A tray placement method, device, controller and storage medium

Abstract

The present invention discloses a method, device, controller and storage medium for placing a tray, including: obtaining a preset workbench position and a first direction point corresponding to a target silo; controlling a positioning scanner to scan and obtain a second direction point corresponding to the target silo, and determining the target position according to the first direction point and the second direction point; if the target tray is currently located on the tray workbench, after controlling a grabbing mechanism to move to the workbench position to grab the target tray, continue to control the grabbing mechanism to move from the workbench position to the target position to place the target tray in the target silo; if the target tray is currently located in the target silo, after controlling the grabbing mechanism to move to the target position to grab the target tray, continue to control the grabbing mechanism to move from the target position to the workbench position to place the target tray on the tray workbench. The present invention can realize fast and accurate grabbing or placement of trays, and improves the convenience and accuracy in the process of palletizing.

Description

Technical Field

[0001] The present invention relates to the field of mechanical control technology, and in particular to a tray placement method, device, controller and storage medium. Background Art

[0002] As an important equipment in logistics, warehousing and manufacturing, palletizing equipment is mainly used to neatly stack goods on pallets in a certain arrangement. At present, in palletizing equipment, there are various silos for placing different trays, which are arranged vertically to form a warehouse. There are also workbenches for screening goods and placing goods in the trays. A grabbing device is set at the tray workbench, which is used to reciprocate from a specific position in the warehouse to the tray workbench in one direction, so as to grab the tray from a specific position in the warehouse and place it on the workbench, or grab the tray from the workbench and place it at a specific position in the warehouse.

[0003] Since the grabbing device can only move in one direction, that is, to grab or place the tray at a specific location in the warehouse, it is necessary to set a lifting mechanism and a drive motor for each silo in the warehouse to lift the silo to a specific location in sequence and according to demand, so that the grabbing device can directly grab the tray in the silo at the specific location. However, setting a lifting mechanism and a drive motor for each silo will result in high hardware costs and occupy more positions for palletizing. Summary of the invention

[0004] The present invention provides a method, device, controller and storage medium for placing a material tray, which utilizes the material trays automatically grabbed or placed in different silos to achieve fast and accurate grabbing or placement of the material trays, thereby improving the convenience and accuracy of the palletizing operation.

[0005] According to one aspect of the present invention, a method for placing a material tray is provided, which is applied to a controller of a transplanting palletizing machine; the transplanting palletizing machine also includes a grabbing mechanism, a material warehouse and a material tray workbench, the grabbing mechanism can move in a first direction and a second direction, and a positioning scanner is provided on the grabbing mechanism; the method includes:

[0006] Obtain the first direction point corresponding to the preset workbench position and the target silo;

[0007] Control the positioning scanner to scan and obtain the second direction point corresponding to the target silo, and determine the target position according to the first direction point and the second direction point;

[0008] If the target tray is currently located on the tray workbench, after controlling the grabbing mechanism to move to the workbench position to grab the target tray, continue to control the grabbing mechanism to move from the workbench position to the target position to place the target tray in the target bin;

[0009] If the target material tray is currently located in the target material bin, after controlling the grasping mechanism to move to the target position to grasp the target material tray, continue to control the grasping mechanism to move from the target position to the workbench position to place the target material tray on the material tray workbench.

[0010] According to another aspect of the present invention, a device for placing a material tray is provided. The transplanting type palletizer further includes a grabbing mechanism, a material warehouse and a material tray workbench. The grabbing mechanism can move in a first direction and a second direction. A positioning scanner is provided on the grabbing mechanism. The device includes:

[0011] An acquisition module, used to acquire a preset workbench position and a first direction point corresponding to a target silo;

[0012] A probe module is used to control the positioning scanner to scan and obtain the second direction point corresponding to the target silo, and determine the target position according to the first direction point and the second direction point;

[0013] A control module is used for, if the target material tray is currently located on the material tray workbench, then after controlling the grasping mechanism to move to the workbench position to grasp the target material tray, continuing to control the grasping mechanism to move from the workbench position to the target position so as to place the target material tray in the target material bin; if the target material tray is currently located in the target material bin, then after controlling the grasping mechanism to move to the target position to grasp the target material tray, continuing to control the grasping mechanism to move from the target position to the workbench position so as to place the target material tray on the material tray workbench.

[0014] According to another aspect of the present invention, there is provided a controller, the controller comprising:

[0015] at least one processor; and

[0016] a memory communicatively connected to the at least one processor; wherein,

[0017] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the tray placement method described in any embodiment of the present invention.

[0018] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to implement the tray placement method described in any embodiment of the present invention when executed by a processor.

