Adjustment methods, devices, computer equipment, readable storage media, and program products for robotic lifting columns.

Abstract

This application relates to a method, apparatus, computer device, readable storage medium, and program product for adjusting a robot lifting column, and pertains to the field of robotics. The method includes: in response to a lifting column adjustment command for a target robot, acquiring target area information of the palletizing area where the target robot performs palletizing work; based on the target area information, performing a three-dimensional model of the palletizing area to obtain a target three-dimensional model of the palletizing area; acquiring the position information of each palletizing point in the target three-dimensional model; performing a size analysis of the target stack placed within the palletizing area based on the position information of each point to obtain the size parameters of the target stack; determining a palletizing height matching the size parameters; and adjusting the lifting column of the target robot to the palletizing height. This method can improve the flexibility of robot lifting column control.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and in particular to a method, apparatus, computer device, readable storage medium, and program product for adjusting a robot lifting column. Background Technology

[0002] With the rapid development of artificial intelligence, robots are gradually being applied in various industries, especially in the palletizing of goods. Robots can efficiently complete the palletizing of goods, thereby improving production efficiency.

[0003] Currently, when robots perform palletizing tasks, they often need to rely on external components such as lifting columns to reach the required height. However, in practical applications, this method is often used for goods with fixed stack shapes, where all information about the goods to be palletized, such as the size, weight, and stacking order, is known in advance. This limits the operation of the lifting column, resulting in insufficient flexibility in the control of the robot's lifting column. Summary of the Invention

[0004] Therefore, it is necessary to provide a method, apparatus, computer equipment, computer-readable storage medium, and computer program product for adjusting a robot lifting column that can improve the flexibility of robot lifting column control, in order to address the above-mentioned technical problems.

[0005] In a first aspect, this application provides a method for adjusting a robot lifting column, comprising: in response to a lifting column adjustment command for a target robot, acquiring target area information of the palletizing area where the target robot performs palletizing work; based on the target area information, performing three-dimensional modeling of the palletizing area to obtain a target three-dimensional model of the palletizing area; acquiring the position information of each palletizing point in the target three-dimensional model, performing size analysis on the target stack placed in the palletizing area according to the position information of each point to obtain the size parameters of the target stack; determining a palletizing height that matches the size parameters, and adjusting the lifting column of the target robot to the palletizing height.

[0006] In one embodiment, the location information includes location status information and location attribute information of the palletizing locations; based on the location information, the size of the target stack placed in the palletizing area is analyzed to obtain the size parameters of the target stack, including: based on the location status information of each location, selecting candidate locations from each palletizing location whose location status information indicates that the location is in a placeable state; based on the location attribute information of the candidate locations, the size of the target stack placed in the palletizing area is analyzed to obtain the size parameters of the target stack.

[0007] In one embodiment, the location attribute information includes location height and location area, and the size parameters include the stack height and stack surface area of ​​the target stack. Based on the location attribute information of the candidate locations, the size of the target stack placed in the palletizing area is analyzed to obtain the size parameters of the target stack, including: selecting the first target location with the highest location height from the candidate locations and using the location height of the first target location as the stack height of the target stack; selecting multiple second target locations whose location height exceeds the first height threshold from the candidate locations and using the sum of the location areas of the multiple second target locations as the stack surface area of ​​the target stack.

[0008] In one embodiment, the method further includes: evaluating the height adjustment of the lifting column of the target robot based on the stacking height and the stacking surface area of ​​the target stack, and obtaining the height adjustment evaluation result of the lifting column; determining a palletizing height that matches the size parameters, including: when the height adjustment evaluation result indicates that the lifting column needs to be adjusted in height, performing height matching based on the size parameters of the target stack, and obtaining a palletizing height that matches the size parameters.

[0009] In one embodiment, the height adjustment of the lifting column of the target robot is evaluated based on the stack height and the stack surface area of ​​the target stack to obtain the height adjustment evaluation result of the lifting column. This includes: comparing the stack height of the target stack with a second height threshold to obtain a height comparison result of the target stack; comparing the stack surface area of ​​the target stack with a preset area threshold to obtain a surface area comparison result of the target stack; and using the height comparison result and the surface area comparison result together as the height adjustment evaluation result of the lifting column.

[0010] In one embodiment, a three-dimensional model of the palletizing area is performed based on the target area information to obtain a target three-dimensional model of the palletizing area, including: performing a three-dimensional model of the palletizing area based on the target area information to obtain an initial three-dimensional model of the palletizing area; obtaining the position information of each target item in the target stack placed in the palletizing area; and updating the initial three-dimensional model according to the position information to obtain a target three-dimensional model of the palletizing area.

