WO2020164050A1 - 自动码垛的方法、设备以及存储装置 - Google Patents
自动码垛的方法、设备以及存储装置 Download PDFInfo
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- WO2020164050A1 WO2020164050A1 PCT/CN2019/075072 CN2019075072W WO2020164050A1 WO 2020164050 A1 WO2020164050 A1 WO 2020164050A1 CN 2019075072 W CN2019075072 W CN 2019075072W WO 2020164050 A1 WO2020164050 A1 WO 2020164050A1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/16—Stacking of articles of particular shape
- B65G57/20—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical
- B65G57/22—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical in layers each of predetermined arrangement
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- This application relates to automatic control technology, in particular to an automatic palletizing method, equipment and storage device.
- Palletizing refers to placing items neatly on a pallet according to a certain rule, or placing items on a conveyor belt or other equipment from the pallet. On the pallet, the corresponding placement position of each item is called a palletizing point, and the collection of all palletizing points can be called a palletizing array.
- This application provides an automatic palletizing method, equipment, and storage device, which are used to automatically determine the position of each palletizing point of the palletizing array, thereby improving the debugging efficiency of the palletizing equipment and saving manpower and time in the process of setting up the palletizing equipment cost.
- a technical solution provided by this application is to provide an automatic palletizing method.
- the method includes: determining a first reference point, a second reference point, a third reference point, and a fourth reference point on the same plane according to a preset rule, and a fifth reference point on another plane, and obtaining the first reference point , The coordinates of the second reference point, the third reference point, the fourth reference point and the fifth reference point; obtain the total number of rows, total columns and total layers of the palletizing array; according to the first reference point and the third reference point Point, determine the column direction vector of the palletizing array; determine the layer direction vector of the palletizing array according to the first reference point and the fifth reference point; according to the sequence number and total number of columns of the stacking point to be calculated And the coordinates of the first reference point, the second reference point, the third reference point, and the fourth reference point to determine the row direction vector corresponding to the column of the stacking point to be calculated; and according to the row of the stacking point to be calculated
- the equipment includes an end effector, a drive mechanism, a controller, and a memory.
- the end effector is used to pick up and place objects to be palletized.
- the drive mechanism is used to drive the end effector to move.
- the memory stores programs. Instructions, the program instructions can be loaded and execute the aforementioned automatic palletizing method.
- a technical solution provided by this application is to provide a storage device. It stores program instructions that can be loaded and executed the aforementioned automatic palletizing method.
- the present application can greatly reduce the manual operations required to define the palletizing array, thereby improving the teaching efficiency of the palletizing array.
- Fig. 1 is a schematic flowchart of an embodiment of the automatic palletizing method of the present application.
- Fig. 2 shows an example of the specific process of step S105 in Fig. 1.
- Figure 3 is a schematic diagram of each reference point and each direction vector in the stacking array.
- Fig. 4 is a schematic structural diagram of an embodiment of the automatic palletizing equipment of the present application.
- FIG. 1 is a schematic flowchart of an embodiment of an automatic palletizing method provided by the present application. As shown in Figure 1, the method includes:
- S101 Determine a first reference point, a second reference point, a third reference point, and a fourth reference point on the same plane according to a preset rule, and a fifth reference point on another plane, and obtain the first reference point and the second reference point.
- the coordinates of the first reference point to the fifth reference point can be obtained through manual teaching, that is, they can be manual teaching points, or the first reference point to the first reference point.
- the coordinates of the five reference points can also be pre-stored in the internal or external memory of the palletizing equipment.
- the palletizing equipment can obtain their coordinates by reading the information in the memory.
- it can also follow other pre-made and stored rules , For example, select the vertex of the plane as the reference point.
- the first to fourth reference points are located on the same plane, and the fifth reference point is located on another plane.
- the first to fourth reference points can be respectively used as the four corner points of the first layer of the palletizing array, and the fifth reference point is used as a corner point of the topmost layer of the palletizing array.
