CN111788134A - Method, device and storage device for automatic palletizing - Google Patents

Method, device and storage device for automatic palletizing Download PDF

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CN111788134A
CN111788134A CN201980011704.XA CN201980011704A CN111788134A CN 111788134 A CN111788134 A CN 111788134A CN 201980011704 A CN201980011704 A CN 201980011704A CN 111788134 A CN111788134 A CN 111788134A
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point
reference point
column
stacking
direction vector
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CN111788134B (en
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王春晓
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Shenzhen A&E Intelligent Technology Institute Co Ltd
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    • 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
    • B65G57/00—Stacking of articles
    • B65G57/02—Stacking of articles by adding to the top of the stack
    • B65G57/16—Stacking of articles of particular shape
    • B65G57/20—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical
    • B65G57/22—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical in layers each of predetermined arrangement

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Abstract

An automatic palletizing method, equipment and a storage device. The method comprises the following steps: determining first to fourth reference points located on the same plane and a fifth reference point located on another plane according to a preset rule, and acquiring coordinates of the first to fifth reference points; acquiring the total row number, the total column number and the total layer number of the stacking array; determining a column direction vector of the stacking array according to the first reference point and the third reference point; determining a layer direction vector of the stacking array according to the first reference point and the fifth reference point; determining a row direction vector corresponding to the column of the stacking point to be calculated according to the column ordinal number and the total column number of the stacking point to be calculated and the coordinates of the first reference point, the second reference point, the third reference point and the fourth reference point; and determining the coordinates of the stacking points to be calculated according to the row number, the column number, the layer number, the row direction vector, the column direction vector and the layer direction vector of the stacking points to be calculated and the total row number, the total column number and the total layer number of the stacking array.

Description

Method, device and storage device for automatic palletizing [ technical field ] A method for producing a semiconductor device
The present application relates to automatic control technology, and more particularly, to an automatic palletizing method, apparatus, and storage device.
[ background of the invention ]
The stacking means that objects are orderly placed on a pallet according to a certain rule, or the objects are placed on a conveyor belt or other equipment from the pallet. The corresponding pose of each article on the pallet is referred to as a palletization point, and the collection of all palletization points may be referred to as a palletization array.
At present, for a stacking array with a simple shape (such as a cuboid, a parallelepiped and the like), the position of part of stacking points can be manually taught, and then the position of other stacking points is automatically calculated to determine the stacking array. However, for a stacking array with a complex shape (for example, a non-parallelepiped shape), the positions of all stacking points need to be defined in a manual teaching manner, which requires a large amount of debugging time, and especially for a stacking array with a large number of stacking points, the debugging efficiency is very low.
[ summary of the invention ]
The application provides an automatic stacking method, equipment and a storage device, which are used for automatically determining the position of each stacking point of a stacking array, so that the debugging efficiency of stacking equipment can be improved, and the labor and time cost in the setting process of the stacking equipment can be saved.
In order to solve the technical problem, the application provides a technical scheme for providing an automatic stacking method. The method comprises the following steps: determining a first reference point, a second reference point, a third reference point and a fourth reference point which are positioned on the same plane and a fifth reference point which is positioned on another plane according to a preset rule, and acquiring coordinates of the first reference point, the second reference point, the third reference point, the fourth reference point and the fifth reference point; acquiring the total row number, the total column number and the total layer number of the stacking array; determining a column direction vector of the stacking array according to the first datum point and the third datum point; determining a layer direction vector of the stacking array according to the first reference point and the fifth reference point; determining a row direction vector corresponding to the column of the stacking point to be calculated according to the column ordinal number and the total column number of the stacking point to be calculated and the coordinates of the first datum point, the second datum point, the third datum point and the fourth datum point; and determining the coordinates of the stacking points to be calculated according to the row sequence number, the column sequence number, the layer sequence number, the row direction vector, the column direction vector and the layer direction vector of the stacking points to be calculated, and the total row number, the total column number and the total layer number of the stacking array.
In order to solve the technical problem, the automatic stacking equipment is provided according to the technical scheme provided by the application. The equipment comprises a tail end executing mechanism, a driving mechanism, a controller and a memory, wherein the tail end executing mechanism is used for picking and placing objects to be stacked, the driving mechanism is used for driving the tail end executing mechanism to move, and the memory stores program instructions which can be loaded and used for executing the automatic stacking method.
In order to solve the above technical problem, the present application provides a storage device. Which stores program instructions that can be loaded and executed in the aforementioned method of automatic palletization.