[0011] Secondly, this application also provides an adjustment device for a robot lifting column, comprising: an information acquisition module, used to acquire target area information of the palletizing area where the target robot performs palletizing work in response to a lifting column adjustment command for the target robot; a three-dimensional modeling module, used to perform three-dimensional modeling of the palletizing area based on the target area information to obtain a target three-dimensional model of the palletizing area; a size analysis module, used to acquire the position information of each palletizing point in the target three-dimensional model, and perform size analysis on the target stack placed in the palletizing area based on the position information to obtain the size parameters of the target stack; and a lifting column adjustment module, used to determine the palletizing height that matches the size parameters and adjust the lifting column of the target robot to the palletizing height.

[0012] Thirdly, this application also provides a computer device, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to perform the following steps: in response to an adjustment command for the lifting column of the target robot, acquiring target area information of the palletizing area where the target robot performs palletizing work; based on the target area information, performing three-dimensional modeling of the palletizing area to obtain a target three-dimensional model of the palletizing area; acquiring the position information of each palletizing point in the target three-dimensional model, and performing size analysis on the target stack placed in the palletizing area according to the position information of each point to obtain the size parameters of the target stack; determining the palletizing height that matches the size parameters, and adjusting the lifting column of the target robot to the palletizing height.

[0013] Fourthly, this application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, performs the following steps: in response to an adjustment command for the lifting column of the target robot, acquiring target area information of the palletizing area where the target robot performs palletizing work; based on the target area information, performing three-dimensional modeling of the palletizing area to obtain a target three-dimensional model of the palletizing area; acquiring the position information of each palletizing point in the target three-dimensional model, and performing size analysis on the target stack placed in the palletizing area according to the position information of each point to obtain the size parameters of the target stack; determining the palletizing height that matches the size parameters, and adjusting the lifting column of the target robot to the palletizing height.

[0014] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, performs the following steps: in response to an adjustment command for the lifting column of a target robot, acquiring target area information of the palletizing area where the target robot performs palletizing work; based on the target area information, performing three-dimensional modeling of the palletizing area to obtain a target three-dimensional model of the palletizing area; acquiring the position information of each palletizing point in the target three-dimensional model, and performing size analysis on the target stack placed in the palletizing area according to the position information of each point to obtain the size parameters of the target stack; determining a palletizing height that matches the size parameters, and adjusting the lifting column of the target robot to the palletizing height.

[0015] The aforementioned method, apparatus, computer equipment, computer-readable storage medium, and computer program product for adjusting robot lifting columns, in response to a lifting column adjustment command for a target robot, first acquires target area information of the target robot's palletizing area. Based on this target area information, a three-dimensional model of the palletizing area is created, resulting in a target three-dimensional model of the palletizing area. For each palletizing point in the target three-dimensional model, the position information of each point is acquired. Based on this position information, the dimensions of the target stack placed within the palletizing area are analyzed to obtain the dimensional parameters of the target stack. Finally, the palletizing height matching the dimensional parameters is determined, and the lifting column of the target robot is adjusted to that height. In this way, the robot only needs to analyze the dimensions of the stack based on the position information of each palletizing point in the three-dimensional model to flexibly adjust the lifting column without needing prior knowledge of the goods to be palletized. This adapts to goods of various sizes, improving the flexibility of robot lifting column control, as well as increasing robot palletizing efficiency and the space utilization of the palletizing area. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is an application environment diagram of the robot lifting column adjustment method in one embodiment;

[0018] Figure 2 This is a flowchart illustrating the adjustment method of the robot lifting column in one embodiment;

[0019] Figure 3 This is a schematic diagram of a robot lifting column in one embodiment;

[0020] Figure 4 This is a flowchart illustrating the stack size analysis process in one embodiment;

[0021] Figure 5 This is a schematic diagram of the process for evaluating the height adjustment of the bollard in one embodiment;

[0022] Figure 6 This is a flowchart illustrating the 3D modeling process of the palletizing area in one embodiment;

[0023] Figure 7 This is a structural block diagram of the adjustment device for the robot lifting column in one embodiment;

[0024] Figure 8 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0026] The robot lifting column adjustment method provided in this application embodiment can be applied to, for example... Figure 1 In the application environment shown, terminal 102 communicates with server 104 via a network. A data storage system can store the data that server 104 needs to process. The data storage system can be integrated onto server 104 or placed on a cloud or other network server. In response to the lifting column adjustment command sent by terminal 102 for the target robot, server 104 first obtains the target area information of the palletizing area where the target robot performs palletizing work. Based on the target area information, it performs a 3D modeling of the palletizing area to obtain the target 3D model of the palletizing area. It then obtains the point information of each palletizing point in the target 3D model, and performs a size analysis of the target pallet stack placed within the palletizing area based on the point information to obtain the size parameters of the target pallet stack. Finally, it determines the palletizing height that matches the size parameters, thereby adjusting the lifting column of the target robot to the palletizing height. Terminal 102 can be, but is not limited to, various personal computers, laptops, smartphones, tablets, and IoT devices. Server 104 can be a standalone physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing cloud computing services.

