CN118062521A - Method, device, equipment and storage medium for planning stack with single bar code outwards - Google Patents
Method, device, equipment and storage medium for planning stack with single bar code outwards Download PDFInfo
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- 238000013439 planning Methods 0.000 title claims abstract description 168
- 238000000034 method Methods 0.000 title claims abstract description 79
- 238000003860 storage Methods 0.000 title claims abstract description 33
- 239000000463 material Substances 0.000 claims abstract description 184
- 230000000007 visual effect Effects 0.000 claims abstract description 11
- 238000012216 screening Methods 0.000 claims abstract description 9
- 230000015654 memory Effects 0.000 claims description 33
- 238000012544 monitoring process Methods 0.000 claims description 7
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- 238000004590 computer program Methods 0.000 description 12
- 230000003287 optical effect Effects 0.000 description 4
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- 238000004891 communication Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 239000013072 incoming material Substances 0.000 description 2
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Classifications
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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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
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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
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
- B65G2203/0216—Codes or marks on the article
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Abstract
The invention provides a stack planning method, a device, equipment and a storage medium with single bar codes facing outwards, which comprises the following steps: carrying out integer programming according to the size parameters of the tray and the shape parameters of the materials to be piled, and obtaining at least one candidate programming stack; in the feeding process, determining the pose and bar code position of each material to be piled through a visual system; screening a target planning stack type from the candidate planning stack types according to the pose and the bar code position of the materials to be stacked; wherein, the bar code of each material in the target planning stack is outwards; and planning a stacking type according to the target, and executing stacking operation. The automatic stacking planning device can realize automatic stacking planning, ensures that bar codes of all materials face outwards, facilitates subsequent scanning and warehousing, and greatly improves the efficiency of stacking planning.
Description
Technical Field
The invention relates to intelligent manufacturing and high-end manufacturing, in particular to a stack planning method, device, equipment and storage medium with single-code bar codes facing outwards.
Background
At present, a stacking planning method of cargoes mainly relies on technicians to stack the cargoes. In other words, a technician performs field measurement and stacking test according to the pallet and goods provided by the customer, and obtains a relatively optimized stack shape through continuous optimization attempts.
However, this palletizing approach requires a high level of technician requirements and requires a palletizing designer to have a rich design planning experience. Whenever the size of the goods or the size of the tray is changed or the orientation of the bar code of the goods is restrained, the stack type planning difficulty of technicians is greatly increased. The stack type planning consumes a great deal of manpower and time, has low planning efficiency, and cannot flexibly stack type design according to different types or different shapes of cargoes.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a stack type planning method, device, equipment and storage medium with single-code bar codes facing outwards.
In a first aspect, an embodiment of the present application provides a stack planning method with a single barcode facing outward, including:
carrying out integer programming according to the size parameters of the tray and the shape parameters of the materials to be piled, and obtaining at least one candidate programming stack;
in the feeding process, determining the pose and bar code position of each material to be piled through a visual system;
screening a target planning stack type from the candidate planning stack types according to the pose and the bar code position of the materials to be stacked; wherein, the bar code of each material in the target planning stack is outwards;
and planning a stacking type according to the target, and executing stacking operation.
Optionally, integer planning is performed according to the tray size parameter and the outline parameter of the material to be palletized, so as to obtain at least one candidate planning stack type, which comprises the following steps:
integer programming is carried out according to the length of the short side of the material to be stacked, the length of the long side of the material to be stacked, the length of the short side of the tray and the length of the long side of the tray, so that an initial planned stack type is obtained;
Adjusting the initial planning stack type through preset constraint conditions to obtain at least one candidate planning stack type; wherein, the preset constraint condition comprises: the total number of materials contained in the stack is maximized, the overall shape of the stack is symmetrical, and the time consumption of planning operation is minimized.
Optionally, integer planning is performed according to a short side length of a material to be stacked, a long side length of the material to be stacked, a short side length of a tray, and a long side length of the tray, so as to obtain an initial planning stack type, including:
determining the plane position of the bar code on the rectangular feed box, marking the length of the short side of the plane on which the bar code is positioned as W, marking the length of the long side of the plane without the bar code as L, marking the length of the short side of the tray as W, and marking the length of the long side of the tray as L; assuming that the number of edges of bar codes of materials contained on four edges of the tray is respectively as follows: n 1、n2、n3、n4, the number of sides of the bar code-free materials contained on the four sides of the tray is respectively as follows: n 5、n6、n7、n8, the following conditions are satisfied:
n1*w+n5*l≤W；
n2*w+n6*l≤L；
n3*w+n7*l≤W；
n4*w+n8*l≤L；
the bar code exists on at least one material side of two adjacent sides of the tray, namely:
n5+n6≥1；
n6+n7≥1；
n7+n8≥1；
n8+n5≥1；
no bar code is arranged on each side of the tray, namely:
n5≤2,n6≤2,n7≤2,n8≤2。
Optionally, in the feeding process, determining the pose and the bar code position of each material to be stacked through a vision system includes:
collecting the pose of the material to be piled in the feeding process and the images of all the surfaces of the material to be piled through visual systems in multiple directions;
And determining the position of the plane where the bar code is located through image recognition.
