Patent ID: 11964858
Assignee: KIA CORPORATION
Field: Control (Instruments)
Classification: CPC B  G | IPC B  G

Claim 0:
1. A pallet stacking apparatus comprising:
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 forklift controller configured to control operation of the unmanned forklift;
at least one processor;
non-transitory computer readable medium storing program code that, when executed by the at least one processor, causes the at least one processor to:
convert the 3D point cloud data to a 2D BEV image;
perform channel normalization with input data of the 2D BEV image and recognize a cup position of the first cup-feet pallet through calculation using convolutional neural network (CNN);
measure a horizontal distance, a vertical distance, and a misaligned angle between a position of an upper cup of a second cup-feet pallet and a position of a lower cup of the first cup-feet pallet;
identify a difference between the position of the upper cup of the second cup-feet pallet and the position of the lower cup of the first cup-feet pallet; and
apply a control signal for adjustment to a matching position between the first cup-feet pallet and the second cup-feet pallet to the forklift controller on a fork of the unmanned forklift.