CN114906568A - Blind unstacking method and system - Google Patents

Abstract

The present application relates to a method and system for blind depalletizing and depalletizing, belonging to the technical field of automatic depalletizing and stacking. The method of the present application includes: acquiring stacking parameter data of a target stacking forming object; according to the box shape in the stacking parameter data Identification information, query and obtain the box size parameter data of the target palletizing forming object from the preset box shape table; based on the box size parameter data, perform reverse operation according to the stacking rule information contained in the stacking parameter data. , generate a blind depalletizing and depalletizing control configuration for the target palletizing forming object; send the blind depalletizing and depalletizing control configuration to the depalletizing execution device, so that the depalletizing execution device can correct the objects placed in the depalletizing station. The target stacking forming object is destacked. The present application effectively realizes blind demolition and destacking, which is beneficial to the popularization and application of the machine sorting mode.

Description

Method and system for blind demolition and depalletization

technical field

The present application belongs to the technical field of automatic destacking and stacking, and in particular relates to a blind destacking and destacking method and system.

Background technique

With the development of three-dimensional warehouses, in the process of warehousing and delivery, more and more manufacturers choose to rely on machines to replace manual sorting, thereby saving labor costs and enhancing the accuracy of sorting. A mainstream mode of machine sorting. In automated production logistics or third-party logistics systems, various types of cartons are palletized into the warehouse by robots, and then transported out of the warehouse, which involves depalletizing operations during the process of leaving the warehouse.

In the existing related technologies, most of the automatic depalletizing and picking modes are mainly based on machine vision depalletizing, which requires a visual acquisition system such as a corresponding camera, which is costly, and takes a certain amount of time for visual analysis and consumes a certain takt time. . Based on the above reasons, many manufacturers are forced to abandon the machine sorting mode due to budget. And if the non-visual destacking (blind destacking) with a higher degree of freedom can be realized, it will bring more choices to customers and major factories.

The above content is only used to assist the understanding of the technical solutions of the present invention, and does not mean that the above content is the prior art.

SUMMARY OF THE INVENTION

In order to overcome the problems existing in the related art at least to a certain extent, the present application provides a method and system for blind destacking and destacking, which specifically realizes blind destacking and destacking, and this technology is helpful for the popularization and application of the machine sorting mode.

To achieve the above purpose, the application adopts the following technical solutions:

first,

The application provides a blind destacking and destacking method, the method comprising:

Obtain the palletizing parameter data of the target palletizing forming object;

According to the box shape identification information in the palletizing parameter data, query and obtain the box shape size parameter data of the target palletizing forming object from the preset box shape table;

Based on the box size parameter data, perform a reverse operation according to the stacking rule information contained in the stacking parameter data, and generate a blind destacking and destacking control configuration for the target stacking forming object;

The blind depalletization control configuration is sent to the depalletization execution device, so that the depalletization execution device depalletizes the target stacking forming object placed at the destacking station.

Optionally, in the process of generating the blind depalletizing and depalletizing control configuration for the target palletizing molding object, the process includes:

Based on the palletizing rule information and the box size parameter data, analyze and calculate the spatial coordinate information of each box in the target palletizing forming object;

Calculate and process according to the space coordinate information and the palletizing rule information, and obtain the complete action sequence required for depalletizing;

The blind depalletization control configuration is determined based on the complete motion sequence generation.

Optionally, in the process of generating the blind depalletizing and depalletizing control configuration for the target palletizing molding object, the process further includes:

Based on the box size parameter data, determine whether the size of the suction cup of the destacking execution device is larger than the size of the upper end face of the box;

When the size of the suction cup of the depalletizing execution device is larger than the size of the upper end face of the box, an additional calculation process of the angle offset is performed in the calculation process.

Optionally, in the process of generating the blind depalletizing and depalletizing control configuration for the target palletizing molding object, the process further includes:

Judging the relative positional relationship between the destacking execution device and the destacking station, and determining whether to additionally perform a reverse destacking calculation process in the calculation process based on the judgment result.

