Robot unstacking and stacking method and device, electronic equipment and storage medium

Abstract

The invention discloses a robot unstacking and stacking method, and belongs to the technical field of industrial robots. Determining an unstacking area and a stacking area of the materials; according to the size parameters of the materials, an unstacking pile and a stacking pile of the materials are simulated and generated; according to the unstacking pile of the materials and the unstacking mode of the materials, an unstacking model of the materials is constructed in the unstacking area; the unstacking model is used for indicating an unstacking track and an unstacking sequence of the robot for unstacking the materials; according to the stacking pile of the materials, the unstacking mode of the materials and the stacking mode of the materials, a stacking model of the materials is constructed in the stacking area; and according to the unstacking model of the materials and the stacking model of the materials, the robot is controlled to unstack and stack the materials. A user only needs to input the material size, the pile type parameters and the operation mode, a complete operation model and a motion instruction can be automatically generated, efficient configuration of unstacking and stacking tasks is achieved, and the method is particularly suitable for industrial scenes such as flexible manufacturing, intelligent storage and logistics sorting which have high requirements for the automation degree.

Description

Technical Field

[0001] This invention belongs to the field of industrial robot technology, specifically relating to a robot depalletizing and palletizing method, device, electronic equipment, and storage medium. Background Technology

[0002] Palletizing is one of the most frequently used functions of industrial robots in the production process. Existing standard palletizing process packages integrated into robot teach pendants typically only pre-set a few fixed pallet types, such as entire rows or entire layers. When faced with irregular palletizing sequences, such as mixed palletizing, placement in specific locations, or irregularly shaped materials, these fixed process packages become unusable. Engineers must then return to the robot's motion programming language and manually write a large amount of complex coordinate calculations, logic loops, and motion instruction code. This process is tedious, error-prone, and difficult to debug, severely limiting the flexibility of the production line and reducing the efficiency of robot depalletizing and palletizing. Summary of the Invention

[0003] The purpose of this invention is to provide a robot depalletizing and palletizing method, apparatus, electronic device, and storage medium that can solve the problem of low efficiency in robot depalletizing and palletizing.

[0004] In a first aspect, embodiments of the present invention provide a robot depalletizing and palletizing method, the method comprising: Obtain the material's size parameters, destacking mode, and stacking mode, and determine the material's destacking area and stacking area; Based on the material's size parameters, simulate and generate the destacking and palletizing stacks of the material; Based on the destacking pile and the destacking pattern of the material, a destacking model of the material is constructed in the destacking area; the destacking model is used to indicate the destacking trajectory and destacking sequence of the robot destacking the material. Based on the material's stacking pattern, destacking pattern, and stacking pattern, a stacking model of the material is constructed in the stacking area; the stacking model is used to indicate the stacking trajectory and stacking sequence of the robot for stacking the material. Based on the destacking model and the palletizing model of the material, the robot is controlled to destacking and palletizing the material.

[0005] Optionally, before controlling the robot to depalletize and stack the material according to the depalletizing model and the stacking model of the material, the method further includes: The distance between the robot's singular surface and the destacking and palletizing of the material is determined; the singular surface is determined based on the robot's joints and posture. The quality of the destacking model of the material is determined based on the distance between the robot's singular surface and the destacking stack of the material. The material stacking model is judged to be qualified based on the distance between the robot's singular surface and the material stack. The step of controlling the robot to depalletize and stack the material according to the depalletizing model and the stacking model of the material includes: If both the depalletizing model and the palletizing model of the material are qualified, the robot is controlled to depalletize and palletize the material according to the depalletizing model and the palletizing model of the material.

[0006] Optionally, constructing a destacking model of the material in the destacking area based on the destacking stack and the destacking pattern of the material includes: Based on the destacking mode of the material, the destacking sequence of the robot on the material is determined, as well as the front point, rear point, and transition point of the robot corresponding to the destacking pile; the front point of the destacking pile is the position when the robot grabs the material, the rear point of the destacking pile is the position where the robot lifts the material after grabbing it, and the transition point of the destacking pile is the position where the robot stops. Based on the destacking sequence of the material by the robot, and the preceding, following, and transition points of the destacking pile corresponding to the robot, a destacking model of the material is constructed in the destacking area.

[0007] Optionally, constructing a palletizing model of the material in the palletizing area based on the material's pallet stack, the material's depalletizing pattern, and the material's palletizing pattern includes: The stacking sequence of the robot for stacking the material is determined based on the destacking mode or the stacking mode of the material. Based on the palletizing pattern of the material, the robot is determined to have a front point, a rear point, and a transition point corresponding to the palletizing stack. The front point of the palletizing stack is the position of the robot before placing the material, the rear point of the palletizing stack is the position of the robot after placing the material and lifting it, and the transition point of the palletizing stack is the position of the robot when it stops. Based on the stacking sequence of the material by the robot, and the front point, back point and transition point of the robot corresponding to the stack, a stacking model of the material is constructed in the stacking area.

[0008] Optionally, determining the depalletizing area and palletizing area of ​​the material includes: Obtain the robot's base coordinate system, the pallet dimensions of the depalletized stack, and the pallet dimensions of the palletized stack; The destacking area and stacking area of ​​the material are determined based on the robot's base coordinate system, the pallet size of the destacking stack, and the pallet size of the stacking stack.

[0009] Optionally, the method further includes: If the destacking model of the material is not qualified, the position of the destacking pile of the material shall be modified so that the destacking model of the material is qualified. If the palletizing model of the material is not qualified, the position of the palletizing stack of the material shall be modified to make the palletizing model of the material qualified.

[0010] Optionally, the shape of the material includes a cube, a cuboid, a cylinder, and a sphere, at least one of which; when the shape of the material is a cube, the dimensional parameter of the material is the side length of the cube; when the shape of the material is a cuboid, the dimensional parameter of the material is the length, width, and height of the cuboid; when the shape of the material is a cylinder, the dimensional parameter of the material is the base radius and height of the cylinder; when the shape of the material is a sphere, the dimensional parameter of the material is the radius of the sphere.

