WO2018120166A1 - 一种码垛的方法、装置及机器人 - Google Patents
一种码垛的方法、装置及机器人 Download PDFInfo
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- WO2018120166A1 WO2018120166A1 PCT/CN2016/113837 CN2016113837W WO2018120166A1 WO 2018120166 A1 WO2018120166 A1 WO 2018120166A1 CN 2016113837 W CN2016113837 W CN 2016113837W WO 2018120166 A1 WO2018120166 A1 WO 2018120166A1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N3/00—Computing arrangements based on biological models
- G06N3/004—Artificial life, i.e. computing arrangements simulating life
- G06N3/008—Artificial life, i.e. computing arrangements simulating life based on physical entities controlled by simulated intelligence so as to replicate intelligent life forms, e.g. based on robots replicating pets or humans in their appearance or behaviour
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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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N3/00—Computing arrangements based on biological models
Definitions
- the present invention relates to the field of intelligent machine technology, and in particular, to a method, device and robot for palletizing.
- the common disc pattern in the industry has a regular square shape and may have some irregular disc forms (as shown in Figures 1 and 2); wherein the disc mode is the stacking format of the disc, the mode determines How to place objects in the tray.
- the disc mode is the stacking format of the disc, the mode determines How to place objects in the tray.
- users may need to be able to adapt to the actual application scenarios of the disk, such as some 3D matrix points (code points) in the disk need to skip the situation ( Figure 3)), the industrial site needs some of the three-dimensional array points (code points) to skip to avoid specific obstacles (for example, a "back" type of disk pattern is shown in Figure 4). If the robot can achieve this in the process of palletizing, the palletizing function can be more flexible to meet the needs of more complex field applications.
- the object of the present invention is to provide a method, a device and a robot for palletizing, which can make the palletizing robot better adapt to the actual application scenario in the palletizing process.
- the present invention provides a method for palletizing, comprising:
- the monitoring step is: reading parameter information of the current code point, determining, according to the parameter information, whether the current code point is a code point that needs to execute a jump instruction, and if yes, performing corresponding to the current code point a jump instruction, and executing the code point corresponding to the jump instruction as a current code point, and returning to the execution monitoring step; if not, performing a code on the current code point Steps;
- the palletizing operation step is: acquiring location information of the current code defect, and performing a palletizing operation on the current code defect according to the location information.
- performing a corresponding jump instruction on the current code point, and using the code point corresponding to the jump instruction as a current code point including:
- the palletizing operation step is not performed on the current code point, and the next code point is taken as the current code point.
- performing a corresponding jump instruction on the current code point, and using the code point corresponding to the jump instruction as a current code point including:
- the palletizing operation step is not performed on the current code point, and the jump parameter information corresponding to the user jumps to the code point corresponding to the jump parameter information, and the code point is used as the current code point.
- performing a corresponding jump instruction on the current code point, and using the code point corresponding to the jump instruction as a current code point including:
- the parameter information of the current code point is read, including:
- the invention also provides a device for palletizing, comprising:
- a monitoring module configured to perform a monitoring step, read parameter information of a current code point, and determine, according to the parameter information, whether the current code point is a code point that needs to execute a jump instruction, and if yes, The current code point executes the corresponding jump instruction, and takes the code point corresponding to the jump instruction as the current code point, and returns to perform the monitoring step again; if not, executes the current code point Palletizing operation steps;
- the palletizing operation module is configured to perform a palletizing operation step, acquire location information of the current code defect point, and perform a palletizing operation on the current code defect point according to the location information.
- the monitoring module includes:
- the first jump instruction execution unit is configured to perform the palletizing operation step on the current code point and use the next code point as the current code point.
- the monitoring module includes:
- a second jump instruction execution unit configured to perform a palletizing operation step on the current code point, and jump to a code point corresponding to the jump parameter information according to the jump parameter information specified by the user, and the code is The defect is the current code point.
- the monitoring module includes:
- a third jump instruction execution unit configured to perform a palletizing operation step on the current code point, and jump to a code point corresponding to the jump parameter information according to the jump parameter information specified by the user, and The code point is used as the current code point.
- the monitoring module includes:
- a reading unit configured to read a three-dimensional lattice point value of the current code point; wherein the three-dimensional array value is a three-dimensional value of the row and column layer of the current code point.
- the invention also provides a robot comprising:
- a communication component configured to obtain parameter information of a current code point
- a processor configured to perform a monitoring step and a palletizing operation step; wherein, the monitoring step: reading parameter information of the current code point, and determining, according to the parameter information, whether the current code point is a code that needs to execute a jump instruction ⁇ , if yes, executing a corresponding jump instruction on the current code point, and executing the code point corresponding to the jump instruction as the current code point, and returning to perform the monitoring step again; If yes, the code ⁇ operation step is performed on the current code point; the code ⁇ operation step: acquiring location information of the current code point, and performing a code operation on the current code point according to the location information.
- the processor is configured to perform the palletizing operation step on the current code point, and use the next code point as the current code point.
- the processor is configured to perform a palletizing operation step on the current code point, and jump to a code point corresponding to the jump parameter information according to the user-specified jump parameter information, and the code is ⁇ The point is the current code point.
- the processor is configured to perform a palletizing operation step on the current code point, and jump to a code point corresponding to the jump parameter information according to the jump parameter information specified by the user, and the code is The defect is the current code point.
- the processor is configured to read a three-dimensional array point value of the current code point; wherein The three-dimensional lattice point value is a three-dimensional numerical value of the row and column layer of the current code point.
- a method for palletizing comprises: monitoring step: reading parameter information of a current code point, and determining, according to the parameter information, whether the current code point is a code point that needs to execute a jump instruction, and if so, Then, the corresponding jump instruction is executed on the current code point, and the code point corresponding to the execution of the jump instruction is taken as the current code point, and the monitoring step is performed again; if not, the code is executed on the current code point.
- operation steps palletizing operation steps: obtaining the location information of the current code defect point, and performing a palletizing operation on the current code defect point according to the location information;
- the method can skip the specified code point in the disk by using the jump instruction according to the parameter information of the code point, and does not need to cause all the code points in the disk to perform the palletizing operation, so that the device of the chip is like a robot.
- the palletizing process flexibly avoids the obstacle point, so that it can better adapt to the requirements of the actual application scenario; the present invention also provides a palletizing device and a robot, which have the above-mentioned beneficial effects, and are not described herein again.
- FIG. 1 is a schematic diagram of a rule disk mode according to an embodiment of the present invention.
- FIG. 2 is a schematic diagram of an irregular disk mode according to an embodiment of the present invention.
- FIG. 3 is a schematic diagram of a complex disk mode according to an embodiment of the present invention.
