CN118809566B - Adjustment method, device, computer equipment, readable storage medium and program product for robot lifting column - Google Patents
Adjustment method, device, computer equipment, readable storage medium and program product for robot lifting columnInfo
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- CN118809566B CN118809566B CN202410995905.0A CN202410995905A CN118809566B CN 118809566 B CN118809566 B CN 118809566B CN 202410995905 A CN202410995905 A CN 202410995905A CN 118809566 B CN118809566 B CN 118809566B
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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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
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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
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
本申请涉及一种机器人升降柱的调整方法、装置、计算机设备、可读存储介质和程序产品，涉及机器人技术领域。方法包括：响应于针对目标机器人的升降柱调整指令，获取目标机器人进行码垛工作的码垛区域的目标区域信息；基于目标区域信息，对码垛区域进行三维建模，得到码垛区域的目标三维模型；分别获取目标三维模型中每一码垛点位各自的点位信息，根据各点位信息，对码垛区域内放置的目标垛堆进行尺寸分析，得到目标垛堆的尺寸参数；确定与尺寸参数相匹配的码垛高度，将目标机器人的升降柱调整至码垛高度。采用本方法能够提高机器人升降柱控制的灵活性。
The present application relates to a method, apparatus, computer equipment, readable storage medium, and program product for adjusting a robot's lifting column, and relates to the field of robotics. The method comprises: in response to a lifting column adjustment instruction for a target robot, obtaining target area information of the palletizing area in which the target robot performs palletizing operations; based on the target area information, performing three-dimensional modeling of the palletizing area to obtain a target three-dimensional model of the palletizing area; obtaining point information for each palletizing point in the target three-dimensional model, performing a dimensional analysis of a target stack placed in the palletizing area based on the point information, and obtaining dimensional parameters of the target stack; determining a palletizing height that matches the dimensional parameters, and adjusting the lifting column of the target robot to the palletizing height. This method can improve the flexibility of controlling the robot's lifting columns.
Description
Technical Field
The present application relates to the field of robotics, and in particular, to a method and apparatus for adjusting a lifting column of a robot, a computer device, a readable storage medium, and a program product.
Background
Along with the rapid development of artificial intelligence, the robot is gradually applied to various industries, especially on the stacking work of goods, and the robot can efficiently complete goods stacking, so that the production efficiency is improved.
Currently, robots often require the aid of external elements such as lifting columns in order to achieve the desired height when performing palletizing tasks. However, in practical applications, this approach is often aimed at the fixed stack-shaped goods, i.e. all the goods information to be palletized, such as the size, weight, stacking sequence, etc. of the goods are known in advance, which makes the operation of the lifting column limited, and thus the control of the lifting column of the current robot is not flexible enough.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a method, an apparatus, a computer device, a computer-readable storage medium, and a computer program product for adjusting a robot lift column that can improve the flexibility of control of the robot lift column.
The application provides a method for adjusting a lifting column of a robot, which comprises the steps of responding to a lifting column adjusting instruction of a target robot, obtaining target area information of a stacking area where the target robot performs stacking work, carrying out three-dimensional modeling on the stacking area based on the target area information to obtain a target three-dimensional model of the stacking area, respectively obtaining point position information of each stacking point in the target three-dimensional model, carrying out size analysis on a target pile placed in the stacking area according to the point position information to obtain a size parameter of the target pile, determining stacking height matched with the size parameter, and adjusting the lifting column of the target robot to the stacking height.
In one embodiment, the point position information comprises point position state information and point position attribute information of the stacking points, size analysis is carried out on target piles placed in the stacking area according to the point position information to obtain size parameters of the target piles, the method comprises the steps of screening candidate points, of which the point position is in a placeable state, from the stacking points according to the point position state information, and size analysis is carried out on the target piles placed in the stacking area based on the point position attribute information of the candidate points to obtain the size parameters of the target piles.
In one embodiment, the point position attribute information comprises a point position height and a point position area, the size parameters comprise the pile height of the target pile and the pile surface area of the target pile, the size analysis is carried out on the target pile placed in the stacking area based on the point position attribute information of the candidate point positions to obtain the size parameters of the target pile, the size parameters comprise the steps of screening out a first target point position with the highest point position height from the candidate point positions, taking the point position height of the first target point position as the pile height of the target pile, screening out a plurality of second target point positions with the point position height exceeding a first height threshold from the candidate point positions, and taking the sum of the point position areas of the plurality of second target point positions as the pile surface area of the target pile.
In one embodiment, the method further comprises performing height adjustment evaluation on the lifting column of the target robot based on the pile height of the target pile and the pile surface area of the target pile to obtain a height adjustment evaluation result of the lifting column, and determining the stacking height matched with the size parameter, wherein the height adjustment evaluation result indicates that the lifting column needs to be subjected to height adjustment, and the stacking height matched with the size parameter is obtained based on the size parameter of the target pile.
