Collaborative robot goods stacking method and device based on disordered material mixing

Abstract

The invention relates to the technical field of goods stacking, and discloses a goods stacking method and device based on disordered material mixing for a collaborative robot, and the method comprises the steps that based on a stacking area shot by a camera, the space distribution state of the stacking area is updated in real time, and a space capable of being placed is determined; based on the incoming material area shot by the camera, the box size of the target goods is obtained; and according to the box body size of the target goods, in combination with the placement space, optimal matching of the space utilization rate of goods stacking is carried out, and the position of a to-be-stacked box body in the target goods is determined so as to guide the collaborative robot to carry out goods stacking. The method has the effects that the space utilization rate and the taking rate of subsequent boxes are comprehensively considered, the space utilization rate of the collaborative robot during goods stacking is increased, and the goods stacking efficiency is higher.

Description

Technical Field

[0001] The present application relates to the technical field of cargo palletizing, and in particular to a method and device for cargo palletizing based on disordered mixing by a collaborative robot. Background Art

[0002] At present, when collaborative robots are stacking items, they are usually required to strictly sort and arrange the goods, which limits the flexibility and efficiency of collaborative robots' operations and reduces the space utilization of goods stacking in limited spaces. Furthermore, existing stacking systems are often unable to effectively handle items of different shapes and sizes, resulting in low utilization of storage space for goods.

[0003] With respect to the above-mentioned related technologies, the inventors have discovered that the existing cargo stacking method has the problem of low space utilization. Summary of the invention

[0004] In order to improve the space utilization rate of collaborative robots when palletizing goods, the present application provides a collaborative robot palletizing method and device based on disordered mixing.

[0005] In a first aspect, the present application provides a collaborative robot-based cargo palletizing method for disordered mixing.

[0006] This application is achieved through the following technical solutions:

[0007] A collaborative robot palletizing method based on disordered mixing of goods comprises the following steps:

[0008] Based on the stacking area captured by the camera, the spatial distribution status of the stacking area is updated in real time to determine the available space;

[0009] And based on the incoming material area captured by the camera, obtain the box size of the target goods;

[0010] According to the box size of the target goods and in combination with the available placement space, the optimal space utilization of goods palletizing is matched, and the position of the boxes to be stacked in the target goods is determined to guide the collaborative robot to palletize the goods.

[0011] In a preferred example, the present application can be further configured as follows: the step of updating the spatial distribution state of the stacking area in real time based on the stacking area photographed by the camera, and determining the available placement space includes:

[0012] Acquiring upper surface information of the stacking area;

[0013] According to the upper surface information of the stacking area, the height of any plane to be stacked from the camera and the corresponding plane size are detected, and the available placement space is obtained by summarizing.

[0014] In a preferred example, the present application can be further configured as follows: according to the box size of the target goods, combined with the available placement space, the space utilization rate of goods stacking is optimally matched, and the step of determining the position of the box to be stacked in the target goods includes:

[0015] Match boxes whose box sizes satisfy any plane size to be stacked in the available space from the target goods, and determine the positions of the boxes to be stacked in the target goods.

[0016] In a preferred example, the present application can be further configured as follows: it also includes the following steps:

[0017] Converting the stacking area into a three-dimensional grid;

[0018] Based on the three-dimensional grid, respectively calculate the remaining carrying space of the boxes to be stacked in the target cargo on each plane to be stacked in the available space;

[0019] Rating is performed according to the remaining carrying space to obtain a rating result;

[0020] By using the preset priority levels, the to-be-stacking plane with the highest priority level is selected from the rating results as the position of the to-be-stacking boxes in the target goods.

