A Linkage Lifting Control Method and System for Forklift Mobile Robots Based on Fork Carrier Collaboration

Abstract

This invention relates to the field of automated warehousing technology and proposes a linkage lifting control method and system for a forklift mobile robot based on forklift coordination. The method includes: determining the target lifting height according to the linkage lifting command, and simultaneously collecting two types of parameters: the current forklift posture and the load; performing coordinated linkage analysis on the two types of parameters to obtain linkage lifting drive allocation parameters; arranging lifting actions in layers according to the target lifting height and drive allocation parameters, and outputting a phased action sequence; dynamically generating expected posture reference data based on the sequence; collecting the actual lifting height and actual posture parameters of the forklift in real time, comparing them with the standard target height and expected posture reference data respectively, and obtaining height deviation data and posture deviation data; iteratively compensating and adjusting the phased action sequence based on the two types of deviation data to obtain the final coordinated linkage lifting control data; this invention can improve the efficiency of linkage lifting control for forklift mobile robots.

Description

Technical Field

[0001] This invention relates to the field of automated warehousing technology, and in particular to a linkage lifting control method and system for a forklift mobile robot based on forklift coordination. Background Technology

[0002] Existing lifting mechanisms for forklift mobile robots mostly use hydraulic cylinders and chain drives. During operation, the equipment cannot simultaneously collect data on forklift posture and multi-point load to perform linkage analysis. The drive output can only maintain a fixed value and cannot adaptively adjust the power ratio according to the fork tilt, skew state and load distribution. The lifting action lacks a layered timing planning mechanism, there is obvious impact in the transition zone of the action, and there is a lack of a closed-loop iterative compensation process for both height and posture. The linkage consistency of various components of the forklift is poor.

[0003] Hydraulic cylinder chain-type lifting structures inherently suffer from slow drive response and poor load adaptability, making it difficult to build high-precision electric cylinder-coordinated lifting control logic. Lifting height and attitude deviations cannot be iteratively corrected in real time, limiting the stability and positioning accuracy of the forklift lifting mechanism, and hindering the achievement of operational targets in automated cargo lifting and handling scenarios. Therefore, improving the control accuracy and operational stability of the forklift coordinated lifting mechanism in forklift mobile robots has become an urgent problem to be solved. Summary of the Invention

[0004] This invention provides a linkage lifting control method and system for a forklift mobile robot based on forklift cooperation, in order to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides a linkage lifting control method for a forklift mobile robot based on fork carriage cooperation, comprising:

[0006] D1. Based on the linkage lifting command of the forklift mobile robot, determine the target lifting height and simultaneously collect the current forklift attitude parameters and current forklift load parameters;

[0007] D2. Perform coordinated analysis on the current fork carriage attitude parameters and the current fork carriage load parameters to obtain the linkage lifting drive allocation parameters;

[0008] D3. Based on the target lifting height and the linkage lifting drive allocation parameters, the linkage lifting action of the fork mobile robot is arranged in layers to obtain a phased action sequence.

[0009] D4. Based on the phased action sequence, dynamically generate reference data for the expected attitude of the connecting rod lifting;

[0010] D5. Real-time acquisition of the actual lifting height data and actual posture parameter data of the fork-type mobile robot, and comparison of the difference between the target lifting height and the reference data of the expected lifting posture of the connecting rod to obtain the height deviation data and posture deviation data.

[0011] D6. Based on the height deviation data and the attitude deviation data, the phased action sequence is iteratively compensated and adjusted to obtain the final coordinated linkage lifting control data.

[0012] In a preferred embodiment, the step of determining the target lifting height based on the linkage lifting command of the forklift mobile robot, and simultaneously collecting the current forklift attitude parameters and the current forklift load parameters, includes:

[0013] Receive the link lifting command from the forklift mobile robot, and parse the link lifting command to obtain the target lifting height of the forklift mobile robot;

[0014] Global noise reduction and aggregation are performed on the multi-dimensional spatial attitude data of the fork carriage of the fork mobile robot to obtain the current fork carriage attitude parameters of the fork mobile robot. The current fork carriage attitude parameters include fork carriage tilt angle component data and fork carriage deflection angle component data.

[0015] The forklift mobile robot is divided into load-bearing areas to obtain the load-bearing support parts of the forklift mobile robot;

[0016] The load distribution data of the supporting parts are collected synchronously in layers to obtain the current forklift load parameters of the forklift mobile robot.

[0017] In a preferred embodiment, the step of performing coordinated analysis of the current fork carriage attitude parameters and the current fork carriage load parameters to obtain the linkage lifting drive allocation parameters includes:

[0018] Extract single-point load data of the bearing support part from the current fork carriage bearing parameters, and generate the load distribution characteristics of the fork mobile robot based on the single-point load data;

[0019] The attitude load linkage mapping is performed on the fork carriage tilt angle component data, the fork carriage deflection angle component data and the load distribution characteristics to obtain the link drive initial load ratio data of the fork mobile robot.

[0020] The initial load ratio data is adjusted for off-center load balancing to obtain the linkage lifting drive distribution parameters of the forklift mobile robot.

[0021] In a preferred embodiment, the calculation formula for the linkage lifting drive allocation parameters is as follows:

[0022] ;

[0023] in, Assign parameters to the link lifting drive. This refers to the initial load ratio data for the linkage drive. This refers to the fork carriage tilt angle component data of the forklift mobile robot. This refers to the fork carriage deflection angle component data of the forklift mobile robot. This is the rated maximum tilt angle of the forklift mobile robot. This is the rated maximum deflection angle of the forklift mobile robot. This refers to the total number of the load-bearing support components. This refers to the single-point load data of the load-bearing support component. The average load across the entire load-bearing support portion is denoted as .

[0024] In a preferred embodiment, the step of arranging the link lifting actions of the forklift mobile robot in a layered manner based on the target lifting height and the link lifting drive allocation parameters to obtain a phased action sequence includes:

[0025] The target lifting height is divided into lifting stroke intervals to obtain the discrete height control nodes of the forklift mobile robot;

[0026] Based on the linkage lifting drive allocation parameters, drive strategy matching is performed on the discrete height control node to obtain the node drive configuration of the fork mobile robot;

[0027] Based on the node-driven configuration, the discrete height control nodes are sorted by timing logic to obtain the motion execution flow of the fork-type mobile robot.

[0028] By applying stage boundary condition constraints to the action execution flow, the staged action sequence of the fork-type mobile robot is obtained.

[0029] In a preferred embodiment, the step of applying stage boundary condition constraints to the action execution flow to obtain the staged action sequence of the forklift robot includes:

[0030] Data continuity detection is performed on adjacent height control nodes in the action execution flow to obtain node connection feature data of the fork-type mobile robot;

[0031] Based on the node connection feature data, the smoothness of the transition interval of the adjacent height control nodes is corrected to obtain the corrected transition data of the fork-type mobile robot.

[0032] Based on the corrected transition data, the boundary interval of the action execution flow is defined to obtain the stage boundary constraint conditions of the fork-type mobile robot.

[0033] Based on the stage boundary constraints, the action execution flow is segmented and split to obtain the staged action sequence of the fork-type mobile robot.