[0027] In one exemplary embodiment, such as Figure 2 As shown, a method for adjusting a robot lifting column is provided, which can be applied to... Figure 1 Taking server 104 as an example, the explanation includes:

[0028] Step S202: In response to the lifting column adjustment command for the target robot, obtain the target area information of the palletizing area where the target robot performs palletizing work.

[0029] The target robot can refer to a robot that requires adjustment of its lifting column, including but not limited to six-degree-of-freedom collaborative robots and industrial robots. For example... Figure 3 As shown, the robot's bottom is connected to corresponding lifting columns to achieve its lifting and lowering. The lifting column adjustment command refers to an instruction to adjust the lifting and lowering of the lifting column connected to the target robot. The palletizing area refers to the area where the robot pallets goods, such as cage carts or pallets. There is also a corresponding buffer area for temporary storage of goods. The robot's palletizing work involves placing goods from the buffer area into the palletizing area. Target area information refers to the area attribute information of the palletizing area, including but not limited to the area's length, width, and height, to facilitate subsequent 3D modeling of the palletizing area.

[0030] For example, when the server in the robot control system receives an adjustment command for the lifting column of the target robot, it can first obtain the regional attribute information of the palletizing area where the target robot is performing palletizing work, so as to perform three-dimensional modeling of the palletizing area.

[0031] Step S204: Based on the target area information, perform three-dimensional modeling of the palletizing area to obtain the target three-dimensional model of the palletizing area.

[0032] The target 3D model refers to the 3D spatial model of the palletizing area.

[0033] For example, after the server obtains the regional attribute information of the palletizing area, it can use the corresponding modeling tools or modeling algorithms to build a three-dimensional spatial model of the palletizing area according to a certain scale.

[0034] In practical applications, the server can process the palletizing area into a three-dimensional data structure, dividing it into cubes with fixed side lengths. These cubes then form the three-dimensional spatial model of the palletizing area.

[0035] Step S206: Obtain the location information of each palletizing point in the target 3D model. Based on the location information, perform size analysis on the target pallet placed in the palletizing area to obtain the size parameters of the target pallet.

[0036] Here, "palletizing point" refers to each voxel in the target 3D model, which is the aforementioned cube. Point information includes the point status and attribute information of each palletizing point. "Target stack" refers to the stack currently placed within the palletizing area, which consists of multiple palletized goods. Dimensional parameters refer to the surface area and height of the target stack; however, other dimensional parameters of the stack can also be obtained in practical applications.

[0037] For example, the server obtains the position status information and position attribute information of each palletizing point in the three-dimensional spatial model of the palletizing area, and then performs size analysis on the target pallet placed in the current palletizing area based on the position status information and position attribute information to obtain the pallet surface area and height of the target pallet.

[0038] Step S208: Determine the palletizing height that matches the size parameters and adjust the lifting column of the target robot to the palletizing height.

[0039] Among them, the palletizing height refers to the height that the lifting column of the target robot should reach.

[0040] In one embodiment, the process of determining the palletizing height further includes: evaluating the height adjustment of the lifting column of the target robot based on the stacking height and the stacking surface area of ​​the target stack, and obtaining the height adjustment evaluation result of the lifting column; determining the palletizing height that matches the size parameters includes: when the height adjustment evaluation result indicates that the lifting column needs to be adjusted in height, performing height matching based on the size parameters of the target stack, and obtaining the palletizing height that matches the size parameters.

[0041] For example, the height adjustment assessment result is used to characterize whether the lifting column of the target robot needs to be adjusted. After the server obtains the stack surface area and stack height of the target stack, it analyzes whether the lifting column of the target robot needs to be adjusted based on the stack surface area and stack height. If adjustment is required, the server performs height matching to obtain a stacking height that matches the stack surface area and / or stack height of the target stack, and adjusts the height of the lifting column to that stacking height.

