A palletizing verification method and related device for a palletizing robot

Abstract

The present application discloses a palletizing verification method for a palletizing robot, comprising modifying a first palletizing value of a palletizing register so that the palletizing robot starts palletizing from a palletizing position corresponding to the modified first palletizing value according to a preset palletizing sequence; displaying the placement position of workpieces during the palletizing process of the palletizing robot through a 3D view; and judging whether the palletizing of the palletizing robot meets the standard according to the placement position of workpieces during the palletizing process of the palletizing robot displayed by the 3D view. The palletizing verification method can effectively improve the efficiency of palletizing verification and reduce labor costs. The present application also discloses a palletizing verification device, equipment and computer-readable storage medium for a palletizing robot, all of which have the above-mentioned technical effects.

Description

Technical Field

[0001] The present application relates to the field of robot technology, and in particular to a palletizing verification method of a palletizing robot; and also to a palletizing verification device, equipment and computer-readable storage medium of a palletizing robot. Background Art

[0002] Palletizing robots are widely used in industrial production, playing an important role in the handling, palletizing, and depalletizing of large quantities of workpieces, bringing great convenience to industrial production and saving labor costs. Before the palletizing robot is put into operation, it is necessary to teach the palletizing robot, and perform palletizing verification after teaching. The palletizing robot is put into operation only after confirming that the palletizing operation of the palletizing robot is OK. However, the current palletizing verification method for the palletizing robot is to operate the palletizing robot to perform a complete palletizing operation on all palletizing positions, and it is necessary to keep an eye on the operating status of the palletizing robot in real time during the entire palletizing process, which is time-consuming and labor-intensive, especially for the case where there are a large number of workpieces to be palletized, which is not only time-consuming and labor-intensive but also difficult.

[0003] In view of this, how to improve the efficiency of palletizing verification and reduce labor costs has become a technical problem that needs to be urgently solved by technical personnel in this field. Summary of the invention

[0004] The purpose of this application is to provide a palletizing verification method for a palletizing robot, which can effectively improve the palletizing verification efficiency and reduce labor costs. Another purpose of this application is to provide a palletizing verification device, equipment and computer-readable storage medium for a palletizing robot, all of which have the above technical effects.

[0005] In order to solve the above technical problems, the present application provides a palletizing verification method for a palletizing robot, comprising:

[0006] Modifying the first palletizing value of the palletizing register so that the palletizing robot starts palletizing from the palletizing position corresponding to the modified first palletizing value according to a preset palletizing sequence;

[0007] Displaying the placement of workpieces during the palletizing process of the palletizing robot through a 3D view;

[0008] Whether the palletizing of the palletizing robot meets the standards is judged according to the placement positions of the workpieces during the palletizing process of the palletizing robot displayed in the 3D view.

[0009] Optionally, the first palletizing value of the modified palletizing register includes:

[0010] The first palletizing value of the palletizing register is modified according to a preset cycle and a preset rule.

[0011] Optionally, also include:

[0012] During the palletizing process of the palletizing robot, the first palletizing value of the palletizing register is synchronously updated to a coordinate value corresponding to a current palletizing position of the palletizing robot.

[0013] Optionally, also include:

[0014] The second palletizing value of the palletizing register is modified so that the palletizing robot ends palletizing after completing the palletizing operation at the position corresponding to the second palletizing value.

[0015] In order to solve the above technical problems, the present application also provides a palletizing inspection device for a palletizing robot, comprising:

[0016] A first modification module is used to modify a first palletizing value of a palletizing register so that the palletizing robot starts palletizing from a palletizing position corresponding to the modified first palletizing value according to a preset palletizing sequence;

[0017] A display module, used for displaying the placement position of the workpieces during the palletizing process of the palletizing robot through a 3D view;

[0018] A judgment module is used to judge whether the palletizing of the palletizing robot meets the standards according to the placement position of the workpieces during the palletizing process of the palletizing robot displayed in the 3D view.

[0019] Optionally, the first modification module is specifically configured to modify the first palletizing value of the palletizing register according to a preset cycle and a preset rule.

[0020] Optionally, also include:

[0021] An updating module is used to synchronously update the first palletizing value of the palletizing register to a coordinate value corresponding to a current palletizing position of the palletizing robot during the palletizing process of the palletizing robot.

[0022] Optionally, also include:

[0023] The second modification module is used to modify the second palletizing value of the palletizing register so that the palletizing robot ends palletizing after completing the palletizing operation at the palletizing position corresponding to the second palletizing value.

[0024] In order to solve the above technical problems, the present application also provides a palletizing inspection device for a palletizing robot, comprising:

[0025] Memory for storing computer programs;

[0026] The processor is used to implement the steps of the palletizing verification method of the palletizing robot as described above when executing the computer program.