Optionally, in the process of depalletizing the target palletizing forming object placed at the depalletizing station, the depalletizing execution device includes:

Correcting the depalletizing and grabbing datum point of the depalletizing station according to the position information of the datum point of stacking placement contained in the blind depalletizing and depalletizing control configuration;

Based on the corrected destacking and grasping reference point, the complete action sequence in the blind destacking and destacking control configuration is processed to realize blind destacking and destacking.

Optionally, the pallet placement reference point includes a direction maintaining reference point that is consistent with the placement posture direction, and a non-directional maintaining reference point that is perpendicular to the placement posture direction.

Optionally, the stacking rule information includes stacking type classification number information, vertical box column number information, vertical box row number information, horizontal box column number information, horizontal box row number information, total layer number information, and whether the parity layers are consistent. information.

Optionally, the palletizing rule information further includes box pressing parameter information;

Wherein, the pressure box parameter information includes: information on the presence or absence of a top pressure box, pressure box type information, pressure box column number information, pressure box row number information, and pressure box offset information.

Second,

The present application also provides a blind destacking and destacking system, the system comprising:

a depalletizing controller configured to implement the steps of the above method;

A depalletizing execution device, which is used for receiving and executing the blind depalletizing and depalletizing control configuration, so as to realize depalletizing of the target stacking forming object placed at the depalletizing station.

This application adopts the above technical solutions, and at least has the following beneficial effects:

In the technical solution of the present application, there is no need for the configuration intervention of an additional vision system in the realization of depalletization, and the cost of blind depalletization and depalletization is low; each depalletization is performed based on the corresponding stacking parameter data, which can be flexibly applied to different boxes It is a type of palletizing forming object with strong applicability and portability. The above characteristics are helpful for the popularization and application of machine sorting mode.

Other advantages, objects, and features of the present invention will be set forth in the specification to the extent that follows, and will be apparent to those skilled in the art based on a review of the following, or may be Teachings are gained from the practice of the present invention.

Description of drawings

The accompanying drawings are used to provide a further understanding of the technical solutions or the prior art of the present application, and constitute a part of the specification. The drawings representing the embodiments of the present application together with the embodiments of the present application are used to explain the technical solutions of the present application, but do not constitute limitations on the technical solutions of the present application.

1 is a schematic flowchart of a blind dismantling and destacking method according to an embodiment of the present application;

FIG. 2 is a schematic diagram illustrating the definition of coordinates in an embodiment of the present application;

FIG. 3 is a schematic diagram illustrating placement of reference points in an embodiment of the present application;

FIG. 4 is a schematic diagram illustrating the stacking type classification 1 in an embodiment of the application;

5 is a schematic diagram illustrating the stacking type classification 2 in an embodiment of the application;

6 is a schematic diagram illustrating arrangement definitions in an embodiment of the present application;

FIG. 7 is a schematic diagram illustrating the definition of the posture of the carton in an embodiment of the application;

8 is a schematic diagram illustrating the definitions of the number of vertical box columns, the number of vertical box rows, the number of horizontal box columns, and the number of horizontal box rows in an embodiment of the application;

FIG. 9 is a schematic diagram illustrating the offset of the pressure box in an embodiment of the application;

10 is a schematic diagram illustrating the length of the X-axis and the Y-axis in an embodiment of the application;

FIG. 11 is an illustrative schematic diagram of a blank space in an embodiment of the application;

12 is a schematic diagram illustrating offset calculation in an embodiment of the present application;

Fig. 13a is a schematic diagram illustrating an angle calculation scenario in an embodiment of the present application;

FIG. 13b is a schematic diagram illustrating a scenario where no angle calculation is required according to an embodiment of the present application;

FIG. 14 is a schematic diagram illustrating reverse destacking in an embodiment of the present application.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present application clearer, the technical solutions of the present application will be described in detail below. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments. Based on the examples in this application, all other implementations obtained by those of ordinary skill in the art without creative work fall within the scope of protection of this application.

As mentioned in the Background Art, in the related art, most of the automatic depalletizing and picking modes are mainly based on machine vision depalletizing, which requires a visual acquisition system such as a corresponding camera, which is costly and requires a certain amount of visual analysis. time, consumes a certain takt time. Based on the above reasons, many manufacturers are forced to abandon the machine sorting mode due to budget.

