Robot circulating loading and unloading method based on AGV

Abstract

The application discloses a robot circulating feeding and discharging method based on an AGV trolley, a main controller sends a signal to equipment I parked in an idle area; the equipment I moves to a grabbing area, after being positioned, a first visual positioning sensor is turned on, a measured point set P1 is acquired, a position offset matrix RT1 is solved 偏移 , a robot grabbing track is corrected, the robot grabs a workpiece, and the workpiece is placed into a material frame; when the workpieces placed in the material frame reach a preset number, the main controller sends a grabbing signal to another set of equipment I in the idle area, the equipment I continues to grab the workpieces, the original equipment I moves to a discharging area, after being positioned, a second visual positioning sensor acquires a measured point set P2; a position offset matrix RT2 is solved 偏移 ; a robot discharging track is corrected; the robot grabs the workpiece from the material frame and places the workpiece on a set position I; the method does not need a conveying belt to be stopped, a plurality of AGV trolleys are used for circulating feeding and discharging, implementation is convenient, speed is fast, and the feeding and discharging rhythm is improved.

Description

Technical Field

[0001] This invention relates to the field of automated loading and unloading, and specifically to a robotic cyclic loading and unloading method based on AGV (Automated Guided Vehicle) carts. Background Technology

[0002] It has been 70 years since the invention of AGVs, and they have been widely used in manufacturing, logistics and other fields. Currently, in factories, during the process of placing and picking up parts, AGVs have fixed collaborative robots on them. After the AGV arrives at the work point, the robots begin to pick up or place parts.

[0003] Existing AGV-based loading and unloading methods have the following problems:

[0004] 1) After the robot picks up the workpiece, the AGV carries the robot to other workstations for assembly or unloading. At this time, it is necessary to wait until the assembly / unloading is completed before the AGV carries the robot back to pick up the workpiece. The whole process is inefficient, has a long downtime, and slow loading and unloading cycle.

[0005] 2) To ensure that the AGV reaches the same position every time, existing technology requires the installation of laser navigation and positioning equipment on the AGV. This equipment is expensive and increases the operating cost of loading and unloading the AGV. Summary of the Invention

[0006] To address the aforementioned technical problems, this invention provides a robotic loading and unloading method based on AGV carts. This method eliminates the need for the conveyor belt to stop; multiple AGV carts continuously load and unload materials while the conveyor belt continues to move forward. This method is convenient, fast, and improves the loading and unloading cycle time. Furthermore, it uses visual positioning sensors instead of expensive laser navigation and positioning equipment, ensuring the positioning accuracy of the AGV carts while reducing equipment costs.

[0007] The technical solution is as follows:

[0008] A method for cyclic loading and unloading of materials using an AGV (Automated Guided Vehicle) is provided, wherein a robot and a material frame are fixed on the AGV, and the three constitute a set of equipment I; there are multiple sets of equipment I, which are parked in an idle area and are all controlled by a main controller; the multiple equipment I have different codes.

[0009] The material handling area is equipped with a conveyor belt, on which the workpieces to be handled are placed and sequentially transported to a set position for handling; a position sensor is installed at the set position.

[0010] When loading and unloading are required, perform the following steps:

[0011] 1) The main controller sends a grab signal to one of the devices I parked in the idle area; device I moves to the designated position in the grabbing area, where a first visual positioning sensor is pre-fixed; after device I arrives in place, step 2) is executed.

[0012] 2) The main controller sends a signal to the first visual positioning sensor, which then turns on and acquires images of multiple pre-selected feature points on the AGV. Based on the images, the controller obtains the coordinates of each feature point in the first visual positioning sensor coordinate system and stores them in the measured point set P1. Based on the device I number, the controller retrieves the standard point set Q1 and the standard transformation relationship RT1 obtained during the teaching process. The standard point set Q1 contains the coordinates of each feature point in the robot base coordinate system of device I. The standard transformation relationship RT1 is the standard transformation relationship between the first visual positioning sensor coordinate system and the robot base coordinate system during teaching.

[0013] The transformation relationship RT1' between the first visual positioning sensor and the current robot base coordinates is calculated using the measured point set P1 and the standard point set Q1. Then, the position offset matrix RT1 is calculated using RT1' and RT1 compared to the base coordinates during teaching. 偏移 ;

[0014] The calculated position offset matrix RT1 偏移 The data is sent to the robot controller of device I, which then uses the position offset matrix RT1. 偏移 Correct the robot's gripping trajectory;

[0015] 3) When the workpiece to be gripped reaches the set position, the position sensor sends a signal, the main controller controls the robot to start, the robot grips the workpiece according to the corrected gripping trajectory, and then puts the workpiece into the material frame according to the pre-taught placement trajectory.

