Method for determining alignment state, controller, and material handling equipment
AssigneeVisionNav Robotics USA Inc.
InventorsSiqi YANG, Yujie LU
Life of this patent
Estimating the term…
Abstract
A method for determining an alignment state includes: acquiring, by using a sensor, target images of a first stacking object and a second stacking object; acquiring, from the target images, a first target image region of the first stacking object and a second target image region of the second stacking object; and determining a pixel difference between the first target image region and the second target image region, and comparing the pixel difference with a threshold, to determine an alignment state between the first stacking object and the second stacking object. Embodiments of the present disclosure are used to implement alignment between a first stacking object and a second stacking object during stacking.
Claims19
A material handling equipment, comprising a controller, wherein the controller is configured to execute program instructions, to implement the following steps:
- acquiring, by using a sensor, target images of a first stacking object and a second stacking object;
- acquiring, from the target images, a first target image region of the first stacking object and a second target image region of the second stacking object;
- and
- determining a pixel difference between the first target image region and the second target image region, and comparing the pixel difference with a threshold, to determine an alignment state between the first stacking object and the second stacking object,
- wherein the controller is further configured to execute the following steps:
- in a case that the alignment state is not aligned, controlling, based on the pixel difference, material handling equipment to adjust a pose;
- re-acquiring, by using the sensor, a target image of the first stacking object and a target image of the second stacking object;
- re-determining a pixel difference between a first target image region and a second target image region;
- and
- re-determining, based on the pixel difference, the alignment state until the pixel difference is less than a first threshold.
A controller, wherein the controller is configured to execute program instructions, to implement the following steps:
- acquiring, by using a sensor, target images of a first stacking object and a second stacking object;
- acquiring, from the target images, a first target image region of the first stacking object and a second target image region of the second stacking object;
- and
- determining a pixel difference between the first target image region and the second target image region, and comparing the pixel difference with a threshold, to determine an alignment state between the first stacking object and the second stacking object,
- wherein the controller is further configured to execute the following steps:
- in a case that the alignment state is not aligned, controlling, based on the pixel difference, material handling equipment to adjust a pose;
- re-acquiring, by using the sensor, a target image of the first stacking object and a target image of the second stacking object;
- re-determining a pixel difference between a first target image region and a second target image region;
- and
- re-determining, based on the pixel difference, the alignment state until the pixel difference is less than a first threshold.
A method for determining an alignment state, comprising:
- acquiring, by using a sensor, target images of a first stacking object and a second stacking object;
- acquiring, from the target images, a first target image region of the first stacking object and a second target image region of the second stacking object;
- and
- determining a pixel difference between the first target image region and the second target image region, and comparing the pixel difference with a threshold, to determine an alignment state between the first stacking object and the second stacking object,
- wherein the controller is further configured to execute the following steps:
- in a case that the alignment state is not aligned, controlling, based on the pixel difference, material handling equipment to adjust a pose;
- re-acquiring, by using the sensor, a target image of the first stacking object and a target image of the second stacking object;
- re-determining a pixel difference between a first target image region and a second target image region;
- and
- re-determining, based on the pixel difference, the alignment state until the pixel difference is less than a first threshold.
Dependencies are inferred from the claim text.