Workpiece stacking placement method, device, equipment and medium

Abstract

The application relates to the technical field of mold processing, and discloses a workpiece stacking placement method, which comprises the following steps: obtaining workpiece information of workpieces to be stacked, and determining initial point coordinates of the workpieces to be stacked according to the workpiece information; controlling a mechanical arm to move the workpieces to be stacked to target points according to a preset moving path; when a preset safety distance is reached, detecting whether the target points are recognized by a probe; when the target points are not recognized by the probe, determining the positions of the target points to obtain current point coordinates, and determining point offset values according to the current point coordinates and the initial point coordinates; correcting the preset moving path according to the point offset values to obtain a target moving path, so that the mechanical arm places the workpieces to be stacked in the target points with the current point coordinates according to the target moving path. The application corrects the moving path, avoids inaccurate stacking positions caused by position offset, improves workpiece stacking efficiency through automatic stacking, and reduces stacking cost.

Description

Technical Field

[0001] This invention relates to the field of mold processing technology, and in particular to a workpiece stacking and placement method, apparatus, equipment and medium. Background Technology

[0002] Currently, workpieces are an important part of manufacturing and heavy industry, and their efficiency directly affects the operational efficiency of the entire production line.

[0003] In the current production line operation, workpiece palletizing is mostly done manually by staff who look up the next process and operate the machine to palletize the workpieces according to the next process. However, manual operation of the machine for palletizing requires manual positioning of the actual placement point of the workpiece, which reduces the efficiency of workpiece palletizing and increases labor costs. Summary of the Invention

[0004] This invention provides a workpiece palletizing method, equipment, and medium to solve the problems of low workpiece palletizing efficiency and high labor costs caused by manual operation in the prior art.

[0005] A method for stacking and placing workpieces, comprising: Obtain the workpiece information of the workpiece to be stacked, and determine the initial position coordinates of the workpiece to be stacked based on the workpiece information; the initial position coordinates refer to the coordinates of the target position in the target rack. The robotic arm is controlled to move the workpiece to be stacked toward the target position along a preset movement path corresponding to the initial position coordinates. When the robotic arm reaches a preset safety distance, the probe of the robotic arm detects whether the target position has been identified. The preset movement path is generated by the path planning model based on the three-dimensional virtual model corresponding to the robotic arm and the target material rack. When the probe of the robotic arm fails to identify the target location, the position of the target location is determined to obtain the current location coordinates corresponding to the target location, and the location offset value is determined based on the current location coordinates and the initial location coordinates. The preset movement path of the robotic arm is corrected by the position offset value to obtain the target movement path, so that the robotic arm can place the workpiece to be stacked in the target position of the current position coordinate according to the target movement path.

[0006] In one embodiment, determining the initial position coordinates of the workpiece to be palletized based on the workpiece information includes: Based on the workpiece information, determine the workpiece type of the workpiece to be stacked, and based on the workpiece type, determine the target rack corresponding to the workpiece to be stacked; Obtain the rack storage information corresponding to the target rack, and determine all free slots in the target rack based on the rack storage information; Target sites are selected from all the available sites, and the coordinates of the target sites are determined as the initial site coordinates of the workpiece to be stacked.

[0007] In one embodiment, the step of detecting whether the target location has been identified by the probe of the robotic arm when the robotic arm reaches a preset safe distance includes: The coordinate distance between the current coordinates of the robotic arm and the initial coordinates of the target site is determined according to the preset movement path, and it is detected whether the coordinate distance reaches the preset safety distance. When the coordinate distance reaches a preset safe distance, the probe of the robotic arm is controlled to identify the site label at the initial site coordinates; If no site label is detected at the initial site coordinates, it is determined that the probe detection of the robotic arm has not detected the target site; If a site tag is detected at the initial site coordinates, it is determined that the probe of the robotic arm has detected and identified the target site.

[0008] In one embodiment, determining the location of the target site to obtain the current site coordinates corresponding to the target site includes: Obtain a preset specified distance, and based on the preset specified distance, control the probe of the robotic arm to move the probe by the preset specified distance to determine and update the probe position; Based on the updated probe position, the robotic arm's probe is controlled to identify the target location of the target material rack according to a preset query path; When the probe of the robotic arm identifies the target location, it records the current location coordinates of the target location.

[0009] In one embodiment, the step of correcting the preset movement path of the robotic arm using the position offset value to obtain the target movement path includes: Based on the site offset value, determine the offset data of the target site in each coordinate direction; The preset movement path of the robotic arm is corrected based on the offset data of the target position in each coordinate direction to obtain the target movement path corresponding to the coordinates of the current position.

[0010] In one embodiment, after instructing the robotic arm to place the workpiece to be palletized at the target location at the current location coordinates according to the target movement path, the method further includes: Obtain the rack coordinates corresponding to each rack position in the target rack, and update the position of all rack coordinates according to the position offset value to obtain the updated position coordinates corresponding to each rack position; The preset movement path corresponding to the same material rack position is updated based on the updated position coordinates corresponding to each of the material rack positions to obtain the updated movement path corresponding to each of the material rack positions.

