Box-packing method, device, electronic equipment and storage medium for cuboid objects

Abstract

This application belongs to the field of robot control, and discloses a boxing method, device, electronic equipment, and storage medium for cuboid items. The size and top surface pose information of each item to be boxed is obtained through a first RGBD camera; the item to be boxed It is a cuboid-shaped article; the size includes length, width and height; a mask matrix is ​​generated; the size of the mask matrix is ​​the same as the pixel size of the boxing area of ​​the target box in the image collected by the second RGBD camera; The boxed item is the target item, and the mask matrix is ​​updated by comparing the remaining height information of each place in the boxed area with the height of the target item, and the candidate area of ​​the boxed area is determined by using the updated mask matrix, and the effective space is searched in the candidate area The target item can be put into the effective space; thus the target item can be accurately placed in a position that can accommodate the target item, and the automatic boxing of each item to be boxed is realized, which has better practicability and versatility.

Description

technical field [0001] The present application relates to the field of robot control, in particular, to a boxing method, device, electronic equipment and storage medium for cuboid objects. Background technique [0002] At present, some equipment (such as electronic equipment) packs each part of the equipment with a plurality of small cuboid boxes respectively, and then packs all the small cuboid boxes of the same equipment into a large cuboid box. In the traditional method, the cuboid-shaped small box is manually packed into the cuboid-shaped large box, but the work efficiency is low. For this reason, some factories use robots to complete the packing operation of packing small cuboid boxes into large cuboid boxes, but most of the current picking and placing algorithms of robots are not perfect, accurate, and have poor practicability and versatility. Contents of the invention [0003] The purpose of the present application is to provide a box-packing method, device, electr...

AI Technical Summary

Problems solved by technology

In the traditional method, the small cuboid box is manually put into the big cuboid box, but the work efficiency is low

For this reason, some factories use robots to complete the packing operation of packing small cuboid boxes into large cuboid boxes. However, most of the current algorithms for picking and placing robots are not perfect, accurate, and have poor practicability and versatility.

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