[0011] Secondly, embodiments of the present invention provide a robotic depalletizing and palletizing device, the device comprising: The material information acquisition module is used to acquire the material's size parameters, destacking mode, and stacking mode, and to determine the material's destacking area and stacking area. The material simulation generation module is used to simulate and generate destacking and palletizing of the material based on the material's size parameters. The destacking model construction module is used to construct a destacking model of the material in the destacking area based on the destacking pile and the destacking mode of the material; the destacking model is used to indicate the destacking trajectory and destacking sequence of the robot to destacking the material. The palletizing model construction module is used to construct a palletizing model of the material in the palletizing area based on the material's palletizing stack, the material's depalletizing mode, and the material's palletizing mode; the palletizing model is used to indicate the palletizing trajectory and palletizing sequence of the robot for palletizing the material. The depalletizing and palletizing control module is used to control the robot to depalletize and palletize the material according to the depalletizing model and the palletizing model of the material.

[0012] Optionally, prior to the depalletizing and palletizing control module, the device further includes: A singular distance determination module is used to determine the distance between the singular surface of the robot and the destacking and palletizing stacks of the material; the singular surface is determined based on the robot's joints and posture; The destacking model judgment module is used to determine whether the destacking model of the material is qualified based on the distance between the singular surface of the robot and the destacking pile of the material. The palletizing model judgment module is used to determine whether the palletizing model of the material is qualified based on the distance between the singular surface of the robot and the palletized stack of the material. The depalletizing and palletizing control module includes: The depalletizing and palletizing control submodule is used to control the robot to depalletize and palletize the material based on the depalletizing and palletizing models of the material, provided that both the depalletizing model and the palletizing model of the material are qualified.

[0013] Optionally, the destacking model construction module includes: The destacking sequence determination submodule is used to determine the destacking sequence of the robot on the material according to the destacking mode of the material, as well as the front point, rear point and transition point of the robot corresponding to the destacking pile; the front point of the destacking pile is the position when the robot grabs the material, the rear point of the destacking pile is the position when the robot lifts the material after grabbing it, and the transition point of the destacking pile is the position when the robot stops; The destacking model construction submodule is used to construct a destacking model of the material in the destacking area according to the destacking sequence of the robot destacking the material, and the robot's front point, rear point and transition point corresponding to the destacking pile.

[0014] Optionally, the palletizing model construction module includes: The palletizing sequence determination submodule is used to determine the palletizing sequence of the material by the robot based on the depalletizing mode or the palletizing mode of the material. The machine position determination submodule is used to determine the front point, rear point, and transition point of the robot corresponding to the pallet stack according to the palletizing mode of the material; the front point of the pallet stack is the position of the robot before placing the material, the rear point of the pallet stack is the position of the robot after placing the material and lifting it, and the transition point of the pallet stack is the position of the robot when it stops. The palletizing model construction submodule is used to construct a palletizing model of the material in the palletizing area according to the palletizing sequence of the robot palletizing the material, and the front point, back point and transition point of the robot corresponding to the palletizing stack.

[0015] Optionally, the material information acquisition module includes: The material information acquisition submodule is used to acquire the robot's base coordinate system, the pallet size of the depalletized stack, and the pallet size of the palletized stack. The material area determination submodule is used to determine the destacking area and the palletizing area of ​​the material based on the robot's base coordinate system, the pallet size of the destacking stack, and the pallet size of the palletizing stack.

[0016] Optionally, the device further includes: The destacking position modification module is used to modify the position of the destacking pile of the material so that the destacking model of the material is qualified when the destacking model of the material is unqualified. The palletizing position modification module is used to modify the position of the palletizing stack of the material to make the palletizing model of the material acceptable if the palletizing model of the material is unqualified.

[0017] Optionally, the shape of the material includes a cube, a cuboid, a cylinder, and a sphere, at least one of which; when the shape of the material is a cube, the dimensional parameter of the material is the side length of the cube; when the shape of the material is a cuboid, the dimensional parameter of the material is the length, width, and height of the cuboid; when the shape of the material is a cylinder, the dimensional parameter of the material is the base radius and height of the cylinder; when the shape of the material is a sphere, the dimensional parameter of the material is the radius of the sphere.

[0018] Thirdly, embodiments of the present invention provide an electronic device including a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the steps of the method described in the first aspect.

[0019] Fourthly, embodiments of the present invention provide a readable storage medium on which a program or instructions are stored, which, when executed by a processor, implement the steps of the method described in the first aspect.

[0020] The embodiments of the present invention have the following advantages: This invention can acquire the material's size parameters, destacking mode, and palletizing mode, and determine the material's destacking and palletizing areas; based on the material's size parameters, simulate and generate destacking and palletizing stacks of the material; based on the destacking stacks and destacking modes of the material, construct a destacking model of the material in the destacking area; the destacking model is used to instruct the robot on the destacking trajectory and destacking sequence for destacking the material; based on the material's palletizing stacks, destacking mode, and palletizing mode of the material, construct a palletizing model of the material in the palletizing area; the palletizing model is used to instruct the robot on the palletizing trajectory and palletizing sequence for palletizing the material; based on the material's destacking and palletizing models of the material, control the robot to destacking and palletizing the material. In this embodiment of the invention, users only need to input material size, stacking parameters, and operation mode to automatically generate a complete operation model and motion instructions. Through material size, area, and stacking structure, depalletizing and palletizing task models can be automatically constructed without manual point-by-point teaching. The constructed depalletizing and palletizing models can completely simulate the entire robot operation process in a virtual environment, realizing simulation before execution and reducing the risk of production line downtime. It achieves efficient configuration of depalletizing and palletizing tasks and is particularly suitable for industrial scenarios with high automation requirements, such as flexible manufacturing, intelligent warehousing, and logistics sorting. Attached Figure Description

[0021] Figure 1 This is a flowchart illustrating the steps of a robot depalletizing and palletizing method according to an embodiment of the present invention; Figure 2 This is a flowchart illustrating the steps of another robot depalletizing and palletizing method according to an embodiment of the present invention; Figure 3 This is a logic diagram of a robot depalletizing and palletizing method according to an embodiment of the present invention; Figure 4 This is a structural block diagram of a robot depalletizing and palletizing device according to an embodiment of the present invention.

[0022] Explanation of reference numerals in the attached figures: Robot 1, Robot base coordinate system 2, Robot workspace 3, Palletizing stack 4, Palletizing area 5, Depalletizing stack 6, Depalletizing area 7. Detailed Implementation

[0023] 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 scope of protection of the present invention.