[0021] In a preferred example, the present application can be further configured as follows: the step of using the preset priority level to select the to-be-stacking plane with the highest priority level from the rating results as the position of the to-be-stacking box in the target cargo includes:

[0022] The rating result that there is no remaining carrying space along the plane dimension direction of the boxes to be stacked is set as the first priority;

[0023] The rating results of the boxes to be stacked having remaining load-bearing space along the plane dimension direction on the plane to be stacked and the remaining load-bearing distance in any plane dimension direction being greater than the box size corresponding to the boxes to be stacked are set as the second priority;

[0024] The to-be-stacked plane corresponding to the first priority is selected as the position of the to-be-stacked boxes in the target cargo.

[0025] In a preferred example, the present application can be further configured as follows: it also includes the following steps:

[0026] When the rating result shows that there are at least two items of the first priority, the distance between each to-be-stacked plane and the collaborative robot is calculated respectively;

[0027] The to-be-stacked plane farthest from the collaborative robot is selected as the position of the boxes to be stacked in the target cargo.

[0028] In a preferred example, the present application can be further configured as follows: according to the box size of the target goods, combined with the available placement space, the space utilization rate of goods stacking is optimally matched, and the step of determining the position of the box to be stacked in the target goods also includes:

[0029] When the size of the boxes to be stacked in the target cargo does not meet the size of any plane to be stacked in the placeable space, or the length of the boxes to be stacked in the target cargo meets the size of any direction corresponding to the plane to be stacked in the placeable space and the width of the boxes to be stacked in the target cargo does not meet the size of any direction corresponding to the plane to be stacked in the placeable space, or the width of the boxes to be stacked in the target cargo meets the size of any direction corresponding to the plane to be stacked in the placeable space and the length of the boxes to be stacked in the target cargo does not meet the size of any direction corresponding to the plane to be stacked in the placeable space, it is automatically prompted that there is no matching result for the boxes to be stacked.

[0030] In a preferred example, the present application can be further configured as follows: it also includes the following steps:

[0031] Simulating the placement process of the target cargo, performing physical collision detection, and obtaining collision results;

[0032] Based on the collision result, the position of the box to be stacked in the target cargo is adjusted and updated as the position of the box to be stacked in the target cargo.

[0033] In a second aspect, the present application provides a collaborative robot cargo palletizing device based on disordered mixing.

[0034] This application is achieved through the following technical solutions:

[0035] A collaborative robot cargo palletizing device based on disordered mixing, comprising:

[0036] A placement space determination module is used to update the spatial distribution status of the stacking area in real time based on the stacking area captured by the camera and determine the available placement space;

[0037] Incoming material box size module, used to obtain the box size of the target goods based on the incoming material area captured by the camera;

[0038] The cargo palletizing strategy module is used to perform optimal matching of the space utilization of cargo palletizing according to the box size of the target cargo and the available placement space, determine the position of the boxes to be stacked in the target cargo, and guide the collaborative robot to perform cargo palletizing.

[0039] In a third aspect, the present application provides a computer device.

[0040] This application is achieved through the following technical solutions:

[0041] A computer device comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of any one of the above-mentioned collaborative robot methods for palletizing goods based on disordered mixing when executing the computer program.

[0042] In a fourth aspect, the present application provides a computer-readable storage medium.

[0043] This application is achieved through the following technical solutions:

[0044] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of any one of the above-mentioned collaborative robot cargo palletizing methods based on disordered mixing.

[0045] In a fifth aspect, the present application provides a computer program product.

[0046] This application is achieved through the following technical solutions:

[0047] A computer program product includes a computer program, which, when executed by a processor, implements the steps of any one of the above-mentioned collaborative robot cargo palletizing methods based on disordered mixing.

[0048] In summary, compared with the prior art, the technical solution provided by this application has at least the following beneficial effects:

[0049] Based on the stacking area captured by the camera, the spatial distribution status of the stacking area is updated in real time to determine the available space; and based on the incoming material area captured by the camera, the box size of the target goods is obtained; according to the box size of the target goods and the available space, the optimal matching of the space utilization for cargo stacking is performed, and the position of the boxes to be stacked in the target goods is determined to guide the collaborative robot to stack the goods, and then the materials can be classified according to the box size, and boxes of adjacent sizes can be stacked in a pile, so as to achieve a comprehensive consideration of space utilization and subsequent box retrieval rate, thereby improving the space utilization of the collaborative robot when stacking goods, realizing disorderly stacking of items, and intelligently completing the complete stacking and packing tasks, making cargo stacking more efficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 A schematic diagram of the main process flow of a collaborative robot cargo palletizing method based on disordered mixing is provided as an exemplary embodiment of the present application.

