CN114413791B - Method, system and device for detecting steering wheel zero deflection angle of steering wheel type forklift - Google Patents
Method, system and device for detecting steering wheel zero deflection angle of steering wheel type forklift Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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Abstract
The invention relates to a detection method of a steering wheel type forklift steering wheel zero deflection angle, which comprises the following steps: collecting the real-time forklift posture of the forklift in a uniform speed state; according to the real-time forklift attitude calculation under the uniform speed state of the forklift, the forklift attitude variation delta a in a time period delta T is obtained; calculating average angular velocity of forklift in uniform velocity stageCollecting the steering wheel speed v of the forklift in a uniform speed state; by dividing the steering wheel speed v in the constant speed state by the average angular speed of the forklift in the constant speed stageObtaining the average rotation radius of the forklift in a uniform speed stateCalculating wheelbase d divided by average radius of rotationTo make steering wheel zero deflection angleIs equal to the wheelbase d and the average radius of rotationA quotient of (2); zero deflection angle through steering wheelCalculating steering wheel zero deflection angle by arcsine function of (2)By converting direct detection of the steering wheel zero deflection angle of the forklift into detection of the steering wheel angular speed, the reliability of steering wheel zero deflection angle detection is improved, and the measurement accuracy is higher.
Description
Technical Field
The invention relates to the field of steering wheel zero deflection angle detection, in particular to a steering wheel type forklift steering wheel zero deflection angle detection method and system, and also relates to a steering wheel type forklift steering wheel zero deflection angle iteration compensation method, system and device.
Background
At present, the detection of the zero deflection angle of the steering wheel of the forklift mainly comprises a visual inspection method, a trial method and a least square fitting circle. The visual inspection method mainly refers to a physical reference object or a physical reference surface, and adjusts the steering wheel to be parallel to the reference surface. The choice of the reference plane determines the accuracy of the final detection and therefore there is a large human error.
The trial method is mainly based on the direction determination after the forklift runs for a long distance when the angle is formed by each compensation, and the compensation is performed step by step until the forklift can run on a straight line. The method is a detection method of a speculative type and an empirical type, can obtain relatively accurate results, but is long in time consumption and low in efficiency.
The least square fitting circle is used for carrying out circle fitting on coordinates in the detection process by utilizing a least square method according to coordinate information (X, Y) obtained through feedback of a laser sensor, and the physical actual angle of the current steering wheel is finally obtained through calculating the radius of the fitting circle and the distance (wheelbase) between the front wheel and the rear wheel of the trolley. The method is simple and easy to implement, but the sensitivity of the laser sensor to coordinate information is poorer than that of angle information, so that the flatness of the ground can cause larger interference to the coordinate information; the steering wheel zero deflection angle is generally a relatively small angle (+/-2 degrees or so), and the radius of the fitting circle is very large, so that the error is relatively large when the fitting is performed by using coordinates. The final detection accuracy is thus greatly dependent on the external conditions and is difficult to control.
Disclosure of Invention
Based on the above, it is necessary to provide a method for detecting the zero deflection angle of the steering wheel type forklift steering wheel, aiming at the problems that the detection precision of the zero deflection angle is greatly dependent on external conditions and is difficult to control at present.
A detection method of steering wheel zero deflection angle of steering wheel type forklift is suitable for three-wheeled forklift comprising one steering wheel and two rear wheels. The detection method comprises the following steps:
collecting the real-time forklift posture of the forklift in a uniform speed state;
according to the real-time forklift attitude calculation under the uniform speed state of the forklift, the forklift attitude variation delta a in a time period delta T is obtained; the forklift attitude change quantity comprises an angle value which is rotated by the forklift around the forklift rotation center in a time period;
calculating average angular velocity of forklift in uniform velocity stageThe calculation formula is as follows:
wherein Δa i The change quantity of the gesture of the forklift in the ith time period is obtained; delta T i Is the ith time period;
collecting the steering wheel speed v of the forklift in a uniform speed state;
by dividing the steering wheel speed v in the constant speed state by the average angular speed of the forklift in the constant speed stageObtaining the average rotation radius of the forklift in a uniform speed state>
Calculating the wheelbase d divided by the average radius of rotationTo let the steering wheel zero deflection angle +.>Is equal to the wheelbase d and the average radius of rotation +.>A quotient of (2);
through the steering wheel zero deflection angleCalculating said steering wheel zero offset angle +.>The formula is as follows:
according to the method for detecting the steering wheel zero deflection angle of the steering wheel type forklift truck, the direct detection of the steering wheel zero deflection angle of the forklift truck is converted into the detection of the steering wheel angular velocity, the steering wheel is detected without depending on other equipment, the consistency of the detection process and the data source in the motion process is ensured, the reliability of the steering wheel zero deflection angle detection is improved, and the measurement accuracy is higher.
