Storage unit positioning method, system and device, storage medium and storage device
A positioning method and storage technology, applied in the field of automation, can solve problems such as low fault tolerance rate of robotic arms and failure of automatic equipment to access items normally, and achieve the effect of improving reliability
Active Publication Date: 2021-03-26
GUANGDONG ATHENE ROBOTIC TECH CO LTD
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Problems solved by technology
[0003] In related technologies, a two-point method is usually used to locate the storage unit of the locker. The principle is to take the two vertices of the storage surface of the locker as the positioning points, assuming that each storage unit of the locker is stored The surfaces are all standard rectangles for calculation. Although this scheme is simple, it ignores the possible deviations in the installation process of the locker. Sometimes, the accumulation of these deviations will cause the automation equipment to fail to access items normally
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[0068] In order to make the purpose, technical solution and advantages of the application clearer, the technical solution of the application will be clearly and completely described through implementation with reference to the accompanying drawings in the embodiments of the application. Obviously, the described embodiment is the embodiment of the application. Some, but not all, embodiments. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.
[0069] In the embodiment of the present application, the locker described can be a locker sold as a product alone, or as a part of other products. It should be understood that the locker in the embodiment of the application consists of It is composed of several staggered baffles. Generally, in an ideal installation state, the locker in this embodiment will be divided into multiple storage...
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The invention discloses a storage unit positioning method, system and device, a storage medium and a storage device, which are applied to the positioning of storage units of a storage cabinet comprising a plurality of storage units, and the method comprises the following steps: obtaining coordinates of a first positioning point, a second positioning point and a third positioning point of the storage cabinet and determining a first linear equation according to the coordinates of the first positioning point and the second positioning point; determining a second linear equation according to the coordinates of the first and third positioning points; determining a first linear equation set according to the first linear equation, the coordinates and the row and column parameters of the third positioning point; determining a second linear equation set according to the second linear equation, the coordinates and the row and column parameters of the second positioning point; and positioning a storage unit of the storage cabinet according to the intersection point of the third linear equation and the fourth linear equation. The invention can be widely applied to the technical field of automation.
Description
technical field [0001] The present application relates to automation technology, in particular to a storage unit positioning method, system, device, storage medium and storage device. Background technique [0002] With the development of industrial automation technology, many storage and manufacturing scenarios will set up lockers for storing products or intermediate products, and then store or take out products through automated robots (such as robotic arms, etc.). Generally, these lockers are provided with a plurality of storage units (also called storage compartments). It will cause deformation of each storage unit of the entire locker, usually the storage surface of the storage unit changes from a rectangle to a parallelogram, and due to the rigidity of the baffle, this deformation will be transmitted to each storage unit unit, and the angular deformation of each storage unit is generally the same. [0003] In related technologies, a two-point method is usually used to...
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IPC IPC(8): A47B81/00
CPCA47B81/00
Inventor 王瑞刚
Owner GUANGDONG ATHENE ROBOTIC TECH CO LTD