[0042] In this embodiment, in response to the lifting column adjustment command for the target robot, the server first acquires the target area information of the palletizing area of ​​the target robot. Based on the target area information, it performs a 3D modeling of the palletizing area to obtain the target 3D model of the palletizing area. For each palletizing point in the target 3D model, the server acquires the point information of each palletizing point. Based on the point information, it performs a size analysis of the target stack placed in the palletizing area to obtain the size parameters of the target stack. Finally, it determines the palletizing height that matches the size parameters and adjusts the lifting column of the target robot to that height. In this way, the robot only needs to analyze the size of the stack based on the point information of each palletizing point in the 3D model to flexibly adjust the lifting column without needing to know the information of the goods to be palletized in advance. This allows it to adapt to goods of various sizes, improving the flexibility of robot lifting column control, as well as robot palletizing efficiency and space utilization of the palletizing area.

[0043] In one exemplary embodiment, such as Figure 4 As shown, based on the information at each location, the dimensions of the target stack placed within the palletizing area are analyzed to obtain the dimensional parameters of the target stack, including:

[0044] Step S402: Based on the status information of each location, select candidate locations from each palletizing location whose status information indicates that the location is in a placeable state.

[0045] Step S404: Based on the location attribute information of the candidate locations, perform size analysis on the target stack placed in the palletizing area to obtain the size parameters of the target stack.

[0046] The location status information includes three states: open but not for placement, available for placement, and occupied. "Open but not for placement" means the location is open, but goods cannot be placed on its surface. "Available for placement" means goods can be placed on the surface of the location. "Occupied" means the surface of the location is already occupied by other goods and no further goods can be placed there. Location attribute information refers to the height and area of ​​each palletizing location.

[0047] For example, after the server obtains the status information of each palletizing point, it filters out candidate points whose status information indicates that the point is in a placeable state. Based on the height and area of ​​these candidate points, it calculates the stack surface area and stack height of the target pallet placed within the palletizing area.

[0048] In practical applications, the stack height can be determined based on the height of the points, and the stack surface area can be determined based on the area of ​​the points. Therefore, in one embodiment, based on the point attribute information of the candidate points, the size of the target stack placed in the palletizing area is analyzed to obtain the size parameters of the target stack, including: selecting the first target point with the highest height from the candidate points and using the height of the first target point as the stack height of the target stack; selecting multiple second target points whose heights exceed a first height threshold from the candidate points and using the sum of the areas of the multiple second target points as the stack surface area of ​​the target stack.

[0049] Here, the first target point refers to the candidate point with the highest height, which can refer to the height of the upper plane corresponding to the point. The first height threshold is a pre-set height threshold used to determine the stack surface area; for example, the sum of the areas of points exceeding a specified height B is used as the stack surface area. The second target point refers to the candidate point whose height exceeds the first height threshold. The sum of the point areas refers to the sum of the upper surface areas of multiple second target points.

[0050] For example, the server selects the first target point with the highest upper plane height from the candidate points, and uses the height of the upper plane of the first target point as the stack height of the target stack. Then, from the candidate points, it first selects multiple second target points whose heights exceed a first height threshold, calculates the sum of the upper surface areas of the multiple second target points, and uses the sum of the upper surface areas as the stack surface area of ​​the target stack.

[0051] In this embodiment, the stacking height and surface area of ​​the target stack are calculated by using the position status information and position attribute information of each stacking point in the target 3D model. This allows for flexible adjustment of the lifting column without prior knowledge of the goods to be stacked, and it can adapt to goods of various sizes. This improves the flexibility of robot lifting column control, as well as robot stacking efficiency and space utilization of the stacking area.

[0052] In one exemplary embodiment, such as Figure 5 As shown, based on the stack height and surface area of ​​the target stack, the height adjustment of the target robot's lifting column is evaluated, and the height adjustment evaluation results of the lifting column are obtained, including:

[0053] Step S502: Compare the height of the target stack with the second height threshold to obtain the height comparison result of the target stack.

[0054] The second height threshold refers to the height threshold at which the bollard height needs to be adjusted in advance.

[0055] For example, after the server obtains the stack height of the target stack, it compares the stack height with a second height threshold to obtain the height comparison result of the target stack. For instance, assuming the stack height of the target stack is 'a' and the second height threshold is 'A', the height comparison result is the height difference between the stack height 'a' and the second height threshold 'A'.

[0056] Step S504: Compare the surface area of ​​the target stack with a preset area threshold to obtain the surface area comparison result of the target stack.

[0057] Among them, the preset area threshold refers to the surface area threshold that needs to be adjusted for the height of the lifting column.

[0058] For example, after the server obtains the surface area of ​​the target stack, it compares the surface area of ​​the stack with a preset area threshold to obtain the surface area comparison result of the target stack. For instance, assuming the surface area of ​​the target stack is b and the preset area threshold is B, the surface area comparison result is the area difference between the stack surface area b and the preset area threshold B.

[0059] Step S506: The height comparison result and the surface area comparison result are used together as the evaluation result of the height adjustment of the rising column.