According to the method and the device, only the coordinates of the first reference point, the second reference point, the third reference point and the fourth reference point on the same plane, the coordinates of the fifth reference point on the other plane, the total row number, the total column number and the total layer number of the stacking array are required to be obtained, the column direction vector and the layer direction vector of the stacking array can be determined according to the information, the corresponding row direction vector is determined for each column of stacking points, and therefore the coordinates of each stacking point to be calculated are further determined. Therefore, the required manual operation of definition can be carried out to the pile up neatly array to this application to improve the teaching efficiency of pile up neatly array.
[ description of the drawings ]
Fig. 1 is a schematic flow chart of an embodiment of the automatic palletizing method according to the present application.
Fig. 2 shows an example of a specific flow of step S105 in fig. 1.
FIG. 3 is a schematic representation of fiducials and directional vectors in a palletized array.
Fig. 4 is a schematic structural diagram of an embodiment of the automatic stacking apparatus of the present application.
[ detailed description ] embodiments
The technical solutions in the embodiments of the present application will be described below clearly and completely with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, 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 application.
Referring to fig. 1, fig. 1 is a schematic flow chart of an embodiment of an automatic stacking method provided in the present application. As shown in fig. 1, the method includes:
s101: the method comprises the steps of determining a first reference point, a second reference point, a third reference point and a fourth reference point which are positioned on the same plane and a fifth reference point which is positioned on another plane according to a preset rule, and acquiring coordinates of the first reference point, the second reference point, the third reference point and the fourth reference point and coordinates of the fifth reference point.
The five reference points are determined according to a predetermined rule, for example, the coordinates of the first reference point to the fifth reference point may be obtained by manual teaching, that is, they may be manually taught points, or the coordinates of the first reference point to the fifth reference point may also be stored in a memory inside or outside the palletizing device in advance, and the palletizing device may obtain their coordinates by reading information in the memory, and in addition, may also select the vertex of the plane as the reference point according to another predetermined and stored rule, for example. The first datum point, the second datum point, the third datum point, the fourth datum point, the fifth datum point and the fourth datum point are located on the same plane, and the fifth datum point is located on the other plane. In the subsequent steps, the first to fourth reference points can be respectively used as four corner points of the first layer of the stacking array, and the fifth reference point is used as a corner point of the topmost layer of the stacking array. It should be noted that the coordinates of the first to fifth reference points are determined under a preset reference coordinate system, which may be selected according to the actual situation, for example, the reference coordinate system may be a world coordinate system, a base coordinate system of a palletizing apparatus, or the like. For ease of calculation, references to coordinates in this application should be considered to refer to the same coordinate system. If necessary, the respective coordinates involved can be unified in the same coordinate system in the practical case by means of coordinate transformation between different coordinate systems.
For example, with reference to FIG. 3, the first reference point P1, the second reference point P2, the third reference point P3 and the fourth reference point P4 are located on the same plane, and the fifth reference point P5 is located on another plane. If the number of rows of the stacking array is denoted as numR, the number of columns is denoted as numC, and the number of layers is denoted as numml, then the first reference point P1 is located at the 1 st layer of the 1 st row and column, the second reference point P2 is located at the 1 st layer of the 1 st column and row of the numR, the third reference point P3 is located at the 1 st layer of the 1 st row and column, the fourth reference point P4 is located at the 1 st layer of the numC column and row, and the fifth reference point P5 is located at the 1 st layer of the 1 st row and column. Of course, the fifth reference point may also be selected as another point of the numC layer of the palletizing array, for example, the numC column in the 1 st row on the numC layer, in which case, the point corresponding to the point on the 1 st layer is subsequently used to determine the layer direction vector of the palletizing array.
In some embodiments, the first to fourth reference points P1-P4 may form a parallelogram or a non-parallelogram, in which case the positions of other palletization points may be determined using the method of the present application. That is, the method provided by the present application may be applicable to palletizing arrays of different shapes (or pallet patterns).
S102: and acquiring the total line number, the total column number and the total layer number of the stacking array.
Similarly, the total number of rows numR, the total number of columns numC, and the total number of layers numL of the palletizing array may be obtained through manual entry, or may be stored in a memory inside or outside the palletizing device in advance, and the palletizing device may obtain the information on the number of rows, the number of columns, and the number of layers of the palletizing array by reading information of the memory. The operator of the palletizing device can modify the information as required.
It will be appreciated that the concepts of rows, columns and layers are relative and are merely used to distinguish between three different orientations in a palletized array and are not intended to be limited to a particular orientation of these orientations. In other embodiments, the rows, columns, and layers may be described in other ways using the first, second, and third directions, among others.
