WO2026138585 - PALLET POSE RECOGNITION METHOD, CONTROLLER AND FORKLIFT
National phase entry is expected:
Publication Number
WO/2026/138585
Publication Date
02.07.2026
International Application No.
PCT/CN2025/142896
International Filing Date
16.12.2025
Title **
[English]
PALLET POSE RECOGNITION METHOD, CONTROLLER AND FORKLIFT
[French]
PROCÉDÉ DE RECONNAISSANCE DE POSE DE PALETTE, DISPOSITIF DE COMMANDE ET CHARIOT ÉLÉVATEUR
[Chinese]
托盘位姿识别方法、控制器及叉车
Applicants **
SHANGHAI MOOE ROBOT TECHNOLOGY CO., LTD
Inventors
LUO, Huan
BU, Yanyue
MA, Haojie
QIAN, Yongqiang
Priority Data
202411959252.7
27.12.2024
CN
Application details
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International Searching Authority |
CNIPA
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| Recordal of a Change of the Applicant's Name/Address |
Change of Applicant's Name and Address
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| Type of Assignment |
The Standard Agent's Assignment
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| Applicant's Legal Status |
Legal Entity
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| Entry into National Phase under |
Chapter I
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| Patent Delivery |
Send the Letters Patent by Courier
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| 译文 |
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Quotation for National Phase entry
| Country | Stages | Total | |
|---|---|---|---|
| China | Filing, Examination, Granting | 1616 | |
| EPO | Filing, Examination, Granting | 11446 | |
| Japan | Filing, Examination, Granting | 2087 | |
| South Korea | Filing, Examination, Granting | 1920 | |
| USA | Filing, Examination, Granting | 4740 |
Total:
21,809
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Abstract[English]
A pallet pose recognition method, a controller and a forklift. The pallet pose recognition method comprises: when a forklift is located in front of a pallet to be forklifted, acquiring a sensing image and a first point cloud of the area in front of a fork arm of the forklift; on the basis of an image detection result obtained by performing detection on the sensing image, acquiring a pallet image of the pallet in the sensing image and a pallet point cloud of the pallet in the first point cloud; fusing the pallet image and the pallet point cloud to obtain a target point cloud of the pallet; and on the basis of the target point cloud of the pallet, determining pose information of the pallet.[French]
L'invention concerne un procédé de reconnaissance de pose de palette, un dispositif de commande et un chariot élévateur à fourche. Le procédé de reconnaissance de pose de palette comprend les étapes suivantes : lorsqu'un chariot élévateur à fourche est situé devant une palette à déplacer, acquérir une image de détection et un premier nuage de points de la zone devant un bras de fourche du chariot élévateur à fourche ; sur la base d'un résultat de détection d'image obtenu par réalisation d'une détection sur l'image de détection, acquérir une image de palette de la palette dans l'image de détection et un nuage de points de palette de la palette dans le premier nuage de points ; fusionner l'image de palette et le nuage de points de palette pour obtenir un nuage de points cible de la palette ; et sur la base du nuage de points cible de la palette, déterminer des informations de pose de la palette.[Chinese]
托盘位姿识别方法、控制器及叉车。托盘位姿识别方法，包括：在叉车位于待叉取托盘的前方时，获取叉车的叉臂前方的传感图像与第一点云；基于对所述传感图像进行检测所得到的图像检测结果，获取所述托盘在所述传感图像中的托盘图像以及所述托盘在所述第一点云中的托盘点云；将所述托盘图像与所述托盘点云进行融合得到所述托盘的目标点云；基于所述托盘的目标点云，确定所述托盘的位姿信息。