[0019] The method for placing a material tray provided in an embodiment of the present invention obtains a preset workbench position and a first direction point corresponding to a target silo; controls a positioning scanner to scan and obtain a second direction point corresponding to the target silo, and determines the target position according to the first direction point and the second direction point; if the target material tray is currently located on the material tray workbench, then after controlling the grasping mechanism to move to the workbench position to grasp the target material tray, the grasping mechanism continues to be controlled to move from the workbench position to the target position to place the target material tray in the target silo; if the target material tray is currently located in the target silo, then after controlling the grasping mechanism to move to the target position to grasp the target material tray, the grasping mechanism continues to be controlled to move from the target position to the workbench position to place the target material tray on the material tray workbench. In the above technical scheme, by pre-acquired workbench position and the first direction point corresponding to the target silo, it is possible to quickly position the grasping mechanism to the corresponding position of the material tray workbench and the target silo, providing a position basis for the subsequent rapid and accurate placement of the target material tray. Afterwards, the current position of the target tray is determined to determine the position where the target tray needs to be placed, and according to the position where the target tray needs to be placed, different paths for controlling the movement of the grabbing mechanism are determined to achieve the placement of the tray, solving the current limitation that the tray can only be moved to the position where the grabbing mechanism can grab it by the lifting mechanism and motor installed in different silos, and achieving the grabbing and placement of the tray without the use of expensive lifting equipment, reducing the cost and consumption of palletizing design. In addition, by automatically grabbing or placing trays in different silos, the trays can be quickly and accurately grabbed or placed, improving the convenience and accuracy of the palletizing operation.

[0020] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0022] Figure 1 A flow chart of a method for placing a tray provided in an embodiment of the present invention;

[0023] Figure 2 A structural example diagram of the transplanting type palletizing provided in an embodiment of the present invention;

[0024] Figure 3 An example diagram of the structure of a gripper provided in an embodiment of the present invention;

[0025] Figure 4 A flow chart of another tray placement method provided by an embodiment of the present invention;

[0026] Figure 5 A schematic structural diagram of a tray placement device provided in an embodiment of the present invention;

[0027] Figure 6 A schematic diagram of the structure of a controller provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0028] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0029] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0030] Figure 1 This is a flow chart of a tray placement method provided in an embodiment of the present invention. This embodiment can be applied to the case of grabbing trays in a transfer palletizer and placing them in a bin in a warehouse or on a tray workbench. This method can be performed by a tray placement device, which can be implemented in the form of hardware and / or software. The tray placement device can be configured in a controller of the transfer palletizer. In this embodiment, the controller of the transfer palletizer can be in the form of an electronic device. Figure 1 Before describing the method for placing the trays, a brief introduction is first given to the structure of the transplanting type palletizing system provided by the embodiment of the present invention.

[0031] Figure 2 This is a structural example diagram of the transplanting type palletizing provided by the embodiment of the present invention. Figure 2As shown, the transfer type palletizer includes not only a controller, but also a gripping mechanism 10, a material warehouse 30 and a material tray workbench 20. The gripping mechanism 10 includes a first movable shaft 101 that can move along a first direction, a second movable shaft 102 that can move along a second direction and a gripper 103. The material warehouse 30 includes a plurality of material warehouses 301.

[0032] Specifically, Figure 3 This is a diagram showing an example of the structure of a gripper provided in an embodiment of the present invention. Figure 3 As shown, in order to conveniently describe the connection relationship between the gripper 103 and the first movable shaft 101, Figure 3 The first movable axis 101 is also shown in the figure. The gripper 103 includes a gripper platform 1031, a plurality of gripper claws 1032 distributed on three sides of the gripper platform 1031, and a positioning scanner 1033 connected to the gripper platform 1031 fastener. The first movable axis 101 is connected to the gripper platform 1031 through fasteners. The first movable axis 101 is provided with a slide rail, and the gripper 103 moves along the first direction using the slide rail.

[0033] Specifically, Figure 2 As shown, the gripper 103 can move along the first direction using the slide rails provided on the first moving shaft 101. Also, the slide rails are also provided on the second moving shaft 102, and the first moving shaft 101 can carry the gripper 103 and move along the second direction using the slide rails provided on the second moving shaft 102.

[0034] Specifically, the material warehouse 30 includes a plurality of material bins 301, each of which includes a plurality of material trays. Each material bin is distinguished according to the type of material tray. Exemplarily, the material tray may include an empty material tray, a supply material tray (a material tray to be tested), a pass material tray, and a fail material tray. And, an empty material tray may be used as a cover plate. Therefore, the material bin may be divided into an empty material tray bin (a material bin that can be used as a cover plate material tray), a supply material bin (a material tray bin to be tested), a pass material bin, and a fail material bin. The quantity of each material bin may be set according to the needs of the user.

[0035] Optionally, the tray workbench can be a multi-layer multi-station workbench mechanism, for example, it can be composed of two layers and three stations, and the position of the tray can be switched by the cylinder. The switched tray position can be used for the next process to operate, realizing the automatic flow of the tray to be tested, the pass tray and the fail tray. In addition, the switched position is used for the gripping mechanism to pick up and place the tray.

[0036] Optionally, the empty tray bin is used to store empty trays, and can also be used as an empty cover for full chip trays. The Fail and Pass bins are used to store Fail / Pass chips after testing. The supply bin is used to store trays of chips to be tested.

[0037] Optionally, the positioning scanner can be a laser sensor and a positioning instrument, which is used to detect the current number of trays in each silo and to locate them.

[0038] In the prior art, since there are multiple silos in the material warehouse, it is necessary to set a lifting mechanism and a driving motor in each silo in the material warehouse, and the different silos in the same direction are lifted as needed by the lifting mechanism, and after the silo is lifted to the target position, the grabbing mechanism can grab the target material tray in the target silo from the target position. Therefore, when a transplanting palletizing includes multiple silos, it is necessary to set a lifting mechanism and a driving motor in each silo. This will lead to an increase in hardware costs and is not conducive to the subsequent expansion of multi-location palletizing.