Optionally, stacking operation is executed according to the target planning stack shape, including:
Stacking is carried out according to the target planning stack shape and the diagonal direction from far to near, and/or stacking is carried out layer by layer according to the order from low to high.
Optionally, before determining the pose and the bar code position of each material to be stacked through the vision system in the feeding process, the method further comprises:
setting the material feeding sequence of the materials to be piled according to the candidate planning stack type;
and controlling the materials to be piled to sequentially pass through a code reading area of a vision system according to the material feeding sequence.
Optionally, the method further comprises:
after stacking of the materials with the preset quantity is completed, monitoring the stacked materials through a vision system, and judging whether bar codes of the materials are not outward;
If the bar codes of the materials are not outward, the stacking positions of the materials are adjusted until the bar codes of all the materials are outward.
In a second aspect, an embodiment of the present application provides a stack-type planning apparatus with an outward single barcode, including:
The stack type planning module is used for carrying out integer planning according to the size parameters of the tray and the shape parameters of the materials to be piled to obtain at least one candidate planning stack type;
the pose and bar code position recognition module is used for determining the pose and bar code position of each material to be stacked through the vision system in the feeding process;
The target planning stack type generating module is used for screening one target planning stack type from the candidate planning stack types according to the pose and the bar code position of the materials to be stacked; wherein, the bar code of each material in the target planning stack is outwards;
and the execution module is used for planning a stacking type according to the target and executing stacking operation.
Optionally, the stack planning module is specifically configured to:
integer programming is carried out according to the length of the short side of the material to be stacked, the length of the long side of the material to be stacked, the length of the short side of the tray and the length of the long side of the tray, so that an initial planned stack type is obtained;
Adjusting the initial planning stack type through preset constraint conditions to obtain at least one candidate planning stack type; wherein, the preset constraint condition comprises: the total number of materials contained in the stack is maximized, the overall shape of the stack is symmetrical, and the time consumption of planning operation is minimized.
Optionally, the stack planning module is specifically configured to:
determining the plane position of the bar code on the rectangular feed box, marking the length of the short side of the plane on which the bar code is positioned as W, marking the length of the long side of the plane without the bar code as L, marking the length of the short side of the tray as W, and marking the length of the long side of the tray as L; assuming that the number of edges of bar codes of materials contained on four edges of the tray is respectively as follows: n 1、n2、n3、n4, the number of sides of the bar code-free materials contained on the four sides of the tray is respectively as follows: n 5、n6、n7、n8, the following conditions are satisfied:
n1*w+n5*l≤W；
n2*w+n6*l≤L；
n3*w+n7*l≤W；
n4*w+n8*l≤L；
the bar code exists on at least one material side of two adjacent sides of the tray, namely:
n5+n6≥1；
n6+n7≥1；
n7+n8≥1；
n8+n5≥1；
no bar code is arranged on each side of the tray, namely:
n5≤2,n6≤2,n7≤2,n8≤2。
Optionally, the pose and bar code position recognition module is specifically configured to:
collecting the pose of the material to be piled in the feeding process and the images of all the surfaces of the material to be piled through visual systems in multiple directions;
And determining the position of the plane where the bar code is located through image recognition.
Optionally, the execution module is specifically configured to:
Stacking is carried out according to the target planning stack shape and the diagonal direction from far to near, and/or stacking is carried out layer by layer according to the order from low to high.
Optionally, the apparatus further comprises:
the material supply sequence setting module is used for setting the material supply sequence of the materials to be stacked according to the candidate planning stack type;
and the code reading module is used for controlling the materials to be piled to sequentially pass through the code reading area of the vision system according to the material feeding sequence.
Optionally, the apparatus further comprises:
The bar code monitoring module is used for monitoring the piled materials through the vision system after the stacking of the materials with the preset quantity is completed, and judging whether the bar codes of the materials are not outwards;
If the bar codes of the materials are not outward, the stacking positions of the materials are adjusted until the bar codes of all the materials are outward.