In one embodiment, the attitude information of the forklift is measured by a laser sensor or an inertial measurement unit.
The invention also discloses an iterative compensation method for the steering wheel zero deflection angle of the steering wheel type forklift, which comprises the following steps:
obtaining the steering wheel zero deflection angleThe steering wheel type forklift steering wheel zero deflection angle detection method is used for detecting the steering wheel type forklift steering wheel zero deflection angle;
judging the steering wheel zero deflection angleWhether the absolute value of (a) is greater than a preset error allowable value; if yes, use zero deflection angle +.>Correcting and compensating steering wheel angle theta, namely by +.>And controlling the steering wheel to move as the steering wheel makes angle.
In one embodiment, the preset error tolerance value is 0.1 °.
In one embodiment, the steering wheel steering angle theta of the steering wheel of the forklift is controlled by a steering motor, and the steering wheel speed v is controlled by a steering motorControlling a walking motor; when the steering wheel has zero deflection angleWhen the absolute value of (2) is greater than the preset error allowable value, the steering motor passes through zero offset angle +.>Iterative correction compensates steering wheel angle theta.
The invention also discloses a detection system of the steering wheel type forklift steering wheel zero deflection angle, which is suitable for a three-wheeled forklift comprising a steering wheel and two rear wheels; the detection system comprises a parameter acquisition module, a gesture change amount calculation module, an average angular velocity calculation module and a zero deflection angle calculation module.
The parameter acquisition module is used for acquiring the steering wheel speed v forklift and the real-time forklift posture of the forklift in a uniform speed state;
the attitude change amount calculation module is used for calculating and obtaining the forklift attitude change amount deltaa in a time period deltaT according to the real-time forklift attitude of the forklift in a uniform speed state; the forklift attitude change quantity comprises an angle value which is rotated by the forklift around the forklift rotation center in a time period;
the average angular velocity calculation module is used for calculating the average angular velocity of the forkliftAnd
a zero deflection angle calculation module for dividing the steering wheel speed v in a uniform speed state by the average angular speed of the forklift in a uniform speed stageObtaining the average rotation radius of the forklift in a uniform speed state>Also for calculating the wheelbase d divided by the average radius of rotation +.>To let the steering wheel zero deflection angle +.>Is equal to the wheelbase d and the average radius of rotation +.>A quotient of (2); also through zero deflection angle of the steering wheel +.>Calculating said steering wheel zero offset angle +.>The formula is as follows:
in one embodiment, the average angular velocityThe calculation formula of (2) is as follows:
the invention also discloses an iterative compensation system of the steering wheel type forklift steering wheel zero deflection angle, which is suitable for a three-wheeled forklift comprising one steering wheel and two rear wheels. The detection system comprises a zero offset angle acquisition module, a judgment module and an execution module.
The zero deflection angle acquisition module is used for obtaining the zero deflection angle of the steering wheelZero deflection angle of steering wheel +.>Through the detection system of the steering wheel type forklift steering wheel zero deflection angleDetecting the system;
the judging module is used for judging the steering wheel zero deflection angleWhether the absolute value of (c) is greater than a preset error tolerance.
The execution module is used for detecting zero offset angleIf the absolute value of (2) is greater than a predetermined error tolerance, zero offset angle is used>Correcting and compensating steering wheel angle theta, namely by +.>And controlling the steering wheel to move as the steering wheel makes angle.
In one embodiment, the steering wheel steering angle theta of the steering wheel of the forklift is controlled by a steering motor, and the steering wheel speed v is controlled by a traveling motor; when the steering wheel has zero deflection angleWhen the absolute value of (2) is greater than the preset error allowable value, the steering motor passes through zero offset angle +.>Iterative correction compensates steering wheel angle theta.
