Pallet positioning method and device for mobile palletizing equipment and electronic equipment

Abstract

The application discloses a kind of mobile palletizing equipment's stacking disc positioning method, device and electronic equipment, wherein the method comprises: obtaining a plurality of stacking disc images corresponding to mobile palletizing equipment;Determine a plurality of stacking disc position parameters corresponding to a plurality of stacking disc images one by one;Determine the position association relationship of a plurality of stacking disc position parameters with target camera parameters respectively;According to the position association relationship of a plurality of stacking disc position parameters with target camera parameters respectively, determine a plurality of equipment position parameters corresponding to mobile palletizing equipment;According to the plurality of equipment position parameters corresponding to mobile palletizing equipment, control mobile palletizing equipment to carry out stacking disc positioning.The present application solves the technical problem of insufficient palletizing accuracy caused by inaccurate stacking disc positioning in the process of mobile palletizing of mobile palletizing equipment in the related art.

Description

Technical Field

[0001] This invention relates to the field of mobile palletizing equipment, and more specifically, to a pallet positioning method, apparatus, and electronic device for mobile palletizing equipment. Background Technology

[0002] In related technologies, a palletizing origin is typically defined on the pallet, and all subsequent materials are stacked based on this origin. The palletizing origin can be understood as a coordinate system established at a fixed point on the pallet. In fixed palletizing, since the relative positions of the pallet and the robotic arm are fixed, there is no need to recalculate the pose transformation of the palletizing origin relative to the robotic arm each time. However, during the palletizing process of a composite robot (i.e., a mobile palletizing device), each time the automated guided vehicle (AGV) of the composite robot arrives at the palletizing station, the pallet positioning is inaccurate due to the positioning error of the AGV. Therefore, in related technologies, mobile palletizing devices suffer from insufficient palletizing accuracy due to inaccurate pallet positioning during mobile palletizing.

[0003] There is currently no effective solution to the above problems. Summary of the Invention

[0004] This invention provides a pallet positioning method, apparatus, and electronic device for mobile palletizing equipment, to at least solve the technical problem in the related art where insufficient palletizing accuracy is caused by inaccurate pallet positioning during the mobile palletizing process.

[0005] According to one aspect of the present invention, a pallet positioning method for a mobile palletizing device is provided, comprising: acquiring a plurality of pallet images corresponding to the mobile palletizing device, wherein the plurality of pallet images have a temporal correlation; determining a plurality of pallet position parameters corresponding one-to-one with the plurality of pallet images; determining positional correlations between the plurality of pallet position parameters and target camera parameters, wherein the target camera parameters are used to represent camera position features of a target camera included in the mobile palletizing device; determining a plurality of device position parameters corresponding to the mobile palletizing device based on the positional correlations between the plurality of pallet position parameters and target camera parameters, wherein the plurality of device position parameters correspond one-to-one with the plurality of pallet position parameters; and controlling the mobile palletizing device to perform pallet positioning based on the plurality of device position parameters corresponding to the mobile palletizing device.

[0006] Optionally, controlling the mobile palletizing device to perform pallet positioning based on multiple device position parameters corresponding to the mobile palletizing device includes: determining multiple feature code pose parameters corresponding to pallet feature codes based on the multiple device position parameters corresponding to the mobile palletizing device, wherein the pallet feature code is used to identify the target pallet corresponding to the mobile palletizing device, the pallet feature code is set on the target pallet, and the multiple feature code pose parameters correspond one-to-one with the multiple device position parameters; and controlling the mobile palletizing device to perform pallet positioning based on the multiple feature code pose parameters corresponding to the pallet feature code.

[0007] Optionally, determining the multiple feature code pose parameters corresponding to the pallet feature code based on the multiple device position parameters corresponding to the mobile palletizing device includes: determining a first coordinate system and a second coordinate system corresponding to the mobile palletizing device, wherein the first coordinate system is a coordinate system with the target camera as the origin, and the second coordinate system is a coordinate system with the robotic arm included in the mobile palletizing device as the origin; determining multiple first pose parameters corresponding to the pallet feature code in the first coordinate system based on the multiple device position parameters corresponding to the mobile palletizing device, wherein the multiple first pose parameters correspond one-to-one with the multiple device position parameters; determining multiple second pose parameters corresponding to the pallet feature code in the second coordinate system based on the multiple first pose parameters corresponding to the pallet feature code, wherein the multiple second pose parameters correspond one-to-one with the multiple device position parameters; and determining multiple feature code pose parameters corresponding to the pallet feature code based on the multiple second pose parameters corresponding to the pallet feature code.

[0008] Optionally, controlling the mobile palletizing device to perform pallet positioning based on multiple feature code pose parameters corresponding to the pallet feature code includes: determining a palletizing scene corresponding to the mobile palletizing device; determining a target pose parameter corresponding to the mobile palletizing device in the palletizing scene from the multiple feature code pose parameters; determining a deviation index between the pose parameter to be adjusted and the target pose parameter, wherein the multiple feature code pose parameters include the pose parameter to be adjusted; and controlling the mobile palletizing device to perform pallet positioning based on the deviation index between the pose parameter to be adjusted and the target pose parameter.

[0009] Optionally, determining multiple second pose parameters corresponding to the pallet feature code in the second coordinate system based on multiple first pose parameters corresponding to the pallet feature code includes: determining the coordinate transformation relationship between the first coordinate system and the second coordinate system; and determining multiple second pose parameters corresponding to the pallet feature code in the second coordinate system based on the coordinate transformation relationship and the multiple first pose parameters corresponding to the pallet feature code.

[0010] Optionally, controlling the mobile palletizing device to perform pallet positioning based on the deviation index between the pose parameter to be adjusted and the target pose parameter includes: correcting the pose parameter to be adjusted based on the deviation index to obtain a corrected pose parameter; and controlling the mobile palletizing device to perform pallet positioning according to the corrected pose parameter.