S103: and determining a column direction vector of the palletizing array according to the first datum point and the third datum point.
As shown in fig. 3, the line connecting the first reference point P1 and the third reference point P3 defines the column direction of the palletized array. Thus, the column direction vector of the palletized array may be determined according to the following formula:
Figure PCTCN2019075072-APPB-000001
wherein the content of the first and second substances,
Figure PCTCN2019075072-APPB-000002
is the column direction vector, vx,vy,vzAre the x, y and z axis components of the column direction vector in a reference coordinate system.
S104: and determining a layer direction vector of the palletizing array according to the first datum point and the fifth datum point.
As shown in fig. 3, the line connecting the first datum point P1 and the fifth datum point P5 determines the layer direction of the palletized array. Thus, the column direction vector of the palletized array may be determined according to the following formula:
Figure PCTCN2019075072-APPB-000003
wherein the content of the first and second substances,
Figure PCTCN2019075072-APPB-000004
is the layer direction vector, wx,wy,wzThe components of the layer direction vector in the x, y and z axes of the reference coordinate system.
It should be appreciated that in other embodiments, the above-described direction vectors may be unitized (i.e., the column direction vector divided by the vector)
Figure PCTCN2019075072-APPB-000005
Or by dividing the layer direction vector by
Figure PCTCN2019075072-APPB-000006
Length of (d) and then using the column direction unit vector and the layer direction unit vector after unitization in subsequent calculations, similar equivalent transformations do not affect the principle and spirit of each step not applied.
S105: and determining a row direction vector corresponding to the column of the stacking point to be calculated according to the column ordinal number and the total column number of the stacking point to be calculated and the coordinates of the first reference point, the second reference point, the third reference point and the fourth reference point.
In the present application, the column direction vector and the layer direction vector of the palletizing array are unique, that is to say, for all palletizing points in the palletizing array, their corresponding column direction vector and layer direction vector are the same. In contrast, the row direction vectors of the palletizing array are not unique, and palletizing points of different columns correspond to different row direction vectors. Therefore, in step S105, the row direction vector corresponding to the column where the palletizing point to be calculated is located needs to be determined.
Specifically, step S105 may include the following sub-steps shown in fig. 2:
s1051: and determining the coordinates of a first auxiliary point corresponding to the stacking point according to the column ordinal number and the total column number of the stacking point to be calculated and the coordinates of the first reference point and the third reference point, wherein the first auxiliary point is positioned on the connecting line of the first reference point and the third reference point.
As shown in fig. 3, a first auxiliary point corresponding to the jth stacking point is marked as PAjWherein each column corresponds to a first auxiliary point PAjAre both located on the line connecting the first reference point P1 and the third reference point P3. The coordinates of the first auxiliary point may be determined according to the following formula:
Figure PCTCN2019075072-APPB-000007
wherein j is the row number of the stacking points to be calculated, numC is the total row number, P1 is the coordinate of the first reference point,
Figure PCTCN2019075072-APPB-000008
is a vector of the first reference point to the third reference point.
It can be seen that for column 1, the first reference point P1 is the corresponding first auxiliary point PA1For the last column (numC column), the third reference point P3 is the corresponding first auxiliary point PAnumC. The first auxiliary points corresponding to different stacking points are different.
S1052: and determining the coordinates of a second auxiliary point corresponding to the stacking point according to the column ordinal number and the total column number of the stacking point to be calculated and the coordinates of the second reference point and the third reference point, wherein the second auxiliary point is positioned on the connecting line of the second reference point and the fourth reference point.
As shown in fig. 3, a second auxiliary point corresponding to the jth stacking point in the jth row is marked as PBjWherein each column corresponds to a second auxiliary point PBjAre both located on the line connecting the second reference point P2 and the fourth reference point P4. The coordinates of the first auxiliary point may be determined according to the following formula:
Figure PCTCN2019075072-APPB-000009
wherein j is the row number of the stacking points to be calculated, numC is the total row number, P1 is the coordinate of the first reference point,
Figure PCTCN2019075072-APPB-000010
is a vector of the second reference point to the fourth reference point.
It can be seen that for column 1, the second reference point P2 is the corresponding second auxiliary point PB1For the last column (numC column), the fourth reference point P4 is the corresponding second auxiliary pointPBnumC. The second auxiliary points corresponding to the stacking points in different rows are different.
S1053: and determining a row direction vector corresponding to the column of the stacking points to be calculated according to the coordinates of the first auxiliary point and the second auxiliary point corresponding to the stacking point in the column.
