CN108401424A - A kind of the determination method, apparatus and robot of stacking path mode - Google Patents
A kind of the determination method, apparatus and robot of stacking path mode Download PDFInfo
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- CN108401424A CN108401424A CN201680038479.5A CN201680038479A CN108401424A CN 108401424 A CN108401424 A CN 108401424A CN 201680038479 A CN201680038479 A CN 201680038479A CN 108401424 A CN108401424 A CN 108401424A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
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- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
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- General Physics & Mathematics (AREA)
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Abstract
Providing a kind of determination method of stacking path mode includes：The matching that path mode is carried out using preset multiple path mode matching expression, obtains the routing information (step 501) of the stacking point with multiple path modes；Wherein, routing information includes the ranks layer three-dimensional information of stacking point, matched path mode matching expression and corresponding path mode；At least one path mode is selected from the path mode that the routing information includes, and exports the information of stacking point and selected path mode (step 502).The determination method of the stacking path mode avoids collision accident, increases the safety that robot uses.Additionally provide a kind of determining device and robot of stacking path mode.
Description
Technical field
The present invention relates to machine intelligence technical field, more particularly to the determination method, apparatus of a kind of stacking path mode and
Robot.
Background technology
With the rapid development of economy, application of the robot in terms of stacking is more and more extensive.Stacking is that article is neat
Put on pile disk according to certain rule, article is either removed from pile disk and is placed into conveyer belt or other equipment,
As shown in Figure 1.Palletization depends on the stacking form of pile disk (three-dimensional matrice arranges C, the three-dimensional matrice of layer L compositions by row R)
And robot places article toward pile disk along which type of track or removes article.Stacking application Parma industrial at present
The more of disk pattern is pattern as shown in Figures 2 and 3.Fig. 4 illustrates the path change in palletization, in addition to code in figure
(composition path mode, each stacking point have the corresponding points of proximity with point is withdrawn for pile point (composition pile disk pattern), the also points of proximity
With withdraw a little, wherein the points of proximity refer to robot take stacking point is placed into after article during in order to control close to stacking point
Motion path, the motor point information of addition；It withdraws after a little referring to stacking, robot is withdrawn during stacking point to control
System withdraws the motion path of stacking point, the motor point information of addition).Stacking point position is not only paid close attention to when stacking, also to be paid close attention to
Path selects rational path that palletization can be allowed more safe, and beat is faster.
Existing robot is in carrying out palletization, the path point of each stacking point, passage path pattern match on pile disk
Expression formula uniquely determines.But because path mode matching expression and path mode may be many-to-one relationship, stacking point
It is also likely to be one-to-many relationship with route matching expression formula, causes user when by matching expression specified path pattern,
It is possible that a certain stacking point has corresponded to the situation of multiple path modes.The processing scheme of producer of robot is according to one at present
Fixed matching principle directly determines the corresponding path mode of stacking point, although this mode energy in the case of not notifying user
Enough determine the unique corresponding relation of stacking point and path mode, but since its selected path mode is not that user it is expected
, and it is more serious, since its selected path mode is not that user predicts, in some instances it may even be possible to cause the hair of collision accident etc.
It is raw, huge economic loss is brought directly to user, and influence normal palletization, and further influence the production effect of factory
Rate, it is also possible to cause the paralysis of production line.
Invention content
The object of the present invention is to provide a kind of determination method, apparatus of stacking path mode and robots, in stacking
Cheng Zhong informs the stacking point of the multiple path modes of correspondence and its unique corresponding path mode to user.
In order to solve the above technical problems, the present invention provides a kind of determination method of stacking path mode, including：
The matching that path mode is carried out using preset multiple path mode matching expression, obtains having multiple path moulds
The routing information of the stacking point of formula；Wherein, the routing information includes the ranks layer three-dimensional information of stacking point, matched path mould
Formula matching expression and corresponding path mode；
At least one path mode is selected from the path mode that the routing information includes, and exports the stacking
The information of point and selected path mode.
Optionally, further include：Judge whether to carry out the path mode of the stacking point using system default matching rule
Match；
The path mode that the stacking point is determined according to the routing information, including：
If so, determining the path mode of the stacking point using system default matching rule；
If it is not, then determining the path mode of the stacking point according to the match information of input.
Optionally, the match information according to input determines the path mode of the stacking point, including：
Using the modification information inputted according to routing information, the path mode of corresponding stacking point is changed, and with modified
The path mode path mode final as the stacking point.