[0011] Optionally, controlling the mobile palletizing device to perform pallet positioning based on multiple device position parameters corresponding to the mobile palletizing device includes: determining time parameters corresponding to the multiple device position parameters, wherein the corresponding time parameters are used to reflect the characteristics of the corresponding device position parameters in the time dimension; determining a first correction index corresponding to the device position parameter under a first time parameter according to the execution order of the multiple time parameters; determining a second correction index corresponding to the device position parameter under a next time parameter based on the first correction index and the device position parameter under the next time parameter, until the multiple time parameters are processed to obtain the correction index corresponding to the multiple device position parameters; and controlling the mobile palletizing device to perform pallet positioning based on the multiple device position parameters corresponding to the mobile palletizing device and the correction index corresponding to the multiple device position parameters.

[0012] According to one aspect of the present invention, a pallet positioning device for a mobile palletizing equipment is provided, comprising: an acquisition module for acquiring a plurality of pallet images corresponding to the mobile palletizing equipment, wherein the plurality of pallet images have a temporal correlation relationship; a first determination module for determining a plurality of pallet position parameters corresponding one-to-one with the plurality of pallet images; a second determination module for determining the positional correlation relationship between the plurality of pallet position parameters and target camera parameters, wherein the target camera parameters are used to represent the camera position features of a target camera included in the mobile palletizing equipment; a third determination module for determining a plurality of equipment position parameters corresponding to the mobile palletizing equipment based on the positional correlation relationship between the plurality of pallet position parameters and the target camera parameters, wherein the plurality of equipment position parameters correspond one-to-one with the plurality of pallet position parameters; and a fourth determination module for controlling the mobile palletizing equipment to perform pallet positioning based on the plurality of equipment position parameters corresponding to the mobile palletizing equipment.

[0013] According to one aspect of the present invention, an electronic device is provided, comprising: a processor; and a memory for storing processor-executable instructions; wherein the processor is configured to execute the instructions to implement the pallet positioning method of the mobile palletizing device as described in any of the preceding claims.

[0014] According to one aspect of the present invention, a computer-readable storage medium is provided, comprising: when instructions in the computer-readable storage medium are executed by a processor of an electronic device, enabling the electronic device to perform the pallet positioning method of the mobile palletizing device described in any of the preceding claims.

[0015] In this embodiment of the invention, multiple pallet images corresponding to a mobile palletizing device are acquired, wherein there is a temporal correlation among the multiple pallet images; multiple pallet position parameters corresponding one-to-one with the multiple pallet images are determined; the positional correlation between the multiple pallet position parameters and target camera parameters is determined, wherein the target camera parameters are used to represent the camera position features of the target camera included in the mobile palletizing device; based on the positional correlation between the multiple pallet position parameters and the target camera parameters, multiple device position parameters corresponding to the mobile palletizing device are determined, wherein the multiple device position parameters correspond one-to-one with the multiple pallet position parameters; based on the multiple device position parameters corresponding to the mobile palletizing device, the mobile palletizing device is controlled to perform pallet positioning. By acquiring multiple time-correlated images of pallets, the spatial positional changes of the pallets relative to the mobile palletizing equipment can be captured. This makes the subsequently determined pallet position parameters more complete and timely. By correlating the positional parameters of the pallets with the target camera parameters, the positional parameters of the mobile palletizing equipment can be accurately determined. This provides an accurate quantitative basis for the pallet positioning control of the mobile palletizing equipment, ultimately achieving dynamic and precise positioning of the pallets. This solves the technical problem in related technologies where inaccurate pallet positioning during mobile palletizing operations leads to insufficient palletizing accuracy. Attached Figure Description

[0016] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0017] Figure 1 This is a flowchart of a pallet positioning method for a mobile palletizing device according to an embodiment of the present invention;

[0018] Figure 2 This is a schematic diagram of the pallet positioning structure of the mobile palletizing equipment in an optional embodiment of the present invention;

[0019] Figure 3 This is a flowchart of the pallet positioning method of the mobile palletizing equipment in an optional embodiment of the present invention;

[0020] Figure 4 This is a structural block diagram of the pallet positioning device of a mobile palletizing equipment according to an embodiment of the present invention. Detailed Implementation

[0021] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0022] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0023] Example 1

[0024] According to an embodiment of the present invention, an embodiment of a pallet positioning method for a mobile palletizing device is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0025] Figure 1 This is a flowchart of a pallet positioning method for a mobile palletizing device according to an embodiment of the present invention, such as... Figure 1 As shown, the method includes the following steps:

[0026] S102, acquire multiple pallet images corresponding to the mobile palletizing device, wherein there is a time correlation between the multiple pallet images.

[0027] In step S102 of this application, multiple pallet images corresponding to the mobile palletizing device are obtained.

[0028] This involves mobile palletizing equipment, which is a mobile device used for palletizing. This mobile palletizing equipment can be a composite robot, including an automated guided vehicle (AGV), a robotic arm, and a camera. The AGV can carry the robotic arm and move within the workshop to different palletizing stations to complete the material handling tasks.

[0029] This involves multiple pallet images, which are multiple images of the same target pallet taken at different times under the field of view of the same camera (the camera is included in the mobile palletizing equipment), and are used to capture the positional changes of the pallet relative to the camera.

[0030] This involves a temporal correlation, which represents the relationship between multiple pallet images over time. For example, these images are acquired sequentially, with each later image referencing a previous one, allowing for comparison of the pose differences of the same feature code at different times. Specifically, the time corresponding to this temporal correlation can be the time before and after the mobile palletizing equipment picks up the goods.

[0031] By acquiring multiple pallet images corresponding to the mobile palletizing equipment, and specifically focusing on the time before and after the mobile palletizing equipment picks up the goods, a data foundation is provided for subsequent pallet positioning.

[0032] S104, determine multiple pallet position parameters that correspond one-to-one with multiple pallet images.

[0033] In step S104 of this application, multiple pallet position parameters corresponding one-to-one with multiple pallet images are determined.

[0034] This involves multiple pallet position parameters, which represent the positions of pallet feature codes corresponding to each of the multiple pallet images. In other words, it determines the position of the pallet feature code corresponding to each pallet image.

[0035] The acquired multiple pallet images are used as examples, specifically the first image and the second image. The first image records the position of the feature code (i.e., the pallet position parameter) when the composite robot is in the reference position. The second image records the position of the feature code (i.e., the pallet position parameter) after the composite robot leaves the reference position and returns from retrieving materials.

[0036] Determining multiple pallet position parameters that correspond one-to-one with multiple pallet images enables the capture of spatial feature information of pallets at different points in time, providing a precise data foundation for subsequent pallet positioning and ensuring that mobile palletizing equipment can dynamically adjust its posture based on these parameters to achieve high-precision palletizing operations.