[0051] Figure 2A structural block diagram of a collaborative robot cargo palletizing device based on disordered mixing is provided as another exemplary embodiment of the present application. DETAILED DESCRIPTION

[0052] This specific embodiment is merely an explanation of the present application and is not a limitation of the present application. After reading this specification, those skilled in the art may make modifications to the present embodiment without any creative contribution as needed, but such modifications are protected by the patent law as long as they are within the scope of the claims of the present application.

[0053] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0054] In addition, the term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article, unless otherwise specified, generally means that the associated objects before and after are in an "or" relationship.

[0055] The embodiments of the present application are further described in detail below in conjunction with the drawings in the specification.

[0056] Reference Figure 1 An embodiment of the present application provides a collaborative robot cargo palletizing method based on disordered mixing, and the main steps of the method are described as follows.

[0057] S1: Based on the stacking area captured by the camera, the spatial distribution status of the stacking area is updated in real time to determine the available placement space;

[0058] S2: Based on the incoming material area captured by the camera, the box size of the target goods is obtained;

[0059] S3: According to the box size of the target goods and the available placement space, optimal matching of space utilization for goods palletizing is performed, and the position of the boxes to be stacked in the target goods is determined to guide the collaborative robot to palletize the goods.

[0060] By selecting a 3D camera with a suitable focal length and fixing it in a preset position, the shooting range of the 3D camera can cover the stacking area and the incoming material area (current buffer area).

[0061] The stacking area is photographed in real time, and target detection algorithms such as the R-CNN series and the YOLO series are used to convert the stacking area into a three-dimensional storage space. The occupancy status of each element is tracked and managed using a three-dimensional grid, the spatial distribution status of the stacking area is identified and updated, and the available space is determined and reported to the system to provide real-time feedback on the spatial distribution status and spatial occupancy status, which is conducive to timely optimization of storage space utilization.

[0062] Real-time photography of the incoming material area, using target detection algorithms such as the R-CNN series and YOLO series to identify the size and location information of the target goods in the incoming material area, and report to the system to obtain the box size of the target goods. In addition, the boxes in the current buffer area can be replenished in time using roller lines or conveyor belts, which is conducive to further improving the efficiency of cargo palletizing.

[0063] Based on the box size of the target goods and the available space, the system performs optimal matching of the space utilization of goods palletizing based on greedy algorithms and heuristic algorithms, selects suitable boxes, determines the location of the boxes to be stacked in the target goods, and classifies materials according to box size. Boxes of adjacent sizes are stacked in the available space, and the system intelligently predicts the best placement of different items in a specific storage environment, while taking into account the ease of operation and the efficiency of future item retrieval.

[0064] Finally, by determining the position of the boxes to be stacked in the target cargo, the collaborative robot is guided to perform automated palletizing of the cargo, such as controlling the robotic arm or suction cup to move the target box to the corresponding position of the cage truck or pallet where there is space.

[0065] In one embodiment, industrial robots may also be used for automated palletizing of goods.

[0066] The present application is applied to the robot's palletizing scenario where goods are mixed in disorder.

[0067] In one embodiment, the step of updating the spatial distribution state of the stacking area in real time based on the stacking area photographed by the camera and determining the available placement space includes:

[0068] Acquiring upper surface information of the stacking area;

[0069] According to the upper surface information of the stacking area, the height of any plane to be stacked from the camera and the corresponding plane size are detected, and the available placement space is obtained by summarizing.

