Method for positioning material, control method for a palletizing device, and palletizing system

Abstract

The application provides a positioning method of materials, a control method for a stacking device and a stacking system. The positioning method comprises the following steps: obtaining position information corresponding to a loading position in a matrix set, the position information comprising at least two of a row number, a column number and a layer number; determining a unit value of the matrix set on each coordinate axis of a preset coordinate system; and obtaining a coordinate position of the loading position in the preset coordinate system according to the unit value and the position information of the loading position, wherein the coordinate position of the loading position corresponding to the material is taken as a target position when the material is positioned. The application can accurately obtain a target position of a material to be taken or placed, so that deviation compensation can be performed in the case that the placement position of the material is not ideal, and the accurate taking and placing of the material can be realized.

Description

Technical Field

[0001] This invention relates to the field of intelligent manufacturing technology, and in particular to a material positioning method, a control method for a palletizing device, a palletizing system, electronic equipment, and a readable storage medium. Background Technology

[0002] During the loading and unloading process in automated assembly, many materials are arranged in a matrix on the carrier in a regular manner. The handling of these materials involves the positioning of batches of materials and the use of palletizing programs. However, in actual use, the carrier placement cannot perfectly match the ideal horizontal and vertical alignment; there will inevitably be some angular deviation in the carrier's position.

[0003] For example, the materials required for assembling CGMs (Continuous Glucose Monitoring Systems) are small in size and diverse in shape, requiring high precision in handling and placement. Therefore, it is crucial to provide a batch positioning and control algorithm that can automatically correct deviations and compensate for errors.

[0004] It should be noted that the information disclosed in the background section of this invention is intended only to enhance the understanding of the general background of this invention, and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0005] The purpose of this invention is to provide a material positioning method, a control method for a palletizing device, a palletizing system, an electronic device, and a readable storage medium, which can accurately obtain the target position of the material to be picked up or placed, thereby enabling deviation compensation when the material placement position is not ideal, and thus achieving precise picking up and placing of the material.

[0006] To achieve the above objectives, the present invention provides a method for positioning materials, which relates to a carrier comprising a matrix set, the matrix set including multiple loading positions arranged in a matrix, the loading positions being used to carry the materials, and the positioning method comprising:

[0007] Obtain the position information of the loading position in the matrix set, wherein the position information includes at least two of the row number, column number, and layer number;

[0008] Determine the unit values ​​of the matrix set on each coordinate axis of the preset coordinate system;

[0009] Based on the unit value and the position information of the loading position, the coordinate position of the loading position in the preset coordinate system is obtained, and the coordinate position of the loading position corresponding to the material is used as the target position when locating the material.

[0010] Optionally, determining the unit values ​​of the matrix set on each coordinate axis of the preset coordinate system includes:

[0011] At least three loading positions are selected as reference positions, including a first reference position, a second reference position, and a third reference position, wherein the line connecting the first reference position and the third reference position is perpendicular to the line connecting the second reference position and the third reference position.

[0012] Obtain the coordinate positions of the first reference position, the second reference position, and the third reference position in the preset coordinate system;

[0013] Based on the coordinate positions of each reference point in the preset coordinate system, the unit value of the matrix set on each coordinate axis of the preset coordinate system is determined.

[0014] Optionally, the third reference position is the loading position among the vertices of the matrix set that is closest to the origin of the preset coordinate system, and the first reference position and the second reference position are respectively set on the edge of the matrix set.

[0015] Optionally, when the carrier includes a disk layer, selecting at least three loading positions as reference positions includes:

[0016] The loading position located in the first row and m column of the carrier is selected as the first reference position;

[0017] The loading position located in the nth row and 1st column of the carrier is selected as the second reference position;

[0018] The loading position located in the first row and first column of the carrier is selected as the third reference position;

[0019] Where 1 < n ≤ N, 1 < m ≤ M, M is the total number of columns of the loading position, and N is the total number of rows of the loading position.

[0020] Optionally, when the carrier includes a disk layer, determining the unit values ​​of the matrix set on each coordinate axis of the preset coordinate system includes:

[0021] Based on the coordinate positions of the first reference position and the third reference position in the preset coordinate system, calculate the unit value of the first reference position on each coordinate axis of the preset coordinate system;

[0022] Based on the coordinate positions of the second reference position and the third reference position in the preset coordinate system, calculate the unit value of the second reference position on each coordinate axis of the preset coordinate system.

[0023] Optionally, when the carrier includes a disk layer, the unit value of the first reference position on each coordinate axis of the preset coordinate system is calculated according to the following formula:

[0024]

[0025] The unit values ​​of the second reference position on each coordinate axis of the preset coordinate system are calculated according to the following formula:

[0026]

[0027] Among them, X B This represents the unit value of the first reference position on the X-axis of the preset coordinate system, and the Y-axis represents the unit value of the reference position. B This represents the unit value of the first reference position on the Y-axis of the preset coordinate system, X. D This represents the unit value of the second reference position on the X-axis of the preset coordinate system, and the Y-axis... D This represents the unit value of the second reference position on the Y-axis of the preset coordinate system; X M' This represents the X-coordinate and Y-coordinate of the first reference position in the preset coordinate system. M' This represents the Y-coordinate and X-coordinate of the first reference position in the preset coordinate system. N' This indicates the X-coordinate and Y-coordinate of the second reference position in the preset coordinate system. N' This represents the Y-coordinate and X-coordinate of the second reference position in the preset coordinate system. A This indicates the X-coordinate and Y-coordinate of the third reference position in the preset coordinate system. A This indicates the Y-coordinate of the third reference position in the preset coordinate system.

[0028] Optionally, for any of the loading positions, obtaining the coordinate position of the loading position in the preset coordinate system based on the unit value and the position information of the loading position, and using the coordinate position of the loading position corresponding to the material as the target position when locating the material, includes:

[0029] The coordinate position of any of the loading positions in the preset coordinate system is calculated using the following formula:

[0030]

[0031] Where 1≤n'≤N, 1≤m'≤M, X C′ This represents the X-coordinate and Y-coordinate of the loading position located in the n'th row and m'th column of the carrier in the preset coordinate system. C’ This represents the Y-coordinate of the loading position located in the n'th row and m'th column of the carrier in the preset coordinate system, X. B This represents the unit value of the first reference position on the X-axis of the preset coordinate system, and the Y-axis represents the unit value of the reference position. B This represents the unit value of the first reference position on the Y-axis of the preset coordinate system, X. D This represents the unit value of the second reference position on the X-axis of the preset coordinate system, and the Y-axis... DThis represents the unit value of the second reference position on the Y-axis of the preset coordinate system, X. A This indicates the X-coordinate and Y-coordinate of the third reference position in the preset coordinate system. A This indicates the Y-coordinate of the third reference position in the preset coordinate system.

[0032] Optionally, when the carrier includes at least two stacked disks of the same size, at least four loading positions are selected as reference positions, and the reference positions also include a fourth reference position. The line connecting the fourth reference position and the third reference position is perpendicular to the plane containing the first reference position, the second reference position and the third reference position.

[0033] Optionally, selecting at least four load bits as reference bits includes:

[0034] The loading position located in the first row and m column of the first layer of the disk in the carrier is selected as the first reference position;

[0035] The loading position located in the nth row and 1st column of the first layer of the disk in the carrier is selected as the second reference position;

[0036] The loading position located in the first row and first column of the first layer of the disk in the carrier is selected as the third reference position;

[0037] The loading position located in the first row and first column of the first layer of the disk in the carrier is selected as the fourth reference position;

[0038] Wherein, 1 < n ≤ N", 1 < m ≤ M", 1 < l ≤ L", L" is the total number of layers of the disk, M" is the total number of columns of the loading bits in each layer of the disk, and N" is the total number of rows of the loading bits in each layer of the disk.

[0039] Optionally, when the carrier comprises at least two stacked disks of the same size, determining the unit values ​​of the matrix set on each coordinate axis of the preset coordinate system includes:

[0040] Based on the coordinate positions of the first reference position and the third reference position in the preset coordinate system, calculate the unit value of the first reference position on each coordinate axis of the preset coordinate system;

[0041] Based on the coordinate positions of the second reference position and the third reference position in the preset coordinate system, calculate the unit value of the second reference position on each coordinate axis of the preset coordinate system;

[0042] Based on the coordinate positions of the fourth reference position and the third reference position in the preset coordinate system, calculate the unit value of the fourth reference position on each coordinate axis of the preset coordinate system.

[0043] Optionally, when the carrier comprises multiple layers of disks with the same specifications, the unit value of the first reference position on each coordinate axis of the preset coordinate system is calculated according to the following formula:

[0044]

[0045] The unit values ​​of the second reference position on each coordinate axis of the preset coordinate system are calculated according to the following formula:

[0046]

[0047] The unit value of the fourth reference position on each coordinate axis of the preset coordinate system is calculated according to the following formula:

[0048]

[0049] Among them, X B This represents the unit value of the first reference position on the X-axis of the preset coordinate system, and the Y-axis represents the unit value of the reference position. B This represents the unit value of the first reference position on the Y-axis of the preset coordinate system, Z... B This represents the unit value of the first reference position on the Z-axis of the preset coordinate system; X D This represents the unit value of the second reference position on the X-axis of the preset coordinate system, and the Y-axis... D This represents the unit value of the second reference position on the Y-axis of the preset coordinate system, Z. D This represents the unit value of the second reference position on the Z-axis of the preset coordinate system; X H This represents the unit value of the fourth reference position on the X-axis of the preset coordinate system, and the Y-axis... H This represents the unit value of the fourth reference position on the Y-axis of the preset coordinate system, Z. H This represents the unit value of the fourth reference position on the Z-axis of the preset coordinate system; (X M'’ ,Y M'’ Z M'’ (X) represents the coordinate position of the first reference position in the preset coordinate system. N′’ ,Y N'’ Z N'’ (X) represents the coordinate position of the second reference position in the preset coordinate system. A ,Y A Z A (X) represents the coordinate position of the third reference position in the preset coordinate system; L” ,Y L” Z L” ) indicates the coordinate position of the fourth reference position in the preset coordinate system.

