CN111571600B - Control method and device of palletizing robot and palletizing robot - Google Patents
Control method and device of palletizing robot and palletizing robot Download PDFInfo
- Publication number
- CN111571600B CN111571600B CN202010490779.5A CN202010490779A CN111571600B CN 111571600 B CN111571600 B CN 111571600B CN 202010490779 A CN202010490779 A CN 202010490779A CN 111571600 B CN111571600 B CN 111571600B
- Authority
- CN
- China
- Prior art keywords
- palletizing
- stacking
- characteristic information
- objects
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Abstract
The invention discloses a palletizing robot and a control method and device thereof. Wherein, the method comprises the following steps: determining characteristic information of an object to be stacked; through presetting the model, confirm the pile up neatly type that corresponds with characteristic information, wherein, it obtains for using the machine learning training of multiunit training data to preset the model, and each group training data in the multiunit training data all includes: the characteristic information and the stacking type corresponding to the characteristic information; and controlling the palletizing robot to carry out palletizing operation on the objects to be palletized based on the palletizing type and the characteristic information of the objects to be palletized. The robot palletizer solves the technical problem that in the related art, when the type of a product to be grabbed is changed, a plurality of configuration lists are needed, so that a program of a demonstrator is easy to become more complex, and the robot palletizer crashes in the process of program operation.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to a control method and device of a palletizing robot and the palletizing robot.
Background
On the production line, stacking is a common mode for stacking products, and the stacking mode is more perfect from the earliest manual carrying to simple stacking in which an industrial robot executes corresponding instructions to advanced stacking applied to various complex environments. Usually, when a robot grabs a single product, the clamping claw can fix the posture, the posture is kept until the palletizing task is completed, and if a palletizing configuration list is required to be newly built for replacing the product, the grabbing point is taught again so that follow-up actions can be completed. When a plurality of products need to be stacked, a plurality of configuration lists can appear, and in special working conditions, an additional clamp or a robot needs to be added for carrying, so that the program in the demonstrator becomes complicated and fussy, and the conditions of halt and the like in the program operation are caused.
Aiming at the problem that the robot palletizer needs various configuration lists when the type of a product to be grabbed is changed, so that the program of a demonstrator is easy to become more complex and the program is easy to crash during running, an effective solution is not provided at present.
Disclosure of Invention
The embodiment of the invention provides a control method and device of a palletizing robot and the palletizing robot, which at least solve the technical problem that in the related technology, when the palletizing robot changes the type of a product to be grabbed, various configuration lists are needed, so that a program of a demonstrator is easy to become more complex, and the program is halted in the running process.
According to an aspect of an embodiment of the present invention, there is provided a control method of a palletizing robot, including: determining characteristic information of an object to be stacked; determining a stacking type corresponding to the feature information through a preset model, wherein the preset model is obtained by using multiple groups of training data through machine learning training, and each group of training data in the multiple groups of training data comprises: the stacking type comprises characteristic information and a stacking type corresponding to the characteristic information; and controlling the palletizing robot to carry out palletizing operation on the objects to be palletized based on the palletizing type and the characteristic information of the objects to be palletized.
Optionally, the determining characteristic information of the object to be palletized includes: triggering image acquisition equipment in an image acquisition area to acquire images of the objects to be stacked after the objects to be stacked reach the image acquisition area; and carrying out visual analysis on the image to obtain the characteristic information of the object to be stacked.
Optionally, before the determining, by the preset model, the palletizing type corresponding to the characteristic information, the method for controlling the palletizing robot further includes: collecting a plurality of historical characteristic information in a historical time period and a plurality of historical stacking types corresponding to the plurality of historical characteristic information; and training a plurality of groups of training data comprising the plurality of historical characteristic information and the plurality of historical stacking types to obtain the preset model.
Optionally, after the determining, by the preset model, the palletizing type corresponding to the characteristic information, the method for controlling the palletizing robot further includes: determining all palletizing types which can be executed by the palletizing robot; adding a stacking subprogram corresponding to each stacking type in all the stacking types into a stacking program of the stacking robot; and adding a grabbing code in the stacking subprogram corresponding to each stacking type based on the characteristic information of the objects to be stacked so as to grab the robot in the posture setting.
