Control method and device for unstacking, electronic equipment and medium

A control method and storage medium technology, applied in the field of electronic equipment and media, devices, and unstacking control methods, can solve the problems of unstacking failure, height difference, etc., and achieve the goals of improving accuracy, reducing processing differences, and improving quality Effect

Active Publication Date: 2020-08-11
杭州灵西机器人智能科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to the differences between the items, there are differences in the heights between the layers. Therefore, as the layers decrease during the unstacking process, the differe...

Method used

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  • Control method and device for unstacking, electronic equipment and medium
  • Control method and device for unstacking, electronic equipment and medium
  • Control method and device for unstacking, electronic equipment and medium

Examples

Experimental program
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Embodiment 1

[0043] This embodiment provides a control method for unstacking, aiming at solving the problem that during the unstacking process, as the level decreases, the difference between the actual top surface height and the expected top surface height of the target item stack will gradually increase. , and even lead to the failure of unstacking. Specifically, refer to figure 1 As shown, the control method may include the following steps.

[0044] Step S10, obtaining the height H1 of the top surface of the target article stack. It is worth noting that the target item stack is formed by stacking items layer by layer, and the top surface height H1 is the height of the upper surface of the top item. In order to improve the stability of handling, the items in the target item stack should preferably be placed neatly and of the same type, and the single-layer items should be placed regularly and kept on the same layer and at the same height. During the unstacking process of the target item...

Embodiment 2

[0052] This embodiment provides a control method for unstacking, which is carried out on the basis of Embodiment 1. Specifically, refer to figure 2 As shown, step S10 includes step S101 to step S103.

[0053]Step S101, receiving environment information of a target article stack. The environmental information can be an image, and the image should include the entire stack of target items and the space in which they are located.

[0054] It can be understood that, the environment information is collected by the first camera, and the first camera may be communicatively connected with the execution device of the method. Specifically, there is a support base around the place where the target product stack is placed, and the first camera is fixed on the support base and is set facing the target commodity stack. When destacking is required, the first camera collects environmental information and uploads it to the The execution device for the method.

[0055] The first camera can ...

Embodiment 3

[0082] This embodiment provides a control device for unstacking, which is the virtual device structure of the above embodiment. It aims to solve the problem that as the level decreases during the depalletizing process, the difference between the actual top surface height and the expected top surface height of the target item stack will gradually expand, and even lead to the failure of depalletizing. refer to Figure 6 As shown, the control device may include a first acquisition module 1 , a second acquisition module 2 , a query module 3 and a processing module 4 .

[0083] Specifically, the first acquisition module 1 is used to obtain the top surface height H1 of the target article stack, and obtain the preliminary height H2 based on the top surface height H1, and the difference between the preliminary height H2 and the top surface height H1 is a constant C greater than zero; The second acquisition module 2 is used to obtain the second top view corresponding to the target ite...

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Abstract

The invention discloses a control method for unstacking, relates to the technical field of intelligent logistics, and is used for solving the problems that the difference between the actual top surface height and the predicted top surface height of a target article stack is gradually increased along with the reduction of levels in the unstacking process, and even unstacking failure is caused. Thecontrol method comprises the following steps that the top surface height H1 of a target article stack is obtained, a preparation height H2 is obtained based on the top surface height H1, and the difference value of the preparation height H2 and the top surface height H1 is a constant C larger than zero; a second top surface graph of the target article stack corresponding to the preparation heightH2 is obtained; basic information of an execution end is queried; and a carrying rule is obtained based on the second top surface graph and the basic information. According to the method, the qualityof the second top surface graph is improved, and the accuracy of the corresponding carrying rule is also improved, so that smooth unstacking is facilitated. The invention further discloses a control device for unstacking, electronic equipment and a computer readable storage medium.

Description

technical field [0001] The invention relates to the technical field of intelligent logistics, in particular to a control method, device, electronic equipment and medium for unstacking. Background technique [0002] Item stacks are obtained by neatly stacking items. However, due to the differences between the items, there are differences in the heights between the layers. Therefore, as the layers decrease during the unstacking process, the difference between the actual top surface height and the expected top surface height of the target item stack also increases. If it gradually expands, it will even lead to the failure of destacking. Therefore, there is a need for a control method capable of determining the height of the top surface of the target object stack. Contents of the invention [0003] In order to overcome the deficiencies in the prior art, one of the purposes of the present invention is to provide a control method for unstacking, which not only improves the qua...

Claims

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Application Information

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IPC IPC(8): G06Q10/04G06Q10/08G06K9/00
CPCG06Q10/043G06Q10/0832G06V20/00
Inventor 丁丁王灿王正兰辉
Owner 杭州灵西机器人智能科技有限公司
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