Since the first auxiliary point and the second auxiliary point corresponding to each column of stacking points are different from each other, the row direction vectors corresponding to different columns of stacking points, which are determined by the first auxiliary point and the second auxiliary point, are also changed. Specifically, the row direction vector corresponding to the column where the palletizing point to be calculated is located may be determined according to the following formula:
Figure PCTCN2019075072-APPB-000011
wherein the content of the first and second substances,
Figure PCTCN2019075072-APPB-000012
the row direction vector, u, corresponding to the jth column of palletizing pointsx,j,uy,j,uz,jThe components of the x, y and z axes of the row direction vector corresponding to the jth column stacking point in the reference coordinate system,
Figure PCTCN2019075072-APPB-000013
and the vectors from the first auxiliary point to the second auxiliary point corresponding to the jth stacking point in the jth column.
It can be seen that for the 1 st column palletizer point, its corresponding row direction vector
Figure PCTCN2019075072-APPB-000014
For the numC column stacking point, the corresponding row direction vector
Figure PCTCN2019075072-APPB-000015
Wherein, if the first to fourth reference points P1-P4 form a parallelogram, each row of stacking pointsThe corresponding row direction vectors are the same (same in size and same in direction), otherwise, the row direction vectors corresponding to the stacking points in each row are different.
S106: and determining the coordinates of the stacking points to be calculated according to the row number, the column number, the layer number, the row direction vector, the column direction vector and the layer direction vector of the stacking points to be calculated, and the total row number, the total column number and the total layer number of the stacking array.
After the column direction vector and the layer direction vector of the stacking array and the row direction vector corresponding to each column of stacking points are obtained, the coordinates of the stacking points to be calculated can be determined by combining the row number, the column number and the layer number of the stacking points to be calculated and the total row number, the total column number and the total layer number of the stacking array. Specifically, the coordinates of the palletizing point to be calculated may be determined according to the following formula:
Figure PCTCN2019075072-APPB-000016
and P (i, j, k) is a coordinate of the stacking point to be calculated, which is positioned in the ith row, the jth row and the kth layer, i is a row ordinal number, j is a column ordinal number, k is a layer ordinal number, numR is a total row number, numC is a total column number, and nummL is a total layer number.
For any stacking point in the stacking array, the coordinate of the stacking point can be determined by substituting the row sequence number i, the column sequence number j and the layer sequence number k into the formula. The coordinates of all of the palletization points in the palletizing array may be determined in the manner described above. In subsequent palletizing operations, the palletizing equipment can place objects to be palletized to corresponding palletizing points according to the determined coordinates of the palletizing points.
According to the method and the device, only the coordinates of the first reference point, the second reference point, the third reference point and the fourth reference point on the same plane, the coordinates of the fifth reference point on the other plane, the total row number, the total column number and the total layer number of the stacking array are required to be obtained, the column direction vector and the layer direction vector of the stacking array can be determined according to the information, the corresponding row direction vector is determined for each column of stacking points, and therefore the coordinates of each stacking point to be calculated are further determined. Therefore, the required manual operation of definition can be carried out to the pile up neatly array to this application to improve the teaching efficiency of pile up neatly array.
Referring to fig. 3, fig. 3 is a schematic structural diagram of an embodiment of an automatic stacking apparatus 200 according to the present invention. The automatic pallet apparatus 200 includes a controller 201, a memory 202, a drive mechanism 203 and an end effector 204. One example of an automatic palletizing apparatus 200 is a palletizing robot.
The end effector 204 is used for picking and placing objects to be palletized, and the driving mechanism 203 is used for driving the end effector to move according to instructions of the controller 201. The memory 202 holds program instructions that can be loaded by the controller 201 and executed to perform the auto-palletizing method according to any of the embodiments described above. It will be appreciated that in other embodiments, the memory 202 may be provided in the same physical device as the controller 201, but the method of any of the above embodiments may be performed by incorporating the automatic palletising apparatus 200 into a network. After determining the coordinates of each pallet point of the pallet array according to the method described above, the controller 201 may instruct the drive mechanism 203 to drive the end effector 204 in motion so as to place each object to be palletised in a respective position on the pallet.
The functions described in the above embodiments, if implemented in software and sold or used as a separate product, may be stored in a device having a storage function, i.e., the present invention also provides a storage device storing a program. Program data in a storage device including, but not limited to, a usb disk, an optical disk, a server, a hard disk, or the like can be executed to implement the automatic palletizing method in the above embodiments.