Optionally, after the determining, by the preset model, the palletizing type corresponding to the characteristic information, the method for controlling the palletizing robot further includes: determining grabbing position information of the objects to be stacked and placing position information of the objects to be stacked based on the stacking type; conveying the objects to be stacked to a grabbing area corresponding to the grabbing position information based on the grabbing position information; and determining a target code disc for placing the objects to be stacked based on the placing position information.
Optionally, the controlling the palletizing robot to perform palletizing operation on the to-be-palletized object based on the palletizing type and the characteristic information of the to-be-palletized object includes: after the objects to be palletized reach the grabbing area, adding grabbing codes in a palletizing subprogram corresponding to the palletizing type based on the characteristic information so as to carry out grabbing posture setting on the palletizing robot; and controlling the palletizing robot to grab the object to be palletized to the target code disc from the grabbing area based on the set grabbing posture.
According to another aspect of the embodiments of the present invention, there is also provided a control apparatus of a palletizing robot, including: the first determining unit is used for determining characteristic information of the objects to be stacked; a second determining unit, configured to determine, through a preset model, a palletizing type corresponding to the feature information, where the preset model is obtained through machine learning training using multiple sets of training data, and each set of training data in the multiple sets of training data includes: the stacking type comprises characteristic information and a stacking type corresponding to the characteristic information; and the control unit is used for controlling the palletizing robot to carry out palletizing operation on the objects to be palletized based on the palletizing type and the characteristic information of the objects to be palletized.
Optionally, the first determining unit includes: the triggering module is used for triggering image acquisition equipment in an image acquisition area to acquire images of the objects to be stacked after the objects to be stacked reach the image acquisition area; and the analysis module is used for carrying out visual analysis on the image to obtain the characteristic information of the object to be stacked.
Optionally, the control device of the palletizing robot further comprises: the collecting unit is used for collecting a plurality of historical characteristic information and a plurality of historical stacking types corresponding to the plurality of historical characteristic information in a historical time period before the stacking type corresponding to the characteristic information is determined through the preset model; and the training unit is used for training a plurality of groups of training data comprising the plurality of historical characteristic information and the plurality of historical stacking types to obtain the preset model.
Optionally, the apparatus further comprises: a third determining unit, configured to determine all palletizing types that the palletizing robot can execute after determining the palletizing type corresponding to the feature information through the preset model; the adding unit is used for adding a stacking subprogram corresponding to each stacking type in all the stacking types in the stacking program of the stacking robot; and the setting unit is used for adding a grabbing code based on the characteristic information of the objects to be palletized in the palletizing subprogram corresponding to each palletizing type so as to carry out grabbing posture setting on the palletizing robot.
Optionally, after the determining, by the preset model, the palletizing type corresponding to the characteristic information, the control device of the palletizing robot further includes: a fourth determining unit, configured to determine, based on the palletizing type, gripping position information of the objects to be palletized and placement position information of the objects to be palletized; the conveying unit is used for conveying the objects to be stacked to a grabbing area corresponding to the grabbing position information based on the grabbing position information; and the fifth determining unit is used for determining a target code disc for placing the objects to be stacked based on the placing position information.
Optionally, the controlling the palletizing robot to perform palletizing operation on the to-be-palletized object based on the palletizing type and the characteristic information of the to-be-palletized object includes: after the objects to be palletized reach the grabbing area, adding grabbing codes in a palletizing subprogram corresponding to the palletizing type based on the characteristic information so as to carry out grabbing posture setting on the palletizing robot; and controlling the palletizing robot to grab the object to be palletized to the target code disc from the grabbing area based on the set grabbing posture.
According to another aspect of an embodiment of the present invention, there is also provided a storage medium including a stored program, wherein the program executes the control method of a palletizing robot as described in any one of the above.
According to another aspect of an embodiment of the present invention, there is also provided a processor for executing a program, wherein the program is operable to execute the control method of a palletizing robot as described in any one of the above.
According to another aspect of an embodiment of the present invention, there is also provided a palletizing robot including: a memory, a processor coupled with the memory, the memory and the processor communicating over a bus system; the memory is used for storing a program, wherein the program when executed by the processor controls the equipment in which the memory is located to execute the control method of the palletizing robot; the processor is configured to execute a program, wherein the program executes the control method of the palletizing robot according to any one of the above aspects when running.
