Method for controlling a robot to palletize an item box, control device and robot

Abstract

The application provides a control method and control device for a robot to operate a goods box to be stacked, and a robot, and is suitable for the technical field of goods box stacking. The method comprises the following steps: acquiring a navigation point of a current goods box to be stacked; based on the navigation point, controlling the robot to move the current goods box to be stacked to the navigation point; acquiring reference pose information of a reference object corresponding to the current goods box to be stacked, and determining target pose information of the current goods box to be stacked based on the reference pose information; the reference object is a completed goods box to be stacked or a stack plate on which the current goods box to be stacked is placed; and based on the target pose information, controlling the robot to stack the current goods box to be stacked. The embodiment of the application can control the robot to operate the goods box to be stacked, instead of manual operation, thereby improving the work efficiency of stacking.

Description

Technical Field

[0001] This application relates to the field of item box palletizing technology, and in particular to a control method, control equipment and robot for robot operation of item box palletizing. Background Technology

[0002] Currently, in industrial settings, the stacking of boxes (e.g., cardboard boxes) is generally done manually, and the boxes are stacked layer by layer on pallets according to certain rules and methods to form a neat and stable stack.

[0003] However, manual palletizing of boxes has the problem of low palletizing efficiency. Summary of the Invention

[0004] In view of this, the present application provides a control method, control device and robot for robot-operated palletizing of goods boxes, so as to solve the problem of low palletizing efficiency caused by manual operation of goods box palletizing in the prior art.

[0005] The first aspect of this application provides a control method for a robot to operate and stack boxes of goods, including: Get the navigation point of the current box of items to be palletized; Based on navigation points, control the robot to move the current box of items to be palletized to the navigation point; Obtain the reference pose information of the reference object corresponding to the current item box to be palletized, and determine the target pose information of the current item box to be palletized based on the reference pose information; the reference object is an item box that has been palletized or a pallet on which the current item box to be palletized is placed. Based on the target pose information, the robot is controlled to palletize the boxes of items to be palletized.

[0006] In one possible implementation, after controlling the robot to palletize the current boxes of items to be palletized based on the target pose information, the following steps are also included: The camera device controlling the robot scans the current box of items to be palletized and the reference object to obtain the current pose information of the current box of items to be palletized and the reference pose information of the reference object; Based on the reference pose information of the reference object, the alignment pose information of the current item box to be palletized is determined; the alignment pose information is used to represent the alignment pose of the current item box to be palletized with the corresponding reference object. Based on the current pose information and alignment pose information of the current box to be palletized, the pose of the current box to be palletized is adjusted for alignment until the deviation between the current pose information and the alignment pose information is not greater than the deviation threshold.

[0007] In one possible implementation, after controlling the robot to palletize the current boxes of items to be palletized based on the target pose information, the following steps are also included: If the robot fails to stack the current box of items to be stacked to the position corresponding to the target pose information, the camera device controlling the robot will rescan the reference object to obtain the reference pose information of the reference object. Based on the reference pose information, determine the new navigation point for the current box of items to be palletized; Based on the new navigation point, the robot is controlled to move the currently palletized boxes to the new navigation point.

[0008] In one possible implementation, after controlling the robot to move the currently palletized box to the new navigation point, based on the new navigation point, the following steps are also included: The camera device controlling the robot rescans the reference object to obtain its reference pose information; Based on the reference pose information, determine the new target pose information of the box to be palletized.

[0009] In one possible implementation, obtaining the navigation point of the current box to be palletized includes: Get the palletizing layer and number corresponding to the current box of items to be palletized; Based on the palletizing layer and number, determine whether the current box to be palletized should be subject to navigation offset; If the current box to be palletized needs to be offset by navigation, then determine the navigation offset information of the current box to be palletized. Based on the navigation offset information, the navigation point corresponding to the current box of items to be palletized is adjusted, and the adjusted navigation point is used as the navigation point of the current box of items to be palletized.

[0010] In one possible implementation, before obtaining the navigation point of the current box to be palletized, the following steps are included: Obtain the pose information of the pallet where no item box is placed; Based on the pallet's pose information and the preset palletizing strategy, the navigation point of each box of items to be palletized is determined.

[0011] In one possible implementation, before controlling the robot to move the currently palletized box to the navigation point, based on the navigation point, the following steps are also included: Control the robot to move to the item handling point where the current item box to be palletized is located; Obtain the pre-handling pose information of the current box to be palletized, and pre-handle the current box to be palletized based on the pre-handling pose information; Obtain the current transport execution pose information of the item box to be palletized, and based on the transport execution pose information, transport the item box to the position corresponding to the transport execution pose information.

[0012] In one possible implementation, based on a navigation point, the robot is controlled to move the currently palletized box to the navigation point, including: When the robot moves to a preset distance from the navigation point, the robot's lifting mechanism is moved to the current stacking height of the box to be stacked. The lifting mechanism is used to place the boxes of items to be stacked. The stacking height is determined based on the height of the boxes, the number of stacking layers corresponding to the boxes, and the height of the pallet.

[0013] In one possible implementation, after moving the robot's lifting mechanism to the current palletizing height of the box to be palletized, it also includes... Get the palletizing layer and number corresponding to the current box of items to be palletized; Based on the palletizing layer and number, determine the pre-placed box position information; Based on the pre-placed box pose information, the robot is controlled to move the box to be palletized to the position corresponding to the pre-placed box pose information.

