Robot-based palletizing method and apparatus, device, storage medium, and product

Abstract

The present application discloses a robot-based palletizing method and apparatus, a device, a storage medium, and a product. The method comprises: determining at least three reference points in a material frame, wherein each reference point has a row number and a column number in the material frame, two reference points among the at least three reference points are located on the same row, and two reference points are located on the same column; teaching the position coordinates of the at least three reference points; on the basis of the row number and the column number of each reference point, and the position coordinates of the at least three reference points, determining the position coordinates of a target point, wherein the target point is any point in the material frame; and controlling a robot to perform palletizing on the basis of the position coordinates of the target point.

Description

Robotic palletizing method, device, equipment, storage medium and product

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese patent application No. 202410145956.4, filed on February 1, 2024, entitled “Robotic palletizing method, device, equipment, storage medium and product,” the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present application relates to the technical field of industrial manufacturing, and in particular to a robot palletizing method, device, equipment, storage medium and product. Background Art

[0004] Palletizing is a common application of industrial robots. For example, on conveyor lines in the lithium battery industry, robots can be used to palletize within a material basket. A crucial prerequisite for robotic palletizing is the ability to easily and accurately determine the positions of various points within the basket. Currently, this often requires point-by-point instruction before the robot can palletize. This cumbersome and inefficient teaching process compromises the overall efficiency of robotic palletizing.

[0005] Summary of the Invention

[0006] The embodiments of the present application provide a robot palletizing method, apparatus, equipment, storage medium, and product to solve the technical problems of a complicated and inefficient robot palletizing teaching process.

[0007] In a first aspect, an embodiment of the present application provides a robotic palletizing method, comprising:

[0008] Determine at least three reference points in the frame, wherein each reference point includes a row number and a column number in the frame, and two of the at least three reference points are in the same row and two are in the same column;

[0009] Teach the position coordinates of at least three reference points;

[0010] Determine the position coordinates of the target point based on the number of rows and columns of each reference point and the position coordinates of at least three reference points. The target point is any point in the material frame.

[0011] Control the robot to perform palletizing according to the position coordinates of the target point.

[0012] In this embodiment, the position coordinates of at least three reference points can be taught, and then the position coordinates of any point in the material frame can be calculated through the position coordinates of the at least three reference points and the number of rows and columns of each reference point, which facilitates subsequent robot palletizing, simplifies the robot palletizing teaching process, realizes rapid changeover, and improves the robot palletizing efficiency.

[0013] In some embodiments, the at least three reference points include four corner points of the frame;

[0014] Among them, the four vertex points include the first reference point, the second reference point, the third reference point and the fourth reference point. The first reference point and the second reference point, the third reference point and the fourth reference point are respectively in the same row, the first reference point and the third reference point, the second reference point and the fourth reference point are respectively in the same column, and the column number of the fourth reference point is the first number of points in each row, and the row number of the fourth reference point is the second number of points in each column.

[0015] In this embodiment, the four top corner points of a material frame of fixed size can be selected as reference points, which makes teaching easier and changing models faster, further improving the robot palletizing efficiency.

[0016] In some embodiments, determining the position coordinates of the target point based on the row number and column number of each reference point and the position coordinates of at least three reference points includes:

[0017] Determine a first offset on a line connecting the first reference point and the second reference point based on the first quantity and the position coordinates of the first reference point and the second reference point;

[0018] The position coordinates of the first point are determined according to the position coordinates and the first offset of the first reference point, or the position coordinates and the first offset of the second reference point, wherein the first point is any point on the line connecting the first reference point and the second reference point.

[0019] In this embodiment, the first offset on the line connecting the first reference point and the second reference point can be calculated based on the position coordinates of the two points, so that the first offset can be taken into account when calculating the position coordinates of other points on the line, thereby improving the problem of offset in the established robot coordinate system caused by factors such as unevenness, sinking, and shaking of the conveying mechanism of the material frame, making the calculation of the position coordinates more accurate, thereby improving the accuracy of robot palletizing.

[0020] In some embodiments, determining the position coordinates of the target point based on the row number and column number of each reference point and the position coordinates of at least three reference points includes:

[0021] Determine a second offset on a line connecting the third reference point and the fourth reference point based on the first quantity and the position coordinates of the third reference point and the fourth reference point;

[0022] The position coordinates of the second point are determined according to the position coordinates and the second offset of the third reference point, or the position coordinates and the second offset of the fourth reference point, wherein the second point is any point on the line connecting the third reference point and the fourth reference point.

[0023] In this embodiment, the second offset on the line connecting the third reference point and the fourth reference point can be calculated based on the position coordinates of the two points, so that the second offset can be taken into account when calculating the position coordinates of other points on the line, thereby improving the problem of offset in the established robot coordinate system caused by factors such as unevenness, sinking, and shaking of the conveying mechanism of the material frame, making the calculation of the position coordinates more accurate, thereby improving the accuracy of robot palletizing.

[0024] In some embodiments, determining the position coordinates of the target point based on the row number and column number of each reference point and the position coordinates of at least three reference points includes:

[0025] Determine a third offset on a line connecting the first reference point and the third reference point based on the second quantity and the position coordinates of the first reference point and the third reference point;

[0026] The position coordinates of the third point are determined based on the position coordinates of the first reference point and the third offset, or the position coordinates of the third reference point and the third offset, wherein the third point is any point on the line connecting the first reference point and the third reference point.

[0027] In this embodiment, the third offset on the line connecting the first reference point and the third reference point can be calculated based on the position coordinates of the two points, so that the third offset can be taken into account when calculating the position coordinates of other points on the line, thereby improving the problem of offset in the established robot coordinate system caused by factors such as unevenness, sinking, and shaking of the conveying mechanism of the material frame, making the calculation of the position coordinates more accurate, thereby improving the accuracy of robot palletizing.