[0037] S106, determine the positional association between multiple pallet position parameters and target camera parameters, wherein the target camera parameters are used to represent the camera position characteristics of the target cameras included in the mobile palletizing equipment.

[0038] In step S106 of this application, the positional association between multiple pallet position parameters and target camera parameters is determined.

[0039] This involves target camera parameters, which are field-of-view parameters of the target camera (hereinafter referred to as the camera) installed on the mobile palletizing equipment, including the center position of the camera's field of view.

[0040] This involves location correlation, which is the spatial relationship between multiple pallet position parameters and target camera parameters.

[0041] This involves a target camera, which is a camera used on mobile palletizing equipment to capture images of pallets.

[0042] This involves camera position features, which are used to represent the position features of the target camera. For example, the position feature of the camera's field of view center can be represented by the coordinates of the camera's field of view center.

[0043] Determining the positional correlation between multiple pallet position parameters and target camera parameters aims to clarify the precise spatial correspondence between pallets and the target camera on the mobile palletizing equipment at different positions. This provides accurate positional basis from the camera's perspective for subsequent pallet positioning, ensuring the accuracy of palletizing operations.

[0044] S108, based on the positional association between multiple pallet position parameters and target camera parameters, determine multiple device position parameters corresponding to the mobile palletizing device, wherein the multiple device position parameters correspond one-to-one with the multiple pallet position parameters.

[0045] In step S108 provided in this application, multiple device position parameters corresponding to the mobile palletizing device are determined based on the positional association between multiple pallet position parameters and target camera parameters.

[0046] This involves multiple device position parameters, which correspond one-to-one with multiple pallet position parameters and represent the spatial position and orientation of the mobile palletizing equipment at different times.

[0047] By establishing the spatial correspondence between the pallet and the camera, the spatial position and orientation of the mobile palletizing equipment at different times can be accurately determined, thus providing a reliable basis for the precise positioning and palletizing operation of the equipment.

[0048] S110 controls the mobile palletizing equipment to position pallets based on multiple equipment position parameters corresponding to the mobile palletizing equipment.

[0049] In step S110 provided in this application, the mobile palletizing equipment is controlled to position the pallet according to multiple equipment position parameters corresponding to the mobile palletizing equipment.

[0050] This involves pallet positioning, which is the process of adjusting the posture of the mobile palletizing equipment according to multiple equipment position parameters so that the robotic arm can accurately reach the target pallet position and perform material grabbing and placing operations.

[0051] The multiple device position parameters corresponding to the mobile palletizing equipment can comprehensively reflect the device position information. Based on the device position information, the posture of the robotic arm can be adjusted to ensure that it accurately reaches the target pallet position and completes the material gripping and placement, thereby improving the accuracy and stability of the palletizing operation.

[0052] Through the above steps S102-S110, multiple pallet images corresponding to the mobile palletizing device are acquired, wherein there is a temporal correlation between the multiple pallet images; multiple pallet position parameters corresponding one-to-one with the multiple pallet images are determined; the positional correlation between the multiple pallet position parameters and the target camera parameters is determined, wherein the target camera parameters are used to represent the camera position characteristics of the target camera included in the mobile palletizing device; based on the positional correlation between the multiple pallet position parameters and the target camera parameters, multiple device position parameters corresponding to the mobile palletizing device are determined, wherein the multiple device position parameters correspond one-to-one with the multiple pallet position parameters; based on the multiple device position parameters corresponding to the mobile palletizing device, the mobile palletizing device is controlled to perform pallet positioning. By acquiring multiple time-correlated images of pallets, the spatial positional changes of the pallets relative to the mobile palletizing equipment can be captured. This makes the subsequently determined pallet position parameters more complete and timely. By correlating the positional parameters of the pallets with the target camera parameters, the positional parameters of the mobile palletizing equipment can be accurately determined. This provides an accurate quantitative basis for the pallet positioning control of the mobile palletizing equipment, ultimately achieving dynamic and precise positioning of the pallets. This solves the technical problem in related technologies where inaccurate pallet positioning during mobile palletizing operations leads to insufficient palletizing accuracy.

[0053] As an optional embodiment, the mobile palletizing device is controlled to perform pallet positioning based on multiple device position parameters corresponding to the mobile palletizing device. This includes: determining multiple feature code pose parameters corresponding to the pallet feature code based on the multiple device position parameters corresponding to the mobile palletizing device, wherein the pallet feature code is used to identify the target pallet corresponding to the mobile palletizing device, the pallet feature code is set on the target pallet, and the multiple feature code pose parameters correspond one-to-one with the multiple device position parameters; and controlling the mobile palletizing device to perform pallet positioning based on the multiple feature code pose parameters corresponding to the pallet feature code.

[0054] This embodiment describes the specific steps for controlling the mobile palletizing device to position pallets based on multiple device position parameters corresponding to the mobile palletizing device.

[0055] This involves pallet feature codes, which are patterns or codes used to uniquely identify target pallets for pallet positioning.

[0056] This involves multiple feature code pose parameters, which correspond one-to-one with multiple device position parameters, representing the spatial position and attitude parameters of the pallet feature code under different device positions.

[0057] This involves the target pallet, which is the pallet used by the mobile palletizing equipment for palletizing operations.

[0058] Equipment position parameters can reflect the position and orientation of the mobile palletizing equipment in the global coordinate system. By determining multiple pose parameters of the pallet feature code based on the multiple equipment position parameters corresponding to the mobile palletizing equipment, the position and orientation of the pallet feature code in space can be accurately reflected. Thus, based on the multiple feature code pose parameters, the mobile palletizing equipment can be accurately controlled to position the pallet.

[0059] As an optional embodiment, based on multiple device position parameters corresponding to the mobile palletizing device, determining multiple feature code pose parameters corresponding to the pallet feature code includes: determining a first coordinate system and a second coordinate system corresponding to the mobile palletizing device, wherein the first coordinate system is a coordinate system with the target camera as the origin, and the second coordinate system is a coordinate system with the robotic arm included in the mobile palletizing device as the origin; determining multiple first pose parameters corresponding to the pallet feature code in the first coordinate system based on the multiple device position parameters corresponding to the mobile palletizing device, wherein the multiple first pose parameters correspond one-to-one with the multiple device position parameters; determining multiple second pose parameters corresponding to the pallet feature code in the second coordinate system based on the multiple first pose parameters corresponding to the pallet feature code, wherein the multiple second pose parameters correspond one-to-one with the multiple device position parameters; and determining multiple feature code pose parameters corresponding to the pallet feature code based on the multiple second pose parameters corresponding to the pallet feature code.