[0027] In order to solve the above technical problems, the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the palletizing verification method of the palletizing robot as described above are implemented.

[0028] The palletizing verification method of the palletizing robot provided in the present application includes: modifying a first palletizing value of a palletizing register so that the palletizing robot starts palletizing in accordance with a preset palletizing sequence from a palletizing position corresponding to the modified first palletizing value; displaying the placement position of the workpieces during the palletizing process of the palletizing robot through a 3D view; and judging whether the palletizing of the palletizing robot meets the standard according to the placement position of the workpieces during the palletizing process of the palletizing robot displayed by the 3D view.

[0029] It can be seen that compared with the traditional full verification method of performing a complete stacking operation on all stacking positions from the starting position of stacking, the stacking verification method of the stacking robot provided by the present application controls the starting position of the stacking robot by modifying the first stacking value of the stacking register, so that the stacking robot can perform stacking from any position, so that the stacking robot is no longer limited to performing stacking operations on all stacking positions from the starting position of stacking, thereby realizing sampling verification and greatly improving the verification efficiency. In addition, the present application displays the placement position of the workpieces during the stacking process of the stacking robot through a 3D view, and there is no need for manual real-time monitoring of the operating status of the stacking robot, thereby effectively reducing labor costs.

[0030] The palletizing inspection device, equipment and computer-readable storage medium of the palletizing robot provided in the present application all have the above-mentioned technical effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the prior art and the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0032] Figure 1 A schematic flow chart of a palletizing verification method for a palletizing robot provided in an embodiment of the present application;

[0033] Figure 2 A schematic flow chart of another palletizing verification method for a palletizing robot provided in an embodiment of the present application;

[0034] Figure 3 A schematic diagram of a palletizing inspection device for a palletizing robot provided in an embodiment of the present application;

[0035] Figure 4 A schematic diagram of a palletizing inspection device for a palletizing robot provided in an embodiment of the present application. DETAILED DESCRIPTION

[0036] The core of this application is to provide a palletizing verification method for a palletizing robot, which can effectively improve the palletizing verification efficiency and reduce labor costs. Another core of this application is to provide a palletizing verification device, equipment and computer-readable storage medium for a palletizing robot, all of which have the above technical effects.

[0037] 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.

[0038] Embodiment 1

[0039] Please refer to Figure 1 , Figure 1 A schematic diagram of a palletizing verification method for a palletizing robot provided in an embodiment of the present application, referring to Figure 1 As shown, the method includes:

[0040] S101: Modify the first palletizing value of the palletizing register so that the palletizing robot starts palletizing from the palletizing position corresponding to the modified first palletizing value according to a preset palletizing sequence;

[0041] Specifically, in addition to storing information about the rows, columns, layers, and total number of palletizing points, the palletizing register also stores the first palletizing value that represents the starting position of the palletizing. The palletizing robot starts palletizing from the palletizing position corresponding to the first palletizing value. Usually, a default value can be set for this first palletizing value. When the first palletizing value is the default value, the palletizing robot starts palletizing from the palletizing position corresponding to the default value in accordance with the preset palletizing sequence for all palletizing positions. For example, taking the palletizing of 3*3*3 as an example, there are 27 palletizing positions in total, and the corresponding coordinate values ​​are (1,1,1), (2,1,1), (3,1,1)...(3,3,3). Taking (1,1,1) as the default value of the first palletizing value, when the first palletizing value is (1,1,1), the palletizing robot starts palletizing from (1,1,1) in accordance with the preset palletizing sequence for all 27 palletizing positions.

[0042] After the palletizing teaching is completed and the palletizing instruction is inserted, when the first palletizing value is modified, the palletizing robot starts palletizing from the palletizing position corresponding to the modified first palletizing value in accordance with the preset palletizing sequence. The palletizing operation is no longer performed for the palletizing position that is located before the palletizing position corresponding to the modified first palletizing value in the preset palletizing sequence. For example, when the first palletizing value is modified from the default (1,1,1) to (3,1,1), the palletizing robot starts palletizing from (3,1,1), and the palletizing operation is no longer performed for (1,1,1) and (2,1,1) that are located before (3,1,1) in the preset palletizing sequence.

[0043] It is clear that the present application does not limit the above-mentioned preset stacking sequence, and different settings can be made according to actual needs.