- FIG. 4 is a schematic diagram of another complicated tray mode according to an embodiment of the present invention.
- FIG. 5 is a schematic flowchart diagram of a method for code stacking according to an embodiment of the present invention.
- FIG. 6 is a schematic structural diagram of an apparatus for palletizing according to an embodiment of the present invention.
- FIG. 7 is a schematic structural diagram of a robot according to an embodiment of the present invention.
- the core of the invention is to provide a method, a device and a robot for palletizing, which can make a palletizer In the palletizing process, the device can better adapt to the actual application scenario.
- the manufacturer of the robot palletizing function is generally implemented by the user adding a palletizing instruction to the robot executing program as follows:
- the number of pallet_total_num is equal to the number of rows R of the disk, the number of layers L, and the number of columns C multiplied by).
- each robot manufacturer's palletizing instructions The specific format of each robot manufacturer's palletizing instructions is different, but the functions are similar.
- the palletizing algorithm will be based on the basic parameters of the code set by the user, such as the number of rows, the number of layers, the number of columns, and the order of the codes R ⁇ L ⁇ C, that is, from each row to Each layer finally completes the arrangement mode of the column, teaches the coordinates of the position of the code point, etc., calculates the position coordinate information of the current three-dimensional array point, that is, the code point, and then executes the motion instruction (puts the object code to the specified position), the code The counter is incremented (the number of pallets is counted, and it is judged whether the pallet is finished after the update, and then the next pallet is used in the pallet preparation command for the next round).
- FIG. 5 is a flowchart of a method for palletizing according to an embodiment of the present invention; the method may include:
- S100 Read parameter information of a current code point, and determine, according to the parameter information, whether the current code point is a code point that needs to execute a jump instruction;
- the corresponding code point after the execution of the jump instruction is taken as the current code point and returned to the execution S100, and the corresponding code point after the execution of the jump instruction is regarded as a new current code point; that is, S100 at this time
- the parameter information read is the parameter information of the corresponding code point after the execution of the jump instruction.
- the monitoring step is: reading parameter information of the current code point, determining, according to the parameter information, whether the current code point is a code point that needs to execute a jump instruction, and if yes, performing corresponding to the current code point a jump instruction, and executing the code point corresponding to the jump instruction as a current code point, and returning to perform the monitoring step again; if not, performing a palletizing operation step on the current code point;
- the palletizing operation step is: acquiring location information of the current code defect, and performing a palletizing operation on the current code defect according to the location information.
- the idea of the palletizing method in this embodiment is to skip the user-specified code point (ie, the user-specified code point that needs to be skipped) in the process of the robot palletizing, and does not perform the palletizing operation.
- the specific skip mode is not specifically limited herein.
- the first type of skipping can also refer to the second method (more suitable for continuous The process of skipping the process of the code point, that is, judging the code point that needs to be skipped, and then directly jumps to the code point of the next code.
- the specific operation content of the jump instruction in this embodiment is set according to the manner that the user actually selects the code point that skips the unnecessary code. That is, according to the parameter information, it is determined whether the current code point is a code point that needs to execute a jump instruction, and the mark of the current code point is determined by the parameter information of the code point to determine whether the current code point needs to be executed.
- the code point of the instruction (that is, whether it is selected as the code point that needs to execute the jump instruction, where the specific execution content of the jump instruction is related to the skip strategy defined by the user, that is, the code point currently required to execute the jump instruction Whether or not the palletizing operation itself needs to be performed is also related to the manner of selection. It is also related to the way of skipping the code point in the actual use process.
- the current code point that is calibrated in the first mode that is, the code point that needs to execute the jump instruction is the 5th point and is currently The code point that needs to execute the jump instruction is that the fifth point does not perform the code operation. If the current code point that is calibrated in the second mode is selected, the code point that needs to execute the jump instruction is the fourth point and The code point that currently needs to execute the jump instruction is the fourth point to perform the palletizing operation.
- the parameter information herein may be any form of information that can represent the location of the code point, that is, the device (for example, a robot) that can be coded according to the rules set by the actual manufacturer can uniquely correspond to the corresponding code point according to the parameter information.
- the form of specific parameter information is not limited here.
- the parameter information may be obtained by determining, by the user, the parameter information that is input after determining the code point to be skipped and the jump instruction rule according to the actual usage.
- the device may open the parameter information variable to the user in the code function, and when the user wants to skip some code points, the parameter information variable may be directly operated, that is, the code point that needs to execute the jump instruction is input. Parameter information.
- the specific form of the parameter information may be a three-dimensional array point or a number of code units.
- the three-dimensional coordinate information of the macro-matrix defect point that is, the three-dimensional lattice point (that is, the row-column layer information such as (2, 3, 2), that is, the code point corresponding to the second layer of the second row and the third column) may also be based on the code ⁇
- the device (for example, robot) code sequence that is, the number of codes i parameter information determines the code point position (for example, the robot needs code 100 points, if i is 50, it indicates the code point of the 50th point).
- the input form of the information is to meet the needs of various users.
- the three-dimensional lattice points of the code points in the disk are determined (for example: the three-dimensional lattice points of the first layer are represented by a matrix as follows, from [1,1,1] to [numR,numC,numL], R*C*L three-dimensional lattice points If some points are skipped, the total number of code points is ⁇ R*C*L.
- the monitoring step and the code execution step in this embodiment are performed during the palletizing process of a disk.
- the manner of judging whether or not the palletizing process of the disc is finished can be performed by counting the coded points that have already been coded, and determining whether or not the completion is based on the count value.
- the count value here is determined by subtracting the number of skipped code points from the total number of code points of the disk, that is, the code point of the disk actually needs to be determined.
- monitoring step and the palletizing step of the embodiment can be implemented by adding the above instructions to the existing counter instruction. This can reduce the hardware changes to the palletizing device, and is safe and reliable.
- the method for code stacking according to the embodiment of the present invention can skip the specified code point in the disk by using the jump instruction according to the parameter information of the code point, and does not need to make the code in the disk
- the point performs all the palletizing operations, so that the palletizing device such as the robot's palletizing process flexibly avoids the obstacle point, and thus can better adapt to the needs of the actual application scenario.
- the minimum operation object is the space occupied by one code point.
- the parameter information is judged by one code point to realize the refined skip operation. That is, based on the foregoing embodiment, optionally, performing a corresponding jump instruction on the current code point, and using the corresponding code point as the current code point after the execution of the jump instruction is completed may include:
- the palletizing operation step is not performed on the current code point, and the next code point is taken as the current code point.