[0050] Optionally, for any of the loading positions, obtaining the coordinate position of the loading position in the preset coordinate system based on the unit value and the position information of the loading position, and using the coordinate position of the loading position corresponding to the material as the target position when locating the material, includes:

[0051] The coordinate position of any of the loading positions in the preset coordinate system is obtained according to the following formula:

[0052]

[0053] Wherein, 1≤n'≤N”, 1≤m'≤M”, 1≤l'≤L”, (X K′ ,Y K’ Z K’ X represents the coordinate position of the loading position located in the l'th layer, n'th row, and m'th column of the carrier in the preset coordinate system. B This represents the unit value of the first reference position on the X-axis of the preset coordinate system, and the Y-axis represents the unit value of the reference position. B This represents the unit value of the first reference position on the Y-axis of the preset coordinate system, Z... B This represents the unit value of the first reference position on the Z-axis of the preset coordinate system, X. D This represents the unit value of the second reference position on the X-axis of the preset coordinate system, and the Y-axis... D This represents the unit value of the second reference position on the Y-axis of the preset coordinate system, Z. D This represents the unit value of the second reference position on the Z-axis of the preset coordinate system, X. H This represents the unit value of the fourth reference position on the X-axis of the preset coordinate system, and the Y-axis... H This represents the unit value of the fourth reference position on the Y-axis of the preset coordinate system, Z. H This represents the unit value of the fourth reference position on the Z-axis of the preset coordinate system, (X... A ,Y A Z A ) indicates the coordinate position of the third reference position in the preset coordinate system.

[0054] Optionally, selecting at least three load bits as reference bits includes:

[0055] The loading position located in the first row and M column of the first layer of the disk in the carrier is selected as the first reference position;

[0056] The loading position located in the Nth row and 1st column of the first layer of the disk in the carrier is selected as the second reference position;

[0057] The loading position located in the first row and first column of the first layer of the disk in the carrier is selected as the third reference position;

[0058] The loading position located in the first row and first column of the Lth layer disk in the carrier is selected as the fourth reference position;

[0059] Where L is the total number of layers of the matrix set, M is the total number of columns of the loading position in each layer of the disk body, and N is the total number of rows of the loading position in each layer of the disk body. If the matrix set of the carrier includes only one layer of loading position, then the third reference position and the fourth reference position are the same loading position.

[0060] To achieve the above objectives, the present invention also provides a control method for a palletizing device, the control method for the palletizing device comprising:

[0061] Using the material positioning method described above, the target location of the material to be picked up or placed is obtained;

[0062] Control the material transfer mechanism to move to the target position;

[0063] After the material transfer mechanism moves to the target position, control the material transfer mechanism to perform the material pick-up and drop-off operation.

[0064] Optionally, when the quantity of materials to be picked up or placed is less than the total number of loading positions on the carrier, obtaining the position information corresponding to the loading position in the matrix set specifically involves obtaining the position information corresponding to the loading position carrying the material in the matrix set, including:

[0065] Obtain the specification information of the carrier and the total quantity of materials to be picked up or placed. The specification information includes at least one of the total number of rows and columns of the matrix set. Based on the specification information of the carrier and the total quantity of materials to be picked up or placed, obtain the position information of the loading position carrying the materials in the matrix set.

[0066] Optionally, obtaining the total quantity of the materials to be picked up or placed includes:

[0067] Obtain the weight of a single material to be picked up and the total weight of all the materials to be picked up;

[0068] The total quantity of the materials to be retrieved is obtained based on the weight of a single material and the total weight of all the materials to be retrieved.

[0069] To achieve the above objectives, the present invention also provides a palletizing system, the palletizing system comprising a carrier, a palletizing device, and a controller, the palletizing device and the controller being communicatively connected, the controller being configured to implement the material positioning method described above, and / or the control method for the palletizing device described above.

[0070] Optionally, the material transfer mechanism includes a gripping part and a servo module connected to the gripping part. The servo module is communicatively connected to the controller. The controller is configured to control the servo module to perform corresponding movements with the coordinate position of the loading position corresponding to the material to be picked up or placed as the target position, so as to drive the gripping part to move to the target position to perform the picking and placing action.

[0071] To achieve the above objectives, the present invention also provides an electronic device, the electronic device including a processor and a memory, the memory storing a computer program, the computer program being executed by the processor to implement the material positioning method described above, and / or the control method for a palletizing device described above.

[0072] To achieve the above objectives, the present invention also provides a readable storage medium storing a computer program, which, when executed by a processor, implements the material positioning method described above and / or the control method for a palletizing device described above.

[0073] Compared with the prior art, the material positioning method, control method for palletizing device, palletizing system, electronic device and readable storage medium provided by the present invention have the following advantages:

[0074] The material positioning method provided by this invention obtains the position information of the loading position corresponding to the matrix set, wherein the position information includes at least two of the number of rows, columns, and layers; determines the unit value of the matrix set on each coordinate axis of a preset coordinate system; and obtains the coordinate position of the loading position in the preset coordinate system based on the unit value and the position information of the loading position. When positioning the material, the coordinate position of the loading position corresponding to the material is used as the target position. Therefore, the material positioning method provided by this invention can accurately obtain the target position of the material to be picked up or placed, thereby enabling deviation compensation when the material placement position is not ideal, and thus laying a good foundation for subsequent accurate picking and placing of materials. Furthermore, since the material positioning method provided by this invention does not limit the tilt angle of the carrier, the specific specifications of the carrier (e.g., including the number of rows, columns, and layers of loading positions), or the size and shape of the material, the underlying logic of the material positioning method provided by this invention can be edited and expanded according to actual conditions, thus making it easier to operate.

[0075] Since the palletizing system, control method for palletizing device, electronic device and readable storage medium provided by the present invention belong to the same inventive concept as the material positioning method provided by the present invention, the palletizing system, control method for palletizing device, electronic device and readable storage medium provided by the present invention have all the advantages of the material positioning method provided by the present invention. For details, please refer to the relevant description of the beneficial effects of the material positioning method provided by the present invention above. Therefore, the beneficial effects of the palletizing system, control method for palletizing device, electronic device and readable storage medium provided by the present invention will not be described in detail here. Attached Figure Description

[0076] Figure 1 A schematic diagram of the overall structure of the carrier provided in one embodiment of the present invention;

[0077] Figure 2 A flowchart of a material positioning method provided according to an embodiment of the present invention;

[0078] Figure 3 A schematic diagram of a two-dimensional matrix set provided in one embodiment of the present invention;

[0079] Figure 4 A schematic diagram showing the positions of the ideal position carrier and the tilted carrier according to an embodiment of the present invention;

[0080] Figure 5 A schematic diagram illustrating the positional analysis of each loading position in the smallest matrix unit of a tilted single-layer carrier according to an embodiment of the present invention;

[0081] Figure 6 A schematic diagram illustrating the positional analysis of each loading position in multiple matrix units of a tilted single-layer carrier according to an embodiment of the present invention;

[0082] Figure 7 This is a schematic diagram illustrating the positional analysis of each loading position in a three-dimensional matrix within a tilted multi-layer carrier, provided as an embodiment of the present invention.

[0083] Figure 8 A flowchart of a control method for a palletizing device provided in one embodiment of the present invention;

[0084] Figure 9 This is a block diagram of a palletizing system provided in one embodiment of the present invention;

[0085] Figure 10 This is a partial structural diagram of a palletizing system provided in one embodiment of the present invention;

[0086] Figure 11 This is a block diagram of an electronic device provided according to an embodiment of the present invention.

[0087] The reference numerals in the attached figures are as follows:

[0088] Carrier-100; Disk-110; Loading position-111; Edge-121; Vertex-122; Corner-123;

[0089] Material transfer mechanism - 200; clamping part - 210; servo module - 220; X-axis motion platform - 221; Y-axis motion platform - 222; Z-axis motion platform - 223;

[0090] Controller-300;

[0091] Processor-410; Communication interface-420; Memory-430; Communication bus-440. Detailed Implementation

[0092] The following detailed description, in conjunction with the accompanying drawings and specific embodiments, provides a further detailed explanation of the material positioning method, control method for a palletizing device, palletizing system, electronic equipment, and readable storage medium proposed in this invention. The advantages and features of this invention will become clearer from the following description. It should be noted that the drawings are in a very simplified form and use non-precise proportions, used only to facilitate and clarify the illustration of the embodiments of this invention. Please refer to the drawings to make the objectives, features, and advantages of this invention more apparent and understandable. It should be understood that the structures, proportions, sizes, etc., depicted in the accompanying drawings are only for illustrative purposes and to enable those skilled in the art to understand and read them, and are not intended to limit the implementation conditions of this invention. Any modifications to the structure, changes in proportions, or adjustments to the size, provided that the effects and objectives achieved by this invention are the same or similar, should still fall within the scope of the technical content disclosed in this invention. Specific design features of the invention disclosed herein, including, for example, specific dimensions, orientations, positions, and shapes, will be determined in part by the specific application and usage environment. Furthermore, in the embodiments described below, the same reference numerals are sometimes used across different figures to denote the same parts or parts having the same function, omitting repeated descriptions. In this specification, similar reference numerals and letters are used to denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures. Additionally, if the methods described herein comprise a series of steps, and the order of these steps presented herein is not necessarily the only possible order in which these steps can be performed, some described steps may be omitted and / or other steps not described herein may be added to the method.

