An accurate location method of cargo pallets based on multi-line liDAR

Abstract:
Accurate positioning of pallet is one of the key technologies of unmanned forklift truck. Therefore, an accurate location method of cargo pallet based on multi-line liDAR is proposed. Firstly, the method of lidar data preprocessing is given, and the effective data range is determined according to the installation position of lidar and the relative position of lidar with cargo tray. The average height of laser wire harness is used to determine whether the wire harness is a cargo support wire harness. The initial position equation is obtained by using the mode and origin coordinates of the slope between every two points on the pallet harness. On the basis of the initial position equation, filter out the points with large deviation, and then determine the final position equation of the pallet, so as to calculate the distance and Angle between the forklift truck and the pallet. The experimental results show that the pallet position and pose information obtained by this method can meet the needs of the actual unmanned forklift truck.