- the coordinates of the first to fifth reference points are determined under the preset reference coordinate system, the reference coordinate system can be selected according to the actual situation, for example, the reference coordinate system can be the world coordinate system, the base coordinate of the palletizing equipment Department etc.
- the coordinates mentioned in this application should be considered as referring to the same coordinate system. If necessary, in actual situations, coordinate transformations between different coordinate systems can be used to unify the various coordinates involved in the same coordinate system.
- the first reference point P1, the second reference point P2, the third reference point P3, and the fourth reference point P4 are located on the same plane, and the fifth reference point P5 is located on another plane.
- the number of rows of the palletizing array is denoted as numR
- the number of columns is denoted as numC
- the number of layers is denoted as numL
- the first reference point P1 is located in the first layer of the first row, column 1
- the second reference point P2 is located in the numR row of the first layer.
- third reference point P3 is located in row 1, column numC, layer 1
- fourth reference point P4 is located in row numR, column numC, layer 1
- fifth reference point P5 is located in row 1, column 1
- the numL layer can also be selected as other points on the numL layer of the palletizing array, such as the first row and the numC column on the numL layer. In this case, you need to use the point corresponding to the first layer later To determine the layer direction vector of the stacking array.
- the first to fourth reference points P1 to P4 may form a parallelogram or a non-parallelogram.
- the method of this application can be used to determine the positions of other palletizing points. That is, the method provided in this application can be applied to stacking arrays of different shapes (or pallet patterns).
- the total number of rows numR, the total number of columns numC, and the total number of layers numL of the palletizing array can be obtained by manual entry, or pre-stored in the internal or external memory of the palletizing equipment. Read the information of the memory to obtain the row number, column number and layer number information of the palletizing array. The operator of the palletizing equipment can modify this information as needed.
- rows, columns, and layers are all relative, and they are only used to distinguish three different arrangement directions in the stacking array, and do not limit the specific directions of these directions.
- the rows, columns, and layers may be described in other ways such as the first direction, the second direction, and the third direction.
- S103 Determine the column direction vector of the stacking array according to the first reference point and the third reference point.
- the line connecting the first reference point P1 and the third reference point P3 determines the column direction of the stacking array. Therefore, the column direction vector of the stacking array can be determined according to the following formula:
- v x , v y , v z are the x, y and z axis components of the column direction vector in the reference coordinate system.
- S104 Determine the layer direction vector of the stacking array according to the first reference point and the fifth reference point.
- the column direction vector of the stacking array can be determined according to the following formula:
- Is the layer direction vector, w x , w y , w z are the x, y and z axis components of the layer direction vector in the reference coordinate system.
- the above-mentioned direction vector may be unitized (that is, the column direction vector is divided by the vector , Or divide the layer direction vector by In the subsequent calculations, the unitized column-direction unit vector and the layer-direction unit vector are used for calculation.
- the similar equivalent transformation does not affect the principle and spirit of each step not applied.
- S105 Determine the row direction vector corresponding to the column where the stacking point to be calculated is located according to the column ordinal number, total number of columns and the coordinates of the first, second, third and fourth reference points of the stacking point to be calculated .
- the column direction vector and the layer direction vector of the stacking array are unique, that is to say, for all the stacking points in the stacking array, their corresponding column direction vector and layer direction vector are the same.
- the row direction vector of the stacking array is not unique, and the stacking points in different columns correspond to different row direction vectors. Therefore, in step S105, it is necessary to determine the row direction vector corresponding to the column where the palletizing point to be calculated is located.
- step S105 may include the following sub-steps shown in FIG. 2:
- S1051 Determine the coordinates of the first auxiliary point corresponding to the row of palletizing points according to the column ordinal number of the stacking point to be calculated, the total number of columns, and the coordinates of the first and third reference points, where the first auxiliary point is located at the first On the line connecting the reference point and the third reference point.
