Patent ID: 11964858
Assignee: HYUNDAI MOTOR COMPANY
Field: Control (Instruments)
Classification: CPC B  G | IPC B  G

Claim 15:
16. A method of operating an unmanned forklift, the method comprising:
transferring a first cup-feet pallet loaded on a fork of the unmanned forklift to a destination;
radiating laser light by using a lidar;
converting range data reflected from a stationary second cup-feet pallet to 3D point cloud data;
converting the 3D point cloud data to a 2D bird's-eye view (BEV) image;
performing channel normalization with input data of the 2D BEV image;
recognizing a cup position of the second cup-feet pallet through calculation using convolutional neural network (CNN);
identifying a difference between a cup position of the first cup-feet pallet loaded on the fork and the cup position of the stationary second cup-feet pallet, wherein identifying the difference comprises calculating a horizontal distance, a vertical distance, and a misaligned angle as a directional deviation between a position of an upper cup of the second cup-feet pallet and a position of a lower cup of the first cup-feet pallet; and
adjusting a position of the fork so that the cup position of the first cup-feet pallet matches the cup position of the stationary second cup-feet pallet.