In a third aspect, an embodiment of the present application provides a stack-type planning apparatus with a single barcode facing outwards, including: the system comprises a processor and a memory, wherein executable program instructions are stored in the memory, and when the processor calls the program instructions in the memory, the processor is used for:
Performing the step of the one-code barcode outward stack planning method of any one of the first aspects.
In a fourth aspect, an embodiment of the present application provides a robot, including: the robot comprises a robot body, a driving system and a mechanical arm, wherein a processor and a memory are arranged in the robot body, executable program instructions are stored in the memory, and when the processor calls the program instructions in the memory, the processor is used for controlling the driving system to drive the mechanical arm to realize the step of the stack type planning method with the single code bar code facing outwards in the first aspect.
In a fifth aspect, an embodiment of the present application provides a computer readable storage medium storing a program which, when executed, implements the steps of the one-code barcode-outwards stack planning method according to any one of the first aspects.
In a sixth aspect, embodiments of the present application provide a program product comprising a computer program stored in a readable storage medium, the computer program being readable by at least one processor of a robot from the readable storage medium, the at least one processor executing the computer program causing the robot to implement a stack planning method as the first aspect with the singleton bar code facing outwards.
Compared with the prior art, the invention has the following beneficial effects:
According to the application, the candidate planning stack type is obtained by integer planning (the integer planning is related to the length of a short side of the material to be stacked, the length of a long side of the material to be stacked, the length of the short side of the tray, the length of the long side of the tray and preset constraint conditions) according to the size parameter of the tray and the shape parameter of the material to be stacked; in the feeding process, the pose and the bar code position of each material to be piled are determined through a visual system, and the stack type with the bar code facing outwards is selected from the candidate planning stack types to serve as a target stack type. Stacking is carried out according to the target stack type, and the position of the bar code in the stacking process is monitored. Therefore, automatic stacking planning can be realized, bar codes of all materials are ensured to face outwards, subsequent scanning and warehousing are facilitated, and the efficiency of stacking planning is greatly improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art. Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
Fig. 1 is a schematic structural diagram of an application scenario provided in an embodiment of the present application;
fig. 2 is a flow chart of a stack planning method with a single barcode facing outwards according to a first embodiment of the present application;
FIG. 3 is a schematic diagram of a planning result of a conventional integer programming algorithm;
FIG. 4 is a diagram of a stack structure after manual adjustment of the planning result of the integer programming algorithm;
FIG. 5 is a schematic diagram of a planning result of a candidate planning stack;
FIG. 6 is a second schematic diagram of a planning result of a candidate planning stack;
Fig. 7 is a flow chart of a stack planning method with a single barcode facing outwards according to a second embodiment of the present application;
fig. 8 is a flow chart of a stack planning method with a single barcode facing outwards according to a third embodiment of the present application;
fig. 9 is a schematic structural diagram of a stack-type planning device with a single barcode facing outwards according to an embodiment of the present application;
fig. 10 is a schematic structural diagram of a stacking planning apparatus with a single barcode facing outwards according to an embodiment of the present application;
Fig. 11 is a schematic structural view of a computer-readable storage medium in an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When a component is considered to be "connected" to another component, it can be directly connected to the other component or intervening components may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
The terms "first," "second," "third," "fourth" and the like in the description and in the claims and in the above drawings, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented, for example, in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The following describes the technical scheme of the present application and how the technical scheme of the present application solves the above technical problems in detail with specific embodiments. The following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.
Some embodiments of the present application are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.
The embodiment of the application provides a stack type planning method, device, equipment and storage medium with single-code bar codes facing outwards. The following description of the application uses a robot as an example. It will be apparent to those skilled in the art that other types of robots may be used without limitation, and embodiments of the present application may be applied to various types of robots. For example, a movable logistics robot, a robot on a large-scale work line, a simple handling robot, etc., and embodiments of the present application are not limited thereto.
Fig. 1 is a schematic structural diagram of an application scenario provided in an embodiment of the present application, as shown in fig. 1, a destacking robot 100 stacks materials 120 on a tray 110, where a barcode 121 is attached to each material 120. Since the sizes of the materials 120 are different and the bar code positions on the materials 120 are not necessarily the same, during stacking, stacking planning needs to be performed according to the sizes of the materials 120 and the positions of the bar codes 121, so as to ensure that more materials 120 are stacked on the tray 110 as much as possible and the bar codes 121 of all the materials 120 face outwards.