[0093] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element. The singular forms “a,” “an,” and “the” include plural objects. The term “or” is generally used to mean “and / or.” The term “several” is generally used to mean “at least one.” The term “at least two” is generally used to mean “two or more.” Furthermore, the terms “first,” “second,” and “third” are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. The term “multiple” includes cases where “two” are involved, and the term “multi-layer” includes cases where “two layers” are involved.

[0094] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0095] In the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0096] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0097] The core idea of ​​this invention lies in providing a material positioning method, a control method for a palletizing device, a palletizing system, an electronic device, and a readable storage medium. These methods can accurately obtain the target position of the material to be picked up or placed, thereby enabling deviation compensation when the material placement is not ideal, and ultimately achieving precise material handling. It should be noted that, as those skilled in the art will understand, the material positioning method, control method for a palletizing device, palletizing system, electronic device, and readable storage medium provided by this invention can be applied not only to the loading and unloading process of CGMs (Continuous Glucose Monitoring Systems) products, but also to the loading and unloading process of other products in their automated assembly. Furthermore, it should be noted that, as those skilled in the art will understand, the electronic device provided by this invention can be applied to the palletizing system provided by this invention. The electronic device can be a personal computer, a mobile terminal, etc., and the mobile terminal can be a mobile phone, tablet computer, or other hardware device with various operating systems.

[0098] To achieve the above-mentioned ideas, this invention provides a material positioning method, which involves a carrier comprising a matrix set, the matrix set including multiple loading positions arranged in a matrix, the loading positions being used to carry the material. For ease of understanding, before providing a detailed description of the material positioning method provided by this invention, a brief explanation of the overall structure of the carrier will be given. Please refer to... Figure 1 The diagram illustrates the overall structure of the carrier provided in one embodiment of the present invention. Figure 1 As shown, the carrier 100 includes at least one layer of discs 110, and each layer of discs 110 includes a plurality of loading positions 111 arranged in a matrix for carrying materials. It should be noted that, although... Figure 1 The carrier 100 includes three disks 110 as an example for illustration. However, as those skilled in the art will understand, this does not constitute a limitation of the present invention. In other embodiments, the carrier 100 may also include one disk 110, two disks 110, four disks 110, or more disks 110.

[0099] Please continue to refer to this. Figure 2 The diagram illustrates a flowchart of a material positioning method according to an embodiment of the present invention. Figure 2 As shown, the material positioning method provided by the present invention includes the following steps:

[0100] Step S110: Obtain the position information of the loading position 111 in the matrix set, wherein the position information includes at least two of the number of rows, the number of columns, and the number of layers.

[0101] Step S120: Determine the unit values ​​of the matrix set on each coordinate axis of the preset coordinate system.

[0102] Step S130: Based on the unit value and the position information of the loading position 111, obtain the coordinate position of the loading position 111 in the preset coordinate system, and use the coordinate position of the loading position 111 corresponding to the material as the target position when positioning the material.

[0103] Therefore, the material positioning method provided by this invention can accurately obtain the target position of the material to be picked up or placed, thereby enabling deviation compensation when the material placement position is not ideal, and thus laying a good foundation for subsequent accurate picking and placing of materials. Furthermore, since the material positioning method provided by this invention does not limit the tilt angle of the carrier 100, the specific specifications of the carrier 100 (e.g., including the number of rows, columns, and layers of loading positions 111), or the size and shape of the material, the underlying logic of the material positioning method provided by this invention can be edited and expanded according to actual conditions, thus making it easier to operate.

[0104] Specifically, the preset coordinate system is a three-dimensional coordinate system created based on the initial position of the material transfer mechanism 200 described below. When the carrier 100 includes one layer of disc 110 (i.e., the matrix set of the carrier 100 includes only one layer of loading positions 111), the obtained position information of the loading position 111 in the matrix set includes the number of rows and columns corresponding to the loading position 111 in the matrix set; when the carrier 100 includes multiple layers of disc 110 of the same specifications (i.e., the matrix set of the carrier 100 includes multiple layers of loading positions 111), the obtained position information of the loading position 111 in the matrix set includes the number of rows, columns, and layers corresponding to the loading position 111 in the matrix set. Furthermore, the coordinates of each loading position 111 in the preset coordinate system can be calculated by substituting the position information of each loading position 111 corresponding to the matrix set one by one, or the unit values ​​of the matrix set calculated on each coordinate axis of the preset coordinate system can be directly substituted into the existing position information of each loading position 111 corresponding to the matrix set to calculate the coordinate values ​​of each loading position 111. In other words, the position information of each loading position 111 does not necessarily need to be obtained by issuing instructions separately, but can be generated in batches according to the specific specifications of the carrier 100.

[0105] It should be noted that, as those skilled in the art will understand, when the tilt angle of the carrier 100 relative to the preset coordinate system is 0° (that is, when the carrier 100 is completely horizontal and vertical and meets the ideal placement position), the length direction of the carrier 100 is parallel to the X-axis of the preset coordinate system, the width direction of the carrier 100 is parallel to the Y-axis of the preset coordinate system, and the height direction of the carrier 100 is parallel to the Z-axis of the preset coordinate system.

[0106] In one exemplary implementation, determining the unit values ​​of the matrix set on each coordinate axis of a preset coordinate system includes:

[0107] At least three loading positions 111 are selected as reference positions, including a first reference position, a second reference position and a third reference position, wherein the line connecting the first reference position and the third reference position is perpendicular to the line connecting the second reference position and the third reference position.

[0108] Obtain the coordinate positions of the first reference position, the second reference position, and the third reference position in the preset coordinate system;

[0109] Based on the coordinate positions of each reference point in the preset coordinate system, the unit value of the matrix set on each coordinate axis of the preset coordinate system is determined.

[0110] Therefore, by selecting the first reference position, the second reference position, and the third reference position, it is possible to quickly and accurately determine the unit value of the carrier 100 on each coordinate axis of the preset coordinate system based on the coordinate position of each reference position in the preset coordinate system.

[0111] Furthermore, the third reference point is each vertex 122 of the matrix set (reference). Figure 3 The loading position 111, which is closest to the origin of the preset coordinate system, is located in the matrix set. The first reference position and the second reference position are respectively set at the edge 121 of the matrix set (reference). Figure 3 Therefore, by selecting the loading position 111 closest to the origin of the preset coordinate system from each vertex 122 of the matrix set as the third reference position, it is easier to determine the unit value of the matrix set on each coordinate axis of the preset coordinate system based on the coordinate position of each reference position in the preset coordinate system.

[0112] For details, please refer to Figure 3 The diagram illustrates a two-dimensional matrix set provided by an embodiment of the present invention. Figure 3 As shown, the edge 121 of the two-dimensional matrix set is the straight line connecting the loading positions 111 located at the edge of the matrix set. Specifically, the straight line connecting all loading positions 111 in the first row of the matrix set forms an edge 121, the straight line connecting the loading positions 111 in the last row of the matrix set forms an edge 121, the straight line connecting the loading positions 111 in the first column of the matrix set forms an edge 121, and the straight line connecting the loading positions 111 in the last column of the matrix set forms an edge 121. The intersection of two adjacent edges 121 is the vertex 122 of the matrix set. The included angle formed by each vertex 122 and the two edges 121 connected to it is a corner 123 of the two-dimensional matrix set. The angle of the corner 123 is the included angle between the two edges 121 corresponding to the corner 123. It should be noted that, as those skilled in the art will understand, each corner 123 of the three-dimensional matrix set consists of a vertex 122 and three mutually perpendicular edges 121 connected to that vertex 122.

[0113] In one exemplary embodiment, when the carrier 100 includes a disk body 110, selecting at least three loading positions 111 as reference positions includes:

[0114] The loading position 111 located in the first row and m column of the carrier 100 is selected as the first reference position;

[0115] The loading position 111 located in the nth row and 1st column of the carrier 100 is selected as the second reference position;

[0116] The loading position 111 located in the first row and first column of the carrier 100 is selected as the third reference position;

[0117] Where 1 < n ≤ N, 1 < m ≤ M, M is the total number of columns of the loading position 111, and N is the total number of rows of the loading position 111.

[0118] Therefore, when the carrier 100 includes a disk body 110, by selecting the loading position 111 located in the first row and m column as the first reference position, selecting the loading position 111 located in the first column and n row as the second reference position, and selecting the loading position 111 located in the first row and first column as the third reference position, it is not only easier to calculate the coordinate positions of the first reference position, the second reference position, and the third reference position in the preset coordinate system, but also it can ensure that the greater the distance between the selected other reference positions and the third reference position, the smaller the error of the unit value of the obtained matrix set on each coordinate axis of the preset coordinate system, thereby further improving the positioning accuracy of the present invention.

[0119] Preferably, n is N and m is M. That is, when the carrier 100 includes a disk 110, the first reference position is located in the 1st row and Mth column (last column) of the carrier 100, the second reference position is located in the Nth row (last row) and 1st column of the carrier 100, and the third reference position is located in the 1st row and 1st column of the carrier 100. Therefore, this arrangement not only facilitates the rapid calculation of the coordinate positions of the first, second, and third reference positions in the preset coordinate system, but also ensures that the distance between the selected reference positions and the third reference position is maximized. This effectively reduces the error of the unit values ​​of the obtained matrix set on each coordinate axis of the preset coordinate system, thereby further improving the positioning accuracy of the present invention.