Optionally, further include：
Delete the path mode matching expression for not being matched to stacking point.
Optionally, further include：
Judge whether the stacking point for not being matched to path mode；
If in the presence of the path mode of the specified stacking point for not being matched to path mode of user is prompted.
In addition, the present invention provides a kind of determining device of stacking path mode, including：
Routing information acquisition module carries out path mode for root using preset multiple path mode matching expression
Matching, obtains the routing information of the stacking point with multiple path modes；Wherein, the routing information includes the ranks of stacking point
Layer three-dimensional information, matched path mode matching expression and corresponding path mode；
Path mode determining module, for selecting at least one road from the path mode that the routing information includes
Diameter pattern；
Path mode output module, the information for exporting the stacking point and selected path mode.
Optionally, further include：
First judgment module, the path mode for judging whether to carry out the stacking point using system default matching rule
Matching；
The path mode determining module includes：
First determination unit, if for using when system default matching rule utilize system default matching rule determine described in
The path mode of stacking point；
Second determination unit, if determining institute according to the match information of input when for not utilizing system default matching rule
State the path mode of stacking point.
Optionally, second determination unit includes：
First determination subelement, the modification information for being inputted according to routing information using user change corresponding stacking point
Path mode, and using modified path mode as the final path mode of the stacking point.
Optionally, further include：
Removing module, for deleting the path mode matching expression for not being matched to stacking point.
Optionally, further include：
Second judgment module, the stacking point for judging whether not to be matched to path mode；
If specified module prompts user is specified not to be matched to road in the presence of the stacking point for not being matched to path mode
The path mode of the stacking point of diameter pattern.
The present invention also provides a kind of robots, including：
Processor, the matching for being carried out path mode using preset multiple path mode matching expression, is had
There is the routing information of the stacking point of multiple path modes；Wherein, the routing information includes the ranks layer three-dimensional information of stacking point,
Matched path mode matching expression and corresponding path mode；It is selected from the path mode that the routing information includes
Select out at least one path mode；
Output device, the information for exporting the stacking point and selected path mode.
Optionally, the processor is additionally operable to the road for judging whether to carry out the stacking point using system default matching rule
Diameter pattern match；If utilizing the path mould for determining the stacking point when system default matching rule using system default matching rule
Formula；If determining the path mode of the stacking point according to the match information of input when not utilizing system default matching rule.
Optionally, the processor is specifically used for, using the modification information inputted according to routing information, changing corresponding stacking
The path mode of point, and using modified path mode as the final path mode of the stacking point.
Optionally, the processor is additionally operable to delete the path mode matching expression for not being matched to stacking point.
Optionally, the processor is additionally operable to judge whether be not matched to the stacking point of path mode；If in the presence of not
It is matched to the stacking point of path mode, then prompts the path mode of the specified stacking point for not being matched to path mode of user.
The determination method, apparatus and robot of a kind of stacking path mode provided by the present invention, the method that determines include profit
The matching that path mode is carried out with preset multiple path mode matching expression obtains the stacking point with multiple path modes
Routing information；Wherein, the routing information includes the ranks layer three-dimensional information of stacking point, matched path mode matching expression
Formula and corresponding path mode；At least one path mode is selected from the path mode that the routing information includes,
And export the information of the stacking point and selected path mode；
As it can be seen that the present invention by by the stacking point and its unique corresponding path mode that correspond to multiple path modes export to
User so that in robot palletization, user can accurately know stacking point and its corresponding path mode, avoid because
User do not know the path of robot stacking and caused by collision accident, increase the safety that robot uses.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
The robot stacking application schematic diagram that Fig. 1 is provided by the embodiment of the present invention；
The regular pile disk pattern diagram that Fig. 2 is provided by the embodiment of the present invention；
The irregular pile disk pattern diagram that Fig. 3 is provided by the embodiment of the present invention；
The pile disk pattern and path mode schematic diagram that Fig. 4 is provided by the embodiment of the present invention；
A kind of flow chart of the determination method for stacking path mode that Fig. 5 is provided by the embodiment of the present invention；
The flow chart of the determination method for another stacking path mode that Fig. 6 is provided by the embodiment of the present invention；
The flow chart of the determination method for another stacking path mode that Fig. 7 is provided by the embodiment of the present invention；
The flow chart of the determination method for another stacking path mode that Fig. 8 is provided by the embodiment of the present invention；
A kind of structure chart of the determining device for stacking path mode that Fig. 9 is provided by the embodiment of the present invention；
A kind of structure chart for robot that Figure 10 is provided by the embodiment of the present invention.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
The every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
Referring to FIG. 5, a kind of flow of the determination method for stacking path mode that Fig. 5 is provided by the embodiment of the present invention
Figure, including：
Step 501：The matching that path mode is carried out using preset multiple path mode matching expression obtains having more
The routing information of the stacking point of a path mode.