- the device that controls the code such as the robot does not perform the palletizing operation on the position of the current code point (here, in order to save the coded device)
- the calculation amount generally does not need to calculate the coordinates of the corresponding code point position after determining the code point, and continues to judge the next code point. It can be understood as a judgment of one by one.
- the parameter information of each code point needs to be compared with the specified parameter information to determine whether it is a code point that needs to execute a jump instruction (skip operation), and if so, the corresponding skip operation is performed, that is, the code operation is not performed. .
- the transfer operation may be performed once.
- the multiple consecutive code points are skipped to improve the efficiency of the code. That is, the strategy of the specific jump process is not limited in this embodiment, as long as multiple code points can be skipped at a time.
- performing a corresponding jump instruction on the current code point, and using the corresponding code point as the current code point after the execution of the jump instruction is completed may include:
- the code point jumped to in the above two processes may be the last one of consecutively skipped code points, or may be the first code that does not need to jump immediately after the consecutively skipped code points. point.
- the difference between the above two processes is which code point is used as the starting point before the jump is executed.
- the first type starts with the code point that is skipped by the first one and starts to be the current need to execute the jump instruction.
- the second is the code point that does not need to be skipped before the last code skipped by the first one to start as the code point that needs to execute the jump instruction.
- the second example is that if you need to perform the palletizing operation at [2, 3, 2], the three-dimensional matrix point jumps directly to [5, 5, 5], then the user can pass the following in the palletizing program.
- the code point after the jump is determined by the form of the assignment.
- This jump method can be improved Pallet efficiency.
- the specific jump instructions in the above embodiments can be used in any combination in the same palletizing process to meet various needs of the user, and can be more flexible and convenient to control the format of the disk, thereby realizing and satisfying more complicated scenes. Application requirements.
- reading the parameter information of the current code point may include:
- a modification judgment for the counter value is added, and not only the +1 operation is performed, by which the user modifies the information of the $array.x, $array.y, $array.z row and column layers.
- the algorithm will update the value of the corresponding pallet counter by the modified row and column layer information, so that the user can create the disc form in the palletizing process according to the user's requirements, and meet the customization requirements of the user.
- the method for code stacking according to the embodiment of the present invention can skip the specified code point in the disk by using the jump instruction according to the parameter information of the code point, and does not need to make the code in the disk
- the point performs all the palletizing operations, so that the palletizing device such as the robot's palletizing process flexibly avoids the obstacle point, and thus can better adapt to the needs of the actual application scenario.
- the method introduces a three-dimensional array point [$arry.x, $array.y, $array.z] system variable, the user can Under certain conditions, by modifying the system variable representing the row and column layer information to change the pallet counter value according to the user's requirements, the disc form that satisfies the user's demand can be realized, and finally meet the requirements of more complex field applications.
- the apparatus and the robot for the pallet provided by the embodiment of the present invention are described below.
- the apparatus and the robot of the pallet described below and the method of the pallet described above can be referred to each other.
- FIG. 6 is a structural block diagram of an apparatus for performing palletization according to an embodiment of the present invention.
- the apparatus may include:
- the monitoring module 100 is configured to perform a monitoring step, read parameter information of a current code point, and determine, according to the parameter information, whether the current code point is a code point that needs to execute a jump instruction, and if yes, The current code point executes the corresponding jump instruction, and takes the code point corresponding to the jump instruction as the current code point, and returns to perform the monitoring step again; if not, the trigger code operation module pairs The current code point performs a palletizing operation step;
- the palletizing operation module 200 is configured to perform a palletizing operation step, acquire location information of the current code defect point, and perform a palletizing operation on the current code defect point according to the location information.
- the monitoring module 100 may include:
- the first jump instruction execution unit is configured to perform the palletizing operation step on the current code point and use the next code point as the current code point.
- the monitoring module 100 can include:
- a second jump instruction execution unit configured to perform a palletizing operation step on the current code point, and jump to a code point corresponding to the jump parameter information according to the jump parameter information specified by the user, and the code is The defect is the current code point.
- the monitoring module 100 can include:
- a third jump instruction execution unit configured to perform a palletizing operation step on the current code point, and jump to a code point corresponding to the jump parameter information according to the jump parameter information specified by the user, and The code point is used as the current code point.
- the monitoring module 100 can include:
- a reading unit configured to read a three-dimensional lattice point value of the current code point; wherein the three-dimensional array value is a three-dimensional value of the row and column layer of the current code point.
- the device of the code file according to the embodiment of the present invention can use the jump instruction to skip the specified code point in the disk according to the parameter information of the code point, and does not need to make the code in the disk
- the point performs all the palletizing operations, so that the palletizing device such as the robot's palletizing process flexibly avoids the obstacle point, and thus can better adapt to the needs of the actual application scenario.
- the user can modify or manipulate the [$arry.x, $array.y, $array.z] system variable, thereby controlling the points in the three-dimensional matrix of the code to perform the operations required by the user when a certain condition is met, and further Achieve complex and unique tray forms.
- FIG. 7 is a schematic structural diagram of a robot according to an embodiment of the present invention.
- the robot may include:
- the communication component 10 is configured to obtain parameter information of a current code point
- the processor 20 is configured to perform a monitoring step and a palletizing operation step.
- the monitoring step is: reading parameter information of a current code point, and determining, according to the parameter information, whether the current code point is a need to execute a jump instruction. a code point, if yes, executing a corresponding jump instruction on the current code point, and executing the code point corresponding to the jump instruction as a current code point, and returning to perform the monitoring step again; If not, performing a code ⁇ operation step on the current code point; and performing a code ⁇ operation step: acquiring location information of the current code point, and performing a code operation on the current code point according to the location information.
- the processor 20 is configured to perform no code operation step on the current code point, and use the next code point as the current code point.
- the processor 20 is configured to perform a palletizing operation step on the current code point, and jump to a code point corresponding to the jump parameter information according to the jump parameter information specified by the user, and This code point is used as the current code point.
- the processor 20 is configured to perform a palletizing operation step on the current code point, and jump to a code point corresponding to the jump parameter information according to the jump parameter information specified by the user, and Use this code point as the current code point.
- the processor 20 is configured to read a three-dimensional array point value of the current code point; wherein the three-dimensional array point value is a three-dimensional value of the row and column layer of the current code point.
- the steps of a method or algorithm described in connection with the embodiments disclosed herein can be implemented directly in hardware, a software module executed by a processor, or a combination of both.
- the software module can be placed in random access memory (RAM), memory, read only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or technical field. Any other form of storage medium known.