The above description is only for the purpose of illustrating embodiments of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application or are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.

Claims (20)

  1. An automatic palletizing method, comprising:
    determining a first reference point, a second reference point, a third reference point and a fourth reference point which are positioned on the same plane and a fifth reference point which is positioned on another plane according to a preset rule, and acquiring coordinates of the first reference point, the second reference point, the third reference point, the fourth reference point and the fifth reference point;
    acquiring the total row number, the total column number and the total layer number of the stacking array;
    determining a column direction vector of the stacking array according to the first datum point and the third datum point;
    determining a layer direction vector of the stacking array according to the first reference point and the fifth reference point;
    determining a row direction vector corresponding to the column of the stacking point to be calculated according to the column ordinal number and the total column number of the stacking point to be calculated and the coordinates of the first datum point, the second datum point, the third datum point and the fourth datum point; and
    and determining the coordinates of the stacking points to be calculated according to the row number, the column number, the layer number, the row direction vector, the column direction vector and the layer direction vector of the stacking points to be calculated and the total row number, the total column number and the total layer number of the stacking array.
  2. The automated palletizing method as in claim 1, wherein: the step of determining the row direction vector of the stacking point to be calculated according to the column ordinal number and the total column number of the stacking point to be calculated and the coordinates of the first reference point, the second reference point, the third reference point and the fourth reference point comprises the following steps:
    determining the coordinate of a first auxiliary point corresponding to the stacking point according to the column ordinal number of the stacking point to be calculated, the total column number and the coordinates of the first reference point and the third reference point;
    determining the coordinate of a second auxiliary point corresponding to the stacking point according to the column ordinal number of the stacking point to be calculated, the total column number, the coordinates of the second reference point and the coordinates of the fourth reference point, wherein the first auxiliary point is positioned on the connecting line of the first reference point and the third reference point, and the second auxiliary point is positioned on the connecting line of the second reference point and the fourth reference point;
    and determining a row direction vector corresponding to the column of the stacking points to be calculated according to the coordinates of the first auxiliary point and the second auxiliary point corresponding to the stacking point of the column.
  3. The automated palletizing method as in claim 2, wherein:
    the step of determining the coordinates of the first auxiliary point according to the column ordinal number of the stacking point to be calculated, the total column number and the coordinates of the first reference point and the third reference point comprises the following steps:
    determining the coordinates of the first auxiliary point according to the following formula:
    Figure PCTCN2019075072-APPB-100001
    wherein j is the column number of the stacking points to be calculated, numC is the total column number, and PAjIs the coordinate of the first auxiliary point corresponding to the jth column stacking point, P1 is the coordinate of the first reference point,
    Figure PCTCN2019075072-APPB-100002
    a vector of the first reference point to the third reference point;
    the step of determining the coordinates of the second auxiliary point according to the column ordinal number and the total column number of the stacking points to be calculated and the coordinates of the second reference point and the fourth reference point comprises the following steps:
    determining the coordinates of the second auxiliary point according to the following formula:
    Figure PCTCN2019075072-APPB-100003
    wherein j is the column number of the stacking points to be calculated, numC is the total column number, and PB isjIs the coordinate of the second auxiliary point corresponding to the jth column stacking point, P2 is the coordinate of the second reference point,
    Figure PCTCN2019075072-APPB-100004
    is a vector of the second reference point to the fourth reference point.
  4. The automated palletizing method as in claim 3, wherein:
    the step of determining the row direction vector corresponding to the column of the stacking point to be calculated according to the coordinates of the first auxiliary point and the second auxiliary point corresponding to the column of the stacking point to be calculated includes determining the row direction vector corresponding to the column of the stacking point to be calculated according to the following formula:
    Figure PCTCN2019075072-APPB-100005
    wherein the content of the first and second substances,
    Figure PCTCN2019075072-APPB-100006
    the row direction vector, u, corresponding to the jth column of palletizing pointsx,j,uy,j,uz,jThe components of the x, y and z axes of the row direction vector corresponding to the jth column stacking point in the reference coordinate system,
    Figure PCTCN2019075072-APPB-100007
    vectors from the first auxiliary point to the second auxiliary point corresponding to the jth stacking point in the jth column;
    the step of determining a column direction vector of the palletizing array based on the first reference point and the third reference point comprises determining the column direction vector according to the following formula:
    Figure PCTCN2019075072-APPB-100008
    wherein the content of the first and second substances,
    Figure PCTCN2019075072-APPB-100009
    is the column direction vector, vx,vy,vzThe components of the x, y and z axes of the column direction vector in a reference coordinate system;
    the step of determining a course direction vector for the palletizing array based on the first and fifth reference points comprises determining the course direction vector according to the following formula:
    Figure PCTCN2019075072-APPB-100010
    wherein the content of the first and second substances,
    Figure PCTCN2019075072-APPB-100011
    is the layer direction vector, wx,wy,wzThe components of the layer direction vector in the x, y and z axes of the reference coordinate system.