[0011] In one embodiment, before instructing the robotic arm to place the workpiece to be palletized at the target location at the current location coordinates according to the target movement path, the method further includes: The workpiece to be stacked is photographed to obtain an image of the workpiece; Obtain a workpiece placement image of the workpiece to be stacked; determine the image deviation based on the workpiece image and the workpiece placement image; and detect whether the current orientation of the workpiece to be stacked is correct. When the current orientation of the workpiece to be stacked is incorrect, the robotic arm is instructed to adjust the orientation of the workpiece by means of the image deviation, so as to obtain the workpiece to be stacked with the updated orientation.

[0012] A workpiece stacking and placement device, comprising: The coordinate determination module is used to acquire workpiece information of the workpiece to be stacked, and determine the initial position coordinates of the workpiece to be stacked based on the workpiece information; the initial position coordinates refer to the coordinates of the target position in the target rack. The site recognition module is used to control the robotic arm to move the workpiece to be stacked toward the target site along a preset movement path corresponding to the initial site coordinates. When the robotic arm reaches a preset safety distance, the probe of the robotic arm detects whether the target site has been identified. The preset movement path is generated by the path planning model based on the three-dimensional virtual model corresponding to the robotic arm and the target material rack. The site offset module is used to determine the position of the target site when the probe of the robotic arm does not recognize the target site, obtain the current site coordinates corresponding to the target site, and determine the site offset value based on the current site coordinates and the initial site coordinates; The path correction module is used to correct the preset movement path of the robotic arm using the position offset value to obtain the target movement path, so that the robotic arm can place the workpiece to be stacked in the target position of the current position coordinates according to the target movement path.

[0013] A computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor being used to perform the above-described workpiece palletizing and placement method.

[0014] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described workpiece palletizing method.

[0015] The workpiece palletizing and placement method, apparatus, equipment, and medium described above, in the workpiece palletizing and placement method of this invention, determine the initial position coordinates and the initial placement position of the workpiece through workpiece information. By using a preset movement path and a preset safety distance, workpiece palletizing is achieved, thereby avoiding collisions between the workpiece and the material rack. By determining the position of the target position, the coordinates of the current position are determined, and thus the position offset value is determined. By correcting the preset movement path, the preset movement path is updated, and the target movement path is determined, thereby automatically palletizing the workpiece to the target position, avoiding inaccurate palletizing positions due to positional offsets, thus improving workpiece palletizing efficiency and reducing palletizing costs. Attached Figure Description

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

[0017] Figure 1 This is a flowchart of a workpiece stacking and placement method according to an embodiment of the present invention; Figure 2 This is a schematic diagram of a workpiece stacking and placement device according to an embodiment of the present invention. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present invention.

[0019] In one embodiment, such as Figure 1 As shown, a method for stacking and placing workpieces is provided, including the following steps: S10: Obtain the workpiece information of the workpiece to be stacked, and determine the initial position coordinates of the workpiece to be stacked based on the workpiece information; the initial position coordinates refer to the coordinates of the target position in the target rack. Understandably, a workpiece to be stacked refers to a workpiece that needs to be placed on a rack, such as a cutting tool, electrode, blank to be processed, or processed blank. Workpiece information refers to information such as the size and type of the workpiece to be stacked. A target rack refers to a rack used to store workpieces to be stacked, such as a rack for cutting tools or electrodes. Different types of workpieces correspond to different racks, and there can be one or more racks of different types. Alternatively, similar workpieces can be stored on the same rack, which can be set according to the actual situation. A target location refers to the position within the target rack where the current workpiece to be stacked is stored. For example, if the rack has three layers with five workpieces per layer, the target location is the third workpiece on the second layer. Initial location coordinates refer to the coordinates of the target location within the target rack. For example, only the coordinates of the rack's origin in its spatial domain are recorded. Based on rack data, such as the height of each layer and the distance between two locations, the coordinates of each location in its spatial domain are calculated.

[0020] Specifically, the workpiece information corresponding to the workpiece to be stacked is obtained by identifying the label on the workpiece to be stacked, or by obtaining the workpiece information through the workpiece identifier in the input workpiece stacking command. Then, the target rack for placing the workpiece is determined based on the workpiece type in the workpiece information, and the coordinates of the position where the workpiece to be stacked is determined from the target rack, and these coordinates are used to determine the initial position coordinates.

[0021] S20: Control the robotic arm to move the workpiece to be stacked towards the target position along a preset movement path corresponding to the initial position coordinates. When the robotic arm reaches a preset safety distance, detect whether the target position is identified by the probe of the robotic arm. The preset movement path is generated by the path planning model based on the three-dimensional virtual model corresponding to the robotic arm and the target material rack.