- the first auxiliary point corresponding to the stacking point in the j-th row is marked as PA j , where the first auxiliary point PA j corresponding to each column is located at the connection between the first reference point P1 and the third reference point P3. on-line.
- the coordinates of the first auxiliary point can be determined according to the following formula:
- j is the column number of the stacking point to be calculated
- numC is the total number of columns
- P1 is the coordinate of the first reference point
- the first reference point P1 is its corresponding first auxiliary point PA 1
- the third reference point P3 is its corresponding The first auxiliary point PA numC .
- Different column palletizing points correspond to different first auxiliary points.
- S1052 Determine the coordinates of the second auxiliary point corresponding to the row of palletizing points according to the column ordinal number of the stacking point to be calculated, the total number of columns, and the coordinates of the second and third reference points, where the second auxiliary point is located at the second On the line connecting the reference point and the fourth reference point.
- the second auxiliary point corresponding to the stacking point in the j-th column is denoted as PB j , where the second auxiliary point PB j corresponding to each column is located between the second reference point P2 and the fourth reference point P4. on-line.
- the coordinates of the first auxiliary point can be determined according to the following formula:
- j is the column number of the stacking point to be calculated
- numC is the total number of columns
- P1 is the coordinate of the first reference point
- It is the vector from the second reference point to the fourth reference point.
- the second reference point P2 is its corresponding second auxiliary point PB 1
- the fourth reference point P4 is its corresponding The second auxiliary point PB numC .
- the second auxiliary points corresponding to different column palletizing points are different.
- S1053 Determine the row direction vector corresponding to the column where the stacking point to be calculated is located according to the coordinates of the first auxiliary point and the second auxiliary point corresponding to the column of stacking points.
- the row direction vectors corresponding to different column palletizing points determined by the first auxiliary point and the second auxiliary point are also changed accordingly.
- the row direction vector corresponding to the column of the stacking point to be calculated can be determined according to the following formula:
- u x,j ,u y,j ,u z,j are the x in the reference coordinate system of the row direction vector corresponding to the stacking point in the jth column
- Y and z axis components Is the vector from the first auxiliary point to the second auxiliary point corresponding to the stacking point in the jth column.
- the corresponding row direction vector for the numC column palletizing point its corresponding row direction vector
- the row direction vectors corresponding to the stacking points in each column are the same (the same size and the same direction), otherwise the row direction vectors corresponding to the stacking points in each column are different.
- S106 Determine the stack to be calculated according to the row ordinal number, column ordinal number, layer ordinal number, row direction vector, column direction vector and layer direction vector of the stacking point to be calculated, and the total number of rows, total columns and total layers of the stacking array The coordinates of the point.
- the coordinates of the stacking point to be calculated can be determined according to the following formula:
- P(i,j,k) is the coordinates of the stacking point to be calculated in the i-th column, j-th row and k-th layer, i is the row ordinal, j is the column ordinal, k is the layer ordinal, numR Is the total number of rows, numC is the total number of columns, and numL is the total number of layers.
- the coordinates of the palletizing point can be determined.
- the coordinates of all palletizing points in the palletizing array can be determined in the above-mentioned manner.
- the palletizing equipment can place the objects to be palletized at the corresponding palletizing point according to the determined coordinates of each palletizing point.
- the present application can greatly reduce the manual operations required to define the palletizing array, thereby improving the teaching efficiency of the palletizing array.
- FIG. 3 is a schematic structural diagram of an embodiment of an automatic palletizing device 200 provided by the present invention.
- the automatic palletizing equipment 200 includes a controller 201, a memory 202, a driving mechanism 203 and an end effector 204.
- An example of the automatic palletizing device 200 is a palletizing robot.
- the end effector 204 is used to pick up and place objects to be palletized, and the driving mechanism 203 is used to drive the end effector to move according to instructions from the controller 201.