Wherein, the routing information may include the ranks layer three-dimensional information of stacking point, matched path mode matching list
Up to formula and corresponding path mode.
It should be noted that as there are the pile disk of three layers of three rows, two row, which can be expressed as 3*2*3, then
Stacking point on its pile disk can be multiple, as stacking point [1,1,1] means that behavior 1 on the pile disk, be classified as 1 and layer is 1
Stacking point.
Path mode matching expression be by user it is specified and or concrete condition set by user according to actual use situation
Be determined, generally can be PC [n]=[row matching expression, row matching expression, layer matching expression], wherein row, column,
Direct designated mode or remainder pattern generally may be used in layer matching expression；Direct designated mode can be x or *, and x is
Optional network specific digit, No. * expression Any Digit；If row, column, the number of layer are equal to x or pattern is *, then it represents that condition is hit；It is remaining
Digital modeling can be m-n, and wherein m indicates that divisor, n indicate remainder, if the remainder of row, column, the number of layer divided by m is n, table
Show that condition is hit；Such as path mode matching expression PC [n]=[1, *, 2-1], indicate that the row on entire pile disk is 1, Suo Youlie,
All stacking points that layer is 1 to 2 complementations, above-mentioned stacking point [1,1,1] can be matched to the path mode matching expression.
It is understood that each path mode matching expression corresponds to a path mode, but there are multiple path moulds
Formula matching expression can all correspond to an identical path mode, and since stacking point can be matched to multiple path modes
Matching expression, causes to have the case where stacking point can correspond to multiple path modes and exists.Such as stacking point [1,1,1] matching
To PC [0]=[1,1,1] (respective path pattern 1), PC [1]=[1, *, *] (respective path pattern 2), PC [n]=[*, 1, *]
(respective path pattern 3) and PC [3]=[1, *, 2-1] (respective path pattern 4) this 4 kinds of path mode matching expression；Also
It is to say, stacking point [1,1,1] has corresponded to 4 kinds of path modes.
In specific implementation, obtained routing information can include as stacking point [1,1,1] corresponds to multiple path moulds in this way
The stacking point of formula can be that one or more stacking points are (true according to the practical number with the stacking point of multiple path modes
Calmly), the multiple path mode matching expression and corresponding multiple path modes that each stacking point is matched to.
Step 502：At least one path mode is selected from the path mode that the routing information includes, and is exported
The information of the stacking point and selected path mode.
In specific implementation, at least one path mode is selected from the path mode that above-mentioned routing information includes, it can
To include：Each stacking point uniquely corresponding path mode is determined using the matching rule of system default；Either utilize user
The path mode specified according to routing information determines each stacking point uniquely corresponding path mode；Either to system default
The stacking point and respective path pattern determined with rule, which are modified, is finally determined for compliance with the stacking of user's actual need
The path mode of point；The path mode of stacking point is either matched according to the new matching condition of path information setting；Either repair
Change corresponding path mode matching expression to reduce many-to-one stacking point quantity, remaining many-to-one stacking point is utilizing
Any of the above-described kind of rule carries out the determination of path mode.No matter use which kind of matching rule it is important that can be by final many-one
The path mode of stacking point inform user, so that user is understood the path mode of these stacking points, you can to prevent because of road
Diameter pattern does not know about the generation for causing the accidents such as collision.
It should be noted that uniquely corresponding path mode refers to that each stacking point is corresponding to above-mentioned each stacking point
A kind of path mode is not a kind of corresponding path mode of each stacking point, although each stacking point corresponding one
Kind of path mode may have that a kind of corresponding path mode is identical, but this situation be also each stacking point respectively
Under the premise of a kind of corresponding path mode, the individual cases of generation.
It is understood that after the corresponding exclusive path pattern of stacking point for determining corresponding multiple path modes,
The stacking point and its respective unique corresponding path mode are exported to user, user is made to will be seen that corresponding multiple path moulds
The unique corresponding path mode of the stacking point of formula.To be become more apparent upon to the stacking path of robot, the things such as collision are prevented
Therefore generation.