In one embodiment, the height adjustment evaluation of the lifting column of the target robot is performed based on the pile height of the target pile and the pile surface area of the target pile to obtain a height adjustment evaluation result of the lifting column, wherein the height adjustment evaluation result comprises the step of comparing the pile height of the target pile with a second height threshold to obtain a height comparison result of the target pile, the step of comparing the pile surface area of the target pile with a preset area threshold to obtain a surface area comparison result of the target pile, and the step of jointly using the height comparison result and the surface area comparison result as the height adjustment evaluation result of the lifting column.
In one embodiment, three-dimensional modeling is performed on a stacking area based on target area information to obtain a target three-dimensional model of the stacking area, the three-dimensional modeling is performed on the stacking area based on the target area information to obtain an initial three-dimensional model of the stacking area, position information of each target cargo in the target pile is obtained for the target pile placed in the stacking area, and the initial three-dimensional model is updated according to the position information to obtain the target three-dimensional model of the stacking area.
The application further provides a device for adjusting the lifting column of the robot, which comprises an information acquisition module, a three-dimensional modeling module, a size analysis module and a lifting column adjustment module, wherein the information acquisition module is used for responding to a lifting column adjustment instruction of a target robot to acquire target area information of a stacking area where the target robot performs stacking work, the three-dimensional modeling module is used for carrying out three-dimensional modeling on the stacking area based on the target area information to obtain a target three-dimensional model of the stacking area, the size analysis module is used for respectively acquiring point position information of each stacking point in the target three-dimensional model, carrying out size analysis on target piles placed in the stacking area according to the point position information to obtain size parameters of the target piles, and the lifting column adjustment module is used for determining stacking heights matched with the size parameters and adjusting the lifting columns of the target robot to the stacking heights.
The application further provides computer equipment, which comprises a memory and a processor, wherein the memory stores a computer program, the processor is used for realizing the following steps when executing the computer program, responding to a lifting column adjusting instruction of a target robot, obtaining target area information of a stacking area where the target robot performs stacking work, carrying out three-dimensional modeling on the stacking area based on the target area information to obtain a target three-dimensional model of the stacking area, respectively obtaining point position information of each stacking point in the target three-dimensional model, carrying out size analysis on target piles placed in the stacking area according to the point position information of each point to obtain size parameters of the target piles, determining stacking height matched with the size parameters, and adjusting the lifting column of the target robot to the stacking height.
In a fourth aspect, the application also provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements the steps of obtaining target area information of a palletizing area for palletizing work by a target robot in response to a lifting column adjustment instruction for the target robot, performing three-dimensional modeling on the palletizing area based on the target area information to obtain a target three-dimensional model of the palletizing area, respectively obtaining point position information of each palletizing point position in the target three-dimensional model, performing size analysis on a target pile placed in the palletizing area according to the point position information to obtain a size parameter of the target pile, determining a palletizing height matched with the size parameter, and adjusting the lifting column of the target robot to the palletizing height.
In a fifth aspect, the application also provides a computer program product comprising a computer program which when executed by a processor, realizes the steps of responding to an elevating column adjusting instruction of a target robot, obtaining target area information of a stacking area where the target robot performs stacking work, carrying out three-dimensional modeling on the stacking area based on the target area information to obtain a target three-dimensional model of the stacking area, respectively obtaining point position information of each stacking point in the target three-dimensional model, carrying out size analysis on a target pile placed in the stacking area according to the point position information to obtain a size parameter of the target pile, determining a stacking height matched with the size parameter, and adjusting the elevating column of the target robot to the stacking height.
According to the method, the device, the computer equipment, the computer readable storage medium and the computer program product for adjusting the lifting column of the robot, the target area information of the stacking area of the target robot is firstly acquired in response to the lifting column adjusting instruction of the target robot, so that the stacking area is subjected to three-dimensional modeling based on the target area information, and a target three-dimensional model of the stacking area is obtained. And respectively acquiring the respective point position information of each stacking point position aiming at each stacking point position in the target three-dimensional model so as to carry out size analysis on the target pile placed in the stacking area according to the point position information of each stacking point position and obtain the size parameters of the target pile. And finally, determining the stacking height matched with the size parameter, and adjusting the lifting column of the target robot to the stacking height. Therefore, the robot only needs to analyze the size of the pile according to the point position information of each stacking point position in the three-dimensional model, so that the lifting column is flexibly adjusted, the cargo information to be stacked is not required to be known in advance, the robot can be suitable for cargoes with various sizes, on one hand, the flexibility of controlling the lifting column of the robot is improved, and on the other hand, the stacking efficiency of the robot and the space utilization rate of a stacking area are also improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the related art, the drawings that are needed in the description of the embodiments of the present application or the related technologies will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other related drawings may be obtained according to these drawings without inventive effort to those of ordinary skill in the art.