[0014] A second aspect of this application provides a control device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the method of the first aspect.

[0015] A third aspect of this application provides a robot, including: the control device of the second aspect.

[0016] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the method of the first aspect.

[0017] Compared with the prior art, the embodiments of this application have at least the following technical effects: The control method for robot-operated palletizing of boxes provided in the first aspect of this application can... The system acquires the navigation point of the current box to be palletized; then, based on the navigation point, it controls the robot to move the box to the navigation point, thereby achieving automatic handling of the box. This embodiment can also acquire the reference pose information of a reference object corresponding to the box to be palletized, and determine the target pose information of the box based on the reference pose information. The reference object is either a already palletized box or the pallet on which the box is placed, thus automatically determining the position where the box needs to be placed. Furthermore, based on the target pose information, this embodiment controls the robot to palletize the box, thereby achieving automatic palletizing. Therefore, this embodiment can control a robot to palletize boxes, replacing manual operation, thereby improving palletizing efficiency.

[0018] It is understood that the beneficial effects of the second to fourth aspects mentioned above can be found in the relevant descriptions in the first aspect mentioned above, and will not be repeated here. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the framework of an operating system for a robot provided in an embodiment of this application; Figure 2 This is a flowchart illustrating a control method for a robot to palletize boxes, as provided in an embodiment of this application. Figure 3 This is a flowchart of task assignment and preparation provided in an embodiment of this application; Figure 4 This is a flowchart of a stack recognition and pose calculation method provided in an embodiment of this application; Figure 5 This is a flowchart of a palletizing planning method provided in an embodiment of this application; Figure 6 This is a flowchart of a roller conveyor box handling process provided in an embodiment of this application; Figure 7 This is a flowchart of a transfer and pre-packing process provided in an embodiment of this application; Figure 8 This is a flowchart of a box stacking process provided in an embodiment of this application; Figure 9 This is a flowchart of code alignment and verification provided in an embodiment of this application; Figure 10 This is a schematic diagram of the structure of a control device for a robot to operate and palletize boxes, provided in an embodiment of this application; Figure 11 This is a schematic diagram of the structure of a control device provided in an embodiment of this application. Detailed Implementation

[0021] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0022] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0023] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0024] In the description of this application, unless otherwise stated, the " / " used in this specification and appended claims indicates that the related objects are in an "or" relationship. For example, A / B can mean A or B. The "and / or" in this application merely describes the relationship between the related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. Furthermore, in the description of this application, unless otherwise stated, "multiple" means two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can represent: a, b, c, a and b, a and c, b and c, or a, b, and c. Here, a, b, and c can be single or multiple.

[0025] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0026] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0027] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0028] The technical solution of this application and how it solves the above-mentioned technical problems are described in detail below with specific embodiments. It should be noted that the following embodiments can be referenced, borrowed, or combined with each other, and the same terms, similar features, and similar implementation steps in different embodiments will not be described again.

[0029] See Figure 1 As shown, this application provides a schematic diagram of the framework of a robot's operating system. Figure 1 As shown, the robot's operating system 10 includes a control device 11, a vision calculation module 12, a camera device 13, a motion control mechanism 14, a chassis mechanism 15, and a lifting mechanism 16.

[0030] The control device 11 can execute the control method for the robot to palletize the item boxes according to the embodiments of this application; the vision calculation module 12 can perform visual calculation on the scanning data of the item boxes or pallets by the camera device 13 to obtain pose information; the motion control mechanism 14 includes an arm and a gripper to grab and move the item boxes, and the chassis mechanism 15 is used to drive the robot to move; the lifting mechanism 16 can be equipped with a tray to place the item boxes so as to drive the item boxes to move.

[0031] Optionally, the pose information involved in the embodiments of this application is 6D pose information, including 3D position and 3D rotation. 3D position determines the front-back, left-right, and up-down position of an object in space, usually represented by (x, y, z) coordinates. 3D rotation determines the orientation of an object in space, and has various mathematical representations, such as Euler angles: pitch angle, yaw angle, roll angle, etc.

[0032] In one example, the control device 11 can be an external computing device such as a desktop computer, laptop, handheld computer, or cloud server. It is conceivable that the visual processing module 12 could also be a visual processing module within the control device 11, thus enabling visual processing through the control device 11.

[0033] In another example, control device 11 can be installed on the robot body as the robot's main control device.

[0034] Furthermore, the robot includes the robot body and the robot's operating system 10, control device 11, vision calculation module 12, camera device 13, motion control mechanism 14, chassis mechanism 15 and lifting mechanism 16, all of which are located on the robot body.

[0035] See Figure 2 As shown, this application provides a flowchart of a control method for a robot to palletize boxes of goods. Figure 2 As shown, the robot operation method for palletizing boxes according to this application includes steps S201 to S204.

[0036] S201. Obtain the navigation point of the current box of items to be palletized.

[0037] Optionally, the item box can be a packaging product, such as a cardboard box. Each item box to be stacked can be stacked according to the robot operation item box stacking control method of the embodiments of this application. After the current item box to be stacked is stacked, the next item box to be stacked is stacked in sequence.

