Method for determining stacking state, controller, and material handling equipment

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

• controlling the material handling equipment to move to align a first stacking object with a second stacking object in an XOY plane;
• acquiring target data of the first stacking object and the second stacking object by using a first sensor;
• extracting, from the target data, first target data of the first stacking object and second target data of the second stacking object;
• extracting a first boundary of the first stacking object based on the first target data, and extracting a second boundary of the second stacking object based on the second target data;
• and
• calculating a width of a first gap between the first stacking object and the second stacking object based on the first boundary and the second boundary, and comparing the width of the first gap with a first threshold to determine a first stacking state of the first stacking object relative to the second stacking object.

A method for determining a stacking state, comprising:

• controlling the material handling equipment to move to align a first stacking object with a second stacking object in an XOY plane;
• acquiring target data of the first stacking object and the second stacking object by using a first sensor;
• extracting, from the target data, first target data of the first stacking object and second target data of the second stacking object;
• extracting a first boundary of the first stacking object based on the first target data, and extracting a second boundary of the second stacking object based on the second target data;
• and
• calculating a width of a first gap between the first stacking object and the second stacking object based on the first boundary and the second boundary, and comparing the width of the first gap with a first threshold to determine a first stacking state of the first stacking object relative to the second stacking object.