In the embodiment of the invention, the characteristic information of the objects to be stacked is determined; through presetting the model, confirm the pile up neatly type that corresponds with characteristic information, wherein, it obtains for using the machine learning training of multiunit training data to preset the model, and each group training data in the multiunit training data all includes: the characteristic information and the stacking type corresponding to the characteristic information; the control method of the palletizing robot provided by the embodiment of the invention realizes the purpose of determining the palletizing type based on the characteristic information of the object to be palletized and calling the corresponding palletizing program to perform palletizing operation on the object to be palletized by utilizing the palletizing robot based on the palletizing type, thereby achieving the technical effect of improving the reliability of the palletizing robot, and further solving the technical problem that the program of a demonstrator is complicated and causes the crash in the program operation when the palletizing robot needs various configuration lists in the related technology when the type of the product to be grabbed is changed.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a flow chart of a control method of a palletizing robot according to an embodiment of the present invention;
fig. 2 is a schematic view of a control arrangement of a palletizing robot according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Because the traditional mode of the palletizing robot is visual sorting, the visual sorting is sent to the palletizing robot, a corresponding palletizing program is called through palletizing configuration, if a single product calls the program of the palletizing robot to run normally, another palletizing program needs to be called when various products need to adjust the directions of clamps of the products, the whole beat and the efficiency can be influenced, and therefore the target requirement can be met by changing the program in a controller system. In addition, when in simple stacking, a plurality of stacks are required to be established (only one posture can be used for grabbing in the conventional stacking), so that the programming workload of the demonstrator is large, and the problem troubleshooting time is long; when advanced stacking is carried out, a plurality of stacking types (only one gesture can be used for grabbing in the current stacking), if another position of the same product is wanted to be grabbed, only a new stacking configuration list can be created, and the stacking configuration list can be used after being reconfigured. In view of the above problems, a control method for a palletizing robot is provided in an embodiment of the present invention, and is described below with reference to the following embodiments.
Example 1
According to an embodiment of the invention, there is provided a method embodiment of a control method for a palletizing robot, it being noted that the steps illustrated in the flowchart of the figure may be performed in a computer system such as a set of computer executable instructions, and that while a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than here.
Fig. 1 is a flowchart of a control method of a palletizing robot according to an embodiment of the present invention, as shown in fig. 1, the control method of the palletizing robot includes the steps of:
and S102, determining characteristic information of the objects to be stacked.
Optionally, the characteristic information may be information used for describing the objects to be palletized, such as names, attributes, sizes, and the like of the products to be palletized.
Step S104, determining a stacking type corresponding to the characteristic information through a preset model, wherein the preset model is obtained by using multiple groups of training data through machine learning training, and each group of training data in the multiple groups of training data comprises: characteristic information and a stacking type corresponding to the characteristic information.
And S106, controlling the palletizing robot to carry out palletizing operation on the objects to be palletized based on the palletizing type and the characteristic information of the objects to be palletized.
Determining the characteristic information of the objects to be stacked according to the above information; through presetting the model, confirm the pile up neatly type that corresponds with characteristic information, wherein, it obtains for using the machine learning training of multiunit training data to preset the model, and each group training data in the multiunit training data all includes: the characteristic information and the stacking type corresponding to the characteristic information; the control stacking robot performs stacking operation on the objects to be stacked based on the stacking type and the characteristic information of the objects to be stacked, the purpose that the stacking robot determines the stacking type based on the characteristic information of the objects to be stacked and calls a corresponding stacking program to perform stacking operation on the objects to be stacked based on the stacking type is achieved, and the technical effect of improving the reliability of the stacking robot is achieved.
Therefore, the control method of the palletizing robot provided by the embodiment of the invention solves the technical problem that the palletizing robot needs various configuration lists when the type of a product to be grabbed is changed, so that the program of the demonstrator is more complicated and the program is halted during running.
In an alternative embodiment, determining characteristic information of the objects to be palletized comprises: triggering image acquisition equipment in an image acquisition area to acquire images of the objects to be stacked after the objects to be stacked reach the image acquisition area; and carrying out visual analysis on the image to obtain the characteristic information of the object to be stacked.