[0022] Understandably, the robotic arm is used to place workpieces on target locations. The preset movement path refers to the movement path of the robotic arm when placing the workpiece to be palletized to the initial location coordinates. The preset safety distance refers to the distance used to identify the target location while avoiding collisions between the workpiece and the rack; this distance can be a range. A probe is used to identify the target location; for example, the target location has an electronic tag that can sense the probe. The preset movement path is generated by a path planning model based on a 3D virtual model corresponding to the robotic arm and the target rack. This involves acquiring a large amount of historical 3D image information and coordinate data, and inputting all historical 3D image information and coordinate data into a neural network model. This allows the neural network model to perform path planning based on the historical 3D image information and coordinate data, thereby establishing a mapping relationship between the robotic arm's motion state and the path planning. For example, the path planning strategy can be adjusted based on the obtained reward feedback. The neural network can act as a policy network, learning to plan paths in different states to maximize long-term rewards. For example, the robotic arm gives a positive reward for successfully placing a workpiece to a designated position, and a negative reward for colliding with an obstacle or failing to reach the target position. Through continuous learning, the neural network can find the optimal path planning strategy. The parameter information and coordinate data of the target material rack, the parameter information and coordinate data of the robotic arm, and the coordinate data of the workpiece are input into the trained path planning model. The path planning model generates a three-dimensional virtual model based on the parameter information of the target material rack and the parameter information of the robotic arm. Then, the path planning model generates a preset moving path for placing the workpiece on the target material rack based on the three-dimensional virtual model.

[0023] Specifically, by using the initial position coordinates, a preset movement path corresponding to those initial coordinates is retrieved. The robotic arm is then controlled to move the workpiece to be palletized towards the target position on the target shelf using this preset movement path. At a preset safe distance from the target shelf, a probe on the robotic arm identifies the target position on the shelf. That is, the probe identifies the position at the initial position coordinates. If a position tag corresponding to the target position is identified, it is determined that the robotic arm's probe has detected the target position, and the workpiece to be palletized is placed on the target position. If no position tag corresponding to the target position is identified, it is determined that the robotic arm's probe has not detected the target position.

[0024] S30: When the probe of the robotic arm does not identify the target position, the position of the target position is determined to obtain the current position coordinates corresponding to the target position, and the position offset value is determined based on the current position coordinates and the initial position coordinates.

[0025] Understandably, the current position coordinates refer to the new position coordinates of the target position relative to the probe. These coordinates can be caused by the movement of the material rack or by the movement of the robotic arm's gripper probe after a change in position. The position offset value refers to the deviation of the current position coordinates from the initial position coordinates in each coordinate direction.

[0026] Specifically, when the robotic arm's probe fails to identify the target location, the position of the target location is determined. This involves controlling the probe to shift outward by a preset distance and attempting to identify the target location according to a preset query path. If the target location is not identified, the probe continues to be identified by shifting twice the preset distance until it is identified. At this point, the current coordinates of the target location are recorded. Then, based on the current coordinates and the initial coordinates, the deviation values ​​of the two coordinates in each coordinate direction are calculated and determined as the location offset values.

[0027] S40: The preset movement path of the robotic arm is corrected by the position offset value to obtain the target movement path, so that the robotic arm places the workpiece to be stacked in the target position of the current position coordinate according to the target movement path.

[0028] Understandably, the target movement path refers to the movement path of the robotic arm that places the workpiece at the current position coordinates.

[0029] Specifically, the preset movement path of the robotic arm is corrected using the position offset value. This involves re-regulating the preset movement path based on the position offset value, increasing the offset value in each coordinate direction along the X, Y, and Z axes to obtain the target movement path. Then, the robotic arm places the workpiece to be palletized at the target position at the current position coordinates using the target movement path. In another embodiment, the workpiece can be moved to its initial position first, and then placed at the target position at the current position coordinates according to the target movement path. Alternatively, offset values ​​can be directly added in each coordinate direction at a preset safety distance to plan a planned movement path from the initial position coordinates to the current position coordinates. Combining the preset movement path and the planned movement path yields the target movement path. Next, the robotic arm is controlled to place the workpiece to be palletized at the target position at the current position coordinates according to the target movement path corresponding to the current position coordinates. Specifically, when the robotic arm moves between the preset safety distance and the current position coordinates, it is controlled to slowly move towards the target position at the current position coordinates to smoothly place the workpiece at the target position.

[0030] In the workpiece palletizing method of this invention, the initial position coordinates and the initial placement position of the workpiece are determined by using workpiece information. By using a preset movement path and a preset safety distance, workpiece palletizing is achieved, thereby avoiding collisions between the workpiece and the material rack. By determining the position of the target position, the coordinates of the current position are determined, and thus the position offset value is determined. By correcting the preset movement path, the preset movement path is updated, and the target movement path is determined, thereby automatically palletizing the workpiece to the target position, avoiding inaccurate palletizing positions caused by positional offsets, thus improving workpiece palletizing efficiency and reducing palletizing costs.

[0031] In one embodiment, step S10, namely determining the initial position coordinates of the workpiece to be stacked based on the workpiece information, includes: S101, based on the workpiece information, determine the workpiece type of the workpiece to be stacked, and based on the workpiece type, determine the target rack corresponding to the workpiece to be stacked.

[0032] S102, obtain the rack storage information corresponding to the target rack, and determine all the free slots in the target rack based on the rack storage information.

[0033] S103, select target sites from all the available sites, and determine the coordinates of the target sites as the initial site coordinates of the workpiece to be stacked.

[0034] Understandably, workpiece type refers to the type of workpiece, such as cutting tools, electrodes, blanks to be processed, and processed blanks. Rack storage information refers to the location data of workpieces already placed on the target rack and the location data of workpieces not yet placed on it. Idle locations refer to the locations on the target rack where no workpieces are placed.