[0034] In a preferred embodiment, the step of dynamically generating reference data for the expected lifting attitude of the connecting rod based on the phased action sequence includes:

[0035] The phased action sequence is parsed to obtain the phased action parameters of the phased action sequence;

[0036] The stage action parameters are transformed by spatial attitude mapping to obtain the stage spatial attitude data of the stage action sequence.

[0037] The stage spatial attitude data is time-aligned to obtain the initial expected attitude reference sequence data of the staged action sequence;

[0038] The adjacent intervals of attitude reference data in the initial expected attitude reference sequence data are connected and smoothed to obtain the expected attitude reference data for the linkage lifting of the fork-type mobile robot.

[0039] In a preferred embodiment, the real-time acquisition of the actual lifting height data and actual attitude parameter data of the forklift mobile robot, and the comparison of the difference between the target lifting height and the reference data of the expected lifting attitude of the connecting rod to obtain height deviation data and attitude deviation data, includes:

[0040] The difference between the actual lifting height data and the target lifting height of the forklift mobile robot is extracted to obtain the real-time height deviation data of the forklift mobile robot;

[0041] The actual posture parameter data of the fork-type mobile robot and the expected posture reference data of the link lifting are extracted by parameter item difference to obtain the real-time posture deviation data of the fork-type mobile robot.

[0042] Based on the unified timestamp of the fork-type mobile robot, the real-time height deviation data and the real-time posture deviation data are subjected to time-series alignment verification to obtain the alignment verification result of the fork-type mobile robot.

[0043] Based on the alignment verification results, the real-time height deviation data and the real-time posture deviation data are adjusted for deviation adaptation to obtain the height deviation data and posture deviation data of the fork-type mobile robot.

[0044] In a preferred embodiment, the step of iteratively compensating and adjusting the phased action sequence based on the height deviation data and the attitude deviation data to obtain the final coordinated linkage lifting control data includes:

[0045] The height deviation data and the attitude deviation data are subjected to deviation feature association mapping processing to obtain the stage deviation impact data of the staged action sequence;

[0046] Based on the stage deviation impact data, the stage action parameters in the staged action sequence are compensated stage by stage to obtain the stage compensation adjustment data of the staged action sequence.

[0047] Based on the stage compensation adjustment data, the action parameters of the staged action sequence are updated to obtain the staged action sequence after one compensation.

[0048] Based on the phased action sequence after the first compensation, the updated height deviation data and updated posture deviation data of the fork-type mobile robot are obtained.

[0049] The updated height deviation data and the updated attitude deviation data are used to determine the deviation convergence. If both the updated height deviation data and the updated attitude deviation data are less than the preset convergence threshold, or the number of iterations is equal to the preset maximum number of iterations, then the iteration is stopped and the final collaborative linkage lifting control data of the fork mobile robot is output.

[0050] To address the aforementioned problems, this invention also provides a linkage lifting control system for a forklift mobile robot based on fork carriage cooperation, the system comprising:

[0051] The instruction perception and acquisition module is used to determine the target lifting height based on the linkage lifting instruction of the forklift mobile robot, and simultaneously acquire the current forklift attitude parameters and the current forklift load parameters.

[0052] The attitude load calculation module is used to perform coordinated analysis on the current fork carriage attitude parameters and the current fork carriage load parameters to obtain the linkage lifting drive distribution parameters.

[0053] The lifting action layering planning module is used to arrange the link lifting actions of the fork mobile robot in a layered manner based on the target lifting height and the link lifting drive allocation parameters, so as to obtain a phased action sequence.

[0054] The expected attitude dynamic generation module is used to dynamically generate reference data for the expected attitude of the link lifting based on the phased action sequence.

[0055] The real-time deviation comparison and solution module is used to acquire the actual lifting height data and actual posture parameter data of the fork mobile robot in real time, and compare the difference between the target lifting height and the reference data of the expected lifting posture of the connecting rod to obtain the height deviation data and posture deviation data.

[0056] The iterative collaborative compensation control module is used to perform iterative compensation and adjustment on the phased action sequence based on the height deviation data and the attitude deviation data to obtain the final collaborative linkage lifting control data.

[0057] Compared with the prior art, the present invention has the following beneficial effects:

[0058] 1. This invention synchronously collects the fork carriage attitude and load parameters and performs attitude and load coordinated analysis. It completes the off-center load balance adjustment of multiple support parts based on a dedicated drive distribution formula. Combined with height interval discrete division and time boundary constraints, it generates a smooth and coherent phased action sequence, which can accurately match the linkage drive output under different loads and tilting conditions. It effectively optimizes the power distribution logic of the fork carriage lifting process, greatly reduces the load imbalance and attitude change problems during the lifting process, and significantly improves the operational stability of the linkage lifting action.

[0059] 2. This invention collects actual lifting height and attitude data in real time and performs time-series alignment deviation normalization. Based on the dual deviations of height and attitude, it conducts multiple rounds of iterative compensation until the deviations converge. It dynamically corrects the action parameters at each stage and outputs the final collaborative control data. At the same time, it builds a multi-functional modular integrated control system to realize full-process automated perception, calculation, planning and closed-loop control, continuously reducing the control error of lifting height and attitude, effectively improving the positioning accuracy and overall operation efficiency of forklift lifting operations, and stably adapting to various cargo lifting and handling conditions. Attached Figure Description

[0060] Figure 1 A flowchart illustrating a linkage lifting control method for a forklift mobile robot based on forklift coordination, provided in an embodiment of the present invention;

[0061] Figure 2 This is a functional block diagram of a linkage lifting control system for a forklift mobile robot based on forklift coordination, provided in an embodiment of the present invention.

[0062] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0063] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0064] This application provides a linkage lifting control method for a forklift mobile robot based on forklift collaboration. The executing entity of this linkage lifting control method includes, but is not limited to, at least one of the following electronic devices that can be configured to execute the method provided in this application: a server, a terminal, etc. In other words, the linkage lifting control method for a forklift mobile robot based on forklift collaboration can be executed by software or hardware installed on a terminal device or a server device. The server includes, but is not limited to, a single server, a server cluster, a cloud server, or a cloud server cluster. The server can be an independent server or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content delivery networks (CDNs), and big data and artificial intelligence platforms.

[0065] Reference Figure 1 The diagram shown is a flowchart illustrating a link lifting control method for a forklift mobile robot based on fork carriage collaboration, according to an embodiment of the present invention. In this embodiment, the link lifting control method for the forklift mobile robot based on fork carriage collaboration includes:

[0066] D1. Based on the linkage lifting command of the forklift mobile robot, determine the target lifting height and simultaneously collect the current forklift attitude parameters and current forklift load parameters;

[0067] In this embodiment of the invention, the step of determining the target lifting height based on the linkage lifting command of the forklift mobile robot, and simultaneously collecting the current forklift attitude parameters and the current forklift load parameters, includes:

[0068] Receive the link lifting command from the forklift mobile robot, and parse the link lifting command to obtain the target lifting height of the forklift mobile robot;

[0069] Global noise reduction and aggregation are performed on the multi-dimensional spatial attitude data of the fork carriage of the fork mobile robot to obtain the current fork carriage attitude parameters of the fork mobile robot. The current fork carriage attitude parameters include fork carriage tilt angle component data and fork carriage deflection angle component data.