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Abstract
一种码垛的方法、装置及机器人，码垛的方法包括：监测步骤：读取当前码垛点的参数信息，根据参数信息判断当前码垛点是否为需要执行跳转指令的码垛点（S100），如果是，则对当前码垛点执行对应的跳转指令，并将执行完跳转指令对应的码垛点作为当前码垛点（S110），并返回再次执行监测步骤（S100）；否则，对当前码垛点执行码垛操作步骤；码垛操作步骤：获取当前码垛点的位置信息，根据位置信息对当前码垛点执行码垛操作（S120）。该方法能够跳过垛盘中的指定码垛点，不需要使得垛盘中的码垛点全部执行码垛操作，使得码垛的装置的码垛过程能够更好的适应实际应用场景。
Description
本发明涉及智能机器技术领域，特别涉及一种码垛的方法、装置及机器人。
目前工业上的垛盘模式常见的有正四方体可能还有一些不规则的垛盘形式(如图1和图2所示)；其中，垛盘模式为垛盘的码放形式，该模式决定了垛盘中物体如何摆放。但是由于工业上实际应用场景复杂多变，因此用户会需要能够适应自身实际应用场景的垛盘形式，例如垛盘中的某一些三维阵点(码垛点)用户需要跳过的情形(如图3所示)，工业现场需要三维阵点(码垛点)的某一些为了避开特定的障碍物而跳过(例如一个“回”字型的垛盘模式如图4所示)。如果机器人在码垛的过程中可以实现这种需求，码垛功能就能更加灵活，从而满足更多复杂的现场应用的需求。但是目前市场上的机器人在码垛的过程中任何形式的垛盘中的三维阵点(码垛点)均没有缺失；即不会出现某一点被跳过的情形。用户不能更改码垛点的数量。因此，如何实现使码垛的过程能够适应自身实际应用场景，是本领域技术人员需要解决的技术问题。
发明内容
本发明的目的是提供一种码垛的方法、装置及机器人，能够使码垛机器人在码垛过程能够更好的适应实际应用场景。
为解决上述技术问题，本发明提供一种码垛的方法，包括：
监测步骤：读取当前码垛点的参数信息，根据所述参数信息判断所述当前码垛点是否为需要执行跳转指令的码垛点，如果是，则对所述当前码垛点执行对应的跳转指令，并将执行完所述跳转指令对应的码垛点作为当前码垛点，并返回执行监测步骤；如果否，则对所述当前码垛点执行码垛
操作步骤；
码垛操作步骤：获取所述当前码垛点的位置信息，根据所述位置信息对所述当前码垛点执行码垛操作。
可选的，对所述当前码垛点执行对应的跳转指令，并将执行完所述跳转指令对应的码垛点作为当前码垛点，包括：
对所述当前码垛点不执行码垛操作步骤，并将下一码垛点作为当前码垛点。
可选的，对所述当前码垛点执行对应的跳转指令，并将执行完所述跳转指令对应的码垛点作为当前码垛点，包括：
对所述当前码垛点不执行码垛操作步骤，根据用户指定的跳转参数信息跳转到所述跳转参数信息对应的码垛点，并将该码垛点作为当前码垛点。
可选的，对所述当前码垛点执行对应的跳转指令，并将执行完所述跳转指令对应的码垛点作为当前码垛点，包括：
对所述当前码垛点执行码垛操作步骤，根据用户指定的跳转参数信息跳转到所述跳转参数信息对应的码垛点，并将该码垛点作为当前码垛点。
可选的，读取当前码垛点的参数信息，包括：
读取所述当前码垛点的三维阵点值；其中，所述三维阵点值为所述当前码垛点的行列层三维数值。
本发明还提供一种码垛的装置，包括：
监测模块，用于执行监测步骤，读取当前码垛点的参数信息，根据所述参数信息判断所述当前码垛点是否为需要执行跳转指令的码垛点，如果是，则对所述当前码垛点执行对应的跳转指令，并将执行完所述跳转指令对应的码垛点作为当前码垛点，并返回再次执行监测步骤；如果否，则对所述当前码垛点执行码垛操作步骤；
码垛操作模块，用于执行码垛操作步骤，获取所述当前码垛点的位置信息，根据所述位置信息对所述当前码垛点执行码垛操作。
可选的，所述监测模块包括：
第一跳转指令执行单元，用于对所述当前码垛点不执行码垛操作步骤，并将下一码垛点作为当前码垛点。
可选的，所述监测模块包括：
第二跳转指令执行单元，用于对所述当前码垛点执行码垛操作步骤，根据用户指定的跳转参数信息跳转到所述跳转参数信息对应的码垛点，并将该码垛点作为当前码垛点。
可选的，所述监测模块包括：
第三跳转指令执行单元，用于对所述当前码垛点不执行码垛操作步骤，根据用户指定的跳转参数信息跳转到所述跳转参数信息对应的码垛点，并将该码垛点作为当前码垛点。
可选的，所述监测模块包括：
读取单元，用于读取所述当前码垛点的三维阵点值；其中，所述三维阵点值为所述当前码垛点的行列层三维数值。
本发明还提供一种机器人，包括：
通讯组件，用于获取当前码垛点的参数信息；
处理器，用于执行监测步骤和码垛操作步骤；其中，监测步骤：读取当前码垛点的参数信息，根据所述参数信息判断所述当前码垛点是否为需要执行跳转指令的码垛点，如果是，则对所述当前码垛点执行对应的跳转指令，并将执行完所述跳转指令对应的码垛点作为当前码垛点，并返回再次执行监测步骤；若果否，则对所述当前码垛点执行码垛操作步骤；码垛操作步骤：获取所述当前码垛点的位置信息，根据所述位置信息对所述当前码垛点执行码垛操作。
可选的，所述处理器用于对所述当前码垛点不执行码垛操作步骤，并将下一码垛点作为当前码垛点。
可选的，所述处理器用于对所述当前码垛点执行码垛操作步骤，根据用户指定的跳转参数信息跳转到所述跳转参数信息对应的码垛点，并将该码垛点作为当前码垛点。
可选的，所述处理器用于对所述当前码垛点不执行码垛操作步骤，根据用户指定的跳转参数信息跳转到所述跳转参数信息对应的码垛点，并将该码垛点作为当前码垛点。
可选的，所述处理器用于读取所述当前码垛点的三维阵点值；其中，
所述三维阵点值为所述当前码垛点的行列层三维数值。
本发明所提供的一种码垛的方法，包括：监测步骤：读取当前码垛点的参数信息，根据参数信息判断当前码垛点是否为需要执行跳转指令的码垛点，如果是，则对当前码垛点执行对应的跳转指令，并将执行完跳转指令对应的码垛点作为当前码垛点，并返回再次执行监测步骤；若果否，则对当前码垛点执行码垛操作步骤；码垛操作步骤：获取当前码垛点的位置信息，根据位置信息对当前码垛点执行码垛操作；