  5. The automated palletizing method according to claim 4, wherein the step of determining the coordinates of the palletization point to be computed according to the row number, the column number, the layer number, the row direction vector, the column direction vector and the layer direction vector of the palletization point to be computed and the total row number, the total column number and the total layer number of the palletization array comprises: determining the coordinates of the stacking point to be calculated according to the following formula:
    Figure PCTCN2019075072-APPB-100012
    and P (i, j, k) is a coordinate of the stacking point to be calculated, which is positioned in the ith column, the jth row and the kth layer, and is a row ordinal number, k is a layer ordinal number, numR is a total row number, and nummL is a total layer number.
  6. The automated palletization method according to claim 1, wherein the step of acquiring the coordinates of the first reference point, the second reference point, the third reference point, the fourth reference point and the fifth reference point comprises:
    and acquiring the coordinates of the first reference point, the second reference point, the third reference point, the fourth reference point and the fifth reference point by a manual teaching method.
  7. The automated palletizing method according to claim 1, wherein the first datum, the second datum, the third datum and the fourth datum constitute a non-parallelogram.
  8. An automatic palletization plant, comprising an end-effector for picking and placing objects to be palletized, a driving mechanism for driving the end-effector in motion, a controller and a memory storing program instructions that can be loaded and carry out an automatic palletization method, the method comprising:
    determining a first reference point, a second reference point, a third reference point and a fourth reference point which are positioned on the same plane and a fifth reference point positioned on another plane according to a preset rule; acquiring coordinates of the first reference point, the second reference point, the third reference point, the fourth reference point and the fifth reference point;
    acquiring the total row number, the total column number and the total layer number of the stacking array;
    determining a column direction vector of the stacking array according to the first datum point and the third datum point;
    determining a layer direction vector of the stacking array according to the first reference point and the fifth reference point;
    determining a row direction vector corresponding to the column of the stacking point to be calculated according to the column ordinal number and the total column number of the stacking point to be calculated and the coordinates of the first datum point, the second datum point, the third datum point and the fourth datum point; and
    and determining the coordinates of the stacking points to be calculated according to the row number, the column number, the layer number, the row direction vector, the column direction vector and the layer direction vector of the stacking points to be calculated and the total row number, the total column number and the total layer number of the stacking array.
  9. The automatic palletizing apparatus as claimed in claim 8, wherein: the step of determining the row direction vector of the stacking point to be calculated according to the column ordinal number and the total column number of the stacking point to be calculated and the coordinates of the first reference point, the second reference point, the third reference point and the fourth reference point comprises the following steps:
    determining the coordinate of a first auxiliary point corresponding to the stacking point according to the column ordinal number of the stacking point to be calculated, the total column number and the coordinates of the first reference point and the third reference point;
    determining the coordinate of a second auxiliary point corresponding to the stacking point according to the column ordinal number of the stacking point to be calculated, the total column number, the coordinates of the second reference point and the coordinates of the fourth reference point, wherein the first auxiliary point is positioned on the connecting line of the first reference point and the third reference point, and the second auxiliary point is positioned on the connecting line of the second reference point and the fourth reference point;
    and determining a row direction vector corresponding to the column of the stacking points to be calculated according to the coordinates of the first auxiliary point and the second auxiliary point corresponding to the stacking point of the column.
  10. The automatic palletizing apparatus as claimed in claim 9, wherein:
    the step of determining the coordinates of the first auxiliary point according to the column ordinal number of the stacking point to be calculated, the total column number and the coordinates of the first reference point and the third reference point comprises the following steps:
    determining the coordinates of the first auxiliary point according to the following formula:
    Figure PCTCN2019075072-APPB-100013
    wherein j is the column number of the stacking points to be calculated, numC is the total column number, and PAjThe coordinates of the first auxiliary point corresponding to the jth stacking point are shown, and P1 is the coordinates of the first reference point，
    Figure PCTCN2019075072-APPB-100014
    A vector of the first reference point to the third reference point;
    the step of determining the coordinates of the second auxiliary point according to the column ordinal number and the total column number of the stacking points to be calculated and the coordinates of the second reference point and the fourth reference point comprises the following steps:
    determining the coordinates of the second auxiliary point according to the following formula:
    Figure PCTCN2019075072-APPB-100015
    wherein j is the column number of the stacking points to be calculated, numC is the total column number, and PB isjIs the coordinate of the second auxiliary point corresponding to the jth column stacking point, P2 is the coordinate of the second reference point,
    Figure PCTCN2019075072-APPB-100016
    is a vector of the second reference point to the fourth reference point.