[0028] In some embodiments, determining the position coordinates of the target point based on the row number and column number of each reference point and the position coordinates of at least three reference points includes:

[0029] Determine a fourth offset on a line connecting the second reference point and the fourth reference point based on the second quantity and the position coordinates of the second reference point and the fourth reference point;

[0030] The position coordinates of a fourth point are determined based on the position coordinates of the second reference point and the fourth offset, or the position coordinates of the fourth reference point and the fourth offset, wherein the fourth point is any point on the line connecting the second reference point and the fourth reference point.

[0031] In this embodiment, the fourth offset on the line connecting the second reference point and the fourth reference point can be calculated based on the position coordinates of the two points, so that the fourth offset can be taken into account when calculating the position coordinates of other points on the line, thereby improving the problem of offset of the established robot coordinate system caused by factors such as unevenness, sinking, and shaking of the conveying mechanism of the material frame, making the calculation of the position coordinates more accurate, thereby improving the accuracy of robot palletizing.

[0032] In some embodiments, determining the position coordinates of the target point based on the row number and column number of each reference point and the position coordinates of at least three reference points includes:

[0033] Determine a fifth offset of the j-th row based on the first number and the position coordinates of the fifth and sixth points, where the fifth point is the third point in the j-th row, the sixth point is the fourth point in the j-th row, and j is an integer greater than 1 and less than the second number;

[0034] The position coordinates of the seventh point are determined according to the position coordinates and the fifth offset of the fifth point, or the position coordinates and the fifth offset of the sixth point, wherein the seventh point is any point in the jth row.

[0035] In this embodiment, the fifth offset of the jth row can be calculated based on the position coordinates of the third and fourth points in the jth row, so that the fifth offset can be taken into account when calculating the position coordinates of other points in the jth row, thereby improving the problem of offset of the established robot coordinate system due to factors such as unevenness, sinking, and shaking of the conveying mechanism of the material frame, making the calculation of the position coordinates more accurate, thereby improving the accuracy of robot palletizing.

[0036] In a second aspect, an embodiment of the present application provides a robotic palletizing device, comprising:

[0037] A first determination module is configured to determine at least three reference points in the frame, wherein each reference point includes a row number and a column number in the frame, and two reference points among the at least three reference points are in the same row and two reference points are in the same column;

[0038] A teaching module, used to teach the position coordinates of at least three reference points;

[0039] A second determination module is used to determine the position coordinates of a target point according to the row number and column number of each reference point and the position coordinates of at least three reference points. The target point is any point in the material frame.

[0040] The control module is used to control the robot to perform palletizing according to the position coordinates of the target point.

[0041] In this embodiment, the position coordinates of at least three reference points can be taught, and then the position coordinates of any point in the material frame can be calculated through the position coordinates of the at least three reference points and the number of rows and columns of each reference point, which facilitates subsequent robot palletizing, simplifies the robot palletizing teaching process, realizes rapid changeover, and improves the robot palletizing efficiency.

[0042] In some embodiments, the at least three reference points include four corner points of the frame;

[0043] Among them, the four vertex points include the first reference point, the second reference point, the third reference point and the fourth reference point. The first reference point and the second reference point, the third reference point and the fourth reference point are respectively in the same row, the first reference point and the third reference point, the second reference point and the fourth reference point are respectively in the same column, and the column number of the fourth reference point is the first number of points in each row, and the row number of the fourth reference point is the second number of points in each column.

[0044] In this embodiment, the four top corner points of a material frame of fixed size can be selected as reference points, which makes teaching easier and changing models faster, further improving the robot palletizing efficiency.

[0045] In some embodiments, the second determining module is further configured to:

[0046] Determine a first offset on a line connecting the first reference point and the second reference point based on the first quantity and the position coordinates of the first reference point and the second reference point;

[0047] The position coordinates of the first point are determined according to the position coordinates and the first offset of the first reference point, or the position coordinates and the first offset of the second reference point, wherein the first point is any point on the line connecting the first reference point and the second reference point.

[0048] In this embodiment, the first offset on the line connecting the first reference point and the second reference point can be calculated based on the position coordinates of the two points, so that the first offset can be taken into account when calculating the position coordinates of other points on the line, thereby improving the problem of offset in the established robot coordinate system caused by factors such as unevenness, sinking, and shaking of the conveying mechanism of the material frame, making the calculation of the position coordinates more accurate, thereby improving the accuracy of robot palletizing.

[0049] In some embodiments, the second determining module is further configured to:

[0050] Determine a second offset on a line connecting the third reference point and the fourth reference point based on the first quantity and the position coordinates of the third reference point and the fourth reference point;

[0051] The position coordinates of the second point are determined according to the position coordinates and the second offset of the third reference point, or the position coordinates and the second offset of the fourth reference point, wherein the second point is any point on the line connecting the third reference point and the fourth reference point.

[0052] In this embodiment, the second offset on the line connecting the third reference point and the fourth reference point can be calculated based on the position coordinates of the two points, so that the second offset can be taken into account when calculating the position coordinates of other points on the line, thereby improving the problem of offset in the established robot coordinate system caused by factors such as unevenness, sinking, and shaking of the conveying mechanism of the material frame, making the calculation of the position coordinates more accurate, thereby improving the accuracy of robot palletizing.

[0053] In some embodiments, the second determining module is further configured to:

[0054] Determine a third offset on a line connecting the first reference point and the third reference point based on the second quantity and the position coordinates of the first reference point and the third reference point;

[0055] The position coordinates of the third point are determined based on the position coordinates of the first reference point and the third offset, or the position coordinates of the third reference point and the third offset, wherein the third point is any point on the line connecting the first reference point and the third reference point.