[0035] Specifically, after acquiring the workpiece information, the workpiece type is determined by field recognition based on the workpiece information. Then, the corresponding storage rack is queried based on the workpiece type, and the position information corresponding to each storage rack is determined. A rack is randomly selected from all storage racks as the target rack, or the rack with the smallest position information is selected as the target rack, or the rack containing the previous workpiece is selected according to the storage order. Further, the location data of workpieces already placed and workpieces not placed in the target rack are determined by identifying indicator lights on the target rack, thus determining the rack storage information, and then all empty locations in the target rack are identified. Next, a location is randomly selected from all empty locations as the target location, or the first empty location is selected from top to bottom, or the next empty location after the location containing the previous workpiece is selected according to the storage order. The location coordinates corresponding to the target location are obtained and determined as the initial location coordinates of the workpiece to be stacked.

[0036] In another embodiment, after determining the storage information of the target rack, the balance of the target rack is determined by the pressure sensor on the target rack. Based on the workpiece weight in the workpiece information and all the empty positions in the target rack, the system calculates the target position where the target rack will not tilt after storing the workpiece to be stacked. That is, the system calculates the storage position of the workpiece to be stacked on the target rack based on the existing gravity distribution of the target rack, all the empty positions and the workpiece weight of the workpiece to be stacked, and determines it as the target position. The coordinates of the position corresponding to the target position are determined as the initial position coordinates of the workpiece to be stacked.

[0037] In this embodiment, the workpiece type is determined by the workpiece information, which in turn determines the target rack. The rack storage information is used to determine available workpiece locations, thereby enabling the selection of target locations and the acquisition of initial location coordinates, facilitating subsequent workpiece stacking.

[0038] In one embodiment, before step S20, that is, before controlling the robotic arm to move the workpiece to be stacked towards the target location along a preset movement path corresponding to the initial location coordinates, the method further includes: Based on the workpiece information, the system determines the gripping positions for the workpieces to be stacked, avoiding the finishing surfaces based on the information of each machined surface in the workpiece information. Then, the robotic arm gripper grasps the workpieces according to the gripping positions. The gripper uses pressure sensors and an inertial measurement unit to evaluate the grasped workpieces, assessing the workpiece weight and the robotic arm's load status. The evaluation results are fed back to the system, which uses AI algorithms to dynamically adjust the gripper pressure and gripping angle, thereby preventing the workpieces from slipping or deforming due to excessive gripping force. For example, flexible grippers are used for fragile items, and the gripping force is dynamically adjusted.

[0039] In one embodiment, a 3D machine vision system scans the workpiece to be palletized to determine its shape, size, and position. Ambient light suppression technology is used to improve imaging stability when scanning the workpiece under complex lighting conditions. A 3D point cloud model of the workpiece is generated based on its shape, size, and position. By analyzing the 3D point cloud model, the gripping position of the workpiece is determined.

[0040] In another embodiment, the gripping force and gripping position of the robotic arm can be determined first based on the machining surface information and workpiece weight in the workpiece information using an AI algorithm. Then, the pressure of the gripper and the gripping angle can be dynamically adjusted based on the load status of the robotic arm fed back by the pressure sensor and inertial measurement unit on the gripper after gripping.

[0041] In one embodiment, step S20, that is, when the robotic arm reaches a preset safe distance, detecting whether the target location has been identified by the probe of the robotic arm, includes: S201, determine the coordinate distance between the current coordinates of the robotic arm and the initial coordinates of the target site according to the preset movement path, and detect whether the coordinate distance reaches the preset safety distance.

[0042] S202, when the coordinate distance reaches the preset safe distance, control the probe of the robotic arm to identify the site label at the initial site coordinates.

[0043] S203, if no site label is detected at the initial site coordinates, it is determined that the probe detection of the robotic arm has not detected the target site.

[0044] S204, if a site tag is detected at the initial site coordinates, it is determined that the probe of the robotic arm has detected and identified the target site.

[0045] Understandably, current coordinates refer to the current position of the robotic arm. Coordinate distance refers to the distance from the current position of the robotic arm to the initial position coordinates. Position tag refers to an electronic tag that can be identified by the probe for that position information, such as an RFID tag.

[0046] Specifically, when controlling the robotic arm to move towards the target location along a preset movement path, the current coordinates of the robotic arm's position are determined using the preset movement path. Then, the distance between the current coordinates of the robotic arm and the initial coordinates of the target location is calculated and defined as the coordinate distance. Next, a preset safety distance is obtained, and the coordinate distance is compared with the preset safety distance to determine whether the preset safety distance has been reached. In one embodiment, a threshold is set before reaching the preset safety distance to determine whether the robotic arm's movement speed has slowed down, ensuring that the preset safety distance is reached. Furthermore, the preset safety distance can be set as a range to ensure that the robotic arm can reach the preset safety distance. If the preset safety distance has not been reached, the robotic arm moves towards the initial location coordinates at its original speed. Further, when the coordinate distance reaches the preset safety distance, the probe of the robotic arm is controlled to identify the location tag at the initial location coordinates. That is, when the probe is an RFID reader, the RFID electronic tag is identified through the RFID reader. If the electronic tag is identified, it is determined that the robotic arm's probe has identified the location tag at the initial location coordinates; if the electronic tag is not identified, it is determined that the robotic arm's probe has not identified the location tag at the initial location coordinates. If no site label is detected at the initial site coordinates, it is determined that the robotic arm's probe detection has not identified the target site. If a site label is detected at the initial site coordinates, it is determined that the robotic arm's probe detection has identified the target site.