[0120] Further, when the carrier 100 includes a disk 110 (i.e., when the matrix set includes a loading position 111), determining the unit value of the matrix set on each coordinate axis of the preset coordinate system includes:

[0121] Based on the coordinate positions of the first reference position and the third reference position in the preset coordinate system, calculate the unit value of the first reference position on each coordinate axis of the preset coordinate system;

[0122] Based on the coordinate positions of the second reference position and the third reference position in the preset coordinate system, calculate the unit value of the second reference position on each coordinate axis of the preset coordinate system.

[0123] Correspondingly, obtaining the coordinate position of the loading position 111 in the preset coordinate system based on the unit value and the position information of the loading position 111 includes:

[0124] Based on the number of rows and columns corresponding to the loading position 111 in the matrix set, and the unit values ​​of the first reference position and the second reference position on each coordinate axis of the preset coordinate system, the coordinate position of the loading position 111 relative to the third reference position in the preset coordinate system is obtained.

[0125] Based on the coordinate position of the loading position 111 relative to the third reference position in the preset coordinate system and the coordinate position of the third reference position in the preset coordinate system, the coordinate position of the loading position 111 in the preset coordinate system is obtained.

[0126] Therefore, when the carrier 100 includes a disk body 110, by calculating the unit values ​​of the first reference position and the second reference position on each coordinate axis of the preset coordinate system, the coordinate position of the loading position 111 in the preset coordinate system can be quickly and accurately calculated for each loading position 111 based on the number of rows and columns corresponding to the loading position 111, and in combination with the unit values ​​of the first reference position and the second reference position on each coordinate axis of the preset coordinate system and the coordinate position of the third reference position in the preset coordinate system.

[0127] Furthermore, the step of calculating the unit value of the first reference position on each coordinate axis of the preset coordinate system based on the coordinate positions of the first reference position and the third reference position in the preset coordinate system includes:

[0128] Based on the difference between the X coordinates of the first reference position and the third reference position in the preset coordinate system, and the column number corresponding to the first reference position, calculate the unit value of the first reference position on the X-axis of the preset coordinate system; based on the difference between the Y coordinates of the first reference position and the third reference position in the preset coordinate system, and the column number corresponding to the first reference position, calculate the unit value of the first reference position on the Y-axis of the preset coordinate system.

[0129] The step of calculating the unit value of the second reference position on each coordinate axis of the preset coordinate system based on the coordinate positions of the second reference position and the third reference position in the preset coordinate system includes:

[0130] Based on the difference between the X coordinates of the second reference position and the third reference position in the preset coordinate system, and the number of rows corresponding to the second reference position, calculate the unit value of the second reference position on the X-axis of the preset coordinate system; based on the difference between the Y coordinates of the second reference position and the third reference position in the preset coordinate system, and the number of rows corresponding to the second reference position, calculate the unit value of the second reference position on the Y-axis of the preset coordinate system.

[0131] Specifically, when the carrier 100 includes a disk 110, the unit value of the first reference position on each coordinate axis of the preset coordinate system is calculated according to the following formula (1):

[0132]

[0133] According to the following formula (2), calculate the unit value of the second reference position on each coordinate axis of the preset coordinate system:

[0134]

[0135] Among them, X B This represents the unit value of the first reference position on the X-axis of the preset coordinate system, and the Y-axis represents the unit value of the reference position. B This represents the unit value of the first reference position on the Y-axis of the preset coordinate system, X. D This represents the unit value of the second reference position on the X-axis of the preset coordinate system, and the Y-axis... D This represents the unit value of the second reference position on the Y-axis of the preset coordinate system; X M' This represents the X-coordinate and Y-coordinate of the first reference position in the preset coordinate system. M' This represents the Y-coordinate and X-coordinate of the first reference position in the preset coordinate system. N' This indicates the X-coordinate and Y-coordinate of the second reference position in the preset coordinate system. N' This represents the Y-coordinate and X-coordinate of the second reference position in the preset coordinate system. A This indicates the X-coordinate and Y-coordinate of the third reference position in the preset coordinate system. A This indicates the Y-coordinate of the third reference position in the preset coordinate system.

[0136] Furthermore, when the carrier 100 includes a disk 110, the coordinate position of any of the loading positions 111 in the preset coordinate system is calculated according to the following formula (3):

[0137]

[0138] Where, 1≤n'≤N, 1≤m'≤M, XC′ This indicates the X-coordinate and Y-coordinate of the loading position 111 located in the n'th row and m'th column of the carrier 100 in the preset coordinate system. C’ The Y-coordinate of the loading position 111 located in the n'th row and m'th column of the carrier 100 in the preset coordinate system is indicated.

[0139] It should be noted that, as those skilled in the art will understand, when the carrier 100 includes a disc 110, the carrier 100 is generally tilted relative to the X and Y axes in the XY plane. That is, when the carrier 100 includes a disc 110, the Z coordinate of the target position of the material is a value positively correlated with the height of the carrier 100. It should also be noted that, as those skilled in the art will understand, when the location of the third reference position coincides with the origin of the preset coordinate system, the X... A =0, Y A =0, Z A =0; When the single-layer carrier 100 meets the ideal placement position (i.e., the tilt angle is 0), Y M' -Y A =0 (that is, Y) B =0), X N' -X A =0 (that is, X) D =0).

[0140] The specific reasoning process of formulas (1) to (3) will be explained below.

[0141] For details, please refer to Figure 4 and Figure 5 ,in, Figure 4 A schematic diagram illustrating the positions of the ideal position carrier 100 and the tilted carrier 100 provided in one embodiment of the present invention is shown. Figure 5 A schematic diagram illustrating the positional analysis of each loading position 111 in the smallest matrix unit of a tilted single-layer carrier 100 according to an embodiment of the present invention is provided. For example... Figure 4 As shown, taking an 11-row, 11-column single-layer carrier 100 as an example (that is, the carrier 100 includes a disk 110 with 11×11 loading positions 111), Figure 4Each small square in the diagram represents the position of a loading position 111. Point N represents the position of the loading position 111 in the 11th row and 1st column of the carrier 100 in its ideal position on the XY plane, and point M represents the position of the loading position 111 in the 1st row and 11th column of the carrier 100 in its ideal position on the XY plane. When the carrier 100 is in its ideal position, the straight line connecting the loading positions 111 in the 1st row of the carrier 100 coincides with the X-axis of the preset coordinate system on the XY plane, and the straight line connecting the loading positions 111 in the 1st column of the carrier 100 coincides with the Y-axis of the preset coordinate system on the XY plane. When the carrier 100 has an angular difference of a certain angle (e.g., 30°) in the positive X-axis direction and negative Y-axis direction on the XY plane, the rotated position is as follows: Figure 4 As shown by the gray dashed line in the image. Figure 4 As shown, through teaching, the coordinate positions of the loading position 111 (i.e., the first reference position) in the 1st row and 11th column of the tilted carrier 100 and the loading position 111 (i.e., the second reference position) in the 1st column and 11th row of the tilted carrier 100 in the preset coordinate system can be calculated. Figure 4 The position of point M' is the position of loading position 111 (i.e., the first reference position) in the first row and 11th column of the tilted carrier 100 on the XY plane. The position of point N' is the position of loading position 111 (i.e., the second reference position) in the 11th row and 1st column of the tilted carrier 100 on the XY plane. The position of point O is the position of loading position 111 (i.e., the third reference position) in the first row and 1st column of the tilted carrier 100 on the XY plane.

[0142] Please continue to refer to this. Figure 5 ,like Figure 5 As shown, taking the smallest matrix unit ABCD as an example, when vertex A (i.e., the location of the third reference position) of the smallest matrix unit ABCD coincides with the origin O of the preset coordinate system, it can be geometrically proven that AG = AE + AF. That is, the X-coordinate of vertex C in the smallest matrix unit in the preset coordinate system is equal to the sum of the X-coordinates of vertices B and D in the preset coordinate system. Similarly, it can be seen that the Y-coordinate of vertex C in the preset coordinate system is equal to the sum of the Y-coordinates of vertices B and D in the preset coordinate system, and the Z-coordinate of vertex C in the preset coordinate system is equal to the sum of the Z-coordinates of vertices B and D in the preset coordinate system.

[0143] Please continue to refer to this. Figure 6 This schematically illustrates the positional analysis of each loading position 111 in a plurality of matrix units within a tilted single-layer carrier 100 according to an embodiment of the present invention. For example... Figure 6As shown, the smallest matrix unit is copied and expanded (i.e., a row of loading positions 111 is added to the carrier 100 in the positive direction of the Y-axis) to obtain rectangle ABC'D'. When vertex A of rectangle ABC'D' coincides with the origin O of the preset coordinate system, the X-coordinate of vertex C' in the preset coordinate system is AG' = AG + GG' = (AE + AF) + GG'. Geometric proof shows that GG' = EE', therefore AG' = AE' + AF. That is, the X-coordinate of vertex C' in rectangle ABC'D' in the preset coordinate system is equal to the sum of the X-coordinates of vertices B and D' in the preset coordinate system. Similarly, the Y-coordinate of vertex C' in rectangle ABC'D' in the preset coordinate system is equal to the sum of the Y-coordinates of vertices B and D' in the preset coordinate system, and the Z-coordinate of vertex C' in the preset coordinate system is equal to the sum of the Z-coordinates of vertices B and D' in the preset coordinate system.

