Blind demolition and dismantling method and system

Abstract

The present application relates to a blind dismantling and depalletizing method and system, and belongs to the field of automated depalletizing and depalletizing technology. The method of the present application includes obtaining the palletizing parameter data of the target palletizing forming object; querying and obtaining the box size parameter data of the target palletizing forming object from a preset box type table according to the box type identification information in the palletizing parameter data; based on the box size parameter data, performing a reverse operation according to the palletizing rule information contained in the palletizing parameter data, and generating a blind dismantling and depalletizing control configuration for the target palletizing forming object; sending the blind dismantling and depalletizing control configuration to a depalletizing execution device, so that the depalletizing execution device depalletizes the target palletizing forming object placed at the depalletizing station. The present application effectively realizes blind dismantling and depalletizing, which is conducive to the promotion and application of the machine sorting mode.

Description

Technical Field

[0001] The present application belongs to the technical field of automated depalletizing and stacking, and specifically relates to a blind depalletizing method and system. Background Art

[0002] With the development of stereoscopic warehouses, more and more manufacturers choose to rely on machines to replace manual sorting in the process of warehousing and shipping, thereby saving labor costs and enhancing sorting accuracy. Relying on robotic arms to complete cargo picking will become a mainstream mode of machine sorting. In automated production logistics or third-party logistics systems, various types of cartons are stacked by robots for storage and then transported out of the warehouse. Destacking operations are involved in the outbound process.

[0003] Among the existing related technologies, most of the automated depalletizing and picking modes are based on machine vision depalletizing, which requires the corresponding camera and other visual acquisition systems, which are very expensive, and visual analysis takes a certain amount of time, which consumes a certain amount of cycle time. For the above reasons, many manufacturers are forced to abandon the machine sorting mode due to budget. If non-visual depalletizing (blind depalletizing) with a higher degree of freedom can be achieved, it will bring more choices to customers and major factories.

[0004] The above contents are only used to assist in understanding the technical solution of the present invention and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] In order to overcome the problems existing in the related art at least to a certain extent, the present application provides a blind dismantling and depalletizing method and system, which specifically realizes blind dismantling and depalletizing. This technology is conducive to the promotion and application of machine sorting mode.

[0006] To achieve the above objectives, this application adopts the following technical solutions:

[0007] First,

[0008] The present application provides a blind disassembly and destacking method, the method comprising:

[0009] Obtaining palletizing parameter data of the target palletizing forming object;

[0010] According to the box type identification information in the palletizing parameter data, query and obtain the box type dimension parameter data of the target palletizing forming object from the preset box type table;

[0011] Based on the box size parameter data, a reverse operation is performed according to the palletizing rule information contained in the palletizing parameter data to generate a blind disassembly and destacking control configuration for the target palletizing forming object;

[0012] The blind demolition and depalletizing control configuration is sent to a depalletizing execution device, so that the depalletizing execution device depalletizes the target palletized object placed at the depalletizing station.

[0013] Optionally, the process of generating a blind depalletizing control configuration for the target palletizing forming object includes:

[0014] Based on the stacking rule information and the box size parameter data, the spatial coordinate information of each box in the target stacking forming object is analyzed and calculated;

[0015] Calculation and processing are performed according to the spatial coordinate information and the palletizing rule information to obtain a complete action sequence required for depalletizing;

[0016] The blind demolition and depalletizing control configuration is determined based on the complete action sequence generation.

[0017] Optionally, in the process of generating a blind demolition control configuration for the target palletizing forming object, the process further includes:

[0018] Based on the box size parameter data, determining whether the suction cup size of the depalletizing execution device is larger than the size of the upper end surface of the box;

[0019] When the size of the suction cup of the depalletizing execution device is larger than the size of the upper end surface of the box, an additional angle offset calculation process is performed in the calculation process.

[0020] Optionally, in the process of generating a blind demolition control configuration for the target palletizing forming object, the process further includes:

[0021] The relative position relationship between the depalletizing execution device and the depalletizing station is determined, and based on the determination result, it is determined whether to perform additional reverse depalletizing calculation processing in the calculation processing.

[0022] Optionally, the depalletizing execution device depalletizes the target palletized object placed at the depalletizing station, including:

[0023] According to the palletizing placement reference point position information contained in the blind depalletizing control configuration, the depalletizing grabbing reference point of the depalletizing station is corrected;

[0024] Based on the corrected depalletizing grabbing reference point, the complete action sequence in the blind depalletizing control configuration is executed to achieve blind depalletizing.