[0039] Continue to refer to the method provided in the embodiment of the present invention. Figure 1 As shown, the method includes:

[0040] S101, obtaining a preset workbench position and a first direction point corresponding to a target silo.

[0041] The workbench position is used to indicate the position where the gripper of the gripping mechanism stops on the first moving axis and the second moving axis when it moves to the workbench to place or grab the target tray. The first direction point corresponding to the target silo is the point where the gripper of the gripping mechanism stops on the first moving axis when it moves to the target silo to place or grab the target tray.

[0042] Specifically, the workbench position can be determined by the following methods:

[0043] The grabbing mechanism is now in an offline state, that is, a manually controlled state.

[0044] (i) When a sample tray is placed on the tray workbench, the grabbing mechanism is controlled to move to a first preset position of the tray workbench.

[0045] The first preset position is a pre-set safe position of the gripping mechanism close to the tray workbench, and includes the position of the gripper of the gripping mechanism in the first direction and the second direction.

[0046] Specifically, before determining the position of the workbench, any tray can be used as a sample tray and placed on the tray workbench. When a sample tray is placed on the tray workbench, the grabbing mechanism is controlled to move to a first preset position of the tray workbench.

[0047] Exemplarily, after controlling the first moving axis of the gripping mechanism to move along the second direction to the second direction point indicated in the first preset position, controlling the gripper of the gripping mechanism to move along the first direction to the first direction point indicated in the first preset position. At this time, the gripping mechanism is located at the first preset position.

[0048] (ii) Starting from the first preset position, the gripping mechanism is controlled to move along the first direction until the positioning scanner scans two first reference points corresponding to the edge positions on both sides of the sample tray.

[0049] The first reference point is a point in the first direction.

[0050] Specifically, the gripping mechanism is controlled to move along the first direction with the first preset positioning as the starting point. During the movement of the gripping mechanism along the first direction, the positioning scanner provided on the gripping mechanism begins to scan the sample tray placed on the tray worktable. When the controller determines that the positioning scanner scans the edge positions on both sides of the sample tray, the controller obtains two first reference points corresponding to the edge positions on both sides of the sample tray collected by the positioning scanner.

[0051] Exemplarily, the gripper of the gripping mechanism is controlled to move in a first direction, that is, the gripper of the gripping mechanism is controlled to move back and forth along a first moving axis, and the positioning scanner is controlled to continuously scan the sample tray placed on the tray workbench to obtain two first reference points corresponding to the edge positions on both sides of the sample tray collected by the positioning scanner.

[0052] Optionally, if the gripping mechanism is at the first preset position, and the positioning scanner is located between the edge positions of both sides of the sample tray, the gripping mechanism can be controlled to move along one side of the first direction, and when the absolute value of the read height value of the positioning scanner minus the preset height reference error is greater than the preset height threshold, it is determined that the edge of the sample tray has been scanned, and a first reference point of the positioning scanner is obtained. And, the gripping mechanism is controlled to move along the other side of the first direction, and the same method is performed to obtain another first reference point.

[0053] (3) Determine the first point position of the workbench based on the two first reference points.

[0054] The first point position of the workbench is the point position of the gripper of the gripping mechanism indicated by the position of the workbench in the first direction.

[0055] Specifically, since the two first reference points are determined based on the two side edges of the sample tray, the center point of the sample tray can be directly determined using the two first reference points. That is, the two first reference points can be added and divided by 2 to obtain the first point of the workbench.

[0056] (iv) determining the second point position of the workbench according to the first preset positioning, the positioning parameters of the positioning scanner and the position of the positioning scanner on the gripping mechanism.

[0057] The second point position of the workbench is the point position of the gripper of the gripping mechanism in the second direction indicated by the position of the workbench.

[0058] Specifically, the position of the gripper of the gripping mechanism in the second direction, the current detection distance of the positioning scanner, and the distance between the gripper claw and the positioning scanner in the second direction can be determined according to the first preset positioning, so as to determine the second position of the workbench. For example, if the position of the gripper of the gripping mechanism in the second direction is Z1, the current detection distance of the positioning scanner is H, and the distance between the gripper claw and the positioning scanner in the second direction is L. Then the second position of the workbench is Z1-(HL).

[0059] (V) Determine the position of the workbench based on the first point and the second point of the workbench.

[0060] Specifically, after obtaining the first point position of the workbench and the second point position of the workbench, the first point position of the workbench and the second point position of the workbench can be directly used as the position of the workbench.

[0061] And, the first direction point corresponding to the target silo is determined by the following method:

[0062] The grabbing mechanism is now in an offline state, that is, a manually controlled state.

[0063] (i) When a sample tray is placed in the target bin, the grabbing mechanism is controlled to move to a second preset position of the target bin.

[0064] The second preset position is a pre-set safe position of the gripping mechanism close to the target silo. The position includes the position of the gripper of the gripping mechanism in the first direction and the second direction. In this embodiment, the second preset position can be a position directly above the target silo.

[0065] Specifically, since different types of material trays have different material bins, and there may be a certain difference in the first direction points of different material bins, before determining the first direction point corresponding to the target material bin, it is necessary to place the corresponding material tray in each material bin. That is, different target material bins need to have their corresponding target material trays, and all target material bins eventually need to determine the first direction point. Therefore, when a sample material tray is placed in the target material bin, the grabbing mechanism is controlled to move to the second preset position of the target material bin.

