Robot stack disassembling method of irregular random materials

Abstract

The invention relates to a robot stack disassembling method of irregular random materials. The robot stack disassembling method of the irregular random materials comprises the steps that a, a whole stack is shot through a 3D camera arranged above the stack, based on image information shot by the 3D camera, one material of the stack is chosen as a material taking object according to a predeterminedchoosing strategy; b, material taking point coordinates of the material taking object are determined; c, a robot sucks up the material taking object according to the material taking point coordinates, and the material taking object is moved to a preassigned middle position; d, a side surface image of the material taking object is shot, the height of the material taking object is determined, and thus material placing point coordinates of the material taking object are further determined; e, the robot moves the material taking object to the material placing point according to the material placing point coordinates, and lays down the material taking object; and f, the steps from a to e are repeated until all the stacked materials are moved to the material placing point. According to the robot stack disassembling method of the irregular random materials, the robot is used to disassemble the stack randomly stacked with irregular sized materials.

Description

technical field [0001] The invention relates to robot unstacking technology. Background technique [0002] In the logistics industry, it is often applied to palletizing and depalletizing. When the goods arrive, unloading operations are required. At this time, forklifts are generally used to fork off the goods, and then workers manually unstack them. In some occasions, robots are also used for unstacking operations. [0003] Robots replace workers to perform unstacking operations with high efficiency and low cost, but they need to know the stacking type in advance. In order to solve the problem of unknown material stack type, various sensors are often used in the industry to analyze the stack to grasp the type of goods on the stack, so as to calculate the grabbing point and let the robot do the work. However, the current robot depalletizing solutions are all aimed at regular stacking. When the stacking type becomes completely random, and the size of the material is also c...

AI Technical Summary

Problems solved by technology

However, the current robot depalletizing solutions are all aimed at regular stacking

When the stacking type becomes completely random, and the size of the material is also completely disordered and random, it will become very difficult to use a robot to unstack the stack, and it will mainly be done manually by workers.

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