, and the third direction is the direction corresponding to the third offset component velocity. The first direction, the second direction, and the third direction can be perpendicular to each other.

[0047] The offset displacement may include an offset displacement in a first direction, an offset displacement in a second direction, and an offset displacement in a third direction. It is understandable that when the non-rotating motion operating mechanism is a pitching motion operating mechanism, the second offset component velocity corresponding to the telescopic motion operating mechanism may be 0, when the non-rotating motion operating mechanism is a telescopic motion operating mechanism, the first offset component velocity corresponding to the pitching motion operating mechanism may be 0, and when the non-rotating motion operating mechanism is a pitching motion operating mechanism and a telescopic motion operating mechanism, the first offset component velocity corresponding to the pitching motion operating mechanism and the second offset component velocity corresponding to the telescopic motion operating mechanism may not be 0. The inverse tangent value is the inverse tangent function value. The target offset pitch angle is the offset pitch angle of the boom obtained based on the target operation instruction. The target offset telescopic length is the offset telescopic length of the boom obtained based on the target operation instruction. The target offset rotation angle is the rotation angle of the boom obtained based on the target operation instruction. The initial offset displacement is the offset displacement determined preliminarily, and the final offset displacement is the offset displacement determined finally.

[0048] Specifically, the processor can determine the arc tangent value of the ratio of the first offset component velocity to the second offset component velocity to obtain the target offset pitch angle of the boom, determine the square sum of the first offset component velocity and the second offset component velocity, and take the square root of the square sum to obtain the target offset telescopic length of the boom, determine the third offset component velocity as the target offset rotation angle of the boom, determine the product value of the sine value of the target offset pitch angle and the target offset telescopic length to obtain the final offset displacement of the boom end in the first direction, determine the product value of the cosine value of the target offset pitch angle and the target offset telescopic length to obtain the initial offset displacement of the boom end in the second direction, add the product value of the initial offset displacement in the second direction and the cosine value of the target offset rotation angle to the initial offset displacement in the second direction to obtain the final offset displacement in the second direction, and determine the product value of the initial offset displacement in the second direction and the sine value of the target offset rotation angle to obtain the final offset displacement in the third direction.

[0049] In one embodiment, a predicted motion trajectory of the boom end is obtained based on the current position, the offset displacement and the preset time interval, including: adding the product value of the offset displacement and the preset time interval to the current position to obtain the predicted position of the boom end after the preset time interval; and obtaining the predicted motion trajectory of the boom end based on the predicted positions after multiple preset time intervals.

[0050] It can be understood that when the number of preset time intervals is one, the predicted position of the boom end after one preset time interval can be obtained; when the number of preset time intervals is two, the predicted position of the boom end after two preset time intervals can be obtained; and so on, the predicted position of the boom end after multiple preset time intervals can be obtained. By summarizing all the predicted positions of the boom end, the predicted motion trajectory of the boom end can be obtained.

[0051] An embodiment of the present application provides a method for controlling boom motion, which is applied to a telescopic forklift, wherein the telescopic forklift includes a boom and multiple operating mechanisms for controlling the motion of the boom, wherein the operating instructions of each operating mechanism correspond to the motion speed of the boom in different motion directions, and the method is applied to a processor as an example for illustration. The method may include: obtaining a predicted motion trajectory of the boom, wherein the predicted motion trajectory is obtained according to the method for predicting the motion trajectory of the boom in the above-mentioned embodiment; during the movement of the boom, obtaining an actual motion trajectory of the end of the boom; and based on PID control, controlling the motion of the boom according to the predicted motion trajectory and the actual motion trajectory, so that the actual motion trajectory is close to the predicted motion trajectory.

[0052] It can be understood that the actual movement trajectory of the boom can be detected by a position detection device such as a radar, or by an image acquisition device.

[0053] Specifically, the processor can obtain the predicted motion trajectory of the boom according to the method for predicting the motion trajectory of the boom in the above-mentioned embodiment, and obtain the actual motion trajectory of the end of the boom during the movement of the boom. Based on PID control, the movement of the boom is controlled according to the difference between the predicted motion trajectory and the actual motion trajectory, so that the actual motion trajectory is close to the predicted motion trajectory.

[0054] The above-mentioned method for boom motion control can obtain an accurate predicted motion trajectory of the boom end through a combination of target operation instructions of at least two target operating mechanisms, and based on PID closed-loop control, by comparing the actual motion trajectory with the predicted motion trajectory, the control accuracy of the telescopic arm forklift can be further improved.