[0066] (ii) Starting from the second preset position, the gripping mechanism is controlled to move along the first direction until the positioning scanner scans two second reference points corresponding to the edge positions on both sides of the sample tray.

[0067] The second reference point is a point in the first direction.

[0068] Specifically, the gripping mechanism is controlled to move along the first direction with the second preset positioning as the starting point. During the movement of the gripping mechanism along the first direction, the positioning scanner provided on the gripping mechanism begins to scan the sample tray placed in the target bin. When the controller determines that the positioning scanner scans the edge positions on both sides of the sample tray, the controller obtains two second reference points corresponding to the edge positions on both sides of the sample tray collected by the positioning scanner.

[0069] Optionally, if the gripping mechanism is at the second preset position, and the positioning scanner is located between the edge positions of both sides of the sample tray, the gripping mechanism can be controlled to move along one side of the first direction, and when the absolute value of the read height value of the positioning scanner minus the preset height reference error is greater than the preset height threshold, it is determined that the edge of the sample tray has been scanned, and a second reference point of the positioning scanner is obtained. And, the gripping mechanism is controlled to move along the other side of the first direction, and the same method is performed to obtain another second reference point.

[0070] (3) Determine the first direction point based on the two second reference points.

[0071] The first direction point is the point in the first direction where the gripper of the gripping mechanism stops in the target silo.

[0072] Specifically, since the two second reference points are determined based on the two side edges of the sample tray, the center point of the sample tray can be directly determined using the two second reference points. That is, the two second reference points can be added and divided by 2 to determine the first direction point.

[0073] It is worth noting that the first direction points corresponding to other target silos can also be determined according to the above method, and the first direction points corresponding to different target silos are different to a certain extent and need to be determined one by one.

[0074] In this embodiment, by pre-acquired workbench position and the first direction point corresponding to the target silo, the grasping mechanism can be quickly positioned to the corresponding position of the tray workbench and the target silo, providing a position basis for subsequent quick and accurate placement of the target tray.

[0075] S102, controlling the positioning scanner to scan and obtain a second direction point corresponding to the target silo, and determining the target position according to the first direction point and the second direction point.

[0076] The second direction point is the point in the second direction where the gripper of the gripping mechanism stops in the target bin. The target position is the position where the gripper of the gripping mechanism can grip or place the target tray.

[0077] Specifically, since the number of trays in each bin in the warehouse and the placement and grabbing relationship change in real time, it is necessary to determine the target position based on the real-time situation each time the target tray is grabbed or placed from the target bin.

[0078] Exemplarily, the gripping mechanism can be controlled to move to the second preset position of the target bin, and the gripping mechanism can be controlled to move along the second direction. In the process of the gripping mechanism moving along the second direction, the positioning scanner scans the trays in the target bin, and it can be known how many trays are in the target bin at this time, the corresponding points in the second direction of each tray, and the points corresponding to the empty spaces in the target bin. That is, in this process, the positioning scanner can be controlled to scan and obtain the second direction points corresponding to the target bin. Therefore, the first direction points and the second direction points can be used as the target positions. That is, the position of taking out the target tray from the target bin or the position of placing the target tray into the target bin.

[0079] S103, if the target tray is currently located on the tray workbench, after controlling the grabbing mechanism to move to the workbench position to grab the target tray, continue to control the grabbing mechanism to move from the workbench position to the target position to place the target tray in the target silo.

[0080] Specifically, if the target material tray is currently located on the material tray workbench, it means that the target material tray needs to be put back into the corresponding target material bin. Therefore, the first moving axis of the grasping mechanism can be controlled to move along the second direction to the second point of the workbench position, and the gripper of the grasping mechanism can be controlled to move along the first direction to the first point of the workbench position. At this time, the gripper claw of the grasping mechanism can grasp the target material tray. After grasping the target material tray, continue to control the grasping mechanism starting from the workbench position, control the first moving axis of the grasping mechanism to move along the second direction to the second direction point, and control the gripper of the grasping mechanism to move along the first direction to the first direction point. At this time, the gripper of the grasping mechanism moves to the target position, and the gripper claw can be released to place the target material tray back into the target material bin.

[0081] S104: If the target material tray is currently located in the target material bin, after controlling the grasping mechanism to move to the target position to grasp the target material tray, continue to control the grasping mechanism to move from the target position to the workbench position to place the target material tray on the material tray workbench.

[0082] Specifically, if the target material tray is currently located in the target material bin, it means that the target material tray needs to be placed on the material tray workbench. Therefore, the first moving axis of the grasping mechanism can be controlled to move along the second direction to the second direction point, and the gripper of the grasping mechanism can be controlled to move along the first direction to the first direction point. At this time, the gripper of the grasping mechanism moves to the target position, and the gripper claw of the grasping mechanism can grab the target material tray from the target material bin. Afterwards, continue to control the first moving axis of the grasping mechanism to move along the second direction to the second point of the workbench position, and control the gripper of the grasping mechanism to move along the first direction to the first point of the workbench position. The gripper claw can be released to place the target material tray on the material tray workbench.