[0038] Navigation points are used to indicate the location where the robot needs to move.

[0039] S202. Based on the navigation point, control the robot to move the current box of items to be palletized to the navigation point.

[0040] Specifically, after the robot grabs the current box of items to be stacked, it can move from the item box handling point to the navigation chassis mechanism 15 to the navigation point.

[0041] S203. Obtain the reference pose information of the reference object corresponding to the current item box to be palletized, and determine the target pose information of the current item box to be palletized based on the reference pose information; the reference object is an item box that has been palletized or a pallet on which the current item box to be palletized is placed.

[0042] The pallet is used to place boxes of items to be stacked. Multiple boxes of items to be stacked are arranged in multiple layers on the pallet. The boxes of items to be stacked can be square cardboard boxes. In practical applications, they can be arranged in a rotating and crisscrossing manner within each layer, and stacked alternately between upper and lower layers. As an example, two stacking methods can be used: odd-numbered layers (including pallet layers 1 and 3) are stacked with the long side on the left, using a counter-clockwise navigation method; even-numbered layers (2 and 4) are stacked with the long side on the right, using a clockwise navigation method.

[0043] For example, if the current item to be stacked is item number 1 on the first layer, the reference point can be the pallet. The first item to be stacked needs to be placed in alignment with the three sides of the pallet. Similarly, item number 2 on the first layer can also use the pallet as a reference point, and item number 3 on the first layer can use either item number 1 or item number 2 as a reference point, depending on the convenience of taking the image.

[0044] For example: If the current item to be palletized is box number 3 on the second layer, you can use box number 1 or 2 on the second layer, or box number 3 on the first layer as a reference, etc., and set it according to the actual situation.

[0045] Specifically, the reference pose information can be obtained by visually calculating the scan data of the reference object captured by the camera device 13.

[0046] S204. Based on the target pose information, control the robot to palletize the boxes of items to be palletized.

[0047] Specifically, the target pose information corresponds to the position where the current box of items to be palletized needs to be placed, and the robot can palletize the current box of items to be palletized to the position corresponding to the target pose information.

[0048] The robot-operated item box palletizing control method of this application embodiment can obtain the navigation point of the item box to be palletized; then, based on the navigation point, control the robot to move the item box to be palletized to the navigation point, thereby realizing automatic handling of the item box. This application embodiment can also obtain the reference pose information of the reference object corresponding to the item box to be palletized, and determine the target pose information of the item box to be palletized based on the reference pose information. The reference object is either a palletized item box or a pallet on which the item box to be palletized is placed, thereby automatically determining the position where the item box to be palletized needs to be placed. Furthermore, based on the target pose information, this application embodiment controls the robot to palletize the item box to be palletized, thereby realizing automatic palletizing of the item box. Therefore, this application embodiment can control a robot to palletize item boxes, replacing manual operation, thereby improving palletizing efficiency.

[0049] In some embodiments, before obtaining the navigation point of the current box to be palletized, the following steps are included: Obtain the pose information of the pallet where no item box is placed; Based on the pallet's pose information and the preset palletizing strategy, the navigation point of each box of items to be palletized is determined.

[0050] Optionally, the palletizing strategy includes setting the number of palletizing layers and the number of item boxes placed on each palletizing layer. Odd-numbered layers can be arranged counterclockwise, for example, the long side of the item box away from the robot is on the left, and the item boxes are arranged side by side in sequence. Even-numbered layers can be arranged clockwise, for example, the long side of the item box away from the robot is on the right, and the item boxes are arranged side by side in sequence.

[0051] In practical applications, the robot can determine whether the item boxes are placed in place based on the contact force sensing between the item boxes when they are placed.

[0052] Optionally, the palletizing strategy also includes navigation offset information for the boxes to be palletized. After determining the navigation point, the corresponding navigation point offset information can be set according to the palletizing layer and number of the box, which makes it easier for the robot to place some boxes, such as the box that is last in each layer.

[0053] As an example, this application provides a palletizing strategy as shown in the table below, taking an arrangement of 4 item boxes per layer as an example.

[0054]

[0055] As another example, embodiments of this application provide another palletizing strategy. Depending on the reference object, three palletizing strategies are adopted across two layers: 1, 3, 2, and 4 layers.

[0056] Layer 1: Bottom stack layer, counter-clockwise navigation.

[0057] For pallet position 1-1, visual calculation is used to obtain the side edge calculation of the pallet. The position is determined by placing the pallet down with both hands holding the shorter side.

[0058] For pallet positions 1 and 2, visual calculations are used to obtain the side edge calculations of the pallet. The pallet is lowered by holding the shorter side with both hands.

[0059] For containers 1-3, the calculation is done visually, specifically by obtaining the front view of container 1. The container is positioned with both hands holding the shorter side as it is lowered.

[0060] For containers 1-4, the calculation is based on visual perception. The side view of container 1 is used for calculation, with both hands holding the long side, right hand first, and left hand pushing inward. The navigation point has a left deviation of 20cm.

[0061] Level 2: Levels 2 and 4 are box levels, navigate clockwise. Box 2-1 is calculated visually to obtain the side views of boxes 1-2 below. The box is then lowered using the short side held by both hands.