[0060] For example, the height comparison result and the surface area comparison result are used together as the evaluation result for the height adjustment of the lifting column. For instance, if the height difference between the stack height a and the second height threshold A is greater than zero, that is, if the stack height a exceeds the second height threshold A, then the lifting column is considered to need height adjustment, and / or if the area difference between the stack surface area b and the preset area threshold B is greater than a set value, then the lifting column is considered to need height adjustment.

[0061] In this embodiment, the need to adjust the lifting column is determined by comparing the stack height and the stack surface area, which improves the accuracy and reliability of the lifting column adjustment.

[0062] In one exemplary embodiment, such as Figure 6 As shown, based on the target area information, a 3D model of the palletizing area is performed to obtain the target 3D model of the palletizing area, including:

[0063] Step S602: Based on the target area information, perform three-dimensional modeling of the palletizing area to obtain the initial three-dimensional model of the palletizing area.

[0064] The initial 3D model can refer to the 3D frame model of the palletizing area.

[0065] For example, the server first performs a three-dimensional frame modeling of the palletizing area based on the area attribute information of the palletizing area. That is, the palletizing area is processed into a three-dimensional data structure and divided into cubes with fixed side lengths. These cubes constitute the three-dimensional frame model of the palletizing area.

[0066] Step S604: For the target stack placed within the palletizing area, obtain the location information of each target item in the target stack.

[0067] Location information refers to the coordinates of the target cargo. Target cargo refers to each cargo in the target stack.

[0068] For example, after obtaining the 3D frame model of the palletizing area, the server needs to label each palletizing point (cube) in the 3D frame model, identifying which points are suitable for placement and which are not. Therefore, it is necessary to obtain the position coordinates of each target item in the target stack and label the palletizing points accordingly based on these coordinates.

[0069] Step S606: Update the initial 3D model based on the location information to obtain the target 3D model of the palletizing area.

[0070] For example, after the server completes the labeling of the palletizing points based on the location coordinates of all target goods, it updates the initial three-dimensional frame model to obtain the target three-dimensional model of the palletizing area.

[0071] In this embodiment, the position status of the palletizing points in the 3D model is marked according to the position information of the goods in the target stack, thereby calculating the stack size of the target stack and determining whether the lifting column needs to be adjusted. In this way, it is not necessary to know the information of the goods to be palletized in advance, which can adapt to goods of various sizes, improve the flexibility of the lifting column adjustment, and thus improve the flexibility of robot palletizing.

[0072] In one specific embodiment, the method for adjusting the robot lifting column includes: responding to a lifting column adjustment command for a target robot, acquiring target area information of the palletizing area where the target robot performs palletizing work; based on the target area information, performing three-dimensional modeling of the palletizing area to obtain an initial three-dimensional model of the palletizing area; acquiring the position information of each target item in the target palletizing stack placed within the palletizing area; updating the initial three-dimensional model according to the position information to obtain a target three-dimensional model of the palletizing area; acquiring the position status information and position attribute information of each palletizing point in the target three-dimensional model; filtering candidate points from each palletizing point whose position status information indicates that the point is in a placeable state; selecting the first target point with the highest position height from the candidate points; using the position height of the first target point as the stack height of the target pallet; selecting multiple second target points whose position height exceeds a first height threshold from the candidate points; and using the sum of the position areas of the multiple second target points as the stack surface area of ​​the target pallet. The stack height of the target stack is compared with a second height threshold to obtain the target stack height comparison result. The surface area of ​​the target stack is compared with a preset area threshold to obtain the target stack surface area comparison result. Both the height comparison result and the surface area comparison result are used as the evaluation result for the height adjustment of the lifting column. If the height adjustment evaluation result indicates that the lifting column needs height adjustment, height matching is performed based on the size parameters of the target stack to obtain a palletizing height that matches the size parameters. The lifting column of the target robot is then adjusted to the palletizing height.

[0073] In this embodiment, in response to the lifting column adjustment command for the target robot, the target area information of the palletizing area of ​​the target robot is first acquired. Based on the target area information, a three-dimensional model of the palletizing area is created to obtain the target three-dimensional model of the palletizing area. For each palletizing point in the target three-dimensional model, the point information of each palletizing point is acquired. Based on the point information, the size of the target stack placed in the palletizing area is analyzed to obtain the size parameters of the target stack. Finally, the palletizing height matching the size parameters is determined, and the lifting column of the target robot is adjusted to that palletizing height. In this way, the robot only needs to analyze the size of the stack based on the point information of each palletizing point in the three-dimensional model, and then flexibly adjust the lifting column without needing to know the information of the goods to be palletized in advance. It can adapt to goods of various sizes, which improves the flexibility of robot lifting column control, as well as robot palletizing efficiency and space utilization of the palletizing area.