FIG. 1 is an application environment diagram of a method for adjusting a lifting column of a robot in one embodiment;
FIG. 2 is a flow chart of a method for adjusting a lifting column of a robot in one embodiment;
FIG. 3 is a schematic view of a robotic lifting column in one embodiment;
FIG. 4 is a flow chart of a pile size analysis in one embodiment;
FIG. 5 is a flow chart of a height adjustment evaluation of a lifting column according to an embodiment;
FIG. 6 is a flow diagram of three-dimensional modeling of palletized regions in one embodiment;
FIG. 7 is a block diagram of an adjustment device for a robotic lifting column in one embodiment;
Fig. 8 is an internal structural diagram of a computer device in one embodiment.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
The method for adjusting the lifting column of the robot, provided by the embodiment of the application, can be applied to an application environment shown in fig. 1. Wherein the terminal 102 communicates with the server 104 via a network. The data storage system may store data that the server 104 needs to process. The data storage system may be integrated on the server 104 or may be located on a cloud or other network server. The server 104 responds to a lifting column adjustment instruction sent by the terminal 102 and aiming at the target robot, firstly obtains target area information of a stacking area where the target robot performs stacking work, and performs three-dimensional modeling on the stacking area based on the target area information to obtain a target three-dimensional model of the stacking area. And respectively acquiring the respective point position information of each stacking point position in the target three-dimensional model, and carrying out size analysis on the target pile placed in the stacking area according to the point position information to obtain the size parameters of the target pile. And determining the stacking height matched with the size parameter, so that the lifting column of the target robot is adjusted to the stacking height. The terminal 102 may be, but is not limited to, various personal computers, notebook computers, smart phones, tablet computers, and internet of things devices. The server 104 may be an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, or a cloud server providing cloud computing services.
In an exemplary embodiment, as shown in fig. 2, a method for adjusting a lifting column of a robot is provided, and the method is applied to the server 104 in fig. 1 for illustration, and includes:
step S202, in response to a lifting column adjustment instruction for the target robot, acquiring target area information of a stacking area where the target robot performs stacking work.
The target robot may be a robot that needs to perform adjustment of the lifting column, and includes, but is not limited to, a six-degree-of-freedom cooperative robot, an industrial robot, and the like. As shown in fig. 3, the bottom of the robot is connected with a corresponding lifting column to realize the lifting of the robot. The lifting column adjustment instruction may be an instruction for lifting adjustment of the lifting column to which the target robot is connected by the pointer. The stacking area is an area where the robot stacks cargoes, such as a cage car, a pallet and the like, and the corresponding area where cargoes are temporarily stored, namely a buffer area, and the stacking work of the robot stacks cargoes in the buffer area to the stacking area. The target region information refers to region attribute information of the palletizing region, including but not limited to the length of the region, the width of the region, the height of the region and the like, so as to facilitate the subsequent three-dimensional modeling of the palletizing region.
For example, when receiving an adjustment instruction for a lifting column of a target robot, a server in a robot control system may first acquire region attribute information of a palletizing region where the target robot performs palletizing operation, so as to perform three-dimensional modeling on the palletizing region.
And step S204, carrying out three-dimensional modeling on the stacking area based on the target area information to obtain a target three-dimensional model of the stacking area.
The target three-dimensional model refers to a three-dimensional space model of the stacking area.
For example, after the server obtains the region attribute information of the stacking region, a corresponding modeling tool or modeling algorithm may be used to build a three-dimensional space model of the stacking region according to a certain proportion.
In practical application, the server can process the stacking area into a three-dimensional data structure, and divide the stacking area into cubes with fixed side lengths, and the cubes form a three-dimensional space model of the stacking area.
And S206, respectively acquiring the respective point position information of each stacking point position in the target three-dimensional model, and performing size analysis on the target pile placed in the stacking area according to the respective point position information to obtain the size parameters of the target pile.
The stacking point position refers to each voxel in the target three-dimensional model, and the voxel is the cube. The point location information comprises point location state information and point location attribute information of each stacking point. The target pile is the pile currently placed in the palletizing zone, which is made up of a plurality of finished palletized loads. The dimensional parameters refer to the pile surface area and the pile height of the target pile, although other dimensional parameters of the pile may be obtained in practice.
For each stacking point in the three-dimensional space model of the stacking area, the server respectively acquires the respective point position state information and the point position attribute information of each stacking point, so that the size analysis is performed on the target pile placed in the current stacking area according to the point position state information and the point position attribute information to obtain the pile surface area and the pile height of the target pile.
Step S208, determining the stacking height matched with the size parameter, and adjusting the lifting column of the target robot to the stacking height.
The stacking height refers to the height that the lifting column of the target robot should reach.