[0016] 4) Determine if the number of workpieces placed in the material box is about to reach the preset quantity. If not, continue to step 3).

[0017] If so, the main controller sends a grabbing signal to another set of equipment I parked in the idle area. Equipment I moves to the designated position in the grabbing area. During this period, the original equipment I continuously puts workpieces into its material box until the preset quantity is reached. The main controller then controls the original equipment I to move to the designated position in the unloading area and executes step 5). At the same time, another set of equipment I arrives, and step 2 is executed using equipment I.

[0018] 5) A second vision positioning sensor is installed in the material feeding area. After the device I is in place, the main controller sends a signal to the second vision positioning sensor, the second vision positioning sensor is turned on, and it collects images of multiple feature points pre-selected on the AGV. Based on the images, the coordinates of each feature point in the coordinate system of the second vision positioning sensor are obtained and stored in the actual point set P2.

[0019] According to the device number, retrieve the standard point set Q1 and standard transformation relationship RT2 obtained by the device during the teaching process. The standard transformation relationship RT2 is the standard transformation relationship between the coordinate system of the second visual positioning sensor and the robot base coordinate system during teaching.

[0020] The transformation relationship RT2' between the second visual positioning sensor and the current robot base coordinates is calculated using the measured point set P2 and the standard point set Q1. Then, the position offset matrix RT2 is calculated using RT2' and RT2 compared to the base coordinates during teaching. 偏移 ;

[0021] The calculated position offset matrix RT2 偏移 The data is sent to the robot controller of device I, which then uses the position offset matrix RT2. 偏移 Correct the robot's feeding trajectory; (at this time, there is no need to correct the position of the material being picked up from the hopper).

[0022] The robot picks up the workpiece from the material box according to the pre-taught feeding trajectory, and then places the workpiece on the set position I according to the corrected unloading trajectory;

[0023] Once all the workpieces in the feed box have been grabbed, device I moves back to the idle area and waits for a signal from the main controller.

[0024] Furthermore, before loading and unloading materials, the following demonstration process will be conducted:

[0025] ① Perform the following processing on each set of equipment I to obtain the standard point set Q1 corresponding to each set of equipment I:

[0026] Record the number of device I, and select at least 3 non-collinear feature points on the AGV, wherein the feature points are the features of the AGV itself and / or the markers of external devices on the AGV.

[0027] A pointed object is installed at the end of the robot in device I. The robot is moved so that the pointed object touches each feature point. The coordinates of these feature points in the robot's base coordinate system are obtained from the robot controller and stored in the standard point set Q1. The robot's base coordinate system is established on the robot's base.

[0028] Replace the pointed end cap of the robot with a gripper;

[0029] ② Obtain the standard transformation relation RT1 and standard transformation relation RT2 using the following steps:

[0030] The conveyor belt remains stationary, and device I moves to the designated position in the material grabbing area. After device I is in place, it places the workpiece at the set position on the conveyor belt. The robot is taught the grabbing trajectory and the placement trajectory. The grabbing trajectory enables the robot to grab the workpiece from the conveyor belt, and the placement trajectory enables the robot to put the workpiece into the material box.

[0031] The first visual positioning sensor acquires images of multiple feature points on the AGV, obtains the coordinates of each feature point in the first visual positioning sensor coordinate system based on the images, and stores them in the coordinate point set I; the standard transformation relationship RT1 between the first visual positioning sensor coordinate system and the robot base coordinate system is calculated based on the standard point set Q1 and the coordinate point set I, and stored;

[0032] Device I moves to the designated position in the material feeding area. After it arrives in position, the robot is taught the loading and unloading trajectories. The loading trajectory enables the robot to pick up the workpiece from the material box, and the unloading trajectory enables the robot to place the workpiece at the set position I.

[0033] The second visual positioning sensor acquires images of multiple feature points on the AGV, obtains the coordinates of each feature point in the second visual positioning sensor coordinate system based on the images, and stores them in coordinate point set II; based on standard point set Q1 and coordinate point set II, calculates the standard transformation relationship RT2 between the second visual positioning sensor coordinate system and the robot base coordinate system, stores it, and completes the teaching.