[0024] The terms "first," "second," etc., used in the specification and claims of this invention are used to distinguish similar objects and are not used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention can be implemented in orders other than those illustrated or described herein. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0025] The robot depalletizing and palletizing method provided by the present invention will be described in detail below with reference to the accompanying drawings, through specific embodiments and application scenarios.

[0026] Reference Figure 1 The diagram illustrates a flowchart of a robot depalletizing and palletizing method according to an embodiment of the present invention. The method may specifically include the following steps: Step 101: Obtain the material's size parameters, destacking mode, and stacking mode, and determine the material's destacking area and stacking area. In this embodiment of the invention, the purpose of obtaining the material's dimensional parameters is to establish a geometric model of the material for stacking simulation and pose calculation. For example, if the material is a cuboid, the length (L), width (W), and height (H) are obtained, typically in millimeters (mm); if it is a cube, the side length (a) is obtained; if it is a cylinder, the base radius (r) and height (h) are obtained; and if it is a sphere, the radius (r) is obtained. The material's dimensional parameters can be manually input by the user or measured online using a 3D vision system.

[0027] The purpose of obtaining the destacking mode is to determine the order and strategy for removing materials from the original stack. This can include a default destacking mode and a custom destacking mode. In the default destacking mode, the system automatically sorts materials according to a 3D coordinate system, prioritizing Z-coordinate from high to low. If Z is the same, X-coordinates are sorted from small to large; if X is also the same, Y-coordinates are sorted from small to large. The default destacking mode is suitable for regular, orderly stacking scenarios. In the custom destacking mode, the user can manually specify the destacking sequence number (e.g., 1~N) for each material unit, supporting any order within the same layer. However, the higher layer number must be lower than the lower layer (ensuring the upper layer is destacking first). This is suitable for asymmetric stacks, mixed materials, or scenarios with special process requirements.

[0028] The purpose of obtaining the palletizing pattern is to determine how materials will be stacked on the target pallet, including the default palletizing pattern and the custom palletizing pattern. In the default palletizing pattern, the system can automatically arrange materials by row and column. In the custom palletizing pattern, materials can be placed one by one in the palletizing area according to the depalletizing order or the order specified by the user, realizing complex layouts such as irregular stacks, staggered stacks, and center of gravity optimization.

[0029] The depalletizing and palletizing areas can be determined based on the physical dimensions of the pallet, the robot's workspace, and safe operating boundaries. For example, two cuboid areas can be defined in the robot's base coordinate system: the depalletizing area corresponds to the location of the original material stack on the pallet, and the palletizing area corresponds to the location of the target pallet. The area size can be greater than or equal to the pallet size, typically including a safety margin, and the upper surface of the area can serve as a stacking reference plane.

[0030] Step 102: Based on the material's size parameters, simulate and generate the destacking and palletizing stacks of the material; In this embodiment of the invention, based on known material size parameters, three-dimensional stacking models conforming to actual physical constraints can be automatically generated within defined depalletizing and palletizing areas, namely, depalletized stacks and palletized stacks. The virtual model corresponding to the depalletized stack can include the pose, order, and hierarchy of each material, while the virtual model corresponding to the palletized stack can include the pose and order of each target placement. Furthermore, the virtual model can also include the coordinate set of the center points of all material surface areas, used to generate gripping / placement points, and the mapping relationship between depalletizing and palletizing, such as the i-th depalletized material corresponding to the i-th palletizing position.

[0031] Step 103: Based on the destacking stack and destacking mode of the material, construct a destacking model of the material in the destacking area; the destacking model is used to indicate the destacking trajectory and destacking sequence of the robot to destacking the material. In this embodiment of the invention, the geometry of the destacking stack can be combined with the destacking pattern of the materials to generate a robot-executable instruction, i.e., a destacking model. The instructions of the destacking model may include: which material to destacking, the order of destacking the materials, and the trajectory path of the destacking materials.

[0032] Step 104: Based on the material's stacking, destacking, and stacking patterns, construct a material stacking model in the stacking area; the stacking model is used to indicate the robot's stacking trajectory and stacking sequence for stacking materials. In this embodiment of the invention, the spatial layout, depalletizing mode, and palletizing mode of the palletizing stack can be combined to construct a structured and executable palletizing model. The palletizing model can define the placement order and position of materials, as well as the trajectory of the robot to complete the placement action.

[0033] Step 105: Based on the depalletizing model and the palletizing model of the materials, control the robot to depalletize and palletize the materials.

[0034] In this embodiment of the invention, the depalletizing and palletizing models can be converted into a sequence of motion commands executable by the robot, controlling the robot to complete the complete operation of material gripping, handling, and placement. Specifically, the robot can execute the task according to the following cycle until all materials are processed: move to the initial transition point and enter the work preparation posture; in the depalletizing stage, move to the forward point and perform the gripping action; lift to the rear point, return to the transition point, and safely retreat; in the handling stage, move from the transition point to the placement front point in the palletizing area; in the palletizing stage, move to the placement front point and perform the placement action; lift to the rear point, return to the transition point, and prepare for the next cycle; until all materials are depalletized and palletized, the task ends.

[0035] This invention can acquire the material's size parameters, destacking mode, and palletizing mode, and determine the material's destacking and palletizing areas; based on the material's size parameters, simulate and generate destacking and palletizing stacks of the material; based on the destacking stacks and destacking modes of the material, construct a destacking model of the material in the destacking area; the destacking model is used to instruct the robot on the destacking trajectory and destacking sequence for destacking the material; based on the material's palletizing stacks, destacking mode, and palletizing mode of the material, construct a palletizing model of the material in the palletizing area; the palletizing model is used to instruct the robot on the palletizing trajectory and palletizing sequence for palletizing the material; based on the material's destacking and palletizing models of the material, control the robot to destacking and palletizing the material. In this embodiment of the invention, users only need to input material size, stacking parameters, and operation mode to automatically generate a complete operation model and motion instructions. Through material size, area, and stacking structure, depalletizing and palletizing task models can be automatically constructed without manual point-by-point teaching. The constructed depalletizing and palletizing models can completely simulate the entire robot operation process in a virtual environment, realizing simulation before execution and reducing the risk of production line downtime. It achieves efficient configuration of depalletizing and palletizing tasks and is particularly suitable for industrial scenarios with high automation requirements, such as flexible manufacturing, intelligent warehousing, and logistics sorting.