[0070] The camera can capture the upper surface information of the stacking area. For example, if the camera captures 4 height areas on the upper surface of the current stack, i.e., 4 planes to be stacked, and the distances of each height area from the camera are 600mm, 800mm, 800mm, and 1200mm, respectively, then it can be known that the starting position of the stacking area is 1200mm away from the camera, that is, the plane to be stacked 1200mm away from the camera is taken as the bottom plane, reported to the system and recorded as plane a: 600mm from the bottom, plane b: 400mm from the bottom, plane c: 400mm from the bottom, and plane d: bottom plane. At the same time, the camera can capture the plane size information (length × width) of each plane to be stacked and report it. By summarizing the height information and corresponding plane size information of each plane to be stacked, the available space can be obtained.

[0071] In one embodiment, the step of optimally matching the space utilization of cargo stacking based on the box size of the target cargo and the available placement space, and determining the position of the box to be stacked in the target cargo includes:

[0072] Match boxes whose box sizes satisfy any plane size to be stacked in the available space from the target goods, and determine the positions of the boxes to be stacked in the target goods.

[0073] By matching the available plane information of the stacking area with the incoming box size information of the current buffer area, such as matching boxes with similar length and width according to the length and width information of the available plane, the length and width of the box can be allowed to be slightly larger or slightly smaller than the length of the available plane (such as 200mm), and the width of the box can be slightly larger or slightly smaller than the width of the available plane (such as 200mm), so as to obtain the most suitable stacking boxes and stacking positions.

[0074] In one embodiment, the step of optimally matching the space utilization of cargo stacking based on the box size of the target cargo and the available placement space, and determining the position of the box to be stacked in the target cargo further includes:

[0075] When the size of the boxes to be stacked in the target goods does not meet the size of any plane to be stacked in the placeable space, such as the length and width of the box both exceed the length of 200mm and the width of 200mm of the plane to be stacked, or the length of the boxes to be stacked in the target goods meets the size of the corresponding direction of any plane to be stacked in the placeable space and the width of the boxes to be stacked in the target goods does not meet the size of the corresponding direction of any plane to be stacked in the placeable space, such as the length of the box is slightly larger or slightly smaller than the length of the placeable plane by 200mm but the width of the box exceeds the width of the plane to be stacked by 200mm, or the width of the boxes to be stacked in the target goods meets the size of the corresponding direction of any plane to be stacked in the placeable space and the length of the boxes to be stacked in the target goods does not meet the size of the corresponding direction of any plane to be stacked in the placeable space, such as the width of the box is slightly larger or slightly smaller than the width of the placeable plane by 200mm but the length of the box exceeds the length of the plane to be stacked by 200mm, it is automatically prompted that there is no matching result for the boxes to be stacked.

[0076] In one embodiment, matching boxes whose box sizes satisfy any plane size to be stacked in the available space from the target goods, and determining the positions of the boxes to be stacked in the target goods comprises the following steps:

[0077] Converting the stacking area into a three-dimensional grid;

[0078] Based on the three-dimensional grid, respectively calculate the remaining carrying space of the boxes to be stacked in the target cargo on each plane to be stacked in the available space;

[0079] Rating is performed according to the remaining carrying space to obtain a rating result;

[0080] By using the preset priority levels, the to-be-stacking plane with the highest priority level is selected from the rating results as the position of the to-be-stacking boxes in the target goods.

[0081] In one embodiment, the step of selecting the stacking plane with the highest priority from the rating results using the preset priority levels as the position of the boxes to be stacked in the target goods includes:

[0082] The rating result that there is no remaining carrying space along the plane dimension direction of the boxes to be stacked is set as the first priority;

[0083] The rating results of the boxes to be stacked having remaining load-bearing space along the plane dimension direction on the plane to be stacked and the remaining load-bearing distance in any plane dimension direction being greater than the box size corresponding to the boxes to be stacked are set as the second priority;

[0084] The to-be-stacked plane corresponding to the first priority is selected as the position of the to-be-stacked boxes in the target cargo.