[0144] By analogy, when vertex A in the smallest matrix unit ABCD coincides with the origin of the preset coordinate system, that is, when the loading position 111 in the first row and first column of the single-layer carrier 100 coincides with the origin of the preset coordinate system, the vertex coordinates of the rectangle formed by arbitrarily expanding the smallest matrix unit in the X and Y directions all follow the same rule:

[0145] X C′ =(m'-1)·X B +(n'-1)·X D

[0146] Y C′ = (m'-1)·Y B +(n'-1)·Y D

[0147] That is, when the loading position 111 (i.e., the third reference position) in the first row and first column of the single-layer carrier 100 coincides with the origin of the preset coordinate system, the coordinate position of any loading position 111 in the single-layer carrier 100 in the preset coordinate system can be calculated by the following formula (4):

[0148]

[0149] Specifically, when vertex A in the smallest matrix unit ABCD coincides with the origin of the preset coordinate system, that is, when the loading position 111 in the first row and first column of the single-layer carrier 100 coincides with the origin of the preset coordinate system (i.e., the coordinates of the third reference position in the preset coordinate system are (0,0,0), that is, X... A =0, Y A =0, Z AWhen =0), the unit value of the first reference position on each coordinate axis of the preset coordinate system can be calculated using the following formula (5), and the unit value of the second reference position on each coordinate axis of the preset coordinate system can be calculated using the following formula (6):

[0150]

[0151]

[0152] Furthermore, when vertex A in the smallest matrix unit ABCD deviates from the origin of the preset coordinate system, that is, when the loading position 111 (that is, the third reference position) in the first row and first column of the single-layer carrier 100 deviates from the origin of the preset coordinate system, by modifying the above formula (4), the above formula (3) for calculating the coordinate position of any loading position 111 in the single-layer carrier 100 in the preset coordinate system can be obtained; by modifying the above formula (5), the above formula (1) for calculating the unit value of the first reference position on each coordinate axis of the preset coordinate system can be obtained; by modifying the above formula (6), the above formula (2) for calculating the unit value of the second reference position on each coordinate axis of the preset coordinate system can be obtained.

[0153] In one exemplary embodiment, when the carrier 100 comprises at least two stacked disks 110 of the same size, at least four loading positions 111 are selected as reference positions. The reference positions also include a fourth reference position, the line connecting the fourth reference position and the third reference position being perpendicular to the plane containing the first, second, and third reference positions. Thus, when the carrier 100 comprises multiple layers of loading positions 111, a fourth reference position is also selected, thereby calculating the coordinate position of any loading position 111 after offset of the carrier 100 relative to the preset coordinate system along the Z-axis.

[0154] Furthermore, the selection of at least four load bits 111 as reference bits includes:

[0155] In the carrier 100, the loading position 111 located in the first row and m column of the first layer disk 110 is selected as the first reference position;

[0156] The loading position 111 located in the nth row and 1st column of the first layer disk 110 in the carrier 100 is selected as the second reference position;

[0157] The loading position 111 located in the first row and first column of the first layer disk 110 in the carrier 100 is selected as the third reference position;

[0158] The loading position 111 located in the first row and first column of the first layer disk 110 in the carrier 100 is selected as the fourth reference position;

[0159] Wherein, 1 < n ≤ N", 1 < m ≤ M", 1 < l ≤ L", L" is the total number of layers of the disk body 110, M" is the total number of columns of the loading positions 111 in each layer of the disk body 110, and N" is the total number of rows of the loading positions 111 in each layer of the disk body 110.

[0160] Therefore, it is not only easier to calculate the coordinate positions of the first, second, third, and fourth reference positions in the preset coordinate system, but also ensures that the greater the distance between the selected other reference positions and the third reference position, the smaller the error of the unit value of the obtained matrix set on each coordinate axis of the preset coordinate system, thereby further improving the positioning accuracy of the present invention.

[0161] Preferably, n is N”, m is M”, and l is L”. That is, when the carrier 100 includes multiple layers of disks 110 with the same specifications, the first reference position is located in the first row, M” column (last column) of the first layer in the carrier 100, the second reference position is located in the first row, N” column (last row) of the first layer in the carrier 100, the third reference position is located in the first row, 1 column of the first layer in the carrier 100, and the fourth reference position is located in the first row, 1 column of the top layer in the carrier 100. Thus, this setting not only makes it easier to quickly calculate the coordinate positions of the four reference positions (first, second, third, and fourth) in the preset coordinate system, but also ensures that the greater the distance between the selected other reference positions and the third reference position, the smaller the error of the unit value of the obtained matrix set on each coordinate axis of the preset coordinate system, thereby further improving the positioning accuracy of the present invention.

[0162] Furthermore, when the carrier 100 comprises multiple layers of disks 110 with identical specifications, determining the unit values ​​of the matrix set on each coordinate axis of the preset coordinate system includes:

[0163] Based on the coordinate positions of the first reference position and the third reference position in the preset coordinate system, calculate the unit value of the first reference position on each coordinate axis of the preset coordinate system;

[0164] Based on the coordinate positions of the second reference position and the third reference position in the preset coordinate system, calculate the unit value of the second reference position on each coordinate axis of the preset coordinate system;

[0165] Based on the coordinate positions of the fourth reference position and the third reference position in the preset coordinate system, calculate the unit value of the fourth reference position on each coordinate axis of the preset coordinate system.

[0166] Correspondingly, obtaining the coordinate position of the loading position 111 in the preset coordinate system based on the unit value and the position information of the loading position 111 includes:

[0167] Based on the number of rows, columns, and layers corresponding to the loading position 111 in the matrix set, and the unit values ​​of the first reference position, the second reference position, and the fourth reference position on each coordinate axis of the preset coordinate system, the coordinate position of the loading position 111 relative to the third reference position in the preset coordinate system is obtained.

[0168] Based on the coordinate position of the loading position 111 relative to the third reference position in the preset coordinate system and the coordinate position of the third reference position in the preset coordinate system, the coordinate position of the loading position 111 in the preset coordinate system is obtained.

[0169] Therefore, when the carrier 100 includes multiple layers of identical disk bodies 110, by calculating the unit values ​​of the first reference position, the second reference position, and the fourth reference position on each coordinate axis of the preset coordinate system, the coordinate position of any loading position 111 in the preset coordinate system can be quickly and accurately calculated based on the number of rows, columns, and layers corresponding to the loading position 111, combined with the unit values ​​of the first reference position, the second reference position, and the fourth reference position on each coordinate axis of the preset coordinate system, and the coordinate position of the third reference position in the preset coordinate system.

[0170] Further, the step of calculating the unit value of the first reference position on each coordinate axis of the preset coordinate system based on the coordinate positions of the first reference position and the third reference position in the preset coordinate system includes:

[0171] Based on the difference between the X-coordinate of the first reference position and the X-coordinate of the third reference position in the preset coordinate system, and the number of columns corresponding to the first reference position, calculate the unit value of the first reference position on the X-axis of the preset coordinate system; based on the difference between the Y-coordinate of the first reference position and the Y-coordinate of the third reference position in the preset coordinate system, and the number of columns corresponding to the first reference position, calculate the unit value of the first reference position on the Y-axis of the preset coordinate system; based on the difference between the Z-coordinate of the first reference position and the Z-coordinate of the third reference position in the preset coordinate system, and the number of columns corresponding to the first reference position, calculate the unit value of the first reference position on the Z-axis of the preset coordinate system.

[0172] The step of calculating the unit value of the second reference position on each coordinate axis of the preset coordinate system based on the coordinate positions of the second reference position and the third reference position in the preset coordinate system includes:

[0173] Based on the difference between the X-coordinate of the second reference position and the X-coordinate of the third reference position in the preset coordinate system, and the number of rows corresponding to the second reference position, calculate the unit value of the second reference position on the X-axis of the preset coordinate system; based on the difference between the Y-coordinate of the second reference position and the Y-coordinate of the third reference position in the preset coordinate system, and the number of rows corresponding to the second reference position, calculate the unit value of the second reference position on the Y-axis of the preset coordinate system; based on the difference between the Z-coordinate of the second reference position and the Z-coordinate of the third reference position in the preset coordinate system, and the number of rows corresponding to the second reference position, calculate the unit value of the second reference position on the Z-axis of the preset coordinate system.

[0174] The step of calculating the unit value of the fourth reference position on each coordinate axis of the preset coordinate system based on the coordinate positions of the fourth reference position and the third reference position in the preset coordinate system includes:

[0175] Based on the difference between the X-coordinate of the fourth reference position and the X-coordinate of the third reference position in the preset coordinate system, and the number of layers corresponding to the third reference position, calculate the unit value of the fourth reference position on the X-axis of the preset coordinate system; based on the difference between the Y-coordinate of the fourth reference position and the Y-coordinate of the third reference position in the preset coordinate system, and the number of layers corresponding to the fourth reference position, calculate the unit value of the fourth reference position on the Y-axis of the preset coordinate system; based on the difference between the Z-coordinate of the fourth reference position and the Z-coordinate of the third reference position in the preset coordinate system, and the number of layers corresponding to the fourth reference position, calculate the unit value of the fourth reference position on the Z-axis of the preset coordinate system.

