Robot stacking method, device and equipment, storage medium and product

Abstract

The invention discloses a robot stacking method and device, equipment, a storage medium and a product, the method comprises the steps that at least three datum points in a material frame are determined, each datum point comprises the row number and the column number in the material frame, and in the at least three datum points, two datum points are located in the same row, and the two datum points are located in the same column; teaching the position coordinates of the at least three datum points; according to the row number and the column number of each datum point and the position coordinates of the at least three datum points, the position coordinates of a target point are determined, and the target point is any point position in the material frame; and the robot is controlled to conduct stacking according to the position coordinates of the target point. According to the embodiment of the invention, the teaching process of the robot is simplified, and rapid model changing is realized, so that the stacking efficiency of the robot is improved.

Description

Technical Field

[0001] This application relates to the technical field of industrial manufacturing, and particularly relates to a robot palletizing method, device, equipment, storage medium and product. Background Art

[0002] Palletizing is one of the conventional applications of industrial robots. For example, on the conveying line in the lithium battery industry, robots can be used to palletize in a material box. How to simply and accurately find the positions of each point in the material box is an important prerequisite for robot palletizing. Currently, it is often necessary to teach each point in the material box point by point before robot palletizing. The teaching process is cumbersome and the efficiency is low, thus affecting the overall efficiency of robot palletizing. Summary of the Invention

[0003] Embodiments of this application provide a robot palletizing method, device, equipment, storage medium and product to solve the technical problems of cumbersome teaching process and low efficiency in robot palletizing.

[0004] In a first aspect, an embodiment of this application provides a robot palletizing method, including:

[0005] Determine at least three reference points in the material box, where each reference point includes the row number and column number in the material box, and there are two reference points in the same row and two reference points in the same column among the at least three reference points;

[0006] Teach the position coordinates of at least three reference points;

[0007] Determine the position coordinates of the target point according to the row number and column number of each reference point and the position coordinates of the at least three reference points, where the target point is any point in the material box;

[0008] Control the robot to perform palletizing according to the position coordinates of the target point.

[0009] In this embodiment, by teaching the position coordinates of at least three reference points, and then through the position coordinates of these at least three reference points and the row number and column number of each reference point, the position coordinates of any point in the material box can be calculated, which is convenient for subsequent robot palletizing, simplifies the robot palletizing teaching process, can achieve quick changeover, and improves the robot palletizing efficiency.

[0010] In some embodiments, the at least three reference points include the four corner points of the material box;

[0011] Among them, the four vertex points include a first reference point, a second reference point, a third reference point, and a fourth reference point. The first reference point and the second reference point, and the third reference point and the fourth reference point are respectively in the same row. The first reference point and the third reference point, and the second reference point and the fourth reference point are respectively in the same column. And the column number of the fourth reference point is the first quantity of the points in each row, and the row number of the fourth reference point is the second quantity of the points in each column.

[0012] In this embodiment, the four vertex points of a fixed-size material frame can be selected as reference points, making teaching easier and tool change faster, and further improving the robot palletizing efficiency.

[0013] In some embodiments, according to the row number and column number of each reference point, and the position coordinates of at least three reference points, determining the position coordinates of a target point includes:

[0014] According to the first quantity, and the position coordinates of the first reference point and the second reference point, determining a first offset on the line connecting the first reference point and the second reference point;

[0015] According to the position coordinates of the first reference point and the first offset, or, the position coordinates of the second reference point and the first offset, determining the position coordinates of a first point, where the first point is any point on the line connecting the first reference point and the second reference point.

[0016] In this embodiment, based on the position coordinates of the first reference point and the second reference point, the first offset on the line connecting these two points can be calculated, so that the first offset can be considered when calculating the position coordinates of other points on this line, thereby improving the problem that the established robot coordinate system has an offset due to factors such as unevenness, sinking, and shaking of the conveying mechanism carrying the material frame, making the calculation of the position coordinates more accurate, and further improving the accuracy of the robot palletizing.

[0017] In some embodiments, according to the row number and column number of each reference point, and the position coordinates of at least three reference points, determining the position coordinates of a target point includes:

[0018] According to the first quantity, and the position coordinates of the third reference point and the fourth reference point, determining a second offset on the line connecting the third reference point and the fourth reference point;

[0019] According to the position coordinates of the third reference point and the second offset, or, the position coordinates of the fourth reference point and the second offset, determining the position coordinates of a second point, where the second point is any point on the line connecting the third reference point and the fourth reference point.

[0020] In this embodiment, based on the position coordinates of the third reference point and the fourth reference point, the second offset on the line connecting these two points can be calculated, so that the second offset can be considered when calculating the position coordinates of other points on this line, thereby improving the problem that the established robot coordinate system is offset due to factors such as unevenness, sinking, and shaking of the conveying mechanism of the loading frame, making the calculation of the position coordinates more accurate, and thus improving the accuracy of robot palletizing.

[0021] In some embodiments, determining the position coordinates of the target point according to the row number and column number of each reference point, and the position coordinates of at least three reference points includes:

[0022] Determine the third offset on the line connecting the first reference point and the third reference point according to the second quantity and the position coordinates of the first reference point and the third reference point;

[0023] Determine the position coordinates of the third point according to the position coordinates of the first reference point and the third offset, or the position coordinates of the third reference point and the third offset, where the third point is any point on the line connecting the first reference point and the third reference point.

[0024] In this embodiment, based on the position coordinates of the first reference point and the third reference point, the third offset on the line connecting these two points can be calculated, so that the third offset can be considered when calculating the position coordinates of other points on this line, thereby improving the problem that the established robot coordinate system is offset due to factors such as unevenness, sinking, and shaking of the conveying mechanism of the loading frame, making the calculation of the position coordinates more accurate, and thus improving the accuracy of robot palletizing.

[0025] In some embodiments, determining the position coordinates of the target point according to the row number and column number of each reference point, and the position coordinates of at least three reference points includes:

[0026] Determine the fourth offset on the line connecting the second reference point and the fourth reference point according to the second quantity and the position coordinates of the second reference point and the fourth reference point;

[0027] Determine the position coordinates of the fourth point according to the position coordinates of the second reference point and the fourth offset, or the position coordinates of the fourth reference point and the fourth offset, where the fourth point is any point on the line connecting the second reference point and the fourth reference point.

[0028] In this embodiment, based on the position coordinates of the second reference point and the fourth reference point, the fourth offset on the line connecting these two points can be calculated, so that the fourth offset can be considered when calculating the position coordinates of other points on this line, thereby improving the problem that the established robot coordinate system is offset due to factors such as unevenness, sinking, and shaking of the conveying mechanism for the loading frame, making the calculation of the position coordinates more accurate, and thus improving the accuracy of robot palletizing.