[0044] Among them, after the first palletizing value of the palletizing register is modified once during the verification process, the first palletizing value will no longer be modified until the palletizing is completed. For example, after the first palletizing value is modified from the default (1,1,1) to (3,1,1), the palletizing robot starts palletizing from (3,1,1) until the verification is completed, and the first palletizing value will not be modified again during this period. The first palletizing value can also be modified multiple times during the verification process. For example, after the first palletizing value is modified from the default (1,1,1) to (3,1,1), the palletizing robot starts palletizing from (3,1,1). During the palletizing process of the palletizing robot, the first palletizing value is modified to (2,2,2) again. Then, the palletizing robot directly starts palletizing from (2,2,2) until the palletizing operation of (3,3,3) is completed, and then the palletizing is completed.

[0045] In a specific implementation, the first palletizing value of the palletizing register may be modified in a manner of: modifying the first palletizing value of the palletizing register according to a preset cycle and a preset rule.

[0046] Specifically, a modification cycle of the first palletizing value, namely a preset cycle, and a modification rule, namely a preset rule, can be preset, and then the palletizing robot platform modifies the first palletizing value of the palletizing register according to the preset cycle and the preset rule.

[0047] The preset period and preset rules can be set appropriately according to the actual situation. For example, the preset period can be 20s, and the first palletizing value is modified every 20s. The preset rule can be to add one to the x-axis, y-axis and z-axis coordinates of the first palletizing value each time. For example, add one to the value of each coordinate axis of the first palletizing value (1,1,1), so that the first palletizing value is modified to (2,2,2).

[0048] S102: Displaying the placement position of the workpiece during the palletizing process of the palletizing robot through a 3D view;

[0049] S103: judging whether the palletizing of the palletizing robot meets the standards according to the placement positions of the workpieces during the palletizing process of the palletizing robot displayed in the 3D view.

[0050] Specifically, during the palletizing process of the palletizing robot, the placement position of the workpiece during the palletizing process of the palletizing robot is displayed in real time through the 3D view. Then, whether the palletizing of the palletizing robot meets the standard is judged according to the placement position of the workpiece during the palletizing process of the palletizing robot displayed in the 3D view. If after each modification of the first palletizing value, the palletizing robot can place the workpiece at the position where the workpiece should be placed (including the case where there is an error but the error is within the allowable range) from the palletizing position corresponding to the modified first palletizing value in accordance with the preset palletizing sequence, it indicates that the palletizing of the palletizing robot meets the standard. On the contrary, if the palletizing robot cannot place the workpiece at the position where the workpiece should be placed, the palletizing of the palletizing robot does not meet the standard. For example, the palletizing robot starts palletizing from (3,1,1). According to the preset palletizing sequence, after the palletizing robot places the workpiece at the position (3,1,1), the next step of the palletizing robot should place the workpiece at the position (3,1,2). If the next step of the palletizing robot does place the workpiece at the position (3,1,2), it indicates that the palletizing of the palletizing robot meets the standard. On the contrary, if the palletizing robot places the workpiece at position (3,2,1) in the next step, it means that the palletizing robot does not meet the palletizing standards and the verification fails.

[0051] Further, based on the above embodiment, as a specific implementation method, it also includes: during the palletizing process of the palletizing robot, the first palletizing value of the palletizing register is synchronously updated to the coordinate value corresponding to the current palletizing position of the palletizing robot.

[0052] Specifically, as the palletizing operation of the palletizing robot continues to advance, the current palletizing position of the palletizing robot continues to change. In this embodiment, during the palletizing process of the palletizing robot, the first palletizing value of the palletizing register is updated in real time to the coordinate value corresponding to the current palletizing position of the palletizing robot. Therefore, not only can the current palletizing position of the palletizing robot be reflected in real time through the first palletizing value, but also the first palletizing value can be used as a reference to comprehensively judge whether the palletizing of the palletizing robot meets the standards by combining the palletizing situation of the palletizing robot displayed in the 3D view and the first palletizing value, thereby obtaining the palletizing verification result of the palletizing robot.

[0053] In summary, the palletizing verification method of the palletizing robot provided by the present application controls the position where the palletizing robot starts palletizing by modifying the first palletizing value of the palletizing register, so that the palletizing robot can palletize from any position, so that the palletizing robot is no longer limited to palletizing all palletizing positions from the starting position of palletizing, thereby enabling sampling verification, which can greatly improve the verification efficiency. In addition, the present application displays the placement position of the workpieces during the palletizing process of the palletizing robot through a 3D view, and there is no need for manual real-time monitoring of the operating status of the palletizing robot, thereby effectively reducing labor costs.