Currently, for single bar code outward stacking planning, due to a plurality of factors to be considered, such as uncertain bar code positions, different material sizes and the like, a better automatic planning scheme does not exist. Therefore, the field planning is mostly carried out manually, the manual planning is seriously dependent on the experience of technicians, the planning difficulty is high, and the efficiency is low.
Aiming at the defects existing in the prior art, the application aims to provide a stacking type planning method with single-code bar codes facing outwards, which can realize automatic stacking planning based on the sizes of trays and different materials and the positions of the bar codes, ensure that the bar codes of all materials face outwards, facilitate subsequent bar scanning and warehousing, and greatly improve the efficiency of stacking planning.
Fig. 2 is a flow chart of a stack type planning method with a single barcode facing outwards, which is provided in an embodiment of the present application, as shown in fig. 2, the method in the embodiment of the present application may include:
and S201, carrying out integer programming according to the size parameter of the tray and the appearance parameter of the materials to be piled, and obtaining at least one candidate programming stack type.
In this embodiment, integer planning may be performed according to the length of the short side of the material to be stacked, the length of the long side of the material to be stacked, the length of the short side of the tray, and the length of the long side of the tray, to obtain an initial planned stack. Then, adjusting the initial planning stack type through preset constraint conditions to obtain at least one candidate planning stack type; the preset constraint conditions comprise: the total number of materials contained in the stack is maximized, the overall shape of the stack is symmetrical, and the time consumption of planning operation is minimized.
The method comprises the steps of determining the plane position of a bar code on a rectangular material box, marking the length of a short side of the plane of the bar code as W, marking the length of a long side of the plane without the bar code as L, marking the length of the short side of a tray as W, and marking the length of the long side of the tray as L; assuming that the number of edges of bar codes of materials contained on four edges of the tray is respectively as follows: n 1、n2、n3、n4, the number of sides of the bar code-free materials contained on the four sides of the tray is respectively as follows: n 5、n6、n7、n8, the following conditions are satisfied:
n1*w+n5*l≤W；
n2*w+n6*l≤L；
n3*w+n7*l≤W；
n4*w+n8*l≤L；
the bar code exists on at least one material side of two adjacent sides of the tray, namely:
n5+n6≥1；
n6+n7≥1；
n7+n8≥1；
n8+n5≥1；
no bar code is arranged on each side of the tray, namely:
n5≤2,n6≤2,n7≤2,n8≤2。
Fig. 3 is a schematic diagram of a planning result of a conventional integer planning algorithm, as shown in fig. 3, in the integer planning, the conventional algorithm cannot consider the constraint that the materials cannot collide with each other. The planning scheme is unfavorable for practical use, and a technician is required to check and correct according to the result of computer planning.
In this embodiment, in order to avoid the problems of the existing planning algorithm, the number of long sides available on the four sides of the stack is directly traversed, so that the following possibilities are obtained:
[0,1,2,1]、[0,1,1,2]、[0,2,0,2]、[1,0,1,2]、[1,0,2,1]、[1,1,1,1]、[1,2,1,0]、[1,2,0,1]、[2,0,1,1]、[2,0,2,0]、[2,1,0,1]、[2,1,1,0], Several of these are symmetrical, such as: [1,0,1,2] and [1,2,1,0], [0,1,2,1] and [2,1,0,1]. And screening symmetrical stack types from the stack types, wherein the stack types with the bar codes facing outwards are used as candidate planning stack types.
FIG. 4 is a diagram of a stack structure after manual adjustment of the planning result of the integer programming algorithm; as can be seen from fig. 3 and 4, after manual adjustment, collision between bins is avoided, 8 bins are stacked in a single layer, and bar codes on each bin face outwards. Fig. 5 is a schematic diagram of a planning result of a candidate planning stack type, wherein the stack type is in a shape of a Chinese character 'hui' as a whole, and materials have no collision. In the loop stack, the bar codes of all bins are facing outwards, as shown in fig. 5, and in fig. 5 the bar codes are located at the short sides of the bins. Fig. 6 is a schematic diagram of a second planning result of the candidate planning stack, and as shown in fig. 6, the bar code is located on the long side of the bin.
Step S202, determining the pose and the bar code position of each material to be stacked through a visual system in the feeding process.
In the embodiment, the pose of the material to be stacked in the material feeding process and the images of all the surfaces of the material to be stacked are acquired through a plurality of visual systems; then, the position of the plane where the bar code is located is determined through image recognition.