Wherein, the stacking point and corresponding path mode are exported, by the information of the stacking point and can be selected
Path mode exported in table form to user, or exported to user, this implementation in the form of word, number or voice etc.
Example does not do any restriction to the form for exporting the stacking point and corresponding path mode.If may be implemented stacking point and
Corresponding path mode is informed to user.Further, the understanding for more convenient user to robot stacking here, can
Exporting the path mode of whole stacking points to user.Wherein, the information of stacking point may include the ranks layer of stacking point
The ranks layer three-dimensional information and matched path mode matching expression of three-dimensional information or stacking point.
Based on the above-mentioned technical proposal, the determination method of stacking path mode provided in an embodiment of the present invention passes through output pair
The stacking point of multiple path modes and its unique corresponding path mode are answered, the stacking point and the path mode are informed into use
Family so that user can accurately understand the path of robot stacking, avoid not determining the path of robot stacking due to user,
Caused by collision accident, increase the safety that robot uses.
Referring to FIG. 6, the flow of the determination method for another stacking path mode that Fig. 6 is provided by the embodiment of the present invention
Figure, including：
Step 601：The matching that path mode is carried out using preset multiple path mode matching expression obtains having more
The routing information of the stacking point of a path mode.
In specific implementation, step 601 is similar with step 501, and details are not described herein.
Step 602：The path mode of the stacking point is determined using the matching rule of system default, and exports the stacking
The information of point and selected path mode.
Wherein, the matching rule of system default will be different according to the difference of manufacturer under normal conditions, but nothing
By its form, how purpose is all to match stacking point path mode to make it have uniqueness.The matching rule of common system default
Can be：
Rule 1, preferential direct designated mode of the selection containing most optional network specific digit modes；
Regular 2, if there is multiple path mode conditions meet rule 1, if only one contains remainder pattern, preferential choosing
Select the path mode containing remainder pattern；
If rule 3, rule 1,2 are all unsatisfactory for, then the path mode for preferentially selecting serial number small.
For example, in a 3*2*3 pile disk there are PC [0]=[1,1,1] (respective path pattern 1), PC [1]=
[1, *, *] (respective path pattern 2), PC [n]=[*, 1, *] (respective path pattern 3) and (the corresponding roads PC [3]=[1, *, 2-1]
Diameter pattern 4) this 4 kinds of path mode matching expression.
Stacking point [1,1,1] and above-mentioned 4 kinds of path mode matching expression in 3*2*3 pile disks all match, but according to
Rule 1, preferential direct designated mode of the selection containing most optional network specific digit modes, respective path pattern 1；Stacking point [1,1,
2] PC [1]=[1, *, *] and PC [2]=[*, 1, *] both path mode matching expression are had matched, according to regular 3, two
The directly specified optional network specific digit of expression formula is all 1, and does not have remainder pattern, therefore the preferentially small path mode of selection serial number,
Its respective path pattern 2；Stacking point [1,1,3] has matched PC [1]=[1, *, *], and PC [2]=[*, 1, *], PC [3]=[1, *,
2-1] three path mode matching expression, according to rule 2, the directly specified optional network specific digit of three expression formulas is all 1, and only
There is path mode matching expression PC [3] to contain there are one remainder pattern, therefore its respective path pattern 4.
It is understood that although path mode matching expression is specified by user, since user may be not
Understand the matching rule of the system default of the stacking point of corresponding multiple path modes so that user not can determine that the stacking point
Unique respective path pattern.
In specific implementation, determine that each stacking point of corresponding multiple path modes is unique using the matching rule of system default
After corresponding path mode, each stacking point and its unique corresponding path mode can be exported to user.Export shape
Formula can be as shown in table 1.
Table 1
It should be noted that the content of each list is only a kind of example in table 1, only to show each stacking point and its only
One corresponding path mode can be exported by form to user.Certainly, the path mode pair can also be added in table
The path mode matching expression answered, and the form for exporting content is not limited to table, can also pass through such as word or language
The other forms such as sound are exported to user, and form output is a kind of preferred scheme, and the present embodiment does not do this any
Limitation.
Based on the above-mentioned technical proposal, the determination method of another stacking path mode provided in an embodiment of the present invention, passes through
The stacking point and its unique corresponding path mode of the corresponding multiple path modes of output, by the stacking point and pass through system default
Matching rule determine unique corresponding path mode inform user so that user can accurately understand the road of robot stacking
Diameter avoids not determining the path of robot stacking due to user, caused by collision accident, increase the safety that robot uses
Property.