[0054] Embodiment 2

[0055] Please refer to Figure 2 , Figure 2 A schematic diagram of a flow chart of another palletizing verification method of a palletizing robot provided in an embodiment of the present application, referring to Figure 2 As shown, the method includes:

[0056] S201: Modify the first palletizing value of the palletizing register so that the palletizing robot starts palletizing from the palletizing position corresponding to the modified first palletizing value according to a preset palletizing sequence;

[0057] S202: Modify the second palletizing value of the palletizing register so that the palletizing robot ends palletizing after completing the palletizing operation at the palletizing position corresponding to the second palletizing value;

[0058] S203: Displaying the placement position of the workpiece during the palletizing process of the palletizing robot through a 3D view;

[0059] S204: judging whether the palletizing of the palletizing robot meets the standards according to the placement positions of the workpieces during the palletizing process of the palletizing robot displayed in the 3D view.

[0060] Specifically, compared with the first embodiment, the present embodiment adds a step of modifying the second palletizing value of the palletizing register so that the palletizing robot ends the palletizing operation after completing the palletizing operation at the palletizing position corresponding to the second palletizing value. For steps S201, S203 and S204, reference can be made to the corresponding parts of the above embodiment, and this application will not elaborate on them here. The following specifically describes step 202:

[0061] The second palletizing value represents the end position of palletizing. The palletizing robot ends palletizing after completing the palletizing operation at the palletizing position corresponding to the second palletizing value. Similarly, a default value can be set for this second palletizing value, and this default value is usually set to the last palletizing position. For example, taking 3*3*3 palletizing as an example, there are 27 palletizing positions in total, and the corresponding coordinate values ​​are (1,1,1), (2,1,1), (3,1,1)...(3,3,3), (3,3,3) is the last palletizing position, so when the palletizing scale is 3*3*3, the default value of the second palletizing value is (3,3,3).

[0062] When the second palletizing value is the default value, the palletizing robot will not finish palletizing until it completes the palletizing operation at the last palletizing position. When the second palletizing value is changed from the default value to a certain coordinate value, the palletizing robot will finish palletizing after it completes the palletizing operation at the palletizing position corresponding to the changed second palletizing value. For example, if the first palletizing value is changed from the default value (3,3,3) to (3,3,1), the palletizing robot will finish palletizing after it completes the palletizing operation at (3,3,1).

[0063] The palletizing verification method of the palletizing robot provided in this embodiment performs sampling verification on the palletizing robot by modifying the first palletizing value and the second palletizing value of the palletizing register. Each time the first palletizing value of the palletizing register is modified, the palletizing robot starts palletizing from the palletizing position corresponding to the modified first palletizing value, and ends palletizing when the palletizing robot completes the palletizing operation at the palletizing position corresponding to the modified second palletizing value, and no longer palletizes all palletizing positions including the last palletizing position, thereby greatly improving the verification efficiency. In addition, the present application displays the placement position of the workpieces during the palletizing process of the palletizing robot through a 3D view, and there is no need for manual real-time monitoring of the operating status of the palletizing robot, thereby effectively reducing labor costs.

[0064] The present application also provides a palletizing inspection device for a palletizing robot. The device described below can be referred to in correspondence with the method described above. Figure 3 , Figure 3 A schematic diagram of a palletizing inspection device for a palletizing robot provided in an embodiment of the present application, combined with Figure 3 As shown, the device comprises:

[0065] A first modifying module 10 is used to modify a first palletizing value of a palletizing register so that the palletizing robot starts palletizing from a palletizing position corresponding to the modified first palletizing value according to a preset palletizing sequence;

[0066] A display module 20, used for displaying the placement positions of the workpieces during the palletizing process of the palletizing robot through a 3D view;

[0067] The judging module 30 is used to judge whether the palletizing of the palletizing robot meets the standards according to the placement positions of the workpieces during the palletizing process of the palletizing robot displayed in the 3D view.

[0068] On the basis of the above embodiment, as a specific implementation mode, the first modification module 10 is specifically used to modify the first palletizing value of the palletizing register according to a preset cycle and a preset rule.

[0069] Based on the above embodiment, as a specific implementation method, it also includes:

[0070] An updating module is used to synchronously update the first palletizing value of the palletizing register to a coordinate value corresponding to a current palletizing position of the palletizing robot during the palletizing process of the palletizing robot.

[0071] Based on the above embodiment, as a specific implementation method, it also includes:

[0072] The second modification module is used to modify the second palletizing value of the palletizing register so that the palletizing robot ends palletizing after completing the palletizing operation at the palletizing position corresponding to the second palletizing value.

[0073] It should be noted that relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations.

[0074] The present application also provides a palletizing inspection device for a palletizing robot, referring to Figure 4 As shown, the device includes a memory 1 and a processor 2 .