[0083] In this embodiment, the position where the target tray is to be placed is determined by determining the current position of the target tray, and different paths for controlling the movement of the grabbing mechanism are determined according to the position where the target tray is to be placed, so as to achieve the placement of the tray, solving the limitation that the tray can only be moved to the position where the grabbing mechanism can grab through the lifting mechanism and the motor installed in different silos, and achieving the grabbing and placement of the tray without the use of high-cost lifting equipment, reducing the cost and consumption of the stacking design. In addition, by automatically grabbing or placing trays in different silos, the trays can be quickly and accurately grabbed or placed, improving the convenience and accuracy of the stacking operation.

[0084] The method for placing a material tray provided in an embodiment of the present invention obtains a preset workbench position and a first direction point corresponding to a target silo; controls a positioning scanner to scan and obtain a second direction point corresponding to the target silo, and determines the target position according to the first direction point and the second direction point; if the target material tray is currently located on the material tray workbench, then after controlling the grasping mechanism to move to the workbench position to grasp the target material tray, the grasping mechanism continues to be controlled to move from the workbench position to the target position to place the target material tray in the target silo; if the target material tray is currently located in the target silo, then after controlling the grasping mechanism to move to the target position to grasp the target material tray, the grasping mechanism continues to be controlled to move from the target position to the workbench position to place the target material tray on the material tray workbench. In the above technical scheme, by pre-acquired workbench position and the first direction point corresponding to the target silo, it is possible to quickly position the grasping mechanism to the corresponding position of the material tray workbench and the target silo, providing a position basis for the subsequent rapid and accurate placement of the target material tray. Afterwards, the current position of the target tray is determined to determine the position where the target tray needs to be placed, and according to the position where the target tray needs to be placed, different paths for controlling the movement of the grabbing mechanism are determined to achieve the placement of the tray, solving the current limitation that the tray can only be moved to the position where the grabbing mechanism can grab it by the lifting mechanism and motor installed in different silos, and achieving the grabbing and placement of the tray without the use of expensive lifting equipment, reducing the cost and consumption of palletizing design. In addition, by automatically grabbing or placing trays in different silos, the trays can be quickly and accurately grabbed or placed, improving the convenience and accuracy of the palletizing operation.

[0085] Figure 4 The present invention provides a flowchart of another method for placing a pallet according to an embodiment of the present invention. Based on the above embodiment, this embodiment describes a specific method for determining the placement method according to the type of pallet. In this embodiment, the first direction may be the X-axis direction, and the second direction may be the Z-axis direction. In the prior art, it is necessary to set a Z-axis lifting mechanism and a driving motor in each bin in the bin to realize the automatic depalletizing function. Figure 4 As shown, the method includes:

[0086] S401, obtaining a first direction point corresponding to a preset workbench position and a target silo.

[0087] Specifically, the first direction point corresponding to the workbench position and the target silo may be acquired according to step S101.

[0088] S402: Acquire a safety point of the target silo, and determine an initial position according to the safety point and the first direction point.

[0089] The safety point is a point on the second direction corresponding to the target silo. In this embodiment, the safety point may be a point above the target silo in the second direction.

[0090] Specifically, a preset safety point of the target silo is obtained, and the safety point and the first direction point can be used as the initial position of the grasping mechanism before determining the second direction point corresponding to the target silo.

[0091] S403, taking the initial position as the starting point, controlling the grasping mechanism to move along the second direction to obtain scanning information of the positioning scanner.

[0092] Specifically, when the initial position is obtained, the grasping mechanism can be controlled to move to the initial position first, and with the initial position as the starting point, the grasping mechanism is controlled to move along the second direction, and during the movement, the scanning information of the positioning scanner, that is, the reading height value of the positioning scanner, is continuously obtained.

[0093] S404: Determine the actual placement position of the target material tray in the target material bin according to the scanning information and a preset height threshold.

[0094] Specifically, based on the scanning information and a preset height threshold, it can be determined whether the actual placement position of the target material tray in the target material bin is scanned.

[0095] For example, the scanning information is AW0, the preset height reference error value is d0, and the height threshold is h0. In the process of controlling the gripping mechanism to move along the second direction, if the absolute value of AW0-d0 is greater than h0, it can be determined that the actual placement position of the target material tray in the target material bin has been scanned. At this time, the actual placement position Zexp obtained by the positioning scanner can be obtained.

[0096] S405, determining a second direction point according to the positioning parameters of the positioning scanner, the position of the positioning scanner on the gripping mechanism and the actual placement position.

[0097] Specifically, since the actual placement position is only the positioning position of the target material tray in the target material bin, rather than the position where the grabbing mechanism stops in order to place or grab the target material bin, it is necessary to determine the position where the grabbing mechanism stops to grab or place the target material tray according to the actual placement position. Therefore, the second direction point position can be calculated according to the following method.

[0098] Exemplarily, the positioning parameter of the positioning scanner is the current detection distance H, and the position of the positioning scanner on the gripping mechanism is the distance L between the gripper of the gripping mechanism and the positioning scanner in the second direction. Then, the second direction point is Zexp-(HL).

[0099] In this embodiment, according to the current situation in the target material bin, the grabbing mechanism is used to move along the second direction, and the placement or grabbing position of the target material tray is determined according to the positioning scanner set on the grabbing mechanism, so as to provide an accurate placement or grabbing position of the target material tray for the subsequent work of grabbing the target material tray from the target material bin or placing the target material tray in the target material bin. In addition, since the placement or grabbing position of the target material tray can be determined according to the current situation in the target material bin, compared with the method of calculating the grabbing or placing position by calculating the number of layers in the prior art, it is possible to feed or take materials into the target material bin at any time, which has good flexibility, and there will be no cumulative error in the calculated second direction point position, resulting in inaccurate grabbing or placement points.