[0062] Box 2-2 is calculated using visual calculations to obtain the side view of box 1-1 below. The box is then lowered using the short side held by both hands.

[0063] For boxes 2-3, visual calculations are used to obtain the side views of boxes 1-4. The box is positioned with both hands holding the shorter side as it is lowered.

[0064] For boxes 2-4, visual calculation is used to obtain the side calculation of boxes 1-3. Hold the long side with both hands, put the left hand first, and push the right hand inward. The navigation point is 20cm to the right.

[0065] Level 3: Three layers of boxes, navigate counter-clockwise. Box 3-1 is calculated visually to obtain the side views of boxes 2-4 below. The box is then lowered using the short side held by both hands.

[0066] For container position 3-2, visual calculation is used to obtain the side view of container 2-1 below. The container is lowered by holding the shorter side with both hands.

[0067] For box position 3-3, visual calculation is used to obtain the side view of box 2-2. The position is then lowered by holding the short side with both hands.

[0068] For container positions 3-4, visual calculations are used to obtain the side views of containers 2-3. Hold the long side with both hands, placing the right hand first and then pushing the left hand inward. The navigation point has a left deviation of 20cm.

[0069] Level 4: The fourth level is the same as the second level, navigate clockwise. Box 4-1 is calculated visually to obtain the side views of boxes 3-2 below. The box is then lowered using the short side held by both hands.

[0070] Box 4-2 is calculated visually to obtain the side view of box 3-1 below. The box is then lowered using the short side held by both hands.

[0071] For box positions 4-3, visual calculation is used to obtain the side dimensions of boxes 3-4. The box is then lowered using the short side held by both hands.

[0072] For container position 4-4, visual calculation is used to obtain the side view of container 3-3. Hold the long side with both hands, placing the left hand first, then pushing the right hand inward. The navigation point is 20cm to the right.

[0073] See Figure 3 As shown, this application embodiment provides a flowchart of task assignment and preparation. Figure 3 As shown, the task assignment and preparation include the following steps: S301, Invoke the moving pose.

[0074] In this embodiment, the control device 11 sends a command to the motion control mechanism 14 to invoke the traveling posture, so as to control the robot to move in the traveling posture.

[0075] S302, Navigate to the pallet identification and palletizing point.

[0076] In this embodiment, the control device 11 sends a navigation instruction to the chassis mechanism 15 to the identification and stacking point of the pallet, so as to control the robot to move to the identification and stacking point of the pallet to perform image scanning on the pallet.

[0077] S303, Arrive at the identification and palletizing point.

[0078] After the chassis mechanism 15 of this application reaches the identification and palletizing point, it sends a signal of arrival at the identification and palletizing point to the control device 11.

[0079] See Figure 4 As shown, this application embodiment provides a flowchart for stack recognition and pose calculation. Figure 4 As shown, the pallet recognition and pose calculation include the following steps: S401. Provide pallet size specifications.

[0080] In this embodiment of the application, the control device 11 sends the pallet size specification information to the vision calculation module 12.

[0081] S402, Request to scan the stack.

[0082] In this embodiment of the application, the control device 11 sends a request to the camera device 13 to scan the stack.

[0083] S403, Perform a scan.

[0084] The camera device 13 of this application embodiment scans the pallet.

[0085] S404, Return scan data.

[0086] The camera device 13 of this application embodiment returns scan data to the visual processing module 12.

[0087] S405, Solve the scan data.

[0088] The visual calculation module 12 in this embodiment calculates the pose information of the stack by solving the scanned data.

[0089] S406. Return the pose information of the stack.

[0090] The visual resolution module 12 of this application embodiment returns the pose information of the stack to the control device 11.

[0091] S407. Request to calculate the navigation point for each box of items to be palletized.

[0092] In this embodiment of the application, the control device 11 requests the vision calculation module 12 to calculate the navigation points of each box of items to be palletized.

[0093] S408. Determine the navigation point for each box of items to be palletized.

[0094] The visual calculation module 12 in this embodiment determines the navigation point of each item box to be stacked based on the pose information of the pallet and the preset stacking strategy. Each item box to be stacked in each stacking layer can be set with a corresponding navigation point.

[0095] S409. Return to the navigation point of each box of items to be palletized.

[0096] In this embodiment of the application, the visual resolution module 12 returns the navigation points of each box of items to be palletized to the control device 11.

[0097] In some embodiments, obtaining the navigation point of the current box to be palletized includes: Get the palletizing layer and number corresponding to the current box of items to be palletized; Based on the palletizing layer and number, determine whether the current box to be palletized should be subject to navigation offset; If the current box to be palletized needs to be offset by navigation, then determine the navigation offset information of the current box to be palletized. Based on the navigation offset information, the navigation point corresponding to the current box of items to be palletized is adjusted, and the adjusted navigation point is used as the navigation point of the current box of items to be palletized.

[0098] See Figure 5 As shown, this application provides a flowchart for palletizing planning. Figure 5 As shown, palletizing planning includes the following steps: S501. Obtain the palletizing layer and number corresponding to the current box of items to be palletized.

[0099] S502, determine the pre-transfer pose information, the transfer execution pose information, and the navigation offset information.