[0056] In this embodiment, the third offset on the line connecting the first reference point and the third reference point can be calculated based on the position coordinates of the two points, so that the third offset can be taken into account when calculating the position coordinates of other points on the line, thereby improving the problem of offset in the established robot coordinate system caused by factors such as unevenness, sinking, and shaking of the conveying mechanism of the material frame, making the calculation of the position coordinates more accurate, thereby improving the accuracy of robot palletizing.

[0057] In some embodiments, the second determining module is further configured to:

[0058] Determine a fourth offset on a line connecting the second reference point and the fourth reference point based on the second quantity and the position coordinates of the second reference point and the fourth reference point;

[0059] The position coordinates of a fourth point are determined based on the position coordinates of the second reference point and the fourth offset, or the position coordinates of the fourth reference point and the fourth offset, wherein the fourth point is any point on the line connecting the second reference point and the fourth reference point.

[0060] In this embodiment, the fourth offset on the line connecting the second reference point and the fourth reference point can be calculated based on the position coordinates of the two points, so that the fourth offset can be taken into account when calculating the position coordinates of other points on the line, thereby improving the problem of offset of the established robot coordinate system caused by factors such as unevenness, sinking, and shaking of the conveying mechanism of the material frame, making the calculation of the position coordinates more accurate, thereby improving the accuracy of robot palletizing.

[0061] In some embodiments, the second determining module is further configured to:

[0062] Determine a fifth offset of the j-th row based on the first number and the position coordinates of the fifth and sixth points, where the fifth point is the third point in the j-th row, the sixth point is the fourth point in the j-th row, and j is an integer greater than 1 and less than the second number;

[0063] The position coordinates of the seventh point are determined according to the position coordinates and the fifth offset of the fifth point, or the position coordinates and the fifth offset of the sixth point, wherein the seventh point is any point in the jth row.

[0064] In this embodiment, the fifth offset of the jth row can be calculated based on the position coordinates of the third and fourth points in the jth row, so that the fifth offset can be taken into account when calculating the position coordinates of other points in the jth row, thereby improving the problem of offset of the established robot coordinate system due to factors such as unevenness, sinking, and shaking of the conveying mechanism of the material frame, making the calculation of the position coordinates more accurate, thereby improving the accuracy of robot palletizing.

[0065] In a third aspect, an embodiment of the present application provides an electronic device, comprising: a processor and a memory storing program instructions; the processor implements the method of the first aspect when executing the program instructions.

[0066] In a fourth aspect, an embodiment of the present application provides a machine-readable storage medium having program instructions stored thereon, and when the program instructions are executed by a processor, the method of the first aspect is implemented.

[0067] In a fifth aspect, an embodiment of the present application provides a computer program product. When instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes the method of the first aspect.

[0068] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] The features, advantages and technical effects of exemplary embodiments of the present application will be described below with reference to the accompanying drawings.

[0070] FIG1 is a schematic diagram of a process of a robot palletizing method according to an embodiment of the present application;

[0071] FIG2 is a schematic diagram of the material frame points in the robot palletizing method provided in an embodiment of the present application;

[0072] FIG3 is a schematic structural diagram of a robot palletizing device provided in an embodiment of the present application;

[0073] FIG4 is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0074] In the accompanying drawings, the drawings are not necessarily drawn to scale. DETAILED DESCRIPTION

[0075] The following detailed description of the embodiments of the present application is provided in conjunction with the accompanying drawings and examples. The following detailed description of the embodiments and the accompanying drawings are used to illustrate the principles of the present application, but are not intended to limit the scope of the present application, i.e., the present application is not limited to the described embodiments.

[0076] In the description of this application, it should be noted that, unless otherwise specified, "multiple" means more than two; the terms "upper", "lower", "left", "right", "inside", "outside", etc., indicating directions or positional relationships, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on this application. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. "Vertical" is not strictly perpendicular, but is within the allowable error range. "Parallel" is not strictly parallel, but is within the allowable error range.

[0077] References to "embodiments" in this application mean that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described in this application may be combined with other embodiments.

[0078] The embodiments of the present application provide a robot palletizing method, apparatus, device, storage medium, and product to solve the above-mentioned technical problems. The robot palletizing method provided by the embodiments of the present application is first introduced below.

[0079] Please refer to FIG1 , which is a schematic flow chart of a robotic palletizing method provided by one embodiment of the present application. The robotic palletizing method may include the following steps:

[0080] Step 101, determining at least three reference points in a material frame, wherein each reference point includes a row number and a column number in the material frame, and among the at least three reference points, two reference points are in the same row and two reference points are in the same column;

[0081] Step 102, teaching the position coordinates of at least three reference points;

[0082] Step 103, determining the position coordinates of a target point based on the row and column number of each reference point and the position coordinates of at least three reference points. The target point is any point in the material frame.

[0083] Step 104: Control the robot to perform palletizing according to the position coordinates of the target point.

[0084] In step 101, at least three points can be selected in the frame as reference points, as long as two of the points are in the same row and two of the points are in the same column. For example, if there are three reference points, including point A, point B, and point C, point A and point B can be in the same row, and point A and point C can be in the same column.

[0085] In step 102 , the robot may be controlled to move to the at least three reference points, and the position coordinates of the at least three reference points may be taught.

[0086] In step 103 , it is understandable that the arrangement of the points in the material frame is often regular, that is, the intervals between two adjacent points in each row are equal, and the intervals between two adjacent points in each column are also equal.

[0087] Based on this, the spacing between two adjacent points in each column can be calculated based on the coordinates of two reference points in the same row and their respective column numbers. The spacing between two adjacent points in each row can also be calculated based on the coordinates of two reference points in the same column and their respective row numbers. The coordinates of any point in the discharge frame can then be calculated based on the spacing between two adjacent points in each column, the spacing between two adjacent points in each row, and the coordinates of the reference points.

