`volCheck`

The volCheck (Volume Check) feature in PDS provides a straightforward way to verify if a defined 3D volume of interest (VOI) is free from obstacles. It provides the number of valid pixels within a defined VOI and gives the distance to the nearest pixel within that VOI, allowing the user to specify a threshold for considering an area as occupied.

This functionality is particularly useful for ensuring a location is clear before placing a load or performing sanity checks, such as confirming the visibility of fork tines in their expected position.

Use cases

The volCheck command can be applied in various scenarios to enhance operational safety and decision-making:

Forkload detection: By comparing the expected pixel count of unloaded forklift tines with the actual count, the system can determine whether the forks are carrying a load.
Height validation: Ensure that the ground is at the expected height. If deviations are detected, it may indicate an issue requiring the forklift to stop.
Obstacle detection: Checks whether the area in front of the sensor is clear before executing further commands. If an obstacle is present, the forklift can be halted to prevent collisions.

Configuration

Command configuration

The input to the volCheck command should be provided in JSON. Below is an example, assuming an instantiated PDS app app0:

{
    "applications": {
        "instances": {
            "app0": {
                "configuration": {
                    "customization": {
                        "command": "volCheck",
                        "volCheck": {
                            "xMin": 1,
                            "xMax": 2,
                            "yMin": -0.5,
                            "yMax": 0.5,
                            "zMin": 0.0,
                            "zMax": 0.4,
                        },
                    }
                }
            }
        }
    }
}

Property	Type	Description	Default	Minimum	Maximum	Enum	Attributes
`xMin`	number	Bounding box dimension of VOI along X-axis - Minimum	1	N/A	N/A	`N/A`	N/A
`xMax`	number	Bounding box dimension of VOI along X-axis - Maximum	3	N/A	N/A	`N/A`	N/A
`yMin`	number	Bounding box dimension of VOI along Y-axis - Minimum	-0.4	N/A	N/A	`N/A`	N/A
`yMax`	number	Bounding box dimension of VOI along Y-axis - Maximum	0.4	N/A	N/A	`N/A`	N/A
`zMin`	number	Bounding box dimension of VOI along Z-axis - Minimum	-0.1	N/A	N/A	`N/A`	N/A
`zMax`	number	Bounding box dimension of VOI along Z-axis - Maximum	0.4	N/A	N/A	`N/A`	N/A

Fine-tuning parameters

Property	Type	Description	Default	Minimum	Maximum	Enum	Attributes
`nearestXQuantile`	number	Quantile [0..1] for nearestX	0.05	0	1	`N/A`	N/A

Results

The output of a volCheck command is formatted in JSON. An example JSON result, where 2087 pixels were detected within the specified volume, is shown below:

"volCheck": {
    "nearestX": 1.3,
    "numPixels": 2087,
}

Name	Description
`nearestX`	Distance in meters to the closest pixel in the volume.
`numPixels`	Number of valid pixels inside the given volume of interest.

volCheck