The invention discloses an obstacle detection method and an intelligent forklift. The obstacle detection method comprises the steps of obtaining point cloud data obtained by scene scanning of a laser radar; distributing the point cloud data to voxel points corresponding to different scanning distances in a voxel grid to obtain point cloud voxels; performing preliminary clustering processing on each point cloud voxel and other point cloud voxels located in a neighborhood to obtain a plurality of point cloud clusters; and merging the point cloud clusters meeting the merging condition in the plurality of point cloud clusters to obtain a final point cloud cluster corresponding to the obstacle. In this way, the problem that in the prior art, an intelligent forklift is not high in obstacle recognition accuracy can be solved.
本申请公开了一种障碍物检测方法和智能叉车,该障碍物检测方法包括:获取激光雷达进行场景扫描得到的点云数据;将点云数据分配至体素网格中对应不同扫描距离的体素点,以得到点云体素;对各点云体素与位于邻域的其他点云体素进行初步聚类处理,以得到多个点云簇;将多个点云簇中满足合并条件的点云簇进行合并,得到与障碍物相对应的最终点云簇。通过上述方式,本申请能够改善现有技术中智能叉车对障碍物识别准确率不高的问题。
Obstacle detection method and intelligent forklift
障碍物检测方法和智能叉车
2023-05-23
Patent
Electronic Resource
Chinese
IPC: | G01S RADIO DIRECTION-FINDING , Funkpeilung / B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last |
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