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  1. 3D object recognition
  2. Pallet Detection System (PDS)
  3. Integration of the PDS

Integration of the PDS

The key to a successful implementation of any solution is a firm understanding of all requirements. PDS is no different. This section provides all details required to ensure successful implementation of PDS. This includes:

  • Mounting position:
    Where and how the camera should be mounted to the vehicle.
  • Wiring:
    How to wire the PDS solution (power supply/communication).
  • Software interface:
    How the PDS solution is connected to the vehicle controller.
  • Detectable pallet types:
    What types of pallets can be detected with the standard PDS solution.

Following these steps will ensure a successful PDS implementation.

The PDS solution

Mounting position:


Mounting height


The PDS is integrated in the O3D Camera. This camera requires a 24V DC power supply and communicates via Ethernet. The wiring of both interfaces is shown in the following image:

Connector: 1 x M12

Electrical connection: Process connection
Connector: 1 x M12

Electrical connection: Ethernet
1. U+ 1. TD+
2. Trigger input 2. RD+
3. GND 3. TD-
4. Switching output 1 ready 4. RD-
5. Switching output 1 cascading

Note:  The camera requires 2.4 A peak current during image capture.

Detectable pallet types

The PDS is designed to detect pallets with two pallet pockets. A distinction is made between "block" and "stringer" pallets.

The PDS can be used to detect the following 2-pocket pallet geometries/types:

Wood, block

Wood, stringer

Plywood, stringer




GMA 4-way

Single-face, stringer




Nestable, plastic


Software interface

The PDS communicates with the vehicle controller via Ethernet using a wire protocol.

The wire protocol document, code examples and the ROS implementation can be download from ifm Github.