The invention discloses a control method and device for active obstacle avoidance of a scissor forklift, the scissor forklift and a storage medium. The method comprises the steps that the shear fork truck is controlled to advance towards a target end point; in the operation process of the scissor forklift, whether an obstacle exists in a preset area in front of the scissor forklift or not is detected in real time; when it is detected that the obstacle exists in the preset area in front of the shear fork truck, the position of the obstacle is determined; determining the bypassing direction of the scissor forklift truck according to the position of the obstacle and the current position of the scissor forklift truck; acquiring a wheel rotation angle and a compensation angle set for the shear fork truck; determining the steering angle of the shear forklift truck according to the wheel rotation angle and the compensation angle; the shear fork truck is controlled to rotate by a steering angle in the bypassing direction, then return and advance by a first preset distance; and controlling the shear fork truck to rotate by a preset angle in the direction opposite to the bypassing direction so as to continuously control the shear fork truck to advance towards the direction of the target terminal point.

    本申请公开了一种用于剪叉车主动避障的控制方法、装置、剪叉车及存储介质。方法包括:控制剪叉车朝目标终点的方向前进;在剪叉车运行的过程中,实时检测剪叉车的前方预设区域内是否存在障碍物;在检测到剪叉车的前方预设区域内存在障碍物的情况下,确定障碍物的位置;根据障碍物的位置与剪叉车的当前位置确定剪叉车的绕行方向;获取针对剪叉车设定的车轮旋转角度和补偿角度;根据车轮旋转角度和补偿角度确定剪叉车的转向角度;控制剪叉车向绕行方向旋转转向角度后回正,并前进第一预设距离;控制剪叉车向绕行方向的反方向旋转预设角度,以继续控制剪叉车朝目标终点的方向前进。


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    Title :

    Control method and device for active obstacle avoidance of scissor forklift and scissor forklift


    Additional title:

    用于剪叉车主动避障的控制方法、装置及剪叉车


    Contributors:
    HOU LIWEI (author) / YU XUN (author) / MA CHANGXUN (author) / TANG HAIBIN (author) / CHEN KAI (author) / LIU RUNHUA (author)

    Publication date :

    2024-02-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / 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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