[0070] The forklift mobile robot is divided into load-bearing areas to obtain the load-bearing support parts of the forklift mobile robot;

[0071] The load distribution data of the supporting parts are collected synchronously in layers to obtain the current forklift load parameters of the forklift mobile robot.

[0072] The device's internal signal receiving channel continuously monitors the linkage lifting command issued by the forklift mobile robot. After the signal receiving channel fully captures the complete command message, it transmits it to the built-in command parsing unit. The command parsing unit splits the various fields stored in the message according to the preset fixed message segmentation rules. The message height unit is millimeters (mm), the travel discrete segmentation fixed step size is set to 50mm, and the height data anomaly judgment threshold is ±10mm. Data exceeding the threshold is directly marked as invalid and discarded. The content of the field that specifically records the lifting height value is extracted separately and converted into height value information that the device can recognize. Finally, the target lifting height of the forklift mobile robot is generated.

[0073] Multiple sets of spatial attitude acquisition elements mounted on the outside of the fork carriage continuously collect all raw spatial attitude data generated during the operation of the fork carriage. All raw data are uniformly transmitted to the global noise reduction and collection unit. The global noise reduction and collection unit filters all raw data one by one according to the preset fixed interference signal judgment standard, and removes invalid noise data generated by environmental vibration and line signal interference during the acquisition process. The noise judgment standard is that the difference between the single sampled attitude value and the average value of the previous 5 times is greater than 0.005 rad, which is judged as interference data and removed. The effective data that can truly reflect the state of the fork carriage is retained. The filtered effective data is then classified and integrated into two categories: tilt angle and deflection angle. The two categories of integrated data directly constitute the current fork carriage attitude parameters. The current fork carriage attitude parameters completely include two independent data contents: fork carriage tilt angle component data and fork carriage deflection angle component data.

[0074] According to the factory-preset fixed load-bearing area division standard of the forklift body of the forklift mobile robot, the overall structure of the forklift is divided into areas. The division operation strictly follows the physical boundary position of the bottom support structure of the forklift. After the division is completed, each structural position that independently bears the weight of the goods is marked separately. All marked independent load-bearing structural positions are uniformly used as the load-bearing support parts of the forklift mobile robot.

[0075] The load acquisition elements deployed at each load-bearing support point synchronously start data acquisition. All load acquisition elements maintain completely consistent data acquisition start time and data acquisition duration. During the acquisition process, the bottom layer contact force data, the middle layer structure transmission force data, and the upper layer cargo pressure force data are completely recorded in layers. All the force data collected in all layers are uniformly summarized and integrated. All the summarized and integrated force data are combined to form the current forklift load parameters of the forklift mobile robot.

[0076] The beneficial effects are that the entire process can simultaneously complete the confirmation of the lifting target value and the collection of all-round status data of the fork carriage. The attitude data is guaranteed to be true and reliable through full-domain noise reduction processing. The load area is accurately divided and the load data is collected in layers synchronously based on fixed physical boundaries. The attitude parameters and load parameters are obtained completely and synchronously without distortion. This provides complete, accurate and time-consistent basic raw data for the subsequent analysis of the coordinated linkage of the fork carriage attitude and load, and ensures that the subsequent linkage lifting drive distribution work has complete and reliable data support.

[0077] D2. Perform coordinated analysis on the current fork carriage attitude parameters and the current fork carriage load parameters to obtain the linkage lifting drive allocation parameters;

[0078] In this embodiment of the invention, the step of performing coordinated analysis of the current fork carriage attitude parameters and the current fork carriage load-bearing parameters to obtain the linkage lifting drive allocation parameters includes:

[0079] Extract single-point load data of the bearing support part from the current fork carriage bearing parameters, and generate the load distribution characteristics of the fork mobile robot based on the single-point load data;

[0080] The attitude load linkage mapping is performed on the fork carriage tilt angle component data, the fork carriage deflection angle component data and the load distribution characteristics to obtain the link drive initial load ratio data of the fork mobile robot.

[0081] The initial load ratio data is adjusted for off-center load balancing to obtain the linkage lifting drive distribution parameters of the forklift mobile robot.

[0082] The calculation formula for the linkage lifting drive distribution parameters is as follows:

[0083] ;

[0084] in, Assign parameters to the link lifting drive. This refers to the initial load ratio data for the linkage drive. This refers to the fork carriage tilt angle component data of the forklift mobile robot. This refers to the fork carriage deflection angle component data of the forklift mobile robot. This is the rated maximum tilt angle of the forklift mobile robot. This is the rated maximum deflection angle of the forklift mobile robot. This refers to the total number of the load-bearing support components. This refers to the single-point load data of the load-bearing support component. The average load across the entire load-bearing support portion is denoted as .

[0085] Retrieve the current fork carriage load parameters that have been aggregated and stored. Read the single-point load data recorded in the corresponding storage area one by one according to the independent data storage partition corresponding to each load support part. Arrange and integrate the single-point load data corresponding to all load support parts in the order of physical spatial arrangement of the fork carriage. Completely record the distribution and arrangement of the load values ​​of each point in the space of the fork carriage. Integrate and generate the load distribution characteristics of the fork mobile robot that can completely reflect the force situation of each part of the fork carriage.

[0086] Retrieve the stored fork carriage tilt angle component data, fork carriage deflection angle component data, and load distribution characteristics generated in the previous step. Import the three types of data into the pre-set attitude load linkage mapping processing unit. The mapping processing unit establishes a one-to-one correspondence between spatial attitude changes and load forces at each point according to the force transmission logic of the physical structure of the fork carriage. Match the basic output ratio of the linkage structure according to the load distribution state corresponding to each set of attitude data. After all matching is completed, the data is summarized and integrated to form the initial load ratio data of the linkage drive of the fork mobile robot.

[0087] The generated initial load ratio data of the linkage drive is sent to the off-center load balance adjustment unit. The adjustment unit reads the single-point load values ​​corresponding to all load-bearing support parts, compares the differences between the load values ​​of all points, and adjusts the load ratio values ​​corresponding to each linkage in a unified manner according to the equipment force balance standard. This eliminates the output difference caused by the force imbalance between the support points of the fork carriage. After all the values ​​are adjusted, the standardized linkage lifting drive distribution parameters of the fork mobile robot are integrated and output.

[0088] This formula is derived based on the rigid static force model of the fork carriage. When the fork carriage tilts or deflects, an additional overturning moment is generated, requiring a simultaneous increase in the output of the corresponding side link to offset the moment. Discrete distribution of multi-point loads can cause an increase in local bending moments, which is compensated for by a load dispersion correction term. Both correction coefficients are dimensionless and are consistent with the baseline output. The multiplication outputs the drive distribution parameters with force dimensions. Below is a complete set of numerical calculation examples: Let... =2000N, =0.05rad, =0.03rad, =0.174 rad, =0.174 rad, =4, four-point load =2200N、 =1800N =1900N =2100N, calculated average load =2000N; Attitude term value within the square root = 1 + (0.05 / 0.174)² + (0.03 / 0.174)² ≈ 1.094, Load correction term = 1 + 1 / 4 × [(0.1)² + (-0.1)² + (-0.05)² + (0.05)²] = 1.00625; Final =2000×√1.094×1.00625≈2092N; Correction coefficient range constraints: the value range of the attitude term is 1~√3≈1.732, the value of the load correction term is ≥1, and it is equal to 1 when the load is completely uniform.