Referring to FIG. 7, the flow of the determination method for another stacking path mode that Fig. 7 is provided by the embodiment of the present invention
Figure, including：
Step 701：The matching that path mode is carried out using preset multiple path mode matching expression obtains having more
The routing information of the stacking point of a path mode.
In specific implementation, step 701 is similar with step 501, and details are not described herein.
Step 702：The path mode of the stacking point is determined using the path mode specified according to the routing information, and
Export the information of the stacking point and selected path mode.
Wherein, the path mode of the stacking point is determined according to the path mode that the routing information is specified using user,
It is specifically as follows：User is that each many-to-one stacking point respectively specifies that a kind of as the stacking point in its a variety of path mode
Final path mode.
It is understood that should during user according to the routing information of acquisition, and specified path mode；Two actions
It can act on one piece of display screen of robot palletizer, by the information that shows paths on a display screen, allow user's specified path
After pattern, the path mode of the stacking point is determined according to the routing information.Can also be that routing information is output to user
In the other equipment in location, and the routing information returned after user's specified path pattern is received, further according to the routing information
Determine the path mode of the stacking point.
In specific implementation, the routing information can be exported the routing information with form as shown in Table 2
To user；
Table 2
The routing information as shown in table 3 after the path mode that reception user specifies；
Table 3
The path mode of the stacking point is determined using the routing information；And by stacking as described in the output in the form of table 1
Point and corresponding path mode.
Wherein, by the content phase of stacking point and corresponding path mode and a upper embodiment as described in the output in the form of table 1
Seemingly, details are not described herein.
It should be noted that being exported in table form to user to the routing information in this implementation, and user is referred to
Fixed path mode is embodied in the form of √.The form of the routing information is not limited to table, can also pass through such as word
Or the other forms such as voice are exported to user, form output is a kind of preferred scheme, and specific mode not office
It is limited to √, also can be used such as or marker color other specific modes, the present embodiment do not do this any restrictions.
Based on the above-mentioned technical proposal, the determination method of another stacking path mode provided in an embodiment of the present invention, passes through
Unique corresponding path mode of the stacking point of the specified corresponding multiple path modes of user oneself, allows user according to itself phase
Hope the path mode for specifying the stacking point, more hommization user-friendly.
Referring to FIG. 8, the flow of the determination method for another stacking path mode that Fig. 8 is provided by the embodiment of the present invention
Figure, including：
Step 801：The matching that path mode is carried out using preset multiple path mode matching expression obtains having more
The routing information of the stacking point of a path mode.
In specific implementation, step 801 is similar with step 501, and details are not described herein.
Step 802：Judge whether that the path mode that the stacking point is carried out using system default matching rule is matched；
If so, determining the path mode of the stacking point using system default matching rule；
If it is not, then determining the path mode of the stacking point according to the match information of input.
Wherein, match information input by user can be the modification information that user inputs according to routing information, and modification corresponds to
The path mode of stacking point, that is, user specify other path modes of the stacking point；Or user inputs according to routing information
Match information, determine the path mode of the stacking point, wherein the match information is the stacking point and the path mode
Match information, that is, user inputs new path mode matching expression and corresponding path mode, makes the stacking point
Corresponding new path mode.The present embodiment is unrestricted to this.
It is understood that judging whether to carry out the path mode of the stacking point using system default matching rule
Match, is specifically as follows：
The stacking point and respective path pattern determined by the routing information and using system default matching rule
It exports to user, receives the information that user returns, the information returned according to the user judges whether to match using system default
Rule carries out the path mode matching of the stacking point.
In specific implementation, the stacking point that can be determined by the routing information and using system default matching rule
And respective path pattern is exported in the form of a table as shown in table 3 or in the form of two tables shown in table 2 and table 1
Output；Receiving user specifies the form or reception as shown in table 3 in table after other path modes of stacking point to use
Family inputs new path mode matching expression and corresponding path mode to the stacking point；Judge whether to utilize system default
Matching rule carries out the path mode matching of the stacking point；If what is received is the stacking point correspondence in table and table
Path mode determine that the corresponding path mode of the stacking point is identical with using system default matching rule, then utilize system
Acquiescence matching rule determines the path mode of the stacking point；If what is received is the stacking point correspondence in table but table
Path mode from using system default matching rule determine the corresponding path mode of the stacking point it is different or receive be
New path mode matching expression and corresponding path mode are inputted to the stacking point, then the correspondence code changed according to user
The path mode of pile point inputs new path mode matching expression and corresponding path mode according to user, determines the code
The path mode of pile point.