In this embodiment, after it is determined that the objects to be palletized are conveyed to the image acquisition area, the image acquisition device set in the image acquisition area may be triggered to acquire images of the objects to be palletized, and the acquired images are visually analyzed by using the visual analysis software to obtain characteristic information of the objects to be palletized.
In an optional embodiment, before determining, by using the preset model, the palletizing type corresponding to the characteristic information, the method for controlling the palletizing robot further includes: collecting a plurality of historical characteristic information in a historical time period and a plurality of historical stacking types corresponding to the plurality of historical characteristic information; and training a plurality of groups of training data comprising a plurality of historical characteristic information and a plurality of historical stacking types to obtain a preset model.
In this embodiment, a preset model is obtained through machine learning mode training, and the palletizing type corresponding to the characteristic information of the object to be palletized can be quickly and accurately determined, so that the palletizing efficiency of the palletizing robot can be improved.
In an optional embodiment, after determining, by using the preset model, the palletizing type corresponding to the characteristic information, the method for controlling the palletizing robot may further include: determining all stacking types which can be executed by the stacking robot; adding a stacking subprogram corresponding to each stacking type in all stacking types in a stacking program of the stacking robot; and adding grabbing codes in a stacking subprogram corresponding to each stacking type based on the characteristic information of the objects to be stacked so as to grab the stacking robot in a posture setting.
In this embodiment, all the stacking types that can be executed by the robot palletizer can be determined based on the function of the robot palletizer, and then a stacking subprogram corresponding to each stacking type in all the stacking types is added in the stacking procedure of the robot palletizer, and a grabbing code is added in the stacking subprogram corresponding to each stacking type based on the characteristic information of the object to be palletized, so as to grab the robot palletizer in a posture setting, so as to ensure that the robot palletizer can grab the object to be palletized more accurately when grabbing the object to be palletized, and thus misoperation is effectively avoided.
It should be noted that, in the embodiment of the present invention, in order to improve the grabbing efficiency of the palletizing robot, and achieve that one palletizing robot can work corresponding to multiple stations and multiple objects, functional requirement investigation is performed in advance, the palletizing type of the palletizing robot is determined, and the palletizing type is divided into simple palletizing and advanced palletizing, so that a simple palletizing function and an advanced palletizing function need to be developed; for example, KeStudio software can be utilized to add corresponding codes to a stacking part in engineering, and the stacking configuration is arranged according to actual field requirements, so that simple stacking and high-grade stacking are configured respectively.
The stacking is divided into simple stacking and advanced stacking, so the positions of the added grabbing postures are different in the two types of stacking; in simple stacking, a setting behind an entry point needs to be added, the grabbing posture is determined before grabbing, grabbing is facilitated, the grabbing posture is changed if needed, and the grabbing posture is confirmed and selected again; determining a grabbing posture before grabbing, facilitating grabbing, and if the grabbing posture needs to be changed, confirming again to select the grabbing posture; in advanced palletizing, a setting after setting a specific placing position needs to be added, after the setting is finished to place an angle, a sequence and a grabbing point, posture adjustment is set (the specific setting is the same as simple palletizing), and subsequent setting is carried out after the setting is finished.
For simple stacking, the stacking size can be set in the code, the size XYZ of a first article is set, the number of articles (namely articles to be grabbed) in the XYZ direction is determined, then, the setting of points before and after stacking and the setting of entry points are carried out, grabbing points are selected for the articles to be grabbed in different layers, then, grabbing posture setting is carried out, the accessibility of the stacking robot is monitored, and the setting is completed.
Aiming at high-grade stacking, firstly high-grade stacking needs to be established, the size of a stacking tray, the type of objects, the placing quantity of each layer, the placing mode and the like are set, and after the parameter to be set is set, the setting is finished. The type setting of the objects to be palletized can be based on the type setting of the objects to be palletized, for example, the angle, the sequence and the like, then the grabbing points can be set, the grabbing posture setting is carried out based on the grabbing points, the objects to be grabbed are finely adjusted, and the pre-placing points and the leaving points of the palletizing robot are determined.