[0060] This embodiment describes the specific steps for determining the pose parameters of multiple feature codes corresponding to pallet feature codes based on multiple device position parameters corresponding to the mobile palletizing device.

[0061] This involves a first coordinate system, which is a coordinate system with the target camera as the origin, used to reflect the spatial position and attitude from the camera's perspective.

[0062] This involves a second coordinate system, which is a coordinate system with the robotic arm of the mobile palletizing equipment as the origin. It is used to reflect the spatial position and posture from the perspective of the robotic arm. Specifically, it can be a coordinate system with the base of the robotic arm as the origin, such as the coordinate system of the end flange of the robotic arm.

[0063] This involves a robotic arm, which is a mechanical structure on a mobile palletizing device that performs material handling operations.

[0064] This involves multiple first-order pose parameters, which are the spatial position and attitude parameters of the pallet feature code corresponding to multiple device position parameters in the first coordinate system.

[0065] This involves multiple second pose parameters, which are the spatial position and attitude parameters of the pallet feature code relative to the robotic arm obtained by transforming the first pose parameter to the second coordinate system through coordinate transformation.

[0066] By defining the first (camera coordinate system) and the second (robotic arm coordinate system) coordinate systems, a unified spatial reference can be established from different perspectives. By calculating the first pose parameter in the first coordinate system using the equipment position parameters, the real-time position of the pallet feature code from the camera's perspective can be accurately obtained. Transforming the first pose parameter to the second coordinate system to obtain the second pose parameter enables spatial alignment between the robotic arm and the pallet. The final determined feature code pose parameters provide the robotic arm with precise coordinates for direct gripping and placing operations. Thus, through multi-coordinate system transformation and parameter mapping, the dynamic error problem of pallet positioning during equipment movement is solved, ensuring the accuracy and stability of palletizing operations.

[0067] As an optional embodiment, the mobile palletizing device is controlled to perform pallet positioning based on multiple feature code pose parameters corresponding to the pallet feature code, including: determining the palletizing scene corresponding to the mobile palletizing device; determining the target pose parameter corresponding to the mobile palletizing device in the palletizing scene from the multiple feature code pose parameters; determining the deviation index between the pose parameter to be adjusted and the target pose parameter, wherein the multiple feature code pose parameters include the pose parameter to be adjusted; and controlling the mobile palletizing device to perform pallet positioning based on the deviation index between the pose parameter to be adjusted and the target pose parameter.

[0068] This embodiment describes the specific steps for controlling a mobile palletizing device to position pallets based on multiple feature code pose parameters corresponding to the pallet feature codes.

[0069] This involves palletizing scenarios, which refer to the specific working environment or task mode of the mobile palletizing equipment. These scenarios define the target area and operating conditions for equipment positioning, serving as the benchmark conditions for selecting target pose parameters. For example, different palletizing scenarios correspond to different reference positions.

[0070] This involves target pose parameters, which are the ideal spatial position and orientation parameters of the pallet feature codes selected from multiple feature code pose parameters in a palletizing scenario, perfectly matching the current position and task requirements of the mobile palletizing equipment. These target pose parameters ensure that materials can be accurately placed at the predetermined position on the target pallet. They are pre-set based on the requirements of the palletizing task and are typically associated with the ideal position and orientation of the pallet feature codes.

[0071] This involves the pose parameters to be adjusted, which are the spatial position and attitude parameters of the pallet feature code actually detected by the mobile palletizing equipment or robotic arm at the current moment, and are used to compare with the target pose parameters.

[0072] This involves a deviation index, which is a comprehensive error index obtained by quantifying the spatial position deviation and attitude angle deviation between the pose parameters to be adjusted and the target pose parameters. This index is used to guide the mobile palletizing equipment in making precise adjustments. In other words, the deviation index is the amount of difference between the pose parameters to be adjusted and the target pose parameters, used to quantify the deviation between the current pose and the desired pose.

[0073] Determining the palletizing scenario clarifies the target area and operating conditions for equipment positioning, providing a benchmark for selecting suitable target pose parameters. Matching the target pose parameters from multiple feature code pose parameters ensures that the robotic arm acquires an ideal pallet pose that perfectly matches the current task requirements. By calculating the deviation index between the pose parameters to be adjusted and the target pose parameters, the error between the actual pose and the desired pose can be quantified. Finally, controlling the equipment adjustment based on the deviation index can eliminate positioning errors, achieve high-precision pallet positioning, and thus ensure that materials are accurately placed in the predetermined position.

[0074] As an optional embodiment, based on the multiple first pose parameters corresponding to the pallet feature code, determining the multiple second pose parameters corresponding to the pallet feature code in the second coordinate system includes: determining the coordinate transformation relationship between the first coordinate system and the second coordinate system; and based on the coordinate transformation relationship, determining the multiple second pose parameters corresponding to the pallet feature code in the second coordinate system.

[0075] This embodiment describes the specific steps for determining multiple second pose parameters corresponding to the pallet feature code in the second coordinate system based on multiple first pose parameters corresponding to the pallet feature code.

[0076] This involves coordinate transformation relationships, which are spatial mapping relationships between the first coordinate system and the second coordinate system. These relationships can be represented by homogeneous transformation matrices, rotation and translation vectors, etc., and are used to convert the first pose parameter of the pallet feature code in the camera coordinate system into the second pose parameter in the robot arm coordinate system.

[0077] Determining the coordinate transformation relationship between the first and second coordinate systems allows for the establishment of a spatial association between the camera's viewpoint and the robotic arm's viewpoint. Based on this transformation relationship, the first pose parameter of the pallet feature code is converted to the robotic arm's coordinate system, which eliminates positioning errors caused by differences in the references of different coordinate systems. This enables the robotic arm to obtain precise pose data that can be directly executed, thereby ensuring the spatial alignment accuracy of material gripping and placing during palletizing operations.