[0029] In some embodiments, determining the position coordinates of a target point according to the row number and column number of each reference point, and the position coordinates of at least three reference points includes:

[0030] Determining the fifth offset of the j-th row according to the first quantity and the position coordinates of the fifth point and the sixth point, where the fifth point is the third point in the j-th row, the sixth point is the fourth point in the j-th row, and j is an integer greater than 1 and less than the second quantity;

[0031] Determining the position coordinates of the seventh point according to the position coordinates of the fifth point and the fifth offset, or the position coordinates of the sixth point and the fifth offset, where the seventh point is any point in the j-th row.

[0032] In this embodiment, based on the position coordinates of the third point and the fourth point in the j-th row, the fifth offset of the j-th row can be calculated, so that the fifth offset can be considered when calculating the position coordinates of other points in the j-th row, thereby improving the problem that the established robot coordinate system is offset due to factors such as unevenness, sinking, and shaking of the conveying mechanism for the loading frame, making the calculation of the position coordinates more accurate, and thus improving the accuracy of robot palletizing.

[0033] In a second aspect, an embodiment of the present application provides a robot palletizing device, and the device includes:

[0034] A first determination module, configured to determine at least three reference points in the frame, where each reference point includes the row number and column number in the frame, and there are two reference points in the at least three reference points that are in the same row and two reference points that are in the same column;

[0035] A teaching module, configured to teach the position coordinates of at least three reference points;

[0036] A second determination module, configured to determine the position coordinates of a target point according to the row number and column number of each reference point, and the position coordinates of at least three reference points, where the target point is any point in the frame;

[0037] A control module, configured to control the robot to perform palletizing according to the position coordinates of the target point.

[0038] In this embodiment, the position coordinates of at least three reference points can be taught, and subsequently, based on the position coordinates of these at least three reference points and the row numbers and column numbers of each reference point, the position coordinates of any point in the material frame can be calculated, facilitating subsequent robot palletizing, simplifying the robot palletizing teaching process, enabling quick changeover, and improving the robot palletizing efficiency.

[0039] In some embodiments, the at least three reference points include the four corner points of the material frame;

[0040] Among them, the four corner points include a first reference point, a second reference point, a third reference point, and a fourth reference point. The first reference point and the second reference point, and the third reference point and the fourth reference point are respectively in the same row. The first reference point and the third reference point, and the second reference point and the fourth reference point are respectively in the same column. And the column number of the fourth reference point is the first quantity of the points in each row, and the row number of the fourth reference point is the second quantity of the points in each column.

[0041] In this embodiment, the four corner points of the material frame with a fixed size can be selected as reference points, making the teaching easier, the changeover faster, and further improving the robot palletizing efficiency.

[0042] In some embodiments, the second determination module is further configured to:

[0043] Determine a first offset on the line connecting the first reference point and the second reference point according to the first quantity and the position coordinates of the first reference point and the second reference point;

[0044] Determine the position coordinates of a first point according to the position coordinates of the first reference point and the first offset, or the position coordinates of the second reference point and the first offset, where the first point is any point on the line connecting the first reference point and the second reference point.

[0045] In this embodiment, based on the position coordinates of the first reference point and the second reference point, the first offset on the line connecting these two points can be calculated, so that the first offset can be considered when calculating the position coordinates of other points on this line, thereby improving the problem of offset in the robot coordinate system established due to factors such as unevenness, sinking, and shaking of the conveying mechanism carrying the material frame, making the calculation of the position coordinates more accurate, and further improving the accuracy of robot palletizing.

[0046] In some embodiments, the second determination module is further configured to:

[0047] Determine a second offset on the line connecting the third reference point and the fourth reference point according to the first quantity and the position coordinates of the third reference point and the fourth reference point;

[0048] Determine the position coordinates of the second point based on the position coordinates of the third reference point and the second offset, or based on the position coordinates of the fourth reference point and the second offset, where the second point is any point on the line connecting the third reference point and the fourth reference point.

[0049] In this embodiment, the second offset on the line connecting these two points can be calculated based on the position coordinates of the third reference point and the fourth reference point, so that the second offset can be considered when calculating the position coordinates of other points on this line, thereby improving the problem that the established robot coordinate system is offset due to factors such as unevenness, sinking, and shaking of the conveying mechanism of the loading frame, making the calculation of the position coordinates more accurate, and thus improving the accuracy of robot palletizing.

[0050] In some embodiments, the second determination module is further configured to:

[0051] Determine the third offset on the line connecting the first reference point and the third reference point according to the second quantity and the position coordinates of the first reference point and the third reference point;

[0052] Determine the position coordinates of the third point based on the position coordinates of the first reference point and the third offset, or based on the position coordinates of the third reference point and the third offset, where the third point is any point on the line connecting the first reference point and the third reference point.

[0053] In this embodiment, the third offset on the line connecting these two points can be calculated based on the position coordinates of the first reference point and the third reference point, so that the third offset can be considered when calculating the position coordinates of other points on this line, thereby improving the problem that the established robot coordinate system is offset due to factors such as unevenness, sinking, and shaking of the conveying mechanism of the loading frame, making the calculation of the position coordinates more accurate, and thus improving the accuracy of robot palletizing.

[0054] In some embodiments, the second determination module is further configured to:

[0055] Determine the fourth offset on the line connecting the second reference point and the fourth reference point according to the second quantity and the position coordinates of the second reference point and the fourth reference point;

[0056] Determine the position coordinates of the fourth point based on the position coordinates of the second reference point and the fourth offset, or based on the position coordinates of the fourth reference point and the fourth offset, where the fourth point is any point on the line connecting the second reference point and the fourth reference point.

[0057] In this embodiment, based on the position coordinates of the second reference point and the fourth reference point, the fourth offset on the line connecting these two points can be calculated, so that the fourth offset can be considered when calculating the position coordinates of other points on this line, thereby improving the problem that the established robot coordinate system is offset due to factors such as unevenness, sinking, and shaking of the conveying mechanism for the loading frame, making the calculation of the position coordinates more accurate, and thus improving the accuracy of robot palletizing.

[0058] In some embodiments, the second determination module is further configured to:

[0059] Determine the fifth offset of the j-th row according to the first quantity and the position coordinates of the fifth point and the sixth point, where the fifth point is the third point in the j-th row, the sixth point is the fourth point in the j-th row, and j is an integer greater than 1 and less than the second quantity;

[0060] Determine the position coordinates of the seventh point according to the position coordinates of the fifth point and the fifth offset, or according to the position coordinates of the sixth point and the fifth offset, where the seventh point is any point in the j-th row.