[0100] S406: Determine the target position according to the first direction point and the second direction point.

[0101] Specifically, the first direction point and the second direction point are determined as the target positions.

[0102] It is worth noting that before executing the following steps, the method further includes:

[0103] (1) Obtain the tray type of the target tray.

[0104] Specifically, the target tray type may include: an empty tray, a supply tray (tray to be tested), a pass tray, and a fail tray. The empty tray may be used as a cover.

[0105] (ii) Determine whether the target tray has a cover according to the tray type.

[0106] Specifically, according to the above-mentioned material tray type, it can be determined whether the target material tray has a cover plate.

[0107] For example, if the tray type is a supply tray (tray to be tested), the target tray is the tray to be tested, which has a cover. If the tray type is an empty tray, the target tray is an empty tray, which does not have a cover and can be used as a cover for other trays. If the tray type is a pass tray or a fail tray, the target tray is a pass tray or a fail tray, which has a cover.

[0108] S407, if the target tray is currently located on the tray workbench, after controlling the grabbing mechanism to move to the workbench position to grab the target tray, continue to control the grabbing mechanism to move from the workbench position to the target position to place the target tray in the target silo.

[0109] Specifically, if the target tray is currently on the tray workbench, the subsequent steps need to be determined based on whether the target tray has a cover:

[0110] (i) If the target tray has a cover plate (for example, the target tray is a Pass tray or a Fai tray), before controlling the gripping mechanism to move to the workbench position, the method further includes:

[0111] After the grabbing mechanism is controlled to move to the target position to grab the cover plate, the grabbing mechanism is continued to be controlled to move from the target position to the workbench position to place the cover plate on the target material tray.

[0112] Specifically, if the target tray is currently located on the tray workbench and the target tray has a cover plate, then the target position corresponding to the empty tray can be determined according to the above methods of S401-S406, and the grasping mechanism can be controlled to move to the target position corresponding to the empty tray to grasp the empty tray, and the empty tray is used as the cover plate of the target tray.

[0113] Afterwards, the first moving axis of the gripping mechanism is controlled to move along the second direction to a safe point, and then the point in the first direction where the gripping mechanism will eventually stop and the empty tray will be placed on the target tray is determined based on the positioning difference distance between the empty tray and the target tray in the first direction. That is, the gripper of the gripping mechanism is controlled to move along the first direction to the first point of the workbench + the positioning difference distance between the empty tray and the target tray in the first direction.

[0114] And, according to the distance value of the empty tray in the second direction and the pre-set overhang amount when the empty tray is covered on the target tray, determine the point in the second direction where the gripping mechanism will finally stop when the empty tray is finally placed on the target tray. That is, control the gripper of the gripping mechanism to move along the second direction to the second point of the workbench + the distance value of the empty tray in the second direction + the overhang amount. At this time, the cover plate can be placed on the target tray.

[0115] (ii) After the cover plate is placed on the target tray, or if the target tray does not have a cover plate (e.g., an empty tray), at this time, the first moving axis of the gripping mechanism can be controlled to move along the second direction to the second point of the workbench position, and the gripper of the gripping mechanism can be controlled to move along the first direction to the first point of the workbench position. At this time, the gripper claw of the gripping mechanism can grip the target tray.

[0116] After grabbing the target tray, continue to control the grabbing mechanism from the workbench position, control the first moving axis of the grabbing mechanism to move along the second direction to the second direction point, and control the gripper of the grabbing mechanism to move along the first direction to the first direction point. At this time, the gripper of the grabbing mechanism moves to the target position, and the gripper claw can be released to place the target tray back into the target bin.

[0117] Optionally, after the target material tray is placed back into the target material bin, the gripping mechanism may be controlled to move to a preset safe position.

[0118] S408. If the target material tray is currently located in the target material bin, after controlling the grabbing mechanism to move to the target position to grab the target material tray, continue to control the grabbing mechanism to move from the target position to the workbench position to place the target material tray on the material tray workbench.

[0119] Specifically, if the target material tray is currently located in the target material bin, the first moving axis of the gripping mechanism can be controlled to move along the second direction to the second direction point, and the gripper of the gripping mechanism can be controlled to move along the first direction to the first direction point. At this time, the gripper of the gripping mechanism moves to the target position, and the gripper claw of the gripping mechanism can grab the target material tray from the target material bin.

[0120] After that, the first moving axis of the gripping mechanism is controlled to move along the second direction to the second point of the workbench position, and the gripper of the gripping mechanism is controlled to move along the first direction to the first point of the workbench position. At this time, the gripper claw can be released to place the target tray on the tray workbench.

[0121] And, after placing the target tray on the tray workbench, if the target tray has a cover plate, after continuing to control the gripping mechanism to move from the target position to the workbench position, the method further includes:

[0122] After controlling the grabbing mechanism to grab the cover plate on the target material tray, the grabbing mechanism is continued to be controlled to move from the workbench position to the target position to place the cover plate in the target material bin.