[0089] The initial load ratio data of the linkage drive is directly generated after the attitude load linkage mapping is completed by the fork carriage tilt angle component data, fork carriage deflection angle component data and load distribution characteristics. The fork carriage tilt angle component data and fork carriage deflection angle component data are fixed outputs obtained by full-domain noise reduction and aggregation of multi-dimensional spatial attitude data of the fork carriage. The rated maximum tilt angle is 10° and the rated maximum deflection angle is the fixed limit value of 10° of the mechanical structure calibrated by the fork mobile robot at the factory. The total number of bearing support parts is calculated according to the division of the physical support structure of the fork carriage. The single-point load data of the bearing support parts is collected synchronously by the load acquisition element of each support point in layers. The global average load is calculated by summing the single-point load data of all bearing support parts and dividing it by the total number of bearing support parts. All parameters have corresponding hardware acquisition links or pre-processing processes as stable data supply sources. All kinds of parameters are recorded and stored with unified standard physical dimensions.

[0090] The entire calculation process uses the initial load ratio data of the linkage drive as the baseline output. It simultaneously introduces output correction coefficients caused by two types of attitude deviations: fork carriage tilt and deflection, and output correction coefficients caused by uneven load distribution at multiple support points of the fork carriage. After merging and performing square root calculations on these two types of correction coefficients, they are multiplied by the baseline output value to obtain the linkage lifting drive distribution parameters. This fully realizes the simultaneous participation of two types of working condition information—the degree of spatial attitude deviation of the fork carriage and the degree of load dispersion in the bearing area—in the unified correction of the linkage output value. This allows the final output linkage lifting drive distribution parameters to synchronously match the real-time tilt and deflection state of the fork carriage and the differences in load distribution at each support point. Throughout the process, the dimensions of attitude-related quantities, load-related quantities, and drive output quantities are kept consistent and uniform, eliminating the one-sidedness of output adjustment caused by correction of a single working condition variable, and uniformly completing the numerical quantification calculation work corresponding to the off-center load balance adjustment.

[0091] When the proportion of the fork carriage tilt angle component data relative to the rated maximum tilt angle continues to increase, or when the proportion of the fork carriage deflection angle component data relative to the rated maximum deflection angle continues to increase, the attitude-related correction coefficients increase synchronously. When the difference between the single-point load data of the bearing support part and the global average load continues to widen, the load dispersion correction coefficient increases synchronously. An increase in either type of correction coefficient will cause the final multiplied linkage lifting drive distribution parameter to increase synchronously. When the fork carriage tilt angle component data and the fork carriage deflection angle component data are all zero and the single-point load data of all bearing support parts are completely consistent with the global average load, both types of correction coefficients fall back to the minimum fixed value. The linkage lifting drive distribution parameter synchronously falls back to the minimum standard value equal to the initial load ratio data of the linkage drive. The parameter changes maintain a monotonic correspondence throughout the process, and the dimensions scale synchronously with the correction coefficients and always maintain a unified matching state.

[0092] The beneficial effect is that a complete load distribution feature is constructed based on the original load data of the bearing points. An initial load ratio adapted to the current working condition is obtained through the linkage mapping of attitude and load data. Then, the off-center load balance adjustment is carried out in a unified manner to eliminate the force difference at each point. Finally, the drive distribution parameters adapted to the real-time tilt, skew and load distribution state of the fork carriage are output, so that the lifting force of each link is completely matched with the actual force state of the fork carriage, thus avoiding the problem of fork carriage deviation caused by excessive force on one side during the lifting process from the source.

[0093] D3. Based on the target lifting height and the linkage lifting drive allocation parameters, the linkage lifting action of the fork mobile robot is arranged in layers to obtain a phased action sequence.

[0094] In this embodiment of the invention, the step of arranging the link lifting actions of the forklift mobile robot in a layered manner based on the target lifting height and the link lifting drive allocation parameters to obtain a phased action sequence includes:

[0095] The target lifting height is divided into lifting stroke intervals to obtain the discrete height control nodes of the forklift mobile robot;

[0096] Based on the linkage lifting drive allocation parameters, drive strategy matching is performed on the discrete height control node to obtain the node drive configuration of the fork mobile robot;

[0097] Based on the node-driven configuration, the discrete height control nodes are sorted by timing logic to obtain the motion execution flow of the fork-type mobile robot.

[0098] By applying stage boundary condition constraints to the action execution flow, the staged action sequence of the fork-type mobile robot is obtained.

[0099] The step of applying stage boundary condition constraints to the action execution flow to obtain the staged action sequence of the fork-type mobile robot includes:

[0100] Data continuity detection is performed on adjacent height control nodes in the action execution flow to obtain node connection feature data of the fork-type mobile robot;

[0101] Based on the node connection feature data, the smoothness of the transition interval of the adjacent height control nodes is corrected to obtain the corrected transition data of the fork-type mobile robot.

[0102] Based on the corrected transition data, the boundary interval of the action execution flow is defined to obtain the stage boundary constraint conditions of the fork-type mobile robot.

[0103] Based on the stage boundary constraints, the action execution flow is segmented and split to obtain the staged action sequence of the fork-type mobile robot.

[0104] The system reads the factory-preset fixed single-segment stroke segment length standard of the electric cylinder linkage lifting mechanism of the forklift mobile robot. The fixed segment length is uniformly set to 50mm. If the height difference between adjacent nodes exceeds 100mm, intermediate transition nodes are automatically added. Taking the zero lifting height as the starting reference point of the stroke, the lifting stroke interval is continuously segmented from low to high according to the fixed segment length. For each segmented stroke interval, the height point corresponding to the end point of the interval is locked. Each locked height point is assigned an independent dedicated storage address and marked and stored until the value of the segmented height point reaches the target lifting height value. All marked and stored height points are integrated and summarized to form a discrete height control node that completely covers the entire lifting stroke of the forklift mobile robot.

[0105] The link lifting drive allocation parameters, output and fully stored by the attitude load calculation module, are retrieved. The lifting stroke position information corresponding to each set of discrete height control nodes is read. A unique binding relationship is established between the stroke position of a single height control node and the standard output value and output duration of each link recorded in the link lifting drive allocation parameters. For each discrete height control node, an exclusive link execution output standard and action duration standard are generated independently. After completing the one-to-one matching of all discrete height control nodes, the exclusive execution standards corresponding to all nodes are uniformly collected, packaged and stored. The complete collected and packaged data set is the node drive configuration of the forklift mobile robot.

[0106] All the discretized height control nodes that have been matched and bound and the corresponding node driver configurations are retrieved. Following the actual physical movement sequence logic of the forklift lifting operation, which gradually lifts the forklift from the initial low lifting position to the target height, all the discretized height control nodes are arranged sequentially. During the arrangement process, the node driver configuration bound to each height node is synchronously incorporated into the overall arrangement sequence along with the corresponding node. The arrangement order from low to high is not disrupted throughout the process. After the arrangement is completed, a continuous and uninterrupted complete action execution flow is formed, which includes the height points and the corresponding drive execution standards. This complete flow is defined as the action execution flow of the forklift mobile robot.

