Material handling equipment, control method for material handling equipment, and controller

A control method for material handling equipment, comprising:

• acquiring a point cloud of a compartment of a target vehicle;
• determining, based on the point cloud of the compartment, a first plane located by a left-side wall of the compartment and a second plane located by a right-side wall of the compartment;
• determining, based on a position of an object inside the compartment, a third plane, wherein the third plane is perpendicular to the first plane and the second plane;
• determining, based on a position of the third plane, a pose of a storage location or a pose of a cargo;
• and
• controlling, based on the pose of the storage location, the material handling equipment to load the target vehicle, or controlling, based on the pose of the cargo, the material handling equipment to unload the target vehicle,
• wherein the determining, based on the position of the third plane, the pose of the storage location, comprises:
• determining, based on the position of the third plane, a second region, wherein the second region is located between the third plane and a rear end of the target vehicle;
• and
• determining, based on the second region, the pose of the storage location;
• wherein the determining, based on the position of the third plane, the second region, comprises:
• determining, based on dimensions of a cargo to be loaded and a loading spacing, the second region bounded by the third plane, the first plane and the second plane.

A controller, configured to execute program instructions to implement the following steps:

• acquiring a point cloud of a compartment of a target vehicle;
• determining, based on the point cloud of the compartment, a first plane located by a left-side wall of the compartment and a second plane located by a right-side wall of the compartment;
• determining, based on a position of an object inside the compartment, a third plane, wherein the third plane is perpendicular to the first plane and the second plane;
• determining, based on a position of the third plane, a pose of a storage location or a pose of a cargo;
• and
• controlling, based on the pose of the storage location, the material handling equipment to load the target vehicle, or controlling, based on the pose of the cargo, the material handling equipment to unload the target vehicle;
• wherein the determining, based on the position of the third plane, the pose of the storage location, comprises:
• determining, based on the position of the third plane, a second region, wherein the second region is located between the third plane and a rear end of the target vehicle;
• and
• determining, based on the second region, the pose of the storage location;
• wherein the determining, based on the position of the third plane, the second region, comprises:
• determining, based on dimensions of a cargo to be loaded and a loading spacing, the second region bounded by the third plane, the first plane and the second plane.