可见，该方法根据码垛点的参数信息利用跳转指令能够跳过垛盘中的指定码垛点，不需要使得垛盘中的码垛点全部执行码垛操作，使得码垛的装置如机器人的码垛过程灵活的避开障碍点，因此能够更好的适应实际应用场景的需求；本发明还提供了一种码垛的装置及机器人，具有上述有益效果，在此不再赘述。
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据提供的附图获得其他的附图。
图1为本发明实施例所提供的规则垛盘模式示意图；
图2为本发明实施例所提供的不规则垛盘模式示意图；
图3为本发明实施例所提供的一种复杂垛盘模式示意图；
图4为本发明实施例所提供的另一种复杂垛盘模式示意图；
图5为本发明实施例所提供的码垛的方法的流程示意图；
图6为本发明实施例所提供的码垛的装置的结构示意图；
图7为本发明实施例所提供的机器人的结构示意图。
本发明的核心是提供一种码垛的方法、装置及机器人，能够使码垛机
器人在码垛过程能够更好的适应实际应用场景。
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
现有技术中机器人码垛功能的厂家，一般实现方式是，用户在机器人执行程序中添加码垛指令，如下所示：
码垛准备：PALLET_START
运动指令：LIN Pallet_Point
码垛计数器增加：PALLET_COUNTER
用户在使用时添加循环指令，让码垛过程不停循环，并在码垛计数器增加指令中判断循环是否结束即判断码垛点是否全部执行码垛操作(即i是否大于等于pallet_total_num，pallet_total_num＝R*C*L，其中，i表示当前码垛点为第i个码垛点，也即执行码垛操作次数为i，判断执行码垛操作次数i是否大于总码垛数pallet_total_num，其中，总码垛数pallet_total_num等于垛盘的行数R，层数L，列数C相乘得到的数值)。各个机器人厂家码垛指令的具体格式不同，但是功能类似。简要说明下，在码垛准备指令中，码垛算法会根据用户设置的码垛基本参数，比如，行数，层数，列数，码垛顺序R→L→C，即按照从每一行到每一层最后完成列的排列模式，示教的码垛点位置坐标信息等，计算出当前三维阵点即码垛点的位置坐标信息，然后执行运动指令(将物体码放到指定位置)，码垛计数器增加(码垛点个数，更新后判断码垛是否结束，然后下次循环时，在码垛准备指令中计算下一个码垛点使用)。从上述说明中可以看出，码垛计数器每次加一，从而逐个将码垛点位置坐标信息计算出来，机器人通过执行运动指令完成码垛过程。正是因为计数器值是每次加1，所以三维码垛点是不可能缺失的，就不可能实现跳过某些点。这样对于某些需要跳过某些点避障，或者像“回”字型的垛盘模式就无法实现。用户也不能灵活方便的创造出自己独特的垛盘形式，也不能实现满足工业现场一些特定的码垛需求。本实施例可以解决这
一问题。请参考图5，图5为本发明实施例所提供的码垛的方法的流程图；该方法可以包括：
S100、读取当前码垛点的参数信息，根据所述参数信息判断所述当前码垛点是否为需要执行跳转指令的码垛点；
S110、如果是，则对所述当前码垛点执行对应的跳转指令，并将执行完所述跳转指令对应的码垛点作为当前码垛点，并返回执行S100；
其中，这里将执行完跳转指令后对应的码垛点作为当前码垛点并返回执行S100，将执行完跳转指令后对应的码垛点作为一个新的当前码垛点；即此时S100读取的参数信息为执行完跳转指令后对应的码垛点的参数信息。
S120、如果否，则对所述当前码垛点执行码垛操作步骤；其中，码垛操作步骤：获取当前码垛点的位置信息，根据位置信息对当前码垛点执行码垛操作。
具体的，上述过程可以归为两个大的步骤即：
监测步骤：读取当前码垛点的参数信息，根据所述参数信息判断所述当前码垛点是否为需要执行跳转指令的码垛点，如果是，则对所述当前码垛点执行对应的跳转指令，并将执行完所述跳转指令对应的码垛点作为当前码垛点，并返回再次执行监测步骤；若果否，则对所述当前码垛点执行码垛操作步骤；
码垛操作步骤：获取所述当前码垛点的位置信息，根据所述位置信息对所述当前码垛点执行码垛操作。
具体的，本实施例中码垛方法的思路是在机器人码垛的过程中将用户指定的码垛点(即用户指定的需要跳过的码垛点)跳过，也不执行码垛操作。具体的跳过方式在此不做具体限定。
该实施例中可以提供两种具体的跳过形式；第一种判断出需要跳过的码垛点后，直接对需要跳过的码垛点跳过不执行码垛操作。第二种是判断出下一个码垛点是需要跳过的码垛点时执行完该码垛点直接跳转到下一个需要码垛的码垛点，即跳过两个需要码垛的码垛点之间的不需要码垛的码垛点。进一步第一种跳过形式也还可以借鉴第二种方式(比较适用于连续
跳过码垛点的过程)的转移过程，即判断出需要跳过的码垛点后直接跳转到下一需要码垛的码垛点。
因此，本实施例中的跳转指令的具体操作内容是根据用户实际选择的跳过不需要码垛的码垛点的方式进行设定的。即根据参数信息判断当前码垛点是否为需要执行跳转指令的码垛点，这里的对当前码垛点的标记即通过码垛点的参数信息进行确定当前码垛点是否为需要执行跳转指令的码垛点(即是否选定其为需要执行跳转指令的码垛点，这里跳转指令的具体执行内容根据用户制定的跳过策略有关，即当前需要执行跳转指令的码垛点本身是否还需要执行码垛操作也与选择的方式有关)也是根据实际使用过程中选择跳过码垛点的方式有关。
例如若第5个点是需要跳过不执行码垛操作的码垛点，则第一种方式下标定的当前码垛点即需要执行跳转指令的码垛点即为第5个点且当前需要执行跳转指令的码垛点即第5个点不执行码垛操作，若选第二种方式下标定的当前码垛点即需要执行跳转指令的码垛点即为第4个点且当前需要执行跳转指令的码垛点即第4个点执行码垛操作。
进一步，这里的参数信息可以是任何形式的可以表征该码垛点位置的信息，即根据实际厂家设定的规则使码垛的装置(例如机器人)根据参数信息可以唯一对应相应的码垛点即可，这里并不对具体参数信息的形式进行限定。
参数信息的获取可以是用户根据实际使用情况在确定需要跳过的码垛点及跳转指令规则后输入的参数信息进行确定。具体的，装置可以在码垛功能中开放参数信息变量给用户，当用户想要跳过某些码垛点时，可以直接对参数信息变量进行操作即输入需要执行跳转指令的码垛点的参数信息。
