Method for determining alignment state, controller, and material handling equipment
AssigneeVisionNav Robotics USA Inc.
InventorsSiqi YANG, Yujie LU
Life of this patent
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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 aligned, controlling material handling equipment to place the first stacking object onto the second stacking object, to complete stacking.
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 aligned, controlling material handling equipment to place the first stacking object onto the second stacking object, to complete stacking.
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 aligned, controlling material handling equipment to place the first stacking object onto the second stacking object, to complete stacking.
Dependencies are inferred from the claim text.