- the memory 202 stores program instructions, which can be loaded by the controller 201 and execute the automatic palletizing method of any of the above embodiments. It is understandable that in some other embodiments, the memory 202 may be set in the same physical device differently from the controller 201, but the method of any of the above embodiments can be performed by combining the automatic palletizing equipment 200 with a network.
- the controller 201 can instruct the driving mechanism 203 to drive the end effector 204 to move, so as to place each object to be palletized at the corresponding position on the pallet.
- the functions described in the above embodiments are implemented in the form of software and sold or used as independent products, they can be stored in a device with a storage function, that is, the present invention also provides a storage device storing a program.
- the program data in the storage device can be executed to implement the automatic palletizing method in the foregoing embodiment, and the storage device includes, but is not limited to, a U disk, an optical disk, a server, or a hard disk.
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Claims (20)
- 一种自动码垛的方法,其特征在于,包括:根据预设规则确定位于同一平面的第一基准点、第二基准点、第三基准点和第四基准点,以及位于另一平面的第五基准点,并获取所述第一基准点、第二基准点、第三基准点、第四基准点和第五基准点的坐标;获取码垛阵列的总行数、总列数和总层数;根据所述第一基准点和第三基准点,确定所述码垛阵列的列方向向量;根据所述第一基准点和第五基准点,确定所述码垛阵列的层方向向量;根据待计算码垛点的列序数、总列数以及第一基准点、第二基准点、第三基准点和第四基准点的坐标确定所述待计算的码垛点所在列对应的行方向向量;以及根据所述待计算码垛点的行序数、列序数、层序数、所述行方向向量、列方向向量和层方向向量以及所述码垛阵列的总行数、总列数和总层数确定所述待计算码垛点的坐标。
- 如权利要求1所述的自动码垛的方法,其特征在于:所述根据待计算码垛点的列序数、总列数以及第一基准点、第二基准点、第三基准点和第四基准点的坐标确定所述待计算的码垛点所在行的行方向向量的步骤包括:根据所述待计算码垛点的列序数、所述总列数和所述第一基准点及第三基准点的坐标确定该列码垛点对应的第一辅助点的坐标;根据所述待计算码垛点的列序数、所述总列数和所述第二基准点及第四基准点的坐标确定该列码垛点对应的第二辅助点的坐标,其中,所述第一辅助点位于所述第一和第三基准点的连线上,所述第二辅助点位于所述第二和第四基准点的连线上;根据该列码垛点对应的所述第一辅助点和所述第二辅助点的坐标确定所述待计算码垛点所在列对应的行方向向量。