[0036] Reference Figure 2 The diagram illustrates a flowchart of another robotic depalletizing and palletizing method according to an embodiment of the present invention. The method may specifically include the following steps: Step 201: Obtain the material's size parameters, destacking mode, and stacking mode, and determine the material's destacking area and stacking area. In one embodiment, the step of determining the destacking area and stacking area of ​​the material may further include the following sub-steps: Sub-step S11: Obtain the robot's base coordinate system, the pallet size of the destacking stack, and the pallet size of the stacking stack; Sub-step S12: Determine the destacking area and stacking area of ​​the material based on the robot's base coordinate system, the pallet size of the destacking stack, and the pallet size of the stacking stack.

[0037] In this embodiment of the invention, the robot's base coordinate system can be used as a unified reference, combined with the actual physical dimensions of the pallet, to accurately define the effective boundaries of the depalletizing and palletizing areas in three-dimensional space, providing spatial constraints for subsequent stacking modeling and path planning. The robot's base coordinate system is a global reference system defined after the robot is installed and fixed, with its origin located at the center of the robot's base or a designated installation point. The X, Y, and Z axes conform to the right-hand rule, and all spatial positions are based on this system. The pallet dimensions for a depalletizing stack are as follows: length * width * height = Ld * Wd * Hd = 500 * 500 * 100 mm; the pallet dimensions for a palletizing stack are as follows: length * width * height = Ld * Wd * Hd = 500 * 500 * 100 mm.

[0038] The embodiments of the present invention provide a unified spatial reference through the robot's base coordinate system, avoiding coordinate confusion; the depalletizing area and the palletizing area strictly match the actual pallet, preventing the virtual model from becoming disconnected from reality; the area definition can be automatically completed through the pallet size and position, without the need for point-by-point boundary teaching; when changing the pallet type, only the size and position parameters need to be updated to rebuild the work area.

[0039] Step 202: Based on the material's size parameters, simulate and generate the destacking and palletizing stacks of the material; In one embodiment, the shape of the material includes at least one of a cube, a cuboid, a cylinder, and a sphere; when the shape of the material is a cube, the dimensional parameter of the material is the side length of the cube; when the shape of the material is a cuboid, the dimensional parameter of the material is the length, width, and height of the cuboid; when the shape of the material is a cylinder, the dimensional parameter of the material is the base radius and height of the cylinder; when the shape of the material is a sphere, the dimensional parameter of the material is the radius of the sphere.

[0040] In this embodiment of the invention, destacking and palletizing of materials can be simulated using the material's dimensional parameters. Specifically, if the material is a cuboid, its dimensional parameters are length (L), width (W), and height (H), typically in millimeters (mm); if it is a cube, its dimensional parameters are the side length (a); if it is a cylinder, its dimensional parameters are the base radius (r) and height (h); and if it is a sphere, its dimensional parameter is the radius (r). The material's dimensional parameters can be manually input by the user or measured online using a 3D vision system.

[0041] The depalletizing and palletizing data generated based on the material's size parameters can provide structured input for subsequent robot path planning; it decouples task configuration from the physical environment, improving system flexibility; and it supports rapid switching between different materials, pallets, and processes, adapting to multi-variety, small-batch production.

[0042] Step 203: Based on the destacking stack and destacking mode of the material, construct a destacking model of the material in the destacking area; the destacking model is used to indicate the destacking trajectory and destacking sequence of the robot to destacking the material. In one embodiment, the step of constructing a destacking model of the material in the destacking area based on the destacking stack and the destacking pattern of the material may further include the following sub-steps: Sub-step S21: Based on the destacking mode of the material, determine the destacking sequence of the robot destacking the material, as well as the front point, rear point, and transition point of the robot corresponding to the destacking pile; the front point of the destacking pile is the position when the robot grabs the material, the rear point of the destacking pile is the position after the robot grabs the material and lifts it, and the transition point of the destacking pile is the position when the robot stops; Sub-step S22: Based on the destacking sequence of the material by the robot, and the front point, back point and transition point of the robot corresponding to the destacking pile, construct the destacking model of the material in the destacking area.

[0043] In this embodiment of the invention, the destacking sequence, i.e., the order in which materials are removed, can be determined according to the destacking mode. The preceding point, following point, and transition point for each material are integrated within the destacking area to construct an executable destacking model. Specifically, the preceding point is located at the pre-grab hovering point, a certain height directly above the center of the material's upper surface, preventing the gripper from colliding with the stack and ensuring a smooth approach; the gripping point is located at the center of the material's upper surface, the position where the gripping action is performed; the following point is the post-grab lifting point, a certain height directly above the gripping point, ensuring the material is completely detached from the original stack and avoiding dragging; the transition point is a global safety point for the robot to pause and transfer between different material operations, used to simplify path planning, avoid obstacles, and improve cycle stability.

[0044] Destacking modes can include a default destacking mode and a custom destacking mode. In the default destacking mode, the system automatically sorts materials according to a 3D coordinate system, prioritizing Z-coordinate from high to low. If Z-coordinates are the same, X-coordinates are sorted from small to large; if X-coordinates are also the same, Y-coordinates are sorted from small to large. The default destacking mode is suitable for regular, orderly stacking scenarios. In the custom destacking mode, users can manually specify the destacking sequence number (e.g., 1~N) for each material unit, supporting any order within the same layer. However, the higher-level destacking number must be lower than the lower-level number (ensuring the upper layer is destacking first). This is suitable for asymmetric stacking, mixed materials, or scenarios with special process requirements.

[0045] The embodiments of the present invention can avoid collisions through pre-point and post-point, and ensure path smoothness through transition points; it can also support regular and irregular stacking patterns to meet the needs of multiple scenarios; it eliminates the need for manual teaching of each grab point, greatly shortening debugging time.