Step 803：Export the information of the stacking point and selected path mode.
In specific implementation, can by the stacking point and selected path mode shown in the table 1 in the form of export.
It should be noted that form output used in the present embodiment or to receive information be that one kind being easy to user and looks into
The preferred embodiment seen, can also use such as word or voice other forms, and in table path mode it is selected not
It is confined to √, also can be used such as or marker color other specific modes, the present embodiment do not do this any restrictions.
Based on the above-mentioned technical proposal, the determination method of another stacking path mode provided in an embodiment of the present invention, into one
Step, which increases, judges link, judges whether that the path mode for being carried out the stacking point using system default matching rule is matched, uses
Family can choose whether that the path mode that the stacking point is carried out using system default matching rule is matched according to itself expectation, and
And on the basis of not utilizing system default matching rule, in addition to changing the corresponding path mode of the stacking point, it can also belong to
In new path mode matching expression and corresponding path mode, robot palletizer is allow preferably to reach user itself phase
The stacking path of prestige, more hommization are user-friendly.
For above-mentioned any embodiment, may all there be the extra path mode matching expression for not being matched to stacking point
Formula, the robot palletizer path that this phenomenon is likely to result in occur uncertain.To solve this problem, it is preferred that described
The determination method of stacking path mode further includes deleting the path mode matching expression for not being matched to stacking point.
In specific implementation, the path mode matching expression for not being matched to stacking point can be obtained, deletes the path mould
Formula matching expression；Or the path mode matching expression for not being matched to stacking point can be obtained, export the path mode
With expression formula, the information that user returns is received, judges whether to delete the path mode matching expression, if so, deleting institute
State path mode matching expression.Can certainly the path mode matching expression that stacking point is not matched to only be informed into use
Family.
For above-mentioned any embodiment, it is also possible to can have the stacking point for not being matched to path mode, this phenomenon may
Can prevent certain stacking points from be matched to path mode and caused by robot palletizer path it is uncertain.It is asked to solve this
Topic, it is preferred that the determination method of the stacking path mode further includes the stacking for judging whether not to be matched to path mode
Point；If in the presence of prompting user specified or setting the path mode for the stacking point for not being matched to path mode.
In specific implementation, it can be determined that with the presence or absence of the stacking point for not being matched to path mode；If in the presence of by the code
The information of pile point exports；Play the role of prompting user.
Further after user is specified or setting is not matched to the path mode of stacking point of path mode, receives user and return
The information of the path mode matching expression and corresponding path mode of specified or setting the stacking point returned；According to described
Information determines the path mode of the stacking point.
It should be noted that above-mentioned two scheme is the preferred embodiment of the embodiment of the present invention, it is same without using the two schemes
Sample can achieve the purpose that the embodiment of the present invention.Can be ensured by the two schemes will not be due to extra path mode matching list
It cannot be matched to path mode up to formula and certain stackings point and cause the uncertainty in robot palletizer path.
The determining device and robot of stacking path mode provided in an embodiment of the present invention are introduced below, hereafter retouched
The determining device and robot of the stacking path mode stated and the determination method of above-described stacking path mode can be mutually right
It should refer to.
With reference to figure 9, a kind of structure chart of the determining device for stacking path mode that Fig. 9 is provided by the embodiment of the present invention,
In the present embodiment, the determining device can specifically include：
Routing information acquisition module 901 carries out path mould for root using preset multiple path mode matching expression
The matching of formula obtains the routing information of the stacking point with multiple path modes；Wherein, the routing information includes stacking point
Ranks layer three-dimensional information, matched path mode matching expression and corresponding path mode.
Path mode determining module 902, for selecting at least one from the path mode that the routing information includes
A path mode.
Path mode output module 903, the information for exporting the stacking point and selected path mode.
Optionally, the determining device of stacking path mode can also include：
First judgment module, the path mode for judging whether to carry out the stacking point using system default matching rule
Matching；
The path mode determining module 902 may include：
First determination unit, if for using when system default matching rule utilize system default matching rule determine described in
The path mode of stacking point；
Second determination unit, if determining institute according to the match information of input when for not utilizing system default matching rule
State the path mode of stacking point.
Optionally, second determination unit may include：
First determination subelement, for using the modification information inputted according to routing information, changing the road of corresponding stacking point
Diameter pattern, and using modified path mode as the final path mode of the stacking point.
Optionally, the determining device of stacking path mode can also include：
Removing module, for deleting the path mode matching expression for not being matched to stacking point.