[0025] Optionally, the palletizing placement reference points include direction-maintaining reference points consistent with the placement posture direction, and non-direction-maintaining reference points perpendicular to the placement posture direction.

[0026] Optionally, the stacking rule information includes pallet type classification number information, vertical box column number information, vertical box row number information, horizontal box column number information, horizontal box row number information, total layer number information, and whether odd and even layers are consistent.

[0027] Optionally, the palletizing rule information also includes box pressing parameter information;

[0028] The box pressing parameter information includes: information on whether there is a top-level box pressing, box pressing type information, box pressing column number information, box pressing row number information, and box pressing offset information.

[0029] Second,

[0030] The present application also provides a blind dismantling and depalletizing system, the system comprising:

[0031] A depalletizing controller configured to implement the steps of the above method;

[0032] The depalletizing execution device is used to receive and execute the blind depalletizing control configuration to realize the depalletizing of the target palletized object placed at the depalletizing station.

[0033] This application adopts the above technical solution, which has at least the following beneficial effects:

[0034] In the technical solution of the present application, no additional visual system configuration intervention is required during depalletizing, and the blind depalletizing method is low-cost to implement; each depalletizing is performed based on the corresponding palletizing parameter data, and can be flexibly applied to palletizing forming objects of different box types, with strong applicability and portability. The above characteristics are conducive to the promotion and application of machine sorting mode.

[0035] Other advantages, objectives, and features of the present invention will be set forth in part in the following description, and in part will be apparent to those skilled in the art based on an examination of the following or may be taught from the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The accompanying drawings are used to provide a further understanding of the technical solution of the present application or the prior art, and constitute a part of the specification. Among them, the accompanying drawings expressing the embodiments of the present application are used together with the embodiments of the present application to explain the technical solution of the present application, but do not constitute a limitation on the technical solution of the present application.

[0037] Figure 1 A schematic diagram of a process flow of a blind dismantling and depalletizing method provided in one embodiment of the present application;

[0038] Figure 2 This is a schematic diagram illustrating the definition of coordinates in one embodiment of the present application;

[0039] Figure 3This is a schematic diagram for explaining the placement of reference points in one embodiment of the present application;

[0040] Figure 4 This is a schematic diagram illustrating a stack type classification 1 in one embodiment of the present application;

[0041] Figure 5 This is a schematic diagram illustrating a stack type classification 2 in one embodiment of the present application;

[0042] Figure 6 A schematic diagram illustrating the arrangement definition in one embodiment of the present application;

[0043] Figure 7 This is a schematic diagram illustrating the definition of a carton posture in one embodiment of the present application;

[0044] Figure 8 This is a schematic diagram illustrating the definitions of the number of vertical box columns, the number of vertical box rows, the number of horizontal box columns, and the number of horizontal box rows in one embodiment of the present application;

[0045] Fig. 9 This is a schematic diagram illustrating the offset of the press box in one embodiment of the present application;

[0046] Fig.10 This is a schematic diagram illustrating the length of the X-axis and the Y-axis in one embodiment of the present application;

[0047] Fig.11 This is a schematic diagram for explaining an embodiment of the present application with blank space left;

[0048] Fig.12 This is a schematic diagram for explaining the offset calculation in one embodiment of the present application;

[0049] Fig.13a This is a schematic diagram illustrating a leaning angle calculation scenario in one embodiment of the present application;

[0050] Fig.13b This is a schematic diagram illustrating a scenario in which no angle calculation is required according to an embodiment of the present application;

[0051] Fig.14 This is a schematic diagram illustrating reverse destacking in one embodiment of the present application. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other implementation methods obtained by ordinary technicians in the field without creative work belong to the scope of protection of the present application.

[0053] As mentioned in the background technology, in the existing related technologies, most of the automated depalletizing and picking modes are based on machine vision depalletizing, which requires a corresponding camera and other visual acquisition systems, which are very expensive, and visual analysis takes a certain amount of time, which consumes a certain amount of cycle time. For the above reasons, many manufacturers are forced to abandon the machine sorting mode due to budget constraints.

[0054] To this end, the present application proposes a blind dismantling and depalletizing method, which specifically implements blind dismantling and depalletizing based on palletizing data. This method avoids the expense of additionally configuring a visual acquisition system and is conducive to the promotion and application of machine sorting modes.