In an optional embodiment, after determining, by using the preset model, the palletizing type corresponding to the characteristic information, the method for controlling the palletizing robot may further include: determining grabbing position information of the objects to be stacked and placing position information of the objects to be stacked based on the stacking type; conveying the objects to be stacked to a grabbing area corresponding to the grabbing position information based on the grabbing position information; and determining a target code disc for placing the objects to be stacked based on the placing position information.
In an alternative embodiment, controlling the palletizing robot to perform palletizing operations on the objects to be palletized based on the palletizing type and the characteristic information of the objects to be palletized comprises: after the objects to be stacked reach the grabbing area, adding grabbing codes in a stacking subprogram corresponding to the stacking type based on the characteristic information so as to carry out grabbing posture setting on the stacking robot; and controlling the palletizing robot to grab the object to be palletized to the target code disc from the grabbing area based on the set grabbing posture.
In an optional embodiment, after the palletizing robot places the objects to be palletized into the target code disc, in order to ensure that the palletizing is qualified, images of the objects to be palletized in the target code disc can be collected and analyzed to determine whether the objects to be palletized are placed in the target code disc according to requirements, so that the palletizing accuracy is improved.
According to the control method of the palletizing robot provided by the embodiment of the invention, when the palletizing task is determined to be executed, the production line is started so that the objects to be palletized are conveyed to the grabbing area; in the embodiment of the invention, a plurality of multi-station objects can be stacked by a single palletizing robot, so that the palletizing robot can efficiently grab the objects to be palletized, the objects to be palletized can be sorted in advance to convey the same type of objects to be palletized to the same position, and the palletizing robot does not need to perform object identification operation before each grabbing operation, thereby improving the grabbing efficiency.
As can be seen from the above, in the control method of the palletizing robot in the embodiment of the present invention, a plurality of palletizing configuration sheets are established, and the method can be applied to stacking of a plurality of objects, so that a page program of a demonstrator is simplified from a complex to a simple, a plurality of stations and a plurality of objects of one palletizing robot work, multi-protocol control or IO signal interaction with peripheral devices is also reduced, and cost is reduced. In addition, because the programs in the page of the demonstrator are greatly reduced, the conditions of crash and the like are effectively avoided, a plurality of products with multiple stations are stacked through a single stacking robot, the number of the stacking robots is reduced, the switching of a coordinate system is reduced, the conversion of program tools is reduced, the IO interaction judgment with external control equipment is reduced, and the IO signal interaction number for butting the external control equipment is reduced, so that the motion flow becomes more concise and clear.
In addition, in the embodiment of the invention, in the running process of the palletizing robot, whether the running process is consistent with the set running process or not can be checked, and if the running process meets the requirements, the takt time can be greatly shortened, and the efficiency is improved.
Example 2
According to another aspect of an embodiment of the present invention, there is also provided a control device of a palletizing robot, and fig. 2 is a schematic view of the control device of the palletizing robot according to an embodiment of the present invention, as shown in fig. 2, the control device of the palletizing robot includes: a first determining unit 21, a second determining unit 23 and a control unit 25. The following describes the control device of the palletizing robot in detail.
A first determination unit 21 for determining characteristic information of the objects to be palletized.
A second determining unit 23, configured to determine, through a preset model, a palletizing type corresponding to the feature information, where the preset model is obtained by using multiple sets of training data through machine learning training, and each set of training data in the multiple sets of training data includes: characteristic information and a stacking type corresponding to the characteristic information.
And the control unit 25 is used for controlling the palletizing robot to execute palletizing operation on the objects to be palletized based on the palletizing type and the characteristic information of the objects to be palletized.
It should be noted here that the first determining unit 21, the second determining unit 23 and the control unit 25 correspond to steps S102 to S106 in the embodiment, and the above units are the same as the examples and application scenarios realized by the corresponding steps, but are not limited to the disclosure of the above embodiment. It should be noted that the above-described elements as part of an apparatus may be implemented in a computer system, such as a set of computer-executable instructions.