[0047] In one embodiment, the reasons why the robotic arm's probe fails to identify the target location include: the target rack shifting (the gravity distribution within the rack is not considered in this embodiment), the probe's position shifting due to grip updates, path deviation during robotic arm movement, or path deviation during robotic arm movement to avoid obstacles. It is understandable that all of the above reasons will result in the target location not being identified according to the preset movement path.

[0048] In one embodiment, the robotic arm is equipped with multiple sensors and cameras to monitor in real time whether obstacles appear on the preset movement path. When an obstacle appears, it is determined whether it is a dynamic or static obstacle. If the obstacle is dynamic, the robotic arm can stop moving and wait for it to move away before continuing along the preset movement path. If the obstacle is static, the height of the static obstacle is identified, and combined with the size of the workpiece to be stacked, a new forward path is determined. After passing the static obstacle, the robotic arm returns to the preset movement path.

[0049] In this embodiment, by setting a safe distance and a probe, the position of the robotic arm is determined and the target location is identified, thereby avoiding collisions between the workpiece and the rack, preventing damage to the workpiece, and improving palletizing efficiency.

[0050] In one embodiment, step S30, namely determining the location of the target site to obtain the current site coordinates corresponding to the target site, includes: S301, Obtain a preset specified distance, and control the probe of the robotic arm to move the probe a preset specified distance according to the preset specified distance, and determine and update the probe position.

[0051] S302, based on the updated probe position, control the probe of the robotic arm to identify the target position of the target material rack according to the preset query path.

[0052] S303, when the probe of the robotic arm identifies the target location, the current location coordinates of the target location are recorded.

[0053] Understandably, the preset specified distance refers to the distance the probe moves outward to locate the site label of the target site. Updating the probe position refers to the position of the probe after moving outward the preset specified distance. The preset query path refers to the pre-set search trajectory for the target site, such as searching clockwise in a circle, searching clockwise in an irregular shape, etc.

[0054] Specifically, when the robotic arm's probe fails to identify the target location, a preset specified distance is obtained, and the probe is moved along a preset direction by that same preset distance to obtain a new probe position, which is then identified as the updated probe position. Next, a preset query path is obtained, and the robotic arm's probe is moved from the updated probe position along this path to identify the target location on the target shelf. If the target location is not identified, the probe is moved outward by twice the preset specified distance, and the probe continues to identify the target location along the preset query path until it is identified, i.e., until the probe identifies the target location's label. When the robotic arm's probe identifies the target location, the current coordinates of that location are recorded. For example, multiple cameras can be used to capture images of the same object from different angles. By calculating the parallax of the same object in the multiple camera images—that is, the positional differences of corresponding points in the images—and combining the positional relationships of the cameras and the geometric model, the three-dimensional coordinates of the target location are calculated.

[0055] In this embodiment, by presetting a specified distance and a preset query path, the target location is found, and the coordinates of the current location are determined, so that the workpiece is accurately placed on the location, thereby improving the efficiency of workpiece stacking.

[0056] In one embodiment, step S40, namely, correcting the preset movement path of the robotic arm using the position offset value to obtain the target movement path, includes: S401, Based on the site offset value, determine the offset data of the target site in each coordinate direction.

[0057] S402, the preset movement path of the robotic arm is corrected according to the offset data of the target position in each coordinate direction to obtain the target movement path corresponding to the coordinates of the current position.

[0058] Intuitively, offset data refers to the offset of the target location in each coordinate direction.

[0059] Specifically, after obtaining the position offset value, the offset data of the target position in each coordinate direction is determined based on the position offset value. That is, the offset amount of the target position in the X-axis, Y-axis, and Z-axis directions is determined by the value of the position offset value and identified as the offset data corresponding to each coordinate direction. Further, the preset movement path of the robotic arm is corrected based on the offset data of the target position in each coordinate direction. This involves adding the offset data in each coordinate direction to the preset movement path, thereby obtaining a new movement path, which is then identified as the target movement path. In another embodiment, after the preset movement path, an offset movement path is added, that is, offset data in each coordinate direction is added between the preset safety distance and the target position to obtain the offset movement path. The target movement path can be obtained by combining the preset movement path and the offset movement path.

[0060] In this embodiment, the offset data in the coordinate direction is determined by the position offset value, thereby correcting the movement path, obtaining the target movement path, and placing the workpiece to be palletized, thus improving the efficiency of workpiece palletizing.

[0061] In one embodiment, before step S40, that is, before instructing the robotic arm to place the workpiece to be palletized at the target position at the current position coordinates according to the target movement path, the method further includes: S403, The workpiece to be stacked is photographed to obtain an image of the workpiece.