[0055] In one embodiment, if Figure 1 As shown, the blind dismantling and stacking method proposed in this application includes:

[0056] Step S110, obtaining the palletizing parameter data of the target palletizing forming object;

[0057] It is easy to understand that the palletizing parameter data here refers to the relevant data that characterizes the palletizing method and rules, and information related to carriers (such as material boxes, packaging cartons, etc.) in the process of forming the target palletizing forming object (or the palletizing formed product); for example, the method execution subject is the PLC, which receives the relevant data sent by the upper computer to obtain the palletizing parameter data of the target palletizing forming object.

[0058] Then, step S120 is performed, in which the box size parameter data of the target palletizing forming object is queried from the preset box type table according to the box type identification information in the palletizing parameter data;

[0059] For example, the box type identification information here is an A-type carton (it is easy to understand that a cubic carrier such as a material box can also be used). The box size parameter data of a single A-type carton is queried from the box type table, which is specifically 0.5m long, 0.4m wide, and 0.2m high;

[0060] It should be noted that, based on actual application needs, the preset box type table here can be stored locally (such as box type information stored in the PLC locally), or stored elsewhere relative to the local (such as the server side, etc.).

[0061] Then, step S130 is performed, based on the box size parameter data obtained in step S120, and according to the palletizing rule information contained in the palletizing parameter data, a reverse operation is performed to generate a blind depalletizing control configuration for the target palletizing forming object;

[0062] It is easy to understand that the reverse operation here is to obtain the depalletizing rule information that is opposite to the palletizing process, and then generate the blind depalletizing control configuration mentioned in step S130. This calculation is related to the specific palletizing rules in actual applications, which will be explained in detail later and will not be expanded here.

[0063] Finally, step S140 is performed to send the blind depalletizing control configuration to the depalletizing execution device, so that the depalletizing execution device depalletizes the target palletized objects placed at the depalletizing station.

[0064] For example, the depalletizing execution device here is a robot device with a suction cup (such as a single suction cup or a single-control multi-suction cup robot). In practice, a forklift is used to place the target stacked object at a depalletizing station near the robot device using a pallet, and then the robot device depalletizes the target stacked object according to the blind depalletizing control configuration.

[0065] In the technical solution of the present application, no additional visual system configuration is required for depalletizing, and the implementation cost is low. Compared with other existing blind depalletizing implementation methods, each depalletizing is performed based on the corresponding palletizing parameter data, which can be flexibly applied to palletizing forming objects of different box types, and has strong applicability and portability. The above characteristics are conducive to the promotion and application of machine sorting mode.

[0066] To facilitate understanding of the technical solution of the present application, the technical solution of the present application is introduced and explained with reference to another embodiment below.

[0067] As mentioned above, in the technical solution of this application, the palletizing parameter data represents the palletizing method and rules and other related information. The following is an introduction to the relevant concepts and data definitions involved in the palletizing in this embodiment:

[0068] like Figure 2 As shown, it is a schematic diagram for explaining the coordinate definition in this embodiment, which is a top view schematic diagram, in which the rectangular part represents the pallet involved in depalletizing; along the motion trajectory of the robot tool (despalletizing execution device), the forward and backward directions are the X-axis, and the left and right moving directions are the Y-axis, that is, the long side of the pallet is the X-axis, and the short side is the Y-axis, and the vertical up and down moving direction of the robot is the Z-axis, that is, the height direction of the pallet.

[0069] like Figure 3 As shown, it is a schematic diagram for explaining the reference points in this embodiment, which is a top view schematic diagram, in which the rectangular part represents the pallet involved in depalletizing, and the dotted frame is a schematic diagram for explaining the reference points; in this embodiment, there are two placement reference points, namely, the reference point "direction maintaining reference point" (referred to as "maintaining reference point") which is consistent with the placement posture and the "non-direction maintaining reference point" (referred to as "non-maintaining reference point") which is at a 90° angle to the placement posture.

[0070] Similar to the previous embodiment, in this embodiment, the method execution subject is a PLC, and the blind dismantling and depalletizing method includes:

[0071] Step S210, receiving relevant data sent by the host computer to obtain the palletizing parameter data of the target palletizing forming object.

[0072] Step S220, according to the box type identification information in the palletizing parameter data, query and obtain the box type dimension parameter data of the target palletizing forming object from the preset box type table stored locally in the PLC;

[0073] Step S230, based on the box size parameter data obtained in step S220, reverse calculation is performed according to the palletizing rule information contained in the palletizing parameter data to generate a blind depalletizing control configuration for the target palletizing forming object.