[0085] In one embodiment, the following steps are also included:

[0086] When the rating result shows that there are at least two items of the first priority, the distance between each to-be-stacked plane and the collaborative robot is calculated respectively;

[0087] The to-be-stacked plane farthest from the collaborative robot is selected as the position of the boxes to be stacked in the target cargo.

[0088] Specifically, by acquiring the spatial distribution state of the stacking area, the size information, coordinates and placement method of the placement space are input.

[0089] Initialize the camera to obtain the actual point cloud information of the stacking area, establish a three-dimensional grid, and create a list of available spaces and points for placement.

[0090] Next, the box size and orientation information of the target goods in the current buffer area are obtained. The boxes i of the target goods are numbered 1, 2, 3, ..., n, where n is a positive integer. The orientation information is mainly used for the angle control when the robot grabs the box, including two placement schemes: rotating 90° and not rotating 90°.

[0091] Determine whether i is equal to 1.

[0092] When i=1, the optimal space utilization of cargo stacking is matched, the positions of the stackable points of the box with serial number i=1 are calculated, and the matching scheme is determined.

[0093] To determine whether there is a matching solution, perform the following judgments in order:

[0094] 1. Determine the size relationship between the box and the plane to be stacked, and give priority to the matching solution with the box size close to the plane to be stacked as solution A;

[0095] 2. When there are at least two matching solutions whose box size is close to the size of the plane to be stacked, determine the distance between the plane to be stacked and the robot body, and give priority to selecting the matching solution whose plane to be stacked is far from the robot body as solution B;

[0096] Determine whether plan A exists;

[0097] If plan A exists, determine whether plan B exists;

[0098] If there is a plan B, then the optimal plan for the stackable point is considered as plan B; otherwise, plan A is executed;

[0099] Let i=i+1, obtain new current buffer information and new stacking area, and repeat the above steps until i>the total number of stackable points;

[0100] If plan A does not exist, calculate the space utilization rate of the current stacking area and determine whether the space utilization rate is greater than or equal to a preset threshold, such as 80%;

[0101] If the space utilization rate of the current stacking area is greater than or equal to the preset threshold, the system is notified that the cargo stacking task has been completed;

[0102] If the space utilization rate of the current stacking area is less than the preset threshold, it will automatically prompt that there is no matching result and notify manual processing.

[0103] Among them, based on the three-dimensional grid of the stacking area, the remaining carrying space of the boxes to be stacked in the target goods on each stacking plane of the available space is calculated, including the following situations:

[0104] The plane to be stacked is just occupied by the target box, that is, there is no remaining carrying space in the x-direction and y-direction of the three-dimensional grid on the plane to be stacked, and the size of the target box is close to the size of the plane to be stacked;

[0105] The remaining load-bearing space in the x and y directions of the plane to be stacked is large enough to stack the target box, and the dimensions of the x and y directions of the plane to be stacked are both greater than 200mm\the x direction of the plane to be stacked is greater than 200mm\the y direction of the plane to be stacked is greater than 200mm. At this time, the matching solution with no remaining load-bearing space in the x and y directions of the three-dimensional grid of the plane to be stacked is preferred, because this means that the box is just right and the space utilization rate is the highest;

[0106] The target box only occupies one direction of the stacking plane, and the remaining load-bearing space in the other direction of the stacking plane is insufficient to stack the box. For example, there is no remaining load-bearing space in the x direction, but there is remaining load-bearing space in the y direction, but the size is less than 200mm; or, there is no remaining load-bearing space in the y direction, but there is remaining load-bearing space in the x direction, but the size is less than 200mm. In this case, there is no matching solution.

[0107] Furthermore, when there are at least two rating results of the first priority, that is, there are at least two matching solutions in which the size of the target box is close to the size of the plane to be stacked, the distance between each plane to be stacked and the collaborative robot is calculated respectively, and the plane to be stacked farthest from the collaborative robot is selected as the position of the box to be stacked in the target cargo.