The invention also discloses an iterative compensation device for the steering wheel zero deflection angle of the steering wheel type forklift, which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the processor realizes the steps of the iterative compensation method for the steering wheel zero deflection angle of the steering wheel type forklift when executing the program.
Compared with the prior art, the invention has the following effective effects:
the method for detecting the steering wheel zero deflection angle of the steering wheel type forklift converts direct detection of the steering wheel zero deflection angle of the forklift into detection of the steering wheel angular velocity, utilizes a laser sensor or an inertia measuring unit of the forklift body, the zero offset is detected without other equipment, so that the consistency of the data sources in the detection process and the motion process is ensured, the reliability of the steering wheel zero offset angle detection is improved, and the measurement accuracy is higher.
Drawings
Fig. 1 is a flowchart of a method for detecting a steering wheel zero deflection angle of a steering wheel type forklift.
Fig. 2 is a three-wheel motion model diagram of a steering wheel type forklift.
Fig. 3 is a schematic diagram of an iterative compensation method for the steering wheel zero deflection angle of the steering wheel type forklift.
Fig. 4 is a flowchart of an iterative compensation method for the steering wheel zero deflection angle of the steering wheel type forklift.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It is noted that when an element is referred to as being "mounted to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "secured to" another element, it can be directly secured to the other element or intervening elements may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "or/and" as used herein includes any and all combinations of one or more of the associated listed items.
Example 1
The embodiment discloses a detection method of a steering wheel type forklift steering wheel zero deflection angle, which is suitable for a three-wheeled forklift comprising a steering wheel and two rear wheels. The fork truck hardware is utilized, zero offset is detected without other equipment, the consistency of data sources in the detection process and the motion process is ensured, and the problems that the detection accuracy of the current zero offset angle is greatly dependent on external conditions and is difficult to control are solved. Referring to fig. 1, the detection method includes the following specific steps.
And establishing a three-wheel kinematic model of the steering wheel type forklift. Referring to fig. 2, the three-wheeled kinematic model includes parameters: wheelbase d, forklift angular velocity omega, steering wheel angle theta and steering wheel velocity v. The wheelbase is the distance between the steering wheel and the center points of the two rear wheels, and the parameters meet the following conditions:
therefore, the present embodiment converts the direct detection of the zero deflection angle of the steering wheel of the forklift into the detection of the steering wheel angular velocity.
And collecting the wheelbase d of the forklift, the steering wheel speed v of the forklift under the uniform speed state of the forklift and the posture of the real-time forklift. The steering wheel steering angle theta of the steering wheel of the forklift is controlled by a steering motor, and the steering wheel speed v is specifically controlled by a traveling motor. In this embodiment, the steering wheel angle θ, steering wheel speed v, and attitude information of the forklift may be obtained in real time by using a detection device mounted on the forklift body, such as a laser sensor or an inertial measurement unit. The attitude accuracy given by the laser sensor or IMU (inertial measurement unit) can reach 0.1 degrees and is very stable.
Calculating the average angular velocity of the forklift in the uniform velocity stage according to the pose change of the forkliftSteering wheel of forkliftThe walking motor delivers a fixed walking speed, and the delivery quantity of the steering motor is kept at 0 degree. Calculating the posture of the forklift in real time under the uniform speed state of the forklift to obtain the posture change quantity deltaa of the forklift in a time period deltaT; the forklift attitude change quantity comprises an angle value which is rotated by the forklift around the forklift rotation center in a time period. Obtaining the angular velocity omega of the current period i 。
Thereby calculating the average angular velocity in the constant velocity phaseThe formula is as follows:
wherein Δa i The change quantity of the gesture of the forklift in the ith time period is obtained; delta T i For the i-th time period.
According to the average angular velocityCalculating zero deflection angle of steering wheel>The three-wheel kinematic model formula is reversely deduced and then is substituted into the average angular velocity +.>Thus obtaining zero deflection angle +.>I.e.