[0078] As an optional embodiment, the mobile palletizing device is controlled to perform pallet positioning based on the deviation index between the pose parameters to be adjusted and the target pose parameters, including: correcting the pose parameters to be adjusted based on the deviation index to obtain corrected pose parameters; and controlling the mobile palletizing device to perform pallet positioning according to the corrected pose parameters.

[0079] This embodiment describes the specific steps for controlling the mobile palletizing device to position the pallet based on the deviation index between the pose parameters to be adjusted and the target pose parameters.

[0080] This involves correcting the pose parameters, which are new pose data that are closer to the target pose parameters obtained by fusing the pose parameters to be adjusted with the deviation index (such as pose compensation or reverse error correction). This is used to eliminate the deviation between the actual pose and the desired pose, and to ensure that the mobile palletizing equipment can accurately control the robotic arm to adjust to the target pallet position.

[0081] By correcting the pose parameters based on the deviation index, the difference between the actual detected pose and the target ideal pose can be eliminated through the error compensation mechanism, generating more accurate corrected pose parameters. Controlling the moving palletizing equipment according to these corrected parameters can ensure that the robotic arm performs positioning adjustments with minimal deviation, thereby improving the spatial accuracy and operational stability of pallet stacking, and ultimately achieving efficient and reliable automated palletizing operations.

[0082] As an optional embodiment, the mobile palletizing device is controlled to perform pallet positioning based on multiple device position parameters corresponding to the mobile palletizing device. This includes: determining time parameters corresponding to the multiple device position parameters, wherein the corresponding time parameters are used to reflect the characteristics of the corresponding device position parameters in the time dimension; determining a first correction index corresponding to the device position parameter under a first time parameter according to the execution order of the multiple time parameters; determining a second correction index corresponding to the device position parameter under a next time parameter based on the first correction index and the device position parameter under the next time parameter, until the multiple time parameters are processed to obtain the correction index corresponding to the multiple device position parameters; and controlling the mobile palletizing device to perform pallet positioning based on the multiple device position parameters corresponding to the mobile palletizing device and the correction index corresponding to the multiple device position parameters.

[0083] This embodiment describes the specific steps for controlling the mobile palletizing device to position pallets based on multiple device position parameters corresponding to the mobile palletizing device.

[0084] This involves a time parameter, which is a timestamp or time sequence identifier used to mark the time when each device location parameter is collected, reflecting the dynamic characteristics of the device location changing over time.

[0085] This involves features in the time dimension, which are the continuity, trend of change, or motion pattern of the device position parameters at different points in time, used to capture the temporal dependencies during the device's movement.

[0086] This involves a first correction index, which is a first-round compensation amount used to adjust the current position based on the deviation between the device position parameters under the initial time parameters and the target positioning.

[0087] This involves a second correction index, which is a second round of compensation amount obtained by combining the first correction index and the device position parameters under the next time parameters, for further optimization of positioning.

[0088] This involves a correction index, which is a dynamic compensation value for each device position parameter obtained by integrating the correction process under all time parameters. This value is used to eliminate accumulated errors in the time dimension and ensure the spatiotemporal consistency of pallet positioning.

[0089] Determining the time parameters corresponding to the equipment position parameters allows us to capture the temporal characteristics of equipment movement and provide a time reference for dynamic correction. Calculating the first correction index in chronological order can eliminate initial positioning deviations, and combining it with subsequent time parameters to generate a second correction index enables continuous optimization based on time dependence. Finally, by integrating the correction indices at all time points to generate a dynamic compensation value, we can effectively eliminate accumulated errors in the time dimension, ensuring that the equipment position parameters are adjusted synchronously with time changes, thereby improving the pallet positioning accuracy and spatiotemporal consistency of mobile palletizing equipment in dynamic environments.

[0090] Based on the above embodiments and optional embodiments, an optional implementation method is provided, which is described in detail below.

[0091] In related technologies, a palletizing origin is typically defined on the pallet, and all subsequent materials are stacked based on this origin. The palletizing origin can be understood as a coordinate system established at a fixed point on the pallet. In fixed palletizing, since the relative positions of the pallet and the robotic arm are fixed, there is no need to recalculate the pose transformation of the palletizing origin relative to the robotic arm each time. However, during the palletizing process of a composite robot (i.e., a mobile palletizing device), each time the automated guided vehicle (AGV) of the composite robot arrives at the palletizing station, the pallet positioning is inaccurate due to the positioning error of the AGV. Therefore, in related technologies, mobile palletizing devices suffer from insufficient palletizing accuracy due to inaccurate pallet positioning during mobile palletizing.

[0092] In view of this, an optional embodiment of the present invention provides a pallet positioning method for a mobile palletizing device, which can also be called a visually guided pallet positioning method, and can effectively solve the above-mentioned technical problems.

[0093] Figure 2 This is a schematic diagram of the pallet positioning structure of a mobile palletizing device in an optional embodiment of the present invention, as shown below. Figure 2 As shown, the camera is fixed to the end of the robotic arm via a connecting plate, and the feature code is fixed to the corner of the material pallet, while ensuring that the feature code is within the camera's field of view below. To achieve this, the accuracy and stability of the palletization are ensured by measuring the precise position of the material pallet relative to the end of the robotic arm, i.e., calculating the positional relationship between the palletization origin and the robotic arm. Specifically, when the end of the robotic arm, along with the camera, is located at the dotted line position (reference position), the feature code is positioned in the center of the camera's field of view.

[0094] Figure 3 This is a flowchart of a pallet positioning method for a mobile palletizing device in an optional embodiment of the present invention, as shown below. Figure 3 As shown below, a detailed description will be provided.

[0095] The process involves: acquiring multiple pallet images corresponding to the mobile palletizing device, wherein the multiple pallet images have a temporal correlation; determining multiple pallet position parameters that correspond one-to-one with the multiple pallet images; determining the positional correlation between the multiple pallet position parameters and target camera parameters, wherein the target camera parameters represent the camera positional features of the target cameras included in the mobile palletizing device; determining multiple device position parameters corresponding to the mobile palletizing device based on the positional correlation between the multiple pallet position parameters and the target camera parameters, wherein the multiple device position parameters correspond one-to-one with the multiple pallet position parameters; and controlling the mobile palletizing device to perform pallet positioning based on the multiple device position parameters corresponding to the mobile palletizing device.

