Robot de-palletizing guidance method and apparatus

Abstract

The application relates to a robot split-palletizing guiding method and device, and relates to the field of power assemblies of material loading and unloading systems. In order to solve the technical problem that the existing production workshop causes the increase of labor cost, time cost and storage space cost, and the problem that the manual participation causes errors and seriously affects the work efficiency of the production workshop, the technical scheme is as follows: a robot split-palletizing guiding device is used to realize the method, the device comprises at least one object-to-be-shifted target point module used as a target point of an object-to-be-taken-away; at least one object-to-be-shifted placement module used as a placement area of the object-to-be-taken-away; and a temporary object placement module used for temporarily placing the object-to-be-taken-away in the placement area when the object-to-be-shifted target point module and the object-to-be-shifted placement module are in an upper limit state. The device is suitable for guiding work in the material loading and unloading system.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of power assemblies for handling loading and unloading systems, in particular to a robot split-pallet guide. BACKGROUND

[0002] In the production process of a workshop, after the cleaning machine is unloaded, multiple pallets are stacked together to form a small hill. This scene is very common in the manufacturing and logistics fields. These pallets are usually composed of the same or similar products and are tightly stacked together for efficient storage and management in the workshop or warehouse. However, when the products are shipped, they are usually not directly loaded in the form of pallets, but need to be manually disassembled into individual units. This process not only takes time and effort, but also requires a large amount of manpower, posing certain risks and challenges to the production process of the products.

[0003] This production phenomenon, especially in traditional manufacturing, may be caused by a combination of factors. For example: In the production workshop, production efficiency is usually one of the key goals. Therefore, many manufacturers will choose to stack products together to make it easier to handle and clean during production. This can improve production efficiency, but introduces additional work to disassemble the pallets in the product shipping link. Different batches of products may differ in size, shape, packaging, etc., making it complex to load directly. In this case, disassembling the products into individual units can more easily meet the needs of different orders and customers. The transportation of products often requires specific loading methods to ensure safe and efficient transportation. This may require rearranging and packaging the products to meet these requirements. Some products require additional packaging or labeling to ensure that the products are not damaged during transportation. This requires manual intervention to add these protective measures. The design and function of cleaning machines and other production equipment may also limit the way products are arranged during production, resulting in the accumulation of products. The problems existing in the existing production workshop will increase the cost of labor, time, and storage space, and because of the involvement of manual labor, errors are inevitable, which seriously affects the work efficiency of the production workshop. SUMMARY

[0004] To solve the technical problems existing in the prior art, such as the increase in labor cost, time cost, and storage space cost in the existing production workshop, and the inevitable errors caused by manual involvement, which seriously affect the work efficiency of the production workshop, the technical scheme provided by the present application is as follows:

[0005] The robot split-pallet guide method comprises the following steps:

[0006] a step of collecting the outline of the object to be transferred;

[0007] a step of obtaining anti-collision parameters according to the outline;

[0008] The steps of acquiring the current spatial coordinates of the object to be transferred and the spatial coordinates of the target point;

[0009] The steps for planning the path of the transfer robot based on the parameters, the current spatial coordinates of the object to be transferred, and the spatial coordinates of the target point.

[0010] Furthermore, a preferred embodiment is provided in which the anti-collision parameters are obtained based on the point cloud data of the contour through data processing and analysis.

[0011] Based on the same inventive concept, the present invention also provides a robot unpacking and palletizing guidance device, the device being used to implement the method, the device comprising:

[0012] At least one, object target point module for serving as the target point of the object to be taken away;

[0013] At least one, object placement module for serving as a placement area for objects to be taken away.

[0014] Furthermore, in a preferred embodiment, the apparatus further includes:

[0015] A temporary object placement module is used to temporarily place the object to be taken in the placement area when both the target point module and the object placement module are in the upper limit state.

[0016] Furthermore, in a preferred embodiment, the apparatus further includes:

[0017] A washing machine roller conveyor for providing the object to be taken away to the object placement module, and a final assembly line roller conveyor for collecting and processing the object to be taken away at the object target point module.

[0018] Furthermore, in a preferred embodiment, the apparatus further includes:

[0019] A buffer module used as a material feeding buffer area for the roller conveyor of the cleaning machine.

[0020] Furthermore, a preferred embodiment is provided in which there are three target point modules for the object to be transferred and two placement modules for the object to be transferred.

[0021] Based on the same inventive concept, the present invention also provides a robot unpacking and palletizing guidance device, the device comprising:

[0022] A module for acquiring the outline of the object to be transferred;

[0023] The module that obtains the anti-collision parameters based on the described contour;

[0024] A module for acquiring the current spatial coordinates of the object to be transferred and the spatial coordinates of the target point;

[0025] A module that plans the path of the transfer robot based on the parameters, the current spatial coordinates of the object to be transferred, and the spatial coordinates of the target point.

[0026] Based on the same inventive concept, the present invention also provides a computer storage medium for storing a computer program, wherein when the computer program is read by a computer, the computer executes the method described thereon.

[0027] Based on the same inventive concept, the present invention also provides a computer, including a processor and a storage medium, wherein when a computer program stored in the storage medium is read by the processor, the computer executes the method described therein.

[0028] Compared with the prior art, the advantages of the technical solution provided by the present invention are as follows:

[0029] The robotic splitting and palletizing guiding device provided by this invention allows for the placement of a workpiece in a temporary area to address unforeseen circumstances, such as sudden equipment shutdowns or power outages. This helps ensure that the workpieces are not subjected to unnecessary damage or loss, as they are located in a relatively safe temporary storage area.

[0030] The robotic splitting and palletizing guidance device provided by this invention is valuable in ensuring the integrity of objects. In unexpected situations, workpieces may become stuck or damaged when equipment or systems stop operating. Placing workpieces in a temporary area can reduce this risk because they are not stacked on top of other workpieces but are placed independently, reducing the possibility of collisions or damage.

[0031] The robotic splitting and palletizing guidance device provided by this invention improves system reliability, and the existence of a temporary area increases the system's robustness. Whenever material needs to be unloaded, the system can preferentially select to retrieve workpieces from the temporary area, ensuring that the cleaning process is not interrupted even in the event of an emergency. This helps ensure the continuity and reliability of the production process.

[0032] The robotic unpacking and palletizing guidance device provided by this invention can reduce production interruptions. Due to the existence of a temporary area, production can be quickly resumed even in the event of an emergency. Workpieces can be immediately removed and reused without waiting for repairs or equipment restarts, thereby reducing production downtime.

[0033] The robot splitting and palletizing guiding device provided by the present invention is suitable for guiding the handling work of loading and unloading systems. Attached Figure Description

[0034] Figure 1A schematic diagram of the robot splitting and palletizing guidance device provided in Embodiment 3;

[0035] Figure 2 This is a schematic diagram of the field network configuration mentioned in Implementation Method 3.

[0036] Among them, 1-3 represent the target point module of the object to be transferred, 4-5 represent the placement module of the object to be transferred, 6 represents the temporary object placement module, 7 represents the partition placement module, and 8-11 represent the cache module. Detailed Implementation

[0037] To make the advantages and benefits of the technical solution provided by the present invention clearer, the technical solution provided by the present invention will now be described in further detail with reference to the accompanying drawings, specifically:

[0038] Implementation Method 1: This implementation method provides a robot-guided splitting and palletizing method, the method comprising:

[0039] The steps for acquiring the outline of the object to be transferred;

[0040] The steps for obtaining anti-collision parameters based on the described profile;

[0041] The steps of acquiring the current spatial coordinates of the object to be transferred and the spatial coordinates of the target point;

[0042] The steps for planning the path of the transfer robot based on the parameters, the current spatial coordinates of the object to be transferred, and the spatial coordinates of the target point.

[0043] Specifically, in the powertrain field, the loading and unloading system enables convenient and efficient loading and unloading operations for components such as cylinder blocks, cylinder heads, and housings. This system utilizes fast and precise 3D structured light imaging technology, scanning the surface contours of objects to generate point cloud data. Subsequently, this point cloud data is processed by a data analysis system, employing AI optimization algorithms, automatic robot path planning, and fully automatic collision avoidance technologies to calculate the real-time spatial coordinates of the workpiece at the current stage. Finally, by correctly guiding the robot, the system achieves precise grasping and placement of the current task. This entire process combines advanced imaging technology, data analysis systems, and intelligent algorithms to improve the efficiency and accuracy of loading and unloading operations.

[0044] Implementation Method 2: This implementation method further defines the robot splitting and palletizing guidance method provided in Implementation Method 1. The anti-collision parameters are obtained based on the point cloud data of the contour through data development and analysis.

[0045] Implementation Method 3: Combination Figures 1-2This embodiment describes a robot unpacking and palletizing guidance device, which is used to implement the method provided in Embodiment 1. The device includes:

[0046] At least one, object target point module for serving as the target point of the object to be taken away;

[0047] At least one, object placement module for serving as a placement area for objects to be taken away.

[0048] Specifically, the device includes: a target point module for the object to be transferred, which serves as the target point for the object to be taken away, including target point module 1 (area 1), target point module 2 (area 2), target point module 3, object placement module 4 (area 4), object placement module 5 (area 5), ​​temporary object placement module 6 (area 6), partition placement module 7 (area 7) for storing the tray, buffer module 8 (area A), buffer module 9 (area B), buffer module 10 (area C), and buffer module 11 (area D).

[0049] Once the cleaning machine finishes cleaning the WP series workpieces, if the workpiece is not located in areas A through D, the robot will place it in area 4. There are 4 workpieces per layer, for a total of 3 layers. When area 4 reaches its material limit, the robot will instruct the AGV to remove the pallet and place a new empty pallet. During the AGV pallet replacement process, the workpieces cleaned by the cleaning machine will be placed on pallets in area 5 to save waiting time caused by pallet replacement. In areas 4 and 5, workpiece types do not need to be distinguished during unloading; they can be mixed.

[0050] When cleaning 6H and 7H series workpieces, the equipment first performs an emptying procedure, removing all WP5, WP7, and WP8 workpieces from the equipment and simultaneously instructing the AGV to replace the pallets in areas 4 and 5 with empty ones. After cleaning, the robot places the workpieces in area 4, with a maximum of 4 workpieces per layer, for a total of 3 layers. When area 4 reaches its material limit, the robot instructs the AGV to remove the pallets and place new empty ones. During the AGV's pallet replacement process, the workpieces cleaned by the cleaning machine are placed on pallets in area 5 to save waiting time caused by the AGV changing pallets. In areas 4 and 5, there is no need to distinguish between workpiece types when unloading; they can be mixed.

[0051] Area 6 is a temporary storage area, where only one workpiece can be placed at a time. Workpieces are placed in this area to prevent unforeseen circumstances (such as sudden stops or power outages). During material handling, workpieces will be retrieved from area 6 first.

[0052] The hardware components of the device are as follows:

[0053] Siemens PLC: CPU 1515-2 2PN; Memory card: 6ES7954-8LF03-0AA0; ​​HMI panel: 6AV2124-0UC02-0AX1 (HMI TP1900); Robot and 3D camera.

[0054] External services for Siemens PLC clients require setting the PLC IP address and the PLC's DB block address. The default DB block address is 10, and the Slot number is 0.

[0055] The IP address of the PROFINET board is set via PLC or HMS-IP Config.

[0056] Specifically:

[0057] Table 1

[0058]

[0059] The PLC controls the camera to take pictures and read data through programming. Specifically:

[0060] Table 2

[0061]

[0062]

[0063] On-site network configuration such as Figure 2 As shown.

[0064] The 3D camera feeds back the gripping and releasing position data to the PLC, which then transmits the feedback data to the robot. The PLC controls the ABB robot to call the current program number to perform the gripping and releasing task.

[0065] The device provided in this embodiment is highly durable, occupies little space, has a large working range, requires fewer drive joints, is easy to control, simple to operate, and easier to maintain. It can be used on two production lines simultaneously, improving production, increasing work efficiency, and saving labor costs for enterprises and factories. It has very broad application prospects in various industries.

[0066] Implementation Method Four: This implementation method further defines the robot splitting and palletizing guidance device provided in Implementation Method Three. The device further includes:

[0067] A temporary object placement module is used to temporarily place the object to be taken in the placement area when both the target point module and the object placement module are in the upper limit state.

[0068] Implementation Method 5: This implementation method further defines the robot splitting and palletizing guidance device provided in Implementation Method 3. The device further includes:

[0069] A washing machine roller conveyor for providing the object to be taken away to the object placement module, and a final assembly line roller conveyor for collecting and processing the object to be taken away at the object target point module.

[0070] Implementation Method Six: This implementation method further defines the robot splitting and palletizing guidance device provided in Implementation Method Five. The device further includes:

[0071] A buffer module used as a material feeding buffer area for the roller conveyor of the cleaning machine.

