Tray positioning method, device and equipment and readable storage medium

The invention discloses a tray positioning method, apparatus and device, and a readable storage medium. The method comprises the steps of obtaining first point cloud data in a preset scanning area collected by a radar; the preset scanning area comprises a tray; extracting second point cloud data of the tray from the first point cloud data; based on the second point cloud data, the type of the tray is determined, and position information of the tray in a map coordinate system is determined so that the unmanned forklift can be called to the position of the tray and enter the forklift to take down the tray. When the tray is detected, the point cloud image acquired by the rendering radar and the image shot by the non-real camera are adopted, so that the tray is not easily influenced by outdoor sunlight. Therefore, the grey-scale map is obtained based on point cloud rendering acquired by the radar, and the tray is accurately positioned. 本申请公开了一种托盘定位方法、装置、设备及可读存储介质，该方法包括步骤：获取雷达采集的预设扫描区域内的第一点云数据；所述预设扫描区域中包含托盘；从所述第一点