[0096] The first and second images obtained from multiple pallet images are used as examples. The first image records the position of the feature code (i.e., the pallet position parameter) when the composite robot is at the reference position. The second image records the position of the feature code (i.e., the pallet position parameter) after the composite robot leaves the reference position and returns from picking up the material. Due to positioning errors in the AGV, the current position of the feature code in the camera coordinate system is often not accurately centered in the camera's field of view. For example, in actual mobile palletizing operations, the composite robot typically leaves the reference position to pick up material at another workstation and then transfers the material to the palletizing workstation. Due to positioning errors in the AGV chassis, when the AGV arrives at the picking station, its coordinate position will deviate from the reference position. This also means that the relative positional relationship between the robotic arm and the pallet palletizing origin has changed. To correct this positional error, the camera is used again to photograph the feature code (resulting in the second image).

[0097] Furthermore, based on multiple device position parameters corresponding to the mobile palletizing equipment, the mobile palletizing equipment is controlled to perform pallet positioning, including:

[0098] The process involves: determining a first coordinate system and a second coordinate system corresponding to the mobile palletizing equipment; determining multiple first pose parameters corresponding to the pallet feature code in the first coordinate system based on multiple equipment position parameters corresponding to the mobile palletizing equipment; determining the coordinate transformation relationship between the first and second coordinate systems; determining multiple second pose parameters corresponding to the pallet feature code in the second coordinate system based on the coordinate transformation relationship and the multiple first pose parameters corresponding to the pallet feature code; and determining multiple feature code pose parameters corresponding to the pallet feature code based on the multiple second pose parameters. The pallet feature code is used to identify the target pallet corresponding to the mobile palletizing equipment, and the pallet feature code is set on the target pallet. The multiple feature code pose parameters correspond one-to-one with the multiple equipment position parameters. The process involves: determining the palletizing scenario corresponding to the mobile palletizing device; identifying the target pose parameter corresponding to the mobile palletizing device within the palletizing scenario from multiple feature code pose parameters (and further, from multiple second pose parameters); determining the deviation index between the pose parameter to be adjusted and the target pose parameter, wherein the multiple feature code pose parameters include the pose parameter to be adjusted (and correspondingly, the corrected pose parameter is the second pose parameter corresponding to the second image among multiple second pose parameters); correcting the pose parameter to be adjusted based on the deviation index to obtain the corrected pose parameter; and controlling the mobile palletizing device to perform pallet positioning according to the corrected pose parameter.

[0099] For the first image:

[0100] Based on the location of the camera attached to the robotic arm at the green dashed line (reference position), determine the reference pose (i.e., the first pose parameter corresponding to the first image) of the feature code in the camera coordinate system (i.e., the first coordinate system) in the first image. For example, move the AGV chassis and robotic arm to the reference position to ensure that the feature code is within the camera's field of view. Take a picture with the camera to obtain an image of the feature code (i.e., the first image). The pose of the feature code in the camera coordinate system (i.e., the first pose parameter) can be obtained through a pose estimation method (not limited to template matching) in the template matching system. This is denoted as... .

[0101] Recorded reference pose Let be the pose (i.e., the first pose parameter corresponding to the first image) in the feature code camera coordinate system (i.e., the first coordinate system). This reference pose is then converted into the pose (i.e., the second pose parameter corresponding to the first image) of the feature code relative to the robot arm base (i.e., the second coordinate system). Let the pose of the robot arm's end flange relative to the base when the robot arm is in the reference position be . .

[0102] Based on the relationships between the coordinate transformations (i.e., the coordinate transformation relationship between the first and second coordinate systems), the pose of the feature code relative to the robot base at the reference position can be obtained. (That is, the target pose parameters) are:

[0103]

[0104] in, This represents the coordinate transformation of the camera coordinate system relative to the end flange coordinate system of the robotic arm (that is, the coordinate transformation relationship between the first coordinate system and the second coordinate system). It refers to the coordinate transformation posture of the end flange of the robotic arm relative to the robot base when recording the reference pose.

[0105] Because the camera and the end flange of the robotic arm are rigidly connected, this coordinate transformation will not change due to changes in the position of the end flange of the robotic arm. .

[0106] in, This indicates the coordinate transformation relationship when there is a rigid connection between the camera and the end flange of the robotic arm, which can be obtained through camera hand-eye calibration.

[0107] For the first image:

[0108] In actual mobile palletizing operations, the composite robot typically leaves its reference position to retrieve materials from another workstation, and then transfers the materials to the palletizing workstation. Due to positioning errors in the AGV chassis, when the AGV arrives at the retrieval station, its coordinate position will deviate from the reference position. This also means that the relative positional relationship between the robotic arm and the palletizing origin has changed. To correct this positional error, the camera is used again to photograph the feature code (obtaining a second image). Using a pose estimation algorithm (not limited), the latest pose of the feature code relative to the camera coordinate system (i.e., the first coordinate system) can be obtained. (That is, the first pose parameter corresponding to the second image). Similarly, the pose of the feature code relative to the camera coordinate system is transformed into the pose relative to the robot arm base (that is, the second pose parameter corresponding to the second image), which is the pose parameter to be adjusted. for:

[0109]

[0110] in, The pose transformation of the camera relative to the end flange (i.e., the coordinate transformation relationship between the first coordinate system and the second coordinate system) is as described above. .

[0111] After obtaining the reference position and the pose of the feature code relative to the robotic arm base after the composite robot leaves the material-picking area and returns, respectively, the following are obtained: and Subsequently, in order to correct the position of the flange at the end of the robotic arm, so that after the composite robot leaves and returns, the relative positional relationship between the palletizing origin and the robotic arm is equivalent to the amount of motion compensation and correction (i.e., the deviation index) required by the robotic arm when it is in the reference position. for:

[0112]

[0113] Then, based on the deviation index, the pose parameters to be adjusted are corrected to obtain the corrected pose parameters; according to the corrected pose parameters, the moving palletizing equipment is controlled to position the pallet.