其中，参数信息的具体形式可以是三维阵点也可以是码垛个数等。例如宏观中码垛点的三维坐标信息即三维阵点(即行列层信息如(2,3,2)即第2行第3列第2层对应的码垛点)，也可以是根据码垛的装置(例如机器人)码垛顺序即码垛个数i参数信息确定码垛点位置(例如机器人需要码100个点，若i为50则表示第50个点的码垛点)。也可以提供多种参数信
息的输入形式以便满足各种用户的需求。
例如在码垛功能中添加行，列，层[$arry.x,$array.y,$array.z]的变量给用户，用户如果想要跳过某些码垛点，则可以直接操作[$arry.x,$array.y,$array.z]将某些点跳过，而不是必须是个完整的三维垛盘(这里完整是指码垛点个数等于numR*numC*numL),这样用户可以灵活方便控制垛盘形式即垛盘上码垛点的个数，从而实现和满足更多复杂现场应用的需求。注意垛盘的三维阵点一一对应一个码垛点，码垛点位置不确定任意一点位置坐标为[pos.x,pos.y,pos.z,pos.a,pos.b,pos.c]，但是垛盘中码垛点的三维阵点是确定的(比如：第一次层的三维阵点用矩阵表示如下，从[1,1,1]到[numR,numC,numL]，共R*C*L个三维阵点如果某些点被跳过，则总的码垛点个数＜R*C*L。
具体的，该实施例中监测步骤和码垛执行步骤是在一个垛盘的码垛过程中进行的。这里判断垛盘的码垛过程是否结束的方式可以通过对已经码过的码垛点进行计数，根据计数值判定是否完成。这里的计数值根据垛盘总的码垛点个数减去跳过的码垛点个数确定，即垛盘实际需要码垛的码垛点进行确定。
进一步该实施例的监测步骤和码垛执行步骤可以通过对现有的计数器指令增加上述指令实现。这样可以减少对码垛的装置的硬件的改动，安全可靠。
基于上述技术方案，本发明实施例提的码垛的方法，该方法根据码垛点的参数信息利用跳转指令能够跳过垛盘中的指定码垛点，不需要使得垛盘中的码垛点全部执行码垛操作，使得码垛的装置如机器人的码垛过程灵活的避开障碍点，因此能够更好的适应实际应用场景的需求。
进一步，为了更加精确的执行跳过码垛点的操作，以适应任何小的实际应用场景的变化，即最小操作对象是一个码垛点所占空间大小。这里可
以一个一个码垛点进行参数信息判断，实现精细化跳过操作。即基于上述实施例，可选的，对所述当前码垛点执行对应的跳转指令，并将所述跳转指令执行完成后对应的码垛点作为当前码垛点可以包括：
对所述当前码垛点不执行码垛操作步骤，并将下一码垛点作为当前码垛点。
具体的，该步骤当根据当前参数信息判断出当前码垛点需要跳过时，则控制码垛的装置如机器人对当前码垛点的位置处不执行码垛操作(这里为了节约码垛的装置的计算量一般不需要在判断出该码垛点后还计算其对应的码垛点位置坐标)，进行继续对下一个码垛点进行判断。可以理解为一一码垛点进行判断。
下面以三维阵点值作为参数信息进行举例说明上述跳转指令执行过程：
用户可以通过操作[$arry.x,$array.y,$array.z]，便能实现复杂，独特的垛盘形式，从而实现和满足更多复杂现场应用的需求。如果要跳过某些特定点，应用情形的实现过程如下：
码垛准备： PALLET_START
if(判断条件)
{//不执行运动指令，可以跳过该码垛点}
else{
运动指令： LIN Pallet_Point
}
码垛计数器增加：PALLET_COUNTER
比如，如果现场由于避障或者其他原因，必需跳过某个码垛点，则可以通过如下形式实现:假设垛盘大小为numR＝4,numC＝6，numL＝4,需要跳过的点是[2,3,2]，则用户可以在码垛程序中通过如下形式实现：
码垛准备： PALLET_START
if($array.x＝＝2,$array.y＝＝3,$array.z＝＝2)
{//不执行运动指令，可以跳过该码垛点}
else{
运动指令： LIN Pallet_Point
}
码垛计数器增加：PALLET_COUNTER
比如：如果需要码垛实现一个“回”字型，假设其三维阵中第一层里*号表示需要跳过的点，
其他层也同样跳过对应的点，形成一个“回”字型，则用户可以在码垛程序中通过如下形式实现：
码垛准备： PALLET_START
if(($array.x＝＝2||$array.x＝＝3)&&($array.y＝＝3||$array.y＝＝4))
{//不执行运动指令，可以跳过该码垛点}
else{
运动指令： LIN Pallet_Point
}
码垛计数器增加：PALLET_COUNTER
则每个码垛点的参数信息都需要与指定参数信息进行比较，判断其是否为需要执行跳转指令(跳过操作)的码垛点，若是则执行对应跳过操作即不执行码垛操作。
进一步，由于故障物体大部分情况下都为比较大的可能会占据一部分码垛空间即占据数个连续的码垛点的空间，因此为了更加快速跳过指定码垛点这里可以通过转移操作一次可以跳过多个连续的码垛点，以提高码垛效率，即本实施例并不对具体的跳转过程的策略进行限定，只要可以实现一次跳过多个码垛点即可。基于上述任意实施例，可选的，对所述当前码垛点执行对应的跳转指令，并将所述跳转指令执行完成后对应的码垛点作为当前码垛点，可以包括：
对所述当前码垛点不执行码垛操作步骤，根据用户指定的跳转参数信
息跳转到所述跳转参数信息对应的码垛点，并将该码垛点作为当前码垛点。或，
对所述当前码垛点执行码垛操作步骤，根据用户指定的跳转参数信息跳转到所述跳转参数信息对应的码垛点，并将该码垛点作为当前码垛点。
上述两种过程中跳转到的码垛点可以是连续跳过的码垛点中的最后一个，也可以是连续跳过的码垛点后紧接着的第一个不需要跳转的码垛点。上述两个过程中的去别点在于执行跳转之前以哪一个码垛点作为起点，第一种是以连续的第一个开始跳过的码垛点开始将其作为当前需要执行跳转指令的码垛点；第二种是以连续的第一个开始跳过的码垛点之前的一个不需要跳过的码垛点开始将其作为当前需要执行跳转指令的码垛点。
下面以三维阵点值作为参数信息进行举例说明上述跳转指令执行过程：
如果需要码垛时，达到某个点时，必须跳到指定的点，则用户可以在码垛程序中通过如下形式实现：
码垛准备： PALLET_START
运动指令： LIN Pallet_Point
if(判断条件)
{修改[$array.x,$array.y,$array.z]系统变量}