[0074] Specifically, in this embodiment, the palletizing rule information includes pallet type classification number information, vertical box column number information, vertical box row number information, horizontal box column number information, horizontal box row number information, total layer number information, whether the odd and even layers are consistent, etc.;

[0075] The pallet type classification number information is used to indicate the pallet type classification of the object to be depalletized, and is the basis for the system to determine whether the object is palletized along the X-axis or along the Y-axis. Different pallet type classifications have different depalletizing orders. For example, in this embodiment, the pallet type classification includes pallet type classification 1 and pallet type classification 2.

[0076] like Figure 4 As shown, it is a schematic diagram for explaining the stack type classification 1. Figure 4 As shown in the figure on the left (the numbers in the figure indicate the stacking order), pallet type classification 1 means that the cartons are first stacked in a row along the Y axis, and then in rows along the X axis (the posture of each row of cartons must be consistent) to fill the entire pallet. Figure 4 The figure on the right shows the corresponding destacking sequence;

[0077] like Figure 5 As shown, it is a schematic diagram for explaining the stack type classification 2. Figure 5 As shown in the figure on the left (the numbers in the figure indicate the stacking order), pallet type classification 2 means that the cartons are first stacked in a row along the X-axis, and then in rows along the Y-axis (the posture of each row of cartons must remain consistent) to fill the entire pallet. Figure 5 The figure on the right in the middle shows the corresponding destacking sequence;

[0078] In order to fully describe the palletizing information, it is also necessary to specifically describe the number of rows and columns of each layer and the number of layers, that is, the information on the number of vertical box columns, the number of vertical box rows, the number of horizontal box columns, the number of horizontal box rows, the total number of layers, and whether the odd and even layers are consistent.

[0079] This involves the definition of layers, rows, and columns. In this embodiment of the present application, Figure 6 The following is a schematic diagram illustrating the layer arrangement definition:

[0080] Layer: refers to the number of cartons stacked in the Z-axis direction (not shown in the figure);

[0081] Column: Under stack type classification 1, Figure 6 In the figure, the X direction is the column, and there are 2 columns in total;

[0082] Under stack type classification 2, Figure 6 In the figure, the Y direction is the column, and there are 3 columns in total;

[0083] Row: Under Stack Type Classification 1, Figure 6 In the middle, the Y direction is rows, and there are 3 rows in the figure;

[0084] Under stack type classification 2, Figure 6 In the figure, the X direction is a row, and there are 2 rows in total.

[0085] In order to fully describe the stacking information, it is also related to the problem of carton posture definition (horizontal box, vertical box). In this embodiment of the present application, Figure 7 The following is a schematic diagram of the carton posture definition:

[0086] like Figure 7 (Pallet type classification 1 below) As shown in the legend on the left, the operator stands on the long side of the pallet and visually observes the Y-axis direction. The cartons held in non-directional positions 7 and 8 are defined as vertical cartons, and the cartons held in directions 1 to 8 are defined as horizontal cartons;

[0087] like Figure 7 (Pallet type classification 2 below) As shown in the legend on the right, the operator stands on the wide side of the pallet and looks in the X-axis direction. Cartons held in directions 5 to 7 are defined as vertical cartons, and cartons held in directions 1 to 4 are defined as horizontal cartons.

[0088] It should be noted that, regardless of the pallet type classification 1 or 2, the number of columns of cartons defined as vertical box stacking is the number of vertical box columns, the number of rows of cartons defined as vertical box stacking is the number of vertical box rows, and the number of columns of cartons defined as horizontal box stacking is the number of horizontal box rows. For example, Figure 8 As shown, the palletizing in the figure is pallet type classification 1, boxes 5 to 9 are vertical boxes, the operator stands on the long side of the pallet and looks at the Y-axis direction, the number of vertical box columns is 3, each column contains 2 rows, so the number of vertical box columns = 3, the number of vertical box rows = 2, boxes 1 to 3 in the figure are horizontal boxes, there is only one column of horizontal boxes, each column contains 3 rows, so the number of horizontal box columns = 1, the number of horizontal box rows = 3.