[0114] Furthermore, controlling the mobile palletizing device to perform pallet positioning based on multiple device position parameters corresponding to the mobile palletizing device may further include: determining time parameters corresponding to the multiple device position parameters, wherein the corresponding time parameters are used to reflect the characteristics of the corresponding device position parameters in the time dimension; determining a first correction index corresponding to the device position parameter under the first time parameter according to the execution order of the multiple time parameters; determining a second correction index corresponding to the device position parameter under the next time parameter based on the first correction index and the device position parameter under the next time parameter, until the multiple time parameters are processed to obtain the correction index corresponding to the multiple device position parameters; and controlling the mobile palletizing device to perform pallet positioning based on the multiple device position parameters corresponding to the mobile palletizing device and the correction index corresponding to the multiple device position parameters.

[0115] Furthermore, various algorithms can be employed to calculate the pose of the feature code relative to the camera, such as template matching and the Perspective-n-Point (PnP) algorithm. All relevant object pose estimation algorithms should be included in the process of obtaining the feature code pose relative to the camera coordinate system in this proposal. Among them, the PnP algorithm is a pose estimation method used to calculate the rigid body pose of the camera coordinate system relative to a set of known 3D spatial points and their 2D projection positions on the image.

[0116] Furthermore, the design of the feature code can have multiple options, such as a cross with black text on a white background, and there is no limitation.

[0117] Based on the above steps, the relative position of the palletizing origin to the robotic arm can be calculated using a camera on the mobile palletizing device, thereby guiding the robotic arm to perform motion correction and ultimately achieving stable and accurate material stacking operation.

[0118] The above optional implementation methods can achieve at least the following beneficial effects:

[0119] (1) Compared with related technologies, the present invention can provide a time-series data basis for subsequent analysis by acquiring multiple pallet images with temporal correlation; determine the corresponding pallet position parameters to clarify the spatial position of the pallet at each time; determine the positional correlation between the pallet position parameters and the target camera parameters to establish a spatial mapping between the pallet and the camera; determine the equipment position parameters based on this correlation to convert the pallet position information into positioning data that the equipment can execute; finally, control the positioning of the palletizing equipment based on the equipment position parameters to achieve high-precision pallet positioning based on temporal and spatial correlation, ensuring that the equipment accurately grabs and stacks goods.

[0120] (2) Compared with related technologies, the present invention can establish a unified spatial reference under different perspectives by determining the first (camera coordinate system) and the second (robotic arm coordinate system) coordinate systems; by calculating the first pose parameter under the first coordinate system through the equipment position parameters, the real-time position of the pallet feature code under the camera perspective can be accurately obtained; by converting the first pose parameter to the second coordinate system to obtain the second pose parameter, the spatial alignment between the robotic arm and the pallet can be realized; the finally determined feature code pose parameter provides the robotic arm with accurate coordinates that can be directly executed for gripping and placing operations, thereby solving the dynamic error problem of pallet positioning during equipment movement through multi-coordinate system transformation and parameter mapping, and ensuring the accuracy and stability of palletizing operation.

[0121] (3) Compared with related technologies, the present invention corrects the position parameters to be adjusted based on the deviation index, and can eliminate the difference between the actual detected position and the target ideal position through the error compensation mechanism, thereby generating more accurate corrected position parameters. By controlling the moving palletizing equipment according to the corrected parameters, it can ensure that the robotic arm performs positioning adjustment with the minimum deviation, thereby improving the spatial accuracy and operational stability of pallet stacking, and finally realizing efficient and reliable automated palletizing operation.

[0122] (4) Compared with related technologies, the present invention can capture the temporal characteristics of equipment movement by determining the time parameters corresponding to the equipment position parameters, and provide a time reference for dynamic correction; the first correction index calculated in time order can eliminate the initial positioning deviation, and the second correction index generated by combining the subsequent time parameters can realize the continuous optimization of time-dependent; finally, by generating a dynamic compensation value by integrating the correction indices of all time points, the cumulative error in the time dimension can be effectively eliminated, ensuring that the equipment position parameters are adjusted synchronously with the time changes, thereby improving the pallet positioning accuracy and spatiotemporal consistency of the mobile palletizing equipment in dynamic environments.

[0123] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that the present invention is not limited to the described order of actions, because according to the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to the present invention.

[0124] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to 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, 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 device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods of the various embodiments of the present invention.

[0125] Example 2

[0126] According to embodiments of the present invention, an apparatus for implementing the pallet positioning method of the above-described mobile palletizing equipment is also provided. Figure 4 This is a structural block diagram of a pallet positioning device for a mobile palletizing equipment according to an embodiment of the present invention, such as... Figure 4 As shown, the device includes: an acquisition module 402, a first determination module 404, a second determination module 406, a third determination module 408, and a fourth determination module 410. The device will be described in detail below.

[0127] The acquisition module 402 is used to acquire multiple pallet images corresponding to the mobile palletizing device, wherein there is a time correlation between the multiple pallet images; the first determination module 404, connected to the acquisition module 402, is used to determine multiple pallet position parameters that correspond one-to-one with the multiple pallet images; the second determination module 406, connected to the first determination module 404, is used to determine the positional correlation between the multiple pallet position parameters and the target camera parameters, wherein the target camera parameters are used to represent the camera position features of the target camera included in the mobile palletizing device; the third determination module 408, connected to the second determination module 406, is used to determine multiple device position parameters corresponding to the mobile palletizing device based on the positional correlation between the multiple pallet position parameters and the target camera parameters, wherein the multiple device position parameters correspond one-to-one with the multiple pallet position parameters; the fourth determination module 410, connected to the third determination module 408, is used to control the mobile palletizing device to perform pallet positioning based on the multiple device position parameters corresponding to the mobile palletizing device.

[0128] It should be noted here that the above-mentioned acquisition module 402, first determination module 404, second determination module 406, third determination module 408 and fourth determination module 410 correspond to steps S102 to S110 in the pallet positioning method for implementing mobile palletizing equipment. The multiple modules and the corresponding steps implement the same instances and application scenarios, but are not limited to the content disclosed in the above embodiment 1.

[0129] Example 3

[0130] According to another aspect of the present invention, an electronic device is also provided, comprising: a processor; and a memory for storing processor-executable instructions, wherein the processor is configured to execute instructions to implement the pallet positioning method of the mobile palletizing device described above.