[0061] In this embodiment, based on the position coordinates of the third point and the fourth point in the j-th row, the fifth offset of the j-th row can be calculated, so that the fifth offset can be considered when calculating the position coordinates of other points in the j-th row, thereby improving the problem that the established robot coordinate system is offset due to factors such as unevenness, sinking, and shaking of the conveying mechanism for the loading frame, making the calculation of the position coordinates more accurate, and thus improving the accuracy of robot palletizing.

[0062] In a third aspect, an embodiment of the present application provides an electronic device, which includes: a processor and a memory storing program instructions; when the processor executes the program instructions, the method of the first aspect is implemented.

[0063] In a fourth aspect, an embodiment of the present application provides a machine-readable storage medium, on which program instructions are stored, and when the program instructions are executed by a processor, the method of the first aspect is implemented.

[0064] In a fifth aspect, an embodiment of the present application provides a computer program product, and when the instructions in the computer program product are executed by the processor of the electronic device, the electronic device is caused to execute the method of the first aspect.

[0065] The above description is only an overview of the technical solution of the present application. In order to be able to understand the technical means of the present application more clearly, it can be implemented according to the content of the description, and in order to make the above and other purposes, features, and advantages of the present application more obvious and understandable, the specific embodiments of the present application are specifically given below. Description of the Drawings

[0066] The features, advantages, and technical effects of exemplary embodiments of the present application will be described below with reference to the accompanying drawings.

[0067] Figure 1 A flowchart of the robot palletizing method provided by an embodiment of the present application;

[0068] Figure 2 A schematic diagram of the positions of the material frames in the robot palletizing method provided by an embodiment of the present application;

[0069] Figure 3 A schematic structural diagram of the robot palletizing device provided by an embodiment of the present application;

[0070] Figure 4 A schematic structural diagram of the electronic device provided by an embodiment of the present application.

[0071] In the accompanying drawings, the drawings are not necessarily drawn to actual scale. Specific Embodiments

[0072] The embodiments of the present application will be further described in detail below in conjunction with the accompanying drawings and examples. The following detailed description of the examples and the accompanying drawings are used to exemplarily illustrate the principles of the present application, but cannot be used to limit the scope of the present application, that is, the present application is not limited to the described embodiments.

[0073] In the description of the present application, it should be noted that unless otherwise specified, the meaning of "a plurality" is two or more; the orientation or positional relationships indicated by terms such as "upper", "lower", "left", "right", "inner", "outer", etc. are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present application. In addition, terms such as "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. "Vertical" is not strictly vertical, but within the allowable error range. "Parallel" is not strictly parallel, but within the allowable error range.

[0074] Referring to "embodiments" in the present application means that specific features, structures, or characteristics described in conjunction with the embodiments can be included in at least one embodiment of the present application. The occurrence of this phrase in various positions in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art explicitly and implicitly understand that the embodiments described in the present application can be combined with other embodiments.

[0075] The embodiments of the present application provide a robot palletizing method, device, equipment, storage medium, and product to solve the above technical problems. The robot palletizing method provided by the embodiments of the present application will be introduced first below.

[0076] Please refer to Figure 1 , Figure 1 which is a schematic flowchart of a robot palletizing method provided by an embodiment of the present application. The robot palletizing method may include the following steps:

[0077] Step 101: Determine at least three reference points in the bin. Each reference point includes the row number and column number in the bin, and there are two reference points in the same row and two reference points in the same column among the at least three reference points;

[0078] Step 102: Teach the position coordinates of the at least three reference points;

[0079] Step 103: Determine the position coordinates of the target point according to the row number and column number of each reference point and the position coordinates of the at least three reference points. The target point is any point in the bin;

[0080] Step 104: Control the robot to perform palletizing according to the position coordinates of the target point.

[0081] In step 101, any at least three points in the bin can be selected as the reference points, as long as there are two points in the same row and two points in the same column. For example, taking three reference points as an example, the reference points include point A, point B, and point C. Point A and point B can be in the same row, and point A and point C are in the same column.

[0082] In step 102, the robot can be controlled to move to the above at least three reference points to teach the position coordinates of the at least three reference points.

[0083] In step 103, it can be understood that the arrangement of each point in the bin is often regular, that is, the interval between two adjacent points in each row is equal, and the interval between two adjacent points in each column is also equal.

[0084] Based on this, the interval between two adjacent points in each column can be calculated according to the position coordinates of two reference points in the same row and the column numbers of these two reference points respectively. The interval between two adjacent points in each row can also be calculated according to the position coordinates of two reference points in the same column and the row numbers of these two reference points respectively. Then, the position coordinates of any point in the bin can be calculated according to the interval between two adjacent points in each column, the interval between two adjacent points in each row, and the position coordinates of the reference points.

[0085] Exemplarily, the interval between two adjacent points in each column can be obtained by dividing the coordinate difference between point A and point B by the column number difference between point A and point B. The interval between two adjacent points in each row can be obtained by dividing the coordinate difference between point A and point C by the row number difference between point A and point C. The position coordinates of the target point can be calculated based on the interval between two adjacent points in each column, the interval between two adjacent points in each row, the row number difference and column number difference between the target point and point A, and the position coordinates of point A.

[0086] In step 104, after calculating the position coordinates of other points in the material frame based on the above steps, the robot can be controlled to perform palletizing according to the position coordinates of these points.

[0087] In this embodiment, the position coordinates of at least three reference points can be taught, and then the position coordinates of any point in the material frame can be calculated based on the position coordinates of these at least three reference points and the row number and column number of each reference point, which is convenient for subsequent robot palletizing, simplifies the robot palletizing teaching process, enables quick changeover, and improves the robot palletizing efficiency.

[0088] In some embodiments, the at least three reference points include the four corner points of the material frame;

[0089] Among them, the four corner points include a first reference point, a second reference point, a third reference point, and a fourth reference point. The first reference point and the second reference point, the third reference point and the fourth reference point are respectively in the same row. The first reference point and the third reference point, the second reference point and the fourth reference point are respectively in the same column. And the column number of the fourth reference point is the first quantity of the points in each row, and the row number of the fourth reference point is the second quantity of the points in each column.

[0090] In this embodiment, as Figure 2 [[ID=Y]]shown, the four corner points of the material frame can be determined as four reference points, and the four corner points include a first reference point A, a second reference point B, a third reference point C, and a fourth reference point D.