[0055] In one embodiment, closed-loop control is adopted, and the difference between the planned position and the actual position can be calculated by collecting the length, angle, and angle of the boom, and the angle of the turntable. Then, closed-loop control is performed through PID to make the motion trajectory of the end of the boom (i.e., the actual motion trajectory) the same as the target trajectory (i.e., the predicted motion trajectory).

[0056] An embodiment of the present application provides a device for predicting the motion trajectory of a boom, comprising: a memory configured to store instructions; and a processor configured to call instructions from the memory and implement the above-mentioned method for predicting the motion trajectory of a boom when executing the instructions.

[0057] An embodiment of the present application provides a device for boom motion control, comprising: a memory configured to store instructions; and a processor configured to call instructions from the memory and implement the above-mentioned method for boom motion control when executing the instructions.

[0058] An embodiment of the present application provides a telescopic forklift, comprising: a boom; a plurality of operating mechanisms for controlling the movement of the boom, wherein the operating instructions of each operating mechanism correspond to the movement speed of the boom in different movement directions; and a device for predicting the movement trajectory of the boom according to the above.

[0059] An embodiment of the present application provides a telescopic forklift, comprising: a boom; a plurality of operating mechanisms for controlling the movement of the boom, wherein the operating instructions of each operating mechanism correspond to the movement speed of the boom in different movement directions; and a device for controlling the movement of the boom according to the above.

[0060] An embodiment of the present application provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to enable a machine to execute the above-mentioned method for predicting the motion trajectory of the boom.

[0061] An embodiment of the present application provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to enable a machine to execute the above-mentioned method for boom motion control.

[0062] In summary, the technical solution of this application has the following advantages:

[0063] When the operator operates a telescopic forklift to fork and transport pallets, the fork blade needs to be aligned with the bottom socket of the pallet. If the speed corresponding to the amplitude of the handle is different, multiple adjustments are required in this process, and the operator is easily fatigued after long-term operation. If the operation expectations are the same each time, and it can be guaranteed that the relationship between the movement direction and the position of the handle remains unchanged in the case of interference, then the number of adjustments for this precise alignment operation can be reduced, reducing the fatigue of the operator.

[0064] By determining the relationship between the handle amplitude and the fork knife trajectory, and using closed-loop PID control to make the fork knife move along this trajectory, the fork knife's movement trajectory can be determined in advance. Then, the camera installed on the arm and the display installed in the cab can display the future movement direction of the fork. The operator can more intuitively predict the movement direction and final target position of the fork. In this way, obstacles can be avoided in advance in complex environments, improving the safety of operations.

[0065] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0066] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0067] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0068] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0069] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0070] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0071] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0072] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0073] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A method for predicting boom motion trajectory, characterized in that: Applied to a telescopic forklift, the telescopic forklift comprises a boom and a plurality of operating mechanisms for controlling the movement of the boom, the operating instructions of each of the operating mechanisms corresponding to the movement speed of the boom in different movement directions, the method comprising: Obtaining target operation instructions of at least two target operating mechanisms and a current position of a boom end of the boom; According to the target operation instructions of the at least two target operating mechanisms, obtaining the offset component velocity of the end of the boom in at least two movement directions; Determining the offset displacement of the boom end according to the offset component velocities of the boom end in at least two movement directions; The predicted motion trajectory of the boom end is obtained according to the current position, the offset displacement and the preset time interval.

2. The method according to claim 1, characterized in that The step of obtaining the offset component velocities of the boom end in at least two movement directions according to the target operation instructions of the at least two target operation mechanisms comprises: Based on the pre-stored correspondence between the operation instruction value and the speed of the operating mechanism, the offset component speed of the boom end in at least two movement directions is determined according to the target operation instruction values ​​corresponding to the target operation instructions of the at least two target operating mechanisms.