[0062] S404, acquire the workpiece placement image of the workpiece to be stacked, determine the image deviation based on the workpiece image and the workpiece placement image, and detect whether the current orientation of the workpiece to be stacked is correct.

[0063] S405, when the current orientation of the workpiece to be stacked is incorrect, the robotic arm is instructed to adjust the orientation of the workpiece to be stacked by the image deviation, so as to obtain the workpiece to be stacked with the updated orientation.

[0064] Understandably, a workpiece image refers to an image of the workpiece to be palletized in its current orientation when gripped by the robotic arm. A workpiece placement image refers to an image of the workpiece to be palletized in its correct orientation when gripped by the robotic arm, for example, when the workpiece is a cutting tool, the blade tip is facing down. This statement is for illustrative purposes only and is not intended to be limiting.

[0065] Specifically, the workpiece to be palletized is photographed using a pre-set imaging device (such as a high-definition CCD camera). This can be done from a fixed angle or multiple angles, with the image selected to determine the workpiece's orientation. Then, based on the workpiece information, a corresponding workpiece placement image is retrieved. This placement image is taken from the same angle as the workpiece image. The workpiece image and placement image are compared to determine the directional deviation angle between the two images, which is then identified as the image deviation. The current orientation of the workpiece is then checked based on this image deviation: if the deviation is zero, the current orientation is correct; otherwise, it is incorrect. When the current orientation is incorrect, the robotic arm is rotated by the image deviation angle to ensure the correct orientation of the workpiece being grasped, resulting in an updated orientation for the workpiece.

[0066] In another embodiment, the center of gravity of the workpiece to be stacked is monitored in real time by the feedback system of the gripper on the robotic arm, and the angle of the workpiece to be stacked is dynamically adjusted according to the monitored center of gravity position to prevent tilting when placing the workpiece.

[0067] In another embodiment, a digital twin model is established based on current environmental data. This involves creating digital twin models of objects such as the target rack, robotic arm, workpieces to be stacked, and obstacles. The digital twin model simulates the movement of the robotic arm grasping the workpieces and placing them on the target rack. It also simulates the robotic arm analyzing the processable surfaces it can grasp, adjusting its center of gravity through feedback from the gripper, and simulating obstacle avoidance or bypassing when obstacles appear on its path. Simultaneously, it simulates the identification and location of target positions, as well as the movement path of the workpieces placed on the target rack. Furthermore, it can simulate the presence of gravity distribution monitoring on the target rack to prevent the workpieces from causing the rack to shift, and adjust the placement of the workpieces if shifts occur.

[0068] In this embodiment, the orientation of the workpiece is detected and the image deviation is calculated by using the workpiece image and the workpiece placement image. This enables the adjustment of the orientation of the workpiece to be stacked, thereby avoiding the inability to place the workpiece due to incorrect orientation and preventing damage to the workpiece.

[0069] In one embodiment, after step S40, that is, after instructing the robotic arm to place the workpiece to be palletized at the target position at the current position coordinates according to the target movement path, the method further includes: S406, obtain the coordinates of the rack corresponding to each rack position in the target rack, and update the position of all rack coordinates according to the position offset value to obtain the updated position coordinates corresponding to each rack position.

[0070] S407, update the preset movement path corresponding to the same material rack position according to the updated position coordinates corresponding to each of the material rack positions to obtain the updated movement path corresponding to each of the material rack positions.

[0071] Understandably, rack coordinates refer to the coordinates of all rack positions in the target rack except for the target position. Updated position coordinates refer to the new coordinates after updating the coordinates of all rack positions in the target rack. Updated movement path refers to the movement path of the robotic arm when storing workpieces after updating the coordinates of all positions in the target rack except for the target position.

[0072] Specifically, after the robotic arm places the workpiece to be stacked into the target position at the current position coordinate according to the target movement path, the coordinate data of all rack positions are determined according to the target rack, and the coordinate data corresponding to each rack position is determined as the rack coordinate. Then, the position of all rack coordinates is updated according to the position offset value, that is, the offset value in the X-axis, Y-axis and Z-axis directions is determined by the position offset value, and then the rack coordinate of each rack position is updated, that is, the data of the rack coordinate in each direction and the offset value in the X-axis, Y-axis and Z-axis directions are summed to obtain the corrected coordinate data, which is determined as the updated position coordinate corresponding to each rack position. Further, the preset movement path corresponding to the same rack position is updated according to the updated position coordinate corresponding to each rack position, that is, the updated position coordinate and the preset movement path corresponding to the same rack position are determined, and then the preset movement path is updated according to the updated position coordinate, that is, the preset movement path is increased by the offset value in the X-axis, Y-axis and Z-axis directions respectively, thus obtaining the updated movement path.

[0073] In another embodiment, the robotic arm is first moved to a preset safe distance according to a preset movement path. Then, at the preset safe distance, the movement amount of the offset value is increased in the X-axis, Y-axis and Z-axis directions respectively to obtain the offset movement path. Finally, by combining the preset movement path and the offset movement path, the updated movement path corresponding to each material rack position can be obtained.