[0089] In addition, it is easy to understand that the total number of layers indicates the cumulative number of layers of cartons in the Z-axis direction. It should be noted that the total number of layers here does not include the pressing layer (referring to a special layer stacked to stabilize the object in some implementation methods). If the object finally includes the pressing layer, the total number of layers here is 1 less than the actual total number of layers;

[0090] The information of whether the odd and even layers are consistent in the above text describes the change of the inter-layer arrangement of the object. If the information is characterized as the consistency of the odd and even layers, it means that the stacking method of each layer of the object is completely consistent until the highest layer is accumulated; if the information is characterized as the inconsistency of the odd and even layers, it means that the stacking method of the odd and even layers in the object is mirror stacking along the column direction, so that the odd and even layers can be stacked against each other to make the object stacking shape stable. At this time, the real highest layer does not need to be pressed, which is conducive to maximizing the number of stacked boxes.

[0091] In some application scenarios, in order to make the palletizing shape stable, a box pressing layer is set at the top of the pallet. Correspondingly, the palletizing rule information also includes box pressing parameter information, where the box pressing parameter information includes: whether there is a box pressing on the top layer, the box pressing type information, the number of box pressing columns, the number of box pressing rows, the box pressing offset information, etc. These are explained below:

[0092] Whether there is a top layer press box is used to characterize whether there is a specially designed press box layer on the top layer. Generally speaking, the principle of press box is to press all the gaps in the XY direction to make the object stack more stable as a whole;

[0093] The press box type information is used to characterize the posture of the cartons in the press box layer. The postures of all cartons in the press box layer are consistent, that is, they are all horizontal boxes or vertical boxes;

[0094] The information of the number of columns and rows of pressed boxes is used to characterize the number of columns and rows of pressed boxes. The arrangement definition is consistent with the non-pressed box layer introduced above, so it will not be described here.

[0095] Press box offset information is used to indicate the relative position of the press box. For example, the actual parameters involved include press box offset 1x / 2y and press box offset 1y / 2x.

[0096] Press box offset 1x / 2y: the offset of the press box layer along the X-axis in pallet type classification 1 mode, and the offset of the press box layer along the Y-axis in pallet type classification 2 mode; Press box offset 1y / 2x: the offset of the press box layer along the Y-axis in pallet type classification 1 mode, and the offset of the press box layer along the X-axis in pallet type classification 2 mode; if both parameters are 0, it means that the coordinates of the entire press box layer will be located in the middle of the pallet;.

[0097] Specific as Fig. 9The figure below is a schematic diagram of an example of a press box offset. As shown in the left figure, if an offset press box is not set, the center seam will not be covered, causing the pallet to be unstable during transportation in the X direction. The pallet type is classified as 2, and the "press box offset 1y / 2x" = Nmm (such as 100mm) should be set to bias the pallet. The effect is as follows: Fig. 9 As shown in the figure on the right, the stack is more stable.

[0098] Back to the method introduction, in step S230, specifically, in the process of generating the blind disassembly and destacking control configuration for the target palletizing forming object, it includes:

[0099] Based on the palletizing rule information (such as the relevant content defined above) and the box size parameter data, the spatial coordinate information of each box in the target palletizing forming object is analyzed and calculated;

[0100] Calculate and process according to the spatial coordinate information and the palletizing rule information to obtain the complete action sequence required for depalletizing;

[0101] Determine the blind demolition and depalletizing control configuration based on the complete action sequence generation.

[0102] In practice, in some scenarios, the boxes on the same layer of the object pallet type and the outer edge of the box and the pallet are not tightly attached, but there is a gap. This gap is called "white space" in this application. The relevant information of the white space also belongs to the content of the palletizing rule information, which needs to be considered when parsing and calculating the spatial coordinate information and generating a complete action sequence. Here is an introduction to the relevant content:

[0103] like Fig.10 As shown in the figure, it is a schematic diagram for explaining the length of the X-axis and Y-axis. The total length in the X-axis and Y-axis directions is based on the longest length of the box in that direction; Fig.11 As shown in the figure, it is a schematic diagram of blank space. One type of blank space is that the size of the stack is smaller than the size of the pallet. In order to keep it in the center of the pallet, blank space will be generated around the pallet. As shown in the figure, blank space 1 = (pallet length - total length in x direction) / 2; the other type is that the total length of the cartons in one posture is longer than that in another posture. In this way, the blank space will be evenly divided according to the number of rows in the other posture, such as Fig.11 Middle blank 2 = (total length of vertical box row - total length of horizontal row) / 5. Based on the specific configuration, the blank size is calculated by the system. The blank size is one of the information involved in the calculation when the blind demolition and depalletizing control configuration is generated;

[0104] For example, Fig.12 As shown in the figure, it is a schematic diagram of the principle of blank size participating in the calculation process. Fig.12In calculating the offset coordinates of carton 3, we can see that carton 3 needs to be offset according to the "non-maintained reference point". X-direction offset = margin 2 + margin 3 + carton width, Y-direction offset = margin 1, then the coordinates of carton 3 = non-maintained reference point (X+x-direction offset, Yy-direction offset).