[0123] Specifically, the grabbing mechanism places the target tray on the workbench, and at this time, the grabbing mechanism is located at the workbench position. Since the target tray is covered with a cover plate, the position in the second direction when the grabbing mechanism is controlled to take the cover plate can be determined according to the length of the cover plate in the second direction. For example, the length of the empty tray in the second direction is determined, and the first moving axis of the grabbing mechanism is controlled to move along the second direction to the second point of the workbench + the length value of the empty tray in the second direction, so that the empty tray, that is, the cover plate on the target tray, can be grabbed.

[0124] After the gripping mechanism is controlled to grip the cover plate, the first movable axis of the gripping mechanism is controlled to move along the second direction to the second direction point, and the gripper of the gripping mechanism is controlled to move along the first direction to the first direction point. At this time, according to the length of the cover plate, i.e., the empty tray in the second direction and the pre-set overhang amount when the cover plate is placed, the first movable axis of the gripping mechanism is controlled to move along the second direction to the second direction point - the length of the empty tray in the second direction + the pre-set overhang amount.

[0125] Afterwards, the gripping mechanism can be controlled to put the cover plate back into the target silo, and the gripping mechanism can be controlled to return to a preset safe position.

[0126] In this embodiment, by determining whether the target material tray has a cover plate, and providing the subsequent operation of covering the cover plate or placing the cover plate for the target material tray with a cover plate, an automated process of grabbing the material tray from the material warehouse, placing the material tray on the workbench, putting the material tray on the workbench back into the corresponding material bin, and grabbing and placing the cover plate matched with the material tray is realized. At the same time, the problem of high hardware cost caused by the need to set a lifting mechanism and a motor for each material bin in the material warehouse to realize automatic lifting of the material bin is solved. By controlling the movement of the grabbing mechanism in two directions, the operation of directly grabbing or placing the target material tray from the workbench to the material bin corresponding to the target material tray can be realized. Furthermore, since the placement location and cost of setting the lifting mechanism and the drive motor are saved, the method provided in the embodiment of the present invention is conducive to the expansion of multi-location palletizing in the later stage.

[0127] Figure 5 The schematic diagram of the structure of a tray placement device provided by an embodiment of the present invention. Figure 5 As shown, the transplanting type palletizer also includes a grabbing mechanism, a material warehouse and a material tray workbench. The grabbing mechanism can move in a first direction and a second direction. A positioning scanner is provided on the grabbing mechanism. The device includes:

[0128] An acquisition module 501 is used to acquire a preset workbench position and a first direction point corresponding to a target silo;

[0129] The downward exploration module 502 is used to control the positioning scanner to scan and obtain the second direction point corresponding to the target silo, and determine the target position according to the first direction point and the second direction point;

[0130] Control module 503 is used for, if the target material tray is currently located on the material tray workbench, then after controlling the grasping mechanism to move to the workbench position to grasp the target material tray, continuing to control the grasping mechanism to move from the workbench position to the target position to place the target material tray in the target silo; if the target material tray is currently located in the target silo, then after controlling the grasping mechanism to move to the target position to grasp the target material tray, continuing to control the grasping mechanism to move from the target position to the workbench position to place the target material tray on the material tray workbench.

[0131] Optionally, the device further includes an offline module. When determining the position of the workbench, the offline module is specifically used to:

[0132] When a sample tray is placed on the tray workbench, the gripping mechanism is controlled to move to the first preset position of the tray workbench in the second direction; starting from the first preset position, the gripping mechanism is controlled to move along the first direction until the positioning scanner scans two first reference points corresponding to the edge positions on both sides of the sample tray; based on the two first reference points, the first point position of the workbench is determined; based on the first preset position, the positioning parameters of the positioning scanner and the position of the positioning scanner on the gripping mechanism, the second point position of the workbench is determined; based on the first preset position, the positioning parameters of the positioning scanner and the position of the positioning scanner on the gripping mechanism, the position of the workbench is determined.

[0133] Optionally, when determining the first direction point corresponding to the target silo, the offline module is specifically used to:

[0134] When a sample material tray is placed in the target material bin, the grasping mechanism is controlled to move to the second preset position of the target material bin in the second direction; starting from the second preset position, the grasping mechanism is controlled to move along the first direction until the positioning scanner scans two second reference points corresponding to the edge positions on both sides of the sample material tray; based on the two second reference points, the first direction point is determined.

[0135] Optionally, the probe module 502 is specifically used for:

[0136] Acquire the safety point of the target silo, and determine the initial position based on the safety point and the first direction point; take the initial position as the starting point, control the grasping mechanism to move along the second direction, and acquire the scanning information of the positioning scanner; determine the actual placement position of the target material tray in the target silo based on the scanning information and a pre-set height threshold; determine the second direction point based on the positioning parameters of the positioning scanner, the position of the positioning scanner on the grasping mechanism and the actual placement position.

[0137] Optionally, the device further includes a determination module, and the determination module is specifically used to:

[0138] Obtain the tray type of the target tray; and determine whether the target tray has a cover according to the tray type.

[0139] Optionally, when the target tray has a cover plate, before controlling the grabbing mechanism to move to the workbench position, the control module 503 is further used to:

[0140] After the grabbing mechanism is controlled to move to the target position to grab the cover plate, the grabbing mechanism is continued to be controlled to move from the target position to the workbench position to place the cover plate on the target material tray.

[0141] Optionally, when the target tray has a cover plate, after continuing to control the grabbing mechanism to move from the target position to the workbench position, the control module 503 is further used to:

[0142] After controlling the grabbing mechanism to grab the cover plate on the target material tray, the grabbing mechanism is continued to be controlled to move from the workbench position to the target position to place the cover plate in the target material bin.