[0100] In this application embodiment, the pre-transfer pose information and the transfer execution pose information can be pre-stored transfer poses or adjusted according to the placement poses of different boxes to be palletized. The navigation offset information can be determined based on the palletizing layer and number. When it is determined that the current box to be palletized needs to be navigated, the navigation offset information of the current box to be palletized is determined.

[0101] S503. Based on the navigation offset information, adjust the navigation point corresponding to the current box of items to be palletized.

[0102] In this embodiment, the adjusted navigation point is used as the navigation point for the current box of items to be palletized, which can guide the robot to the adjusted navigation point.

[0103] In some embodiments, before controlling the robot to move the currently palletized box to the navigation point based on the navigation point, the method further includes: Control the robot to move to the item handling point where the current item box to be palletized is located; Obtain the pre-handling pose information of the current box to be palletized, and pre-handle the current box to be palletized based on the pre-handling pose information; Obtain the current transport execution pose information of the item box to be palletized, and based on the transport execution pose information, transport the item box to the position corresponding to the transport execution pose information.

[0104] See Figure 6 As shown, this application provides a flowchart for a roller conveyor system for transferring boxes. Figure 6 As shown, the box handling process on the roller conveyor includes the following steps: S601, Navigate to the roller conveyor box handling point.

[0105] In this embodiment of the application, the control device 11 sends navigation to the chassis mechanism 15 to the roller conveyor box handling point.

[0106] S602, Adjust to the roller line height.

[0107] The lifting mechanism 16 in this embodiment is adjusted to the height of the roller line.

[0108] The height of the identification and palletizing point in this embodiment can be maintained at the initial height or set to the roller line height.

[0109] S603, height in place.

[0110] The lifting mechanism 16 of this embodiment returns to the control device 11 at the correct height.

[0111] S604, Call the pre-transport pose information.

[0112] In this embodiment of the application, the control device 11 requests the chassis mechanism 15 to retrieve the pre-transportation posture information.

[0113] S605, Pre-loading of containers completed.

[0114] The chassis mechanism 15 of this embodiment returns to the control device 11 after the pre-loading is completed.

[0115] S606, Call the transport execution pose information.

[0116] In this embodiment of the application, the control device 11 requests the chassis mechanism 15 to retrieve the transport execution posture information.

[0117] S607, Box moving completed.

[0118] The chassis mechanism 15 of this embodiment returns to the control device 11 to complete the box-moving operation.

[0119] This application provides two types of loading positions for the roller conveyor system. (1) Pre-loading position: After palletizing, the system adjusts to the pre-loading position while navigating back to the roller conveyor to retrieve the box. The arm prepares for loading, reducing the execution time of the arm's movements during loading. (2) Loading execution position: After navigating to the retrieval point, the loading action is performed from the loading execution position.

[0120] In some embodiments, based on a navigation point, controlling the robot to move the currently palletized item box to the navigation point includes: When the robot moves to a preset distance from the navigation point, the robot's lifting mechanism is moved to the current stacking height of the box to be stacked. The lifting mechanism is used to place the boxes of items to be stacked. The stacking height is determined based on the height of the boxes, the number of stacking layers corresponding to the boxes, and the height of the pallet.

[0121] Optionally, in this embodiment of the application, the stacking height can be adjusted during navigation to a point 0.5 meters away from the stacking point. The stacking height can be the height of the item box * (number of layers - 1) + the height of the pallet. When the stacking height is less than 50cm after the minimum lifting height of the body, the stacking height is 50cm; when the stacking height is greater than 132cm after the maximum lifting height of the body, the stacking height is 132cm; the stacking height is the stacking height of the lifting mechanism 16.

[0122] In this embodiment of the application, after the item is moved from the roller conveyor to the item box, during the process of transferring it to the palletizing box navigation point, when it is very close to the box placement point, the item box can be removed from the pallet and adjusted to the pre-placement position.

[0123] In some embodiments, after moving the robot's lifting mechanism to the current palletizing height of the box to be palletized, it also includes... Get the palletizing layer and number corresponding to the current box of items to be palletized; Based on the palletizing layer and number, determine the pre-placed box position information; Based on the pre-placed box pose information, the robot is controlled to move the box to be palletized to the position corresponding to the pre-placed box pose information.

[0124] See Figure 7 As shown, this application provides a flowchart of the transfer and pre-packing process. Figure 7 As shown, the transshipment and pre-positioning of containers includes the following steps: S701, Navigate to the navigation point of the current box to be palletized.

[0125] In this embodiment of the application, the control device 11 sends navigation to the navigation point of the currently palletized item box to the chassis mechanism 15.

[0126] S702, Adjust to the height of the container handling and transfer navigation.

[0127] Optionally, the height for box handling and transfer navigation can be the minimum of the roller conveyor height and the stacking height.

[0128] S703, height in place.

[0129] The lifting mechanism 16 of this embodiment returns to the control device 11 at the correct height.

[0130] S704, Call the pre-placed box pose information.

[0131] In this embodiment of the application, the control device 11 requests the chassis mechanism 15 to retrieve the pre-positioned box position information.

[0132] S705, Pre-placement of the container is complete.

[0133] In this embodiment of the application, the chassis mechanism 15 returns to the control device 11 to complete the pre-loading.