[0088] For example, the interval between two adjacent points in each column can be calculated by dividing the coordinate difference between points A and B by the difference in the number of columns between points A and B. The interval between two adjacent points in each row can be calculated by dividing the coordinate difference between points A and C by the difference in the number of rows between points A and C. The position coordinates of the target point can be calculated based on the interval between two adjacent points in each column, the interval between two adjacent points in each row, the difference in the number of rows and columns between the target point and point A, and the position coordinates of point A.

[0089] In step 104, after calculating the position coordinates of other points in the discharge frame based on the above steps, the robot can be controlled to perform palletizing according to the position coordinates of these points.

[0090] In this embodiment, the position coordinates of at least three reference points can be taught, and then the position coordinates of any point in the material frame can be calculated through the position coordinates of the at least three reference points and the number of rows and columns of each reference point, which facilitates subsequent robot palletizing, simplifies the robot palletizing teaching process, realizes rapid changeover, and improves the robot palletizing efficiency.

[0091] In some embodiments, the at least three reference points include four corner points of the frame;

[0092] Among them, the four vertex points include the first reference point, the second reference point, the third reference point and the fourth reference point. The first reference point and the second reference point, the third reference point and the fourth reference point are respectively in the same row, the first reference point and the third reference point, the second reference point and the fourth reference point are respectively in the same column, and the column number of the fourth reference point is the first number of points in each row, and the row number of the fourth reference point is the second number of points in each column.

[0093] In this embodiment, as shown in FIG. 2 , the four vertex points of the material frame may be determined as four reference points, and the four vertex points include a first reference point A, a second reference point B, a third reference point C, and a fourth reference point D.

[0094] As shown in Figure 2, the first reference point A is located in the 1st row and 1st column of the material frame, the second reference point B is located in the 1st row and nth column of the material frame, the third reference point C is located in the mth row and 1st column of the material frame, and the fourth reference point D is located in the mth row and nth column of the material frame, where n is the first number of points in each row of the material frame, and m is the second number of points in each column of the material frame.

[0095] The position coordinates of any point in the material frame can be calculated based on the position coordinates of the first reference point A, the second reference point B, the third reference point C and the fourth reference point D, as well as the first number n and the second number m.

[0096] In this embodiment, the four top corner points of a material frame of fixed size can be selected as reference points, which makes teaching easier and changing models faster, further improving the robot palletizing efficiency.

[0097] In some embodiments, step 103 may include the following steps:

[0098] Determine a first offset on a line connecting the first reference point and the second reference point based on the first quantity and the position coordinates of the first reference point and the second reference point;

[0099] The position coordinates of the first point are determined according to the position coordinates and the first offset of the first reference point, or the position coordinates and the first offset of the second reference point, wherein the first point is any point on the line connecting the first reference point and the second reference point.

[0100] In this embodiment, a first offset on the line connecting the first reference point A and the second reference point B can be determined based on the first number n, the position coordinates (x1, y1, z1) of the first reference point A, and the position coordinates (x2, y2, z2) of the second reference point B.

[0101] The expression of the first offset can be shown as formula (1):

[0102] Wherein, (dx1, dy1, dz1) is the first offset, (x1, y1, z1) is the position coordinate of the first reference point, (x2, y2, z2) is the position coordinate of the second reference point, and n is the first number.

[0103] The first point position p can be determined based on the position coordinates of the first reference point A and the first offset 1i The position coordinates of the first point are p 1i Any point on the line connecting the first reference point A and the second reference point B.

[0104] The first point p 1i The expression of the position coordinates can be shown as formula (2):

[0105] Among them, (x 1i ,y 1i ,z 1i ) are the position coordinates of the first point, (dx1,dy1,dz1) are the first offset, (x1,y1,z1) are the position coordinates of the first reference point, and i is the column number of the first point.

[0106] The first point position p can also be determined based on the position coordinates of the second reference point B and the first offset. 1i The location coordinates of .

[0107] The first point p 1i The position coordinates of can also be expressed as formula (3):

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

[0109] In this embodiment, the first offset on the line connecting the first reference point and the second reference point can be calculated based on the position coordinates of the two points, so that the first offset can be taken into account when calculating the position coordinates of other points on the line, thereby improving the problem of offset in the established robot coordinate system caused by factors such as unevenness, sinking, and shaking of the conveying mechanism of the material frame, making the calculation of the position coordinates more accurate, thereby improving the accuracy of robot palletizing.

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

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

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

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

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

[0115] Among them, (dx2, dy2, dz2) is the second offset, (x3, y3, z3) is the position coordinate of the third reference point, (x4, y4, z4) is the position coordinate of the fourth reference point, and n is the first number.

[0116] The second point position p can be determined based on the position coordinates of the third reference point C and the second offset mi The position coordinates of the second point p miAny point on the line connecting the third reference point C and the fourth reference point D.

[0117] The second point p mi The expression of the position coordinates can be shown as formula (5):

[0118] Among them, (x mi ,y mi ,z mi ) are the position coordinates of the second point, (dx2, dy2, dz2) are the second offset, (x3, y3, z3) are the position coordinates of the third reference point, and i is the column number of the second point.

[0119] The second point position p can also be determined based on the position coordinates of the fourth reference point D and the second offset. mi The location coordinates of .

[0120] The second point p mi The position coordinates of can also be expressed as formula (6):

[0121] Among them, (x mi ,y mi ,z mi ) are the position coordinates of the second point, (dx2, dy2, dz2) are the second offset, (x4, y4, z4) are the position coordinates of the fourth reference point, n is the first number, which is also the column number of the fourth reference point, and i is the column number of the second point.

[0122] In this embodiment, the second offset on the line connecting the third reference point and the fourth reference point can be calculated based on the position coordinates of the two points, so that the second offset can be taken into account when calculating the position coordinates of other points on the line, thereby improving the problem of offset in the established robot coordinate system caused by factors such as unevenness, sinking, and shaking of the conveying mechanism of the material frame, making the calculation of the position coordinates more accurate, thereby improving the accuracy of robot palletizing.