[0176] Specifically, when the carrier 100 includes multiple layers of disks 110 with the same specifications, the unit value of the first reference position on each coordinate axis of the preset coordinate system is calculated according to the following formula (7):

[0177]

[0178] According to the following formula (8), calculate the unit value of the second reference position on each coordinate axis of the preset coordinate system:

[0179]

[0180] According to the following formula (9), calculate the unit value of the fourth reference position on each coordinate axis of the preset coordinate system:

[0181]

[0182] Among them, X B This represents the unit value of the first reference position on the X-axis of the preset coordinate system, and the Y-axis represents the unit value of the reference position. B This represents the unit value of the first reference position on the Y-axis of the preset coordinate system, Z... B This represents the unit value of the first reference position on the Z-axis of the preset coordinate system; X D This represents the unit value of the second reference position on the X-axis of the preset coordinate system, and the Y-axis... D This represents the unit value of the second reference position on the Y-axis of the preset coordinate system, Z. D This represents the unit value of the second reference position on the Z-axis of the preset coordinate system; X H This represents the unit value of the fourth reference position on the X-axis of the preset coordinate system, and the Y-axis... H This represents the unit value of the fourth reference position on the Y-axis of the preset coordinate system, Z. H This represents the unit value of the fourth reference position on the Z-axis of the preset coordinate system; (XM'’ ,Y M'’ Z M'’ (X) represents the coordinate position of the first reference position in the preset coordinate system. N′’ ,Y N'’ Z N'’ (X) represents the coordinate position of the second reference position in the preset coordinate system. A ,Y A Z A (X) represents the coordinate position of the third reference position in the preset coordinate system; L” ,Y L” Z L” ) indicates the coordinate position of the fourth reference position in the preset coordinate system.

[0183] Furthermore, when the carrier 100 comprises multiple layers of identical disks 110, the coordinate position of any of the loading positions 111 in the preset coordinate system is calculated according to the following formula (10):

[0184]

[0185] Wherein, 1≤n'≤N”, 1≤m'≤M”, 1≤l'≤L”, (X K′ ,Y K’ Z K’ ) indicates the coordinate position of the loading position 111 corresponding to the material in the l'th layer, n'th row, and m'th column of the carrier 100 in the preset coordinate system.

[0186] It should be noted that, as those skilled in the art will understand, in formula (10) This refers to the coordinate position of the loading position 111, located in the l'th layer, n'th row, and m'th column of the multi-layer carrier 100, relative to the third reference position in the preset coordinate system. It should also be noted that, as those skilled in the art will understand, when the position of the third reference position coincides with the origin of the preset coordinate system, Y... M'’ -Y A =0 (that is, Y) B =0), Z M'’ -Z A =0 (that is, Z) B =0), X N'’ -X A =0 (that is, X) D =0), Z N'’ -Z A =0 (that is, Z) D =0), X L” -X A =0 (that is, X) H =0), YL” -Y A =0 (that is, Y) H =0).

[0187] The specific reasoning process of formula (10) will be explained below.

[0188] For details, please refer to Figure 6 and Figure 7 ,in Figure 7 A schematic diagram illustrating the positional analysis of each loading position 111 in a three-dimensional matrix within a tilted multi-layer carrier 100 according to an embodiment of the present invention is provided. For example... Figure 6 and Figure 7 As shown, Figure 7 It is by... Figure 6 This is obtained by adding one more layer to the multiple matrix units shown. Furthermore, combining... Figure 7 As can be seen from formula (4) above, when the loading position 111 (i.e., the third reference position) located in the first row and first column of the first layer in the multi-layer carrier 100 coincides with the origin of the preset coordinate system (i.e., the coordinates of the third reference position in the preset coordinate system are (0,0,0), i.e., X... A =0, Y A =0, Z A When = 0), the coordinate position (X) of the loading position 111 in the l'th layer, n'th row, m'th column of the multi-layer carrier 100 in the preset coordinate system. K′ ,Y K’ Z K’ The following relationship is satisfied:

[0189] X C′ =(m'-1)·X B +(n'-1)·X D +(l'-1)·X H

[0190] Y C′ = (m'-1)·Y B +(n'-1)·Y D +(l'-1)·Y H

[0191] Z C′ =(m'-1)·Z B +(n'-1)·Z D +(l'-1)·Z H

[0192] That is, when the loading position 111 (i.e., the third reference position) of the first layer, first row, first column of the multi-layer carrier 100 coincides with the origin of the preset coordinate system, the coordinate position of the loading position 111 of the l layer, n' row, m' column of the multi-layer carrier 100 in the preset coordinate system can be calculated by the following formula (11):

[0193]

[0194] Furthermore, when the loading position 111 (i.e., the third reference position) in the first row and first column of the first layer of the multi-layer carrier 100 coincides with the origin of the preset coordinate system (i.e., the coordinates of the third reference position in the preset coordinate system are (0,0,0), i.e., X... A =0, Y A =0, Z A When =0), the unit value of the first reference position on each coordinate axis of the preset coordinate system can be calculated using the following formula (12): the unit value of the second reference position on each coordinate axis of the preset coordinate system can be calculated using the following formula (13); the unit value of the fourth reference position on each coordinate axis of the preset coordinate system can be calculated using the following formula (14):

[0195]

[0196]

[0197]

[0198] Furthermore, when the position of the loading position 111 (i.e., the third reference position) in the first row and first column of the first layer of the multi-layer carrier 100 deviates from the origin of the preset coordinate system, by modifying the above formula (11), the above formula (10) for calculating the coordinate position of any loading position 111 in the multi-layer carrier 100 in the preset coordinate system can be obtained; by modifying the above formula (12), the above formula (7) for calculating the unit value of the first reference position on each coordinate axis of the preset coordinate system can be obtained; by modifying the above formula (13), the above formula (8) for calculating the unit value of the second reference position on each coordinate axis of the preset coordinate system can be obtained; by modifying the above formula (14), the above formula (9) for calculating the unit value of the fourth reference position on each coordinate axis of the preset coordinate system can be obtained.

[0199] It should be noted that although the unit value in formula (3) appears in formulas (2) and (1), it does not mean that the unit value data must be obtained through formulas (2) and (1) before implementing formula (3). Those skilled in the art should understand that after the target position of the material has been obtained through this invention for the same specification carrier, the unit value can be stored and used in the subsequent material positioning process of the same specification carrier, without having to use the steps of formulas (2) and (1) for each material positioning. This data reuse is feasible when the equipment has not been moved or adjusted. Of course, those skilled in the art can obtain and / or calculate the unit value by manually measuring the unit value or by taking pictures, etc., according to actual needs. This is also something that can be easily thought of under the guidance of this application and still falls within the scope of protection of this application. Similarly, although the unit value in formula (10) appears in formulas (7), (8) and (9), it does not mean that the unit value in formula (10) must be obtained through formulas (7), (8) and (9).

[0200] Based on the same inventive concept, the present invention also provides a control method for a palletizing device. Please refer to... Figure 8 The diagram illustrates a flowchart of a control method for a palletizing device according to an embodiment of the present invention. Figure 8 As shown, the control method for a palletizing device provided by the present invention includes the following steps:

[0201] Step S210: Use the material positioning method described above to obtain the target position of the material to be picked up or placed.

[0202] Step S220: Control the material transfer mechanism to move to the target position.

[0203] Step S230: After the material transfer mechanism moves to the target position, control the material transfer mechanism to perform the material pick-up and drop-off operation.

[0204] Since the control method for the palletizing device provided by this invention uses the material positioning method provided by this invention to obtain the coordinate position of each loading position 111 on the carrier 100 in the preset coordinate system, the control method for the palletizing device provided by this invention has all the advantages of the material positioning method provided by this invention. For details, please refer to the relevant description above, which will not be repeated here. Furthermore, the control method for the palletizing device provided by this invention is easy to operate and can achieve precise material handling, especially for products like CGMs (Continuous Glucose Monitoring Systems) where the assembled materials are small in size, diverse in shape, and require high handling accuracy. It can effectively improve the handling accuracy and efficiency of materials.

[0205] In one exemplary embodiment, when the quantity of material to be picked up or placed is less than the total number of loading positions 111 of the carrier 100, obtaining the position information of the loading position 111 corresponding to the matrix set specifically involves obtaining the position information of the loading position 111 carrying material corresponding to the position in the matrix set, including:

[0206] Obtain the specification information of the carrier 100 and the total quantity of materials to be picked up or placed. The specification information includes at least one of the total number of rows and columns of the matrix set. Based on the specification information of the carrier 100 and the total quantity of materials to be picked up or placed, obtain the position information of the loading position 111 carrying the materials in the matrix set.

[0207] Specifically, when the carrier 100 includes a disk 110, by obtaining the total quantity of materials to be picked up and placed and the total number of rows in the matrix set (taking the total number of rows in the matrix set as the total number of rows of the loading positions 111 carrying materials), the total number of columns of the loading positions 111 carrying materials can be calculated; by obtaining the total quantity of materials to be picked up and placed and the total number of columns in the matrix set (taking the total number of columns in the matrix set as the total number of columns of the loading positions 111 carrying materials); and then, based on the total number of rows and columns of the loading positions 111 carrying materials, the position information corresponding to the loading positions 111 carrying materials in the matrix set can be obtained. When the carrier 100 includes multiple layers of identical discs 110, the total number of layers of loading positions 111 carrying materials can be calculated by obtaining the total quantity of materials to be picked up and placed, the total number of rows (i.e., the total number of rows of a single-layer disc 110, i.e., the total number of rows of loading positions 111 carrying materials) and the total number of columns (i.e., the total number of columns of a single-layer disc 110, i.e., the total number of columns of loading positions 111 carrying materials); the total number of columns of loading positions 111 carrying materials can be calculated by obtaining the total quantity of materials to be picked up and placed, the total number of rows of rows of loading positions 111 carrying materials; the total number of rows of loading positions 111 carrying materials can be calculated by obtaining the total quantity of materials to be picked up and placed, the total number of rows ...

