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

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

• acquiring, by using a sensor, target point clouds of a first stacking object and a second stacking object;
• extracting, from the target point clouds, a first point cloud of a first target region of the first stacking object and a second point cloud of a second target region of the second stacking object;
• matching the first point cloud with a first template point cloud, to obtain a pose of the first stacking object, and matching the second point cloud with a second template point cloud, to obtain a pose of the second stacking object;
• and
• determining a difference between the pose of the first stacking object and the pose of the second stacking object, and comparing the 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 point clouds of a first stacking object and a second stacking object;
• extracting, from the target point clouds, a first point cloud of a first target region of the first stacking object and a second point cloud of a second target region of the second stacking object;
• matching the first point cloud with a first template point cloud, to obtain a pose of the first stacking object, and matching the second point cloud with a second template point cloud, to obtain a pose of the second stacking object;
• and
• determining a difference between the pose of the first stacking object and the pose of the second stacking object, and comparing the 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.