[0123] In some embodiments, step 103 may include the following steps:

[0124] Determine a third offset on a line connecting the first reference point and the third reference point based on the second quantity and the position coordinates of the first reference point and the third reference point;

[0125] The position coordinates of the third point are determined based on the position coordinates of the first reference point and the third offset, or the position coordinates of the third reference point and the third offset, wherein the third point is any point on the line connecting the first reference point and the third reference point.

[0126] In this embodiment, the third offset on the line connecting the first reference point A and the third reference point C can be determined based on the second number m, the position coordinates (x1, y1, z1) of the first reference point A and the position coordinates (x3, y3, z3) of the third reference point C.

[0127] The expression of the third offset can be shown as formula (7):

[0128] Among them, (dx3, dy3, dz3) is the third offset, (x1, y1, z1) is the position coordinate of the first reference point, (x3, y3, z3) is the position coordinate of the third reference point, and m is the second quantity.

[0129] The third point position p can be determined based on the position coordinates of the first reference point A and the third offset j1 The position coordinates of the third point are p j1 Any point on the line connecting the first reference point A and the third reference point C.

[0130] The third point p j1 The expression of the position coordinates can be shown as formula (8):

[0131] Among them, (x j1 ,y j1 ,z j1 ) are the position coordinates of the third point, (dx3, dy3, dz3) are the third offset, (x1, y1, z1) are the position coordinates of the first reference point, and j is the row number of the third point.

[0132] The third point position p can also be determined based on the position coordinates of the third reference point C and the third offset. j1 The location coordinates of .

[0133] The third point p j1 The expression of the position coordinates can be shown as formula (9):

[0134] Among them, (x j1 ,y j1 ,z j1 ) are the position coordinates of the third point, (dx3,dy3,dz3) are the third offset, (x3,y3,z3) are the position coordinates of the third reference point, m is the second quantity, which is also the row number of the third reference point, and j is the row number of the third point.

[0135] In this embodiment, the third offset on the line connecting the first reference point and the third reference point can be calculated based on the position coordinates of the two points, so that the third offset can be taken into account when calculating the position coordinates of other points on the line, thereby improving the problem of offset in the established robot coordinate system caused by factors such as unevenness, sinking, and shaking of the conveying mechanism of the material frame, making the calculation of the position coordinates more accurate, thereby improving the accuracy of robot palletizing.

[0136] In some embodiments, step 103 may include the following steps:

[0137] Determine a fourth offset on a line connecting the second reference point and the fourth reference point based on the second quantity and the position coordinates of the second reference point and the fourth reference point;

[0138] The position coordinates of a fourth point are determined based on the position coordinates of the second reference point and the fourth offset, or the position coordinates of the fourth reference point and the fourth offset, wherein the fourth point is any point on the line connecting the second reference point and the fourth reference point.

[0139] In this embodiment, the fourth offset on the line connecting the second reference point B and the fourth reference point D can be determined based on the second number m, the position coordinates (x2, y2, z2) of the second reference point B, and the position coordinates (x4, y4, z4) of the fourth reference point D.

[0140] The expression of the fourth offset can be shown as formula (10):

[0141] Among them, (dx4, dy4, dz4) is the fourth offset, (x2, y2, z2) is the position coordinate of the second reference point, (x4, y4, z4) is the position coordinate of the fourth reference point, and m is the second quantity.

[0142] The fourth point position p can be determined based on the position coordinates of the second reference point B and the fourth offset. jn The position coordinates of the fourth point are p jn Any point on the line connecting the second reference point B and the fourth reference point D.

[0143] The fourth point p jn The expression of the position coordinates can be shown as formula (11):

[0144] Among them, (x jn ,y jn ,z jn) are the position coordinates of the fourth point, (dx4, dy4, dz4) are the fourth offset, (x2, y2, z2) are the position coordinates of the second reference point, and j is the row number of the fourth point.

[0145] The fourth point position p can also be determined based on the position coordinates of the fourth reference point D and the fourth offset. jn The location coordinates of .

[0146] The fourth point p jn The position coordinates of can also be expressed as formula (12):

[0147] Among them, (x jn ,y jn ,z jn ) are the position coordinates of the fourth point, (dx4, dy4, dz4) are the fourth offset, (x4, y4, z4) are the position coordinates of the fourth reference point, m is the second quantity, which is also the row number of the fourth reference point, and j is the row number of the fourth point.

[0148] In this embodiment, the fourth offset on the line connecting the second reference point and the fourth reference point can be calculated based on the position coordinates of the two points, so that the fourth offset can be taken into account when calculating the position coordinates of other points on the line, thereby improving the problem of offset of the established robot coordinate system caused by factors such as unevenness, sinking, and shaking of the conveying mechanism of the material frame, making the calculation of the position coordinates more accurate, thereby improving the accuracy of robot palletizing.

[0149] In some embodiments, step 103 may include the following steps:

[0150] Determine a fifth offset of the j-th row based on the first number and the position coordinates of the fifth and sixth points, where the fifth point is the third point in the j-th row, the sixth point is the fourth point in the j-th row, and j is an integer greater than 1 and less than the second number;

[0151] The position coordinates of the seventh point are determined according to the position coordinates and the fifth offset of the fifth point, or the position coordinates and the fifth offset of the sixth point, wherein the seventh point is any point in the jth row.

[0152] In this embodiment, the i-th point in the j-th row of the frame, i.e., the seventh point p ji As an example, where 1<i<n, 1<j<m, the fifth point p located in the jth row can be determined from the third and fourth points respectively. j1 and the sixth point p jn . According to the first number n, and the fifth point p j1 The position coordinates (xj1 ,y j1 ,z j1 ) and the sixth point p jn The position coordinates (x jn ,y jn ,z jn ), determine the fifth offset of the j-th row.