In one embodiment, the pile height determining process further comprises performing height adjustment evaluation on the lifting column of the target robot based on the pile height of the target pile and the pile surface area of the target pile to obtain a height adjustment evaluation result of the lifting column, and determining the pile height matched with the size parameter comprises performing height matching based on the size parameter of the target pile to obtain the pile height matched with the size parameter under the condition that the height adjustment evaluation result indicates that the lifting column needs to be subjected to height adjustment.
Illustratively, the height adjustment assessment results are used to characterize whether an adjustment of the lifting column of the target robot is required. After the server obtains the pile surface area and the pile height of the target pile, based on the pile surface area and the pile height, analyzing whether the lifting column of the target robot needs to be adjusted, and under the condition that adjustment is needed, performing height matching by the server to obtain the stacking height matched with the pile surface area and/or the pile height of the target pile, and adjusting the height of the lifting column to the stacking height.
In this embodiment, the server responds to the lifting column adjustment instruction for the target robot, and first obtains the target area information of the stacking area of the target robot, so that the stacking area is three-dimensionally modeled based on the target area information, and a target three-dimensional model of the stacking area is obtained. And respectively acquiring the respective point position information of each stacking point position aiming at each stacking point position in the target three-dimensional model so as to carry out size analysis on the target pile placed in the stacking area according to the point position information of each stacking point position and obtain the size parameters of the target pile. And finally, determining the stacking height matched with the size parameter, and adjusting the lifting column of the target robot to the stacking height. Therefore, the robot only needs to analyze the size of the pile according to the point position information of each stacking point position in the three-dimensional model, so that the lifting column is flexibly adjusted, the cargo information to be stacked is not required to be known in advance, the robot can be suitable for cargoes with various sizes, on one hand, the flexibility of controlling the lifting column of the robot is improved, and on the other hand, the stacking efficiency of the robot and the space utilization rate of a stacking area are also improved.
In an exemplary embodiment, as shown in FIG. 4, a dimensional analysis of a target pile disposed within a palletized region based on various spot position information is performed to obtain dimensional parameters of the target pile, including:
Step S402, according to the state information of each point bit, candidate points of which the point bit state information indicates that the point bit is in a placeable state are screened out from the stacking points.
And S404, performing size analysis on the target pile placed in the stacking area based on the point position attribute information of the candidate point position to obtain the size parameter of the target pile.
The point position state information comprises three states of open but not placeable, placeable and occupied, wherein open but not placeable means that the stacking point is open, but goods cannot be placed on a plane of the stacking point, goods can be placed on the plane of the stacking point, occupied means that the plane of the stacking point is occupied by other goods, and goods cannot be placed any more. The point location attribute information refers to the point location height and the point location area of each palletizing point location.
The server obtains the point location state information of each stacking point location, and screens out candidate point locations of which the point location state information indicates that the point location is in a placeable state. And calculating the pile surface area and the pile height of the target pile placed in the pile area according to the point positions and the point positions of the candidate points.
In practice, pile height may be determined based on spot height and pile surface area may be determined based on spot area. In one embodiment, the size analysis is performed on the target pile placed in the stacking area based on the point position attribute information of the candidate point positions to obtain the size parameter of the target pile, wherein the size parameter comprises the steps of screening a first target point position with the highest point position height from the candidate point positions, taking the point position height of the first target point position as the pile height of the target pile, screening a plurality of second target point positions with the point position height exceeding a first height threshold from the candidate point positions, and taking the sum of the point position areas of the plurality of second target point positions as the pile surface area of the target pile.
The first target point location is a candidate point location with the highest pointing position height, and the point location height may be a height corresponding to an upper plane of the pointing position. The first height threshold is a predetermined height threshold for determining the surface area of the pile, such as taking the sum of the spot areas exceeding a specified height B as the surface area of the pile. The second target point location is a candidate point location where the pointing bit height exceeds the first height threshold. The sum of the spot areas refers to the sum of the upper surface areas of the plurality of second target spots.
Illustratively, the server screens out a first target point location of highest height of the upper plane of the point location from the candidate point locations, and takes the height of the upper plane of the first target point location as the pile height of the target pile. And screening out a plurality of second target points with the point positions exceeding a first height threshold value from the candidate points, calculating the sum of the upper surface areas of the second target points, and taking the sum of the upper surface areas as the surface area of the pile of the target pile.
In the embodiment, the pile height and the pile surface area of the target pile are calculated through the point position state information and the point position attribute information of each pile position in the target three-dimensional model, so that the lifting column is flexibly adjusted, cargo information to be piled is not required to be known in advance, the robot lifting column control flexibility is improved on one hand, and the robot piling efficiency and the space utilization rate of a piling area are also improved on the other hand.
In one exemplary embodiment, as shown in FIG. 5, a height adjustment evaluation of a lifting column of a target robot based on a pile height of a target pile and a pile surface area of the target pile is performed to obtain a height adjustment evaluation result of the lifting column, including:
Step S502, the pile height of the target pile is compared with a second height threshold value, and the result of the height comparison of the target pile is obtained.