[0107] The system sequentially traverses every two sets of discrete height control nodes that are adjacent to each other within the action execution flow. It simultaneously reads two types of core data: the height point value and the corresponding link output value of each of the two sets of nodes. It calculates the difference between the two types of data between the two sets of nodes and records the change range of the height value, the change range of the link output value, and the overall trend of the value change between each set of adjacent nodes. The traversal continues until all adjacent nodes in the action execution flow have completed the detection operation. All the difference, change range, and change trend information recorded during the detection of all adjacent nodes are integrated and archived. All the integrated and archived information is combined to form the node connection feature data of the forklift mobile robot.

[0108] Retrieve the complete archived node connection feature data, extract the numerical change intervals between all adjacent height control nodes recorded in the data, and perform smoothness correction operations on the transition stroke interval corresponding to each change interval. The correction operation is carried out entirely based on the uniform speed adjustment rule of the electric cylinder connecting rod output, slowly reducing the numerical difference between the height and connecting rod output between adjacent nodes, uniformly filling multiple sets of intermediate transition height points and corresponding transition output values ​​in the transition interval, eliminating abrupt changes in data between adjacent nodes, and uniformly summarizing and saving all the transition interval data after uniform speed adjustment and transition point filling. The complete set of summarized and saved transition interval data is the corrected transition data of the forklift mobile robot.

[0109] All corrected transition data are identified segment by segment, and the boundary points between segments with smooth numerical changes and segments with fluctuating numerical changes are identified. The height value and linkage output value corresponding to each boundary point are recorded completely. The entire travel range covered between two sets of adjacent boundary points is taken as an independent operation stage. The four constraints corresponding to each independent operation stage are recorded completely: starting height, ending height, allowable range of linkage output change within the stage, and duration of stage action. The four constraints corresponding to all independent operation stages are uniformly organized and archived. The set of all the organized and archived constraints forms the stage boundary constraints of the forklift mobile robot.

[0110] Using the complete and unedited motion execution flow and the already organized and archived stage boundary constraints, the start and end height points of each stage recorded in the stage boundary constraints are read line by line. The entire continuous motion execution flow is physically segmented according to the positions corresponding to the start and end height points. After the segmentation, each independent process corresponds to a set of exclusive link output change rules and motion execution time. All the segmented motion processes after the segmentation are uniformly collected and arranged according to the lifting sequence. The complete set of segmented motion processes after collection and arrangement is combined to obtain the staged motion sequence of the fork mobile robot.

[0111] The beneficial effects are as follows: based on the target lifting height, standardized discrete height control nodes are obtained with full coverage. Combined with the linkage lifting drive allocation parameters generated by the real-time force state of the fork carriage, exclusive node drive configurations are accurately matched for each node. The nodes are arranged in an orderly manner according to the actual lifting motion logic to form a coherent action execution flow. Then, the data fluctuation characteristics between nodes are completely captured by the continuity detection of adjacent node data. Based on the feature data, the transition interval is smoothed with uniform speed to eliminate abrupt action changes. Based on the corrected transition data, the boundaries of each operation stage are accurately divided and standardized stage boundary constraints are generated. Finally, based on the constraints, the segmented and controllable staged action sequence is obtained. The entire process can achieve segmented and refined control of the entire lifting stroke. The linkage output of each lifting action is matched with the real-time attitude and load conditions of the fork carriage, completely avoiding the fork carriage shaking and deviation problems caused by sudden changes in power during the lifting process, and continuously improving the smoothness and stability of the linkage lifting process.

[0112] D4. Based on the phased action sequence, dynamically generate reference data for the expected attitude of the connecting rod lifting;

[0113] In this embodiment of the invention, the step of dynamically generating reference data for the expected attitude of the connecting rod lifting based on the phased action sequence includes:

[0114] The phased action sequence is parsed to obtain the phased action parameters of the phased action sequence;

[0115] The stage action parameters are transformed by spatial attitude mapping to obtain the stage spatial attitude data of the stage action sequence.

[0116] The stage spatial attitude data is time-aligned to obtain the initial expected attitude reference sequence data of the staged action sequence;

[0117] The adjacent intervals of attitude reference data in the initial expected attitude reference sequence data are connected and smoothed to obtain the expected attitude reference data for the linkage lifting of the fork-type mobile robot.

[0118] The equipment's internal storage area fully stores the phased action sequence. It reads all the execution information corresponding to each independent work segment within the phased action sequence segment by segment. It extracts four types of exclusive execution information recorded in each process segment: the range of lifting height change, the continuous output force of each linkage, the duration of electric cylinder action, and the switching rhythm of height nodes within the segment. It integrates the four types of execution information extracted from a single segment into a set of independent data. All the independent data generated by each segment are uniformly summarized, classified, and stored. The complete set of summarized and classified data directly constitutes the phased action parameters of the phased action sequence.

[0119] The forklift mobile robot's fork carriage linkage mechanical structure has a built-in fixed transmission correspondence. This transmission correspondence completely records the fixed conversion logic between the electric cylinder linkage output, lifting height changes, and the fork carriage's spatial tilt and deflection states. The height value and linkage output value in each set of stage action parameters are substituted into this fixed transmission correspondence to complete the conversion process. After conversion, the tilt angle and deflection angle values ​​of the fork carriage at each moment during the corresponding segment lifting process are obtained. All tilt angle and deflection angle values ​​calculated for the same segment are integrated and packaged. Each segment corresponds to a set of packaged data. All segment packaged data are uniformly collected to form the stage spatial posture data of the stage action sequence.

[0120] Within the phased action sequence, each segment follows a lifting execution order from low to high. Each set of phased spatial attitude data is bound to the execution time node of the corresponding segment. All phased spatial attitude data are arranged sequentially according to the complete time progression of the lifting operation from start to reaching the target height. During the arrangement process, missing time stamp information at the connection points of each segment is uniformly supplemented to ensure that each set of phased spatial attitude data matches a unique and continuous timestamp. After all data is sorted in time sequence and time stamps are supplemented, they are integrated to generate a complete and coherent data chain. This complete data chain is the initial expected attitude reference sequence data of the phased action sequence.

[0121] The initial expected attitude reference sequence data contains multiple sets of adjacent interval attitude reference data. The tilt angle and deflection angle values ​​of adjacent intervals are located one by one, and the difference between the changes of the two values ​​is calculated. For adjacent intervals where the difference exceeds the equipment stability standard, multiple sets of transition attitude values ​​are filled. The attitude change judgment threshold is 0.002rad. If the threshold is exceeded, no less than 3 sets of gradual transition attitudes are filled. The filled transition attitude values ​​are set according to the uniform gradual change rule to gradually reduce the difference between the attitude values ​​of adjacent intervals and eliminate the attitude value change situation at the junction of two intervals. All the complete attitude data after gradual filling is uniformly integrated and archived. The complete set of standardized attitude data after integration and archiving directly forms the expected attitude reference data of the linkage lifting of the forklift mobile robot.