[0091] As Figure 2 known, the first reference point A is in the 1st row and 1st column of the material frame, the second reference point B is in the 1st row and nth column of the material frame, the third reference point C is in the mth row and 1st column of the material frame, and the fourth reference point D is in the mth row and nth column of the material frame, where n is the first quantity of the points in each row of the material frame, and m is the second quantity of the points in each column of the material frame.

[0092] The position coordinates of any point in the material frame can be calculated based on the position coordinates of the first reference point A, the second reference point B, the third reference point C, and the fourth reference point D, and the first quantity n and the second quantity m.

[0093] In this embodiment, the four vertex points of a material frame with a fixed size can be selected as reference points, making teaching easier, tool change faster, and further improving the robot palletizing efficiency.

[0094] In some embodiments, step 103 above may include the following steps:

[0095] Determine a first offset on the line connecting the first reference point and the second reference point according to the first quantity, and the position coordinates of the first reference point and the second reference point;

[0096] Determine the position coordinates of the first point according to the position coordinates of the first reference point and the first offset, or the position coordinates of the second reference point and the first offset, where the first point is any point on the line connecting the first reference point and the second reference point.

[0097] In this embodiment, the first offset on the line connecting the first reference point A and the second reference point B can be determined according to the first quantity n, and the position coordinates (x1, y1, z1) of the first reference point A and the position coordinates (x2, y2, z2) of the second reference point B.

[0098] The expression of the first offset can be as shown in formula (1):

[0099]

[0100] Where (dx1, dy1, dz1) is the first offset, (x1, y1, z1) are the position coordinates of the first reference point, (x2, y2, z2) are the position coordinates of the second reference point, and n is the first quantity.

[0101] The position coordinates of the first point p can be determined according to the position coordinates of the first reference point A and the first offset 1i where the first point p 1i is any point on the line connecting the first reference point A and the second reference point B.

[0102] The position coordinates of the first point p 1i can be as shown in formula (2):

[0103]

[0104] Where (x 1i , y 1i , z 1i ) are the position coordinates of the first point, (dx1, dy1, dz1) is the first offset, (x1, y1, z1) are the position coordinates of the first reference point, and i is the column number of the first point.

[0105] The position coordinates of the first point p can also be determined according to the position coordinates of the second reference point B and the first offset 1i .

[0106] The expression of the position coordinates of the first point p 1i can also be as shown in formula (3):

[0107]

[0108] where (x 1i , y 1i , z 1i ) are the position coordinates of the first point, (dx1, dy1, dz1) is the first offset, (x2, y2, z2) are the position coordinates of the second reference point, n is the first quantity and also the number of columns of the second reference point, and i is the number of columns of the first point.

[0109] In this embodiment, based on the position coordinates of the first reference point and the second reference point, the first offset on the line connecting these two points can be calculated, so that the first offset can be considered when calculating the position coordinates of other points on this line, thereby improving the problem that the established robot coordinate system has an offset due to factors such as unevenness, sinking, and shaking of the conveying mechanism carrying the loading frame, making the calculation of the position coordinates more accurate, and further improving the accuracy of robot palletizing.

[0110] In some embodiments, step 103 may include the following steps:

[0111] Determine the second offset on the line connecting the third reference point and the fourth reference point according to the first quantity and the position coordinates of the third reference point and the fourth reference point;

[0112] Determine the position coordinates of the second point according to the position coordinates of the third reference point and the second offset, or the position coordinates of the fourth reference point and the second offset, where the second point is any point on the line connecting the third reference point and the fourth reference point.

[0113] In this embodiment, the second offset on the line connecting the third reference point C and the fourth reference point D can be determined according to the first quantity n and the position coordinates (x3, y3, z3) of the third reference point C and the position coordinates (x4, y4, z4) of the fourth reference point D.

[0114] The expression of the second offset can be as shown in formula (4):

[0115]

[0116] Among them, (dx2, dy2, dz2) is the second offset, (x3, y3, z3) is the position coordinate of the third reference point, (x4, y4, z4) is the position coordinate of the fourth reference point, and n is the first quantity.

[0117] The position coordinate of the second point p can be determined according to the position coordinate of the third reference point C and the second offset. mi The position coordinate of p, where the second point p mi is any point on the line connecting the third reference point C and the fourth reference point D.

[0118] The position coordinate expression of the second point p mi can be as shown in formula (5):

[0119]

[0120] Among them, (x mi , y mi , z mi ) is the position coordinate of the second point, (dx2, dy2, dz2) is the second offset, (x3, y3, z3) is the position coordinate of the third reference point, and i is the column number of the second point.

[0121] The position coordinate of the second point p can also be determined according to the position coordinate of the fourth reference point D and the second offset. mi The position coordinate.

[0122] The position coordinate expression of the second point p mi can also be as shown in formula (6):

[0123]

[0124] Among them, (x mi , y mi , z mi ) is the position coordinate of the second point, (dx2, dy2, dz2) is the second offset, (x4, y4, z4) is the position coordinate of the fourth reference point, n is the first quantity and also the column number of the fourth reference point, and i is the column number of the second point.

[0125] In this embodiment, based on the position coordinates of the third reference point and the fourth reference point, the second offset on the line connecting these two points can be calculated, so that the second offset can be considered when calculating the position coordinates of other points on this line, thereby improving the problem that the established robot coordinate system is offset due to factors such as unevenness, sinking, and shaking of the conveying mechanism carrying the loading frame, making the calculation of the position coordinates more accurate, and thus improving the accuracy of robot palletizing.

[0126] In some embodiments, step 103 may include the following steps:

[0127] Determine a third offset on the line connecting the first reference point and the third reference point according to the second quantity and the position coordinates of the first reference point and the third reference point;

[0128] Determine the position coordinates of the third point according to the position coordinates of the first reference point and the third offset, or the position coordinates of the third reference point and the third offset, where the third point is any point on the line connecting the first reference point and the third reference point.

[0129] In this embodiment, the third offset on the line connecting the first reference point A and the third reference point C can be determined according to the second quantity m and the position coordinates (x1, y1, z1) of the first reference point A and the position coordinates (x3, y3, z3) of the third reference point C.

[0130] The expression of the third offset can be as shown in formula (7):

[0131]

[0132] where (dx3, dy3, dz3) is the third offset, (x1, y1, z1) are the position coordinates of the first reference point, (x3, y3, z3) are the position coordinates of the third reference point, and m is the second quantity.

[0133] The position coordinates of the third point p can be determined according to the position coordinates of the first reference point A and the third offset j1 where the third point p j1 is any point on the line connecting the first reference point A and the third reference point C.