As can be seen from the above, in the above embodiments of the present application, the first determining unit may be used to determine characteristic information of the objects to be palletized; then, a second determining unit is utilized to determine the stacking type corresponding to the characteristic information through a preset model, wherein the preset model is obtained by using multiple groups of training data through machine learning training, and each group of training data in the multiple groups of training data comprises: the characteristic information and the stacking type corresponding to the characteristic information; and the control unit is used for controlling the palletizing robot to carry out palletizing operation on the objects to be palletized based on the palletizing type and the characteristic information of the objects to be palletized. According to the control device of the palletizing robot provided by the embodiment of the invention, the purpose of determining the palletizing type based on the characteristic information of the object to be palletized and utilizing the palletizing robot to call the corresponding palletizing program based on the palletizing type to perform palletizing operation on the object to be palletized is achieved, the technical effect of improving the reliability of the palletizing robot is achieved, and the technical problem that the program of a demonstrator is easy to become more complex to cause the crash in the program operation because various configuration lists are needed when the type of the product to be grabbed is changed by the palletizing robot in the related technology is solved.
In an alternative embodiment, the first determining unit includes: the triggering module is used for triggering image acquisition equipment in the image acquisition area to acquire images of the objects to be stacked after the objects to be stacked reach the image acquisition area; and the analysis module is used for carrying out visual analysis on the image to obtain the characteristic information of the objects to be stacked.
In an alternative embodiment, the control device of the palletizing robot further comprises: the collecting unit is used for collecting a plurality of historical characteristic information and a plurality of historical stacking types corresponding to the historical characteristic information in a historical time period before determining the stacking type corresponding to the characteristic information through a preset model; and the training unit is used for training a plurality of groups of training data comprising a plurality of historical characteristic information and a plurality of historical stacking types to obtain a preset model.
In an alternative embodiment, the apparatus further comprises: the third determining unit is used for determining all stacking types which can be executed by the stacking robot after determining the stacking type corresponding to the characteristic information through the preset model; the adding unit is used for adding a stacking subprogram corresponding to each stacking type in all stacking types in the stacking program of the stacking robot; and the setting unit is used for adding grabbing codes in the stacking subprogram corresponding to each stacking type based on the characteristic information of the objects to be stacked so as to carry out grabbing posture setting on the stacking robot.
In an optional embodiment, after determining the palletizing type corresponding to the characteristic information through a preset model, the control device of the palletizing robot further comprises: the fourth determining unit is used for determining the grabbing position information of the objects to be stacked and the placing position information of the objects to be stacked based on the stacking type; the conveying unit is used for conveying the objects to be stacked to the grabbing areas corresponding to the grabbing position information based on the grabbing position information; and the fifth determining unit is used for determining a target code disc for placing the objects to be stacked based on the placing position information.
In an alternative embodiment, controlling the palletizing robot to perform palletizing operations on the objects to be palletized based on the palletizing type and the characteristic information of the objects to be palletized comprises: after the objects to be stacked reach the grabbing area, adding grabbing codes in a stacking subprogram corresponding to the stacking type based on the characteristic information so as to carry out grabbing posture setting on the stacking robot; and controlling the palletizing robot to grab the object to be palletized to the target code disc from the grabbing area based on the set grabbing posture.
Example 3
According to another aspect of an embodiment of the present invention, there is also provided a storage medium including a stored program, wherein the program executes the control method of the palletizing robot according to any one of the above.
Example 4
According to another aspect of an embodiment of the present invention, there is also provided a processor for executing a program, wherein the program when executed performs the control method of a palletizing robot as described in any one of the above.
Example 5
According to another aspect of an embodiment of the present invention, there is also provided a palletizing robot including: a memory, a processor coupled to the memory, the memory and the processor communicating via a bus system; the memory is used for storing a program, wherein the program when executed by the processor controls the equipment where the memory is located to execute any one of the control methods of the palletizing robot; the processor is configured to execute a program, wherein the program executes the method for controlling a palletizing robot according to any one of the above aspects.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (9)
1. A method of controlling a palletizing robot, comprising:
determining characteristic information of an object to be stacked;
determining a stacking type corresponding to the feature information through a preset model, wherein the preset model is obtained by using multiple groups of training data through machine learning training, and each group of training data in the multiple groups of training data comprises: the stacking type comprises characteristic information and a stacking type corresponding to the characteristic information; controlling a palletizing robot to perform palletizing operation on the objects to be palletized based on the palletizing type and the characteristic information of the objects to be palletized;
wherein after the determining, by the preset model, the palletizing type corresponding to the characteristic information, the method further comprises:
determining all palletizing types which can be executed by the palletizing robot;
adding a stacking subprogram corresponding to each stacking type in all the stacking types into a stacking program of the stacking robot;
and adding a grabbing code in the stacking subprogram corresponding to each stacking type based on the characteristic information of the objects to be stacked so as to grab the robot in the posture setting.