[0105] In some application scenarios, when a suction cup manipulator or similar device is used for palletizing and depalletizing, due to the characteristics of the suction cup, the control of depalletizing and palletizing is slightly different. The suction cup has no suction during the placement process, which means that the suction cup can press the box next to it for placement, but it cannot interfere with the cartons next to it when sucking the box during the depalletizing process, otherwise it will suck up extra cartons. At this time, the coordinates of the depalletizing need to be calculated once, that is, a certain corner of the suction cup is aligned with a certain corner of the carton. That is, in this scenario, in the process of generating the blind depalletizing control configuration for the target palletizing forming object, it also includes:

[0106] Based on the box size parameter data, determine whether the suction cup size of the depalletizing actuator is larger than the size of the upper end surface of the box;

[0107] When the size of the suction cup of the depalletizing actuator is larger than the size of the upper end surface of the box, an additional angle offset calculation is performed in the calculation process.

[0108] Here we explain the meaning of the above angle offset calculation. Fig.13a As shown, when the suction cup is larger than the carton size, it needs to be offset by an angle ( Fig.13a in the figure on the right); in contrast, Fig.13b As shown, when the carton size is larger than the suction cup, the suction cup is offset to the top of the carton for suction.

[0109] As a specific implementation, in the scenario where the pallet is not full, the relative position relationship between the depalletizing station where the target palletizing forming object is located and the depalletizing execution device will also affect the generation of the depalletizing control configuration. In view of this, in the process of generating the blind depalletizing control configuration for the target palletizing forming object, it also includes:

[0110] The relative position relationship between the depalletizing execution device and the depalletizing station is determined, and based on the determination result, it is determined whether to perform additional reverse depalletizing calculation processing in the calculation processing.

[0111] Here we will explain the relevant contents of the above reverse destacking, such as Fig.14 As shown in the left and right figures, the figures show the example of incomplete pallets at the left and right stations during palletizing. The same box type and 4 boxes have different palletizing effects, which are mirror images. The above situation needs to be identified during depalletizing, and the depalletizing order is still the same as the palletizing order. Fig.14For example, when the stack type appears on the left side of the depalletizing station, the first box to be depalletized is box No. 4. The normal offset of box No. 4 is the same as the right side of the figure. Figure 1 If you want to dismantle box No. 4 in the left figure, you need to calculate the offset of the Y axis; Fig.14 Taking the medium box type as an example, the number of horizontal box rows = 3, the remainder of a single column = 1 (the total number of single layers is 4, the remainder of the number of rows is 3), and the Y-axis position of the carton calculated by coordinates = carton width × (number of carton rows 3 - single-column remainder 1) + blank space. Its coordinates are consistent with the position of carton No. 6 in the legend on the right.

[0112] Returning to the method introduction, in this embodiment, after step S230, step S240 is performed to send the blind demolition control configuration to the depalletizing execution device, so that the depalletizing execution device depalletizes the target palletized object placed at the depalletizing station;

[0113] Specifically, in step S240, the process in which the depalletizing execution device depalletizes the target palletized object placed at the depalletizing station includes:

[0114] According to the pallet placement reference point position information contained in the blind demolition control configuration (such as Figure 2 The reference point for holding the center direction and the reference point for holding the center direction) is used to calibrate the reference point for grabbing the depalletizing station;

[0115] Based on the corrected depalletizing grabbing reference point, the complete action sequence in the blind depalletizing control configuration is executed to realize blind depalletizing. The specific execution process of depalletizing here is similar to the implementation method of existing stacking and depalletizing equipment, and will not be described in detail in this application.

