Method, device and robot for determining position information of palletizing points

Abstract

A method, device and robot for determining position information of a palletizing point, the method comprising: determining a first transformation matrix (S100) between the original palletizing coordinate system bound to the pallet and the world coordinate system of the robot (S100); The position information of the palletizing point in the original palletizing coordinate system, and the positional relationship between the first transformation matrix and the world coordinate system, obtain the first position information of the teaching palletizing point in the world coordinate system and determine the other positions on the pallet The first position information of each palletizing point (S110); determine the new palletizing coordinate system of the pallet after moving and determine the second transformation matrix between the new palletizing coordinate system and the world coordinate system (S120); according to the first transformation matrix and the second transformation matrix to obtain the third transformation matrix, and use the third transformation matrix to obtain the position information of the palletizing point in the world coordinate system (S130); when the pallet moves, it is not necessary to re-teach the palletizing point It can save a lot of time and improve the efficiency of the palletizing line.

Description

technical field [0001] The invention relates to the technical field of intelligent machines, in particular to a method, device and robot for determining position information of palletizing points. Background technique [0002] With the rapid development of the economy, the application of robots in palletizing is becoming more and more extensive. Palletizing is to place items neatly on pallets according to certain rules, or remove items from pallets and place them on conveyor belts or other equipment, such as figure 1 shown. The palletizing process depends on the stacking form of the pallet (three-dimensional matrix, a three-dimensional matrix composed of row R, column C, and layer L), and the trajectory along which the robot places or removes items from the pallet. The stacking form of the defined pallet is the pallet mode, which determines how the objects in the pallet are placed. [0003] At present, industrial palletizing applications have more requirements on the pall...

AI Technical Summary

Problems solved by technology

At present, when the robot is palletizing, it is necessary to teach some information about the palletizing points according to the different pallet modes. Among them, for irregular pallet modes, it can often meet some complex requirements of the industrial site. However, in order to realize this complex form Pallets have more requirements on the palletizing position information to be taught before palletizing; for example figure 2 Only need to teach the information of four points (1,1,1), (numR,1,1), (1,numC,1) and (1,1,numL) on the three-dimensional matrix of palletizing, but image 3 It is necessary to teach the position information of all points on the first layer, and then teach the position information of (1,1,numL) points. When the pallet is large, that is, the number of rows and columns is large, the point information that needs to be taught more time-consuming

[0004] The information of all the points taught on the pallet matrix in the prior art refers to the world coordinate system. For the common pallet mode in practical applications, it is only the case where the entire pallet is moved, that is, when the pallet is moved each time When the disk position is changed, all the teaching point information cannot be saved, and all previously taught point information must be re-teached

However, the situation of moving pallets often occurs, which is very inconvenient, will waste a lot of time, and delay the efficiency of the palletizing production line

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