The second height threshold value refers to a height threshold value which needs to be adjusted in height of the lifting column in advance.
Illustratively, after the server obtains the pile height of the target pile, the pile height is compared to a second height threshold to obtain a height comparison of the target pile. For example, assuming that the pile height of the target pile is a, the second height threshold is A, and the height comparison is the difference in height between the pile height a and the second height threshold A.
And S504, comparing the surface area of the target pile with a preset area threshold value to obtain the surface area comparison result of the target pile.
The preset area threshold is a surface area threshold which is preset and needs to be adjusted in height of the lifting column.
Illustratively, after the server obtains the surface area of the target pile, the surface area of the pile is compared to a predetermined area threshold to obtain a surface area comparison of the target pile. For example, assuming a pile surface area B for the target pile, the predetermined area threshold is B, and the surface area comparison is the area difference between the pile surface area B and the predetermined area threshold B.
And S506, taking the height comparison result and the surface area comparison result together as a height adjustment evaluation result of the lifting column.
The height comparison result and the surface area comparison result are used together as the height adjustment evaluation result of the lifting column. For example, in the case where the difference in height between the pile height a and the second height threshold a is greater than zero, i.e. the pile height a exceeds the second height threshold a, the lifting column is considered to be height-adjusted, and/or in the case where the difference in area between the pile surface area B and the preset area threshold B is greater than a set value, the lifting column is considered to be height-adjusted.
In the embodiment, whether the lifting column needs to be adjusted or not is judged through the pile height comparison and the pile surface area comparison, so that the accuracy and the reliability of the adjustment of the lifting column are improved.
In an exemplary embodiment, as shown in fig. 6, the three-dimensional modeling is performed on the palletizing region based on the target region information, to obtain a target three-dimensional model of the palletizing region, including:
Step S602, based on the target area information, performing three-dimensional modeling on the stacking area to obtain an initial three-dimensional model of the stacking area.
Wherein the initial three-dimensional model may refer to a three-dimensional frame model of the palletized region.
The server firstly models the stacking area into a three-dimensional frame according to the area attribute information of the stacking area, namely the stacking area is processed into a three-dimensional data structure and is divided into cubes with fixed side lengths, and the cubes form a three-dimensional frame model of the stacking area.
Step S604, for each target pile placed in the palletizing region, position information of each target cargo in the target pile is acquired.
The position information refers to position coordinates of the target goods. The target cargo refers to each cargo in the target pile.
For example, after the server obtains the three-dimensional frame model of the stacking area, each stacking point, that is, a cube, in the three-dimensional frame model needs to be marked, which belongs to the placeable point positions and which belongs to the non-placeable point positions. It is therefore necessary to obtain the position coordinates of each target load in the target pile, and to mark the palletizing points accordingly on the basis of these position coordinates.
Step S606, updating the initial three-dimensional model according to the position information to obtain a target three-dimensional model of the stacking area.
The method includes the steps that an initial three-dimensional frame model is updated after labeling of stacking points is completed according to position coordinates of all target cargoes by a server, and therefore a target three-dimensional model of a stacking area is obtained.
In this embodiment, the position state of the stacking point in the three-dimensional model is marked according to the position information of the goods in the target pile, so that the pile size of the target pile is calculated, and whether the lifting column needs to be adjusted is judged, so that the goods information to be stacked is not required to be known in advance, the robot stacking device can adapt to goods with various sizes, the flexible adjustment of the lifting column is improved, and the flexibility of the robot stacking is improved.
In a specific embodiment, the method for adjusting the lifting column of the robot comprises the steps of responding to a lifting column adjusting instruction aiming at a target robot, obtaining target area information of a stacking area where the target robot performs stacking work, and performing three-dimensional modeling on the stacking area based on the target area information to obtain an initial three-dimensional model of the stacking area. And aiming at the target pile placed in the stacking area, acquiring the position information of each target cargo in the target pile, and updating the initial three-dimensional model according to the position information to obtain the target three-dimensional model of the stacking area. The method comprises the steps of respectively obtaining respective point position state information and point position attribute information of each stacking point in a target three-dimensional model, screening candidate points with the point position state information representing the point position in a placeable state from the stacking points, screening first target points with the highest point position height from the candidate points, taking the point position height of the first target points as the pile height of a target pile, screening a plurality of second target points with the point position height exceeding a first height threshold from the candidate points, and taking the sum of the point position areas of the second target points as the pile surface area of the target pile. And comparing the pile height of the target pile with a second height threshold value to obtain a height comparison result of the target pile, comparing the pile surface area of the target pile with a preset area threshold value to obtain a surface area comparison result of the target pile, and taking the height comparison result and the surface area comparison result together as a height adjustment evaluation result of the lifting column. And under the condition that the height adjustment evaluation result indicates that the lifting column is required to be subjected to height adjustment, performing height matching based on the size parameter of the target pile, obtaining the stacking height matched with the size parameter, and adjusting the lifting column of the target robot to the stacking height.