[0131] Example 4

[0132] According to another aspect of the present invention, a computer-readable storage medium is also provided, which, when the instructions in the computer-readable storage medium are executed by a processor of an electronic device, enables the electronic device to perform the pallet positioning method of the mobile palletizing device described above.

[0133] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0134] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0135] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0136] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0137] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0138] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0139] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for positioning pallets in a mobile palletizing device, characterized in that, include: Acquire multiple pallet images corresponding to the mobile palletizing equipment, wherein there is a time correlation among the multiple pallet images; Determine multiple pallet position parameters that correspond one-to-one with the multiple pallet images; The positional association between the plurality of pallet position parameters and the target camera parameters is determined, wherein the target camera parameters are used to represent the camera position characteristics of the target camera included in the mobile palletizing equipment; Based on the positional correlation between the multiple pallet position parameters and the target camera parameters, multiple device position parameters corresponding to the mobile palletizing device are determined, wherein the multiple device position parameters correspond one-to-one with the multiple pallet position parameters; Based on multiple device position parameters corresponding to the mobile palletizing equipment, the mobile palletizing equipment is controlled to position the pallets.

2. The method according to claim 1, characterized in that, The step of controlling the mobile palletizing device to perform pallet positioning based on multiple device position parameters corresponding to the mobile palletizing device includes: Based on the multiple device position parameters corresponding to the mobile palletizing device, multiple feature code pose parameters corresponding to the pallet feature code are determined. The pallet feature code is used to identify the target pallet corresponding to the mobile palletizing device. The pallet feature code is set on the target pallet. The multiple feature code pose parameters correspond one-to-one with the multiple device position parameters. Based on the multiple feature code pose parameters corresponding to the pallet feature code, the mobile palletizing device is controlled to perform pallet positioning.

3. The method according to claim 2, characterized in that, The step of determining multiple feature code pose parameters corresponding to pallet feature codes based on multiple device position parameters corresponding to the mobile palletizing device includes: A first coordinate system and a second coordinate system corresponding to the mobile palletizing device are determined, wherein the first coordinate system is a coordinate system with the target camera as the origin, and the second coordinate system is a coordinate system with the robotic arm included in the mobile palletizing device as the origin; Based on the multiple device position parameters corresponding to the mobile palletizing device, multiple first pose parameters corresponding to the pallet feature code in the first coordinate system are determined, wherein the multiple first pose parameters correspond one-to-one with the multiple device position parameters; Based on the multiple first pose parameters corresponding to the pallet feature code, multiple second pose parameters corresponding to the pallet feature code in the second coordinate system are determined, wherein the multiple second pose parameters correspond one-to-one with the multiple device position parameters; Based on the multiple second pose parameters corresponding to the pallet feature code, determine the multiple feature code pose parameters corresponding to the pallet feature code.

4. The method according to claim 2, characterized in that, Based on the multiple feature code pose parameters corresponding to the pallet feature code, the mobile palletizing device is controlled to perform pallet positioning, including: Determine the palletizing scenario corresponding to the mobile palletizing equipment; From the plurality of feature code pose parameters, the target pose parameters corresponding to the mobile palletizing device in the palletizing scenario are determined; Determine the deviation index between the pose parameter to be adjusted and the target pose parameter, wherein the plurality of feature code pose parameters include the pose parameter to be adjusted; Based on the deviation index between the pose parameters to be adjusted and the target pose parameters, the mobile palletizing equipment is controlled to position the pallets.

5. The method according to claim 3, characterized in that, The step of determining multiple second pose parameters corresponding to the pallet feature code in the second coordinate system based on multiple first pose parameters corresponding to the pallet feature code includes: Determine the coordinate transformation relationship between the first coordinate system and the second coordinate system; Based on the coordinate transformation relationship, the multiple first pose parameters corresponding to the pallet feature code are used to determine the multiple second pose parameters corresponding to the pallet feature code in the second coordinate system.

6. The method according to claim 4, characterized in that, The step of controlling the mobile palletizing device to perform pallet positioning based on the deviation index between the pose parameters to be adjusted and the target pose parameters includes: Based on the deviation index, the pose parameters to be adjusted are corrected to obtain the corrected pose parameters; The mobile palletizing device is controlled to position the pallets according to the corrected pose parameters.

7. The method according to any one of claims 1 to 6, characterized in that, Based on multiple device position parameters corresponding to the mobile palletizing equipment, the mobile palletizing equipment is controlled to perform pallet positioning, including: Determine the time parameters corresponding to the plurality of device position parameters respectively, wherein the corresponding time parameters are used to reflect the characteristics of the corresponding device position parameters in the time dimension; Based on the execution order of multiple time parameters, determine the first correction index corresponding to the device position parameter under the first time parameter; Based on the first correction index and the device position parameter under the next time parameter, determine the second correction index corresponding to the device position parameter under the next time parameter, until multiple time parameters are processed, and obtain the correction index corresponding to the multiple device position parameters respectively; Based on multiple device position parameters corresponding to the mobile palletizing device and the correction index corresponding to each of the multiple device position parameters, the mobile palletizing device is controlled to position the pallet.

8. A pallet positioning device for a mobile palletizing equipment, characterized in that, include: The acquisition module is used to acquire multiple pallet images corresponding to the mobile palletizing equipment, wherein there is a time correlation between the multiple pallet images; The first determining module is used to determine multiple pallet position parameters that correspond one-to-one with the multiple pallet images; The second determining module is used to determine the positional association between the plurality of pallet position parameters and the target camera parameters, wherein the target camera parameters are used to represent the camera position characteristics of the target camera included in the mobile palletizing device; The third determining module is used to determine multiple device position parameters corresponding to the mobile palletizing device based on the positional association between the multiple pallet position parameters and the target camera parameters, wherein the multiple device position parameters correspond one-to-one with the multiple pallet position parameters; The fourth determining module is used to control the mobile palletizing equipment to position the pallets based on multiple device position parameters corresponding to the mobile palletizing equipment.

9. An electronic device, characterized in that, include: processor; Memory used to store the processor's executable instructions; The processor is configured to execute the instructions to implement the pallet positioning method of the mobile palletizing device as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, When the instructions in the computer-readable storage medium are executed by the processor of the electronic device, the electronic device is able to perform the pallet positioning method of the mobile palletizing device as described in any one of claims 1 to 7.

Images