2. The method of claim 1, wherein determining characteristic information of the objects to be palletized comprises:
triggering image acquisition equipment in an image acquisition area to acquire images of the objects to be stacked after the objects to be stacked reach the image acquisition area;
and carrying out visual analysis on the image to obtain the characteristic information of the object to be stacked.
3. The method of claim 1, wherein prior to said determining a palletization type corresponding to the characteristic information through a preset model, the method further comprises:
collecting a plurality of historical characteristic information in a historical time period and a plurality of historical stacking types corresponding to the plurality of historical characteristic information;
and training a plurality of groups of training data comprising the plurality of historical characteristic information and the plurality of historical stacking types to obtain the preset model.
4. The method according to any one of claims 1 to 3, wherein after the determining, by a preset model, the palletization type corresponding to the characteristic information, the method further comprises:
determining grabbing position information of the objects to be stacked and placing position information of the objects to be stacked based on the stacking type;
conveying the objects to be stacked to a grabbing area corresponding to the grabbing position information based on the grabbing position information;
and determining a target code disc for placing the objects to be stacked based on the placing position information.
5. Method according to claim 4, wherein the controlling palletizing robot performs palletizing operations on the objects to be palletized, based on the palletization type and characteristic information of the objects to be palletized, comprising:
after the objects to be palletized reach the grabbing area, adding grabbing codes in a palletizing subprogram corresponding to the palletizing type based on the characteristic information so as to carry out grabbing posture setting on the palletizing robot;
and controlling the palletizing robot to grab the object to be palletized to the target code disc from the grabbing area based on the set grabbing posture.
6. A control device of a palletizing robot, comprising:
the first determining unit is used for determining characteristic information of the objects to be stacked;
a second determining unit, configured to determine, through a preset model, a palletizing type corresponding to the feature information, where the preset model is obtained through machine learning training using multiple sets of training data, and each set of training data in the multiple sets of training data includes: the stacking type comprises characteristic information and a stacking type corresponding to the characteristic information;
wherein the apparatus further comprises: a third determining unit, configured to determine all palletizing types that the palletizing robot can execute after determining the palletizing type corresponding to the feature information through the preset model;
the adding unit is used for adding a stacking subprogram corresponding to each stacking type in all the stacking types in the stacking program of the stacking robot;
the setting unit is used for adding grabbing codes in the stacking subprogram corresponding to each stacking type based on the characteristic information of the objects to be stacked so as to carry out grabbing posture setting on the stacking robot;
and the control unit is used for controlling the palletizing robot to carry out palletizing operation on the objects to be palletized based on the palletizing type and the characteristic information of the objects to be palletized.
7. A storage medium, characterized in that the storage medium comprises a stored program, wherein the program executes the method of controlling a palletizing robot according to any one of claims 1 to 5.
8. A processor, characterized in that the processor is configured to run a program, wherein the program when executed performs the method of controlling a palletizing robot as claimed in any one of claims 1 to 5.