In view of this, the present application proposes a method for blind destacking and destacking, which specifically realizes blind destacking and destacking based on the stacking data. This method avoids the expense of additionally configuring a visual acquisition system, and is beneficial to the popularization and application of the machine sorting mode.

In one embodiment, as shown in FIG. 1 , the blind destacking method proposed by the present application includes:

Step S110, acquiring the palletizing parameter data of the target palletizing molding object;

It is easy to understand that the palletizing parameter data here refers to the process of forming the target palletizing object (or the palletizing product), which characterizes the palletizing method and rules, and involves carriers (such as material boxes, packaging cartons, etc.). ) and other information; for example, the method execution body is a PLC, which receives the relevant data sent by the host computer to obtain the palletizing parameter data of the target palletizing forming object.

Then go to step S120, according to the box shape identification information in the palletizing parameter data, query and obtain the box shape size parameter data of the target palletizing molding object from the preset box shape table;

For example, the box type identification information here is a type A carton (it is easy to understand that a box-like carrier such as a material box can also be used), and the box size parameter data of a single type A carton can be queried from the box type table. It is 0.5m long, 0.4m wide and 0.2m high;

It should be noted that, based on the actual application needs, the preset box type table here can be stored locally (for example, the box type information is stored locally in the PLC), or it can be stored in other places relative to the local (such as the server side, etc.) .

After that, step S130 is performed, based on the box size parameter data obtained in step S120, and a reverse operation is performed according to the stacking rule information contained in the stacking parameter data, so as to generate a blind destacking and destacking control configuration for the target stacking molding object;

It is easy to understand that the reverse operation here is to obtain the depalletizing rule information that is inverse to the palletizing process, and then generate the blind depalletizing and depalletizing control configuration mentioned in step S130. The rules are related, and specific examples will be given later, which will not be expanded here.

Finally, step S140 is performed, and the blind depalletization and depalletization control configuration is sent to the depalletization execution device, so that the depalletization execution device depalletizes the target stacking molding object placed in the destacking station.

For example, the depalletizing execution device here is a manipulator device with suction cups (such as a manipulator with a single suction cup or a single control multiple suction cups). position, and then the manipulator device depalletizes the target palletized molding object according to the blind depalletization and depalletization control configuration.

In the technical solution of the present application, the configuration of an additional vision system is not required in the realization of destacking, and the realization cost is low; and compared with other existing implementation methods of blind demolition, each destacking is performed based on the corresponding stacking parameter data. It can be flexibly applied to palletizing and forming objects of different box types, and has strong applicability and portability. The above characteristics are helpful for the popularization and application of machine sorting mode.

In order to facilitate the understanding of the technical solution of the present application, the technical solution of the present application is described below with another embodiment.

As mentioned above, in the technical solution of the present application, the palletizing parameter data represents related information such as palletizing methods and rules. The following is an introduction to the related concepts and data definitions involved in palletizing in this embodiment:

As shown in FIG. 2, it is a schematic diagram illustrating the definition of coordinates in this embodiment, which is a schematic top view, in which the rectangular part represents the pallet involved in depalletizing; The backward direction is the X axis, the left and right movement direction is the Y axis, that is, the long side of the pallet is the X axis, the short side is the Y axis, and the vertical up and down movement direction of the manipulator is the Z axis, that is, the height direction of the pallet.

As shown in FIG. 3, it is a schematic diagram illustrating the reference point in this embodiment, which is a schematic top view, in which the rectangular part represents the pallet involved in the depalletization, and the dotted frame is a schematic illustration of the reference point; in this embodiment, the placing There are two datum points, namely the datum point "direction maintaining datum point" (referred to as "maintaining datum point") which is consistent with the placement posture and the "non-direction maintaining datum point" (referred to as "non-direction maintaining datum point") which is at an angle of 90° to the placement posture. reference point").

Similar to the previous embodiment, in this embodiment, the method execution body is a PLC, and the blind destacking method includes:

Step S210, receiving the relevant data sent by the host computer to obtain the palletizing parameter data of the target palletizing forming object.

