US Patent 10048398 Methods and systems for pallet detection

Example implementations may relate to accurate pallet insertion. An example system may include a forklifted configured with a base and a tine coupled to the base. The tine may include a first proximity sensor positioned on a first side of the tine and a second proximity sensor positioned on a second side of the tine. The system may also include a computing system configured to receive, from the first sensor and the second sensor, sensor data indicative of proximity of the tine relative to opposing surfaces of a pocket of a pallet and navigate the forklift relative to the pallet based on the sensor data.