[0108] For example, assuming that the starting point xyz coordinate (0,0,0) of the 3D grid is the corner of the pallet farthest from the robot, we know that point (0,0,0) is farther from the robot than point (20,40,40). 2 +y2 to get, including:

[0109] Solution A: The box size is similar to the size of the placement surface, and the x 2 +y2 is 400, and there is no remaining space in the x and y directions; Solution B: The box size is similar to the placement plane size, and the x of the placement point is 2 +y2 is 600, and there is no remaining carrying space in both the x and y directions; then comparing the first priority first cannot determine which one is better. At this time, comparing the second priority can show that plan A is farther away from the robot body, so plan A is better, so plan A is adopted.

[0110] For example, in Plan A, the box size is not close to the size of the placement surface, and the x 2 +y2 is 400, there is remaining load-bearing space in both the x and y directions and the remaining space is less than 200mm; Solution B: The box size is similar to the placement plane size, and the x 2 +y2 is 200, and there is no remaining space in the x and y directions. Then, the first priority is compared and it is found that Solution B is better, so Solution B is adopted. At this time, there is no need for subsequent comparison, and the matching efficiency of the algorithm is higher.

[0111] In one embodiment, when the rating result is that there are at least two first-priority items and there are at least two stacking planes within a preset range from the collaborative robot, the space utilization rate of the target box on each stacking plane is calculated respectively, and the stacking plane with a larger space utilization rate (i.e., the third priority) is selected.

[0112] For example, Solution A: The box size is not close to the size of the placement surface, and the x 2 +y2 is 400, there is remaining space in both the x and y directions and the remaining space is less than 200mm. Solution B: The box size is not close to the placement plane size, and the x 2 +y2 is 420, there is no remaining load-bearing space in the x direction, but there is remaining load-bearing space in the y direction and it is greater than 200mm. Then, the first priority is compared and it is found that it cannot be judged. Then the second priority is compared and it is found that the range from the robot body is 400cm and 420cm respectively, which is not much different. If the default distance difference is less than 50cm, it means that the difference is not much. Finally, the third priority is compared and it is found that the impact of the remaining space utilization rate of Plan B is better, so Plan B is adopted.

[0113] In one embodiment, the following steps are also included:

[0114] Simulating the placement process of the target cargo, performing physical collision detection, and obtaining collision results;

[0115] Based on the collision result, the position of the box to be stacked in the target cargo is adjusted and updated as the position of the box to be stacked in the target cargo.

[0116] The system simulates the cargo placement process and performs physical collision detection to obtain placement decisions and ultimately the optimal stacking strategy to ensure the practical feasibility of the target box placement plan, while taking into account additional space to prevent the cargo from being compressed and keep the cargo stacks neat.

[0117] It has been proven that a collaborative robot-based cargo palletizing method for disordered mixed materials can stack a box in 12 seconds, thus improving the stacking efficiency.

[0118] In summary, a collaborative robot cargo palletizing method based on disordered mixed materials updates the spatial distribution status of the stacking area in real time based on the stacking area photographed by the camera, and determines the available placement space; and obtains the box size of the target cargo based on the incoming material area photographed by the camera; according to the box size of the target cargo and the available placement space, the optimal matching of the space utilization of cargo palletizing is performed, and the position of the box to be stacked in the target cargo is determined to guide the collaborative robot to palletize the cargo, and then the materials can be classified according to the box size, and boxes of adjacent sizes can be stacked in a pile, so as to achieve a comprehensive consideration of space utilization and subsequent box retrieval rate, improve the space utilization of the collaborative robot when palletizing cargo, realize disorderly stacking of items, intelligently complete the task of complete stacking and packing, and achieve higher efficiency in cargo palletizing, which assists manual palletizing and reduces labor intensity.