Step S220, according to the box shape identification information in the palletizing parameter data, query and obtain the box shape size parameter data of the target palletizing molding object from a preset box shape table locally stored in the PLC;

In step S230, based on the box size parameter data obtained in step S220, a reverse operation is performed according to the palletizing rule information contained in the palletizing parameter data to generate a blind dismantling and depalletizing control configuration for the target palletizing forming object.

Specifically, in this embodiment, the palletizing rule information includes pallet type classification number information, vertical box column number information, vertical box row number information, horizontal box column number information, horizontal box row number information, total layer number information, parity layer information Whether the information is consistent, etc.;

Among them, the stacking type classification number information is used to indicate the stacking type classification of the object to be depalletized, which is the basis for the system to determine whether the object is palletized along the X-axis or along the Y-axis. For example, in this embodiment, the stacking type classification includes stacking type classification 1 and stacking type classification 2;

As shown in Figure 4, it is a schematic diagram of the description of the stacking type classification 1, as shown in the legend on the left in Figure 4 (the numbers in the figure indicate the stacking sequence), the stacking type classification 1 means that the stacking sequence of the carton is firstly spread along the Y axis One column is full, and then one column by one along the X axis (the posture of each column of cartons must be consistent) fills the entire pallet, the right legend in Figure 4 shows the corresponding unstacking sequence;

As shown in Figure 5, it is a schematic diagram of the description of the stacking type classification 2, as shown in the legend on the left in Figure 5 (the numbers in the figure indicate the stacking sequence), the stacking type classification 2 means that the carton stacking sequence is firstly spread along the X axis One column is full, and then one column by one along the Y axis (the posture of each column of cartons must be consistent) fills the entire pallet carton, the right legend in Figure 5 shows the corresponding unstacking sequence;

In order to fully describe the stacking information, it is also necessary to specifically describe the number of rows and columns of each layer and the number of layers, that is, the information on the number of vertical boxes, the number of vertical boxes, the number of horizontal boxes, and the number of horizontal boxes mentioned above. Information about the number of rows, the total number of layers, and whether the parity layers are consistent;

This involves the definition of layers, rows, and columns. In this embodiment of the present application, as shown in FIG. 6, it is a schematic diagram for explaining the definition of layer arrangement:

Layer: refers to the number of cartons stacked in the Z-axis direction (not shown in the figure);

Column: Under the stacking type classification 1, in Figure 6, the X direction is the column, and there are 2 columns in the figure;

Under the stacking type classification 2, in Figure 6, the Y direction is a column, and there are 3 columns in the figure;

Row: Under stacking type classification 1, in Figure 6, the Y direction is row, and there are 3 rows in the figure;

Under the stacking type classification 2, in Figure 6, the X direction is a row, and there are 2 rows in the figure.

In order to fully describe the palletizing information, it also involves the problem of carton attitude definition (horizontal box, vertical box).

As shown in the legend on the left side of Figure 7 (stack type classification 1), the operator stands on the long side of the pallet and visually observes the Y-axis direction. The cartons held in the non-directional direction of the No. 7 and No. 8 boxes are defined as vertical boxes, and the cartons held in the 1-8 directions are defined as vertical boxes. The carton is defined as a horizontal box;

As shown in the legend on the right side of Figure 7 (stack type classification 2), the operator stands on the wide side of the pallet and looks at the X-axis direction. The cartons held in the 5th to 7th directions are defined as vertical boxes, and the cartons held in the non-directional directions of 1 to 4 are defined as vertical boxes. Defined as a horizontal box.

It should be noted that, regardless of the stacking type classification 1 or 2, the number of columns of cartons defined as vertical boxes is the number of vertical boxes, and the number of rows of cartons defined as vertical boxes is the number of vertical boxes. The number of columns of cartons defined as horizontal boxes is the number of columns of horizontal boxes. For example, as shown in Figure 8, the stacking in the picture is stacking type 1, and boxes 5 to 9 are vertical boxes. The long side of the pallet is viewed in the Y-axis direction. The number of vertical box columns is 3, and each column contains 2 rows, so the number of vertical box columns = 3 and the number of vertical box rows = 2. Boxes 1 to 3 in the figure are horizontal boxes, horizontal boxes There is only one column, and each column contains 3 rows, so the number of horizontal box columns = 1, and the number of horizontal box rows = 3.

