Stacking Object Pose Alignment Using 3D Sensor Feedback
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing material handling systems face challenges in accurately aligning stacked objects, leading to potential safety issues due to misalignment caused by factors like inaccurate pickup poses, uneven ground, and cumulative errors, which affect operational efficiency and safety.
Innovation Solution
A method and system for determining alignment states using sensors and controllers to calculate the relative pose of stacking objects, ensuring alignment by correcting for errors through simultaneous data acquisition and processing, utilizing 3D Lidar and cameras to enhance accuracy and efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If material handling equipment stacks objects sequentially without real-time alignment verification, then stacking speed is improved, but alignment accuracy deteriorates leading to safety issues
Solution Approach 1:
The system performs preliminary alignment verification by calculating the pose of the to-be-stacked object relative to the stacked object before the stacking operation. The controller determines whether alignment meets requirements in advance, preventing misalignment issues during actual stacking while maintaining high productivity.
Solution Approach 2:
The system establishes a feedback loop where the controller continuously monitors the alignment state by comparing the calculated pose of the to-be-stacked object with the stacked object. When alignment fails to meet requirements, the system provides feedback to adjust the positioning, ensuring accurate stacking while maintaining efficient operation through real-time verification.
2Manufacturing precision
If the system performs detailed alignment verification for every stacking operation, then alignment accuracy is improved, but operational time increases
Solution Approach 1:
The system performs alignment verification selectively rather than for every single stacking operation. The controller determines alignment requirements based on the specific stacking context, performing verification only when necessary to meet alignment standards, thus reducing unnecessary operational time while maintaining required accuracy.
Solution Approach 2:
The system performs preliminary assessment of alignment requirements before executing full verification procedures. By calculating the pose in advance and determining whether alignment meets requirements beforehand, the system avoids time-consuming verification operations when alignment is already satisfactory, reducing operational time while maintaining accuracy.
3Measurement precision
If the system uses complex alignment verification methods, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The system replaces complex mechanical alignment verification mechanisms with computational methods. The controller calculates the pose of the to-be-stacked object relative to the stacked object using coordinate information and transformation matrices, achieving high measurement precision through software-based solutions rather than complex hardware systems.
Solution Approach 2:
The system introduces a coordinate system transformation intermediary to simplify the alignment verification process. By establishing a reference coordinate system and calculating relative poses through mathematical transformations, the system achieves precise measurement without requiring complex physical measurement devices, reducing overall system complexity.
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.