[0153] The expression of the fifth offset can be shown as formula (13):

[0154] Among them, (dx5,dy5,dz5) is the fifth offset, (x j1 ,y j1 ,z j1 ) is the position coordinate of the fifth point, (x jn ,y jn ,z jn ) is the position coordinate of the sixth point, and n is the first number.

[0155] Combining formula (7), formula (8), formula (10) and formula (11), the expression of the fifth offset can be transformed into formula (14):

[0156] Among them, (dx5,dy5,dz5) is the fifth offset, (x1,y1,z1) is the position coordinate of the first reference point, (x2,y2,z2) is the position coordinate of the second reference point, (x3,y3,z3) is the position coordinate of the third reference point, (x4,y4,z4) is the position coordinate of the fourth reference point, j is the number of rows, n is the first number, and m is the second number.

[0157] According to the fifth point p j1 The position coordinates and the fifth offset determine the seventh point position p ji The location coordinates of .

[0158] Seventh point p ji The expression of the position coordinates can be shown as formula (15):

[0159] Among them, (x ji ,y ji ,z ji ) is the position coordinate of the seventh point, (dx5,dy5,dz5) is the fifth offset, (x j1 ,y j1 ,z j1 ) is the position coordinate of the fifth point, and i is the column number of the seventh point.

[0160] You can also use the sixth point position p jnThe position coordinates and the fifth offset determine the seventh point position p ji The location coordinates of .

[0161] Seventh point p ji The position coordinates of can also be expressed as formula (16):

[0162] Among them, (x ji ,y ji ,z ji ) is the position coordinate of the seventh point, (dx5,dy5,dz5) is the fifth offset, (x jn ,y jn ,z jn ) is the position coordinate of the sixth point, n is the first number, which is also the column number of the sixth point, and i is the column number of the seventh point.

[0163] In this embodiment, the fifth offset of the jth row can be calculated based on the position coordinates of the third and fourth points in the jth row, so that the fifth offset can be taken into account when calculating the position coordinates of other points in the jth row, thereby improving the problem of offset of the established robot coordinate system due to factors such as unevenness, sinking, and shaking of the conveying mechanism of the material frame, making the calculation of the position coordinates more accurate, thereby improving the accuracy of robot palletizing.

[0164] Based on the robot palletizing method provided in the above embodiment, the present application also provides an embodiment of a robot palletizing device.

[0165] FIG3 shows a schematic structural diagram of a robot palletizing device provided in another embodiment of the present application. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0166] 3 , the robotic palletizing device 300 may include:

[0167] A first determining module 301 is configured to determine at least three reference points in a material frame, wherein each reference point includes a row number and a column number in the material frame, and two reference points among the at least three reference points are in the same row and two reference points are in the same column;

[0168] A teaching module 302 is used to teach the position coordinates of at least three reference points;

[0169] The second determining module 303 is used to determine the position coordinates of the target point according to the row number and column number of each reference point and the position coordinates of at least three reference points. The target point is any point in the material frame.

[0170] The control module 304 is used to control the robot to perform palletizing according to the position coordinates of the target point.

[0171] In this embodiment, the position coordinates of at least three reference points can be taught, and then the position coordinates of any point in the material frame can be calculated through the position coordinates of the at least three reference points and the number of rows and columns of each reference point, which facilitates subsequent robot palletizing, simplifies the robot palletizing teaching process, realizes rapid changeover, and improves the robot palletizing efficiency.

[0172] In some embodiments, the at least three reference points include four corner points of the frame;

[0173] Among them, the four vertex points include the first reference point, the second reference point, the third reference point and the fourth reference point. The first reference point and the second reference point, the third reference point and the fourth reference point are respectively in the same row, the first reference point and the third reference point, the second reference point and the fourth reference point are respectively in the same column, and the column number of the fourth reference point is the first number of points in each row, and the row number of the fourth reference point is the second number of points in each column.

[0174] In this embodiment, the four top corner points of a material frame of fixed size can be selected as reference points, which makes teaching easier and changing models faster, further improving the robot palletizing efficiency.

[0175] In some embodiments, the second determining module 3003 is further configured to:

[0176] Determine a first offset on a line connecting the first reference point and the second reference point based on the first quantity and the position coordinates of the first reference point and the second reference point;

[0177] The position coordinates of the first point are determined according to the position coordinates and the first offset of the first reference point, or the position coordinates and the first offset of the second reference point, wherein the first point is any point on the line connecting the first reference point and the second reference point.

[0178] In this embodiment, the first offset on the line connecting the first reference point and the second reference point can be calculated based on the position coordinates of the two points, so that the first offset can be taken into account when calculating the position coordinates of other points on the line, thereby improving the problem of offset in the established robot coordinate system caused by factors such as unevenness, sinking, and shaking of the conveying mechanism of the material frame, making the calculation of the position coordinates more accurate, thereby improving the accuracy of robot palletizing.

[0179] In some embodiments, the second determining module 303 is further configured to:

[0180] Determine a second offset on a line connecting the third reference point and the fourth reference point based on the first quantity and the position coordinates of the third reference point and the fourth reference point;

[0181] The position coordinates of the second point are determined according to the position coordinates and the second offset of the third reference point, or the position coordinates and the second offset of the fourth reference point, wherein the second point is any point on the line connecting the third reference point and the fourth reference point.

[0182] In this embodiment, the second offset on the line connecting the third reference point and the fourth reference point can be calculated based on the position coordinates of the two points, so that the second offset can be taken into account when calculating the position coordinates of other points on the line, thereby improving the problem of offset in the established robot coordinate system caused by factors such as unevenness, sinking, and shaking of the conveying mechanism of the material frame, making the calculation of the position coordinates more accurate, thereby improving the accuracy of robot palletizing.