Optionally, the determining device of stacking path mode can also include：
Second judgment module, the stacking point for judging whether not to be matched to path mode；
If specified module prompts user is specified not to be matched to road in the presence of the stacking point for not being matched to path mode
The path mode of the stacking point of diameter pattern.
The output of this implementation passage path pattern output module 903 corresponds to the stacking point of multiple path modes and its uniquely corresponds to
Path mode, the stacking point and the unique corresponding path mode determined by the matching rule of system default are informed into use
Family so that user can accurately understand the path of robot stacking, avoid not determining the path of robot stacking due to user,
Caused by collision accident, increase the safety that robot uses.
With reference to figure 10, a kind of structure chart for robot that Figure 10 is provided by the embodiment of the present invention in the present embodiment should
Robot can specifically include：
Processor 10, the matching for being carried out path mode using preset multiple path mode matching expression, is obtained
The routing information of stacking point with multiple path modes；Wherein, the routing information includes the ranks layer three-dimensional letter of stacking point
Breath, matched path mode matching expression and corresponding path mode；The path mode for including from the routing information
In select at least one path mode；
Output device 20, the information for exporting the stacking point and selected path mode.
Optionally, the processor 10 can be also used for judging whether to carry out the stacking using system default matching rule
The path mode matching of point；If determining the stacking point using system default matching rule using when system default matching rule
Path mode；If determining the path mould of the stacking point according to the match information of input when not utilizing system default matching rule
Formula.
Optionally, the processor 10 is specific can be used for utilizing the modification information inputted according to routing information, modification pair
The path mode of stacking point is answered, and using modified path mode as the final path mode of the stacking point.
Optionally, the processor 10 can be also used for deleting the path mode matching expression for not being matched to stacking point.
Optionally, the processor 10 can be also used for judging whether the stacking point for not being matched to path mode；If
In the presence of the stacking point for not being matched to path mode, then the path mould of the specified stacking point for not being matched to path mode of user is prompted
Formula.
This implementation is by the information of the stacking point of the corresponding multiple path modes of the output of output device 20 and it is unique corresponding
Path mode, the stacking point and the unique corresponding path mode determined by the matching rule of system default are informed into use
Family so that user can accurately understand the path of robot stacking, avoid not determining the path of robot stacking due to user,
Caused by collision accident, increase the safety that robot uses.
Each embodiment is described by the way of progressive in specification, the highlights of each of the examples are with other realities
Apply the difference of example, just to refer each other for identical similar portion between each embodiment.For device disclosed in embodiment and
For robot, since it is corresponded to the methods disclosed in the examples, so description is fairly simple, related place is referring to method
Part illustrates.
Professional further appreciates that, unit described in conjunction with the examples disclosed in the embodiments of the present disclosure
And algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software generally describes each exemplary composition and step according to function in the above description.These
Function is implemented in hardware or software actually, depends on the specific application and design constraint of technical solution.Profession
Technical staff can use different methods to achieve the described function each specific application, but this realization is not answered
Think beyond the scope of this invention.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can directly be held with hardware, processor
The combination of capable software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only deposit
Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology
In any other form of storage medium well known in field.
Detailed Jie has been carried out to the determination method, apparatus and robot of stacking path mode provided by the present invention above
It continues.Principle and implementation of the present invention are described for specific case used herein, and the explanation of above example is only
It is the method and its core concept for being used to help understand the present invention.It should be pointed out that for those skilled in the art
For, it without departing from the principle of the present invention, can be with several improvements and modifications are made to the present invention, these improve and repair
Decorations are also fallen within the protection scope of the claims of the present invention.
Claims (15)
1. a kind of determination method of stacking path mode, which is characterized in that including：
The matching that path mode is carried out using preset multiple path mode matching expression, obtains having multiple path modes
The routing information of stacking point；Wherein, the routing information includes the ranks layer three-dimensional information of stacking point, matched path mode
With expression formula and corresponding path mode；
At least one path mode is selected from the path mode that the routing information includes, and exports the stacking point
Information and selected path mode.
2. the determination method of stacking path mode according to claim 1, which is characterized in that further include：Judge whether profit
The path mode matching of the stacking point is carried out with system default matching rule；
The path mode that the stacking point is determined according to the routing information, including：
If so, determining the path mode of the stacking point using system default matching rule；
If it is not, then determining the path mode of the stacking point according to the match information of input.