In this embodiment, in response to an adjustment instruction for a lifting column of a target robot, target area information of a stacking area of the target robot is first acquired, so that three-dimensional modeling is performed on the stacking area based on the target area information, and a target three-dimensional model of the stacking area is obtained. And respectively acquiring the respective point position information of each stacking point position aiming at each stacking point position in the target three-dimensional model so as to carry out size analysis on the target pile placed in the stacking area according to the point position information of each stacking point position and obtain the size parameters of the target pile. And finally, determining the stacking height matched with the size parameter, and adjusting the lifting column of the target robot to the stacking height. Therefore, the robot only needs to analyze the size of the pile according to the point position information of each stacking point position in the three-dimensional model, so that the lifting column is flexibly adjusted, the cargo information to be stacked is not required to be known in advance, the robot can be suitable for cargoes with various sizes, on one hand, the flexibility of controlling the lifting column of the robot is improved, and on the other hand, the stacking efficiency of the robot and the space utilization rate of a stacking area are also improved.
It should be understood that, although the steps in the flowcharts as related to the above embodiments are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least a part of the steps or stages in other steps or other steps.
Based on the same inventive concept, the embodiment of the application also provides an adjusting device for the robot lifting column, which is used for realizing the adjusting method of the robot lifting column. The implementation of the solution provided by the device is similar to the implementation described in the above method, so the specific limitation in the embodiments of the adjusting device for one or more robot lifting columns provided below may refer to the limitation of the adjusting method for a robot lifting column described above, and will not be repeated here.
In an exemplary embodiment, as shown in fig. 7, an adjusting device for a lifting column of a robot is provided, which comprises an information obtaining module 702, a three-dimensional modeling module 704, a size analysis module 706, and a lifting column adjusting module 708, wherein the information obtaining module is used for responding to a lifting column adjusting instruction of a target robot to obtain target area information of a stacking area where the target robot performs stacking work, the three-dimensional modeling module 704 is used for three-dimensionally modeling the stacking area based on the target area information to obtain a target three-dimensional model of the stacking area, the size analysis module 706 is used for respectively obtaining point position information of each stacking point in the target three-dimensional model, and performing size analysis on a target pile placed in the stacking area according to the point position information to obtain a size parameter of the target pile, and the lifting column adjusting module 708 is used for determining a stacking height matched with the size parameter and adjusting the lifting column of the target robot to the stacking height.
In one embodiment, the point location information comprises point location state information and point location attribute information of the stacking points, and the size analysis module 706 is further configured to screen candidate points, of which the point location state information indicates that the points are in a placeable state, from the stacking points according to the point location state information, and perform size analysis on target piles placed in the stacking area based on the point location attribute information of the candidate points to obtain size parameters of the target piles.
In one embodiment, the point location attribute information comprises a point location height and a point location area, the dimensional parameters comprise a pile height of the target pile and a pile surface area of the target pile, and the dimensional analysis module 706 is further configured to screen a first target point location with a highest point location height from the candidate points, to screen a plurality of second target points with a point location height exceeding a first height threshold from the candidate points, and to screen a sum of the point location areas of the plurality of second target points as a pile surface area of the target pile.
In one embodiment, the device is further configured to perform a height adjustment evaluation on the lifting column of the target robot based on the pile height of the target pile and the pile surface area of the target pile to obtain a height adjustment evaluation result of the lifting column, and the lifting column adjustment module 708 is further configured to perform a height matching based on the size parameter of the target pile to obtain a stacking height matching the size parameter if the height adjustment evaluation result indicates that the lifting column needs to be height-adjusted.
In one embodiment, the device is further configured to compare a pile height of the target pile with a second height threshold to obtain a height comparison result of the target pile, compare a pile surface area of the target pile with a preset area threshold to obtain a surface area comparison result of the target pile, and use the height comparison result and the surface area comparison result together as a height adjustment evaluation result of the lifting column.
In one embodiment, the three-dimensional modeling module 704 is further configured to perform three-dimensional modeling on the stacking area based on the target area information to obtain an initial three-dimensional model of the stacking area, obtain, for target piles placed in the stacking area, position information of each target cargo in the target piles, and update the initial three-dimensional model according to the position information to obtain the target three-dimensional model of the stacking area.
All or part of the modules in the adjusting device of the robot lifting column can be realized by software, hardware and a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one exemplary embodiment, a computer device is provided, which may be a server, and the internal structure thereof may be as shown in fig. 8. The computer device includes a processor, a memory, an Input/Output interface (I/O) and a communication interface. The processor, the memory and the input/output interface are connected through a system bus, and the communication interface is connected to the system bus through the input/output interface. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database of the computer device is used for storing adjustment data of the lifting column of the robot. The input/output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used for communicating with an external terminal through a network connection. The computer program, when executed by the processor, implements a method of adjusting a lifting column of a robot.