[0183] In some embodiments, the second determining module 303 is further configured to:

[0184] Determine a third offset on a line connecting the first reference point and the third reference point based on the second quantity and the position coordinates of the first reference point and the third reference point;

[0185] The position coordinates of the third point are determined based on the position coordinates of the first reference point and the third offset, or the position coordinates of the third reference point and the third offset, wherein the third point is any point on the line connecting the first reference point and the third reference point.

[0186] In this embodiment, the third offset on the line connecting the first reference point and the third reference point can be calculated based on the position coordinates of the two points, so that the third offset can be taken into account when calculating the position coordinates of other points on the line, thereby improving the problem of offset in the established robot coordinate system caused by factors such as unevenness, sinking, and shaking of the conveying mechanism of the material frame, making the calculation of the position coordinates more accurate, thereby improving the accuracy of robot palletizing.

[0187] In some embodiments, the second determining module 303 is further configured to:

[0188] Determine a fourth offset on a line connecting the second reference point and the fourth reference point based on the second quantity and the position coordinates of the second reference point and the fourth reference point;

[0189] The position coordinates of a fourth point are determined based on the position coordinates of the second reference point and the fourth offset, or the position coordinates of the fourth reference point and the fourth offset, wherein the fourth point is any point on the line connecting the second reference point and the fourth reference point.

[0190] In this embodiment, the fourth offset on the line connecting the second reference point and the fourth reference point can be calculated based on the position coordinates of the two points, so that the fourth offset can be taken into account when calculating the position coordinates of other points on the line, thereby improving the problem of offset of the established robot coordinate system caused by factors such as unevenness, sinking, and shaking of the conveying mechanism of the material frame, making the calculation of the position coordinates more accurate, thereby improving the accuracy of robot palletizing.

[0191] In some embodiments, the second determining module 303 is further configured to:

[0192] Determine a fifth offset of the j-th row based on the first number and the position coordinates of the fifth and sixth points, where the fifth point is the third point in the j-th row, the sixth point is the fourth point in the j-th row, and j is an integer greater than 1 and less than the second number;

[0193] The position coordinates of the seventh point are determined according to the position coordinates and the fifth offset of the fifth point, or the position coordinates and the fifth offset of the sixth point, wherein the seventh point is any point in the jth row.

[0194] In this embodiment, the fifth offset of the jth row can be calculated based on the position coordinates of the third and fourth points in the jth row, so that the fifth offset can be taken into account when calculating the position coordinates of other points in the jth row, thereby improving the problem of offset of the established robot coordinate system caused by factors such as unevenness, sinking, and shaking of the conveying mechanism of the material frame, making the calculation of the position coordinates more accurate, thereby improving the accuracy of robot palletizing.

[0195] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application, and are devices corresponding to the above-mentioned robot palletizing method. All implementation methods in the above-mentioned method embodiment are applicable to the embodiment of the device. Its specific functions and technical effects can be found in the method embodiment section, which will not be repeated here.

[0196] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by 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 embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0197] FIG4 shows a schematic diagram of the hardware structure of an electronic device provided in yet another embodiment of the present application.

[0198] The electronic device 400 may include a processor 401 and a memory 402 storing programs or instructions. When the processor 401 executes the program, the steps in any of the above method embodiments are implemented.

[0199] For example, the program can be divided into one or more modules / units, one or more modules / units are stored in the memory 402 and executed by the processor 401 to complete the present application. One or more modules / units can be a series of program instruction segments that can perform specific functions, and the instruction segments are used to describe the execution process of the program in the device.

[0200] Specifically, the processor 401 may include a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0201] The memory 402 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 402 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive, or a combination of two or more of these. Where appropriate, the memory 402 may include removable or non-removable (or fixed) media. Where appropriate, the memory 402 may be inside or outside the integrated gateway disaster recovery device. In a specific embodiment, the memory 402 is a non-volatile solid-state memory.

[0202] The memory may include read-only memory (ROM), random access memory (RAM), magnetic disk storage media devices, optical storage media devices, flash memory devices, electrical, optical or other physical / tangible memory storage devices. Thus, generally, the memory includes one or more tangible (non-transitory) readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to an aspect of the present disclosure.

[0203] The processor 401 implements any one of the methods in the above embodiments by reading and executing the program or instructions stored in the memory 402 .

[0204] In one example, the electronic device may further include a communication interface 403 and a bus 404. The processor 401, the memory 402, and the communication interface 403 are connected via the bus 404 and communicate with each other.

[0205] The communication interface 403 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0206] Bus 404 includes hardware, software or both, and the parts of online data flow metering equipment are coupled to each other. For example, but not limitation, bus can include accelerated graphics port (AGP) or other graphics bus, enhanced industry standard architecture (EISA) bus, front side bus (FSB), hypertransport (HT) interconnection, industry standard architecture (ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnection (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more of these combinations. In appropriate cases, bus 404 can include one or more buses. Although the present application embodiment describes and shows specific bus, the application considers any suitable bus or interconnection.

[0207] In addition, in conjunction with the methods in the above embodiments, embodiments of the present application may be implemented by providing a machine-readable storage medium. The machine-readable storage medium stores a program or instructions; when executed by a processor, the program or instructions implement any of the methods in the above embodiments. The machine-readable storage medium can be read by a machine, such as a computer.

[0208] An embodiment of the present application further provides a chip, which includes a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the various processes of the above-mentioned method embodiment and achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0209] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0210] An embodiment of the present application provides a computer program product, which is stored in a machine-readable storage medium. The program product is executed by at least one processor to implement the various processes of the above-mentioned method embodiment and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0211] It should be understood that the present application is not limited to the specific configurations and processes described above and illustrated in the figures. For the sake of brevity, a detailed description of known methods is omitted here. In the above embodiments, several specific steps are described and illustrated as examples. However, the method process of the present application is not limited to the specific steps described and illustrated. Those skilled in the art can make various changes, modifications, and additions, or change the order of the steps after understanding the spirit of the present application.