[0208] Further, obtaining the total quantity of the materials to be picked up or placed includes:

[0209] Obtain the weight of a single material to be picked up and the total weight of all the materials to be picked up;

[0210] The total quantity of the materials to be retrieved is obtained based on the weight of a single material and the total weight of all the materials to be retrieved.

[0211] Specifically, the total weight of all the materials to be retrieved or placed is divided by the weight of a single material to be retrieved or placed to obtain the total quantity of the materials to be retrieved or placed. It should be noted that, as those skilled in the art will understand, in some other embodiments, the total quantity of the materials to be retrieved or placed can also be obtained by the operator actively inputting the quantity.

[0212] Based on the same inventive concept, the present invention also provides a palletizing system, please refer to [reference needed]. Figure 9 and Figure 10 ,in Figure 9 A schematic diagram of the block structure of a palletizing system provided in one embodiment of the present invention is shown (carrier 100 is not shown). Figure 10 A partial structural diagram of a palletizing system provided in one embodiment of the present invention is shown schematically. For example... Figure 9 and Figure 10 As shown, the palletizing system provided by this invention includes a carrier 100, a material transfer mechanism 200, and a controller 300. The controller 300 is configured to implement the material positioning method described above, and / or the control method for the palletizing device described above. Since the palletizing system provided by this invention can implement the material positioning method described above, it possesses all the advantages of the material positioning method provided by this invention. For details, please refer to the relevant description above, which will not be repeated here. Furthermore, since the palletizing system provided by this invention can also implement the control method for the palletizing device provided by this invention, it also possesses all the advantages of the control method for the palletizing device provided by this invention. For details, please refer to the relevant description above, which will not be repeated here. It should be noted that, as those skilled in the art will understand, the controller 300 is preferably a PLC (Programmable Logic Controller 300). The program logic of the controller 300 is not subject to any external constraints and can be freely edited and expanded according to actual needs during use.

[0213] Please continue to refer to this. Figure 10 ,like Figure 10As shown, in some embodiments, the material handling mechanism 200 in the palletizing system provided by the present invention includes a gripping part 210 and a servo module 220 connected to the gripping part 210. The servo module 220 is communicatively connected to the controller 300. The controller 300 is configured to control the servo module 220 to move accordingly, using the coordinate position of the loading position 111 corresponding to the material to be picked up or placed in the preset coordinate system as the target position, so as to drive the gripping part 210 to move to the target position to perform the picking and placing action. Since the repeatability of the servo module 220 is about 0.01mm (theoretically it can reach 0.001mm), and the control range is large (the repeatability of ordinary robots is about 0.2mm, and the repeatability of slightly better robots can reach 0.02mm, but the controllable range of the corresponding robots will be smaller), the palletizing system provided by the present invention can further improve the picking and placing accuracy of materials by using the servo module 220 to realize the movement of the gripping part 210 along the X-axis, Y-axis and Z-axis. In addition, the cost of the servo module 220 is lower than that of a regular robot. Therefore, with the same control precision and control range, the cost of using the servo module 220 can be reduced by more than one-third compared to using a robot.

[0214] Specifically, such as Figure 10 As shown, the servo module 220 includes an X-axis motion platform 221, a Y-axis motion platform 222, and a Z-axis motion platform 223. The Y-axis motion platform 222 and the Z-axis motion platform 223 are both connected to the X-axis motion platform 221, and the clamping part 210 is connected to the Z-axis motion platform 223. The X-axis motion platform 221, the Y-axis motion platform 222, and the Z-axis motion platform 223 can all be constructed using high-precision ball screws and servo motors, etc. Specific structures and working principles can be found in existing technologies and will not be elaborated upon here.

[0215] Based on the same inventive concept, the present invention also provides an electronic device, please refer to... Figure 11 The diagram illustrates a block structure of an electronic device according to an embodiment of the present invention. Figure 11As shown, the electronic device includes a processor 410 and a memory 430. The memory 430 stores a computer program. When the processor 410 executes the computer program, it implements the material positioning method described above, and / or the control method for the palletizing device described above. Since the electronic device provided by this invention can implement the material positioning method described above, it possesses all the advantages of the material positioning method provided by this invention. For details, please refer to the relevant descriptions of the beneficial effects of the material positioning method provided by this invention above, which will not be repeated here. Furthermore, since the electronic device provided by this invention can also implement the control method for the palletizing device described above, it also possesses all the advantages of the control method for the palletizing device provided by this invention. For details, please refer to the relevant descriptions of the beneficial effects of the control method for the palletizing device provided by this invention above, which will not be repeated here.

[0216] like Figure 11 As shown, the electronic device also includes a communication interface 420 and a communication bus 440, wherein the processor 410, the communication interface 420, and the memory 430 communicate with each other through the communication bus 440. The communication bus 440 can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus 440 can be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is used to represent it in the figure, but this does not indicate that there is only one bus or one type of bus. The communication interface 420 is used for communication between the aforementioned electronic device and other devices.

[0217] The processor 410 referred to in this invention can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor. The processor 410 is the control center of the electronic device, connecting various parts of the entire electronic device through various interfaces and lines.

[0218] The memory 430 can be used to store the computer program. The processor 410 implements various functions of the electronic device by running or executing the computer program stored in the memory 430 and calling the data stored in the memory 430.

[0219] The memory 430 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 various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

[0220] This invention also provides a readable storage medium storing a computer program. When executed by a processor, the computer program can implement the material positioning method described above, and / or the control method for a palletizing device described above. Since the readable storage medium provided by this invention can implement the material positioning method described above, it possesses all the advantages of the material positioning method provided by this invention. For details, please refer to the relevant descriptions of the beneficial effects of the material positioning method provided by this invention above, which will not be repeated here. Furthermore, since the readable storage medium provided by this invention can also implement the control method for a palletizing device described above, it also possesses all the advantages of the control method for a palletizing device provided by this invention. For details, please refer to the relevant descriptions of the beneficial effects of the control method for a palletizing device provided by this invention above, which will not be repeated here.

[0221] The readable storage medium of embodiments of the present invention can be any combination of one or more computer-readable media. The readable medium can be a computer-readable signal medium or a computer-readable storage medium. Computer-readable storage media can be, for example, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: electrical connections having one or more wires, portable computer hard disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, apparatus, or device.

[0222] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of transmitting, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wireline, optical fiber, RF, etc., or any suitable combination thereof.

[0223] In summary, compared with the prior art, the material positioning method, control method for palletizing device, palletizing system, electronic device, and readable storage medium provided by the present invention have the following advantages:

[0224] This invention can accurately obtain the target position of the material to be picked up or placed, thereby enabling deviation compensation when the material placement is not ideal, and laying a good foundation for subsequent accurate picking and placing of materials. Furthermore, since the material positioning method provided by this invention does not limit the tilt angle of the carrier 100, the specific specifications of the carrier 100 (e.g., including the number of rows, columns, and layers of loading positions 111), or the size and shape of the material, the underlying logic of the material positioning method provided by this invention can be edited and expanded according to actual conditions, thus making it easier to operate.

[0225] It should be noted that computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as "C" or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0226] It should also be noted that the apparatus and methods disclosed in the embodiments herein can also be implemented in other ways. The apparatus embodiments described above are merely illustrative; for example, the flowcharts and block diagrams in the accompanying drawings show the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments herein. In this regard, each block in a flowchart or block diagram may represent a module, program, or part of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system to perform the specified function or action, or can be implemented using a combination of dedicated hardware and computer instructions. In addition, the functional modules in the various embodiments of this article can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0227] It should be noted that, as those skilled in the art will understand, in the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0228] The above description is merely a description of preferred embodiments of the present invention and is not intended to limit the scope of the invention in any way. Any changes or modifications made by those skilled in the art based on the above disclosure are within the protection scope of the present invention. Obviously, those skilled in the art can make various modifications and variations to the invention without departing from the spirit and scope of the invention. Therefore, if these modifications and variations fall within the scope of the present invention and its equivalents, the present invention also intends to include these modifications and variations.