  11. The automatic palletizing apparatus as claimed in claim 10, wherein:
    the step of determining the row direction vector corresponding to the column of the stacking point to be calculated according to the coordinates of the first auxiliary point and the second auxiliary point corresponding to the column of the stacking point to be calculated includes determining the row direction vector corresponding to the column of the stacking point to be calculated according to the following formula:
    Figure PCTCN2019075072-APPB-100017
    wherein the content of the first and second substances,
    Figure PCTCN2019075072-APPB-100018
    the row direction vector, u, corresponding to the jth column of palletizing pointsx,j,uy,j,uz,jThe components of the x, y and z axes of the row direction vector corresponding to the jth column stacking point in the reference coordinate system,
    Figure PCTCN2019075072-APPB-100019
    vectors from the first auxiliary point to the second auxiliary point corresponding to the jth stacking point in the jth column;
    the step of determining a column direction vector of the palletizing array based on the first reference point and the third reference point comprises determining the column direction vector according to the following formula:
    Figure PCTCN2019075072-APPB-100020
    wherein the content of the first and second substances,
    Figure PCTCN2019075072-APPB-100021
    is the column direction vector, vx,vy,vzThe components of the x, y and z axes of the column direction vector in a reference coordinate system;
    the step of determining a course direction vector for the palletizing array based on the first and fifth reference points comprises determining the course direction vector according to the following formula:
    Figure PCTCN2019075072-APPB-100022
    wherein the content of the first and second substances,
    Figure PCTCN2019075072-APPB-100023
    is the layer direction vector, wx,wy,wzThe components of the layer direction vector in the x, y and z axes of the reference coordinate system.
  12. The automatic palletizing apparatus according to claim 11, wherein the step of determining the coordinates of the palletization points to be calculated according to the row number, the column number, the layer number, the row direction vector, the column direction vector and the layer direction vector of the palletizing point to be calculated and the total row number, the total column number and the total layer number of the palletizing array comprises: determining the coordinates of the stacking point to be calculated according to the following formula:
    Figure PCTCN2019075072-APPB-100024
    and P (i, j, k) is a coordinate of the stacking point to be calculated, which is positioned in the ith column, the jth row and the kth layer, and is a row ordinal number, k is a layer ordinal number, numR is a total row number, and nummL is a total layer number.
  13. The automated palletization apparatus according to claim 7, wherein the step of acquiring the coordinates of the first reference point, the second reference point, the third reference point, the fourth reference point and the fifth reference point comprises:
    and acquiring the coordinates of the first reference point, the second reference point, the third reference point, the fourth reference point and the fifth reference point by a manual teaching method.
  14. The automated palletizing apparatus according to claim 7, wherein the first reference point, the second reference point, the third reference point and the fourth reference point constitute a non-parallelogram.
  15. An apparatus having memory, wherein program instructions are stored, which can be loaded and which perform an automatic palletizing method, the method comprising:
    determining a first reference point, a second reference point, a third reference point and a fourth reference point which are positioned on the same plane and a fifth reference point positioned on another plane according to a preset rule; acquiring coordinates of the first reference point, the second reference point, the third reference point, the fourth reference point and the fifth reference point;
    acquiring the total row number, the total column number and the total layer number of the stacking array;
    determining a column direction vector of the stacking array according to the first datum point and the third datum point;
    determining a layer direction vector of the stacking array according to the first reference point and the fifth reference point;
    determining a row direction vector corresponding to the column of the stacking point to be calculated according to the column ordinal number and the total column number of the stacking point to be calculated and the coordinates of the first datum point, the second datum point, the third datum point and the fourth datum point; and
    and determining the coordinates of the stacking points to be calculated according to the row number, the column number, the layer number, the row direction vector, the column direction vector and the layer direction vector of the stacking points to be calculated and the total row number, the total column number and the total layer number of the stacking array.