[0074] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages in other steps.

[0075] Based on the same inventive concept, this application also provides an adjustment device for a robot lifting column to implement the above-described adjustment method for the robot lifting column. The solution provided by this device is similar to the solution described in the above method. Therefore, the specific limitations of one or more robot lifting column adjustment device embodiments provided below can be found in the limitations of the robot lifting column adjustment method described above, and will not be repeated here.

[0076] In one exemplary embodiment, such as Figure 7 As shown, a robot lifting column adjustment device is provided, comprising: an information acquisition module 702, used to acquire target area information of the palletizing area where the target robot performs palletizing work in response to a lifting column adjustment command for the target robot; a three-dimensional modeling module 704, used to perform three-dimensional modeling of the palletizing area based on the target area information to obtain a target three-dimensional model of the palletizing area; a size analysis module 706, used to acquire the position information of each palletizing point in the target three-dimensional model, and perform size analysis on the target stack placed in the palletizing area based on the position information to obtain the size parameters of the target stack; and a lifting column adjustment module 708, used to determine the palletizing height that matches the size parameters and adjust the lifting column of the target robot to the palletizing height.

[0077] In one embodiment, the location information includes location status information and location attribute information of the palletizing location; the size analysis module 706 is further configured to: based on the location status information of each location, filter out candidate locations from each palletizing location whose location status information indicates that the location is in a placeable state; and based on the location attribute information of the candidate locations, perform size analysis on the target stack placed in the palletizing area to obtain the size parameters of the target stack.

[0078] In one embodiment, the point attribute information includes point height and point area, and the size parameters include the stack height of the target stack and the stack surface area of ​​the target stack; the size analysis module 706 is further configured to: select the first target point with the highest point height from the candidate points, and use the point height of the first target point as the stack height of the target stack; select a plurality of second target points with point heights exceeding the first height threshold from the candidate points, and use the sum of the point areas of the plurality of second target points as the stack surface area of ​​the target stack.

[0079] In one embodiment, the device is further configured to: evaluate the height adjustment of the lifting column of the target robot based on the stacking height and the stacking surface area of ​​the target stack, and obtain the height adjustment evaluation result of the lifting column; the lifting column adjustment module 708 is further configured to: when the height adjustment evaluation result indicates that the lifting column needs to be adjusted in height, perform height matching based on the size parameters of the target stack, and obtain a stacking height that matches the size parameters.

[0080] In one embodiment, the device is further configured to: compare the stack height of the target stack with a second height threshold to obtain a height comparison result of the target stack; compare the stack surface area of ​​the target stack with a preset area threshold to obtain a surface area comparison result of the target stack; and use the height comparison result and the surface area comparison result together as the height adjustment evaluation result of the lifting column.

[0081] In one embodiment, the 3D modeling module 704 is further configured to: perform 3D modeling of the palletizing area based on the target area information to obtain an initial 3D model of the palletizing area; obtain the position information of each target item in the target stack placed in the palletizing area; and update the initial 3D model according to the position information to obtain a target 3D model of the palletizing area.

[0082] The various modules in the aforementioned robot lifting column adjustment device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the computer device's memory as software, so that the processor can call and execute the corresponding operations of each module.

[0083] In one exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 8As shown, the computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores adjustment data for the robot's lifting column. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements a method for adjusting a robot lifting column.

[0084] Those skilled in the art will understand that Figure 8 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0085] In an exemplary embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to perform the following steps: in response to a lifting column adjustment command for a target robot, acquiring target area information of the palletizing area where the target robot performs palletizing work; based on the target area information, performing three-dimensional modeling of the palletizing area to obtain a target three-dimensional model of the palletizing area; acquiring the position information of each palletizing point in the target three-dimensional model, and performing size analysis on the target stack placed in the palletizing area according to the position information to obtain the size parameters of the target stack; determining a palletizing height that matches the size parameters, and adjusting the lifting column of the target robot to the palletizing height.

[0086] In one embodiment, when the processor executes the computer program, it further performs the following steps: based on the status information of each point, it filters out candidate points from each palletizing point whose status information indicates that the point is in a placeable state; based on the point attribute information of the candidate points, it performs size analysis on the target stack placed in the palletizing area to obtain the size parameters of the target stack.

[0087] In one embodiment, when the processor executes the computer program, it further performs the following steps: selecting a first target point with the highest point height from the candidate points, and using the point height of the first target point as the stack height of the target stack; selecting a plurality of second target points with point heights exceeding a first height threshold from the candidate points, and using the sum of the point areas of the plurality of second target points as the stack surface area of ​​the target stack.