[0046] Step 204: Based on the material's stacking, destacking, and stacking patterns, construct a material stacking model in the stacking area; the stacking model is used to indicate the robot's stacking trajectory and stacking sequence for stacking materials. In one embodiment, the step of constructing a palletizing model of the material in the palletizing area based on the material's pallet stack, the material's depalletizing pattern, and the material's palletizing pattern may further include the following sub-steps: Sub-step S31: Determine the stacking sequence of the material by which the robot stacks the material according to the destacking mode or the stacking mode of the material. Sub-step S32: Based on the palletizing pattern of the material, determine the front point, rear point, and transition point of the palletizing pile corresponding to the robot; the front point of the palletizing pile is the position before the robot places the material, the rear point of the palletizing pile is the position after the robot places the material and lifts it, and the transition point of the palletizing pile is the position when the robot stops. Sub-step S33: Based on the stacking sequence of the robot stacking the materials, and the front point, rear point and transition point of the corresponding stacking pile of the robot, construct the stacking model of the materials in the stacking area.

[0047] In this embodiment of the invention, the palletizing sequence and key placement trajectory points corresponding to each target position can be determined based on the material's palletizing pattern and depalletizing sequence. These key points include the pre-positioning point, placement point, post-positioning point, and transition point. The pre-positioning point is a hovering point before placement, located at a certain height directly above the center of the upper surface of the target placement position to avoid impacting already stacked materials and ensure a smooth approach. The placement point is the center point of the upper surface of the target material, the position where the release action is performed. The post-positioning lifting point is located at a certain height directly above the placement point to ensure the gripper's safe withdrawal and prevent material from being carried away. The transition point is a global safety transfer point, the position where the robot pauses between different placement tasks, used to simplify the path, avoid obstacles, and improve cycle stability.

[0048] The embodiments of this invention support first-to-first-to-pack or process-driven reordering; the front and back points of the palletizing stack can avoid collisions with already stacked materials; it is compatible with various scenarios such as regular stacks, staggered stacks, and irregular stacks; no point-by-point teaching is required, and parametric modeling greatly shortens the debugging time.

[0049] Step 205: Determine the distance between the robot's singular surface and the destacking and palletizing stacks of materials; the singular surface is determined based on the robot's joints and posture. Step 206: Determine whether the destacking model of the material is qualified based on the distance between the robot's singular surface and the destacking stack of the material; determine whether the palletizing model of the material is qualified based on the distance between the robot's singular surface and the palletizing stack of the material. Step 207: If both the depalletizing model and the palletizing model of the material are qualified, control the robot to depalletize and palletize the material according to the depalletizing model and the palletizing model of the material. In this embodiment of the invention, the accessibility and safety of the destacking and stacking models can be verified by analyzing the spatial distance between the singular surface and the work stack; the robot is only allowed to perform actual operations when both pass the verification, thereby avoiding loss of control, overspeed or mechanical damage caused by entering the singular configuration.

[0050] A robot singular surface is a surface or region in the robot's workspace formed by a set of poses whose joint configuration results in a Jacobian matrix rank deficiency (non-invertible). Common types (taking a six-axis industrial robot as an example): wrist singularity, with axes 4, 5, and 6 collinear; elbow singularity, with axes 2 and 3 collinear (upper arm and forearm extended or folded); shoulder singularity, with axes 1, 2, and 3 coplanar (vertical pose near the base). Singular surfaces can be approximately represented by sampling and generating discrete singular point clouds in Cartesian space using the robot's kinematic model.

[0051] In this embodiment of the invention, the distance between the center point of the upper surface of the material and the sampled singular points can be compared. If the minimum distance Dmin between the center point of the upper surface of the material and all sampled singular points is greater than a preset value, the verification is passed. Otherwise, the destacking or palletizing model of the material is deemed qualified. This can prevent the robot from entering a singular configuration, which could lead to a sudden increase in joint speed, vibration, or shutdown.

[0052] Step 208: If the destacking model of the material is unqualified, modify the position of the destacking pile of the material to make the destacking model of the material qualified; if the palletizing model of the material is unqualified, modify the position of the palletizing pile of the material to make the palletizing model of the material qualified.

[0053] In this embodiment of the invention, when a depalletizing or palletizing model is deemed unqualified due to its proximity to a robot singularity, the problematic material and its corresponding trajectory point can be highlighted, and an automatic / semi-automatic correction process can be initiated to adjust the spatial position of the material pile. The model is then regenerated and verified until the safety distance requirement is met. This can reduce production line interruptions caused by singularity alarms, identify potential problems in the virtual stage, and avoid trial and error on-site.

[0054] This invention can acquire the material's size parameters, destacking mode, and palletizing mode, and determine the material's destacking and palletizing areas; based on the material's size parameters, simulate and generate destacking and palletizing stacks of the material; based on the destacking stacks and destacking modes of the material, construct a destacking model of the material in the destacking area; the destacking model is used to instruct the robot on the destacking trajectory and destacking sequence for destacking the material; based on the material's palletizing stacks, destacking mode, and palletizing mode of the material, construct a palletizing model of the material in the palletizing area; the palletizing model is used to instruct the robot on the palletizing trajectory and palletizing sequence for palletizing the material; based on the material's destacking and palletizing models of the material, control the robot to destacking and palletizing the material. In this embodiment of the invention, users only need to input material size, stacking parameters, and operation mode to automatically generate a complete operation model and motion instructions. Through material size, area, and stacking structure, depalletizing and palletizing task models can be automatically constructed without manual point-by-point teaching. The constructed depalletizing and palletizing models can completely simulate the entire robot operation process in a virtual environment, realizing simulation before execution and reducing the risk of production line downtime. It achieves efficient configuration of depalletizing and palletizing tasks and is particularly suitable for industrial scenarios with high automation requirements, such as flexible manufacturing, intelligent warehousing, and logistics sorting.

[0055] Reference Figure 3 The diagram illustrates a logic diagram of a robot depalletizing and palletizing method according to an embodiment of the present invention. To enable those skilled in the art to better understand the embodiments of the present invention, the following explanation is provided. Figure 3 The embodiments of the present invention are described below: 1. Define the palletizing space: such as Figure 3 The present invention shows a robot 1 generated by simulation. With the robot base coordinate system 2 as a reference, the robot workspace 3 is set with a depalletizing area 7 and a palletizing area 5 according to the height and size of the pallet.

[0056] If the actual depalletizing pallet is 0.5 meters long, 0.5 meters wide, and 0.1 meters high, then a 500*500*100 cuboid needs to be created within the robot's workspace, with the top surface of the cuboid serving as the depalletizing area. Similarly, if the palletizing pallet is 0.5 meters long, 0.5 meters wide, and 0.1 meters high, then a 500*500*100 cuboid needs to be created within the robot's workspace, with the top surface of the cuboid serving as the palletizing area.