[0122] The beneficial effects are: to extract refined stage action parameters from the complete disassembly and phased action sequence; to complete the accurate conversion of action parameters into spatial attitude data based on the fixed mechanical transmission relationship of the equipment; to construct a continuous and complete initial expected attitude reference sequence data through unified temporal alignment processing; and to eliminate abrupt transitions by performing gradual smoothing processing on the attitude data of adjacent intervals, thereby generating continuous and abrupt-free link lifting expected attitude reference data throughout the process. This can provide a continuous, accurate, and abrupt standard attitude reference benchmark for subsequent real-time attitude deviation comparison, ensuring the consistency of data reference in the height and attitude deviation solution process and reducing compensation and adjustment errors caused by abrupt changes in attitude standards.

[0123] D5. Real-time acquisition of the actual lifting height data and actual posture parameter data of the fork-type mobile robot, and comparison of the difference between the target lifting height and the reference data of the expected lifting posture of the connecting rod to obtain the height deviation data and posture deviation data.

[0124] In this embodiment of the invention, the real-time acquisition of the actual lifting height data and actual attitude parameter data of the forklift mobile robot, and the comparison of the difference between the target lifting height and the reference data of the expected lifting attitude of the connecting rod to obtain height deviation data and attitude deviation data, includes:

[0125] The difference between the actual lifting height data and the target lifting height of the forklift mobile robot is extracted to obtain the real-time height deviation data of the forklift mobile robot;

[0126] The actual posture parameter data of the fork-type mobile robot and the expected posture reference data of the link lifting are extracted by parameter item difference to obtain the real-time posture deviation data of the fork-type mobile robot.

[0127] Based on the unified timestamp of the fork-type mobile robot, the real-time height deviation data and the real-time posture deviation data are subjected to time-series alignment verification to obtain the alignment verification result of the fork-type mobile robot.

[0128] Based on the alignment verification results, the real-time height deviation data and the real-time posture deviation data are adjusted for deviation adaptation to obtain the height deviation data and posture deviation data of the fork-type mobile robot.

[0129] The height acquisition element deployed on the electric cylinder lifting mechanism continuously collects the actual lifting height data generated in real time during the operation of the fork carriage. The storage unit stably retains the target lifting height calculated in the early stage. The actual lifting height data at the same acquisition time is subtracted from the target lifting height. The difference obtained by the calculation completely records the offset between the actual lifting position of the fork carriage and the standard lifting position at the current time. The equipment continuously records the height difference corresponding to each acquisition time. The height difference at all times is summarized and integrated to form the real-time height deviation data of the forklift mobile robot.

[0130] The fork carriage tilt angle and deflection angle acquisition elements synchronously output the actual posture parameter data during the operation of the equipment. The reference data of the expected posture of the linkage lifting is stored in the computing unit as the standard posture benchmark for the whole process. The tilt angle component and deflection angle component of the actual posture parameters at the same time point are respectively matched with the corresponding components in the expected posture reference data and the values ​​are subtracted to obtain the tilt angle difference and deflection angle difference. The difference content of the two types of posture components at each acquisition time is completely recorded. The difference records at all times are summarized and combined to form the real-time posture deviation data of the forklift mobile robot.

[0131] During the generation of each set of real-time height deviation data and real-time attitude deviation data, a standard timestamp uniformly generated by the device is synchronously bound. The timestamp marking information attached to each of the two sets of deviation data is read, and the data entries with completely identical timestamps in the two sets of data are matched one by one. Isolated deviation data entries whose timestamps cannot match are filtered out and marked and stored separately. All verification information such as the number of successfully matched data entries, the number of isolated entries, and the duration of time misalignment of entries are fully recorded. After all verification information is summarized and organized, the alignment verification result of the forklift mobile robot is generated.

[0132] The alignment verification results completely distinguish between data entries with complete time-series matching and isolated data entries with time-series misalignment. Real-time height deviation data and real-time attitude deviation data with complete time-series matching directly retain the original difference content. For isolated deviation data with time-series misalignment, the difference change trend of the data is completed and corrected according to the matching of adjacent timestamps. Invalid abnormal difference entries caused by acquisition failure are removed. The absolute value of height deviation is greater than 50mm and the absolute value of attitude deviation is greater than 0.01rad, which are directly judged as abnormal data and removed. The two sets of deviation data after correction and removal of abnormality are rearranged according to a unified continuous time series. After the rearrangement is completed, the standardized height deviation data and attitude deviation data of the forklift mobile robot are output respectively.

[0133] The beneficial effects are that the actual operating height and attitude information of the equipment are collected synchronously, and the difference between the data and the standard target value and the expected attitude benchmark is extracted. The timing verification is carried out based on the unified timestamp to remove data with time misalignment. Then, the two types of deviation data are uniformly rectified and corrected, and the height deviation data and attitude deviation data with synchronous timing and valid data are output. This can eliminate the problem of deviation calculation distortion caused by asynchronous data acquisition timing, and provide accurate and reliable deviation calculation basis for subsequent iterative compensation and adjustment.

[0134] D6. Based on the height deviation data and the attitude deviation data, the phased action sequence is iteratively compensated and adjusted to obtain the final coordinated linkage lifting control data.

[0135] In this embodiment of the invention, the step of iteratively compensating and adjusting the phased action sequence based on the height deviation data and the attitude deviation data to obtain the final coordinated linkage lifting control data includes:

[0136] The height deviation data and the attitude deviation data are subjected to deviation feature association mapping processing to obtain the stage deviation impact data of the staged action sequence;

[0137] Based on the stage deviation impact data, the stage action parameters in the staged action sequence are compensated stage by stage to obtain the stage compensation adjustment data of the staged action sequence.

[0138] Based on the stage compensation adjustment data, the action parameters of the staged action sequence are updated to obtain the staged action sequence after one compensation.

[0139] Based on the phased action sequence after the first compensation, the updated height deviation data and updated posture deviation data of the fork-type mobile robot are obtained.

[0140] The updated height deviation data and the updated attitude deviation data are used to determine the deviation convergence. If both the updated height deviation data and the updated attitude deviation data are less than the preset convergence threshold, or the number of iterations is equal to the preset maximum number of iterations, then the iteration is stopped and the final collaborative linkage lifting control data of the fork mobile robot is output.

[0141] Height deviation data records the offset of the fork carriage lifting position from the standard position, while posture deviation data records the offset of the fork carriage tilt angle and deflection angle from the standard posture. Based on the force transmission logic corresponding to the mechanical transmission structure of the fork carriage linkage, the correlation and correspondence between the two types of deviation data and the segmented actions of each stage of the action sequence are established. The influence weights of height deviation and posture deviation on linkage output and lifting speed within each lifting process segment are determined. The weight coefficient for height deviation is 0.6, and the weight coefficient for posture deviation is 0.4. The weight values ​​are determined through orthogonal testing of multiple prototypes. The degree and range of influence of deviation corresponding to each operational segment are fully recorded. The influence records of all segments are integrated and summarized to form the stage deviation influence data of the staged action sequence.