[0143] The material tray placement device provided in the embodiment of the present invention can execute the material tray placement method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0144] Figure 6 A schematic diagram of the structure of the controller 6 provided for an embodiment of the present invention. In this embodiment, the controller is intended to represent an electronic device in a transplanting palletizer. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0145] like Figure 6 As shown, the controller 6 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the controller 6 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0146] A number of components in the controller 6 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the controller 6 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0147] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a method for placing a tray.

[0148] In some embodiments, the tray placement method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the controller 6 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the tray placement method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the tray placement method in any other appropriate manner (e.g., by means of firmware).

[0149] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0150] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0151] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0152] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0153] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0154] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0155] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0156] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for placing a tray, characterized in that: A controller applied to transplanting palletizing; the transplanting palletizing further comprises a gripping mechanism, a material warehouse and a material tray workbench, the gripping mechanism can move in a first direction and a second direction, and a positioning scanner is provided on the gripping mechanism; the method comprises: Obtain the first direction point corresponding to the preset workbench position and the target silo; Controlling the positioning scanner to scan and obtain a second direction point corresponding to the target silo, and determining a target position according to the first direction point and the second direction point; If the target tray is currently located on the tray workbench, after controlling the grabbing mechanism to move to the workbench position to grab the target tray, continue to control the grabbing mechanism to move from the workbench position to the target position to place the target tray in the target bin; If the target material tray is currently located in the target material bin, after controlling the grasping mechanism to move to the target position to grasp the target material tray, continue to control the grasping mechanism to move from the target position to the workbench position to place the target material tray on the material tray workbench.

2. The method for placing a tray according to claim 1, characterized in that: The workbench position is determined by the following method: When a sample tray is placed on the tray workbench, controlling the grabbing mechanism to move to a first preset position of the tray workbench; Taking the first preset position as a starting point, controlling the grabbing mechanism to move along a first direction until the positioning scanner scans two first reference points corresponding to the edge positions on both sides of the sample tray; According to the two first reference points, determine the first point position of the workbench; Determine a second point position of the workbench according to the first preset positioning, the positioning parameters of the positioning scanner and the position of the positioning scanner on the gripping mechanism; The position of the workbench is determined according to the first point position of the workbench and the second point position of the workbench.

3. The method for placing a tray according to claim 1, characterized in that: The first direction point corresponding to the target silo is determined by the following method: When a sample tray is placed in the target bin, controlling the grabbing mechanism to move to a second preset position of the target bin; Taking the second preset position as a starting point, controlling the grabbing mechanism to move along the first direction until the positioning scanner scans two second reference points corresponding to the edge positions on both sides of the sample tray; The first direction point is determined according to two second reference points.

4. The method for placing a tray according to claim 1, characterized in that: The controlling the positioning scanner to scan and obtain a second direction point corresponding to the target silo includes: Acquire a safety point of the target silo, and determine an initial position according to the safety point and the first direction point; Taking the initial position as a starting point, controlling the grasping mechanism to move along the second direction to obtain scanning information of the positioning scanner; Determine the actual placement position of the target material tray in the target material bin according to the scanning information and a preset height threshold; The second direction point is determined according to the positioning parameters of the positioning scanner, the position of the positioning scanner on the gripping mechanism and the actual placement position.

5. The method for placing a tray according to claim 1, characterized in that: The method further comprises: Obtaining the tray type of the target tray; According to the material tray type, it is determined whether the target material tray has a cover plate.

6. The method for placing a tray according to claim 5, characterized in that: When the target tray has a cover plate, before controlling the gripping mechanism to move to the workbench position, the method further includes: After controlling the grabbing mechanism to move to the target position to grab the cover plate, the grabbing mechanism is continuously controlled to move from the target position to the workbench position to place the cover plate on the target material tray.

7. The method for placing a tray according to claim 5, characterized in that: When the target material tray has a cover plate, after continuing to control the gripping mechanism to move from the target position to the workbench position, the method further includes: After controlling the grabbing mechanism to grab the cover plate on the target material tray, continue to control the grabbing mechanism to move from the workbench position to the target position to place the cover plate in the target material bin.

8. A tray placement device, characterized in that: The transplanting palletizing further comprises a grabbing mechanism, a material warehouse and a material tray workbench, the grabbing mechanism can move in a first direction and a second direction, and a positioning scanner is arranged on the grabbing mechanism; the method comprises: An acquisition module, used to acquire a preset workbench position and a first direction point corresponding to a target silo; A probing module, used for controlling the positioning scanner to scan and obtain a second direction point corresponding to the target silo, and determining a target position according to the first direction point and the second direction point; A control module, for if a target material tray is currently located on the material tray workbench, then after controlling the grasping mechanism to move to the workbench position to grasp the target material tray, continue to control the grasping mechanism to move from the workbench position to the target position to place the target material tray in the target silo; if the target material tray is currently located in the target silo, then after controlling the grasping mechanism to move to the target position to grasp the target material tray, continue to control the grasping mechanism to move from the target position to the workbench position to place the target material tray on the material tray workbench.

9. A controller, characterized in that: include: one or more processors; a memory for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the tray placement method as described in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method for placing a material tray as described in any one of claims 1 to 7 is implemented.

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