Method and device for generating a robot stacking point location and computer readable memory

Abstract

The invention provides a method and device for generating a robot stacking point location and a computer readable memory. The method includes the steps that a stack type generation instruction input by a user is received, the stack type generation instruction is provided with a stack type template and a stack type parameter, and according to the stack type template and the stack type parameter, acorresponding goods placement stack type is generated; a tray basic parameter set by the user is obtained, the tray basic parameter includes the tray size and the size, the number of layers and the gap of goods to be placed on a tray; the relative position relationship between a robot and the tray is obtained, the tray position in a robot visual coordinate system is calibrated, and a virtual traycoordinate system is established; and according to the goods placement stack type, the tray basic parameter and the calibrated tray position, coordinates of goods placement points in the virtual traycoordinate system are calculated. According to the method and device for generating a robot stacking point location and the computer readable memory, complex placement of the goods can be realized.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of robot palletizing, and more specifically, relate to a method, device and computer readable memory for generating robot palletizing points. Background technique [0002] With the rapid development of robot technology, 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. The palletizing process depends on the stacking form of the pallet and the trajectory along which the robot places or removes items from the pallet. Define the stacking form of the pallet as the stack type, which determines how the objects in the pallet are placed. [0003] In robot palletizing operations, operations such as teaching and taking points are used more and more frequently, but in complex or irregular palletizing applications...

AI Technical Summary

Problems solved by technology

[0006] The embodiments of the present invention aim at the above-mentioned existing planning method for robot stacking points in irregular placement mode that requires manual control by the user, which is very inconvenient to operate, or needs to establish a three-dimensional data model and extract the relevant shape of the target object characteristics, complex algorithms, and a large amount of calculation, a method, device, and computer-readable memory for generating robot palletizing points are provided

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