[0142] The stage deviation impact data marks the adjustment and correction range corresponding to the deviation within each lifting process segment. According to the execution order from low to high in the stage action sequence, the stage action parameters of each segment are read one by one. Combined with the adjustment and correction range marked for the corresponding segment, the parameters such as the output force of the connecting rod, the running speed of the electric cylinder, and the height node switching rhythm inside the segment are modified. After all parameters of a single segment are corrected, the complete information of the segment after adjustment is saved. The parameter compensation operation of all segments is completed in sequence. All the information of the completed segment adjustment is uniformly collected to form the stage compensation adjustment data of the stage action sequence.

[0143] The stage compensation adjustment data stores the complete set of action parameters for each lifting process after deviation correction. The updated parameter content in the stage compensation adjustment data replaces the old action parameters corresponding to each segment of the original stage action sequence. At the same time, the original segment division structure and execution sequence of each segment of the stage action sequence are retained without modification. Only the relevant values ​​of the drive execution within the segment are replaced. After all segment parameter replacement operations are completed, a brand new stage action process is generated. This brand new process is the stage action sequence after one compensation of the stage action sequence.

[0144] After compensation, the phased action sequence serves as the new execution standard input device drive unit. The electric cylinder and attitude acquisition element simultaneously carry out a new round of data acquisition of actual lifting height and actual fork carriage attitude. The set of processing procedures, including height difference extraction, attitude parameter difference extraction, timing alignment verification, and deviation adaptation and standardization, are repeatedly executed. Based on the real operating data obtained in the new round of acquisition, new offset record content is recalculated and generated. The two sets of new offset record content serve as the updated height deviation data and updated attitude deviation data of the forklift mobile robot, respectively.

[0145] The system retrieves the pre-stored convergence threshold and maximum iteration count values ​​from the device. The preset height convergence threshold is 0.5mm, the attitude convergence threshold is 0.0005rad, and the preset maximum iteration count is 20. It compares all offset values ​​in the updated height deviation data with the convergence threshold and all offset values ​​in the updated attitude deviation data with the convergence threshold in each group. It also simultaneously counts the total number of compensation iterations that have been completed. When all offset values ​​related to height and all offset values ​​related to attitude are lower than the numerical standard corresponding to the convergence threshold, or when the current total number of iterations reaches the set maximum number of iterations, the cyclic compensation adjustment process is terminated directly. The entire set of segmented action processes that has undergone multiple rounds of correction, meets the convergence standard, or reaches the iteration limit is exported. The exported complete set of process content is defined as the final collaborative linkage lifting control data of the forklift mobile robot.

[0146] The beneficial effects are that by establishing a correlation mapping between the two types of deviation data, namely height and attitude, and each lifting segment, accurate stage deviation impact data is obtained. Based on the impact data, the action parameters are corrected segment by segment to achieve targeted compensation. The action sequence after single compensation is updated and the deviation is re-solved and updated. The convergence judgment loop is continuously carried out until the deviation reaches the standard or the number of iterations is exhausted. The final coordinated linkage lifting control data with convergence and stability is output. By relying on multiple rounds of closed-loop iteration, the offset of lifting height and attitude is continuously reduced, and the positioning accuracy and attitude stability of the forklift lifting operation are continuously improved, ensuring that the multi-link coordinated force output always matches the real-time working conditions throughout the lifting process.

[0147] like Figure 2 The diagram shown is a functional block diagram of a linkage lifting control system for a forklift mobile robot based on forklift cooperation, provided in an embodiment of the present invention.

[0148] The forklift-based mobile robot linkage lifting control system 100 described in this invention can be installed in an electronic device. Depending on the functions implemented, the forklift-based mobile robot linkage lifting control system 100 may include an instruction sensing and acquisition module 101, an attitude load calculation module 102, a lifting action hierarchical planning module 103, a expected attitude dynamic generation module 104, a real-time deviation comparison and solution module 105, and an iterative collaborative compensation control module 106. The module described in this invention can also be called a unit, which refers to a series of computer program segments that can be executed by the processor of an electronic device and can perform a fixed function, stored in the memory of the electronic device.

[0149] In this embodiment, the functions of each module / unit are as follows:

[0150] The instruction sensing and acquisition module 101 is used to determine the target lifting height according to the linkage lifting instruction of the forklift mobile robot, and simultaneously acquire the current forklift posture parameters and the current forklift load parameters.

[0151] The attitude load calculation module 102 is used to perform coordinated analysis on the current fork carriage attitude parameters and the current fork carriage load parameters to obtain the linkage lifting drive distribution parameters.

[0152] The lifting action layer planning module 103 is used to arrange the link lifting actions of the fork mobile robot in a layered manner based on the target lifting height and the link lifting drive allocation parameters, so as to obtain a phased action sequence.

[0153] The expected attitude dynamic generation module 104 is used to dynamically generate reference data for the expected attitude of the connecting rod lifting based on the phased action sequence.

[0154] The real-time deviation comparison and solution module 105 is used to acquire the actual lifting height data and actual posture parameter data of the fork mobile robot in real time, and compare the difference between the target lifting height and the reference data of the expected lifting posture of the connecting rod to obtain the height deviation data and posture deviation data.

[0155] The iterative collaborative compensation control module 106 is used to perform iterative compensation and adjustment on the phased action sequence based on the height deviation data and the attitude deviation data to obtain the final collaborative linkage lifting control data.

[0156] In the several embodiments provided by this invention, it should be understood that the disclosed methods and systems can be implemented in other ways. For example, the system embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and other division methods may be used in actual implementation.

[0157] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0158] Furthermore, the functional modules in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in the form of hardware plus software functional modules.

[0159] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention.

[0160] This application embodiment can acquire and process relevant data based on artificial intelligence technology. Artificial intelligence is the theory, method, technology, and application system that uses digital computers or machines controlled by digital computers to simulate, extend, and expand human intelligence, perceive the environment, acquire knowledge, and use that knowledge to obtain optimal results.

[0161] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A linkage lifting control method for a forklift mobile robot based on fork carriage collaboration, characterized in that, The method includes: D1. Based on the linkage lifting command of the forklift mobile robot, determine the target lifting height and simultaneously collect the current forklift attitude parameters and current forklift load parameters; D2. Perform coordinated analysis on the current fork carriage attitude parameters and the current fork carriage load parameters to obtain the linkage lifting drive allocation parameters, including: Extract single-point load data of the load-bearing support part from the current fork carriage load parameters, and generate load distribution characteristics based on the single-point load data; The fork carriage tilt angle component data, fork carriage deflection angle component data and load distribution characteristics of the fork mobile robot are subjected to attitude load linkage mapping to obtain the initial load ratio data of the linkage drive. The initial load distribution data is adjusted for off-center load balancing to obtain the connecting rod lifting drive distribution parameters. The calculation formula for the connecting rod lifting drive distribution parameters is as follows: ； in, Assign parameters to the link lifting drive. This refers to the initial load ratio data for the linkage drive. Fork carriage tilt component data, Fork carriage deflection angle component data, This is the rated maximum tilt angle of the forklift mobile robot. This is the rated maximum deflection angle of the forklift mobile robot. This refers to the total number of the load-bearing support parts. This refers to the single-point load data of the load-bearing support component. The average load across the entire load-bearing support portion; D3. Based on the target lifting height and the linkage lifting drive allocation parameters, the linkage lifting action of the fork mobile robot is arranged in layers to obtain a phased action sequence. D4. Based on the phased action sequence, dynamically generate reference data for the expected attitude of the connecting rod lifting; D5. Real-time acquisition of the actual lifting height data and actual posture parameter data of the fork-type mobile robot, and comparison of the difference between the target lifting height and the reference data of the expected lifting posture of the connecting rod to obtain the height deviation data and posture deviation data. D6. Based on the height deviation data and the attitude deviation data, the phased action sequence is iteratively compensated and adjusted to obtain the final coordinated linkage lifting control data.