[0074] In this embodiment, the coordinates of the material rack are updated and the coordinates of the updated position are determined by using the position offset value and the material rack coordinates. This enables the updating of the preset movement path and the acquisition of the updated movement path, thereby avoiding the need to search for the position again, facilitating the subsequent palletizing of the workpiece, and improving the efficiency of workpiece palletizing.

[0075] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0076] In one embodiment, a workpiece palletizing and placing device is provided, which corresponds one-to-one with the workpiece palletizing and placing method described in the above embodiments. For example... Figure 2 As shown, the workpiece palletizing and placement device includes a coordinate determination module 10, a position recognition module 20, a position offset module 30, and a path correction module 40. Detailed descriptions of each functional module are as follows: The coordinate determination module 10 is used to acquire workpiece information of the workpiece to be stacked, and determine the initial position coordinates of the workpiece to be stacked based on the workpiece information; the initial position coordinates refer to the coordinates of the target position in the target rack. The site recognition module 20 is used to control the robotic arm to move the workpiece to be stacked toward the target site according to a preset movement path corresponding to the initial site coordinates. When the robotic arm reaches a preset safety distance, the probe of the robotic arm detects whether the target site has been recognized. The preset movement path is generated by the path planning model based on the three-dimensional virtual model corresponding to the robotic arm and the target material rack. The site offset module 30 is used to determine the position of the target site when the probe of the robotic arm does not identify the target site, obtain the current site coordinates corresponding to the target site, and determine the site offset value based on the current site coordinates and the initial site coordinates; The path correction module 40 is used to correct the preset movement path of the robotic arm by using the position offset value to obtain the target movement path, so that the robotic arm can place the workpiece to be stacked in the target position of the current position coordinate according to the target movement path.

[0077] In one embodiment, the coordinate determination module 10 includes: The rack determination unit is used to determine the workpiece type of the workpiece to be stacked based on the workpiece information, and to determine the target rack corresponding to the workpiece to be stacked based on the workpiece type. The idle location unit is used to acquire rack storage information corresponding to the target rack, and determine all idle locations in the target rack based on the rack storage information; The coordinate determination unit is used to filter out target sites from all the available sites and determine the coordinate position of the target site as the initial site coordinates of the workpiece to be stacked.

[0078] In one embodiment, the site identification module 20 includes: The distance detection unit is used to determine the coordinate distance between the current coordinates of the robotic arm and the initial position coordinates of the target position according to the preset movement path, and to detect whether the coordinate distance reaches the preset safety distance. A site recognition unit is used to control the probe of the robotic arm to recognize the site label at the initial site coordinates when the coordinate distance reaches a preset safety distance. The "Site Not Detected" unit is used to determine that the probe detection of the robotic arm has not detected the target site if no site label is detected at the initial site coordinates. The site identification unit is used to determine that the probe detection of the robotic arm has identified the target site if a site tag is identified at the initial site coordinates.

[0079] In one embodiment, the site offset module 30 includes: The probe updating unit is used to obtain a preset specified distance, control the probe of the robotic arm to move the preset specified distance according to the preset specified distance, and determine the updated probe position; The location query unit is used to control the probe of the robotic arm to identify the target location of the target rack according to a preset query path based on the updated probe position. The coordinate recording unit is used to record the current coordinates of the target location when the probe of the robotic arm identifies the target location.

[0080] In one embodiment, the path correction module 40 includes: A site correction unit is used to determine the offset data of the target site in each coordinate direction based on the site offset value; The path correction unit is used to correct the preset movement path of the robotic arm based on the offset data of the target position in each coordinate direction, so as to obtain the target movement path corresponding to the coordinates of the current position.

[0081] In one embodiment, the device further includes: An image capturing unit is used to capture images of the workpiece to be stacked to obtain workpiece images; An orientation detection unit is used to acquire a workpiece placement image of the workpiece to be stacked, determine the image deviation based on the workpiece image and the workpiece placement image, and detect whether the current orientation of the workpiece to be stacked is correct. An orientation adjustment unit is used to, when the current orientation of the workpiece to be stacked is incorrect, instruct the robotic arm to adjust the orientation of the workpiece to be stacked based on the image deviation, thereby obtaining the workpiece to be stacked with an updated orientation.

[0082] In one embodiment, the device further includes: The position update unit is used to obtain the coordinates of the rack corresponding to each rack position in the target rack, and update the position of all rack coordinates according to the position offset value to obtain the updated position coordinates corresponding to each rack position. The path update unit is used to update the preset movement path corresponding to the same material rack position according to the updated position coordinates corresponding to each of the material rack positions, so as to obtain the updated movement path corresponding to each of the material rack positions.

[0083] A computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor being used to perform the above-described workpiece palletizing and placement method.

[0084] Specific limitations regarding the computer equipment, processor, and their various units and modules can be found in the above-described limitations on the workpiece palletizing and placement method, and will not be repeated here. Each module in the aforementioned processor can be implemented entirely or partially through software, hardware, or a combination thereof. Understandably, the processor includes a processor, memory, network interface, and database connected via a device bus. Each module of the processor can be embedded in hardware or independent of the processor, or stored in memory as software, so that the processor can call and execute the operations corresponding to each module. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores operating devices, computer programs, and a database. The internal memory provides an environment for the operation of the operating devices and computer programs in the non-volatile storage media. The database stores the data used in the workpiece palletizing and placement method in the above embodiments. The network interface is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements a workpiece palletizing and placement method.