It will be appreciated by those skilled in the art that the structure shown in FIG. 8 is merely a block diagram of some of the structures associated with the present inventive arrangements and is not limiting of the computer device to which the present inventive arrangements may be applied, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.
In an exemplary embodiment, a computer device is provided, which comprises a memory and a processor, wherein the memory stores a computer program, the processor executes the computer program to obtain target area information of a stacking area where the target robot performs stacking work in response to a lifting column adjusting instruction of the target robot, three-dimensional models the stacking area based on the target area information to obtain a target three-dimensional model of the stacking area, respectively obtain point position information of each stacking point in the target three-dimensional model, perform size analysis on target piles placed in the stacking area according to the point position information to obtain size parameters of the target piles, determine stacking heights matched with the size parameters, and adjust the lifting columns of the target robot to the stacking heights.
In one embodiment, the processor, when executing the computer program, further performs the steps of screening candidate points of which the point position state information indicates that the point is in a placeable state from the stacking points according to the point position state information of each point, and performing size analysis on target piles placed in the stacking area based on the point position attribute information of the candidate points to obtain size parameters of the target piles.
In one embodiment, the processor, when executing the computer program, further performs the steps of screening a first target point of highest point height from the candidate points, taking the point height of the first target point as the pile height of the target pile, screening a plurality of second target points of point height exceeding a first height threshold from the candidate points, and taking the sum of the point areas of the plurality of second target points as the pile surface area of the target pile.
In one embodiment, the processor, when executing the computer program, further performs the steps of performing a height adjustment assessment of the lifting column of the target robot based on the pile height of the target pile and the pile surface area of the target pile to obtain a height adjustment assessment result of the lifting column, and determining a stacking height matched with the dimensional parameter, including performing height matching based on the dimensional parameter of the target pile to obtain a stacking height matched with the dimensional parameter if the height adjustment assessment result indicates that the lifting column needs to be height adjusted.
In one embodiment, the processor, when executing the computer program, further performs the steps of comparing the pile height of the target pile with a second height threshold to obtain a height comparison result of the target pile, comparing the pile surface area of the target pile with a preset area threshold to obtain a surface area comparison result of the target pile, and using the height comparison result and the surface area comparison result together as a height adjustment evaluation result of the lifting column.
In one embodiment, the processor when executing the computer program further performs the steps of three-dimensionally modeling the palletizing region based on the target region information to obtain an initial three-dimensional model of the palletizing region, acquiring position information of each target cargo in the target pile for the target pile placed in the palletizing region, and updating the initial three-dimensional model according to the position information to obtain the target three-dimensional model of the palletizing region.
In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, which when executed by a processor, performs the steps of obtaining target area information of a palletizing area for palletizing work by a target robot in response to a lifting column adjustment instruction for the target robot, performing three-dimensional modeling on the palletizing area based on the target area information to obtain a target three-dimensional model of the palletizing area, respectively obtaining point position information of each palletizing point position in the target three-dimensional model, performing size analysis on a target pile placed in the palletizing area according to the point position information to obtain a size parameter of the target pile, determining a palletizing height matched with the size parameter, and adjusting the lifting column of the target robot to the palletizing height.
In one embodiment, the computer program when executed by the processor further comprises the steps of screening candidate points of which the point position state information indicates that the point is in a placeable state from the stacking points according to the point position state information of each point, and performing size analysis on target piles placed in the stacking area based on the point position attribute information of the candidate points to obtain size parameters of the target piles.
In one embodiment, the computer program when executed by the processor further performs the steps of screening a first target point of highest point height from the candidate points, taking the point height of the first target point as the pile height of the target pile, screening a plurality of second target points of point height exceeding a first height threshold from the candidate points, and taking the sum of the point areas of the plurality of second target points as the pile surface area of the target pile.
In one embodiment, the computer program when executed by the processor further performs the steps of performing a height adjustment assessment of the lifting column of the target robot based on the pile height of the target pile and the pile surface area of the target pile to obtain a height adjustment assessment result of the lifting column, and determining a stacking height that matches the dimensional parameter includes performing a height match based on the dimensional parameter of the target pile if the height adjustment assessment result indicates that the lifting column needs to be height adjusted to obtain a stacking height that matches the dimensional parameter.
In one embodiment, the computer program when executed by the processor further performs the steps of comparing the pile height of the target pile with a second height threshold to obtain a height comparison result for the target pile, comparing the pile surface area of the target pile with a predetermined area threshold to obtain a surface area comparison result for the target pile, and using the height comparison result and the surface area comparison result together as a height adjustment evaluation result for the lifting column.
In one embodiment, the computer program when executed by the processor further performs the steps of three-dimensionally modeling the palletizing region based on the target region information to obtain an initial three-dimensional model of the palletizing region, obtaining location information of each target good in the target pile for the target pile placed in the palletizing region, and updating the initial three-dimensional model based on the location information to obtain a target three-dimensional model of the palletizing region.
