Stacking Object Alignment Using Relative Pose Sensing
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing material handling equipment struggles with accurately aligning stacked objects due to inaccuracies in detecting the pose of upper objects, uneven ground, and cumulative errors, affecting operation safety.
Innovation Solution
A method and controller for material handling equipment that involves real-time distance measurement and controlled movement to align objects by using sensors like Lidar and cameras to calculate a relative pose, ensuring precise stacking through controlled fork movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If material handling equipment moves the equipment body and fork simultaneously during stacking, then the stacking speed is improved, but the alignment accuracy between stacked objects deteriorates
Solution Approach 1:
The patent segments the movement control into two independent parts: equipment body movement and fork movement. The body moves along the first direction (length direction) while the fork moves along the second direction (width direction), allowing independent control of each movement to achieve both speed and precision
Solution Approach 2:
The patent implements dynamic control by adjusting the movement parameters of the body and fork based on real-time positioning data. The controller coordinates the speeds and positions of both components during the stacking process to maintain alignment accuracy while maximizing stacking speed
2Manufacturing precision
If the equipment body is controlled to move only when distance is greater than threshold, then the alignment accuracy is improved, but the stacking time increases
Solution Approach 1:
The patent applies preliminary action by moving the equipment body in advance when the distance to the stacking endpoint exceeds the threshold value. This allows the body to reach the optimal positioning area before the final stacking operation, reducing the need for corrective movements and minimizing time loss
Solution Approach 2:
The patent uses feedback control by continuously monitoring the distance between the equipment body and stacking endpoint, and adjusting the body movement based on whether the distance is greater or less than the threshold. This real-time feedback ensures accurate positioning while optimizing the timing of movements
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Improves alignment accuracy and efficiency by correcting relative poses between stacked objects, enhancing operational safety and stability during stacking operations.
Implementation Method 1
acquiring a distance in a first direction between the material handling equipment and a stacking end point
Data Source
AI summary
Disclosed are an aligning method, a controller, and material handling equipment. A major technical solution includes: acquiring target data of a first stacking object and a 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 stacked object; calculating a relative pose of the first stacking object relative to the second stacking object based on the first target data and the second target data; and controlling, based on the relative pose, material handling equipment to move, to align the first stacking object with the second stacking object. In the present disclosure, a relative pose between two stacking objects is corrected by simultaneously acquiring and processing target data of the two stacking objects, thereby significantly improving accuracy and efficiency of a stacking operation.