[0057] 2. Custom material model: Generate material units through function packages.

[0058] Material units include cubes, cuboids, cylinders, and spheres (unit: mm). When selecting a cube, you need to enter the side length; when selecting a cuboid, you need to enter the length, width, and height; when selecting a cylinder, you need to enter the radius and height; when selecting a sphere, you need to enter the radius. After creation, the corresponding material unit will be automatically generated in the space.

[0059] 3. Custom Destacking Stack: Model units created through the function package can be copied to build a destacking stack 6, which can use either the default destacking or custom destacking functions.

[0060] If a custom destacking method is used, the models in the destacking stack need to be labeled sequentially, and the pose of each target point needs to be recorded. Preceding points, trailing points, and transition points should be set as required. If the default destacking method is used, the system will automatically sort the models and set preceding points, trailing points, and transition points as needed.

[0061] The robot is positioned as follows: **Front Point:** Set at a certain distance directly above the center point of the material's upper surface to be grasped. For example, if the center point of the material unit's upper surface is P1(x, y, z), and the front point is set to 50, then the front point is P(x, y, z + 50). **Back Point:** Set at a certain distance directly above the center point of the material's upper surface after grasping it. For example, if the center point of the material unit's upper surface is P1(x, y, z), and the back point is set to 50, then the front point is P(x, y, z + 50). **Transition Point:** The robot first reaches the transition point before reaching the front point. After reaching the back point, the robot returns to the transition point. The transition point requires manual teaching by the robot.

[0062] When selecting the custom destacking mode, custom destacking is limited to material units on the same layer. The stack can be labeled sequentially as needed, with destacking proceeding from top to bottom, and higher-layer labels always taking precedence over lower-layer labels. For example, in a 2*2*2 destacking stack, the four material units on the upper layer can be arbitrarily labeled 1, 2, 3, and 4, while the lower layer can be arbitrarily labeled 5, 6, 7, and 8. Destacking will proceed in the order of 1-8.

[0063] When the default depalletizing mode is selected, the coordinates of the center point P*(x, y, z) of the upper surface of each material unit in the robot's base coordinate system will be recorded. Depalletizing will proceed in the following order: the material with the largest z value will be depalletized first; if z values ​​are the same, the material with the smallest x value will be depalletized first; if z and x values ​​are the same, the material with the smallest y value will be depalletized first.

[0064] 4. Custom palletizing stack model: The model unit created by the function package can be used to build a palletizing stack 4, which can use either the default palletizing or custom palletizing functions.

[0065] If custom palletizing is used, the corresponding model will be generated according to the annotation order in the custom depalletizing stack. The palletizing stack will be modeled according to the requirements. After modeling is completed, the pose P corresponding to each target point will be recorded, and the preceding point, following point, and transition point will be set according to the requirements. If the default palletizing is used, the first entry point of the palletizing stack needs to be set, the number of X, Y, and Z directions in the current workpiece coordinate system needs to be set, and the preceding point, following point, and transition point will be set according to the requirements.

[0066] When a custom palletizing mode is selected, material units in the depalletized stack will be generated and arranged in a custom order from the bottom to the top to complete the palletized stack modeling.

[0067] When selecting the default palletizing mode (adaptive rule palletizing), you need to set it as the first material unit placement point of the palletizing stack, determine the workpiece coordinate system direction for palletizing reference, and set the number of layers in the z direction, the number of items in the x direction, and the number of items in the y direction. The system will then palletize from the bottom layer upwards, starting from the first material unit placement point, according to the custom or default depalletizing order.

[0068] 5. Process verification: Before generating complete motion instructions, the target points in the palletizing and depalletizing stacks are verified.

[0069] Industrial six-axis robots have three singularities in their workspace: wrist, elbow, and shoulder. The set of singularities in these three poses is called a singular surface. The singular surface is sampled at a certain sampling interval. The distance between the center point of the upper surface of the material unit and the sampled point is compared. If the minimum distance Dmin between the center point of the upper surface of the material unit and all sampled singularities is greater than a preset value, the verification is passed; otherwise, it fails.

[0070] 6. If the verification passes, the user clicks "Generate and Execute", and the built-in compiler of the feature package begins to work.

[0071] It automatically generates motion commands and sends them to the robot controller for execution. If a failure occurs, the model is modified based on the color feedback of the palletized and depalletized stack models in space. The corresponding material unit can be found based on the failed point, and the material unit is highlighted in red. Subsequently, the detection is recompiled by modifying the position of the unit.

[0072] This invention overcomes the core technical challenges of traditional palletizing process packages, such as poor adaptability to programming irregular and arbitrary palletizing tasks and complex underlying code writing. It provides a solution within a teach pendant, enabling engineers to intuitively and quickly deploy arbitrarily complex palletizing tasks without programming. By transforming complex programming into graphical configuration, it significantly reduces the technical threshold and training costs for operators. It supports completely free palletizing sequence planning, allowing for rapid response to product changeovers and process modifications, greatly improving production line flexibility. Through a spatial visualization interface, debugging is more convenient, significantly shortening the time required to write palletizing programs.

[0073] It should be noted that the robot depalletizing and palletizing method provided in this embodiment of the invention can be executed by a robot depalletizing and palletizing device, or a control module in the robot depalletizing and palletizing device for executing the loading robot depalletizing and palletizing method. This embodiment of the invention uses the execution of the loading robot depalletizing and palletizing method by a robot depalletizing and palletizing device as an example to illustrate the robot depalletizing and palletizing method provided in this embodiment of the invention.

[0074] Reference Figure 4 The diagram illustrates a structural block diagram of a robotic depalletizing and palletizing device according to an embodiment of the present invention. The device includes: The material information acquisition module 301 is used to acquire the size parameters, destacking mode and stacking mode of the material, and to determine the destacking area and stacking area of ​​the material. The material simulation generation module 302 is used to simulate and generate the destacking and palletizing of the material based on the size parameters of the material. The destacking model construction module 303 is used to construct a destacking model of the material in the destacking area based on the destacking pile and the destacking mode of the material; the destacking model is used to indicate the destacking trajectory and destacking sequence of the robot destacking the material. The palletizing model construction module 304 is used to construct a palletizing model of the material in the palletizing area based on the palletizing stack, the depalletizing mode, and the palletizing mode of the material; the palletizing model is used to indicate the palletizing trajectory and palletizing sequence of the robot for palletizing the material. The depalletizing and palletizing control module 305 is used to control the robot to depalletize and palletize the material according to the depalletizing model and the palletizing model of the material.

