Storage unit positioning method, system, 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: 2022-07-26
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 solutions and advantages of the present application clearer, the following will refer to the accompanying drawings in the embodiments of the present application, and describe the technical solutions of the present application clearly and completely through the implementation manner. Obviously, the described embodiments are the present application Some examples, but not all examples. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of this application.
[0069] In the embodiments of this application, the lockers described may be lockers sold as products alone or as part of other products. It should be understood that the lockers in the embodiments of the application are composed of A plurality of interleaved baffles are formed. Generally, in an ideal installation state, the storage cabinet in this embodi...
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The present application discloses a storage unit positioning method, system, device, storage medium and storage device, which are applied to the storage unit positioning of a storage cabinet including a plurality of the storage units. The method includes the following steps: Obtain the coordinates of the first, second and third positioning points of the locker. Determine the first straight line equation according to the coordinates of the first and second positioning points; determine the second straight line according to the coordinates of the first and third positioning points Equations; determine the first straight line equation set according to the first straight line equation, the coordinates of the third positioning point and the row and column parameters; determine the second straight line equation set according to the second straight line equation, the coordinates of the second positioning point and the row and column parameters; The intersection of the three line equations and the fourth line equation locates the storage unit of the locker. The present application can be widely used in the field of automation technology.
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 warehousing and manufacturing scenarios will set up lockers for storing products or intermediate products, and then use automated robots (such as robotic arms, etc.) to store or remove products. Generally, these lockers are provided with multiple storage units (also called storage compartments). These storage compartments are composed of multiple baffles that are staggered horizontally and vertically. Since the baffles are generally rigid materials, if there is any deviation during the installation process, It will lead to deformation of each storage unit of the entire locker. Usually, the storage surface of the storage unit is changed from a rectangle to a parallelogram, and due to the rigidity of the ...
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IPC IPC(8): A47B81/00
CPCA47B81/00
Inventor 王瑞刚
Owner GUANGDONG ATHENE ROBOTIC TECH CO LTD