[0134] The position coordinates of the third point p j1 can be as shown in formula (8):

[0135]

[0136] where (x j1 , y j1 , z j1 ) are the position coordinates of the third point, (dx3, dy3, dz3) is the third offset, (x1, y1, z1) are the position coordinates of the first reference point, and j is the row number of the third point.

[0137] The position coordinates of the third point p can also be determined according to the position coordinates of the third reference point C and the third offset j1 where the third point p

[0138] The position coordinates of the third point p j1 can be as shown in formula (9):

[0139]

[0140] Among them, (x j1 , y j1 , z j1 ) are the position coordinates of the third point, (dx3, dy3, dz3) is the third offset, (x3, y3, z3) are the position coordinates of the third reference point, m is the second quantity and also the number of rows of the third reference point, and j is the number of rows of the third point.

[0141] In this embodiment, based on the position coordinates of the first reference point and the third reference point, the third offset on the line connecting these two points can be calculated, so that the third offset can be considered when calculating the position coordinates of other points on this line, thereby improving the problem that the established robot coordinate system is offset due to factors such as unevenness, sinking, and shaking of the conveying mechanism carrying the loading frame, making the calculation of the position coordinates more accurate, and further improving the accuracy of robot palletizing.

[0142] In some embodiments, step 103 may include the following steps:

[0143] Determine the fourth offset on the line connecting the second reference point and the fourth reference point according to the second quantity and the position coordinates of the second reference point and the fourth reference point;

[0144] Determine the position coordinates of the fourth point according to the position coordinates of the second reference point and the fourth offset, or the position coordinates of the fourth reference point and the fourth offset, where the fourth point is any point on the line connecting the second reference point and the fourth reference point.

[0145] In this embodiment, the fourth offset on the line connecting the second reference point B and the fourth reference point D can be determined according to the second quantity m, and the position coordinates (x2, y2, z2) of the second reference point B and the position coordinates (x4, y4, z4) of the fourth reference point D.

[0146] The expression of the fourth offset can be shown as formula (10):

[0147]

[0148] Among them, (dx4, dy4, dz4) is the fourth offset, (x2, y2, z2) are the position coordinates of the second reference point, (x4, y4, z4) are the position coordinates of the fourth reference point, and m is the second quantity.

[0149] The position coordinates of the fourth point p jn can be determined according to the position coordinates of the second reference point B and the fourth offset, where the fourth point p jnis any point on the line connecting the second reference point B and the fourth reference point D.

[0150] The fourth point p jn The expression of the position coordinates can be as shown in formula (11):

[0151]

[0152] where (x jn , y jn , z jn ) are the position coordinates of the fourth point, (dx4, dy4, dz4) is the fourth offset, (x2, y2, z2) are the position coordinates of the second reference point, and j is the row number of the fourth point.

[0153] The position coordinates of the fourth point p jn can also be determined according to the position coordinates of the fourth reference point D and the fourth offset.

[0154] The fourth point p jn The expression of the position coordinates can also be as shown in formula (12):

[0155] x jn = x4 - (m - j) * dx4 (12)

[0156] y jn = y4 - (m - j) * dy4

[0157] z jn = z4 - (m - j) * dz4

[0158] where (x jn , y jn , z jn ) are the position coordinates of the fourth point, (dx4, dy4, dz4) is the fourth offset, (x4, y4, z4) are the position coordinates of the fourth reference point, m is the second quantity and also the row number of the fourth reference point, and j is the row number of the fourth point.

[0159] In this embodiment, based on the position coordinates of the second reference point and the fourth reference point, the fourth offset on the line connecting these two points can be calculated, so that when calculating the position coordinates of other points on this line, the fourth offset can be considered, thereby improving the problem that the established robot coordinate system is offset due to factors such as unevenness, sinking, and shaking of the conveying mechanism carrying the loading frame, making the calculation of the position coordinates more accurate, and thus improving the accuracy of robot palletizing.

[0160] In some embodiments, step 103 may include the following steps:

[0161] Determine the fifth offset of the j-th row according to the first quantity and the position coordinates of the fifth point position and the sixth point position, where the fifth point position is the third point position in the j-th row, the sixth point position is the fourth point position in the j-th row, and j is an integer greater than 1 and less than the second quantity;

[0162] Determine the position coordinates of the seventh point position according to the position coordinates of the fifth point position and the fifth offset, or, the position coordinates of the sixth point position and the fifth offset, where the seventh point position is any point position in the j-th row.

[0163] In this embodiment, taking the calculation of the position coordinates of the i-th point position, i.e., the seventh point position p ji in the j-th row of the material frame as an example, where 1 < i < n and 1 < j < m, the fifth point position p j1 and the sixth point position p jn located in the j-th row can be determined from the third point position and the fourth point position respectively. The fifth offset of the j-th row can be determined according to the first quantity n and the position coordinates (x j1 , y j1 , z j1 ) of the fifth point position p j1 and the position coordinates (x jn , y jn , z jn ) of the sixth point position p jn .

[0164] The expression of the fifth offset can be as shown in formula (13):

[0165]

[0166] where (dx5, dy5, dz5) is the fifth offset, (x j1 , y j1 , z j1 ) are the position coordinates of the fifth point position, (x jn , y jn , z jn ) are the position coordinates of the sixth point position, and n is the first quantity.

[0167] Combined with formula (7), formula (8), formula (10) and formula (11), the expression of the fifth offset can be transformed into the one shown in formula (14):

[0168]

[0169] Among them, (dx5, dy5, dz5) is the fifth offset, (x1, y1, z1) is the position coordinate of the first reference point, (x2, y2, z2) is the position coordinate of the second reference point, (x3, y3, z3) is the position coordinate of the third reference point, (x4, y4, z4) is the position coordinate of the fourth reference point, j is the number of rows, n is the first quantity, and m is the second quantity.

[0170] The position coordinate of the seventh point p j1 can be determined based on the position coordinate of the fifth point p ji and the fifth offset.

[0171] The expression of the position coordinate of the seventh point p ji can be as shown in formula (15):

[0172]

[0173] Among them, (x ji , y ji , z ji ) is the position coordinate of the seventh point, (dx5, dy5, dz5) is the fifth offset, (x j1 , y j1 , z j1 ) is the position coordinate of the fifth point, and i is the column number of the seventh point.

[0174] The position coordinate of the seventh point p jn can also be determined based on the position coordinate of the sixth point p ji and the fifth offset.

[0175] The expression of the position coordinate of the seventh point p ji can also be as shown in formula (16):

[0176]

[0177] Among them, (x ji , y ji , z ji ) is the position coordinate of the seventh point, (dx5, dy5, dz5) is the fifth offset, (x jn , y jn , z jn ) is the position coordinate of the sixth point, n is the first quantity and also the column number of the sixth point, and i is the column number of the seventh point.