[0075] Optionally, prior to the depalletizing and palletizing control module, the device further includes: A singular distance determination module is used to determine the distance between the singular surface of the robot and the destacking and palletizing stacks of the material; the singular surface is determined based on the robot's joints and posture; The destacking model judgment module is used to determine whether the destacking model of the material is qualified based on the distance between the singular surface of the robot and the destacking pile of the material. The palletizing model judgment module is used to determine whether the palletizing model of the material is qualified based on the distance between the singular surface of the robot and the palletized stack of the material. The depalletizing and palletizing control module includes: The depalletizing and palletizing control submodule is used to control the robot to depalletize and palletize the material based on the depalletizing and palletizing models of the material, provided that both the depalletizing model and the palletizing model of the material are qualified.

[0076] Optionally, the destacking model construction module includes: The destacking sequence determination submodule is used to determine the destacking sequence of the robot on the material according to the destacking mode of the material, as well as the front point, rear point and transition point of the robot corresponding to the destacking pile; the front point of the destacking pile is the position when the robot grabs the material, the rear point of the destacking pile is the position when the robot lifts the material after grabbing it, and the transition point of the destacking pile is the position when the robot stops; The destacking model construction submodule is used to construct a destacking model of the material in the destacking area according to the destacking sequence of the robot destacking the material, and the robot's front point, rear point and transition point corresponding to the destacking pile.

[0077] Optionally, the palletizing model construction module includes: The palletizing sequence determination submodule is used to determine the palletizing sequence of the material by the robot based on the depalletizing mode or the palletizing mode of the material. The machine position determination submodule is used to determine the front point, rear point, and transition point of the robot corresponding to the pallet stack according to the palletizing mode of the material; the front point of the pallet stack is the position of the robot before placing the material, the rear point of the pallet stack is the position of the robot after placing the material and lifting it, and the transition point of the pallet stack is the position of the robot when it stops. The palletizing model construction submodule is used to construct a palletizing model of the material in the palletizing area according to the palletizing sequence of the robot palletizing the material, and the front point, back point and transition point of the robot corresponding to the palletizing stack.

[0078] Optionally, the material information acquisition module includes: The material information acquisition submodule is used to acquire the robot's base coordinate system, the pallet size of the depalletized stack, and the pallet size of the palletized stack. The material area determination submodule is used to determine the destacking area and the palletizing area of ​​the material based on the robot's base coordinate system, the pallet size of the destacking stack, and the pallet size of the palletizing stack.

[0079] Optionally, the device further includes: The destacking position modification module is used to modify the position of the destacking pile of the material so that the destacking model of the material is qualified when the destacking model of the material is unqualified. The palletizing position modification module is used to modify the position of the palletizing stack of the material to make the palletizing model of the material acceptable if the palletizing model of the material is unqualified.

[0080] Optionally, the shape of the material includes a cube, a cuboid, a cylinder, and a sphere, at least one of which; when the shape of the material is a cube, the dimensional parameter of the material is the side length of the cube; when the shape of the material is a cuboid, the dimensional parameter of the material is the length, width, and height of the cuboid; when the shape of the material is a cylinder, the dimensional parameter of the material is the base radius and height of the cylinder; when the shape of the material is a sphere, the dimensional parameter of the material is the radius of the sphere.

[0081] This invention can acquire the material's size parameters, destacking mode, and palletizing mode, and determine the material's destacking and palletizing areas; based on the material's size parameters, simulate and generate destacking and palletizing stacks of the material; based on the destacking stacks and destacking modes of the material, construct a destacking model of the material in the destacking area; the destacking model is used to instruct the robot on the destacking trajectory and destacking sequence for destacking the material; based on the material's palletizing stacks, destacking mode, and palletizing mode of the material, construct a palletizing model of the material in the palletizing area; the palletizing model is used to instruct the robot on the palletizing trajectory and palletizing sequence for palletizing the material; based on the material's destacking and palletizing models of the material, control the robot to destacking and palletizing the material. In this embodiment of the invention, users only need to input material size, stacking parameters, and operation mode to automatically generate a complete operation model and motion instructions. Through material size, area, and stacking structure, depalletizing and palletizing task models can be automatically constructed without manual point-by-point teaching. The constructed depalletizing and palletizing models can completely simulate the entire robot operation process in a virtual environment, realizing simulation before execution and reducing the risk of production line downtime. It achieves efficient configuration of depalletizing and palletizing tasks and is particularly suitable for industrial scenarios with high automation requirements, such as flexible manufacturing, intelligent warehousing, and logistics sorting.

[0082] The robot depalletizing and palletizing device in this embodiment of the invention can be a device, or a component, integrated circuit, or chip in a terminal. The device can be a mobile electronic device or a non-mobile electronic device. For example, mobile electronic devices can be mobile phones, tablets, laptops, PDAs, in-vehicle electronic devices, wearable devices, ultra-mobile personal computers (UMPCs), netbooks, or personal digital assistants (PDAs), etc., while non-mobile electronic devices can be servers, network-attached storage (NAS), personal computers (PCs), televisions (TVs), ATMs, or self-service machines, etc. This embodiment of the invention does not impose specific limitations.

[0083] The robotic depalletizing and palletizing device in this embodiment of the invention can be a device with an operating system. This operating system can be Android, iOS, or other possible operating systems; this embodiment of the invention does not impose specific limitations.

[0084] The robotic depalletizing and palletizing device provided in this embodiment of the invention can achieve Figures 1 to 3 The various processes implemented by the robot depalletizing and palletizing device in the method embodiment will not be described again here to avoid repetition.

[0085] Optionally, embodiments of the present invention also provide an electronic device, including a processor, a memory, and a program or instructions stored in the memory and executable on the processor. When executed by the processor, the program or instructions implement the various processes of the above-described robot depalletizing and palletizing method embodiments and achieve the same technical effects. To avoid repetition, further details are omitted here. It should be noted that the electronic device in the embodiments of the present invention includes the aforementioned mobile electronic device and non-mobile electronic device.

