Research On Location And Compensation Algorithm Of Intelligent Forklift Truck

With the rapid development of warehouse industry and the improvement of its internal various mechanical equipment,electronic equipment and operation equipment,it is put forward new demands for intelligent sensing range,especially positioning technology based on service(Location Based Services,LBS).In recent years,the logistics industry is playing a role in the market gradually highlights.The outdoor positioning technology has matured,the global satellite navigation system has been successfully applied.However,in the complex storage environment,the propagation of wireless signal is inevitably affected by the obstacles,so that the positioning effect is greatly reduced.The complex storage environment,increasing labor costs and the general demand for high efficiency make the intelligent warehouse become an inevitable trend the future development of the logistics industry.A key to realize intelligent warehouse is to solve the storage location technology.However,signal multipath propagation,NLOS effect and the different reception time,make the storage location extremely challenging.In this paper,the location for the storage of intelligent forklift and compensation algorithm is studied.The main contents are as below:1)This paper is based on literature retrieval and field research,and summarized the development status of indoor positioning and its development prospect.According to different classification methods,it introduces the definition and characteristics of the common wireless location algorithm and technology in storage,compares and analysis the advantages and disadvantages the scope of these techniques of the common wireless location technology in storage,and lays the foundation for the application of these technologies in the warehousing intelligent guided vehicle.At the same time,it is to provide reference for the development of warehousing and wireless positioning technology,and promote the development of warehousing wireless positioning technology.2)The surface smoothness,the load quality,the fork lift height and so on,the location of the center of gravity of the intelligent forklift truck platform will change,causing the body to produce different degrees of tilt,furthermore,the distance between the laser positioning scanner and the beacon on the top of the laser is changed,and the information of the individual beacon is lost.This paper starts from the pitch angle,roll angle and yaw three factors test angle,obtains them to the positioning data of each index level,and provides the basis for compensation.3)In order to solve the problem of low positioning accuracy caused by the body tilt of the intelligent warehouse forklift,this paper carried out a real-time compensation algorithm for localization,setting up a error model of tilted positioning theory.A experimental platform was established on Attitude and Heading Reference System including accelerometer,angular accelerometer and magnetic field strength meter,referred to as AHRS: Attitude Heading Reference and System and laser positioning and navigation system.The algorithm uses the acceleration and pitch by the Attitude and Heading Reference System to calculate the instantaneous rotation radius,using the method of the iterative least squares to filter the data,and correcting positioning data under inclination.The results show that the positioning accuracy can be effectively improved by 16 mm.when the pitch angle is from 0 to 5 degrees.In the operation process of warehouse forklift platform,there is not only changes of the pitch angle,but also the changes of roll angle and yaw angle,but the change of the yaw are closely related with the angle of platform heading angle,and can not change the platform location data,so the location compensation is not taken into account in the yaw angle.In order to comprehensively solve the positioning error caused by changes in tilt,pitch angle and yaw angle of the two,using Euler transform,this paper proposes location optimization compensation algorithm for the intelligent warehouse forklift platform in the process of locating,tests pitch angle and roll angle and verifies the reliability of the optimization compensation algorithm.The test results show that this optimized compensation algorithm can effectively reduce the influence of pitch angle and roll angle on the positioning deviation,can accurately compensate the actual position of any platform tilt state,improve positioning accuracy 22 mm,which provides a reference for the localization of state tilt intelligent warehouse forklift.