[0178] In this embodiment, the fifth offset of the j-th row can be calculated based on the position coordinates of the third point and the fourth point in the j-th row, so that the fifth offset can be considered when calculating the position coordinates of other points in the j-th row, thereby improving the problem that the established robot coordinate system is offset due to factors such as unevenness, sinking, and shaking of the conveying mechanism carrying the material frame, making the calculation of the position coordinates more accurate, and thus improving the accuracy of robot palletizing.

[0179] Based on the robot palletizing method provided in the above embodiment, the present application also provides an embodiment of a robot palletizing device.

[0180] Figure 3 The structural schematic diagram of the robot palletizing device provided by another embodiment of the present application is shown. For the sake of convenience of description, only the parts related to the embodiments of the present application are shown.

[0181] Refer to Figure 3 , the robot palletizing device 300 may include:

[0182] The first determination module 301 is configured to determine at least three reference points in the material frame, where each reference point includes the row number and column number in the material frame, and there are two reference points in the same row and two reference points in the same column among the at least three reference points;

[0183] The teaching module 302 is configured to teach the position coordinates of at least three reference points;

[0184] The second determination module 303 is configured to determine the position coordinates of the target point according to the row number and column number of each reference point and the position coordinates of at least three reference points, where the target point is any point in the material frame;

[0185] The control module 304 is configured to control the robot to perform palletizing according to the position coordinates of the target point.

[0186] In this embodiment, the position coordinates of at least three reference points can be taught, and then the position coordinates of any point in the material frame can be calculated through the position coordinates of the at least three reference points and the row number and column number of each reference point, which is convenient for subsequent robot palletizing, simplifies the robot palletizing teaching process, can achieve rapid changeover, and improves the robot palletizing efficiency.

[0187] In some embodiments, the at least three reference points include the four corner points of the material frame;

[0188] Among them, the four vertex points include a first reference point, a second reference point, a third reference point, and a fourth reference point. The first reference point and the second reference point, and the third reference point and the fourth reference point are respectively in the same row. The first reference point and the third reference point, and the second reference point and the fourth reference point are respectively in the same column. And the column number of the fourth reference point is the first quantity of the point positions in each row, and the row number of the fourth reference point is the second quantity of the point positions in each column.

[0189] In this embodiment, the four vertex points of the fixed-size material frame can be selected as the reference points, making the teaching easier and the mold change faster, and further improving the robot palletizing efficiency.

[0190] In some embodiments, the second determination module 3003 is further configured to:

[0191] Determine a first offset on the line connecting the first reference point and the second reference point according to the first quantity and the position coordinates of the first reference point and the second reference point;

[0192] Determine the position coordinates of the first point according to the position coordinates of the first reference point and the first offset, or the position coordinates of the second reference point and the first offset, where the first point is any point on the line connecting the first reference point and the second reference point.

[0193] In this embodiment, the first offset on the line connecting these two points can be calculated based on the position coordinates of the first reference point and the second reference point, so that the first offset can be considered when calculating the position coordinates of other points on this line, thereby improving the problem that the established robot coordinate system is offset due to factors such as unevenness, sinking, and shaking of the conveying mechanism carrying the material frame, making the calculation of the position coordinates more accurate, and thus improving the accuracy of the robot palletizing.

[0194] In some embodiments, the second determination module 303 is further configured to:

[0195] Determine a second offset on the line connecting the third reference point and the fourth reference point according to the first quantity and the position coordinates of the third reference point and the fourth reference point;

[0196] Determine the position coordinates of the second point according to the position coordinates of the third reference point and the second offset, or the position coordinates of the fourth reference point and the second offset, where the second point is any point on the line connecting the third reference point and the fourth reference point.

[0197] In this embodiment, based on the position coordinates of the third reference point and the fourth reference point, the second offset on the line connecting these two points can be calculated, so that the second offset can be considered when calculating the position coordinates of other points on this line, thereby improving the problem that the established robot coordinate system is offset due to factors such as unevenness, sinking, and shaking of the conveying mechanism of the loading frame, making the calculation of the position coordinates more accurate, and thus improving the accuracy of robot palletizing.

[0198] In some embodiments, the second determination module 303 is further configured to:

[0199] Determine the third offset on the line connecting the first reference point and the third reference point according to the second quantity and the position coordinates of the first reference point and the third reference point;

[0200] Determine the position coordinates of the third point according to the position coordinates of the first reference point and the third offset, or the position coordinates of the third reference point and the third offset, where the third point is any point on the line connecting the first reference point and the third reference point.

[0201] In this embodiment, based on the position coordinates of the first reference point and the third reference point, the third offset on the line connecting these two points can be calculated, so that the third offset can be considered when calculating the position coordinates of other points on this line, thereby improving the problem that the established robot coordinate system is offset due to factors such as unevenness, sinking, and shaking of the conveying mechanism of the loading frame, making the calculation of the position coordinates more accurate, and thus improving the accuracy of robot palletizing.

[0202] In some embodiments, the second determination module 303 is further configured to:

[0203] Determine the fourth offset on the line connecting the second reference point and the fourth reference point according to the second quantity and the position coordinates of the second reference point and the fourth reference point;

[0204] Determine the position coordinates of the fourth point according to the position coordinates of the second reference point and the fourth offset, or the position coordinates of the fourth reference point and the fourth offset, where the fourth point is any point on the line connecting the second reference point and the fourth reference point.

[0205] In this embodiment, based on the position coordinates of the second reference point and the fourth reference point, the fourth offset on the line connecting these two points can be calculated, so that the fourth offset can be considered when calculating the position coordinates of other points on this line, thereby improving the problem that the established robot coordinate system is offset due to factors such as unevenness, sinking, and shaking of the conveying mechanism of the loading frame, making the calculation of the position coordinates more accurate, and thus improving the accuracy of robot palletizing.

[0206] In some embodiments, the second determination module 303 is further configured to:

[0207] Determine the fifth offset of the j-th row according to the first quantity and the position coordinates of the fifth point and the sixth point, where the fifth point is the third point in the j-th row, the sixth point is the fourth point in the j-th row, and j is an integer greater than 1 and less than the second quantity;

[0208] Determine the position coordinates of the seventh point according to the position coordinates of the fifth point and the fifth offset, or the position coordinates of the sixth point and the fifth offset, where the seventh point is any point in the j-th row.