2. The linkage lifting control method for a forklift mobile robot based on fork carriage collaboration as described in claim 1, characterized in that, The process involves determining the target lifting height based on the linkage lifting command of the forklift mobile robot, and simultaneously collecting the current forklift attitude parameters and current forklift load parameters, including: Receive the link lifting command from the forklift mobile robot, and parse the link lifting command to obtain the target lifting height of the forklift mobile robot; Global noise reduction and aggregation are performed on the multi-dimensional spatial attitude data of the fork carriage of the fork mobile robot to obtain the current fork carriage attitude parameters of the fork mobile robot. The current fork carriage attitude parameters include fork carriage tilt angle component data and fork carriage deflection angle component data. The forklift mobile robot is divided into load-bearing areas to obtain the load-bearing support parts of the forklift mobile robot; The load distribution data of the supporting parts are collected synchronously in layers to obtain the current forklift load parameters of the forklift mobile robot.

3. The linkage lifting control method for a forklift mobile robot based on fork carriage collaboration as described in claim 1, characterized in that, Based on the target lifting height and the linkage lifting drive allocation parameters, the linkage lifting actions of the forklift mobile robot are arranged in a layered manner to obtain a phased action sequence, including: The target lifting height is divided into lifting stroke intervals to obtain the discrete height control nodes of the forklift mobile robot; Based on the linkage lifting drive allocation parameters, drive strategy matching is performed on the discrete height control node to obtain the node drive configuration of the fork mobile robot; Based on the node-driven configuration, the discrete height control nodes are sorted by timing logic to obtain the motion execution flow of the fork-type mobile robot. By applying stage boundary condition constraints to the action execution flow, the staged action sequence of the fork-type mobile robot is obtained.

4. The linkage lifting control method for a forklift mobile robot based on fork carriage collaboration as described in claim 3, characterized in that, The step of applying stage boundary condition constraints to the action execution flow to obtain the staged action sequence of the fork-type mobile robot includes: Data continuity detection is performed on adjacent height control nodes in the action execution flow to obtain node connection feature data of the fork-type mobile robot; Based on the node connection feature data, the smoothness of the transition interval of the adjacent height control nodes is corrected to obtain the corrected transition data of the fork-type mobile robot. Based on the corrected transition data, the boundary interval of the action execution flow is defined to obtain the stage boundary constraint conditions of the fork-type mobile robot. Based on the stage boundary constraints, the action execution flow is segmented and split to obtain the staged action sequence of the fork-type mobile robot.

5. The linkage lifting control method for a forklift mobile robot based on fork carriage collaboration as described in claim 1, characterized in that, The step of dynamically generating reference data for the expected attitude of the connecting rod lifting based on the phased action sequence includes: The phased action sequence is parsed to obtain the phased action parameters of the phased action sequence; The stage action parameters are transformed by spatial attitude mapping to obtain the stage spatial attitude data of the stage action sequence. The stage spatial attitude data is time-aligned to obtain the initial expected attitude reference sequence data of the staged action sequence; The adjacent intervals of attitude reference data in the initial expected attitude reference sequence data are connected and smoothed to obtain the expected attitude reference data for the linkage lifting of the fork-type mobile robot.

6. The linkage lifting control method for a forklift mobile robot based on fork carriage collaboration as described in claim 1, characterized in that, The actual lifting height data and actual attitude parameter data of the forklift mobile robot are acquired in real time, and the difference between the target lifting height and the reference data of the expected lifting attitude of the connecting rod are compared to obtain height deviation data and attitude deviation data, including: The difference between the actual lifting height data and the target lifting height of the forklift mobile robot is extracted to obtain the real-time height deviation data of the forklift mobile robot; The actual posture parameter data of the fork-type mobile robot and the expected posture reference data of the linkage lifting are extracted by parameter item difference to obtain the real-time posture deviation data of the fork-type mobile robot. Based on the unified timestamp of the fork-type mobile robot, the real-time height deviation data and the real-time posture deviation data are subjected to time-series alignment verification to obtain the alignment verification result of the fork-type mobile robot. Based on the alignment verification results, the real-time height deviation data and the real-time posture deviation data are adjusted for deviation adaptation to obtain the height deviation data and posture deviation data of the fork-type mobile robot.

7. The linkage lifting control method for a forklift mobile robot based on fork carriage collaboration as described in claim 1, characterized in that, The step of iteratively compensating and adjusting the phased action sequence based on the height deviation data and the attitude deviation data to obtain the final coordinated linkage lifting control data includes: The height deviation data and the attitude deviation data are subjected to deviation feature association mapping processing to obtain the stage deviation impact data of the staged action sequence; Based on the stage deviation impact data, the stage action parameters in the staged action sequence are compensated stage by stage to obtain the stage compensation adjustment data of the staged action sequence. Based on the stage compensation adjustment data, the action parameters of the staged action sequence are updated to obtain the staged action sequence after one compensation. Based on the phased action sequence after the first compensation, the updated height deviation data and updated posture deviation data of the fork-type mobile robot are obtained. The updated height deviation data and the updated attitude deviation data are used to determine the deviation convergence. If both the updated height deviation data and the updated attitude deviation data are less than the preset convergence threshold, or the number of iterations is equal to the preset maximum number of iterations, then the iteration is stopped and the final collaborative linkage lifting control data of the fork mobile robot is output.

8. A linkage lifting control system for a forklift mobile robot based on fork carriage collaboration, characterized in that, For implementing the forklift-based linkage lifting control method for a forklift mobile robot according to claim 1, the system comprises: The instruction perception and acquisition module is used to determine the target lifting height based on the linkage lifting instruction of the forklift mobile robot, and simultaneously acquire the current forklift attitude parameters and the current forklift load parameters. The attitude load calculation module is used to perform coordinated analysis on the current fork carriage attitude parameters and the current fork carriage load parameters to obtain the linkage lifting drive distribution parameters. The lifting action layering planning module is used to arrange the link lifting actions of the fork mobile robot in a layered manner based on the target lifting height and the link lifting drive allocation parameters, so as to obtain a phased action sequence. The expected attitude dynamic generation module is used to dynamically generate reference data for the expected attitude of the link lifting based on the phased action sequence. The real-time deviation comparison and solution module is used to acquire the actual lifting height data and actual posture parameter data of the fork mobile robot in real time, and compare the difference between the target lifting height and the reference data of the expected lifting posture of the connecting rod to obtain the height deviation data and posture deviation data. The iterative collaborative compensation control module is used to perform iterative compensation and adjustment on the phased action sequence based on the height deviation data and the attitude deviation data to obtain the final collaborative linkage lifting control data.

Images