[0119] A collaborative robot-based cargo palletizing method for disordered mixed materials uses an intelligent decision support system to stack items in a disordered manner without the need for pre-set sorting or arrangement of goods. It can classify materials according to box size and stack boxes of adjacent sizes in one pile, taking into account space utilization and subsequent box retrieval rate, significantly improving the storage space utilization of the stacking area and optimizing the stacking speed, while also improving the flexibility and efficiency of the robot's operation and reducing the complexity of the robot's operation.

[0120] A collaborative robot palletizing method based on disordered mixed goods does not require the advance entry of box information and can adapt to boxes of any size. Compared with the traditional robot palletizing method that requires writing box information in advance in the data, it improves the palletizing adaptability.

[0121] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0122] Reference Figure 2The embodiment of the present application also provides a collaborative robot cargo palletizing device based on disordered mixing, which corresponds one-to-one to a collaborative robot cargo palletizing method based on disordered mixing in the above embodiment. The collaborative robot cargo palletizing device based on disordered mixing includes:

[0123] A placement space determination module is used to update the spatial distribution status of the stacking area in real time based on the stacking area captured by the camera and determine the available placement space;

[0124] Incoming material box size module, used to obtain the box size of the target goods based on the incoming material area captured by the camera;

[0125] The cargo palletizing strategy module is used to perform optimal matching of the space utilization of cargo palletizing according to the box size of the target cargo and the available placement space, determine the position of the boxes to be stacked in the target cargo, and guide the collaborative robot to perform cargo palletizing.

[0126] A collaborative robot cargo palletizing device based on disordered mixing also includes:

[0127] The optimization module is used to simulate the placement process of the target goods, perform physical collision detection, and obtain collision results; based on the collision results, adjust and update the position of the box to be stacked in the target goods as the position of the box to be stacked in the target goods.

[0128] For the specific definition of a collaborative robot cargo palletizing device based on disordered mixing, please refer to the definition of a collaborative robot cargo palletizing method based on disordered mixing in the above text, which will not be repeated here.

[0129] Each module in the above-mentioned collaborative robot cargo palletizing device based on disordered mixing can be fully or partially implemented by software, hardware and their combination. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the corresponding operations of the above modules.

[0130] In one embodiment, a computer device is provided, which may be a server. The computer device includes a processor, a memory, a network interface, and a database connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, any of the above-mentioned collaborative robot-based cargo palletizing methods based on disordered mixing is implemented.

[0131] In one embodiment, a computer-readable storage medium is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, any one of the above-mentioned collaborative robot-based cargo palletizing methods based on disordered mixing is implemented.

[0132] In one embodiment, a computer program product is provided, which includes a computer program, and when the computer program is executed by a processor, it implements any of the above-mentioned collaborative robot-based cargo palletizing methods based on disordered mixing.

[0133] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. When the computer program is executed, it may include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in the present application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0134] Those skilled in the art will clearly understand that for the sake of convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the system can be divided into different functional units or modules to complete all or part of the functions described above.

Claims

1. A collaborative robot palletizing method based on disordered mixing, characterized in that: The following steps are included: Based on the stacking area captured by the camera, the spatial distribution status of the stacking area is updated in real time to determine the available space; And based on the incoming material area captured by the camera, obtain the box size of the target goods; According to the box size of the target goods and in combination with the available placement space, the optimal space utilization of goods palletizing is matched, and the position of the boxes to be stacked in the target goods is determined to guide the collaborative robot to palletize the goods.

2. The method for stacking goods using a collaborative robot based on disordered mixing according to claim 1, characterized in that: The step of updating the spatial distribution state of the stacking area in real time based on the stacking area photographed by the camera and determining the available placement space includes: Acquiring upper surface information of the stacking area; According to the upper surface information of the stacking area, the height of any plane to be stacked from the camera and the corresponding plane size are detected, and the available placement space is obtained by summarizing.