[0209] In this embodiment, the fifth offset of the j-th row can be calculated based on the position coordinates of the third point and the fourth point in the j-th row, so that the fifth offset can be considered when calculating the position coordinates of other points in the j-th row, thereby improving the problem that the established robot coordinate system is offset due to factors such as unevenness, sinking, and shaking of the conveying mechanism carrying the loading frame, making the calculation of the position coordinates more accurate, and thus improving the accuracy of robot palletizing.

[0210] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / modules are based on the same concept as the method embodiment of the present application, and are devices corresponding to the above-mentioned robot palletizing method. All implementation manners in the above method embodiment are applicable to the embodiment of this device. For its specific functions and the technical effects brought, please refer to the method embodiment part, and details will not be described here.

[0211] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, only the above-mentioned division of each functional unit and module is used as an example. In actual applications, the above functions can be allocated to different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit. In addition, the specific names of each functional unit and module are only for the convenience of mutual distinction and do not limit the protection scope of the present application. The specific working processes of the units and modules in the above system can refer to the corresponding processes in the foregoing method embodiment, and details will not be described here.

[0212] Figure 4 The hardware structure diagram of an electronic device provided by another embodiment of the present application is shown.

[0213] The electronic device 400 may include a processor 401 and a memory 402 storing programs or instructions. When the processor 401 executes the programs, the steps in any of the above method embodiments are implemented.

[0214] Exemplarily, the program may be divided into one or more modules / units, and one or more modules / units are stored in the memory 402 and executed by the processor 401 to complete this application. One or more modules / units may be a series of program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of the program in the device.

[0215] Specifically, the above-mentioned processor 401 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be an integrated circuit configured to implement one or more embodiments of this application.

[0216] The memory 402 may include a mass storage for data or instructions. By way of example and not limitation, the memory 402 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disc, a magneto-optical disc, a magnetic tape, or a universal serial bus (USB) drive, or a combination of two or more of these. In a suitable case, the memory 402 may include removable or non-removable (or fixed) media. In a suitable case, the memory 402 may be inside or outside the integrated gateway disaster recovery device. In a specific embodiment, the memory 402 is a non-volatile solid state memory.

[0217] The memory may include a read only memory (ROM), a random access memory (RAM), a magnetic disk storage media device, an optical storage media device, a flash memory device, an electrical, optical, or other physical / tangible memory storage device. Thus, generally, the memory includes one or more tangible (non-transitory) readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to one aspect of the present disclosure.

[0218] The processor 401 reads and executes the programs or instructions stored in the memory 402 to implement any one of the above methods.

[0219] In one example, the electronic device may further include a communication interface 403 and a bus 404. Among them, the processor 401, the memory 402, and the communication interface 403 are connected through the bus 404 to complete mutual communication.

[0220] The communication interface 403 is mainly used to implement communication between various modules, devices, units, and / or equipment in the embodiments of the present application.

[0221] The bus 404 includes hardware, software, or both, and couples the components of the online data flow meter charging device to each other. By way of example and not limitation, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a memory bus, a MicroChannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses or a combination of two or more of these. In a suitable case, the bus 404 may include one or more buses. Although the embodiments of the present application describe and illustrate specific buses, the present application contemplates any suitable bus or interconnect.

[0222] In addition, in combination with the method in the above embodiments, the embodiments of the present application may be implemented by providing a machine-readable storage medium. A program or instruction is stored on the machine-readable storage medium; when the program or instruction is executed by a processor, any one of the methods in the above embodiments is implemented. The machine-readable storage medium can be read by a machine such as a computer.

[0223] The embodiments of the present application further provide a chip, the chip includes a processor and a communication interface, the communication interface is coupled to the processor, the processor is used to run a program or instruction, implement each process of the method embodiments above, and can achieve the same technical effect. To avoid repetition, it will not be elaborated here.

[0224] It should be understood that the chip mentioned in the embodiments of the present application may also be referred to as a system-on-chip, system chip, chip system, or system-on-chip.

[0225] The embodiments of the present application provide a computer program product, the program product is stored in a machine-readable storage medium, and the program product is executed by at least one processor to implement each process of the method embodiments above, and can achieve the same technical effect. To avoid repetition, it will not be elaborated here.

[0226] It should be clear that the present application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications, and additions, or change the order between steps after understanding the spirit of the present application.

[0227] The functional modules shown in the above-described structural block diagrams can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application-specific integrated circuit (ASIC), appropriate firmware, a plug-in, a functional card, and so on. When implemented in software, the elements of the present application are programs or code segments used to perform the required tasks. The program or code segment can be stored in a machine-readable medium or transmitted via a data signal carried in a carrier wave on a transmission medium or a communication link. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical discs, hard disks, fiber optic media, radio frequency (RF) links, and so on. The code segment can be downloaded via a computer network such as the Internet, an intranet, and so on.

[0228] It should also be noted that the exemplary embodiments mentioned in the present application describe some methods or systems based on a series of steps or devices. However, the present application is not limited to the order of the above steps, that is, the steps can be executed in the order mentioned in the embodiments, or different from the order in the embodiments, or several steps can be executed simultaneously.

[0229] The aspects of the present disclosure have been described above with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and program products according to embodiments of the present disclosure. It should be understood that each block in the flowchart and / or block diagram, and the combination of blocks in the flowchart and / or block diagram, can be implemented by computer programs or instructions. These programs or instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing devices to generate a machine such that these instructions executed by the processor of the computer or other programmable data processing devices enable the implementation of the functions / actions specified in one or more blocks of the flowchart and / or block diagram. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It can also be understood that each block in the block diagram and / or flowchart, and the combination of blocks in the block diagram and / or flowchart, can also be implemented by dedicated hardware that performs the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0230] Although the present application has been described with reference to preferred embodiments, various modifications can be made to it and components thereof can be replaced with equivalents without departing from the scope of the present application. In particular, as long as there is no structural conflict, the technical features mentioned in each embodiment can be combined in any way. The present application is not limited to the specific embodiments disclosed in the text, but includes all technical solutions falling within the scope of the claims.

Claims

1. A robot palletizing method, characterized in that, The method includes: Determine at least three reference points in the bin, where each reference point includes the row number and column number in the bin, and there are two reference points in the at least three reference points in the same row and two reference points in the same column; Teach the position coordinates of the at least three reference points; Determine the position coordinates of a target point according to the row number and column number of each reference point and the position coordinates of the at least three reference points, where the target point is any point in the bin; Control the robot to perform palletizing according to the position coordinates of the target point.