[0034] Preferably, when multiple workpieces need to be placed into different areas of the material frame, the robot's placement trajectory is taught to one area of ​​the material frame, and the distance between the other areas and the first area is calculated as the offset. The taught placement trajectory is added to the offset, the placement trajectory is updated, and the workpiece is placed into the other areas of the material frame using the new placement trajectory.

[0035] When multiple workpieces are stored in different areas of the material frame, the robot's loading trajectory is taught to one area of ​​the material frame, and the distance between the other areas and the taught area is calculated as the offset. The taught loading trajectory is added to the offset, the loading trajectory is updated, and the workpiece is picked up from the other areas of the material frame using the new loading trajectory.

[0036] Preferably, the AGV itself is characterized by holes or corners.

[0037] Furthermore, there are multiple feeding areas. In step 4), the main controller queries the idle feeding areas and controls device I to move to the idle feeding area.

[0038] Preferably, there are at least 3 sets of equipment I.

[0039] The robot loading and unloading method based on AGV carts provided by this invention has the following characteristics:

[0040] 1. A novel vision-based guided positioning method is proposed, which reduces the requirements for AGV (Automated Guided Vehicle) positioning deviation while ensuring high-precision and reliable positioning information. This method can save costs for enterprises and improve positioning accuracy and reliability.

[0041] 2. The AGV trolleys in the material grabbing and unloading areas are accurately positioned by the first vision positioning sensor and the second vision positioning sensor, and the robot trajectory is compensated to achieve precise robot loading and unloading.

[0042] 3. Compared to each AGV equipped with a high-precision positioning sensor, only two sets of vision sensors are needed to achieve high-precision positioning of the AGV in two working areas and subsequent high-precision gripping and placement of parts, effectively saving production costs and improving efficiency. Attached Figure Description

[0043] Figure 1 This is a schematic diagram showing the distribution of the idle area, material grabbing area, and material unloading area. Detailed Implementation

[0044] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0045] A robotic cyclic loading and unloading method based on AGV carts, such as... Figure 1 As shown, robot 1 and material frame 2 are fixed on AGV trolley 3 respectively, and the three constitute a set of equipment I; there are multiple sets of equipment I, parked in the idle area, all controlled by a main controller (such as PLC, industrial computer); multiple equipment I have different codes;

[0046] The material handling area is equipped with a conveyor belt 6, on which the workpieces 7 to be handled are placed and sequentially transported to a set position for handling; a position sensor 8 is provided at the set position.

[0047] In practice, the following demonstration process should be conducted before loading and unloading materials:

[0048] ① Perform the following processing on each set of equipment I to obtain the standard point set Q1 corresponding to each set of equipment I:

[0049] Record the number of device I, and select at least 3 non-collinear feature points on the AGV, wherein the feature points are features of the AGV itself (e.g., holes, corners) and / or external markers on the AGV.

[0050] A pointed object is installed at the end of the robot in device I. The robot is moved so that the pointed object touches each feature point. The coordinates of these feature points in the robot's base coordinate system are obtained from the robot controller and stored in the standard point set Q1.

[0051] The robot's base coordinate system is established on the robot's base; each robot in each set of equipment I establishes its own coordinate system.

[0052] Replace the pointed object at the end of the robot with a gripper 11;

[0053] ② Obtain the standard transformation relation RT1 and standard transformation relation RT2 using the following steps:

[0054] The conveyor belt remains stationary, and device I moves to the designated position in the material grabbing area. After device I is in place, it places the workpiece at the set position on the conveyor belt. The robot is taught the grabbing trajectory and the placement trajectory. The grabbing trajectory enables the robot to grab the workpiece from the conveyor belt, and the placement trajectory enables the robot to put the workpiece into the material box.

[0055] The first visual positioning sensor 4 collects images of multiple feature points on the AGV, obtains the coordinates of each feature point in the first visual positioning sensor coordinate system based on the images, and stores them in the coordinate point set I; the standard transformation relationship RT1 between the first visual positioning sensor coordinate system and the robot base coordinate system is calculated based on the standard point set Q1 and the coordinate point set I, and stored;

[0056] Device I moves to the designated position in the material feeding area. After it arrives in position, the robot is taught the loading and unloading trajectories. The loading trajectory enables the robot to pick up the workpiece from the material box, and the unloading trajectory enables the robot to place the workpiece at the set position I.

