Robot intelligent unstacking method suitable for random mixed placement of carton stacks

Abstract

The invention discloses a robot intelligent unstacking method suitable for random mixed placement of carton stacks, which comprises the following steps: performing three-dimensional point cloud information acquisition on a to-be-unstacked carton stack, and obtaining corner point information of an exposed carton surface of the to-be-unstacked carton stack through point cloud processing; calculatingthe length and width of the exposed surface of the carton cargo according to the carton corner information to obtain carton height information; planning a pickup point of the carton material, calculating spatial pose information of the pickup point, and converting the spatial pose information to motion control point pose information of a pickup hand at the tail end of the robot; unstacking and sequencing the cartons; giving coordinates of movement control points of the robot for placing the cartons, and finishing unstacking planning of one carton. The method has no requirements for the stacking shape and the carton stacking position within the visual field range of a visual measurement system and the movement range of an unstacking robot; and the principle of nearby emptying is adopted, the picking, carrying and placing paths in the unstacking process are more reasonable, the carrying time is saved, and the possibility of collision is reduced.

Description

technical field [0001] The invention belongs to the technical field of automation, and in particular relates to a robot intelligent unstacking method for randomly mixed carton materials. Background technique [0002] In recent years, logistics, e-commerce, packaging, manufacturing and other industries have developed rapidly, and there are widely used depalletizing applications for carton materials in internal logistics such as logistics warehousing industry and manufacturing enterprises. In particular, with the diversification and randomness of people's needs, many companies are gradually switching to small-batch, multi-batch, and flexible production modes. In order to optimize transportation space and reduce supply chain and transportation costs, intermediate transshipment and In warehouses and other links, carton mixed stacking has also become a common form. [0003] The characteristic of mixed carton stacking is that many kinds of cartons are randomly mixed and stacked, ...

AI Technical Summary

Problems solved by technology

(2) An intelligent depalletizing system and control method for a mixed box robot (patent application number: 201910832488.7). This patent application uses a 3D camera and a laser rangefinder to obtain information such as the size of the box on the pallet during depalletizing. According to the obtained box information, the depalletizing program of the corresponding specification is called to

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