Method for identifying and removing gluing obstacle

The invention relates to a method for identifying and removing a gluing obstacle, which mainly solves the problem of identifying an obstacle in an automatic gluing process. The key points of the technical scheme are as follows: performing data processing: preprocessing sensor data by using straight-through filtering and radius filtering; removing the plane: fitting the plane by using a random sampling consensus algorithm; extracting point cloud template features, and calculating feature parameters of template point cloud; performing point cloud segmentation: segmenting the point cloud at a certain moment by using improved Euclidean clustering; and removing an obstacle: screening the subset where an obstacle is located according to a threshold value and removing the obstacle. According to the method for identifying and removing a gluing obstacle, the point cloud processing flow and the segmentation algorithm are improved, statistical classification can be carried out on data collected in real time, the accurac