3. The method for stacking goods using a collaborative robot based on disordered mixing according to claim 1, characterized in that: According to the box size of the target goods and the available placement space, the space utilization rate of goods stacking is optimally matched, and the step of determining the position of the box to be stacked in the target goods includes: Match boxes whose box sizes satisfy any plane size to be stacked in the available space from the target goods, and determine the positions of the boxes to be stacked in the target goods.

4. The method for stacking goods using a collaborative robot based on disordered mixing according to claim 3 is characterized in that: The following steps are also included: Converting the stacking area into a three-dimensional grid; Based on the three-dimensional grid, respectively calculate the remaining carrying space of the boxes to be stacked in the target cargo on each plane to be stacked in the available space; Rating is performed according to the remaining carrying space to obtain a rating result; By using the preset priority levels, the to-be-stacking plane with the highest priority level is selected from the rating results as the position of the to-be-stacking boxes in the target goods.

5. The method for stacking goods using a collaborative robot based on disordered mixing according to claim 4, characterized in that: The step of selecting the stacking plane with the highest priority from the rating results using the preset priority levels as the position of the boxes to be stacked in the target goods includes: The rating result that there is no remaining carrying space along the plane dimension direction of the boxes to be stacked is set as the first priority; The rating results of the boxes to be stacked having remaining load-bearing space along the plane dimension direction on the plane to be stacked and the remaining load-bearing distance in any plane dimension direction being greater than the box size corresponding to the boxes to be stacked are set as the second priority; The to-be-stacked plane corresponding to the first priority is selected as the position of the to-be-stacked boxes in the target cargo.

6. The method for stacking goods using a collaborative robot based on disordered mixing according to claim 5, characterized in that: The following steps are also included: When the rating result shows that there are at least two items of the first priority, the distance between each to-be-stacked plane and the collaborative robot is calculated respectively; The to-be-stacked plane farthest from the collaborative robot is selected as the position of the boxes to be stacked in the target cargo.

7. The method for stacking goods using a collaborative robot based on disordered mixing according to claim 3, characterized in that: According to the box size of the target goods and the available placement space, the space utilization rate of goods stacking is optimally matched, and the step of determining the position of the box to be stacked in the target goods also includes: When the size of the boxes to be stacked in the target cargo does not meet the size of any plane to be stacked in the placeable space, or the length of the boxes to be stacked in the target cargo meets the size of any direction corresponding to the plane to be stacked in the placeable space and the width of the boxes to be stacked in the target cargo does not meet the size of any direction corresponding to the plane to be stacked in the placeable space, or the width of the boxes to be stacked in the target cargo meets the size of any direction corresponding to the plane to be stacked in the placeable space and the length of the boxes to be stacked in the target cargo does not meet the size of any direction corresponding to the plane to be stacked in the placeable space, it is automatically prompted that there is no matching result for the boxes to be stacked.

8. The method for stacking goods using a collaborative robot based on disordered mixing according to any one of claims 1 to 7, characterized in that: The following steps are also included: Simulating the placement process of the target cargo, performing physical collision detection, and obtaining collision results; Based on the collision result, the position of the box to be stacked in the target cargo is adjusted and updated as the position of the box to be stacked in the target cargo.

9. A collaborative robot cargo palletizing device based on disordered mixing, characterized in that: include, A placement space determination module is used to update the spatial distribution status of the stacking area in real time based on the stacking area captured by the camera and determine the available placement space; Incoming material box size module, used to obtain the box size of the target goods based on the incoming material area captured by the camera; The cargo palletizing strategy module is used to perform optimal matching of the space utilization of cargo palletizing according to the box size of the target cargo and the available placement space, determine the position of the boxes to be stacked in the target cargo, and guide the collaborative robot to perform cargo palletizing.

10. A computer device, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the method according to any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented.

12. A computer program product, characterized in that The invention comprises a computer program, which implements the steps of the method according to any one of claims 1 to 8 when being executed by a processor.

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