码垛计数器增加：PALLET_COUNTER
比如，第二种为例如果需要在[2,3,2]点执行码垛操作之后，码垛三维阵点直接跳到[5,5,5]，则用户可以在码垛程序中通过如下形式实现：
码垛准备： PALLET_START
运动指令： LIN Pallet_Point
if($array.x＝＝2,$array.y＝＝3,$array.z＝＝2)//达到[2,3,2]点作为判断条件
{$arry.x＝5,$array.y＝5,$array.z＝5}//将[$array.x,$array.y,$array.z]赋特定值
码垛计数器增加：PALLET_COUNTER
具体的，通过赋值的形式确定跳转后的码垛点。该跳转方式可以提高
码垛效率。
其中，上述各个实施例中具体的跳转指令在同一个码垛的过程中可以任意结合使用，以满足用户的各种需求，可以更加灵活方便控制垛盘形式，从而实现和满足更多复杂现场应用的需求。
进一步，为了更加方便直观的对参数信息的指定，基于上述任意实施例，可选的，读取当前码垛点的参数信息可以包括：
读取所述当前码垛点的三维阵点值；其中，所述三维阵点值为所述当前码垛点的行列层三维数值。
具体的，在码垛功能中添加行，列，层[$arry.x,$array.y,$array.z]的系统变量给用户(注意这里不是提供计数器增加值i的系统变量给用户，因为i对用户不方便，也不直观，用户需要跟进码垛的装置的路径自己计算码垛个数i与三维阵点[array.x,array.y,array.z]之间的对应关系，用户还需要自己计算某个三维阵点对应的计数器变量i，然后再操作i，不直观比较麻烦,提供[$arry.x,$array.y,$array.z]的信息用户操作更加直观方便)用户如果想要跳过某些码垛点，则可以直接操作[$arry.x,$array.y,$array.z]将某些点跳过，而不是必须是个完整的三维垛盘(这里完整是指码垛点个数等于numR*numC*numL),这样用户可以灵活方便控制垛盘形式，从而实现和满足更多复杂现场应用的需求。
例如可以在在PALLET_COUNTER指令流程中，添加了对于计数器值的修改判断，不是仅仅执行+1操作，通过该判断用户如果修改了$array.x,$array.y,$array.z行列层的信息，则算法中会由修改后的行列层信息，更新其对应的码垛计数器的值，这样就可以按照用户需求在码垛过程中创造出用户需要的垛盘形式，满足用户的定制化需求。
基于上述技术方案，本发明实施例提的码垛的方法，该方法根据码垛点的参数信息利用跳转指令能够跳过垛盘中的指定码垛点，不需要使得垛盘中的码垛点全部执行码垛操作，使得码垛的装置如机器人的码垛过程灵活的避开障碍点，因此能够更好的适应实际应用场景的需求。进一步该方法引入了码垛三维阵点[$arry.x,$array.y,$array.z]系统变量，用户可以
在特定条件下，通过修改该表示行列层信息的系统变量来按照用户需求更改码垛计数器值，从而实现满足用户需求的垛盘形式，最终满足更多复杂现场应用的需求。
下面对本发明实施例提供的码垛的装置及机器人进行介绍，下文描述的码垛的装置及机器人与上文描述的码垛的方法可相互对应参照。
请参考图6，图6为本发明实施例所提供的码垛的装置的结构框图；该装置可以包括：
监测模块100，用于执行监测步骤，读取当前码垛点的参数信息，根据所述参数信息判断所述当前码垛点是否为需要执行跳转指令的码垛点，如果是，则对所述当前码垛点执行对应的跳转指令，并将执行完所述跳转指令对应的码垛点作为当前码垛点，并返回再次执行监测步骤；若果否，则触发码垛操作模块对所述当前码垛点执行码垛操作步骤；
码垛操作模块200，用于执行码垛操作步骤，获取所述当前码垛点的位置信息，根据所述位置信息对所述当前码垛点执行码垛操作。
基于上述实施例，所述监测模块100可以包括：
第一跳转指令执行单元，用于对所述当前码垛点不执行码垛操作步骤，并将下一码垛点作为当前码垛点。
基于上述任意实施例，所述监测模块100可以包括：
第二跳转指令执行单元，用于对所述当前码垛点执行码垛操作步骤，根据用户指定的跳转参数信息跳转到所述跳转参数信息对应的码垛点，并将该码垛点作为当前码垛点。
基于上述任意实施例，所述监测模块100可以包括：
第三跳转指令执行单元，用于对所述当前码垛点不执行码垛操作步骤，根据用户指定的跳转参数信息跳转到所述跳转参数信息对应的码垛点，并将该码垛点作为当前码垛点。
基于上述任意实施例，所述监测模块100可以包括：
读取单元，用于读取所述当前码垛点的三维阵点值；其中，所述三维阵点值为所述当前码垛点的行列层三维数值。
基于上述技术方案，本发明实施例提的码垛的装置，该装置根据码垛点的参数信息利用跳转指令能够跳过垛盘中的指定码垛点，不需要使得垛盘中的码垛点全部执行码垛操作，使得码垛的装置如机器人的码垛过程灵活的避开障碍点，因此能够更好的适应实际应用场景的需求。进一步用户可以修改或操作[$arry.x,$array.y,$array.z]系统变量，从而控制码垛三维阵点中的点在满足某种特定条件时，执行用户需要的操作，进而实现复杂独特的垛盘形式。
请参考图7，图7为本发明实施例所提供的机器人的结构示意图；所述机器人可以包括：
通讯组件10，用于获取当前码垛点的参数信息；
处理器20，用于执行监测步骤和码垛操作步骤；其中，监测步骤：读取当前码垛点的参数信息，根据所述参数信息判断所述当前码垛点是否为需要执行跳转指令的码垛点，如果是，则对所述当前码垛点执行对应的跳转指令，并将执行完所述跳转指令对应的码垛点作为当前码垛点，并返回再次执行监测步骤；若果否，则对所述当前码垛点执行码垛操作步骤；码垛操作步骤：获取所述当前码垛点的位置信息，根据所述位置信息对所述当前码垛点执行码垛操作。
基于上述实施例，所述处理器20用于对所述当前码垛点不执行码垛操作步骤，并将下一码垛点作为当前码垛点。
基于上述实施例，所述处理器20用于对所述当前码垛点执行码垛操作步骤，根据用户指定的跳转参数信息跳转到所述跳转参数信息对应的码垛点，并将该码垛点作为当前码垛点。
基于上述实施例，所述处理器20用于对所述当前码垛点不执行码垛操作步骤，根据用户指定的跳转参数信息跳转到所述跳转参数信息对应的码垛点，并将该码垛点作为当前码垛点。