2. The method according to claim 1, characterized in that, The at least three reference points include the four vertex points of the bin; Wherein, the four vertex points include a first reference point, a second reference point, a third reference point and a fourth reference point, the first reference point and the second reference point, the third reference point and the fourth reference point are respectively in the same row, the first reference point and the third reference point, the second reference point and the fourth reference point are respectively in the same column, and the column number of the fourth reference point is the first quantity of the points in each row, and the row number of the fourth reference point is the second quantity of the points in each column.

3. The method according to claim 2, wherein The determining the position coordinates of the target point according to the row number and column number of each reference point and the position coordinates of the at least three reference points includes: Determine a first offset on the line connecting the first reference point and the second reference point according to the first quantity and the position coordinates of the first reference point and the second reference point; Determine the position coordinates of a first point according to the position coordinates of the first reference point and the first offset, or the position coordinates of the second reference point and the first offset, where the first point is any point on the line connecting the first reference point and the second reference point.

4. The method according to claim 2 or 3, characterized in that, The determining the position coordinates of the target point according to the row number and column number of each reference point and the position coordinates of the at least three reference points includes: Determine a second offset on the line connecting the third reference point and the fourth reference point according to the first quantity and the position coordinates of the third reference point and the fourth reference point; Determine the position coordinates of a second point according to the position coordinates of the third reference point and the second offset, or the position coordinates of the fourth reference point and the second offset, where the second point is any point on the line connecting the third reference point and the fourth reference point.

5. The method according to any one of claims 2 to 4, characterized in that, The determining the position coordinates of the target point according to the row number and column number of each reference point and the position coordinates of the at least three reference points includes: Determine a third offset on the line connecting the first reference point and the third reference point according to the second quantity and the position coordinates of the first reference point and the third reference point; Determine the position coordinates of a third point according to the position coordinates of the first reference point and the third offset, or the position coordinates of the third reference point and the third offset, where the third point is any point on the line connecting the first reference point and the third reference point.

6. The method according to claim 5, wherein Determining the position coordinates of the target point according to the number of rows and columns of each reference point and the position coordinates of the at least three reference points includes: Determining a fourth offset on the line connecting the second reference point and the fourth reference point according to the second quantity and the position coordinates of the second reference point and the fourth reference point; Determining the position coordinates of a fourth point according to the position coordinates of the second reference point and the fourth offset, or the position coordinates of the fourth reference point and the fourth offset, where the fourth point is any point on the line connecting the second reference point and the fourth reference point.

7. The method according to claim 6, characterized in that, Determining the position coordinates of the target point according to the number of rows and columns of each reference point and the position coordinates of the at least three reference points includes: Determining a fifth offset of the j-th row according to the first quantity and the position coordinates of a fifth point and a sixth point, where the fifth point is a third point in the j-th row, the sixth point is a fourth point in the j-th row, and j is an integer greater than 1 and less than the second quantity; Determining the position coordinates of a seventh point according to the position coordinates of the fifth point and the fifth offset, or the position coordinates of the sixth point and the fifth offset, where the seventh point is any point in the j-th row.

8. A robot palletizing device, characterized in that, The device includes: A first determination module, configured to determine at least three reference points in the material frame, where each reference point includes the number of rows and columns in the material frame, and there are two reference points in the at least three reference points in the same row and two reference points in the same column; A teaching module, configured to teach the position coordinates of the at least three reference points; A second determination module, configured to determine the position coordinates of a target point according to the number of rows and columns of each reference point and the position coordinates of the at least three reference points, where the target point is any point in the material frame; A control module, configured to control the robot to perform palletizing according to the position coordinates of the target point.

9. The device according to claim 8, characterized in that, The at least three reference points include four corner points of the material frame; Among them, the four corner points include a first reference point, a second reference point, a third reference point, and a fourth reference point. The first reference point and the second reference point, the third reference point and the fourth reference point are respectively in the same row. The first reference point and the third reference point, the second reference point and the fourth reference point are respectively in the same column, and the number of columns of the fourth reference point is the first quantity of each row of points, and the number of rows of the fourth reference point is the second quantity of each column of points.

10. The device according to claim 9, characterized in that The second determination module is further configured to: Determine a first offset on the line connecting the first reference point and the second reference point according to the first quantity and the position coordinates of the first reference point and the second reference point; Determine the position coordinates of a first point according to the position coordinates of the first reference point and the first offset, or the position coordinates of the second reference point and the first offset, where the first point is any point on the line connecting the first reference point and the second reference point.

11. The device according to claim 9 or 10, characterized in that, The second determination module is further configured to: Determine a second offset on the line connecting the third reference point and the fourth reference point according to the first quantity and the position coordinates of the third reference point and the fourth reference point; Determine the position coordinates of a second point according to the position coordinates of the third reference point and the second offset, or according to the position coordinates of the fourth reference point and the second offset, where the second point is any point on the line connecting the third reference point and the fourth reference point.

12. The device according to any one of claims 9 to 11, characterized in that The second determination module is further configured to: Determine a third offset on the line connecting the first reference point and the third reference point according to the second quantity and the position coordinates of the first reference point and the third reference point; Determine the position coordinates of a third point according to the position coordinates of the first reference point and the third offset, or according to the position coordinates of the third reference point and the third offset, where the third point is any point on the line connecting the first reference point and the third reference point.

13. The device according to claim 12, wherein The second determination module is further configured to: Determine a fourth offset on the line connecting the second reference point and the fourth reference point according to the second quantity and the position coordinates of the second reference point and the fourth reference point; Determine the position coordinates of a fourth point according to the position coordinates of the second reference point and the fourth offset, or according to the position coordinates of the fourth reference point and the fourth offset, where the fourth point is any point on the line connecting the second reference point and the fourth reference point.

14. The device according to claim 13, wherein The second determination module is further configured to: Determine a fifth offset of the j-th row according to the first quantity and the position coordinates of a fifth point and a sixth point, where the fifth point is the third point in the j-th row, the sixth point is the fourth point in the j-th row, and j is an integer greater than 1 and less than the second quantity; Determine the position coordinates of a seventh point according to the position coordinates of the fifth point and the fifth offset, or according to the position coordinates of the sixth point and the fifth offset, where the seventh point is any point in the j-th row.

15. An electronic device, characterized in that, The device includes: a processor and a memory storing programs or instructions; When the processor executes the programs or instructions, the method according to any one of claims 1-7 is implemented.

16. A machine-readable storage medium, characterized in that, Programs or instructions are stored on the machine-readable storage medium, and when the programs or instructions are executed by the processor, the method according to any one of claims 1-7 is implemented.

17. A computer program product, characterized in that, When the instructions in the computer program product are executed by the processor of the electronic device, the electronic device is caused to execute the method according to any one of claims 1-7.

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