An embodiment pallet stacking apparatus includes a lidar installed in an unmanned forklift and configured to radiate laser light and convert range data reflected from a first cup-feet pallet to 3D point cloud data, a bird's eye view (BEV) conversion unit configured to convert the 3D point cloud data to a 2D BEV image, a cup recognition unit configured to perform channel normalization with input data of the 2D BEV image and recognize a cup position through calculation using convolutional neural network, a forklift controller configured to control operation of the unmanned forklift according to a control signal, and a control unit configured to identify a difference between a cup position of the first cup-feet pallet and a cup position of a stationary second cup-feet pallet and apply a control signal for adjustment to a matching position to the forklift controller.
Pallet loading apparatus and pallet loading method
2024-04-23
Patent
Elektronische Ressource
Englisch
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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
SAE Technical Papers | 1947
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