[0134] In some embodiments, after controlling the robot to palletize the current box of items to be palletized based on the target pose information, the method further includes: If the robot fails to stack the current box of items to be stacked to the position corresponding to the target pose information, the camera device controlling the robot will rescan the reference object to obtain the reference pose information of the reference object. Based on the reference pose information, determine the new navigation point for the current box of items to be palletized; Based on the new navigation point, the robot is controlled to move the currently palletized boxes to the new navigation point.

[0135] In some embodiments, after controlling the robot to move the currently palletized box to the new navigation point based on the new navigation point, the method further includes: The camera device controlling the robot rescans the reference object to obtain its reference pose information; Based on the reference pose information, determine the new target pose information of the box to be palletized.

[0136] See Figure 8 As shown, this application provides a flowchart for box stacking. Figure 8 As shown, the process of placing and stacking boxes includes the following steps: S801, Call the box placement execution pose information.

[0137] S802, Request to scan reference object.

[0138] S803, Send scan reference object command.

[0139] S804, Perform scan.

[0140] S805, Return scan data.

[0141] S806. Solve the reference pose information of the reference object and determine the new target pose information.

[0142] S807, New target pose information.

[0143] S808, Execute box placement.

[0144] After step S808, there are two possibilities: successful placement of the box or failure to place the box. If the placement of the box is successful, proceed to step S809; if the placement of the box fails, proceed to step S810.

[0145] S809, Box placement complete.

[0146] S810, Request navigation point fine-tuning.

[0147] S811, Recalculate new navigation points.

[0148] S812, Request to scan reference object.

[0149] S813, Perform a scan.

[0150] S814, Return scan data.

[0151] S815, Calculate the new navigation point.

[0152] S816, Send a new navigation point.

[0153] S817, Navigate to a new navigation point.

[0154] S818, Recall the box placement execution pose information.

[0155] S819, Request to scan reference object.

[0156] S820, Send scan reference object command.

[0157] S821, Perform Scan S822, Return scan data S823. Solve for the reference pose information of the reference object and determine the new target pose information. S824, New target pose information S825, Perform box placement S826, Box placement complete.

[0158] In some embodiments, after controlling the robot to palletize the current box of items to be palletized based on the target pose information, the method further includes: The camera device controlling the robot scans the current box of items to be palletized and the reference object to obtain the current pose information of the current box of items to be palletized and the reference pose information of the reference object; Based on the reference pose information of the reference object, the alignment pose information of the current item box to be palletized is determined; the alignment pose information is used to represent the alignment pose of the current item box to be palletized with the corresponding reference object. Based on the current pose information and alignment pose information of the current box to be palletized, the pose of the current box to be palletized is adjusted for alignment until the deviation between the current pose information and the alignment pose information is not greater than the deviation threshold.

[0159] Optionally, if both the current pose information and the code alignment pose information are 6D pose information, and the deviation in each dimension is not greater than the corresponding deviation threshold, then it is determined that the deviation between the current pose information and the code alignment pose information is not greater than the deviation threshold.

[0160] See Figure 9 As shown, this application provides a flowchart for code alignment and verification. Figure 9 As shown, the code alignment and verification process includes the following steps: S901, Call code alignment and pose verification.

[0161] S902, Request to scan the reference object of the current item box to be stacked.

[0162] S903, Send a command to scan the reference object of the current box to be palletized.

[0163] S904, Perform scan.

[0164] S905, Return scan data.

[0165] S906. Solve the current pose information of the current box to be palletized and the reference pose information of the reference object to determine the stacking pose information of the current box to be palletized.

[0166] S907. Return the current pose information of the current box to be palletized.

[0167] S908, Comparison of deviations.

[0168] After step S908, there are cases where the deviation is greater than the deviation threshold and cases where the deviation is not greater than the deviation threshold. If the deviation is greater than the deviation threshold, proceed to step S909. If the deviation is not greater than the deviation threshold, code alignment is complete.

[0169] S909, Execution code alignment adjustment.

[0170] S910, Request to scan the reference object of the current item box to be stacked.

[0171] S911, Send a command to scan the reference object of the current item box to be stacked.

[0172] S912, Perform a scan.

[0173] S913, Return scan data.

[0174] S914. Solve the current pose information of the current box to be palletized and the reference pose information of the reference object to determine the stacking pose information of the current box to be palletized.

[0175] S915. Return the current pose information of the current box to be palletized.

[0176] S916. Compare the deviations until it is determined that the deviation is not greater than the deviation threshold, and the code alignment is completed.

[0177] See Figure 10 As shown in the diagram, this application provides a schematic diagram of the structure of a control device 100 for a robot to operate and stack boxes of goods. Figure 10 As shown, the control device 100 for robot operation of palletizing boxes includes: a navigation point acquisition module 1001, a navigation control module 1002, a pose determination module 1003, and a palletizing module 1004.

[0178] The navigation point acquisition module 1001 is used to acquire the navigation point of the current box of items to be palletized.

[0179] The navigation control module 1002 is used to control the robot to move the current box of items to be palletized to the navigation point based on the navigation point.

[0180] The pose determination module 1003 is used to obtain the reference pose information of the reference object corresponding to the current item box to be palletized, and to determine the target pose information of the current item box to be palletized based on the reference pose information; the reference object is an item box that has been palletized or a pallet on which the current item box to be palletized is placed.