Claims

1. A method for positioning materials, characterized in that, It relates to a carrier, the carrier comprising a matrix set including multiple loading positions arranged in a matrix, the loading positions being used to carry the material, the method comprising: Obtain the position information of the loading position in the matrix set, wherein the position information includes at least two of the row number, column number, and layer number; Determine the unit values ​​of the matrix set on each coordinate axis of the preset coordinate system; Based on the unit value and the position information of the loading position, the coordinate position of the loading position in the preset coordinate system is obtained, and the coordinate position of the loading position corresponding to the material is used as the target position when locating the material. Determining the unit values ​​of the matrix set on each coordinate axis of the preset coordinate system includes: At least three loading positions are selected as reference positions, including a first reference position, a second reference position, and a third reference position, wherein the line connecting the first reference position and the third reference position is perpendicular to the line connecting the second reference position and the third reference position. Obtain the coordinate positions of the first reference position, the second reference position, and the third reference position in the preset coordinate system; Based on the coordinate positions of each reference point in the preset coordinate system, determine the unit value of the matrix set on each coordinate axis of the preset coordinate system; When the carrier includes at least two stacked disks of the same size, the reference position also includes a fourth reference position, and the line connecting the fourth reference position and the third reference position is perpendicular to the plane containing the first reference position, the second reference position and the third reference position; The selection of at least three load bits as reference bits includes: The loading position located in the first row and m column of the first layer of the disk in the carrier is selected as the first reference position; The loading position located in the nth row and 1st column of the first layer of the disk in the carrier is selected as the second reference position; The loading position located in the first row and first column of the first layer of the disk in the carrier is selected as the third reference position; Select the position located in the carrier. The loading position in the first row and first column of the layer disk is used as the fourth reference position; in, , , L'' is the total number of layers of the disk body, M'' is the total number of columns of the loading bits in each layer of the disk body, and N'' is the total number of rows of the loading bits in each layer of the disk body; Determining the unit values ​​of the matrix set on each coordinate axis of the preset coordinate system includes: The unit values ​​of the first reference position on each coordinate axis of the preset coordinate system are calculated according to the following formula: The unit values ​​of the second reference position on each coordinate axis of the preset coordinate system are calculated according to the following formula: The unit value of the fourth reference position on each coordinate axis of the preset coordinate system is calculated according to the following formula: Among them, X B This represents the unit value of the first reference position on the X-axis of the preset coordinate system, and the Y-axis represents the unit value of the reference position. B This represents the unit value of the first reference position on the Y-axis of the preset coordinate system, Z... B This represents the unit value of the first reference position on the Z-axis of the preset coordinate system; X D This represents the unit value of the second reference position on the X-axis of the preset coordinate system, and the Y-axis... D This represents the unit value of the second reference position on the Y-axis of the preset coordinate system, Z. D This represents the unit value of the second reference position on the Z-axis of the preset coordinate system; X H This represents the unit value of the fourth reference position on the X-axis of the preset coordinate system, and the Y-axis... H This represents the unit value of the fourth reference position on the Y-axis of the preset coordinate system, Z. H This represents the unit value of the fourth reference position on the Z-axis of the preset coordinate system; (X M'’ ,Y M'’ Z M'’ (X) represents the coordinate position of the first reference position in the preset coordinate system. N′’ ,Y N'’ Z N'’ (X) represents the coordinate position of the second reference position in the preset coordinate system. A ,Y A Z A (X) represents the coordinate position of the third reference position in the preset coordinate system; L’’ ,Y L’’ Z L’’ () indicates the coordinate position of the fourth reference position in the preset coordinate system; The step of obtaining the coordinate position of the loading position in the preset coordinate system based on the unit value and the position information of the loading position, and using the coordinate position of the loading position corresponding to the material as the target position when locating the material, includes: obtaining the coordinate position of any loading position in the preset coordinate system according to the following formula: in, , , , (X) K′ ,Y K’ Z K’ X represents the coordinate position of the loading position located in the l'th layer, n'th row, and m'th column of the carrier in the preset coordinate system. B This represents the unit value of the first reference position on the X-axis of the preset coordinate system, and the Y-axis represents the unit value of the reference position. B This represents the unit value of the first reference position on the Y-axis of the preset coordinate system, Z... B This represents the unit value of the first reference position on the Z-axis of the preset coordinate system, X. D This represents the unit value of the second reference position on the X-axis of the preset coordinate system, and the Y-axis... D This represents the unit value of the second reference position on the Y-axis of the preset coordinate system, Z. D This represents the unit value of the second reference position on the Z-axis of the preset coordinate system, X. H This represents the unit value of the fourth reference position on the X-axis of the preset coordinate system, and the Y-axis... H This represents the unit value of the fourth reference position on the Y-axis of the preset coordinate system, Z. H This represents the unit value of the fourth reference position on the Z-axis of the preset coordinate system, (X... A ,Y A Z A () indicates the coordinate position of the third reference position in the preset coordinate system.

2. The material positioning method according to claim 1, characterized in that, The third reference position is the loading position among the vertices of the matrix set that is closest to the origin of the preset coordinate system, and the first reference position and the second reference position are respectively set on the edge of the matrix set.

3. The material positioning method according to claim 2, characterized in that, When the carrier includes a disk layer, selecting at least three loading positions as reference positions includes: The loading position located in the first row and m column of the carrier is selected as the first reference position; The loading position located in the nth row and 1st column of the carrier is selected as the second reference position; The loading position located in the first row and first column of the carrier is selected as the third reference position; in, , M is the total number of columns of the load position, and N is the total number of rows of the load position.

4. The material positioning method according to claim 3, characterized in that, Determining the unit values ​​of the matrix set on each coordinate axis of the preset coordinate system includes: Based on the coordinate positions of the first reference position and the third reference position in the preset coordinate system, calculate the unit value of the first reference position on each coordinate axis of the preset coordinate system; Based on the coordinate positions of the second reference position and the third reference position in the preset coordinate system, calculate the unit value of the second reference position on each coordinate axis of the preset coordinate system.

5. The material positioning method according to claim 3, characterized in that, The unit values ​​of the first reference position on each coordinate axis of the preset coordinate system are calculated according to the following formula: The unit values ​​of the second reference position on each coordinate axis of the preset coordinate system are calculated according to the following formula: Among them, X B This represents the unit value of the first reference position on the X-axis of the preset coordinate system, and the Y-axis represents the unit value of the reference position. B This represents the unit value of the first reference position on the Y-axis of the preset coordinate system, X. D This represents the unit value of the second reference position on the X-axis of the preset coordinate system, and the Y-axis... D This represents the unit value of the second reference position on the Y-axis of the preset coordinate system; X M' This represents the X-coordinate and Y-coordinate of the first reference position in the preset coordinate system. M' This represents the Y-coordinate and X-coordinate of the first reference position in the preset coordinate system. N' This indicates the X-coordinate and Y-coordinate of the second reference position in the preset coordinate system. N' This represents the Y-coordinate and X-coordinate of the second reference position in the preset coordinate system. A This indicates the X-coordinate and Y-coordinate of the third reference position in the preset coordinate system. A This indicates the Y-coordinate of the third reference position in the preset coordinate system.

6. The material positioning method according to claim 3, characterized in that, For any of the loading positions, the step of obtaining the coordinate position of the loading position in the preset coordinate system based on the unit value and the position information of the loading position, and using the coordinate position of the loading position corresponding to the material as the target position when locating the material, includes: The coordinate position of any of the loading positions in the preset coordinate system is calculated using the following formula: in, , X C′ This represents the X-coordinate and Y-coordinate of the loading position located in the n'th row and m'th column of the carrier in the preset coordinate system. C’ This represents the Y-coordinate of the loading position located in the n'th row and m'th column of the carrier in the preset coordinate system, X. B This represents the unit value of the first reference position on the X-axis of the preset coordinate system, and the Y-axis represents the unit value of the reference position. B This represents the unit value of the first reference position on the Y-axis of the preset coordinate system, X. D This represents the unit value of the second reference position on the X-axis of the preset coordinate system, and the Y-axis... D This represents the unit value of the second reference position on the Y-axis of the preset coordinate system, X. A This indicates the X-coordinate and Y-coordinate of the third reference position in the preset coordinate system. A This indicates the Y-coordinate of the third reference position in the preset coordinate system.

7. The material positioning method according to claim 1, characterized in that, The selection of at least three load bits as reference bits includes: The loading position located in the first row and M column of the first layer of the disk in the carrier is selected as the first reference position; The loading position located in the Nth row and 1st column of the first layer of the disk in the carrier is selected as the second reference position; The loading position located in the first row and first column of the first layer of the disk in the carrier is selected as the third reference position; The loading position located in the first row and first column of the Lth layer disk in the carrier is selected as the fourth reference position; Wherein, L is the total number of layers of the matrix set, M is the total number of columns of the loading position in each layer of the disk body, and N is the total number of rows of the loading position in each layer of the disk body. If the matrix set of the carrier includes only one layer of loading position, then the third reference position and the fourth reference position are the same loading position.

8. A control method for a palletizing device, characterized in that, include: Using the material positioning method according to any one of claims 1 to 7, the target position of the material to be picked up or placed is obtained; Control the material transfer mechanism to move to the target position; Control the material transfer mechanism to perform material pick-up and drop-off operations.

9. The control method for a palletizing device according to claim 8, characterized in that, When the quantity of materials to be picked up or placed is less than the total number of loading positions on the carrier, obtaining the position information of the loading position in the matrix set specifically involves obtaining the position information of the loading position carrying the material in the matrix set, including: Obtain the specification information of the carrier and the total quantity of materials to be picked up or placed. The specification information includes at least one of the total number of rows and columns of the matrix set. Based on the specification information of the carrier and the total quantity of materials to be picked up or placed, obtain the position information of the loading position carrying the materials in the matrix set.

10. The control method for a palletizing device according to claim 9, characterized in that, The process of obtaining the total quantity of the materials to be picked up or placed includes: Obtain the weight of a single material to be picked up and the total weight of all the materials to be picked up; The total quantity of the materials to be retrieved is obtained based on the weight of a single material and the total weight of all the materials to be retrieved.

11. A palletizing system, characterized in that, It includes a carrier, a transfer mechanism, and a controller, wherein the transfer mechanism and the controller are communicatively connected. The controller is configured to implement the material positioning method of any one of claims 1 to 7, and / or to implement the control method for a palletizing device of any one of claims 8 to 10.

12. The palletizing system according to claim 11, characterized in that, The material transfer mechanism includes a gripping part and a servo module connected to the gripping part. The servo module is communicatively connected to the controller. The controller is configured to control the servo module to perform corresponding movements with the coordinate position of the loading position corresponding to the material to be picked up or placed as the target position, so as to drive the gripping part to move to the target position to perform the picking and placing action.

13. An electronic device, characterized in that, It includes a processor and a memory, the memory storing a computer program that, when executed by the processor, implements the material positioning method according to any one of claims 1 to 7, and / or implements the control method for a palletizing device according to any one of claims 8 to 10.

14. A readable storage medium, characterized in that, The readable storage medium stores a computer program that, when executed by a processor, implements the material positioning method according to any one of claims 1 to 7, and / or implements the control method for a palletizing device according to any one of claims 8 to 10.

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