[0057] The second visual positioning sensor 5 collects images of multiple feature points on the AGV, obtains the coordinates of each feature point in the second visual positioning sensor coordinate system based on the images, and stores them in the coordinate point set II; based on the standard point set Q1 and the coordinate point set II, it calculates the standard transformation relationship RT2 between the second visual positioning sensor coordinate system and the robot base coordinate system, stores it, and completes the teaching.

[0058] The above demonstration process only needs to be performed once, and the information obtained from the demonstration can be directly retrieved during subsequent material loading and unloading processes.

[0059] When loading and unloading are required, perform the following steps:

[0060] 1) The main controller sends a grab signal to one of the devices I parked in the idle area; device I moves to the designated position in the grabbing area, where a first visual positioning sensor is pre-fixed; after device I arrives in place, step 2) is executed.

[0061] 2) The main controller sends a signal to the first visual positioning sensor 4, which then turns on and acquires images of multiple pre-selected feature points on the AGV. Based on the images, the controller obtains the coordinates of each feature point in the first visual positioning sensor coordinate system and stores them in the measured point set P1. Based on the device I number, the controller retrieves the standard point set Q1 and the standard transformation relationship RT1 obtained during the teaching process. The standard point set Q1 contains the coordinates of each feature point in the robot base coordinate system of device I. The standard transformation relationship RT1 is the standard transformation relationship between the first visual positioning sensor coordinate system and the robot base coordinate system during teaching.

[0062] The transformation relationship RT1' between the first visual positioning sensor and the current robot base coordinates is calculated using the measured point set P1 and the standard point set Q1. Then, the position offset matrix RT1 is calculated using RT1' and RT1 compared to the base coordinates during teaching. 偏移 ;

[0063] The calculated position offset matrix RT1 偏移 The data is sent to the robot controller of device I, which then uses the position offset matrix RT1. 偏移 Correct the robot's gripping trajectory;

[0064] 3) When the workpiece 7 to be gripped reaches the set position, the position sensor 8 sends a signal, the main controller controls the robot to start, the robot grips the workpiece according to the corrected gripping trajectory, and then puts the workpiece into the material frame according to the pre-taught placement trajectory.

[0065] 4) Determine if the number of workpieces placed in the material box is about to reach the preset quantity. If not, continue to step 3).

[0066] If so, the main controller sends a grabbing signal to another set of equipment I parked in the idle area. Equipment I moves to the designated position in the grabbing area. During this period, the original equipment I continuously puts workpieces into its material box until the preset quantity is reached. The main controller then controls the original equipment I to move to the designated position in the unloading area and executes step 5). At the same time, another set of equipment I arrives, and step 2 is executed using equipment I.

[0067] 5) A second visual positioning sensor 5 is installed in the material feeding area. After the device I is in place, the main controller sends a signal to the second visual positioning sensor 5, the second visual positioning sensor 5 is turned on, and the images of multiple feature points pre-selected on the AGV are collected. The coordinates of each feature point in the second visual positioning sensor coordinate system are obtained according to the images and stored in the measured point set P2.

[0068] According to the device number, retrieve the standard point set Q1 and standard transformation relationship RT2 obtained by the device during the teaching process. The standard transformation relationship RT2 is the standard transformation relationship between the coordinate system of the second visual positioning sensor and the robot base coordinate system during teaching.

[0069] The transformation relationship RT2' between the second visual positioning sensor and the current robot base coordinates is calculated using the measured point set P2 and the standard point set Q1. Then, the position offset matrix RT2 is calculated using RT2' and RT2 compared to the base coordinates during teaching. 偏移 ;

[0070] The calculated position offset matrix RT2 偏移 The data is sent to the robot controller of device I, which then uses the position offset matrix RT2. 偏移 Correct the robot's feeding trajectory; (at this time, there is no need to correct the position of the material being picked up from the hopper).

[0071] The robot picks up the workpiece from the material box according to the pre-taught feeding trajectory, and then places the workpiece on the set position I according to the corrected unloading trajectory;

[0072] Once all the workpieces in the feed box have been grabbed, device I moves back to the idle area and waits for a signal from the main controller.

[0073] The device number can be identified using either method one or method two:

[0074] Method 1: A number is pre-attached to each device I. When device I is in place, the first visual positioning sensor / second visual positioning sensor collects the image of the number on device I and identifies the number information based on the image.

[0075] Method 2: Pre-set RFID tags on each device I and set up readers in the material handling / discharging area. When device I is in place, the reader identifies the RFID tag and determines the device I number based on the RFID tag.