[0181] The palletizing module 1004 is used to control the robot to palletize the boxes of items to be palletized based on the target pose information.

[0182] Optionally, the control device 100 for the robot to palletize boxes further includes a stacking module. The stacking module controls the robot's camera to scan the current box to be stacked and a reference object, acquiring the current pose information of the current box and the reference pose information of the reference object; based on the reference pose information of the reference object, it determines the stacking pose information of the current box to be stacked; the stacking pose information represents the pose of the current box to be stacked aligned with the reference object; based on the current pose information and the stacking pose information, it adjusts the pose of the current box to be stacked until the deviation between the current pose information and the stacking pose information is no greater than a deviation threshold.

[0183] Optionally, after controlling the robot to palletize the current box of items to be palletized based on the target pose information, the pose determination module 1003 is further configured to control the robot's camera device to rescan the reference object and obtain the reference pose information of the reference object if the robot fails to palletize the current box of items to be palletized to the position corresponding to the target pose information; the navigation control module 1002 is further configured to determine a new navigation point for the current box of items to be palletized based on the reference pose information; and control the robot to move the current box of items to be palletized to the new navigation point based on the new navigation point.

[0184] Optionally, based on the new navigation point, after the robot moves the current box of items to be palletized to the new navigation point, the pose determination module 1003 is also used to control the robot's camera to rescan the reference object and obtain the reference pose information of the reference object; based on the reference pose information, determine the new target pose information of the current box of items to be palletized.

[0185] Optionally, the navigation point acquisition module 1001 is used to acquire the palletizing layer and number corresponding to the current palletized item box; based on the palletizing layer and number, determine whether the current palletized item box needs to be offset; if the current palletized item box needs to be offset, determine the navigation offset information of the current palletized item box; based on the navigation offset information, adjust the navigation point corresponding to the current palletized item box, and use the adjusted navigation point as the navigation point of the current palletized item box.

[0186] Optionally, the navigation point acquisition module 1001 is used to acquire the pose information of the pallet without any item boxes; and to determine the navigation point of each item box to be stacked based on the pose information of the pallet and the preset stacking strategy.

[0187] Optionally, the control device 100 for robot-operated palletizing of item boxes also includes a handling control module. Based on the navigation point, before the robot moves the item box to be palletized to the navigation point, the handling control module controls the robot to move to the item box handling point where the item box to be palletized is located; it acquires the pre-handling pose information of the item box to be palletized, and performs pre-handling based on the pre-handling pose information; it acquires the handling execution pose information of the item box to be palletized, and moves the item box to the position corresponding to the handling execution pose information based on the handling execution pose information.

[0188] Optionally, the navigation control module 1002 is also used to move the robot's lifting mechanism to the current stacking height of the box to be stacked when the robot moves to a preset distance from the navigation point; The lifting mechanism is used to place the boxes of items to be stacked. The stacking height is determined based on the height of the boxes, the number of stacking layers corresponding to the boxes, and the height of the pallet.

[0189] Optionally, the navigation control module 1002 is also used to obtain the palletizing layer and number corresponding to the current box to be palletized; determine the pre-placement box pose information based on the palletizing layer and number; and control the robot to move the current box to be palletized to the position corresponding to the pre-placement box pose information based on the pre-placement box pose information.

[0190] In applications, the modules in the robot's control device 100 for palletizing boxes can be software program modules, or they can be implemented through different logic circuits integrated in a processor, or they can be implemented through multiple distributed processors.

[0191] The robot-operated item box palletizing control device 100 of this application embodiment can execute the method provided in this application embodiment. The implementation principle is similar. The actions performed by each module in the robot-operated item box palletizing control device 100 of each embodiment of this application correspond to the steps in the method of each embodiment of this application. For detailed functional descriptions of each module of the robot-operated item box palletizing control device 100, please refer to the descriptions in the corresponding methods shown above, which will not be repeated here.

[0192] This application provides a control device 11, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the method of this application.

[0193] This application provides a robot, including a control device 11.

[0194] See Figure 11 As shown, this application provides a schematic diagram of the structure of a control device 11. Figure 11 As shown, the control device 11 in this application embodiment includes: a memory 112, a processor 111, and a computer program 113 stored in the memory 112 and executable on the processor 111. When the processor 111 executes the computer program, it implements the steps of the methods in the various embodiments of this application.

[0195] The control device 11 can be a computing device such as a desktop computer, laptop, handheld computer, or cloud server. The control device 11 may include, but is not limited to, a processor 111 and a memory 112. Those skilled in the art will understand that the control device 11 may also include more or fewer components, or combinations of certain components, or different components, such as input / output devices, network access devices, etc.

[0196] The processor 111 can be a Central Processing Unit (CPU), but it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0197] In some embodiments, memory 112 may be an internal storage unit, such as a hard disk or RAM. Memory 112 may be a removable / non-removable, volatile / non-volatile computer system storage medium; for example, memory 112 may be a non-volatile memory used for reading and writing non-volatile magnetic media. In other embodiments, memory 112 may also be an external storage device, such as a pluggable hard disk, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card equipped on control device 11. Memory 112 is used to store operating systems, applications, bootloaders, data, and other programs, such as program code for computer programs. Memory 112 may also be used to temporarily store data that has been output or will be output.

[0198] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0199] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments 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. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0200] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps in the above-described method embodiments.