  16. The apparatus of claim 15, wherein: the step of determining the row direction vector of the stacking point to be calculated according to the column ordinal number and the total column number of the stacking point to be calculated and the coordinates of the first reference point, the second reference point, the third reference point and the fourth reference point comprises the following steps:
    determining the coordinate of a first auxiliary point corresponding to the stacking point according to the column ordinal number of the stacking point to be calculated, the total column number and the coordinates of the first reference point and the third reference point;
    determining the coordinate of a second auxiliary point corresponding to the stacking point according to the column ordinal number of the stacking point to be calculated, the total column number, the coordinates of the second reference point and the coordinates of the fourth reference point, wherein the first auxiliary point is positioned on the connecting line of the first reference point and the third reference point, and the second auxiliary point is positioned on the connecting line of the second reference point and the fourth reference point;
    and determining a row direction vector corresponding to the column of the stacking points to be calculated according to the coordinates of the first auxiliary point and the second auxiliary point corresponding to the stacking point of the column.
  17. The apparatus of claim 16, wherein:
    the step of determining the coordinates of the first auxiliary point according to the column ordinal number of the stacking point to be calculated, the total column number and the coordinates of the first reference point and the third reference point comprises the following steps:
    determining the coordinates of the first auxiliary point according to the following formula:
    Figure PCTCN2019075072-APPB-100025
    wherein j is the column number of the stacking points to be calculated, numC is the total column number, and PAjIs the coordinate of the first auxiliary point corresponding to the jth column stacking point, P1 is the coordinate of the first reference point,
    Figure PCTCN2019075072-APPB-100026
    a vector of the first reference point to the third reference point;
    the step of determining the coordinates of the second auxiliary point according to the column ordinal number and the total column number of the stacking points to be calculated and the coordinates of the second reference point and the fourth reference point comprises the following steps:
    determining the coordinates of the second auxiliary point according to the following formula:
    Figure PCTCN2019075072-APPB-100027
    wherein j is the column number of the stacking points to be calculated, numC is the total column number, and PB isjIs the coordinate of the second auxiliary point corresponding to the jth column stacking point, P2 is the coordinate of the second reference point,
    Figure PCTCN2019075072-APPB-100028
    is a vector of the second reference point to the fourth reference point.
  18. The apparatus of claim 17, wherein:
    the step of determining the row direction vector corresponding to the column of the stacking point to be calculated according to the coordinates of the first auxiliary point and the second auxiliary point corresponding to the column of the stacking point to be calculated includes determining the row direction vector corresponding to the column of the stacking point to be calculated according to the following formula:
    Figure PCTCN2019075072-APPB-100029
    wherein the content of the first and second substances,
    Figure PCTCN2019075072-APPB-100030
    the row direction vector, u, corresponding to the jth column of palletizing pointsx,j,uy,j,uz,jThe components of the x, y and z axes of the row direction vector corresponding to the jth column stacking point in the reference coordinate system,
    Figure PCTCN2019075072-APPB-100031
    vectors from the first auxiliary point to the second auxiliary point corresponding to the jth stacking point in the jth column;
    the step of determining a column direction vector of the palletizing array based on the first reference point and the third reference point comprises determining the column direction vector according to the following formula:
    Figure PCTCN2019075072-APPB-100032
    wherein the content of the first and second substances,
    Figure PCTCN2019075072-APPB-100033
    is the column direction vector, vx,vy,vzThe components of the x, y and z axes of the column direction vector in a reference coordinate system;
    the step of determining a course direction vector for the palletizing array based on the first and fifth reference points comprises determining the course direction vector according to the following formula:
    Figure PCTCN2019075072-APPB-100034
    wherein the content of the first and second substances,
    Figure PCTCN2019075072-APPB-100035
    is the layer direction vector, wx,wy,wzThe components of the layer direction vector in the x, y and z axes of the reference coordinate system.
  19. The apparatus of claim 18, wherein the step of determining the coordinates of the palletization point to be calculated from the row number, column number, layer number, the row direction vector, column direction vector and layer direction vector of the palletization point to be calculated and the total number of rows, columns and layers of the palletization array comprises: determining the coordinates of the stacking point to be calculated according to the following formula:
    Figure PCTCN2019075072-APPB-100036
    and P (i, j, k) is a coordinate of the stacking point to be calculated, which is positioned in the ith column, the jth row and the kth layer, and is a row ordinal number, k is a layer ordinal number, numR is a total row number, and nummL is a total layer number.
  20. The apparatus of claim 15, wherein the step of acquiring coordinates of the first, second, third, fourth and fifth reference points comprises:
    and acquiring coordinates of the first reference point, the second reference point, the third reference point, the fourth reference point and the fifth reference point by a manual teaching method, wherein the first reference point, the second reference point, the third reference point and the fourth reference point form a non-parallelogram.
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