[0088] In one embodiment, when the processor executes the computer program, it further performs the following steps: based on the stack height and the stack surface area of ​​the target stack, it evaluates the height adjustment of the lifting column of the target robot to obtain the height adjustment evaluation result of the lifting column; and determines the palletizing height that matches the size parameters, including: when the height adjustment evaluation result indicates that the lifting column needs to be adjusted in height, it performs height matching based on the size parameters of the target stack to obtain the palletizing height that matches the size parameters.

[0089] In one embodiment, when the processor executes the computer program, it further performs the following steps: comparing the stack height of the target stack with a second height threshold to obtain a height comparison result of the target stack; comparing the stack surface area of ​​the target stack with a preset area threshold to obtain a surface area comparison result of the target stack; and using the height comparison result and the surface area comparison result together as the height adjustment evaluation result of the lifting column.

[0090] In one embodiment, when the processor executes the computer program, it further performs the following steps: based on the target area information, it performs three-dimensional modeling of the palletizing area to obtain an initial three-dimensional model of the palletizing area; for the target stack placed in the palletizing area, it obtains the position information of each target item in the target stack; and updates the initial three-dimensional model according to the position information to obtain a target three-dimensional model of the palletizing area.

[0091] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon. When executed by a processor, the computer program performs the following steps: in response to an adjustment command for the lifting column of a target robot, acquiring target area information of the palletizing area where the target robot performs palletizing work; based on the target area information, performing three-dimensional modeling of the palletizing area to obtain a target three-dimensional model of the palletizing area; acquiring the position information of each palletizing point in the target three-dimensional model, and performing size analysis on the target stack placed in the palletizing area based on the position information to obtain the size parameters of the target stack; determining a palletizing height that matches the size parameters, and adjusting the lifting column of the target robot to the palletizing height.

[0092] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: based on the status information of each point, it filters out candidate points from each palletizing point whose status information indicates that the point is in a placeable state; based on the point attribute information of the candidate points, it performs size analysis on the target stack placed in the palletizing area to obtain the size parameters of the target stack.

[0093] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: selecting a first target point with the highest point height from the candidate points, and using the point height of the first target point as the stack height of the target stack; selecting a plurality of second target points with point heights exceeding a first height threshold from the candidate points, and using the sum of the point areas of the plurality of second target points as the stack surface area of ​​the target stack.

[0094] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: based on the stack height and the stack surface area of ​​the target stack, it evaluates the height adjustment of the lifting column of the target robot to obtain the height adjustment evaluation result of the lifting column; and determines the palletizing height that matches the size parameters, including: if the height adjustment evaluation result indicates that the lifting column needs to be adjusted in height, it performs height matching based on the size parameters of the target stack to obtain the palletizing height that matches the size parameters.

[0095] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: comparing the stack height of the target stack with a second height threshold to obtain a height comparison result of the target stack; comparing the stack surface area of ​​the target stack with a preset area threshold to obtain a surface area comparison result of the target stack; and using the height comparison result and the surface area comparison result together as the height adjustment evaluation result of the lifting column.

[0096] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: based on the target area information, it performs three-dimensional modeling of the palletizing area to obtain an initial three-dimensional model of the palletizing area; for the target stack placed in the palletizing area, it obtains the position information of each target item in the target stack; and updates the initial three-dimensional model according to the position information to obtain a target three-dimensional model of the palletizing area.

[0097] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps: in response to an adjustment command for a lifting column of a target robot, acquiring target area information of the palletizing area where the target robot performs palletizing work; based on the target area information, performing a three-dimensional modeling of the palletizing area to obtain a target three-dimensional model of the palletizing area; acquiring the position information of each palletizing point in the target three-dimensional model, and performing a size analysis of the target stack placed in the palletizing area based on the position information to obtain the size parameters of the target stack; determining a palletizing height that matches the size parameters, and adjusting the lifting column of the target robot to the palletizing height.

[0098] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: based on the status information of each point, it filters out candidate points from each palletizing point whose status information indicates that the point is in a placeable state; based on the point attribute information of the candidate points, it performs size analysis on the target stack placed in the palletizing area to obtain the size parameters of the target stack.

[0099] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: selecting a first target point with the highest point height from the candidate points, and using the point height of the first target point as the stack height of the target stack; selecting a plurality of second target points with point heights exceeding a first height threshold from the candidate points, and using the sum of the point areas of the plurality of second target points as the stack surface area of ​​the target stack.