3. The method according to claim 1, characterized in that The target operating mechanism includes a pitching operation mechanism and a telescopic operation mechanism, the offset component velocity includes a first offset component velocity corresponding to an operation instruction of the pitching operation mechanism and a second offset component velocity corresponding to an operation instruction of the telescopic operation mechanism, a first direction corresponding to the first offset component velocity and a second direction corresponding to the second offset component velocity are perpendicular to each other, and the offset displacement includes an offset displacement in the first direction and an offset displacement in the second direction; Determining the offset displacement of the boom end according to the offset component velocities of the boom end in at least two movement directions includes: Determining an arctangent value of a ratio of the first offset component velocity to the second offset component velocity to obtain a target offset pitch angle of the boom; Determine a square sum of the first offset component velocity and the second offset component velocity, and take a square root of the square sum to obtain a target offset telescopic length of the boom; Determine the product of the sine value of the target offset pitch angle and the target offset telescopic length to obtain the offset displacement of the boom end in the first direction; The product value of the cosine value of the target offset pitch angle and the target offset telescopic length is determined to obtain the offset displacement of the boom end in the second direction.

4. The method according to claim 1, characterized in that: The target operating mechanism includes a non-rotating motion operating mechanism and a rotating motion operating mechanism, the non-rotating motion operating mechanism includes a pitching motion operating mechanism and / or a telescopic motion operating mechanism, the offset component speed includes a first offset component speed corresponding to an operating instruction of the pitching motion operating mechanism, a second offset component speed corresponding to an operating instruction of the telescopic motion operating mechanism, and a third offset component speed corresponding to an operating instruction of the rotating motion operating mechanism, a first direction corresponding to the first offset component speed, a second direction corresponding to the second offset component speed, and a third direction corresponding to the third offset component speed are perpendicular to each other, and the offset displacement includes a final offset displacement in the first direction, a final offset displacement in the second direction, and a final offset displacement in the third direction; Determining the offset displacement of the boom end according to the offset component velocities of the boom end in at least two movement directions includes: Determining an arctangent value of a ratio of the first offset component velocity to the second offset component velocity to obtain a target offset pitch angle of the boom; Determine a square sum of the first offset component velocity and the second offset component velocity, and take a square root of the square sum to obtain a target offset telescopic length of the boom; Determining the third offset component velocity as a target offset rotation angle of the boom; Determine the product value of the sine value of the target offset pitch angle and the target offset telescopic length to obtain a final offset displacement of the boom end in the first direction; Determine the product value of the cosine value of the target offset pitch angle and the target offset telescopic length to obtain an initial offset displacement of the boom end in the second direction; On the basis of the initial offset displacement in the second direction, add the product value of the initial offset displacement in the second direction and the cosine value of the target offset rotation angle to obtain a final offset displacement in the second direction; The product value of the initial offset displacement in the second direction and the sine value of the target offset rotation angle is determined to obtain the final offset displacement in the third direction.

5. The method according to claim 1, characterized in that The step of obtaining a predicted motion trajectory of the boom end according to the current position, the offset displacement and the preset time interval includes: Adding the product of the offset displacement and the preset time interval to the current position to obtain a predicted position of the boom end after the preset time interval; According to the predicted positions after a plurality of preset time intervals, a predicted motion trajectory of the boom end is obtained.

6. A method for boom motion control, characterized in that: Applied to a telescopic forklift, the telescopic forklift comprises a boom and a plurality of operating mechanisms for controlling the movement of the boom, the operating instructions of each of the operating mechanisms corresponding to the movement speed of the boom in different movement directions, the method comprising: Acquire a predicted motion trajectory of the boom, wherein the predicted motion trajectory is obtained according to the method for predicting the motion trajectory of the boom according to any one of claims 1 to 5; During the movement of the boom, obtaining the actual movement trajectory of the end of the boom; Based on PID control, the movement of the boom is controlled according to the predicted motion trajectory and the actual motion trajectory, so that the actual motion trajectory is close to the predicted motion trajectory.

7. A device for predicting boom motion trajectory, characterized in that: include: a memory configured to store instructions; as well as A processor is configured to call the instruction from the memory and implement the method for boom motion trajectory prediction according to any one of claims 1 to 5 when executing the instruction.

8. A device for boom motion control, characterized in that: include: a memory configured to store instructions; as well as A processor is configured to call the instructions from the memory and implement the method for boom motion control according to claim 6 when executing the instructions.

9. A telescopic forklift, characterized in that: include: Boom; A plurality of operating mechanisms, used to control the movement of the boom, wherein the operating instructions of each operating mechanism correspond to the movement speed of the boom in different movement directions; as well as The device for boom motion trajectory prediction according to claim 7, and / or, the device for boom motion control according to claim 8.

10. A machine-readable storage medium, characterized in that: The machine-readable storage medium stores instructions for causing a machine to execute the method for boom motion trajectory prediction according to any one of claims 1 to 5, and / or the method for boom motion control according to claim 6.

Images