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proposes a control method for autonomous forklifts to unload pallets on inclined surfaces, enabling the fork to be withdrawn without dragging the pallets.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.

翻译：本文提出了一种用于自主叉车在倾斜表面上卸载托盘的控制方法，使货叉能够在不拖动托盘的情况下完成抽离。该方法将迭代最近点（ICP）算法应用于从托盘上部区域测量的点云数据，从而在卸载操作过程中实时追踪托盘与货叉之间的相对位置及姿态角差异。根据追踪结果，货叉被调整至与目标表面平行。货叉对齐后，可沿倾斜方向抽离货叉以完成卸载过程，从而避免托盘的任何拖动。通过动态仿真及使用真实叉车在卡车倾斜货厢上复现卸载操作的实验，验证了所提方法的有效性。