[0100] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: based on the stack height and the stack surface area of ​​the target stack, it evaluates the height adjustment of the lifting column of the target robot to obtain the height adjustment evaluation result of the lifting column; and determines the palletizing height that matches the size parameters, including: if the height adjustment evaluation result indicates that the lifting column needs to be adjusted in height, it performs height matching based on the size parameters of the target stack to obtain the palletizing height that matches the size parameters.

[0101] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: comparing the stack height of the target stack with a second height threshold to obtain a height comparison result of the target stack; comparing the stack surface area of ​​the target stack with a preset area threshold to obtain a surface area comparison result of the target stack; and using the height comparison result and the surface area comparison result together as the height adjustment evaluation result of the lifting column.

[0102] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: based on the target area information, it performs three-dimensional modeling of the palletizing area to obtain an initial three-dimensional model of the palletizing area; for the target stack placed in the palletizing area, it obtains the position information of each target item in the target stack; and updates the initial three-dimensional model according to the position information to obtain a target three-dimensional model of the palletizing area.

[0103] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0104] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, database, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0105] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0106] The above embodiments are merely illustrative of several implementation methods of this application, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for adjusting a robot lifting column, characterized in that, The method includes: In response to the lifting column adjustment command for the target robot, the target area information of the palletizing area where the target robot performs palletizing work is obtained; Based on the target area information, a three-dimensional model of the palletizing area is performed to obtain the target three-dimensional model of the palletizing area; The location information of each palletizing point in the target 3D model is obtained respectively. Based on the location information, the size of the target stack placed in the palletizing area is analyzed to obtain the size parameters of the target stack. Determine a palletizing height that matches the stated size parameters, and adjust the lifting column of the target robot to the stated palletizing height.

2. The method according to claim 1, characterized in that, The location information includes the location status information and location attribute information of the palletizing locations; the step of performing size analysis on the target stack placed in the palletizing area based on each of the location information to obtain the size parameters of the target stack includes: Based on the status information of each location, candidate locations that indicate the location is in a placeable state are selected from the palletizing locations. Based on the location attribute information of the candidate locations, the size of the target stack placed in the palletizing area is analyzed to obtain the size parameters of the target stack.

3. The method according to claim 2, characterized in that, The location attribute information includes location height and location area, and the size parameters include the stack height and surface area of ​​the target stack; based on the location attribute information of the candidate locations, the size analysis of the target stack placed within the palletizing area is performed to obtain the size parameters of the target stack, including: The first target point with the highest height is selected from the candidate points, and the height of the first target point is taken as the stack height of the target stack. Multiple second target points with heights exceeding a first height threshold are selected from the candidate points, and the sum of the areas of the multiple second target points is taken as the stack surface area of ​​the target stack.

4. The method according to claim 3, characterized in that, The method further includes: Based on the stack height and surface area of ​​the target stack, the height adjustment of the lifting column of the target robot is evaluated, and the height adjustment evaluation result of the lifting column is obtained. Determining the palletizing height that matches the dimensional parameters includes: If the height adjustment evaluation result indicates that the lifting column needs to be adjusted in height, a height matching is performed based on the size parameters of the target stack to obtain a stacking height that matches the size parameters.

5. The method according to claim 4, characterized in that, The process of evaluating the height adjustment of the lifting column of the target robot based on the stack height and surface area of ​​the target stack, and obtaining the height adjustment evaluation result of the lifting column, includes: The height of the target stack is compared with the second height threshold to obtain the height comparison result of the target stack; The surface area of ​​the target stack is compared with a preset area threshold to obtain the surface area comparison result of the target stack. The height comparison result and the surface area comparison result are used together as the evaluation result of the height adjustment of the rising column.

6. The method according to claim 1, characterized in that, The step of performing three-dimensional modeling of the palletizing area based on the target area information to obtain a target three-dimensional model of the palletizing area includes: Based on the target area information, a three-dimensional model of the palletizing area is performed to obtain an initial three-dimensional model of the palletizing area; For the target stacks placed within the palletizing area, obtain the location information of each target item in the target stack; Based on the location information, the initial 3D model is updated to obtain the target 3D model of the palletizing area.

7. An adjustment device for a robot lifting column, characterized in that, The device includes: The information acquisition module is used to acquire target area information of the palletizing area where the target robot performs palletizing work in response to the lifting column adjustment command for the target robot; A 3D modeling module is used to perform 3D modeling of the palletizing area based on the target area information to obtain a target 3D model of the palletizing area; The size analysis module is used to acquire the position information of each palletizing point in the target 3D model, and perform size analysis on the target stack placed in the palletizing area based on the position information to obtain the size parameters of the target stack. The lifting column adjustment module is used to determine the palletizing height that matches the size parameters and adjust the lifting column of the target robot to the palletizing height.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

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