[0201] If the integrated units described above are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include at least: any entity or device capable of carrying computer program code to a device / terminal equipment, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks.

[0202] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk drive (HDD), or solid-state drive (SSD), etc. The storage medium can also include combinations of the above types of memory.

[0203] This application provides a computer program product that, when run on a processor, enables the processor to execute the steps described in the various method embodiments above.

[0204] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0205] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0206] In the embodiments provided in this application, it should be understood that the disclosed apparatus / network devices and methods can be implemented in other ways. For example, the apparatus / network device embodiments described above are merely illustrative. For instance, the division of modules or units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0207] The units described above 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 network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0208] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A control method for a robot to palletize boxes, characterized in that, include: Get the navigation point of the current box of items to be palletized; Based on the navigation point, control the robot to move the current box of items to be palletized to the navigation point; Obtain the reference pose information of the reference object corresponding to the current item box to be palletized, and determine the target pose information of the current item box to be palletized based on the reference pose information; the reference object is an item box that has been palletized or a pallet on which the current item box to be palletized is placed. Based on the target pose information, the robot is controlled to palletize the current box of items to be palletized.

2. The control method for robot-operated palletizing of goods boxes according to claim 1, characterized in that, After controlling the robot to palletize the current box of items to be palletized based on the target pose information, the method further includes: The camera device controlling the robot scans the current box of items to be palletized and the reference object to obtain the current pose information of the current box of items to be palletized and the reference pose information of the reference object; Based on the reference pose information of the reference object, the alignment pose information of the current item box to be stacked is determined; the alignment pose information is used to indicate the alignment pose of the current item box to be stacked with the reference object. Based on the current pose information of the current box to be palletized and the alignment pose information, the pose of the current box to be palletized is adjusted for alignment until the deviation between the current pose information and the alignment pose information is not greater than the deviation threshold.

3. The control method for robot-operated palletizing of goods boxes according to claim 1, characterized in that, After controlling the robot to palletize the current box of items to be palletized based on the target pose information, the method further includes: If the robot fails to stack the current box of items to be stacked to the position corresponding to the target pose information, the robot's camera device is controlled to rescan the reference object to obtain the reference pose information of the reference object. Based on the reference pose information, a new navigation point is determined for the current box of items to be palletized; Based on the new navigation point, the robot is controlled to move the currently palletized item box to the new navigation point.

4. The control method for robot-operated palletizing of goods boxes according to claim 3, characterized in that, After controlling the robot to move the currently palletized item box to the new navigation point based on the new navigation point, the process further includes: The camera device controlling the robot rescans the reference object to obtain the reference pose information of the reference object; Based on the reference pose information, the new target pose information of the current box to be palletized is determined.

5. The control method for robot-operated palletizing of boxes according to any one of claims 1-4, characterized in that, The step of obtaining the navigation point of the current box to be palletized includes: Obtain the palletizing layer and number corresponding to the current box of items to be palletized; Based on the palletizing layer and the number, determine whether the current box to be palletized should be subject to navigation offset; If the current box to be palletized needs to be offset by navigation, then determine the navigation offset information of the current box to be palletized. Based on the navigation offset information, the navigation point corresponding to the current box of items to be palletized is adjusted, and the adjusted navigation point is used as the navigation point of the current box of items to be palletized.

6. The control method for robot-operated palletizing of boxes according to any one of claims 1-4, characterized in that, Before obtaining the navigation point of the current box to be palletized, the following steps are included: Obtain the pose information of the pallet where no item box is placed; Based on the pose information of the pallet and the preset palletizing strategy, the navigation point of each box of items to be palletized is determined.

7. The control method for robot-operated palletizing of boxes according to any one of claims 1-4, characterized in that, Before controlling the robot to move the currently palletized item box to the navigation point based on the navigation point, the method further includes: Control the robot to move to the item handling point where the current item box to be palletized is located; Obtain the pre-handling pose information of the current box to be palletized, and pre-handle the current box to be palletized based on the pre-handling pose information; Obtain the handling execution pose information of the current item box to be palletized, and based on the handling execution pose information, move the current item box to be palletized to the position corresponding to the handling execution pose information.

8. The control method for robot-operated palletizing of boxes according to any one of claims 1-4, characterized in that, The step of controlling the robot to move the currently palletized item box to the navigation point based on the navigation point includes: When the robot moves to a preset distance from the navigation point, the robot's lifting mechanism is moved to the stacking height of the current box to be stacked. The lifting mechanism is used to place the current box of items to be stacked. The stacking height is determined based on the height of the box of items to be stacked, the number of stacking layers corresponding to the box of items to be stacked, and the height of the pallet.

9. The control method for robot-operated palletizing of goods boxes according to claim 8, characterized in that, After moving the robot's lifting mechanism to the current palletizing height of the box to be palletized, it also includes... Obtain the palletizing layer and number corresponding to the current box of items to be palletized; Based on the palletizing layer and the number, the pre-placed box position information is determined; Based on the pre-placed box pose information, the robot is controlled to move the current box to be palletized to the position corresponding to the pre-placed box pose information.

10. A control device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method as described in any one of claims 1 to 9.

11. A robot, characterized in that, include: The control device as described in claim 10.

12. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 9.

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