3D obstacle avoidance and pallet positioning for unmanned forklift forks

When performing cargo storage and retrieval tasks, forklifts often need to extend their forks deep into the shelves or operate in mid-air. Traditional 2D LiDAR sensors, typically mounted at the bottom of the vehicle body, are unable to detect overhead obstacles at fork height—such as protruding steel beams or improperly arranged goods. As a result, forklifts are highly susceptible to “high-altitude collisions” when lifting or moving forward. Moreover, accurately identifying pallet slot positions has long been a persistent challenge in the industry. Relying solely on mechanical positioning is often insufficiently precise, easily leading to failed insertion attempts or even damage to the goods.

Application Logic: A YINTAILI ILS-T51 3D depth-imaging LiDAR is embedded and installed at the base of the forklift’s fork. The radar rises and lowers in sync with the fork, projecting a high-density 3D point cloud forward in real time, thereby creating a dynamically following “three-dimensional safety space.”
① 3D obstacle avoidance: During travel and lifting operations, the T51 can detect suspended obstacles of any height along the fork’s path, thereby filling the blind spot of the bottom-mounted 2D radar.
② Pallet Positioning: As the T51 approaches the cargo, it uses a 3D point cloud to precisely identify the center coordinates and angular deviations of the pallet holes, guiding the control system to fine-tune the vehicle’s posture and achieving “hitting the mark every time” with pinpoint accuracy.

Technological Advantages: The T51 is a solid-state LiDAR based on ToF technology, featuring no mechanical rotating components. It boasts exceptionally high reliability and excellent shock resistance, making it ideally suited for installation on forks that experience significant vibrations. With its ultra-compact dimensions of 97mm × 23mm × 47mm, the T51 can be easily integrated into the narrow gaps between forks. Thanks to its high frame rate of 15 fps and millimeter-level depth resolution, the T51 serves dual purposes: as a sensitive safety collision avoidance sensor and as a precise visual positioning device. This single unit significantly enhances both the operational efficiency and safety of unmanned forklifts.

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All-round low-position collision prevention and safe obstacle avoidance for unmanned forklifts

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All-round low-position collision prevention and safe obstacle avoidance for unmanned forklifts

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