The invention discloses a forklift control method and device, electronic equipment and a computer readable storage medium. The method relates to the field of vehicle control and comprises the steps that environmental data in front of a forklift are obtained through a plurality of different types of sensors installed on the forklift, and the different types of sensors at least comprise a laser radar sensor and a visual sensor; the method comprises the following steps: carrying out tray slot detection based on environmental data to obtain a first distance between a gear shaper of a forklift and a tray slot and first deviation information of the gear shaper and the tray slot, carrying out goods and shelf vacancy detection based on the environmental data to obtain second deviation information of goods and shelf vacancy, and carrying out obstacle identification based on the environmental data. Obtaining a second distance between the forklift and the obstacle; and the forklift is adjusted based on the first distance, the deviation information and the second distance. The technical problem that due to the fact that the tray cannot be accurately detected, the safety of a forklift in the tray inserting and taking operation process is low is solved.

    本发明公开了一种叉车控制方法、装置、电子设备及计算机可读存储介质。其中,该方法涉及车辆控制领域,包括:通过叉车上安装的多个不同类型的传感器,获取叉车前方的环境数据,多个不同类型的传感器至少包括:激光雷达传感器和视觉传感器;基于环境数据进行托盘插槽检测,得到叉车的插齿与托盘插槽的第一距离以及插齿与托盘插槽的第一偏差信息,基于环境数据进行货物和货架空位检测,得到货物和货架空位的第二偏差信息,并基于环境数据进行障碍物识别,得到叉车与障碍物的第二距离;基于第一距离、偏差信息和第二距离,对叉车进行调整。本发明解决了由于无法对托盘准确检测,导致叉车在插取托盘的作业过程中的安全性较低的技术问题。


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    Title :

    Forklift control method and device, electronic equipment and computer readable storage medium


    Additional title:

    叉车控制方法、装置、电子设备及计算机可读存储介质


    Contributors:
    QI FENG (author) / SONG HUAIYU (author) / JIANG HAIYING (author) / BAI DEFENG (author) / YANG LIDONG (author) / ZHAO ZIHAN (author) / XI JIANFENG (author) / LI DONGHENG (author) / ZHAO JUNLONG (author) / ZHANG XINLONG (author)

    Publication date :

    2025-01-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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



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