[0075] Memory 1, used for storing computer programs;

[0076] Processor 2 is used to execute the computer program to implement the following steps:

[0077] Modify the first palletizing value of the palletizing register so that the palletizing robot starts palletizing according to a preset palletizing sequence from the palletizing position corresponding to the modified first palletizing value; display the placement position of the workpieces during the palletizing process of the palletizing robot through a 3D view; and judge whether the palletizing of the palletizing robot meets the standards according to the placement position of the workpieces during the palletizing process of the palletizing robot displayed by the 3D view.

[0078] For an introduction to the equipment provided in this application, please refer to the above method embodiments, and this application will not go into details here.

[0079] The present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the following steps can be implemented:

[0080] Modify the first palletizing value of the palletizing register so that the palletizing robot starts palletizing according to a preset palletizing sequence from the palletizing position corresponding to the modified first palletizing value; display the placement position of the workpieces during the palletizing process of the palletizing robot through a 3D view; and judge whether the palletizing of the palletizing robot meets the standards according to the placement position of the workpieces during the palletizing process of the palletizing robot displayed by the 3D view.

[0081] The computer-readable storage medium may include: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0082] For an introduction to the computer-readable storage medium provided in this application, please refer to the above method embodiment, and this application will not go into details here.

[0083] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other. For the devices, equipment, and computer-readable storage media disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the method part description.

[0084] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0085] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0086] The palletizing verification method, device, equipment and computer-readable storage medium of the palletizing robot provided by the present application are introduced in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core idea of ​​the present application. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of the claims of the present application.

Claims

1. A palletizing verification method for a palletizing robot, characterized in that: include: On the basis of completing the palletizing teaching and inserting the palletizing instruction, the first palletizing value of the palletizing register is modified so that the palletizing robot starts palletizing from the palletizing position corresponding to the modified first palletizing value according to the preset palletizing sequence; the palletizing position before the palletizing position corresponding to the modified first palletizing value in the preset palletizing sequence is no longer palletized; the palletizing register stores information on the number of rows, columns, layers, and total number of palletizing points of the palletizing and the first palletizing value representing the starting position of the palletizing; Modifying the second palletizing value of the palletizing register so that the palletizing robot ends palletizing after completing the palletizing operation at the palletizing position corresponding to the second palletizing value; Displaying the placement of workpieces during the palletizing process of the palletizing robot through a 3D view; Judging whether the palletizing of the palletizing robot meets the standards according to the placement positions of the workpieces during the palletizing process of the palletizing robot displayed in the 3D view; During the palletizing process of the palletizing robot, the first palletizing value of the palletizing register is synchronously updated to a coordinate value corresponding to a current palletizing position of the palletizing robot; Modifying the first palletizing value of the palletizing register includes: Modify the first palletizing value of the palletizing register according to a preset cycle and a preset rule; The preset rule is to add one to the x-axis, y-axis and z-axis coordinates of the first palletizing value each time.

2. A palletizing inspection device for a palletizing robot, characterized in that: include: The first modification module is used to modify the first palletizing value of the palletizing register on the basis of completing the palletizing teaching and inserting the palletizing instruction, so that the palletizing robot starts palletizing from the palletizing position corresponding to the modified first palletizing value according to the preset palletizing sequence; the palletizing position before the palletizing position corresponding to the modified first palletizing value in the preset palletizing sequence is no longer palletized; the palletizing register stores information on the number of rows, columns, layers, and total number of palletizing points of the palletizing and the first palletizing value representing the starting position of the palletizing; A second modification module is used to modify the second palletizing value of the palletizing register so that the palletizing robot ends palletizing after completing the palletizing operation at the palletizing position corresponding to the second palletizing value; A display module, used for displaying the placement position of the workpieces during the palletizing process of the palletizing robot through a 3D view; A judgment module, used for judging whether the palletizing of the palletizing robot meets the standards according to the placement positions of the workpieces in the palletizing process of the palletizing robot displayed in the 3D view; An updating module, used for synchronously updating the first palletizing value of the palletizing register to a coordinate value corresponding to a current palletizing position of the palletizing robot during the palletizing process of the palletizing robot; The first modification module is specifically used to modify the first palletizing value of the palletizing register according to a preset cycle and a preset rule; the preset rule is to add one to the x-axis, y-axis and z-axis coordinates of the first palletizing value respectively each time.

3. A palletizing inspection device for a palletizing robot, characterized in that: include: Memory for storing computer programs; A processor is used to implement the steps of the palletizing verification method of the palletizing robot as claimed in claim 1 when executing the computer program.

4. 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 the processor, the steps of the palletizing verification method of the palletizing robot according to claim 1 are implemented.

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