For example, when materials are conveyed in a conveyor belt mode, a plurality of cameras can be arranged around a path through which the conveyor belt passes, each camera collects images of all surfaces in the material conveying process, and the positions of the surfaces where the bar codes are located are determined through an image recognition algorithm. Further, the position of the bar code and the pose information of the materials to be stacked are sent to the stacking robot, and when the stacking robot stacks, the bar code is controlled to face outwards.
Step S203, screening a target planning stack type from candidate planning stack types according to the pose and bar code position of the materials to be stacked; wherein, the bar code of each material in the target planning buttress type faces outwards.
In this embodiment, according to step S201, more than one candidate planning stack type can be generally obtained, and it is assumed that bar codes may be adhered on three planes with different sizes of the materials, at this time, the possible stacking positions of the materials when the bar codes face outwards are positioned according to the long side and the short side, so that the candidate planning stack types that do not meet the requirements are removed one by one. And if a plurality of candidate planning stack types meeting the requirements are finally obtained, selecting the candidate planning stack type capable of stacking the most materials as a target planning stack type.
And S204, planning a stack according to the target, and executing the stacking operation.
In this embodiment, stacking may be performed in a diagonal direction from far to near order and/or stacking may be performed layer by layer in a low to high order according to the target planned stack.
By adopting the diagonal direction to stack, the situation that the stacking robot encounters an obstacle in the stacking process can be reduced as much as possible, and the interference of the stacked materials on the stacking robot is avoided.
Illustratively, stacking is performed layer by layer in order from low to high, so that overall stability of the stack can be ensured. In actual operation, the stacking height of the area far away from the palletizing robot can be higher, so that the collision of the materials which are already palletized by the robot for executing the operation task can be avoided.
According to the embodiment, the candidate planning stack is obtained by integer planning (the integer planning is related to the length of the short sides of the materials to be stacked, the length of the long sides of the materials to be stacked, the length of the short sides of the tray, the length of the long sides of the tray and preset constraint conditions) according to the size parameters of the tray and the shape parameters of the materials to be stacked; in the feeding process, the pose and the bar code position of each material to be piled are determined through a visual system, and the stack type with the bar code facing outwards is selected from the candidate planning stack types to serve as a target stack type. Stacking is carried out according to the target stack type, and the position of the bar code in the stacking process is monitored. Therefore, automatic stacking planning can be realized, bar codes of all materials are ensured to face outwards, subsequent scanning and warehousing are facilitated, and the efficiency of stacking planning is greatly improved.
Fig. 7 is a flow chart of a stack type planning method with a single barcode facing outwards, which is provided in the second embodiment of the present application, as shown in fig. 7, the method in the embodiment of the present application may include:
and step 701, carrying out integer programming according to the size parameter of the tray and the appearance parameter of the materials to be piled, and obtaining at least one candidate programming stack type.
In this embodiment, the specific implementation and technical effects of step S701 are described with reference to step S201 in fig. 2, and are not repeated here.
Step S702, setting the material feeding sequence of the materials to be stacked according to the candidate planning stack type.
In this embodiment, one of the candidate planned stack types is selected for disassembly, and the order of the materials to be stacked is obtained by starting from the diagonal direction away from the robot and disassembling the materials layer by layer from bottom to top.
And step 703, controlling the materials to be piled to sequentially pass through the code reading area of the vision system according to the material feeding sequence.
According to the embodiment, the feeding sequence is set, so that the palletizing robot can sequentially palletize layer by layer during subsequent palletizing, material backlog is avoided, and palletizing efficiency is improved.
Step S704, in the feeding process, the pose and the bar code position of each material to be piled are determined through a vision system.
Step 705, screening a target planning stack type from candidate planning stack types according to the pose and bar code position of the materials to be stacked; wherein, the bar code of each material in the target planning buttress type faces outwards.
And step S706, stacking operation is executed according to the target planning stack.
In this embodiment, the specific implementation and technical effects of steps S704 to S706 are shown in fig. 2, and the description of steps S202 to S204 is omitted here.
According to the embodiment, the stack type is planned by candidates, and the feeding sequence is preset once, so that the stacking robot can sequentially stack the materials layer by layer during stacking, material backlog is avoided, and the overall stability of the stack type in the stacking process is ensured.
