Stacking control method and system

Abstract

The invention provides a stacking control method and system. The method comprises multiple times of stacking operation. Any stacking operation in the multiple times of stacking operation comprises thesteps of acquiring an operation plan of stacking operation; confirming a shooting position and a shooting angle of a camera based on a preset stacking position, driving the camera to move to the shooting position, and adjusting the camera to the shooting angle; acquiring a first image based on the camera; based on the first image, acquiring an entity occupied space and judging whether the interference between a preset stacking space and the entity occupied space is produced or not; if the interference is produced, replanning the stacking operation based on the entity occupied space, and obtaining an adjusted stacking space and an adjusted stacking position; calculating the offset between the adjusted stacking position and the preset stacking position, and judging whether the offset is within an allowable threshold range or not; and if the offset is within the allowable threshold range, actuating the stacking operation through a first robot based on the adjusted stacking position. Themethod has the characteristics of high universality, fast detection speed and the like.

Description

technical field [0001] The invention relates to the field of transportation and storage, in particular to a palletizing control method and system. Background technique [0002] The basic process of the current robot palletizing operation is to first teach the robot's actions through the teaching method, and then the robot performs repetitive palletizing operations through the palletizing actions learned through the teaching method. The palletizing action is relatively fixed, and the palletizing action of the robot will not change except for human intervention or unexpected ways to change the teaching program. [0003] Specifically, the container is a semi-enclosed limited space. When the robot stacks the boxes in the container, due to factors such as deformation of the box itself, the box may also slip after the stacking is completed, so that the actual stacking A good box will deviate from the planned stacking position. [0004] If the position of the stacked box deviates...

AI Technical Summary

Problems solved by technology

[0003] Specifically, the container is a semi-enclosed limited space. When the robot stacks the boxes in the container, due to factors such as deformation of the box itself, the box may also slip after the stacking is completed, so that the actual stacking Good cabinets will deviate from the planned stacking position

[0004] If the position of the stacked box deviates, it will definitely affect the stacking of the next box, and it is likely to interfere with the planned stacking position. However, since the action of the robot palletizing operation is preset, the robot needs to follow If the boxes are stacked at the original position, there may be collisions and extrusion between the boxes, which may damage the goods.

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