In addition, it is easy to understand that the total number of layers represents the number of layers stacked in the Z-axis direction of the carton. It should be noted that the total number of layers here does not include the pressing layer (meaning that in some embodiments, in order to stabilize the stacking of objects, The special layer that is stacked), if the object finally contains a pressing layer, the total number of layers here is 1 less than the actual total number of layers;

The information on whether the parity layers are consistent in the above describes the changes in the inter-layer arrangement of the object. If the information is represented as the parity layers are consistent, it means that the stacking method of each layer of the object is completely consistent until the top layer is accumulated; The information is characterized by inconsistent odd-even layers, which means that the stacking method of odd-numbered and even-numbered layers in the object is mirrored stacking along the column direction, so that the odd-even layers can be stacked against each other and the object stacking type is stable. At this time, the real highest Layers eliminate the need for a pressing layer, which helps maximize the number of cases stacked.

In some application scenarios, in order to stabilize the stacking type of the stacking, a press box layer is arranged at the top of the stacking type. Correspondingly, the stacking rule information also includes the press box parameter information, wherein the press box parameter information includes: top layer pressure Box presence or absence information, pressure box type information, pressure box column number information, pressure box row number information, pressure box offset information, etc.

Whether there is information on the top press box is used to indicate whether there is a specially designed press box layer on the top layer. Generally speaking, the principle of the press box is to press all the gaps in the XY direction to make the object stack more stable as a whole;

Press box type information, which is used to characterize the carton posture of the press box layer. All cartons in the press box layer have the same posture, that is, they are all horizontal boxes or all vertical boxes;

The number of pressure box columns and the number of pressure box rows are used to characterize the number of pressure box columns and pressure box rows. The definition of the arrangement is the same as that of the non-pressure box layer introduced above, so it will not be repeated here;

The pressure box offset information is used to indicate the relative position of the pressure box. For example, the actual parameters involved include the pressure box offset 1x/2y and the pressure box offset 1y/2x;

Press box offset 1x/2y: the offset of the press box layer along the X axis in the stacking type 1 mode, the offset of the press box layer along the Y axis in the stacking type classification 2 mode; the press box offset 1y/2x: The offset of the pressing layer along the Y axis in the stacking classification 1 mode, and the offset of the pressing layer along the X axis in the stacking classification 2 mode; if both parameters are 0, it means that the coordinates of the entire pressing layer will be located at the middle of the tray;

Specifically, as shown in Figure 9, it is a schematic diagram of an example of the offset of the pressure box. As shown in the legend on the left side of the figure, if the offset pressure box is not set, the middle seam will not be covered, which will cause the pallet to be unstable during the conveying process in the X direction. And the stacking type is classified as 2, should set "press box offset 1y/2x" = Nmm (such as 100mm), carry out bias, the effect is shown in the legend on the right in Figure 9, so that the stacking type is more stable.

Returning to the introduction of the method, in step S230, specifically, in the process of generating the blind destacking and destacking control configuration for the target stacking molding object, the process includes:

Based on the palletizing rule information (as defined above) and the box size parameter data, analyze and calculate the spatial coordinate information of each box in the target palletizing forming object;

Calculate and process according to spatial coordinate information and palletizing rule information to obtain the complete action sequence required for unpalletizing;

The blind destacking control configuration is determined based on the complete action sequence generation.

In practice, in some scenarios, between the boxes on the same layer in the object stacking type, there is a gap between the box and the outer edge of the pallet, which is called "blank" in this application. The blank related information also belongs to the content of the palletizing rule information, which needs to be considered when parsing and calculating the spatial coordinate information and generating the complete action sequence; here is an introduction to the related content:

As shown in Figure 10, it is a schematic diagram illustrating the length of the X-axis and Y-axis. The total length of the X-axis and the Y-axis direction is based on the longest length of the box shape in this direction; as shown in Figure 11, it is a blank illustration diagram , one of the blanks is that the size of the stack is smaller than the size of the tray to keep it in the center of the tray, and there will be blanks around the tray, as shown in the figure, the blank 1=(the length of the tray - the total length in the x direction)/2; the other is where The total length of the carton in one posture is longer than the other, so the resulting blank will be divided equally according to the number of rows in the other posture, as shown in Figure 11, the blank 2 = (the total length of the vertical box row - the total horizontal row Length)/5, based on the specific configuration, the blank size is calculated by the system itself, and the blank size is one of the information involved in the calculation when the blind destacking control configuration is generated;

