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

Claim 11:
12. 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;
obtain an image region recognized as a cup in the 2D BEV image of a quadrangular boundary through image feature extraction and classification using a convolutional neural network (CNN); and
recognize a cup position of the first cup-feet pallet through the CNN by identifying a central point of the image region as the cup position;
identify a difference between the cup position of the first cup-feet pallet loaded on a fork of the unmanned forklift and a cup position of a stationary second 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.