> For the complete documentation index, see [llms.txt](https://mrdvs.gitbook.io/mrdvs/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://mrdvs.gitbook.io/mrdvs/application-algorithms/pallet-docking.md).

# Pallet Docking

[Documentation Home](/mrdvs/readme.md) / Pallet Docking

## SmartDocking Pallet Docking

**Pallet entry-face position, orientation, and status for autonomous forklift docking.**

> **Before you update:** Check your installed AW3 and algorithm versions against the software history below. PalletPro users should use the legacy downloads and guide for their deployment.

<details>

<summary><strong>Legacy PalletPro</strong> · 1.4.8_260828 · downloads and user guide</summary>

PalletPro is a separate, earlier host application. It is not the AW3 frontend or the SmartDocking algorithm package. The following downloads and guide are retained for existing PalletPro deployments; their UI instructions do not describe the AW3 workflow.

| Item               | Details                                                                                                                                            |
| ------------------ | -------------------------------------------------------------------------------------------------------------------------------------------------- |
| Installer          | [PalletPro Installer](https://github.com/Lanxin-MRDVS/Application-Algorithms/releases/download/PalletPro/PalletPro-install-v1.4.8_260828.exe)      |
| User guide         | [PalletPro User Guide](https://github.com/Lanxin-MRDVS/MRDVS-wiki/tree/main/pallet-docking/docs/user-guide.md)                                     |
| File size          | 118,296,332 bytes (112.82 MiB)                                                                                                                     |
| SHA-256            | `c1bcc40900eb0c3f282c5657a7c3d06b69629483ec1674f4da347a295485dc3c`                                                                                 |
| Version notes      | [PalletPro 1.4.8\_260828](https://github.com/Lanxin-MRDVS/Application-Algorithms/blob/main/pallet-docking/releases/README.md#palletpro-148-260828) |
| Historical package | [PalletPro Archive (ZIP)](https://github.com/Lanxin-MRDVS/Application-Algorithms/releases/download/PalletPro/PalletPro_1.4.8.zip)                  |

</details>

<details>

<summary><strong>Software history</strong> · SmartDocking / PalletPro</summary>

SmartDocking algorithm versions and legacy PalletPro host versions are separate components. All detailed notes remain in one [Release Notes](https://github.com/Lanxin-MRDVS/MRDVS-wiki/tree/main/pallet-docking/releases/README.md) file.

| Version                  | Category                 | Target                            | Publication date | Release note / download                                                                                                                                                                                                                                                                     |
| ------------------------ | ------------------------ | --------------------------------- | ---------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| SmartDocking `3.0.2`     | Device algorithm package | RKU20 / Linux ARM64; AW3 frontend | 2026-09-29       | [Notes](https://github.com/Lanxin-MRDVS/MRDVS-wiki/tree/main/pallet-docking/releases/README.md#smartdocking-302) · [SmartDocking Package](https://github.com/Lanxin-MRDVS/Application-Algorithms/releases/download/smartdocking-v3.0.2/SmartDocking-RKU20-V3.0.2_260929_linux_arm64.tar.gz) |
| PalletPro `1.4.8_260828` | Legacy standalone host   | Windows                           | 2026-08-24       | [Notes](https://github.com/Lanxin-MRDVS/MRDVS-wiki/tree/main/pallet-docking/releases/README.md#palletpro-148-260828) · [Historical Release](https://github.com/Lanxin-MRDVS/Application-Algorithms/releases/tag/PalletPro)                                                                  |

</details>

<details>

<summary><strong>Document history</strong> · V0.1 / legacy PalletPro guide</summary>

| Document                            | Version               | Document date | Status                    | Read                                                                                                              |
| ----------------------------------- | --------------------- | ------------- | ------------------------- | ----------------------------------------------------------------------------------------------------------------- |
| Smart Docking User Manual           | V0.1                  | 2026-09-28    | Current AW3 workflow      | [PDF](https://github.com/Lanxin-MRDVS/MRDVS-wiki/tree/main/pallet-docking/docs/smartdocking-user-manual-v0.1.pdf) |
| Pallet Docking Solution White Paper | V0.1                  | 2026-09-28    | Current                   | [PDF](https://github.com/Lanxin-MRDVS/MRDVS-wiki/tree/main/pallet-docking/docs/smartdocking-white-paper-v0.1.pdf) |
| PalletPro User Guide                | Original, unversioned | Not supplied  | Legacy PalletPro workflow | [Markdown](https://github.com/Lanxin-MRDVS/MRDVS-wiki/tree/main/pallet-docking/docs/user-guide.md)                |