[0212] The functional modules shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), suitable firmware, a plug-in unit, a function card or the like. When implemented in software, the elements of the present application are programs or code segments that are used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Machine-readable medium" can include any medium that can store or transmit information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROMs, flash memories, erasable ROMs (EROMs), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, or the like. The code segment can be downloaded via a computer grid such as the Internet, an intranet, or the like.

[0213] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps. In other words, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0214] Aspects of the present disclosure have been described above with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and program products according to the embodiments of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by a computer program or instruction. These programs or instructions can be provided to a processor of a general-purpose computer, a special-purpose computer or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the implementation of the function / action specified in one or more boxes of the flowchart and / or block diagram. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor or a field programmable logic circuit. It is also understood that each box in the block diagram and / or flowchart and the combination of the boxes in the block diagram and / or flowchart can also be implemented by dedicated hardware that performs a specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0215] Although the present application has been described with reference to preferred embodiments, various modifications may be made thereto and components may be replaced with equivalents without departing from the scope of the present application. In particular, the various technical features described in the various embodiments may be combined in any manner as long as there are no structural conflicts. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions within the scope of the claims.

Claims

1. A robot palletizing method, the method comprising: Determining at least three reference points in the frame, wherein each reference point includes a row number and a column number in the frame, and two of the at least three reference points are in the same row and two are in the same column; Teaching the position coordinates of the at least three reference points; Determine the position coordinates of a target point according to the number of rows and columns of each reference point and the position coordinates of the at least three reference points, where the target point is any point in the material frame; The robot is controlled to perform palletizing according to the position coordinates of the target point.

2. The method according to claim 1, wherein The at least three reference points include four vertex points of the material frame; Among them, the four vertex points include a first reference point, a second reference point, a third reference point and a fourth reference point, the first reference point and the second reference point, the third reference point and the fourth reference point are respectively in the same row, the first reference point and the third reference point, the second reference point and the fourth reference point are respectively in the same column, and the column number of the fourth reference point is the first number of points in each row, and the row number of the fourth reference point is the second number of points in each column.

3. The method according to claim 2, wherein: Determining the position coordinates of the target point based on the number of rows and columns of each reference point and the position coordinates of the at least three reference points includes: Determine a first offset on a line connecting the first reference point and the second reference point based on the first number and the position coordinates of the first reference point and the second reference point; The position coordinates of a first point are determined based on the position coordinates of the first reference point and the first offset, or the position coordinates of the second reference point and the first offset, wherein the first point is any point on the line connecting the first reference point and the second reference point.

4. The method according to claim 2 or 3, wherein: Determining the position coordinates of the target point based on the number of rows and columns of each reference point and the position coordinates of the at least three reference points includes: According to the first number, and the position coordinates of the third reference point and the fourth reference point determining a second offset on a line connecting the third reference point and the fourth reference point; The position coordinates of the second point are determined based on the position coordinates of the third reference point and the second offset, or the position coordinates of the fourth reference point and the second offset, wherein the second point is any point on the line connecting the third reference point and the fourth reference point.

5. The method according to any one of claims 2 to 4, wherein Determining the position coordinates of the target point based on the number of rows and columns of each reference point and the position coordinates of the at least three reference points includes: Determine a third offset on a line connecting the first reference point and the third reference point based on the second number and the position coordinates of the first reference point and the third reference point; The position coordinates of a third point are determined based on the position coordinates of the first reference point and the third offset, or the position coordinates of the third reference point and the third offset, wherein the third point is any point on the line connecting the first reference point and the third reference point.

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

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

8. A robotic palletizing device, comprising: A first determining module is configured to determine at least three reference points in a material frame, wherein each reference point includes a row number and a column number in the material frame, and two reference points among the at least three reference points are in the same row and two reference points are in the same column; A teaching module, used for teaching the position coordinates of the at least three reference points; A second determining module is configured to determine the position coordinates of a target point according to the row number and column number of each reference point and the position coordinates of the at least three reference points, where the target point is any point in the material frame; The control module is used to control the robot to perform palletizing according to the position coordinates of the target point.

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

10. The device according to claim 9, wherein The second determining module is further configured to: Determine a first offset on a line connecting the first reference point and the second reference point based on the first number and the position coordinates of the first reference point and the second reference point; The position coordinates of a first point are determined based on the position coordinates of the first reference point and the first offset, or the position coordinates of the second reference point and the first offset, wherein the first point is any point on the line connecting the first reference point and the second reference point.

11. The device according to claim 9 or 10, wherein: The second determining module is further configured to: Determine a second offset on a line connecting the third reference point and the fourth reference point according to the first number and the position coordinates of the third reference point and the fourth reference point; The position coordinates of the second point are determined based on the position coordinates of the third reference point and the second offset, or the position coordinates of the fourth reference point and the second offset, wherein the second point is any point on the line connecting the third reference point and the fourth reference point.

12. The device according to any one of claims 9 to 11, wherein The second determining module is further configured to: Determine a third offset on a line connecting the first reference point and the third reference point based on the second number and the position coordinates of the first reference point and the third reference point; The position coordinates of a third point are determined based on the position coordinates of the first reference point and the third offset, or the position coordinates of the third reference point and the third offset, wherein the third point is any point on the line connecting the first reference point and the third reference point.

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

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

15. An electronic device, comprising: a processor and a memory storing programs or instructions; When the processor executes the program or instruction, the method according to any one of claims 1 to 7 is implemented.

16. A machine-readable storage medium, wherein a program or instruction is stored on the machine-readable storage medium, and when the program or instruction is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

17. A computer program product, wherein when instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes the method according to any one of claims 1 to 7.

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