[0076] To save time in teaching the robot trajectory, as a preferred implementation, when multiple workpieces need to be placed into different areas of the material frame, the robot's placement trajectory is taught to one area of ​​the material frame, and then the distance between the other areas and the first area is calculated as the offset. The taught placement trajectory is added to the offset, the placement trajectory is updated, and the workpieces are placed into other areas of the material frame using the new placement trajectory.

[0077] When multiple workpieces are stored in different areas of the material frame, the robot's loading trajectory is taught to one area of ​​the material frame, and the distance between the other areas and the taught area is calculated as the offset. The taught loading trajectory is added to the offset, the loading trajectory is updated, and the workpiece is picked up from the other areas of the material frame using the new loading trajectory.

[0078] When there are multiple feeding areas, in step 4), the main controller queries the idle feeding area and controls device I to move to the idle feeding area.

[0079] Of these, there are at least three sets of Equipment I. One set of Equipment I is reserved in the idle area to await a signal from the main controller.

[0080] The foregoing description of specific exemplary embodiments of the present invention is for illustrative and descriptive purposes. It is not intended to be exhaustive, nor to limit the invention to the precise forms disclosed; obviously, many changes and variations are possible in accordance with the foregoing teachings. The exemplary embodiments were chosen and described to explain the specific principles of the invention and its practical application, thereby enabling others skilled in the art to implement and utilize various exemplary embodiments of the invention, as well as their different alternatives and modifications. The scope of the invention is intended to be defined by the appended claims and their equivalents.

Claims

1. An AGV trolley-based robot circulating loading and unloading method, characterized in that: A robot (1) and a material frame (2) are fixed on an AGV (3), and the three constitute a set of equipment I; the equipment I has multiple sets and is parked in an idle area and is controlled by a main controller; multiple equipment I has different codes; The grabbing area is provided with a conveying belt (6), and the workpieces (7) to be grabbed are placed on the conveying belt and conveyed to the designated position for grabbing; the designated position is provided with a position sensor (8); When loading and unloading is needed, the following steps are executed: 1) The main controller sends a grabbing signal to one of the sets of equipment I parked in the idle area; the equipment I moves to the designated position of the grabbing area, and the grabbing area is previously fixed with a first visual positioning sensor; after the equipment I is positioned, step 2) is executed; 2) The main controller sends a signal to the first visual positioning sensor (4), and the first visual positioning sensor (4) is turned on to collect images of multiple feature points preselected on the AGV, obtain coordinates of the feature points in the first visual positioning sensor coordinate system according to the images, and store them in a measured point set P1; the standard point set Q1 and the standard conversion relationship RT1 are retrieved according to the number of the equipment I, wherein the standard point set Q1 contains coordinates of the feature points in the robot base coordinate system of the equipment I; and the standard conversion relationship RT1 is the standard conversion relationship between the first visual positioning sensor coordinate system and the robot base coordinate system during teaching; The conversion relationship RT1' of the first visual positioning sensor and the current robot base coordinate is solved by using the measured point set P1 and the standard point set Q1, and the position offset matrix RT1 of the current robot base coordinate system compared with the base coordinate at the teaching time is solved by using RT1' and RT1 偏移 ; The position offset matrix RT1 calculated 偏移 to the robot controller of the device I, which modifies the robot's trajectory according to the position offset matrix RT1 偏移 corrects the robot's trajectory; 3) When the workpiece (7) to be grabbed reaches the designated position, the position sensor (8) sends a signal, the main controller controls the robot to start, the robot grabs the workpiece according to the corrected grabbing trajectory, and then places the workpiece into the material frame according to the pre-taught placing trajectory; 4) It is judged whether the workpieces placed in the material frame will reach the preset number, if not, step 3) is continuously executed; If yes, the main controller sends a grabbing signal to another set of equipment I parked in the idle area, and the equipment I moves to the designated position of the grabbing area; during this period, the material frame of the original equipment I continuously places workpieces until it reaches the preset number, the main controller controls the original equipment I to move to the designated position of the placing area, and step 5) is executed; at the same time, the other set of equipment I is positioned, and step 2) is executed by jumping; 5) The second visual positioning sensor (5) is installed in the placing area, the main controller sends a signal to the second visual positioning sensor (5) after the equipment I is positioned, the second visual positioning sensor (5) is turned on to collect images of multiple feature points preselected on the AGV, and coordinates of the feature points in the second visual positioning sensor coordinate system are obtained according to the images and stored in a measured point set P2; The standard point set Q1 and the standard conversion relationship RT2 are retrieved according to the number of the equipment I, wherein the standard conversion relationship RT2 is the standard conversion relationship between the second visual positioning sensor coordinate system and the robot base coordinate system during teaching; The conversion relationship RT2' of the second visual positioning sensor and the current robot base coordinate is solved by using the measured point set P2 and the standard point set Q1, and the position offset matrix RT2 of the current robot base coordinate system compared with the base coordinate at the teaching time is solved by using RT2' and RT2 偏移 ; The position offset matrix RT2 calculated 偏移 to the robot controller of the device I, which modifies the robot blanking trajectory in accordance with the position offset matrix RT2 偏移 corrects the robot blanking trajectory; The robot grabs the workpiece from the material frame according to the pre-taught loading trajectory, and places the workpiece on the designated position I according to the corrected unloading trajectory; When the workpieces in the material frame are grabbed, the equipment I moves back to the idle area and waits for the signal of the main controller.