[0085] In one embodiment, a computer-readable storage medium is provided, the computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described workpiece palletizing and placement method.

[0086] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0087] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is used as an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0088] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A method for stacking and placing workpieces, characterized in that, include: Obtaining workpiece information of a workpiece to be palletized, and determining the initial position coordinates of the workpiece to be palletized based on the workpiece information, includes: determining the workpiece type of the workpiece to be palletized based on the workpiece information, and determining the target rack corresponding to the workpiece to be palletized based on the workpiece type; obtaining rack storage information corresponding to the target rack, and determining all idle positions in the target rack based on the rack storage information; filtering out target positions from all the idle positions, and determining the coordinate position of the target position as the initial position coordinates of the workpiece to be palletized; the initial position coordinates refer to the coordinates of the target position in the target rack; The robotic arm is controlled to move the workpiece to be stacked towards the target location along a preset movement path corresponding to the initial location coordinates. When the robotic arm reaches a preset safety distance, the probe of the robotic arm detects whether the target location has been identified. This includes: determining the coordinate distance between the current coordinates of the robotic arm and the initial location coordinates of the target location based on the preset movement path, and detecting whether the coordinate distance has reached the preset safety distance; when the coordinate distance reaches the preset safety distance, controlling the probe of the robotic arm to identify a location label at the initial location coordinates; if no location label is identified at the initial location coordinates, it is determined that the probe of the robotic arm has not identified the target location; if a location label is identified at the initial location coordinates, it is determined that the probe of the robotic arm has identified the target location; the preset movement path is generated by a path planning model based on a three-dimensional virtual model corresponding to the robotic arm and the target rack. When the probe of the robotic arm fails to identify the target location, the position of the target location is determined to obtain the current location coordinates corresponding to the target location. This includes: acquiring a preset specified distance; controlling the probe of the robotic arm to move the preset specified distance according to the preset specified distance to determine and update the probe position; controlling the probe of the robotic arm to identify the target location of the target rack according to a preset query path according to the updated probe position; when the probe of the robotic arm identifies the target location, recording the current location coordinates of the target location, and determining the location offset value according to the current location coordinates and the initial location coordinates. After correcting the preset movement path of the robotic arm using the position offset value to obtain the target movement path, so that the robotic arm places the workpiece to be stacked in the target position of the current position coordinate according to the target movement path, the method further includes: obtaining the rack coordinates corresponding to each rack position in the target rack, and updating the position of all rack coordinates according to the position offset value to obtain the updated position coordinates corresponding to each rack position; updating the preset movement path corresponding to the same rack position according to the updated position coordinates corresponding to each rack position to obtain the updated movement path corresponding to each rack position.

2. The workpiece stacking and placement method as described in claim 1, characterized in that, The step of correcting the preset movement path of the robotic arm using the position offset value to obtain the target movement path includes: Based on the site offset value, determine the offset data of the target site in each coordinate direction; The preset movement path of the robotic arm is corrected based on the offset data of the target position in each coordinate direction to obtain the target movement path corresponding to the coordinates of the current position.

3. The workpiece stacking and placement method as described in claim 1, characterized in that, Before instructing the robotic arm to place the workpiece to be palletized at the target location at the current location coordinates according to the target movement path, the method further includes: The workpiece to be stacked is photographed to obtain an image of the workpiece; Obtain a workpiece placement image of the workpiece to be stacked; determine the image deviation based on the workpiece image and the workpiece placement image; and detect whether the current orientation of the workpiece to be stacked is correct. When the current orientation of the workpiece to be stacked is incorrect, the robotic arm is instructed to adjust the orientation of the workpiece by means of the image deviation, so as to obtain the workpiece to be stacked with the updated orientation.

4. A workpiece stacking and placement device, characterized in that, The method for stacking and placing workpieces as described in any one of claims 1 to 3 includes: The coordinate determination module is used to acquire workpiece information of the workpiece to be stacked, and determine the initial position coordinates of the workpiece to be stacked based on the workpiece information; the initial position coordinates refer to the coordinates of the target position in the target rack. The site recognition module is used to control the robotic arm to move the workpiece to be stacked toward the target site along a preset movement path corresponding to the initial site coordinates. When the robotic arm reaches a preset safety distance, the probe of the robotic arm detects whether the target site has been identified. The preset movement path is generated by the path planning model based on the three-dimensional virtual model corresponding to the robotic arm and the target material rack. The site offset module is used to determine the position of the target site when the probe of the robotic arm does not recognize the target site, obtain the current site coordinates corresponding to the target site, and determine the site offset value based on the current site coordinates and the initial site coordinates; The path correction module is used to correct the preset movement path of the robotic arm using the position offset value to obtain the target movement path, so that the robotic arm can place the workpiece to be stacked in the target position of the current position coordinates according to the target movement path.

5. A computer device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor being used to perform the workpiece palletizing and placement method as described in any one of claims 1 to 3.

6. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the workpiece palletizing method as described in any one of claims 1 to 3.

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