Stacking Object Pose Alignment for Accurate Material Handling
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Solution Overview
Problem
Existing material handling systems face challenges in accurately aligning stacked objects due to factors like inaccurate pickup poses, uneven ground, and cumulative errors, which affect operation safety and efficiency.
Innovation Solution
A method involving a controller and sensor system to acquire target data of two stacking objects, calculate their relative pose, and control the material handling equipment to align them accurately, using sensors like Lidar and cameras for precise positioning and alignment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If material handling equipment moves stacking objects without precise alignment control, then operation speed is maintained, but stacking accuracy deteriorates and operation safety is affected
Solution Approach 1:
The system performs preliminary alignment detection before the stacking operation by acquiring target data of both stacking objects in advance, calculating their relative pose, and determining alignment status before the actual stacking action occurs
Solution Approach 2:
The system implements feedback control by continuously monitoring the relative pose between stacking objects through sensor data, comparing the actual alignment with the target alignment state, and adjusting the material handling equipment's movement to achieve precise stacking alignment
2Measurement precision
If sensor systems and alignment calculations are implemented, then stacking accuracy is improved, but system complexity and computational requirements increase
Solution Approach 1:
The sensor system serves multiple functions: it detects the position and orientation of stacking objects, provides real-time feedback for alignment control, and enables the calculation of relative pose between objects, making a single sensor system perform multiple critical functions
Solution Approach 2:
The system replaces complex mechanical alignment mechanisms with sensor-based detection and computational calculation of relative pose, using optical and electromagnetic fields instead of mechanical measuring devices to determine alignment status
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 the accuracy and efficiency of stacking operations by correcting the relative pose between objects, ensuring proper alignment and enhancing safety and operational efficiency.
Implementation Method 1
using sensors like Lidar and cameras for precise positioning and alignment
Implementation Method 2
using sensors like Lidar and cameras for precise positioning and alignment
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.