Fig. 8 is a flow chart of a stack type planning method with a single barcode facing outwards, which is provided in the third embodiment of the present application, as shown in fig. 8, where the method in the embodiment of the present application may include:
Step S801, integer planning is carried out according to the size parameters of the tray and the shape parameters of the materials to be piled, so as to obtain at least one candidate planning stack;
step S802, in the feeding process, the pose and the bar code position of each material to be stacked are determined through a vision system.
Step 803, screening a target planning stack type from candidate planning stack types according to the pose and bar code position of the materials to be stacked; wherein, the bar code of each material in the target planning buttress type faces outwards.
And step S804, stacking operation is executed according to the target planning stack.
In this embodiment, the specific implementation and technical effects of steps S801 to S804 are shown in fig. 2, and the description of steps S201 to S204 is omitted here.
And step S805, after stacking the materials with the preset quantity, monitoring the stacked materials through a vision system to judge whether the bar codes of the materials are not outward.
In this embodiment, when each layer or N layers are completed, the vision system monitors the stacked stack type, and determines whether the bar code of the material is not outward.
And step S806, if the bar codes of the materials are not outward, adjusting the stacking positions of the materials until the bar codes of all the materials are outward.
In this embodiment, when the bar code of the material is not outward, the vision system is used to locate the position of the material where the bar code is not outward, control the robot to grasp the material, reconfirm the position of the bar code of the material, and place the face containing the bar code outward.
In the embodiment, by monitoring the stacked stack, checking whether the bar codes of all materials are outward, and if the materials with the bar codes not outward exist, controlling the robot in time to correct the materials, so that the bar codes of all materials in the whole stack are outward, and the subsequent scanning and warehousing are convenient.
Fig. 9 is a schematic structural diagram of a stack-type planning device with an outward single barcode according to an embodiment of the present application, and as shown in fig. 9, the device in the embodiment of the present application may include:
the stack planning module 901 is used for carrying out integer planning according to the size parameter of the tray and the shape parameter of the materials to be piled to obtain at least one candidate planning stack;
the pose and bar code position recognition module 902 is used for determining the pose and bar code position of each material to be stacked through a vision system in the material feeding process;
The target planning stack type generating module 903 is configured to screen a target planning stack type from the candidate planning stack types according to the pose and the barcode position of the material to be stacked; wherein, the bar code of each material in the target planning stack type faces outwards;
and the execution module 904 is used for planning a stacking mode according to the target and executing a stacking operation.
Optionally, the stack planning module 901 is specifically configured to:
integer programming is carried out according to the length of the short side of the material to be stacked, the length of the long side of the material to be stacked, the length of the short side of the tray and the length of the long side of the tray, so that an initial planned stack type is obtained;
Adjusting the initial planning stack type according to preset constraint conditions to obtain at least one candidate planning stack type; the preset constraint conditions comprise: the total number of materials contained in the stack is maximized, the overall shape of the stack is symmetrical, and the time consumption of planning operation is minimized.
Optionally, the stack planning module 901 is specifically configured to:
determining the plane position of the bar code on the rectangular feed box, marking the length of the short side of the plane on which the bar code is positioned as W, marking the length of the long side of the plane without the bar code as L, marking the length of the short side of the tray as W, and marking the length of the long side of the tray as L; assuming that the number of edges of bar codes of materials contained on four edges of the tray is respectively as follows: n 1、n2、n3、n4, the number of sides of the bar code-free materials contained on the four sides of the tray is respectively as follows: n 5、n6、n7、n8, the following conditions are satisfied:
n1*w+n5*l≤W；
n2*w+n6*l≤L；
n3*w+n7*l≤W；
n4*w+n8*l≤L；
the bar code exists on at least one material side of two adjacent sides of the tray, namely:
n5+n6≥1；
n6+n7≥1；
n7+n8≥1；
n8+n5≥1；
no bar code is arranged on each side of the tray, namely:
n5≤2,n6≤2,n7≤2,n8≤2。
Optionally, the pose and barcode position recognition module 902 is specifically configured to:
collecting the pose of the material to be piled in the feeding process and the images of all the surfaces of the material to be piled through visual systems in multiple directions;
And determining the position of the plane where the bar code is located through image recognition.
Optionally, the execution module 904 is specifically configured to:
stacking is performed in a diagonal direction from far to near and/or stacking is performed in a layer-by-layer order from low to high according to the target planning stack shape.
Optionally, the apparatus further comprises:
the incoming material sequence setting module 905 is configured to set an incoming material sequence of the materials to be stacked according to the candidate planned stack type;
the code reading module 906 is configured to control the materials to be palletized to sequentially pass through the code reading area of the vision system according to the material feeding sequence.