[0072] Implementation Method Seven: This implementation method is a further limitation of the robot splitting and palletizing guidance device provided in Implementation Method Three. There are three target point modules for the object to be transferred and two placement modules for the object to be transferred.

[0073] Implementation Method 8: This implementation method provides a robot unpacking and palletizing guidance device, the device comprising:

[0074] A module for acquiring the outline of the object to be transferred;

[0075] The module that obtains the anti-collision parameters based on the described contour;

[0076] A module for acquiring the current spatial coordinates of the object to be transferred and the spatial coordinates of the target point;

[0077] A module that plans the path of the transfer robot based on the parameters, the current spatial coordinates of the object to be transferred, and the spatial coordinates of the target point.

[0078] Implementation Method Nine: This implementation method provides a computer storage medium for storing a computer program. When the computer program is read by the computer, the computer executes the method provided in Implementation Method One.

[0079] Implementation Method 10: This implementation method provides a computer, including a processor and a storage medium. When a computer program stored in the storage medium is read by the processor, the computer executes the method provided in Implementation Method 1.

[0080] The above description of several specific embodiments further details the technical solution provided by the present invention in order to highlight the advantages and benefits of the technical solution provided by the present invention. However, the above-described specific embodiments are not intended to limit the present invention. Any reasonable modifications and improvements to the present invention, combinations of embodiments, and equivalent substitutions based on the spirit and principles of the present invention should be included within the protection scope of the present invention.

[0081] In the description of this specification, only preferred embodiments of the present invention are described, and should not be construed as limiting the scope of the invention. Furthermore, the use of terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples" indicates that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is 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 any suitable manner in one or N embodiments or examples. Furthermore, those skilled in the art can combine and integrate the different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction. Additionally, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of the present invention, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified. Any process or method described in the flowcharts or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more N executable instructions for implementing custom logical functions or processes, and the scope of preferred embodiments of the invention includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order according to the functions involved, as will be understood by those skilled in the art to which embodiments of the invention pertain. The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, a “computer-readable medium” can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection having one or N wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic device, and portable optical disc read-only memory (CDROM).Furthermore, the computer-readable medium can even be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory. It should be understood that various parts of the invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0082] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it includes one or a combination of the steps of the method embodiments. Furthermore, the functional units in the various embodiments of the present invention can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

Claims

1. A robot-guided splitting and palletizing method, characterized in that, This is achieved using a robot-based splitting and palletizing guidance device. The robot unpacking and palletizing guidance device includes: At least one, object target point module for serving as the target point of the object to be taken away; At least one, object placement module for serving as a placement area for objects to be taken away; The device also includes: A temporary object placement module is used to temporarily place the object to be taken in the placement area when both the target point module and the object placement module are in the upper limit state. Also includes: A washing machine roller conveyor for providing the object to be taken away to the object to be transferred placement module, and an assembly line roller conveyor for collecting and processing the object to be taken away at the object to be transferred target point module. Also includes: A buffer module for serving as the material feeding buffer area of ​​the roller conveyor of the cleaning machine; The method includes: The steps for acquiring the outline of the object to be transferred; The steps for obtaining anti-collision parameters based on the described profile; The steps of acquiring the current spatial coordinates of the object to be transferred and the spatial coordinates of the target point; The steps for planning the path of the transfer robot based on the parameters, the current spatial coordinates of the object to be transferred, and the spatial coordinates of the target point; The anti-collision parameters are obtained from the point cloud data of the contour through data processing and analysis.

2. The robot unpacking and palletizing guidance method according to claim 1, characterized in that, There are three target point modules for the object to be transferred, and two placement modules for the object to be transferred.

3. A robot unpacking and palletizing guiding device, characterized in that, The apparatus is used to implement the method of claim 1, and the apparatus includes: A module for acquiring the outline of the object to be transferred; The module that obtains the anti-collision parameters based on the described contour; A module for acquiring the current spatial coordinates of the object to be transferred and the spatial coordinates of the target point; A module that plans the path of the transfer robot based on the parameters, the current spatial coordinates of the object to be transferred, and the spatial coordinates of the target point.

4. A computer storage medium for storing computer programs, characterized in that: When the computer program is read by the computer, the computer executes the method of claim 1.

5. A computer, including a processor and a storage medium, characterized in that, When the computer program stored in the storage medium is read by the processor, the computer executes the method of claim 1.

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