2. The robot circulating loading and unloading method based on AGV trolley according to claim 1, characterized in that: Before feeding and discharging, the following teaching process is performed: ①The following processing is performed on each set of equipment I to obtain the standard point set Q1 corresponding to each equipment I respectively: Record the number of equipment I, select at least three non-collinear feature points on the AGV car, and the feature points are the features of the AGV car itself and / or the marker points of the external device on the AGV car; Install a sharp object at the end of the robot in the equipment I, move the robot, and make the sharp object touch each feature point respectively, obtain the coordinates of these feature points in the robot base coordinate system from the robot controller, and store them in the standard point set Q1; the robot base coordinate system is established on the robot base; Replace the sharp object at the end of the robot with a gripper (11); ②The standard conversion relationship RT1 and the standard conversion relationship RT2 are obtained by using the following steps: The conveyor belt remains in a stopped state, the equipment I moves to a designated position in the grabbing area, the equipment I is positioned after moving to the designated position, and the workpiece is placed at the set position on the conveyor belt; the workpiece grabbing trajectory and the workpiece placing trajectory of the teaching robot are taught, the workpiece grabbing trajectory enables the robot to grab the workpiece from the conveyor belt, and the workpiece placing trajectory enables the robot to place the workpiece into the material frame; The first visual positioning sensor (4) collects images of multiple feature points on the AGV car, obtains the coordinates of each feature point in the first visual positioning sensor coordinate system according to the images, and stores them in the coordinate point set I; the standard conversion relationship RT1 between the first visual positioning sensor coordinate system and the robot base coordinate system is calculated based on the standard point set Q1 and the coordinate point set I, and is stored; The equipment I moves to a designated position in the discharging area, and after being positioned, the feeding trajectory and the discharging trajectory of the robot are taught, the feeding trajectory enables the robot to grab the workpiece from the material frame, and the discharging trajectory enables the robot to place the workpiece on the set position I; The second visual positioning sensor (5) collects images of multiple feature points on the AGV car, obtains the coordinates of each feature point in the second visual positioning sensor coordinate system according to the images, and stores them in the coordinate point set II; the standard conversion relationship RT2 between the second visual positioning sensor coordinate system and the robot base coordinate system is calculated based on the standard point set Q1 and the coordinate point set II, and is stored, and the teaching is completed.

3. The robot circulating loading and unloading method based on AGV trolley according to claim 2, characterized in that: When multiple workpieces need to be placed in different areas of the material frame respectively, the workpiece placing trajectory of the robot is taught for one area of the material frame, the distance values of other areas from the area are calculated as offsets, the taught workpiece placing trajectory is added to the offsets, the workpiece placing trajectory is updated, and the new workpiece placing trajectory is used to place the workpieces in other areas of the material frame; When multiple workpieces are stored in different areas of the material frame respectively, the workpiece feeding trajectory of the robot is taught for one area of the material frame, the distance values of other areas from the area are calculated as offsets, the taught workpiece feeding trajectory is added to the offsets, the workpiece feeding trajectory is updated, and the new workpiece feeding trajectory is used to grab the workpieces from other areas of the material frame.

4. The robot circulating loading and unloading method based on AGV trolley according to claim 2, characterized in that: The features of the AGV car itself are holes or corner points.

5. The AGV trolley based robot circulating loading and unloading method according to claim 1 or 2, characterized in that: There are multiple discharging areas, and in step 4), the main controller queries the idle discharging area and controls the equipment I to move to the idle discharging area.

6. The robot circulating loading and unloading method based on AGV trolley according to claim 1 or 2, characterized in that: The equipment I has at least three sets.

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