用ICP算法实时追踪货盘位置，让自动叉车在斜面上卸货不拖拽。
ICP-Based Pallet Tracking for Unloading on Inclined Surfaces by Autonomous Forklifts
- 通过ICP算法分析货盘上部点云，实时跟踪叉齿与货盘相对位置和角度
- 使叉齿在卸货时与斜面平行，实现沿坡度方向平稳抽出
- 适用于自动叉车在卡车斜坡上安全卸货，提升作业可靠性
本文提出一种自主叉车在斜面上卸载托盘的控制方法，确保叉齿抽出时不拖动托盘。该方法利用迭代最近点（ICP）算法处理托盘上部区域的点云数据，在卸货过程中实时追踪托盘与叉齿之间的相对位置及姿态角差异。根据追踪结果，将叉齿调整至与目标表面平行。叉齿对齐后，沿倾斜方向抽出即可完成卸货，避免货盘滑移。通过动态仿真和真实叉车实验验证了该方法的有效性，模拟了叉车斜坡卸货场景。
原文摘要 · Abstract (English)
This paper proposes a control method for autonomous forklifts to unload pallets on inclined surfaces, enabling the fork to be withdrawn without dragging the pallets. The proposed method applies the Iterative Closest Point (ICP) algorithm to point clouds measured from the upper region of the pallet and thereby tracks the relative position and attitude angle difference between the pallet and the fork during the unloading operation in real-time. According to the tracking result, the fork is aligned parallel to the target surface. After the fork is aligned, it is possible to complete the unloading process by withdrawing the fork along the tilt, preventing any dragging of the pallet. The effectiveness of the proposed method is verified through dynamic simulations and experiments using a real forklift that replicate unloading operations onto the inclined bed of a truck.
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