基于上述任意实施例，所述处理器20用于读取所述当前码垛点的三维阵点值；其中，所述三维阵点值为所述当前码垛点的行列层三维数值。
说明书中各个实施例采用递进的方式描述，每个实施例重点说明的都
是与其他实施例的不同之处，各个实施例之间相同相似部分互相参见即可。对于实施例公开的装置而言，由于其与实施例公开的方法相对应，所以描述的比较简单，相关之处参见方法部分说明即可。
专业人员还可以进一步意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、计算机软件或者二者的结合来实现，为了清楚地说明硬件和软件的可互换性，在上述说明中已经按照功能一般性地描述了各示例的组成及步骤。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本发明的范围。
结合本文中所公开的实施例描述的方法或算法的步骤可以直接用硬件、处理器执行的软件模块，或者二者的结合来实施。软件模块可以置于随机存储器(RAM)、内存、只读存储器(ROM)、电可编程ROM、电可擦除可编程ROM、寄存器、硬盘、可移动磁盘、CD-ROM、或技术领域内所公知的任意其它形式的存储介质中。
以上对本发明所提供的码垛的方法、装置及机器人进行了详细介绍。本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想。应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以对本发明进行若干改进和修饰，这些改进和修饰也落入本发明权利要求的保护范围内。
Claims (15)
- 一种码垛的方法，其特征在于，包括：监测步骤：读取当前码垛点的参数信息，根据所述参数信息判断所述当前码垛点是否为需要执行跳转指令的码垛点，如果是，则对所述当前码垛点执行对应的跳转指令，并将执行完所述跳转指令对应的码垛点作为当前码垛点，并返回再次执行所述监测步骤；如果否，则对所述当前码垛点执行码垛操作步骤；所述码垛操作步骤：获取所述当前码垛点的位置信息，根据所述位置信息对所述当前码垛点执行码垛操作。
- 根据权利要求1所述的码垛的方法，其特征在于，所述对所述当前码垛点执行对应的跳转指令，并将执行完所述跳转指令对应的码垛点作为当前码垛点，包括：对所述当前码垛点不执行码垛操作步骤，并将下一码垛点作为当前码垛点。
- 根据权利要求1所述的码垛的方法，其特征在于，所述对所述当前码垛点执行对应的跳转指令，并将执行完所述跳转指令对应的码垛点作为当前码垛点，包括：对所述当前码垛点不执行码垛操作步骤，根据用户指定的跳转参数信息跳转到所述跳转参数信息对应的码垛点，并将该码垛点作为当前码垛点。
- 根据权利要求1所述的码垛的方法，其特征在于，所述对所述当前码垛点执行对应的跳转指令，并将执行完所述跳转指令对应的码垛点作为当前码垛点，包括：对所述当前码垛点执行码垛操作步骤，根据用户指定的跳转参数信息跳转到所述跳转参数信息对应的码垛点，并将该码垛点作为当前码垛点。
- 根据权利要求1-4任一项所述的码垛的方法，其特征在于，读取当前码垛点的参数信息，包括：读取所述当前码垛点的三维阵点值；其中，所述三维阵点值为所述当前码垛点的行列层三维数值。
- 一种码垛的装置，其特征在于，包括：监测模块，用于执行监测步骤，读取当前码垛点的参数信息，根据所述参数信息判断所述当前码垛点是否为需要执行跳转指令的码垛点，如果是，则对所述当前码垛点执行对应的跳转指令，并将执行完所述跳转指令对应的码垛点作为当前码垛点，并返回再次执行监测步骤；若果否，则触发码垛操作模块对所述当前码垛点执行码垛操作步骤；码垛操作模块，用于执行码垛操作步骤，获取所述当前码垛点的位置信息，根据所述位置信息对所述当前码垛点执行码垛操作。
- 根据权利要求6所述的码垛的装置，其特征在于，所述监测模块包括：第一跳转指令执行单元，用于对所述当前码垛点不执行码垛操作步骤，并将下一码垛点作为当前码垛点。
- 根据权利要求6所述的码垛的装置，其特征在于，所述监测模块包括：第二跳转指令执行单元，用于对所述当前码垛点执行码垛操作步骤，根据用户指定的跳转参数信息跳转到所述跳转参数信息对应的码垛点，并将该码垛点作为当前码垛点。
- 根据权利要求6所述的码垛的装置，其特征在于，所述监测模块包括：第三跳转指令执行单元，用于对所述当前码垛点不执行码垛操作步骤，根据用户指定的跳转参数信息跳转到所述跳转参数信息对应的码垛点，并将该码垛点作为当前码垛点。
- 根据权利要求6-9任一项所述的码垛的装置，其特征在于，所述监测模块包括：读取单元，用于读取所述当前码垛点的三维阵点值；其中，所述三维阵点值为所述当前码垛点的行列层三维数值。
- 一种机器人，其特征在于，包括：通讯组件，用于获取当前码垛点的参数信息；处理器，用于执行监测步骤和码垛操作步骤；其中，监测步骤：读取当前码垛点的参数信息，根据所述参数信息判断所述当前码垛点是否为需 要执行跳转指令的码垛点，如果是，则对所述当前码垛点执行对应的跳转指令，并将执行完所述跳转指令对应的码垛点作为当前码垛点，并返回再次执行监测步骤；若果否，则对所述当前码垛点执行码垛操作步骤；码垛操作步骤：获取所述当前码垛点的位置信息，根据所述位置信息对所述当前码垛点执行码垛操作。
- 根据权利要求11所述的机器人，其特征在于，所述处理器用于对所述当前码垛点不执行码垛操作步骤，并将下一码垛点作为当前码垛点。
- 根据权利要求11所述的机器人，其特征在于，所述处理器用于对所述当前码垛点执行码垛操作步骤，根据用户指定的跳转参数信息跳转到所述跳转参数信息对应的码垛点，并将该码垛点作为当前码垛点。
- 根据权利要求11所述的机器人，其特征在于，所述处理器用于对所述当前码垛点不执行码垛操作步骤，根据用户指定的跳转参数信息跳转到所述跳转参数信息对应的码垛点，并将该码垛点作为当前码垛点。
- 根据权利要求11-14任一项所述的机器人，其特征在于，所述处理器用于读取所述当前码垛点的三维阵点值；其中，所述三维阵点值为所述当前码垛点的行列层三维数值。
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