3. the determination method of stacking path mode according to claim 2, which is characterized in that the matching according to input
Information determines the path mode of the stacking point, including：
Using the modification information inputted according to routing information, the path mode of corresponding stacking point is changed, and with modified path
The pattern path mode final as the stacking point.
4. according to the determination method of claim 1-3 any one of them stacking path modes, which is characterized in that further include：
Delete the path mode matching expression for not being matched to stacking point.
5. the determination method of stacking path mode according to claim 4, which is characterized in that further include：
Judge whether the stacking point for not being matched to path mode；
If in the presence of the path mode of the specified stacking point for not being matched to path mode of user is prompted.
6. a kind of determining device of stacking path mode, which is characterized in that including：
Routing information acquisition module carries out of path mode for root using preset multiple path mode matching expression
Match, obtains the routing information of the stacking point with multiple path modes；Wherein, the routing information includes the ranks layer of stacking point
Three-dimensional information, matched path mode matching expression and corresponding path mode；
Path mode determining module, for selecting at least one path mould from the path mode that the routing information includes
Formula；
Path mode output module, the information for exporting the stacking point and selected path mode.
7. the determining device of stacking path mode according to claim 6, which is characterized in that further include：
First judgment module, the path mode for judging whether to carry out the stacking point using system default matching rule
Match；
The path mode determining module includes：
First determination unit, if for determining the stacking using system default matching rule using when system default matching rule
The path mode of point；
Second determination unit, if determining the code according to the match information of input when for not utilizing system default matching rule
The path mode of pile point.
8. the determining device of stacking path mode according to claim 7, which is characterized in that the second determination unit packet
It includes：
First determination subelement, for using the modification information inputted according to routing information, changing the path mould of corresponding stacking point
Formula, and using modified path mode as the final path mode of the stacking point.
9. according to the determining device of claim 6-8 any one of them stacking path modes, which is characterized in that further include：
Removing module, for deleting the path mode matching expression for not being matched to stacking point.
10. the determining device of stacking path mode according to claim 9, which is characterized in that further include：
Second judgment module, the stacking point for judging whether not to be matched to path mode；
If specified module prompts user is specified not to be matched to path mould in the presence of the stacking point for not being matched to path mode
The path mode of the stacking point of formula.
11. a kind of robot, which is characterized in that including：
Processor, the matching for carrying out path mode using preset multiple path mode matching expression obtain having more
The routing information of the stacking point of a path mode；Wherein, the routing information includes the ranks layer three-dimensional information of stacking point, matching
Path mode matching expression and corresponding path mode；It is selected from the path mode that the routing information includes
At least one path mode；
Output device, the information for exporting the stacking point and selected path mode.
12. robot according to claim 11, which is characterized in that the processor is additionally operable to judge whether to utilize system
Acquiescence matching rule carries out the path mode matching of the stacking point；If using system default is utilized when system default matching rule
Matching rule determines the path mode of the stacking point；If being believed according to the matching of input when not utilizing system default matching rule
Breath, determines the path mode of the stacking point.
13. robot according to claim 12, which is characterized in that the processor is specifically used for utilizing to be believed according to path
The modification information of input is ceased, changes the path mode of corresponding stacking point, and using modified path mode as the stacking point
Final path mode.
14. according to claim 11-13 any one of them robot, which is characterized in that the processor is additionally operable to delete not
It is matched to the path mode matching expression of stacking point.
15. robot according to claim 14, which is characterized in that the processor is not additionally operable to judge whether not
It is fitted on the stacking point of path mode；If in the presence of the stacking point for not being matched to path mode, prompt user is specified not to be matched to road
The path mode of the stacking point of diameter pattern.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2016/113915 WO2018120208A1 (en) | 2016-12-30 | 2016-12-30 | Method and device for determining stacking path pattern, and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108401424A true CN108401424A (en) | 2018-08-14 |
Family
ID=62707100
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| Application Number | Title | Priority Date | Filing Date |
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| CN201680038479.5A Pending CN108401424A (en) | 2016-12-30 | 2016-12-30 | A kind of the determination method, apparatus and robot of stacking path mode |
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| WO (1) | WO2018120208A1 (en) |
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| CN112507000A (en) * | 2020-12-23 | 2021-03-16 | 深圳市普渡科技有限公司 | Method and device for configuring target point of robot, electronic device and storage medium |
| CN113711155A (en) * | 2019-07-19 | 2021-11-26 | 西门子（中国）有限公司 | Robot path planner, method, apparatus and computer readable storage medium |
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| WO2018120208A1 (en) | 2018-07-05 |
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