	US 12,221,331 B2
	Method for forklift pickup, computer device, and non-volatile storage medium
Bingchuan Yang, Guangdong (CN); Yujie Lu, Guangdong (CN); Lisha Huang, Guangdong (CN); and Mu Fang, Guangdong (CN)
Assigned to VisionNav Robotics (Shenzhen) Co., Ltd., Shenzhen (CN)
Filed by VisionNav Robotics (Shenzhen) Co., Ltd., Guangdong (CN)
Filed on Jul. 21, 2022, as Appl. No. 17/870,107.
Claims priority of application No. 202111573223.3 (CN), filed on Dec. 21, 2021.
Prior Publication US 2023/0192462 A1, Jun. 22, 2023
Int. Cl. B66F 9/00 (2006.01); B66F 9/06 (2006.01); B66F 9/075 (2006.01); G06T 1/00 (2006.01); G06T 7/00 (2017.01); G06T 7/70 (2017.01); G06V 10/762 (2022.01); G06V 10/80 (2022.01)

CPC B66F 9/0755 (2013.01) [B66F 9/063 (2013.01); G06T 1/0014 (2013.01); G06T 7/70 (2017.01); G06V 10/762 (2022.01); G06V 10/803 (2022.01); G06T 2207/10028 (2013.01)]

20 Claims

1. A method for forklift pickup, comprising:

obtaining observational data of a truck parking area by observing the truck parking area, at least one truck being parked in the truck parking area, each of the at least one truck being configured with at least one carrier;

obtaining point cloud data of the at least one truck in the observational data, and obtaining point cloud data of each of the at least one carrier in the point cloud data of the at least one truck;

determining a relative pose of each of the at least one carrier based on the point cloud data of each of the at least one carrier;

determining a pickup priority based on the point cloud data of each of the at least one carrier; and

controlling a forklift to perform pickup according to the relative pose of each of the at least one carrier and the pickup priority.