- 如权利要求2所述的自动码垛的方法,其特征在于:所述根据所述待计算码垛点的列序数、所述总列数和所述第一基准点及第三基准点的坐标确定第一辅助点的坐标的步骤包括:按以下公式确定所述第一辅助点的坐标:所述根据所述待计算码垛点的列序数、所述总列数和所述第二基准点及第四基准点的坐标确定第二辅助点的坐标的步骤包括:按以下公式确定所述第二辅助点的坐标:
- 如权利要求3所述的自动码垛的方法,其特征在于:所述根据该列码垛点对应的所述第一辅助点和所述第二辅助点的坐标确定所述待计算码垛点所在列对应的行方向向量的步骤包括,按以下公式确定所述待计算码垛点所在列对应的行方向向量:其中, 为第j列码垛点对应的所述行方向向量,u x,j,u y,j,u z,j为第j列码垛点对应的所述行方向向量在参考坐标系下的x、y和z轴的分量, 为第j列码垛点对应的所述第一辅助点到所述第二辅助点的向量;所述根据所述第一基准点和第三基准点,确定所述码垛阵列的列方向向量的步骤包括,按以下公式确定所述列方向向量:所述根据所述第一基准点和第五基准点,确定所述码垛阵列的层方向向量的步骤包括,按以下公式确定所述层方向向量:
- 如权利要求1所述的自动码垛的方法,其特征在于,所述获取第一基准点、第二基准点、第三基准点、第四基准点和第五基准点的坐标的步骤包括:通过人工示教的方法获取所述第一基准点、第二基准点、第三基准点、第四基准点和第五基准点的坐标。
- 如权利要求1所述的自动码垛的方法,其特征在于,所述第一基准点、所述第二基准点、所述第三基准点和所述第四基准点构成非平行四边形。
- 一种自动码垛设备,其特征在于,包括末端执行机构、驱动机构、控制器和存储器,所述末端执行机构用于拾取及放置待码垛物体,所述驱动机构用于驱动所述末端执行机构运动,所述存储器存储有程序指令,所述程序指令可被加载并执行一种自动码垛的方法,所述方法包括:根据预设规则确定位于同一平面的第一基准点、第二基准点、第三基准点 和第四基准点,以及位于另一平面的第五基准点;获取所述第一基准点、第二基准点、第三基准点、第四基准点和第五基准点的坐标;获取码垛阵列的总行数、总列数和总层数;根据所述第一基准点和第三基准点,确定所述码垛阵列的列方向向量;根据所述第一基准点和第五基准点,确定所述码垛阵列的层方向向量;根据待计算码垛点的列序数、总列数以及第一基准点、第二基准点、第三基准点和第四基准点的坐标确定所述待计算的码垛点所在列对应的行方向向量;以及根据所述待计算码垛点的行序数、列序数、层序数、所述行方向向量、列方向向量和层方向向量以及所述码垛阵列的总行数、总列数和总层数确定所述待计算码垛点的坐标。
- 如权利要求8所述的自动码垛设备,其特征在于:所述根据待计算码垛点的列序数、总列数以及第一基准点、第二基准点、第三基准点和第四基准点的坐标确定所述待计算的码垛点所在行的行方向向量的步骤包括:根据所述待计算码垛点的列序数、所述总列数和所述第一基准点及第三基准点的坐标确定该列码垛点对应的第一辅助点的坐标;根据所述待计算码垛点的列序数、所述总列数和所述第二基准点及第四基准点的坐标确定该列码垛点对应的第二辅助点的坐标,其中,所述第一辅助点位于所述第一和第三基准点的连线上,所述第二辅助点位于所述第二和第四基准点的连线上;根据该列码垛点对应的所述第一辅助点和所述第二辅助点的坐标确定所述待计算码垛点所在列对应的行方向向量。
- 如权利要求9所述的自动码垛设备,其特征在于:所述根据所述待计算码垛点的列序数、所述总列数和所述第一基准点及第三基准点的坐标确定第一辅助点的坐标的步骤包括:按以下公式确定所述第一辅助点的坐标:所述根据所述待计算码垛点的列序数、所述总列数和所述第二基准点及第四基准点的坐标确定第二辅助点的坐标的步骤包括:按以下公式确定所述第二辅助点的坐标:
- 如权利要求10所述的自动码垛设备,其特征在于:所述根据该列码垛点对应的所述第一辅助点和所述第二辅助点的坐标确定所述待计算码垛点所在列对应的行方向向量的步骤包括,按以下公式确定所述待计算码垛点所在列对应的行方向向量:其中, 为第j列码垛点对应的所述行方向向量,u x,j,u y,j,u z,j为第j列码垛点对应的所述行方向向量在参考坐标系下的x、y和z轴的分量, 为第j列码垛点对应的所述第一辅助点到所述第二辅助点的向量;所述根据所述第一基准点和第三基准点,确定所述码垛阵列的列方向向量的步骤包括,按以下公式确定所述列方向向量:所述根据所述第一基准点和第五基准点,确定所述码垛阵列的层方向向量的步骤包括,按以下公式确定所述层方向向量:
- 如权利要求7所述的自动码垛设备,其特征在于,所述获取第一基准点、第二基准点、第三基准点、第四基准点和第五基准点的坐标的步骤包括:通过人工示教的方法获取所述第一基准点、第二基准点、第三基准点、第四基准点和第五基准点的坐标。
- 如权利要求7所述的自动码垛设备,其特征在于,所述第一基准点、所述第二基准点、所述第三基准点和所述第四基准点构成非平行四边形。
- 一种具有存储功能的装置,其特征在于,存储有程序指令,所述程序指令可被加载并执行一种自动码垛的方法,所述方法包括:根据预设规则确定位于同一平面的第一基准点、第二基准点、第三基准点和第四基准点,以及位于另一平面的第五基准点;获取所述第一基准点、第二基准点、第三基准点、第四基准点和第五基准点的坐标;获取码垛阵列的总行数、总列数和总层数;根据所述第一基准点和第三基准点,确定所述码垛阵列的列方向向量;根据所述第一基准点和第五基准点,确定所述码垛阵列的层方向向量;根据待计算码垛点的列序数、总列数以及第一基准点、第二基准点、第三基准点和第四基准点的坐标确定所述待计算的码垛点所在列对应的行方向向量; 以及根据所述待计算码垛点的行序数、列序数、层序数、所述行方向向量、列方向向量和层方向向量以及所述码垛阵列的总行数、总列数和总层数确定所述待计算码垛点的坐标。
- 如权利要求15所述的装置,其特征在于:所述根据待计算码垛点的列序数、总列数以及第一基准点、第二基准点、第三基准点和第四基准点的坐标确定所述待计算的码垛点所在行的行方向向量的步骤包括:根据所述待计算码垛点的列序数、所述总列数和所述第一基准点及第三基准点的坐标确定该列码垛点对应的第一辅助点的坐标;根据所述待计算码垛点的列序数、所述总列数和所述第二基准点及第四基准点的坐标确定该列码垛点对应的第二辅助点的坐标,其中,所述第一辅助点位于所述第一和第三基准点的连线上,所述第二辅助点位于所述第二和第四基准点的连线上;根据该列码垛点对应的所述第一辅助点和所述第二辅助点的坐标确定所述待计算码垛点所在列对应的行方向向量。
- 如权利要求16所述的装置,其特征在于:所述根据所述待计算码垛点的列序数、所述总列数和所述第一基准点及第三基准点的坐标确定第一辅助点的坐标的步骤包括:按以下公式确定所述第一辅助点的坐标:所述根据所述待计算码垛点的列序数、所述总列数和所述第二基准点及第四基准点的坐标确定第二辅助点的坐标的步骤包括:按以下公式确定所述第二辅助点的坐标:
- 如权利要求17所述的装置,其特征在于:所述根据该列码垛点对应的所述第一辅助点和所述第二辅助点的坐标确定所述待计算码垛点所在列对应的行方向向量的步骤包括,按以下公式确定所述待计算码垛点所在列对应的行方向向量:其中, 为第j列码垛点对应的所述行方向向量,u x,j,u y,j,u z,j为第j列码垛点对应的所述行方向向量在参考坐标系下的x、y和z轴的分量, 为第j列码垛点对应的所述第一辅助点到所述第二辅助点的向量;所述根据所述第一基准点和第三基准点,确定所述码垛阵列的列方向向量的步骤包括,按以下公式确定所述列方向向量:所述根据所述第一基准点和第五基准点,确定所述码垛阵列的层方向向量的步骤包括,按以下公式确定所述层方向向量:
- 如权利要求15所述的装置,其特征在于,所述获取第一基准点、第二基准点、第三基准点、第四基准点和第五基准点的坐标的步骤包括:通过人工示教的方法获取所述第一基准点、第二基准点、第三基准点、第四基准点和第五基准点的坐标,其中,所述第一基准点、所述第二基准点、所述第三基准点和所述第四基准点构成非平行四边形。
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