Reverse thrust to obtain +.>
The specific process is that the steering wheel speed v in a uniform speed state is divided by the average angular speed of the forklift in a uniform speed stageObtaining the average rotation radius of the forklift in a uniform speed state>
Calculating the wheelbase d divided by the average radius of rotationTo let the steering wheel zero deflection angle +.>Is equal to the wheelbase d and the average radius of rotation +.>A quotient of (2);
through the steering wheel zero deflection angleCalculating said steering wheel zero offset angle +.>The formula is as follows:
according to the detection method of the steering wheel type forklift steering wheel zero deflection angle, direct detection of the forklift steering wheel zero deflection angle is converted into detection of steering wheel angular velocity, the steering wheel angle velocity is detected by using a laser sensor or an IMU (inertial measurement unit) of a forklift body, no other equipment is relied on for detecting the steering wheel, consistency of a detection process and a motion process data source is guaranteed, reliability of steering wheel zero deflection angle detection is improved, and measurement accuracy is higher.
Example 2
The embodiment discloses a detection system of a steering wheel type forklift steering wheel zero deflection angle, which is suitable for a three-wheeled forklift comprising a steering wheel and two rear wheels; the detection system comprises a parameter acquisition module, a gesture change amount calculation module, an average angular velocity calculation module and a zero deflection angle calculation module.
The parameter acquisition module is used for steering wheel speed v forklift and real-time forklift posture under the uniform speed state of the forklift;
the attitude change amount calculation module is used for calculating and obtaining the forklift attitude change amount deltaa in a time period deltaT according to the real-time forklift attitude of the forklift in a uniform speed state; the forklift attitude change quantity comprises an angle value which is rotated by the forklift around the forklift rotation center in a time period;
the average angular velocity calculation module is used for calculating the average angular velocity of the forkliftAnd
the zero deflection angle calculation module is used for dividing the steering wheel speed v in a uniform speed state by the average angular speed of the forklift in a uniform speed stageObtaining the average rotation radius of the forklift in a uniform speed state>And also for calculating the wheelbase d divided by the average radius of rotationTo let the steering wheel zero deflection angle +.>Is equal to the wheelbase d and the average radius of rotation +.>A quotient of (2); also through zero deflection angle of the steering wheel +.>Calculating said steering wheel zero offset angle +.>The formula is as follows:
the present embodiment has the same advantages as those of embodiment 1, and will not be described here again.
Example 3
Referring to fig. 3 and 4, the present embodiment discloses an iterative compensation method for zero deflection angle of steering wheel type forklift, which is suitable for a three-wheeled forklift comprising a steering wheel and two rear wheels. When the steering wheel type forklift generates a zero deflection angle in the running process according to a given speed, the zero deflection angle of the steering wheel is subjected to iterative compensation timely. The iterative compensation method comprises the following specific steps.
Obtaining the steering wheel zero deflection angleIt is detected by the method for detecting the steering wheel zero deflection angle of the steering wheel type forklift according to the embodiment 1.
Judging the steering wheel zero deflection angleWhether the absolute value of (a) is greater than a preset error allowable value; if yes, use zero deflection angle +.>Correcting the steering angle of the compensating steering wheel, i.e. by +.>As steering wheel angle controlAnd making the steering wheel move. The preset error allowable value is determined according to the accuracy of the forklift body, and in this embodiment, the preset error allowable value is 0.1 °.
In the embodiment, the steering wheel steering angle theta of the steering wheel of the forklift is controlled by a steering motor, and the steering wheel speed v is controlled by a traveling motor; when the steering wheel has zero deflection angleWhen the absolute value of (2) is greater than the preset error allowable value, the steering motor passes through zero offset angle +.>Iterative correction compensates steering wheel angle theta.
According to the iterative compensation method for the steering wheel zero deflection angle of the steering wheel type forklift, direct detection of the steering wheel zero deflection angle of the forklift is converted into detection of the steering wheel angular speed, iterative calculation is carried out according to a kinematic model, the steering wheel zero deflection angle detection precision is high, and the precision requirement for mechanical installation of the steering wheel is reduced.
Example 4
The embodiment discloses an iterative compensation system of steering wheel formula fork truck steering wheel zero deflection angle, it is applicable to including the tricycle fork truck of a steering wheel and two rear wheels. The detection system comprises a zero offset angle acquisition module, a judgment module and an execution module.