[0116] In the technical solution of this embodiment of the present application, the stacked products are transported to the depalletizing station of the depalletizing robot, and the upper computer extracts the accurate box model and accurate storage information (palletizing data) from the database and sends it to the control system (PLC). The control system matches the corresponding box type ID in the box type table, extracts the box type parameters, and performs reverse calculations on the parameters according to the palletizing rules, thereby calculating the precise coordinates to complete the depalletizing. The depalletizing rules are consistent with the palletizing rules, and the reverse calculations that are completely consistent with the palletizing are performed on the stacked goods, and finally blind depalletizing is achieved.

[0117] In one embodiment, the present application also provides a blind dismantling and depalletizing system, the system comprising:

[0118] A depalletizing controller configured to implement the steps of the above method;

[0119] The depalletizing execution device is used to receive and execute the blind depalletizing control configuration to realize the depalletizing of the target palletized object placed at the depalletizing station.

[0120] The specific implementation of the method implemented by the depalletizing controller in the above embodiment has been described in detail in the embodiment of the method, and will not be elaborated here.

[0121] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by any person familiar with the technology within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A blind dismantling method, characterized in that: include: Obtaining palletizing parameter data of the target palletizing forming object; According to the box type identification information in the palletizing parameter data, query and obtain the box type dimension parameter data of the target palletizing forming object from the preset box type table; Based on the box size parameter data, a reverse operation is performed according to the palletizing rule information contained in the palletizing parameter data to generate a blind disassembly and destacking control configuration for the target palletizing forming object; Sending the blind demolition and depalletizing control configuration to a depalletizing execution device, so that the depalletizing execution device depalletizes the target palletized object placed at the depalletizing station; The process of generating a blind disassembly and depalletizing control configuration for the target palletizing forming object includes: Based on the stacking rule information and the box size parameter data, the spatial coordinate information of each box in the target stacking forming object is analyzed and calculated; Calculation and processing are performed according to the spatial coordinate information and the palletizing rule information to obtain a complete action sequence required for depalletizing; Generate the blind demolition and depalletizing control configuration based on the complete action sequence; In the process of generating the blind disassembly and depalletizing control configuration for the target palletizing forming object, it also includes: Based on the box size parameter data, determining whether the suction cup size of the depalletizing execution device is larger than the size of the upper end surface of the box; When the size of the suction cup of the depalletizing execution device is larger than the size of the upper end surface of the box, an additional angle offset calculation process is performed in the calculation process; In the process of generating the blind disassembly and depalletizing control configuration for the target palletizing forming object, it also includes: Determine the relative position relationship between the depalletizing execution device and the depalletizing station, and determine whether to perform additional reverse depalletizing calculation processing in the calculation processing based on the determination result; The calculating and processing according to the spatial coordinate information and the palletizing rule information to obtain a complete action sequence required for depalletizing also includes: Get the margin size; Based on the blank size, offset is performed according to a preset non-maintained reference point to obtain spatial coordinate information; Calculation and processing are performed according to the spatial coordinate information and the palletizing rule information to obtain a complete action sequence required for depalletizing; Wherein, the preset non-maintaining reference point includes: a non-directional maintaining reference point that is at an angle of 90° to the placement posture.

2. The method according to claim 1, characterized in that The process in which the depalletizing execution device depalletizes the target palletized object placed at the depalletizing station includes: According to the palletizing placement reference point position information contained in the blind depalletizing control configuration, the depalletizing grabbing reference point of the depalletizing station is corrected; Based on the corrected depalletizing grabbing reference point, the complete action sequence in the blind depalletizing control configuration is executed to achieve blind depalletizing.

3. The method according to claim 2, characterized in that The palletizing placement reference points include a direction-maintaining reference point that is consistent with the placement posture direction, and a non-direction-maintaining reference point that is perpendicular to the placement posture direction.

4. The blind dismantling and depalletizing method according to claim 1, characterized in that: The palletizing rule information includes pallet type classification number information, vertical box column number information, vertical box row number information, horizontal box column number information, horizontal box row number information, total layer number information, and whether odd and even layers are consistent.

5. The blind dismantling method according to claim 1, characterized in that: The stacking rule information also includes box pressing parameter information; The box pressing parameter information includes: information on whether there is a top-level box pressing, box pressing type information, box pressing column number information, box pressing row number information, and box pressing offset information.

6. A blind dismantling and depalletizing system, characterized in that: include: A depalletizing controller configured to implement the steps of the method according to any one of claims 1 to 5; The depalletizing execution device is used to receive and execute the blind depalletizing control configuration to realize the depalletizing of the target palletized object placed at the depalletizing station.

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