For example, as shown in Figure 12, it is a schematic illustration of the principle that the blank size participates in the calculation in the calculation process. As shown in Figure 12, the offset coordinates of the No. 3 carton are calculated. It can be seen that the No. 3 carton needs to be based on the "non-maintaining reference point". Offset, X direction offset = blank 2 + blank 3 + carton width, Y direction offset = blank 1, then the coordinates of No. 3 carton = non-maintained reference point (X + x direction offset, Y-y direction offset shift).

In some application scenarios, when a suction cup manipulator or similar device is used for palletizing and depalletizing, due to the characteristics of the suction cup, the control of depalletizing and palletizing is slightly different. The box next to it can be pressed for placement, but during the depalletizing process, the adjacent carton cannot be interfered with when picking up the box, otherwise additional cartons will be sucked up. A certain corner of the carton is aligned, that is, in this scenario, in the process of generating the blind depalletizing and depalletizing control configuration for the target palletizing forming object, it also includes:

Based on the box size parameter data, determine whether the size of the suction cup of the destacking execution device is larger than the size of the upper end face of the box;

When the size of the suction cup of the depalletizing execution device is larger than the size of the upper end face of the box, the calculation process of the angle offset is additionally performed in the calculation process.

Here is a description of the meaning of the above angle offset calculation. As shown in Figure 13a, when the suction cup is larger than the size of the carton, the angle offset is required (the right legend in Figure 13a); on the contrary, as shown in Figure 13b , when the size of the carton is larger than the suction cup, the suction cup is shifted to the top of the carton for suction.

As a specific implementation, in the scenario where the stacking type is not full, the relative positional relationship between the depalletizing station where the target palletizing object is located and the depalletizing execution device will also affect the generation of the depalletizing control configuration. , in the process of generating the blind dismantling and depalletizing control configuration for the target palletizing forming object, it also includes:

Judging the relative positional relationship between the destacking execution device and the destacking station, and determining whether to additionally perform a reverse destacking calculation process in the calculation process based on the judgment result.

Here is a description of the relevant contents of the above-mentioned reverse depalletization. As shown in the left and right legends in Figure 14, the figure shows an example stacking type of the left and right workstations that are not full when stacking. The same box type is also the same as 4 boxes, the palletizing effect is inconsistent, and it is in a mirror image; the above situations need to be screened when depalletizing, and the depalletizing sequence is still the same as the palletizing. When the position is on the left side, the No. 4 box is removed first. The normal offset of the No. 4 box is the same as that in the figure on the right side of the figure. If you want to remove the No. 4 box in the left legend, you need to calculate the offset of the Y axis; Taking the box type in Figure 14 as an example, the number of horizontal box rows = 3, the remainder of a single row = 1 (the total number of single layers is 4 and the number of rows is 3), the Y-axis position of the carton calculated by the coordinates = the width of the carton × (the number of carton rows 3 -Single column remainder 1) + leave blank, and its coordinates are consistent with the position of the No. 6 carton in the legend on the right.

Continuing to return to the method introduction, in this embodiment, after step S230, step S240 is performed, and the blind destacking and destacking control configuration is sent to the destacking execution device, so that the destacking execution device can correct the target placed in the destacking station. Palletizing the formed objects for depalletizing;

Specifically, in step S240, the process in which the destacking execution device destacks the target stacking forming object placed at the destacking station includes:

According to the position information of the stacking reference point contained in the blind destacking and destacking control configuration (as shown in Figure 2, the reference point for directional retention and the reference point for non-directional retention), the destacking and grasping reference point of the destacking station is corrected;

Based on the corrected depalletizing and grasping reference point, the complete action sequence in the blind depalletizing and depalletizing control configuration is processed to realize blind depalletizing. The specific execution process of depalletizing here is similar to that of the existing depalletizing equipment. , this application will not describe in detail here.