Optionally, the apparatus further comprises:
The bar code monitoring module 907 is configured to monitor, through the vision system, the stacked materials after the stacking of the preset number of materials is completed, and determine whether the bar code of the materials is not outward;
If the bar codes of the materials are not outward, the stacking positions of the materials are adjusted until the bar codes of all the materials are outward.
The apparatus in this embodiment may execute the technical solutions in the methods shown in fig. 2, fig. 7, and fig. 8, and specific implementation processes and technical principles thereof refer to related descriptions in the methods shown in fig. 2, fig. 7, and fig. 8, which are not repeated herein.
Fig. 10 is a schematic structural diagram of a single barcode outward stack planning apparatus according to an embodiment of the present application, where the apparatus 1000 for labeling workpiece contours may include: a processor 1001 and a memory 1002.
A memory 1002 for storing a program; the memory 1002 may include a volatile memory (english: volatile memory), such as a random-access memory (RAM), such as a static random-access memory (SRAM), a double data rate synchronous dynamic random-access memory (DDR SDRAM), etc.; the memory may also include a non-volatile memory (English) such as a flash memory (English). The memory 1002 is used to store computer programs (e.g., application programs, functional modules, etc. that implement the methods described above), computer instructions, etc., which may be stored in one or more of the memories 1002 in a partitioned manner. And the above-described computer programs, computer instructions, data, etc. may be invoked by the processor 1001.
The computer programs, computer instructions, etc., described above may be stored in one or more of the memories 1002 in partitions. And the above-described computer programs, computer instructions, data, etc. may be invoked by the processor 1001.
A processor 1001 for executing computer programs stored in a memory 1002 to implement the steps in the method according to the above embodiment.
Reference may be made in particular to the description of the embodiments of the method described above.
The processor 1001 and the memory 1002 may be separate structures or may be integrated structures integrated together. When the processor 1001 and the memory 1002 are separate structures, the memory 1002 and the processor 1001 may be coupled by a bus 1003.
The workpiece contour labeling apparatus 1000 of the present embodiment may execute the technical solutions in the methods shown in fig. 2, 7 and 8, and specific implementation processes and technical principles thereof refer to related descriptions in the methods shown in fig. 2, 7 and 8, which are not repeated herein.
Those skilled in the art will appreciate that the various aspects of the invention may be implemented as a system, method, or program product. Accordingly, aspects of the invention may be embodied in the following forms, namely: an entirely hardware embodiment, an entirely software embodiment (including firmware, micro-code, etc.) or an embodiment combining hardware and software aspects may be referred to herein as a "circuit," module "or" platform.
In addition, the embodiment of the application further provides a computer-readable storage medium, wherein computer-executable instructions are stored in the computer-readable storage medium, and when at least one processor of the user equipment executes the computer-executable instructions, the user equipment executes the various possible methods.
Among them, computer-readable media include computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media may be any available media that can be accessed by a general purpose or special purpose computer. An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC. In addition, the ASIC may reside in a user device. The processor and the storage medium may reside as discrete components in a communication device.
The present application also provides a program product comprising a computer program stored in a readable storage medium, from which the computer program can be read by at least one processor of a server, the at least one processor executing the computer program causing the server to implement the method of any one of the embodiments of the present application described above.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the above method embodiments may be implemented by hardware associated with program instructions, where the foregoing program may be stored in a computer readable storage medium, and when executed, the program performs steps including the above method embodiments; and the aforementioned storage medium includes: read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), magnetic or optical disk, and the like.
Fig. 11 is a schematic structural view of a computer-readable storage medium in an embodiment of the present invention. Referring to fig. 11, a program product 1100 for implementing the above-described method according to an embodiment of the present invention is described, which may employ a portable compact disc read only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto, and in this document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The computer readable storage medium may include a data signal propagated in baseband or as part of a carrier wave, with readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A readable storage medium may also be any readable medium that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server. In the case of remote computing devices, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., connected via the Internet using an Internet service provider).
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing describes specific embodiments of the present invention. It is to be understood that the invention is not limited to the particular embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the claims without affecting the spirit of the invention.
Claims (10)
1. A method for stacking and planning a single barcode outwards, comprising the steps of:
carrying out integer programming according to the size parameters of the tray and the shape parameters of the materials to be piled, and obtaining at least one candidate programming stack;
in the feeding process, determining the pose and bar code position of each material to be piled through a visual system;
screening a target planning stack type from the candidate planning stack types according to the pose and the bar code position of the materials to be stacked; wherein, the bar code of each material in the target planning stack is outwards;
and planning a stacking type according to the target, and executing stacking operation.
