Palletizing Path Control Using Prestage Positions to Avoid Collisions
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Solution Overview
Problem
The existing palletizing technologies require manual determination of spatial positions for each article, leading to a high workload and reduced efficiency due to the one-by-one teaching method, which is difficult to adjust dynamically and results in reduced palletizing efficiency.
Innovation Solution
A palletizing control device and system that generates prestage positions and movement path information by shifting placement positions along horizontal and vertical offsets, allowing for automatic palletizing and collision avoidance by moving articles along straight paths, thereby improving efficiency and safety.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If manual one-by-one teaching method is used to determine spatial position of each article, then collision between articles can be prevented, but workload increases and palletizing efficiency decreases
Solution Approach 1:
The patent calculates prestage positions in advance by shifting placement positions along horizontal and vertical offsets. This preliminary calculation of safe approach positions allows the robot to automatically determine collision-free paths without manual teaching, resolving the contradiction between automated efficiency and collision prevention
Solution Approach 2:
The patent introduces prestage positions as intermediary points between the robot's current position and the final placement position. These intermediate positions serve as safe approach points that guarantee collision avoidance while enabling automated path generation, eliminating the need for manual one-by-one teaching
2Measurement precision
If manual teaching method is used to determine robot trajectory and operating point, then precise control is achieved, but dynamic adjustment becomes difficult and efficiency is reduced
Solution Approach 1:
The patent dynamically calculates prestage positions based on current placement position and article characteristics using offset calculations. This dynamic approach allows the system to adapt to different articles and placement scenarios automatically, eliminating the rigidity of manual pre-teaching while maintaining precise control through calculated trajectories
3Productivity
If automatic palletizing is implemented without prestage position calculation, then efficiency improves, but collision between articles may occur
Solution Approach 1:
The patent applies preliminary anti-action by calculating prestage positions that are shifted from final placement positions by specific horizontal and vertical offsets. These pre-calculated offset positions serve as safe approach points that prevent collision before it can occur, enabling automatic palletizing without compromising safety
Data Source
AI summary
The present disclosure relates to a palletizing control device, system, method and storage medium, and relates to the technical field of logistics. A palletizing control device includes: a prestage position generation module configured to generate a prestage position of an article to be palletized by respectively shifting a placement position of the article to be palletized along a horizontal palletizing direction by a horizontal offset corresponding to the article to be palletized and along a vertical palletizing direction by a vertical offset corresponding to the article to be palletized; and a path generation module configured to generate movement path information representing a straight path from the prestage position of the article to be palletized to the placement position of the article to be palletized.