</details>

<table data-header-hidden><thead><tr><th valign="top"></th><th valign="top"></th></tr></thead><tbody><tr><td valign="top"><p><strong>Designed for forklift pallet positioning</strong><br><br>SmartDocking locates the pallet fork-entry face using 2D semantic positioning or pure 3D geometry. It supplies a reference position, orientation, and positioning status to the vehicle. AW3 manages devices, configuration, calibration, and result monitoring; the vehicle controller selects targets and controls motion and safety.<br><br></p><p><img src="https://742486550-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FmoqeeXLb686zPPeOsDq3%2Fuploads%2Fgit-blob-b045d964eb64c280ab3fb908938e36ac973e92ed%2Fsmartdocking-applications.png?alt=media" alt="Warehouse handling, production handover, and under-pallet handling" data-size="original"></p></td><td valign="top"><strong>Release status</strong><br><br><strong>Latest documentation</strong><br><code>V0.1</code> · 2026-09-28<br><a href="https://github.com/Lanxin-MRDVS/MRDVS-wiki/tree/main/pallet-docking/docs/smartdocking-user-manual-v0.1.pdf">User Manual</a> · <a href="https://github.com/Lanxin-MRDVS/MRDVS-wiki/tree/main/pallet-docking/docs/smartdocking-white-paper-v0.1.pdf">White Paper</a><br><br><strong>Latest algorithm package</strong><br>SmartDocking <code>3.0.2</code><br>2026-09-29 · RKU20 / Linux ARM64<br><a href="https://github.com/Lanxin-MRDVS/Application-Algorithms/releases/download/smartdocking-v3.0.2/SmartDocking-RKU20-V3.0.2_260929_linux_arm64.tar.gz">SmartDocking Package</a> · <a href="https://github.com/Lanxin-MRDVS/MRDVS-wiki/tree/main/pallet-docking/releases/README.md#smartdocking-302">Release notes</a><br><br><strong>Required frontend</strong><br><a href="https://github.com/Lanxin-MRDVS/Application-Algorithms/releases/download/aw3-v3.1.2/AW3-V3.1.2_260929_win_x64.exe">AW3 Installer</a><br>Frontend only; no AW3 PC backend<br><br><a href="#user-content-software-update-history"><strong>View software history ↑</strong></a><br><a href="#user-content-document-update-history">View document history ↑</a></td></tr></tbody></table>

### How it works

2D semantic positioning combines RGB model recognition with depth data. Pure 3D positioning matches leg and beam geometry against a configured template. Select and calibrate the required mode; pure 3D is an alternative method, not an automatic fallback when 2D fails.

<div align="center"><img src="https://742486550-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FmoqeeXLb686zPPeOsDq3%2Fuploads%2Fgit-blob-4c87fd8c6be2c6ca53fabc01328cfb27c99d9f53%2Fsmartdocking-positioning-flow.png?alt=media" alt="Semantic and pure 3D positioning paths, reference point, and valid result fields" width="860"></div>

### Outputs and capabilities

| Output or capability             | Purpose                                                                                 |
| -------------------------------- | --------------------------------------------------------------------------------------- |
| Entry-face reference position    | X, Y, and Z in millimeters for the pallet fork-entry reference point.                   |
| Orientation                      | Roll and Yaw in degrees; Pitch is fixed at zero and is not a valid measured output.     |
| Positioning status               | Check validity, detected count, and available pallet-class results before vehicle use.  |
| Two positioning modes            | Select an appropriate semantic model or pure 3D geometry template for the site pallets. |
| Pallet templates and calibration | Maintain pallet geometry and installation-specific settings.                            |
| Load detection                   | Available in pure 3D mode when enabled; it is not a general 2D output.                  |

Validate the installed camera, pallet types, entry-face visibility, calibration, and complete vehicle docking behavior. Model coverage and geometry settings must match the site's pallets; this page does not claim universal recognition or collision safety.

### Installation

| Download                                                                                                                                                                 | Target             | Installation                                                                             |
| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ------------------ | ---------------------------------------------------------------------------------------- |
| [AW3 Installer](https://github.com/Lanxin-MRDVS/Application-Algorithms/releases/download/aw3-v3.1.2/AW3-V3.1.2_260929_win_x64.exe)                                       | Windows x64 PC     | Install the frontend only; clear **AW3 Backend Download**.                               |
| [SmartDocking Package](https://github.com/Lanxin-MRDVS/Application-Algorithms/releases/download/smartdocking-v3.0.2/SmartDocking-RKU20-V3.0.2_260929_linux_arm64.tar.gz) | RKU20, Linux ARM64 | Deploy the `.tar.gz` to the matching device / center via SSH, following the User Manual. |

Both packages are required. Do not install the AW3 PC backend for this application. The algorithm archive contains the device-side service and runtime dependencies; it is not a Windows installer. Confirm the device platform before updating and back up its configuration. Hardware deployment has not been tested as part of this publication.

### Start here

<table><thead><tr><th width="620">Step</th><th width="240">Link</th></tr></thead><tbody><tr><td>1. Review application fit and operating limits</td><td><a href="https://github.com/Lanxin-MRDVS/MRDVS-wiki/tree/main/pallet-docking/docs/smartdocking-white-paper-v0.1.pdf">White Paper</a></td></tr><tr><td>2. Install the AW3 frontend and the device algorithm package</td><td><a href="#installation">Installation</a></td></tr><tr><td>3. Configure, calibrate, and validate the application</td><td><a href="https://github.com/Lanxin-MRDVS/MRDVS-wiki/tree/main/pallet-docking/docs/smartdocking-user-manual-v0.1.pdf">User Manual</a></td></tr></tbody></table>