The zero deflection angle acquisition module is used for obtaining the zero deflection angle of the steering wheelZero deflection angle of steering wheel +.>The steering wheel type forklift steering wheel zero deflection angle detection system is used for detecting the steering wheel type forklift steering wheel zero deflection angle according to the embodiment 2;
the judging module is used for judging the steering wheel zero deflection angleWhether the absolute value of (a) is greater than a preset error allowanceA value; and
the execution module is used for detecting zero offset angleIf the absolute value of (2) is greater than a predetermined error tolerance, zero offset angle is used>Correcting and compensating steering wheel angle theta, namely by +.>And controlling the steering wheel to move as the steering wheel makes angle.
The steering wheel steering angle theta of the steering wheel of the forklift is controlled by a steering motor, and the steering wheel speed v is controlled by a traveling motor; when the steering wheel has zero deflection angleWhen the absolute value of (2) is greater than the preset error allowable value, the steering motor passes through zero offset angle +.>Iterative correction compensates steering wheel angle theta.
The present embodiment is used for the same beneficial effects as embodiment 3, and will not be described here again.
Example 5
The embodiment also discloses an iterative compensation device of zero deflection angle of steering wheel type forklift steering wheel, which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, and is characterized in that: the processor executes the program to implement the steps of the iterative compensation method of the steering wheel zero deflection angle of the steering wheel type forklift as in the embodiment 3.
In this embodiment, the memory (i.e., readable storage medium) includes flash memory, hard disk, multimedia card, card memory (e.g., SD or DX memory, etc.), random Access Memory (RAM), static Random Access Memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, magnetic disk, optical disk, etc. In some embodiments, the memory may be an internal storage unit of a computer device, such as a hard disk or memory of the computer device. In other embodiments, the memory may also be an external storage device of a computer device, such as a plug-in hard disk, smart Media Card (SMC), secure Digital (SD) Card, flash Card (Flash Card) or the like, which are provided on the computer device. Of course, the memory may also include both internal storage units of the computer device and external storage devices. In this embodiment, the memory is typically used to store an operating system and various application software installed on the computer device. In addition, the memory can be used to temporarily store various types of data that have been output or are to be output.
The processor may be a central processing unit (Central Processing Unit, CPU), controller, microcontroller, microprocessor, or other data processing chip in some embodiments. The processor is typically used to control the overall operation of the computer device. In this embodiment, the processor is configured to run the program code or process the data stored in the memory, so as to implement the processing procedure of iterative compensation of the steering wheel zero deflection angle of the steering wheel type forklift in the foregoing embodiment 3, thereby improving the safety and accuracy of forklift travel.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples merely represent a few embodiments of the present invention, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of the present application is to be determined by the following claims.
Claims (10)
1. The detection method is suitable for a three-wheeled forklift comprising one steering wheel and two rear wheels and is used for detecting the steering wheel zero deflection angle of the three-wheeled forkliftThe detection method is characterized by comprising the following steps of:
collecting the real-time forklift posture of the forklift in a uniform speed state;
according to the real-time forklift attitude calculation under the uniform speed state of the forklift, the forklift attitude variation delta a in a time period delta T is obtained; the forklift attitude change quantity comprises an angle value which is rotated by the forklift around the forklift rotation center in a time period;
calculating average angular velocity of forklift in uniform velocity stageThe calculation formula is as follows:
wherein Δa i The change quantity of the gesture of the forklift in the ith time period is obtained; delta T i Is the ith time period;
collecting the steering wheel speed v of the forklift in a uniform speed state;
by dividing the steering wheel speed v in the constant speed state by the average angular speed of the forklift in the constant speed stageObtaining the average rotation radius of the forklift in a uniform speed state>
Calculating wheelbase d divided by the average radius of rotationLet the sine value of the zero deflection angle of the steering wheel be equal to the wheelbase d and the average turning radius +.>A quotient of (2);
through the steering wheel zero deflection angleCalculating said steering wheel zero offset angle +.>The formula is as follows:
in the formula, d is the wheelbase of the forklift.
2. The method for detecting the steering wheel zero deflection angle of the steering wheel type forklift according to claim 1, wherein the attitude information of the forklift is measured by a laser sensor or an inertial measurement unit.
3. The iterative compensation method for the steering wheel zero deflection angle of the steering wheel type forklift truck is characterized by comprising the following steps of:
obtaining the steering wheel zero deflection angleWhich is detected by the detection method of the steering wheel type forklift steering wheel zero deflection angle according to any one of claims 1-2;
judging the steering wheel zero deflection angleWhether the absolute value of (a) is greater than a preset error allowable value;if yes, use zero deflection angle +.>Correcting and compensating steering wheel angle theta, namely by +.>And controlling the steering wheel to move as the steering wheel makes angle.
4. The iterative compensation method for zero deflection angle of steering wheel type forklift steering wheel according to claim 3, wherein the preset error allowable value is 0.1 °.
5. The iterative compensation method of zero deflection angle of steering wheel type forklift steering wheel according to claim 3, wherein steering wheel angle θ of the forklift steering wheel is controlled by steering motor, steering wheel speed v is controlled by walking motor; when the steering wheel has zero deflection angleWhen the absolute value of (2) is greater than the preset error allowable value, the steering motor passes through zero offset angle +.>Iterative correction compensates steering wheel angle theta.
6. A detection system for zero deflection angle of steering wheel type forklift steering wheel, which is suitable for a three-wheeled forklift comprising a steering wheel and two rear wheels, characterized in that the detection system comprises:
the parameter acquisition module is used for acquiring steering wheel speed v forklift and real-time forklift posture of the forklift in a uniform speed state;
the attitude change amount calculation module is used for calculating and obtaining the attitude change amount deltaa of the forklift within a time period deltaT according to the real-time forklift attitude of the forklift in a uniform speed state; the forklift attitude change quantity comprises an angle value which is rotated by the forklift around the forklift rotation center in a time period;
an average angular velocity calculation module for calculating an average angular velocity of the forkliftAnd
a zero deflection angle calculation module for dividing the steering wheel speed v in a uniform speed state by the average angular speed of the forklift in a uniform speed stageObtaining the average rotation radius of the forklift in a uniform speed state>Also for calculating the wheelbase d divided by said average radius of rotation +.>To let the steering wheel zero deflection angle +.>Is equal to the wheelbase d and the average radius of rotation +.>A quotient of (2); also through zero deflection angle of the steering wheel +.>Calculating said steering wheel zero offset angle +.>The formula is as follows:
7. rudder according to claim 6Detection system for zero deflection angle of steering wheel of wheeled forklift truck, characterized in that the average angular velocityThe calculation formula of (2) is as follows:
8. an iterative compensation system of zero deflection angle of steering wheel type forklift steering wheel, which is suitable for a three-wheeled forklift comprising a steering wheel and two rear wheels, characterized in that the detection system comprises:
a zero deflection angle acquisition module for obtaining the zero deflection angle of the steering wheelZero deflection angle of steering wheel +.>The steering wheel type forklift steering wheel zero deflection angle detection system is used for detecting the steering wheel type forklift steering wheel zero deflection angle according to any one of claims 6 to 7;
the judging module is used for judging the steering wheel zero deflection angleWhether the absolute value of (a) is greater than a preset error allowable value; and
an execution module for when the offset angle is zeroWhen the absolute value of (a) is larger than a preset error allowable value, zero offset angle is used for +.>Correcting and compensating steering wheel angle theta, namely by +.>And controlling the steering wheel to move as the steering wheel makes angle.
9. The iterative compensation system of zero deflection angle of steering wheel type forklift steering wheel according to claim 8, wherein steering wheel angle θ of the forklift steering wheel is controlled by steering motor, steering wheel speed v is controlled by walking motor; when the steering wheel has zero deflection angleWhen the absolute value of (2) is greater than the preset error allowable value, the steering motor passes through zero offset angle +.>Iterative correction compensates steering wheel angle theta.
10. An iterative compensation device of zero deflection angle of steering wheel type forklift steering wheel, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, and is characterized in that: the processor, when executing the program, implements the steps of the iterative compensation method for zero deflection angle of steering wheel type forklift as defined in any one of claims 3 to 5.
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| CN117415858B (en) * | 2023-12-18 | 2024-03-19 | 上海仙工智能科技有限公司 | Rudder angle compensation calibration method and system for single steering wheel mobile robot and storage medium |
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