In the technical solution of this embodiment of the present application, the palletized product is transported to the depalletizing station of the depalletizing manipulator, and the upper computer extracts the accurate box model and accurate storage information (palletizing data) from the database and sends it out To the control system (PLC), the control system matches the corresponding box type ID in the box type table, extracts the box type parameters, and performs the reverse operation on the parameters according to the palletizing rules, thereby calculating the precise coordinates to complete the depalletizing. The depalletizing rules are consistent with the stacking rules, and the reverse operation is performed on the palletized goods that are completely consistent with the stacking, and finally blind depalletization is realized.

In one embodiment, the present application also provides a blind dismantling and depalletizing system, the system comprising:

a depalletizing controller configured to implement the steps of the above method;

A depalletizing execution device, which is used for receiving and executing the blind depalletizing and depalletizing control configuration, so as to realize depalletizing of the target stacking forming object placed at the depalletizing station.

The specific implementation manner of the method implemented by the depalletizing controller in the above-mentioned embodiments has been described in detail in the embodiments of the method, and will not be described in detail here.

The above is only a preferred embodiment of the present invention, but the protection scope of the present invention is not limited to this. Any person familiar with the technology can easily think of changes or substitutions within the technical scope disclosed by the present invention. , all should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims (9)

1. A blind unstacking method comprising:

acquiring stacking parameter data of a target stacking forming object;

according to box type identification information in the stacking parameter data, box type size parameter data of a target stacking forming object are inquired and obtained from a preset box type table;

based on the box-type size parameter data, performing reverse operation according to stacking rule information contained in the stacking parameter data to generate blind unstacking control configuration for the target stacking forming object;

and sending the blind unstacking control configuration to an unstacking execution device so that the unstacking execution device unstacks the target stacking forming objects placed at the unstacking station.

2. The method of claim 1, wherein generating the blind unstacking control configuration for the target palletized forming object comprises:

analyzing and calculating the space coordinate information of each box in the target stacking forming object based on the stacking rule information and the box type size parameter data;

calculating according to the space coordinate information and the stacking rule information to obtain a complete action sequence required by unstacking;

generating the blind unstacking control configuration based on the complete action sequence.

3. The method of claim 2, wherein in the generating a blind unstacking control configuration for the target palletized forming object, further comprising:

judging whether the size of a sucker of the unstacking execution device is larger than the size of the upper end face of the box or not based on the box type size parameter data;

when the size of the suction cup of the unstacking execution device is larger than the size of the upper end face of the box, the calculation processing is additionally carried out with the angle deviation calculation processing.

4. The method of claim 2, wherein in the generating a blind unstacking control configuration for the target palletized forming object, further comprising:

and judging the relative position relation between the unstacking execution device and the unstacking station, and determining whether reverse unstacking calculation processing is additionally carried out in the calculation processing or not based on a judgment result.

5. A method according to claim 1, wherein the unstacking actuation means, during unstacking of the target palletized forming objects placed at an unstacking station, comprises:

correcting the unstacking and grabbing reference points of the unstacking station according to the stacking placement reference point position information contained in the blind unstacking control configuration;

and based on the corrected unstacking and grabbing reference points, executing and processing the complete action sequence in the blind unstacking control configuration to realize blind unstacking.

6. The method of claim 5, wherein the palletizing datum comprises a directional hold datum that coincides with the direction of the placement attitude, and a non-directional hold datum that is perpendicular to the direction of the placement attitude.

7. The blind unstacking method as claimed in claim 1, wherein the palletizing rule information includes palletizing type classification number information, vertical box column number information, vertical box row number information, horizontal box column number information, horizontal box row number information, total layer number information, and information on whether parity layers are consistent.

8. The blind unstacking method as recited in claim 1 wherein the palletizing rule information further includes carton pressing parameter information;

wherein the box pressing parameter information comprises: the information of whether the top layer of pressing boxes exists or not, the information of pressing box types, the information of pressing box column numbers, the information of pressing box row numbers and the information of pressing box deviation.

9. A blind destacking system comprising:

a destacking controller configured to implement the steps of the method of any of claims 1-8;

and the unstacking execution device is used for receiving and executing the blind unstacking control configuration and realizing the unstacking of the target stacking forming objects placed at the unstacking station.

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