9. A palletizing robot, comprising:
a memory, a processor coupled with the memory, the memory and the processor communicating over a bus system;
the memory is used for storing a program, wherein the program, when executed by the processor, controls the apparatus in which the memory is located to perform the robot palletizer control method according to any one of claims 1 to 5;
the processor is configured to run a program, wherein the program when executed performs the control method of a palletizing robot as claimed in any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010490779.5A CN111571600B (en) | 2020-06-02 | 2020-06-02 | Control method and device of palletizing robot and palletizing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010490779.5A CN111571600B (en) | 2020-06-02 | 2020-06-02 | Control method and device of palletizing robot and palletizing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111571600A CN111571600A (en) | 2020-08-25 |
| CN111571600B true CN111571600B (en) | 2021-10-29 |
Family
ID=72123576
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010490779.5A Active CN111571600B (en) | 2020-06-02 | 2020-06-02 | Control method and device of palletizing robot and palletizing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111571600B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112645067A (en) * | 2020-12-24 | 2021-04-13 | 苏州浪潮智能科技有限公司 | Stacking system and method |
| CN113878573B (en) * | 2021-09-02 | 2023-07-14 | 珠海格力电器股份有限公司 | Control method and system of palletizing robot |
| CN117142156B (en) * | 2023-10-30 | 2024-02-13 | 深圳市金环宇电线电缆有限公司 | Cable stacking control method, device, equipment and medium based on automatic positioning |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9333649B1 (en) * | 2013-03-15 | 2016-05-10 | Industrial Perception, Inc. | Object pickup strategies for a robotic device |
| CN104058260B (en) * | 2013-09-27 | 2016-07-20 | 沈阳工业大学 | The robot automatic stacking method that view-based access control model processes |
| JP2015136762A (en) * | 2014-01-23 | 2015-07-30 | セイコーエプソン株式会社 | Processor, robot, robot system and processing method |
| JP6680732B2 (en) * | 2017-08-23 | 2020-04-15 | ファナック株式会社 | Goods stacking device and machine learning device |
| CN109626002A (en) * | 2019-01-23 | 2019-04-16 | 辽宁工业大学 | Automatic stacking machine people and its control method |
| CN109969178B (en) * | 2019-03-26 | 2021-09-21 | 齐鲁工业大学 | Multi-material autonomous carrying device and method based on multi-sensor |
| JP6661208B1 (en) * | 2019-05-31 | 2020-03-11 | 株式会社Ｍｕｊｉｎ | Control device and control method for robot system |
| CN110427003A (en) * | 2019-07-29 | 2019-11-08 | 珠海格力智能装备有限公司 | The control method and device of robot, robot |
| CN110696033A (en) * | 2019-10-18 | 2020-01-17 | 珠海格力智能装备有限公司 | Robot control method and device |
-
2020
- 2020-06-02 CN CN202010490779.5A patent/CN111571600B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN111571600A (en) | 2020-08-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111571600B (en) | Control method and device of palletizing robot and palletizing robot | |
| CN103433926B (en) | A kind of Multi-robot coordination control device and method thereof | |
| JP6010776B2 (en) | Robot system control method and robot system | |
| JP6333795B2 (en) | Robot system with simplified teaching and learning performance improvement function by learning | |
| CN101424935B (en) | Controller of work piece-conveying robot | |
| EP3319761A1 (en) | Method for extending end user programming of an industrial robot with third party contributions | |
| US20170001307A1 (en) | Method for controlling an automated work cell | |
| CN109048996A (en) | robot abnormal state processing method and device | |
| CN111086889A (en) | Control method and device of palletizing robot and palletizing robot | |
| CN104816299A (en) | Multi-robot and multi-punch linkage control system | |
| US20130274918A1 (en) | Robot System Comprising A Robot And Two Devices That Can Be Connected To Said Robot In An Alternating Manner, And Method For Changing Said Devices | |
| WO2018210404A1 (en) | Method and control system for controlling movement sequences of a robot | |
| CN112828892A (en) | Workpiece grabbing method and device, computer equipment and storage medium | |
| CN105487487A (en) | Method for automatic position calculation during robot bending process | |
| TWI709926B (en) | Dispatch system for mold manufacturing and dispatch method | |
| CN109167681A (en) | Method for monitoring state and device | |
| CN105700480A (en) | Production line multi-machine-tool group control system and control method thereof | |
| JP3226880U (en) | Mold manufacturing dispatch system | |
| CN111368720A (en) | Automatic carrying and goods taking system and method | |
| CN110077866A (en) | Method for controlling robot, control device, Palletizer and readable storage medium storing program for executing | |
| CN111702761A (en) | Control method and device of palletizing robot, processor and sorting system | |
| CN114986502A (en) | Method, apparatus and computer-readable storage medium for controlling synchronization of multiple robots | |
| CN114260913A (en) | Modular robot stamping system | |
| CN114454175A (en) | Simple robot stacking control system and method | |
| CN106383453B (en) | Simulation method of mixed air switch assembly line based on digital factory |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |