INMATEH - Agricultural Engineering

19-28

Authors: Weigang Deng, Chenglong Liu, Peng Li, Yanlong Wang, Shengshi Xie, Chunguang Wang

To analyze the maximum acceleration (amax) of a potato colliding with different objects, both experimental test and finite element analysis (FEA) methods were used. Results showed that when potatoes were collided with the single rod, the steel plate and the double rods, the average discrepancies of FEA and experimental test values were 5.3%, 3.95% and 5.04%. The amax increased with the increase of potato drop height, and decreased with the increase of potato mass. Under the same conditions, the amax decreased in turn when the potatoes were collided with the steel plate, the single rod and the double rods. The FEA results showed that the amax in collision with the steel plate was 60.78% to 96.29% higher than that with the double rods. The amax in collision with the steel plate was 53.89% to 83.27% higher than that with the double rods. The amax in collision with the single rod covered with soil was 37.65% and 31.54% lower than that without soil from different drop height or with different potato mass. The research methods and conclusions of this article provided a basis for the analysis of impact mechanics and damage mechanism of potatoes, and contributed to further researches related to solid-like agricultural and food products.

39-46

Authors: Aleksey Kupreenko, Yury Kuznetsov, Тatiana Bychkova, Igor Kravchenko, Nikolay Aldoshin, Larisa Kalashnikova

The construction of a solar dryer-grain storage facility is described in this paper. The design of a grain auger conveyor-distributor for its loading is made. The dependence of the width of the discharge opening in the casing of the auger conveyor-distributor on its length is obtained. The results of laboratory tests of the grain auger conveyor-distributor are presented. It is established that the minimum initial width of the drain opening for wheat grain should be not less than 9 mm. The conditions of grain uniform distribution grain by the auger conveyor-distributor are justified: the filling factor of the auger inter-turn space in its loading zone – 0.35; the length of the discharge opening of the charging hopper should be equal to the doubled value of the auger pitch size. In this case, the uneven distribution of grain along the discharge opening will be no more than 5%.

57-66

Authors: Meng Zhang, Zeqi Liu, Yajun Zhuang, Jie Han, Xiang Yin, Yulong Chen

The vacuum seed metering device absorbs seeds by using the negative pressure generated by vacuum air flow. Therefore, it is of great significance to study the variation law of pyrolysis gas flow field to improve its seed metering performance. In this paper, the common disc and composite disc were selected as the research objects and tested on the indoor test-bed. The negative pressure was measured by U-type barometer, and the effects of fan speed, suction hole size, seed hole structure and air chamber thickness on the air flow field were studied. Firstly, the influence of fan rotation frequency on vacuum chamber negative pressure is studied, and the variation law of negative pressure in vacuum chamber and fan port of common disc and composite disc under the same frequency is compared. Secondly, the suction holes in the vacuum chamber were numbered, the negative pressure distribution of the suction holes was measured, and the influence of the number and diameter of the suction holes on the negative pressure of the vacuum chamber was studied. Finally, the negative pressure was measured at the distance of 0 to 10 mm from the suction hole to study the effect of seed hole structure on the air flow field. Moreover, increase the additional thickness of the vacuum chamber from 0 to 40 mm to study the influence of the chamber thickness on the distribution of the gas flow field. This paper makes a comprehensive experimental analysis on the influencing factors of air flow field of air suction seed metering device, necessary for future design of air suction seed metering device.

73-81

Authors: Bing Xu, Decong Zheng, Jiaxin Wang, Youzhi Yang

A flame intra-row weeding robot, based on the Delta mechanism, was designed to solve the problems of high labor intensity, low efficiency, easy-to-harm seedling and others. Simultaneously, the applicable robot kinematics model was established. Moreover, the method of exhaustion enabled us to obtain the full-scale robot workspace and analyze its smart workspace. When the nozzle diameter took different values, the numerical simulation on the propane combustion process in the burner was performed by the Fluent component transport model, analyzing the temperature distribution inside and out of the burner. The experimental results showed that the flame intra-row weeding robot was required to work on the condition that the radius of smart cylindrical space is Φ400 mm×359.8 mm — when the length of the driving arm is 300 mm, the length of the driven arm is 800 mm, the radius of the static platform is 150 mm and the radius of the movable platform is 50 mm — the maximum temperature of propane flame reaches 1,830 K and the width of the high temperature zone reaches 27 mm — when the nozzle diameter is 1.6 mm.

91-100

Authors: Xiwen Zhang, Zhanfeng Hou, Nianzu Dai

In view of the problems of long coating time, complicated manual operation, high multi-seed rate of coated seeds, low qualified rate, and low degree of automation of control equipment in traditional rotary coating machine, a new type of rotary coating machine was designed while using LabVIEW with a complete electric control system, which can effectively improve the speed and quality of coating. The system uses single-chip microcomputer as the lower computer, LabVIEW as the upper computer, and uses programming electronic control technology to set seed coating parameters in advance, precisely control each part and achieve precise supply. Batch supply of powder and liquid greatly improves the automation and intelligence of the operating system, improves the coating efficiency, reduces the multi-seed rate and the seedless rate, and increases the coating pass rate. In order to improve the coating quality and the supply accuracy of the coating machine, the error analysis and calibration test of the seed supply system, powder supply system and liquid supply system were carried out. After the test verification, the supply error was controlled within 2% to meet the demand for precise supply. The test results show that the pass rate of the seeds coated by the new rotary coating machine is increased by 15% to 20% compared with the seeds coated by the traditional manual coating

111-118

Authors: XiaoDan Ren, Haichao Wang, Xin Shi

Aiming at the field management of plum grove in Inner Mongolia of China, taking the dense planting plum groves in Bikeqi town of Hohhot City as the research object, this paper proposed a visual navigation path detection algorithm for plum grove. By processing the video image information of plum grove, comparing RGB and HSV color space model, HSV color model was selected to separate the plant and background in V channel. Homomorphic filtering was used to highlight the region of interest in the image, Otsu was selected to segment the image, the intersection of plum trunk and ground was extracted as feature points, and the least square method was used to fit the navigation path. Through the comparative analysis of detection rate under different detection conditions in one day, the verification test of route accuracy was carried out. The experimental results show that: for dense planting plum grove, the average path detection accuracy of the algorithm is 70% and 73.3% under the condition of front light and weak light, respectively. The detection accuracy and real-time meet the requirements of plum grove field management, and the navigation baseline can be generated more accurately, which provides a preliminary basis for the realization of mechanical vision navigation in plum grove field management.

129-138

Authors: Cristian Nutescu, Iuliana Gageanu, Dan Cujbescu

The paper presents theoretical research conducted for the optimization of the working process of variable width ploughs. Thus, were determined multivariable regression functions for the traction force of the plough with variable working function of the control parameters: working depth, working width and working speed. The use of these theoretical considerations of the optimal points sought lead to the opportunity of making assessments on the possibilities to conduct their experimental validation. Conditions for an experimental plan were formulated to highlight such optimal points and the theoretical results were validated through experiments.

153-162

Authors: Zeqi Liu, Meng Zhang, Jie Han, Yajun Zhuang, Yubin Lan, Yulong Chen

In this paper, taking compound air-suction seed metering device as the subject, the effect rule of seed filling angle and seed releasing angle on the performance of seed filling and seed metering is studied. An indoor test was conducted with a JPS-12 metering test bench and a high-speed camera system. The starting and ending angles of the air chamber were changed by adjusting the regulating plate, that is, the angles of seed filling and seed releasing, and the filling and seed metering performance was taken as evaluation indexes. The test results show that: the seed filling angle has significant effect on the seed filling effect, and the miss fill index decreases with the increase of the quality of fill index. When the seed filling angle exceeds 50°, they will stabilize gradually ending at the multiple fill index of 0%. The negative pressure and operating speed are interactive and have a significant effect on filling performance. The seed releasing angle has significant effect on the metering performance. With the increase of the angle, the quality of feed index increases firstly and then decreases. The multiple index and miss index are opposite to the quality of feed index which is the max at the seed releasing angle of 39.5°. The negative pressure and forward speed are interactive and have a significant effect on metering performance. The quality of feed index under the same condition is lower than that of fill index.

173-182

Authors: Bin Li, Mingjun Ma, Chaoju Yang

In order to improve the quality of modern dairy industry, it is an inevitable trend to implement intensive control feeding of dairy cows, which is also the development direction in the future. Different feeding methods have different important effects on the health of dairy cows. For example, calves grow and develop rapidly during lactation, change their physiological structure quickly, have strong plasticity, poor inversion and imperfect digestive function. In the production of dairy farms, the scientific feeding mode of calves indirectly affects the overall benefits of dairy farms. Therefore, aiming at the above problems, this paper studies how to accurately control the quality of dairy cows. A cow precise feeding control system based on wireless communication technology and cow information management technology is studied, which solves the problems of wireless information transmission, automatic and accurate cow identification and dual-mode operation of feeder, and ensures the accurate supply of cow concentrate.

193-202

Authors: Jingxin Sun, Liqin Yang, Baohui Xu, Yuming Guo, Qingliang Cui, Yanqing Zhang

This critical collision damage force of millet and sweet buckwheat grain and the shelling force of shelled granular materials are important basic data for research of threshing and shelling technology and equipment. In order to master the linear velocity and collision force of grain with different moisture content when collision damage occurs, a centrifugal collision test device is designed. Based on the dynamic and kinematic analysis of grain in the centrifugal rotary table, the collision force between grain and steel plate was measured by PVDF piezoelectric pressure sensor and data acquisition system. The results showed that: under the same moisture content, the higher the rotational speed, the higher the grain crushing rate; at the same rotational speed, with the increase of moisture content, the crushing rate first decreased and then increased. When the moisture content of Jingu-21 and Yuqiao-4 is 19.7% and 17.8%, respectively, the grain crushing rate was the lowest. In terms of the anti-collision ability of grain, the optimum moisture content of threshing is between 19.7% and 21% for millet. For sweet buckwheat, the optimum moisture content of threshing is 17.8% ~19%, while the optimum moisture content of shelling by centrifugal sheller is about 11%. The faster the rotational speed of centrifugal rotary table is, the greater the linear speed of grain is, and the greater the collision force is. When the linear velocity of grain was 8.32 m/s and 11.30 m/s respectively, the millet grain moisture content was 11.1% and 20.9% respectively, damage began to appear, and the corresponding collision force was about 5.51 N and 10.6 N, respectively. When the linear velocity of grain was 8.32 m/s and 11.30 m/s respectively, and the moisture content was 11.1% and 22.8% of the sweet buckwheat grain respectively, damage began to appear, the corresponding collision force was about 8.92 N and 12.79 N, respectively. When the rotating speed of rotary table was 910 r/min, the linear speed of grain was 27.05 m/s, the crushing rate of millet and sweet buckwheat grain in harvest period were 56.30% and 63.76%, respectively, and the crushing rate of millet and buckwheat grain with 11.1% moisture content were 86.27% and 89.4%, respectively. The research results can provide theoretical basis for design and optimization of millet and sweet buckwheat combine harvester, threshing device and shelling device.

213-224

Authors: Zhilong Zhang, Jinlong Zheng, Aijun Geng, Ji Zhang, Abdalla N. O. Kheiry, Ang Gao

Applying different types of fertilizers to different depths of soil according to demand is advantageous in that it can optimize the distribution of nutrients in arable soil, adjust the nutrient supply of each growth stage of wheat, and increase grain yield. In the study, a layered fertilization opener that could realize the layered fertilization was developed. The interaction model between the opener, fertilizer and soil was established using EDEM simulation software. A response surface analysis was used to determine the optimal parameters of the opener. Specifically, the horizontal distance between the fertilizer drop openings was 140 mm, the machine speed was 1.05 m/s, and the angle of the opener was 37°. Furthermore, field experiments demonstrated that the average depth of upper layer was 8.39 cm, the average depth of middle layer was 16.465 cm, the average depth of lower layer was 24.025 cm, the average spacing of upper layer was 8.075 cm, and the average spacing of lower layer was 7.6 cm. The corresponding findings demonstrated that the layering effect of the opener met the requirements of the fertilization standard.

233-240

Authors: Vasyl Dmytriv, Ihor Dmytriv, Іvan Horodetskyy, Roman Horodniak, Taras Dmytriv

The method and parameters of experimental modelling of systems and processes in mechanical engineering are substantiated. The theory of similarity and dimensionality is used as an intermediate link between theory and experiment. The dimension of the factor space depends on the number of factors. The set of factors is grouped into dimensionless similarity criteria. The selected criteria are in certain dependence, such as the Galileo test, Euler and Reynolds numbers. Examples of application in experimental studies are given. The use of dimension theory in a factor-planned experiment allows reducing the number of factors, simplifies the mathematical interpretation of the response criterion and provides a graphical representation in the form of 3-D model.

248-254

Authors: Petru Cardei, Cristian Nuţescu, Mihai Matache, Oana Cristea

In this paper, a few assessments of the optimal parametric combinations in the operating regime of agricultural aggregates with ploughs of variable width are made. The starting point was from a classic expression of the tillage draft force required for traction. In order to find optimal points, some problems of constrained extreme have been formulated. Extremes provided by the optimal working width and speed have been found. Such optimal points have existed in the literature, for about half a century. Using these theoretical estimates of the optimal points sought, assessments of the possibilities for their experimental validation were made. Basic conditions for an experimental plan are formulated to highlight such optimal points.

265-274

Authors: Zhenguo Zhang, Jin He, Hongwen Li, Qingjie Wang, Wenchao Yang, Quanyu Wang

Automatic navigation system for agricultural vehicles have become a widely used technology in precision agriculture over the last few decades. More and more sophisticated tractor control systems, however, revealed that exact positioning of the actual implement is equally or even more important. Based on literature sources and patent databases, the aim of this review is to introduce implement guidance systems and describe its current application in agricultural implement. Agricultural implement guidance is an essential technology for autonomous vehicle operations. In addition, applications and new technologies associated with navigation sensors on passive and active implement guidance are analyzed. Finally, challenges and future perspectives of agricultural implement systems are summarized and forecasted. This study can enrich the application of automatic navigation sensors on agricultural implements and provide a reference for the application of automatic navigation on more field operations.

283-292

Authors: Ying Li, Zhuohuai Guan, Yisong Chen

Aiming at the problems that the cutter frequency of combine harvester is difficult to be adjusted adaptively with the forward speed, and that the missed cut or repeated cut may cause the harvesting loss to increase and the operation effect to fluctuate greatly, the system is designed to regulate the cutter frequency of combine harvester by sections. By constructing the cutter trajectory equation, the influence of the relationship between the forward speed of the harvester and the cutting frequency on the cutting area is analysed, and the optimum cutting frequency range at different operating speeds is determined. The results show that the error between the actual cutting frequency and the desired frequency of the cutter is less than 0.8Hz, and the maximum relative error is less than 8.6%; the average steady-state adjustment time of the system is 1.3s when the input cutting frequency of the device changes abruptly. The research class provides technical support for the improvement of the combine harvester handling system and the increase of the machine automation level.

303-311

Authors: Viktor Trokhaniak, Nadiia Spodyniuk, Ievgen Antypov, Olena Shelimanova, Svitlana Tarasenko, Anatoliy Mishchenko

For high-quality and simultaneous breeding of different ages of poultry a modular keeping is proposed. The heating system of the module is a panel infrared heater. It is intended for local heating of technological area. Design dimensions of the module were determined for reasons of qualitative course of technological process, namely the stocking density of poultry. Experimental studies of the temperature regime of poultry breeding area were carried out. Body temperature of the poultry was within acceptable limits, up to 41.5ºC. In addition, the surface temperature of the feathers did not exceed 29.1ºC, which fully complies with sanitary and hygienic standards. For a better representation of temperature regime in the module, CFD modeling was performed. Fields of velocities, pressures and temperatures were obtained. The air temperature near poultry in the module reached 18.6ºC, and the average velocity did not exceed 0.75m/s.

321-332

Authors: Jinlong Feng, Shujuan Yi, Qichao Li

Deep-fertilization mechanism is a key part of deep-fertilization liquid fertilizer applicator. To obtain a good-performance deep-fertilization mechanism, this study developed a deep-fertilization mechanism with deformed gears and designed a deformed gear fertilization test bench. Single-factor and central composite design tests were performed with the planet carrier, spray hole size and pump pressure as the test factors, and the fertilizer amount as the test index. The results of the single-factor test showed a linear functional relationship between fertilizer amount and pump pressure, an exponential functional relationship between planet carrier velocity and fertilizer amount, and an exponential relationship between spray hole size and fertilizer amount. The rotating and perpendicular test data were analyzed and optimized using Design-Expert 8.0.5 software. The result of the optimization is: 10.5 ml of fertilizer amount with pump pressure 0.36 MPa, planet carrier velocity 82 r/min, and spray hole size 2 mm. The test result can meet the agronomic requirements.

345-354

Authors: ZeNing Gao, QingYu Chen, GuangRui Hu, Chao Chen, ChuanLin Li, Jun Chen

According to the planting agronomy of Lycium barbarum L. in Ningxia, a self-propelled straddle-type sprayer was designed. The aim was to reduce the labor requirements, improve the spraying effect to the middle and lower parts of the canopy, reduce the influence of natural wind on droplet drift, and recycle excess liquid medicine to reduce environmental pollution. Tests showed that the coverage rate of liquid medicine on the leaf surface and back of the leaf peaked at 84.2% and 48.3%, respectively, when spraying pressure was high. Under different spraying distances, the coverage rate of liquid medicine on leaf surface and back of leaf reached 73.3% and 38.3% at the shortest distance. The uniformity of the spray droplet distribution was good, the use error was less than 10%, and the excess liquid was effectively recovered.

362-372

Authors: Sreya John, Arul Leena Rose

As we belong to a developing country, the agricultural importance is a known criterion. Majority of the Indians depend on agriculture for their basic living. It also serves as the backbone of the Indian economy. Therefore this sector should be considered important and taken care of. Diseases affecting the plants and pest are the two major threats of agriculture production. Naked eye observation followed by the addition of chemical fertilizers is the traditional method adopted by most of the farmers to avoid plant diseases. But the main limitation to this method is that it works only in the case of small scale farming. In order to tackle this issue many automatic plant disease detection systems have been developed from the early 70s. This paper is intended to survey some of the existing works in plant disease recognition that include various procedures, materials and approaches. They use different machine learning algorithms, image processing techniques and deep learning methods for disease detection. This paper also compares and suggests novel methods to recognize and classify the various kinds of infections affecting agricultural plants.

381-390

Authors: Valerian Cerempei, Iurii Molotcov, Lucretia Popa

The results of the bibliographic and theoretical studies on methods of dosing liquid substances using hydropneumatic systems are presented in this article. Based on these studies, the multicomponent continuous dosing method and installation were developed in order to obtain high quality liquid mixtures (including biofuels) at minimal cost. In the proposed installation "Biomixt-Pres" the flow of liquid components is ensured by overpressure in the dispenser tank. Theoretical analysis and experimental research of this installation allowed to argue the values of constructive and hydrodynamic parameters (overpressure in the working tank Δp = 0.2- 0.5 MPa; diameter of the working tank D=aprox.0.625 H (H is the height of the tank), liquid level and the installation height of the maximum, minimum liquid level transducers in the working tank), which ensures the required ratio of components with the error δ<0.2%.

399-409

Authors: Ihor Dmytriv

The concept of functional controllability of the milk ejection is considered, which makes it possible to predict the intensity of milk ejection in the online mode of the milking machine. The architecture of the functional controllability by intensity of milk ejection is developed. Input and output parameters of the structural-functional scheme of adaptive control of milk ejection intensity are described. An analytical model of milk ejection intensity based on Pearson's distribution is developed. The milk ejection intensity for different productivity and duration of cows milking is modelled. The microprocessor unit is designed using a single-chip microcontroller. It ensures the algorithm set by the central computer and implements a step of changing the pulsation frequency of 0.1 Hz, the ratio between the cycles of 0.25%, the phase shift step of 0.1 s.

421-429

Authors: A.S. Dorokhov, M.G. Zagoruiko, A.M. Maradudin, I.A. Bashmakov

In present-day economic conditions, extrusion is one of the advanced feedstuffs and food production processes involving intensive manifold heat and force action. During extrusion, the main function is performed by a compression mechanism which includes a forcing screw unit built into the cylinder (cowling). The forcing mechanism performs the task of transferring material while concurrently compressing it up to a required pressure and increasing the material’s temperature due to compression and friction against the cowling's sides. The temperature affects the quality of the resulting product. Thus, the research aims at obtaining a heat balance equation to optimize the extrusion process and the operating parameters of the extruder itself.

441-451

Authors: Guoyang Liu, Junfang Xia, Kan Zheng, Jian Cheng, Liu Jiang, Liwei Guo

In order to study the compressive creep properties and laws of paddy soil, multi-stress creep experiments of paddy soil with different moisture content were carried out. The results show that the creep deformation of paddy soil, subjected to compressive loads effect, develops stably and the paddy soil is not destructed under the yield strength when the stress is low. When the stress level is higher than the yield strength, the internal damage of paddy soil would be caused at the moment of loading. With the extension of creep time, the cracks would gradually expand, resulting in the soil to yield, break and disintegrate. According to the analysis of the deformation properties of paddy soil under compression and the change trend of creep curve, the nonlinear viscoelastic-plastic model was composed of the nonlinear viscoplastic model and Burgers model in series. The creep test curve was introduced into the model for fitting, and the coefficient of determination reached more than 0.96. Based on the model, the strain composition, strain proportion, and strain rate of paddy soil were studied. Finally, the nonlinear model was compared with Burgers model by verification test. The fitting accuracy of the nonlinear model was better than Burgers model, and the coefficient of determination and relative error were 0.997 and 0.437%, respectively, which proved the rationality and correctness of the nonlinear viscoelastic-plastic model. This study can provide a theoretical basis for the optimization of tillage machinery structure and the simulation analysis of soil tillage and compaction.

465-475

Authors: Fang Liang, Yubing Wang, Weihong Deng, Shaoning Yuan, Zirui Wang

As the application of agricultural mechanized production technology becomes more and more extensive, the application of mechanized straw returning technology has become more and more valuable. The mechanized return of straw to the field is a time-saving and labor-saving technology. It is an effective way to achieve sustainable agricultural development and is of great significance to the development and progress of modern agriculture. This article analyzes the current research status of mechanized straw returning to the field, discusses the process structure and characteristics of different mechanized straw returning methods, and focuses on the analysis of the composite technology of straw returning to the field. At the same time, the key problems of straw returning to the field, such as the length of straw not meeting the standard, the shallow depth of straw returning to the field, and the uneven distribution of straw, are put forward and analyzed. By taking the coverage rate and burial rate of the surface straw and the uniformity of the spatial distribution of the straw in the soil as the performance evaluation index of the mechanized return of straw to the field, and expounding its various indicators. Finally, two major development trends are proposed: the development of mechanized straw returning to the field from a single process to a composite process, and the effect of straw returning to the field towards uniform mixed burying and precise control.

485-494

Authors: Hongguang Yang, Huanxiong Xie, Hai Wei, Jianchun Yan, Huichang Wu, Longlong Ji, Xiaowei Xu

Aiming at the problem that contain more soil impurities of potato post-harvest, which affects subsequent deep processing, an apparatus for removing soil impurities from potato was developed. The whole structure is mainly composed of frame, feeding port, flexible rubber finger conveying mechanism, slender filament rotary brushing mechanism, discharging port and the like. The research and analysis determined that the main parameters influencing the soil impurities removal performance are the movement speed of conveying mechanism, the movement speed of brushing mechanism and the clearance between conveying mechanism and brushing mechanism (hereinafter referred to as the mechanism clearance). Taking the main influencing parameters as test factors, and the soil impurities removal rate and potato damage rate as indexes, the orthogonal test with three factors and three levels was carried out. The optimal parameter combination was obtained as follows: the movement speed of conveying mechanism is 0.35m/s, the movement speed of brushing mechanism is 0.40m/s, and the mechanism clearance is 55mm. At this time, the average soil impurities removal rate is 87.18%, and the potato average damage rate is 1.95%, which meet the requirements of potato cleaning operation.

505-515

Authors: Yibo Li, Shipeng Zhu

When forklifts are used to move stored crops in a storage environment, the positioning system is severely affected by the presence of multiple stored crops and shelves and other complex factors in the environment. Aiming at the problems of low positioning and navigation accuracy and large accumulated error of forklift system, a Lidar/IMU integrated navigation and positioning method is proposed in this paper, which can improve the positioning accuracy of forklift truck in storage environment. Meanwhile, the improved EKF filtering algorithm is proposed in this paper which can optimize the navigation and positioning system. This method first extracts the environmental information obtained from Lidar scan measurements and the attitude information collected by the IMU. Then the output data from the two sensors are processed with the improved EKF filtering algorithm, which can improve the navigation and positioning accuracy when the forklift is working. The Lidar/IMU integrated navigation and positioning method proposed in this paper is validated by experiments simulating forklifts working in a warehouse environment in the laboratory. Through simulation experiments, it is verified that the improved EKF filtering algorithm in this paper can improve the positioning accuracy of forklift truck, accuracy of forklift movement trajectory, closer to the expected trajectory