[0086] This invention also provides a readable storage medium storing a program or instructions. When the program or instructions are executed by a processor, they implement the various processes of the above-described robot depalletizing and palletizing method embodiments and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0087] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0088] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of the present invention is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0089] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0090] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other modifications under the guidance of the present invention without departing from the spirit and scope of the claims, and all of these modifications are within the protection scope of the present invention.

Claims

1. A robotic de-palletizing and palletizing method, characterized by, The method comprises: acquiring size parameters, unstacking mode and stacking mode of the material, and determining unstacking area and stacking area of the material; generating unstacking pile and stacking pile of the material according to the size parameters of the material; constructing unstacking model of the material in the unstacking area according to the unstacking pile of the material and the unstacking mode of the material; the unstacking model is used to indicate unstacking trajectory and unstacking sequence of the robot for unstacking the material; constructing stacking model of the material in the stacking area according to the unstacking pile of the material, the unstacking mode of the material and the stacking mode of the material; the stacking model is used to indicate stacking trajectory and stacking sequence of the robot for stacking the material; controlling the robot to unstack and stack the material according to the unstacking model of the material and the stacking model of the material.

2. The robotic de-palletizing and palletizing method of claim 1, wherein, Before the controlling the robot to unstack and stack the material according to the unstacking model of the material and the stacking model of the material, the method further comprises: determining distance between singular surface of the robot and the unstacking pile and the stacking pile of the material; the singular surface is determined according to joint and posture of the robot; judging whether the unstacking model of the material is qualified according to the distance between the singular surface of the robot and the unstacking pile of the material; judging whether the stacking model of the material is qualified according to the distance between the singular surface of the robot and the stacking pile of the material; the controlling the robot to unstack and stack the material according to the unstacking model of the material and the stacking model of the material, comprising: in the case that the unstacking model of the material and the stacking model of the material are both qualified, controlling the robot to unstack and stack the material according to the unstacking model of the material and the stacking model of the material.

3. The robotic de-palletizing and palletizing method of claim 1, wherein, the constructing the unstacking model of the material in the unstacking area according to the unstacking pile of the material and the unstacking mode of the material, comprising: determining unstacking sequence of the robot for unstacking the material, and pre-position point, post-position point and transition point of the robot corresponding to the unstacking pile according to the unstacking mode of the material; the pre-position point of the unstacking pile is the position of the robot for grabbing the material, the post-position point of the unstacking pile is the position of the robot for lifting after grabbing the material, and the transition point of the unstacking pile is the position of the robot for stopping; constructing the unstacking model of the material in the unstacking area according to the unstacking sequence of the robot for unstacking the material, and the pre-position point, the post-position point and the transition point of the robot corresponding to the unstacking pile.

4. The robotic de-palletizing and palletizing method of claim 1, wherein, the constructing the stacking model of the material in the stacking area according to the unstacking pile of the material, the unstacking mode of the material and the stacking mode of the material, comprising: determining stacking sequence of the robot for stacking the material according to the unstacking mode of the material or the stacking mode of the material; According to the stacking mode of the material, the robot is determined to correspond to the pre-position point, the post-position point and the transition point of the stacking pile; the pre-position point of the stacking pile is the position of the robot before placing the material, the post-position point of the stacking pile is the position of the robot after placing the material, and the transition point of the stacking pile is the position of the robot when stopping; According to the stacking sequence of the robot for stacking the material and the pre-position point, the post-position point and the transition point of the robot corresponding to the stacking pile, the stacking model of the material is constructed in the stacking area.

5. The robotic de-palletizing and palletizing method of claim 1, wherein, The method further comprises: obtaining the base coordinate system of the robot, the tray size of the unstacking pile and the tray size of the stacking pile; According to the base coordinate system of the robot, the tray size of the unstacking pile and the tray size of the stacking pile, the unstacking area and the stacking area of the material are determined.

6. The robotic de-palletizing and palletizing method of claim 2, wherein, The method further comprises: In the case that the unstacking model of the material is unqualified, the position of the unstacking pile of the material is modified to make the unstacking model of the material qualified; In the case that the stacking model of the material is unqualified, the position of the stacking pile of the material is modified to make the stacking model of the material qualified.

7. The robotic de-palletizing and palletizing method of claim 1, wherein, The shape of the material includes at least one of a cube, a cuboid, a cylinder and a sphere; in the case that the shape of the material is a cube, the size parameter of the material is the edge length of the cube; in the case that the shape of the material is a cuboid, the size parameter of the material is the length, the width and the height of the cuboid; In the case that the shape of the material is a cylinder, the size parameter of the material is the radius of the bottom surface and the height of the cylinder; In the case that the shape of the material is a sphere, the size parameter of the material is the radius of the sphere.

8. A robotic de-palletizing and palletizing apparatus, characterized by, The device comprises: a material information acquisition module, configured to acquire the size parameter, the unstacking mode and the stacking mode of the material, and determine the unstacking area and the stacking area of the material; a material simulation generation module, configured to simulate the unstacking pile and the stacking pile of the material according to the size parameter of the material; an unstacking model construction module, configured to construct the unstacking model of the material in the unstacking area according to the unstacking pile of the material and the unstacking mode of the material; the unstacking model is used to indicate the unstacking trajectory and the unstacking sequence of the robot for unstacking the material; a stacking model construction module, configured to construct the stacking model of the material in the stacking area according to the stacking pile of the material, the unstacking mode of the material and the stacking mode of the material; the stacking model is used to indicate the stacking trajectory and the stacking sequence of the robot for stacking the material; an unstacking and stacking control module, configured to control the robot to unstack and stack the material according to the unstacking model of the material and the stacking model of the material.

9. An electronic device, comprising: The device comprises a processor, a memory and a program or instruction stored on the memory and executable on the processor, and the program or instruction is executed by the processor to implement the steps of the robot unstacking and stacking method as claimed in claims 1-7.

10. A readable storage medium, characterized by, The program or instruction is stored on the readable storage medium, and when executed by the processor, the program or instruction implements the steps of the robot de-stacking and stacking method as claimed in claims 1-7.

Images