The invention provides a cargo pose detection method, an unmanned forklift and a storage medium. The method comprises the following steps: acquiring laser point cloud data; performing point cloud separation on the laser point cloud data to obtain respective reflection point cloud data of at least two reflectors; and carrying out cargo pose detection based on the light reflecting point cloud data of each light reflecting plate to obtain the relative pose of the cargo relative to the unmanned forklift. By adopting the method and the device, the problem that the pose of irregular goods cannot be detected in the prior art can be solved.
本申请提供一种货物位姿的检测方法、无人叉车及存储介质,其中所述方法包括:获取激光点云数据;对所述激光点云数据进行点云分离,得到至少两个反光板各自的反光点云数据;基于每个所述反光板各自的反光点云数据进行货物位姿检测,得到所述货物相对于所述无人叉车的相对位姿。采用本申请,能解决现有技术中存在的无法对不规则货物的位姿进行检测的问题。
Cargo pose detection method, unmanned forklift and storage medium
货物位姿的检测方法、无人叉车及存储介质
2024-03-26
Patent
Electronic Resource
Chinese
IPC: | 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 / G01S RADIO DIRECTION-FINDING , Funkpeilung |
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