2. The method for stacking type planning with the single bar code facing outwards according to claim 1, wherein integer planning is performed according to the size parameter of the tray and the shape parameter of the material to be stacked to obtain at least one candidate planned stack type, comprising:
integer programming is carried out according to the length of the short side of the material to be stacked, the length of the long side of the material to be stacked, the length of the short side of the tray and the length of the long side of the tray, so that an initial planned stack type is obtained;
Adjusting the initial planning stack type through preset constraint conditions to obtain at least one candidate planning stack type; wherein, the preset constraint condition comprises: the total number of materials contained in the stack is maximized, the overall shape of the stack is symmetrical, and the time consumption of planning operation is minimized.
3. The method for planning the outward stacking type of the single-code bar codes according to claim 2, wherein the integer planning is performed according to the short side length of the materials to be stacked, the long side length of the materials to be stacked, the short side length of the tray, and the long side length of the tray, so as to obtain an initial planned stacking type, comprising:
determining the plane position of the bar code on the rectangular feed box, marking the length of the short side of the plane on which the bar code is positioned as W, marking the length of the long side of the plane without the bar code as L, marking the length of the short side of the tray as W, and marking the length of the long side of the tray as L; assuming that the number of edges of bar codes of materials contained on four edges of the tray is respectively as follows: n 1、n2、n3、n4, the number of sides of the bar code-free materials contained on the four sides of the tray is respectively as follows: n 5、n6、n7、n8, the following conditions are satisfied:
n1*w+n5*l≤W；
n2*w+n6*l≤L；
n3*w+n7*l≤W；
n4*w+n8*l≤L；
the bar code exists on at least one material side of two adjacent sides of the tray, namely:
n5+n6≥1；
n6+n7≥1；
n7+n8≥1；
n8+n5≥1；
no bar code is arranged on each side of the tray, namely:
n5≤2,n6≤2,n7≤2,n8≤2。
4. the method for stacking type planning of the single-code bar codes outwards according to claim 1, wherein the step of determining the pose and the bar code position of each material to be stacked through a vision system in the feeding process comprises the following steps:
collecting the pose of the material to be piled in the feeding process and the images of all the surfaces of the material to be piled through visual systems in multiple directions;
And determining the position of the plane where the bar code is located through image recognition.
5. The method for stacking a single barcode outwards as claimed in any one of claims 1-4, wherein performing a stacking operation according to the target stacking plan comprises:
Stacking is carried out according to the target planning stack shape and the diagonal direction from far to near, and/or stacking is carried out layer by layer according to the order from low to high.
6. The method of claim 1-4, wherein before determining the pose and barcode position of each material to be palletized by a vision system during feeding, the method further comprises:
setting the material feeding sequence of the materials to be piled according to the candidate planning stack type;
and controlling the materials to be piled to sequentially pass through a code reading area of a vision system according to the material feeding sequence.
7. The single code bar code outward stack format planning method of any one of claims 1-4, further comprising:
after stacking of the materials with the preset quantity is completed, monitoring the stacked materials through a vision system, and judging whether bar codes of the materials are not outward;
If the bar codes of the materials are not outward, the stacking positions of the materials are adjusted until the bar codes of all the materials are outward.
8. A single code bar code outward buttress formula planning device, characterized in that includes:
The stack type planning module is used for carrying out integer planning according to the size parameters of the tray and the shape parameters of the materials to be piled to obtain at least one candidate planning stack type;
the pose and bar code position recognition module is used for determining the pose and bar code position of each material to be stacked through the vision system in the feeding process;
The target planning stack type generating module is used for screening one target planning stack type from the candidate planning stack types according to the pose and the bar code position of the materials to be stacked; wherein, the bar code of each material in the target planning stack is outwards;
and the execution module is used for planning a stacking type according to the target and executing stacking operation.
9. A single code bar code outward facing stack planning apparatus comprising: the system comprises a processor and a memory, wherein executable program instructions are stored in the memory, and when the processor calls the program instructions in the memory, the processor is used for:
A step of performing the single code bar code outward stack planning method of any one of claims 1 to 7.
10. A computer readable storage medium storing a program, wherein the program when executed implements the steps of the one-code barcode outward stack planning method of any one of claims 1 to 7.
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| CN202211484610.4A CN118062521A (en) | 2022-11-24 | 2022-11-24 | Method, device, equipment and storage medium for planning stack with single bar code outwards |
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