In one embodiment, a computer program product is provided, which comprises a computer program, wherein the computer program when executed by a processor is used for obtaining target area information of a stacking area where a target robot performs stacking work in response to a lifting column adjusting instruction of the target robot, carrying out three-dimensional modeling on the stacking area based on the target area information to obtain a target three-dimensional model of the stacking area, respectively obtaining point position information of each stacking point in the target three-dimensional model, carrying out size analysis on target piles placed in the stacking area according to the point position information to obtain size parameters of the target piles, determining stacking height matched with the size parameters, and adjusting the lifting column of the target robot to the stacking height.
In one embodiment, the computer program when executed by the processor further comprises the steps of screening candidate points of which the point position state information indicates that the point is in a placeable state from the stacking points according to the point position state information of each point, and performing size analysis on target piles placed in the stacking area based on the point position attribute information of the candidate points to obtain size parameters of the target piles.
In one embodiment, the computer program when executed by the processor further performs the steps of screening a first target point of highest point height from the candidate points, taking the point height of the first target point as the pile height of the target pile, screening a plurality of second target points of point height exceeding a first height threshold from the candidate points, and taking the sum of the point areas of the plurality of second target points as the pile surface area of the target pile.
In one embodiment, the computer program when executed by the processor further performs the steps of performing a height adjustment assessment of the lifting column of the target robot based on the pile height of the target pile and the pile surface area of the target pile to obtain a height adjustment assessment result of the lifting column, and determining a stacking height that matches the dimensional parameter includes performing a height match based on the dimensional parameter of the target pile if the height adjustment assessment result indicates that the lifting column needs to be height adjusted to obtain a stacking height that matches the dimensional parameter.
In one embodiment, the computer program when executed by the processor further performs the steps of comparing the pile height of the target pile with a second height threshold to obtain a height comparison result for the target pile, comparing the pile surface area of the target pile with a predetermined area threshold to obtain a surface area comparison result for the target pile, and using the height comparison result and the surface area comparison result together as a height adjustment evaluation result for the lifting column.
In one embodiment, the computer program when executed by the processor further performs the steps of three-dimensionally modeling the palletizing region based on the target region information to obtain an initial three-dimensional model of the palletizing region, obtaining location information of each target good in the target pile for the target pile placed in the palletizing region, and updating the initial three-dimensional model based on the location information to obtain a target three-dimensional model of the palletizing region.
It should be noted that, the user information (including but not limited to user equipment information, user personal information, etc.) and the data (including but not limited to data for analysis, stored data, presented data, etc.) related to the present application are both information and data authorized by the user or sufficiently authorized by each party, and the collection, use and processing of the related data are required to meet the related regulations.
Those skilled in the art will appreciate that implementing all or part of the above-described methods may be accomplished by way of a computer program, which may be stored on a non-transitory computer readable storage medium and which, when executed, may comprise the steps of the above-described embodiments of the methods. Any reference to memory, database, or other medium used in embodiments provided herein may include at least one of non-volatile memory and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (RESISTIVE RANDOM ACCESS MEMORY, reRAM), magneto-resistive Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (PHASE CHANGE Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in various forms such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), etc. The databases referred to in the embodiments provided herein may include at least one of a relational database and a non-relational database. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processor referred to in the embodiments provided in the present application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computation, an artificial intelligence (ARTIFICIAL INTELLIGENCE, AI) processor, or the like, but is not limited thereto.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the present application.
The foregoing examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of the application should be assessed as that of the appended claims.
Claims (10)
1. A method of adjusting a lifting column of a robot, the method comprising:
responding to an elevating column adjusting instruction aiming at a target robot, and acquiring target area information of a stacking area where the target robot performs stacking work;
based on the target region information, carrying out three-dimensional modeling on the stacking region to obtain a target three-dimensional model of the stacking region;
Respectively acquiring respective point location information of each stacking point location in the target three-dimensional model, and performing size analysis on a target pile placed in the stacking area according to the point location information to obtain size parameters of the target pile;
and determining the stacking height matched with the size parameter, and adjusting the lifting column of the target robot to the stacking height.
2. The method of claim 1, wherein the spot location information includes spot location status information and spot location attribute information for the pile up locations, and wherein the performing a dimensional analysis on a target pile placed in the pile up area based on each of the spot location information to obtain a dimensional parameter of the target pile comprises:
screening candidate points of which the point positions are in a placeable state from the stacking points according to the point position state information;
And carrying out size analysis on the target pile placed in the stacking area based on the point position attribute information of the candidate point position to obtain the size parameter of the target pile.
3. The method of claim 2 wherein the point location attribute information includes a point location height and a point location area, the dimensional parameter includes a pile height of the target pile and a pile surface area of the target pile, and wherein the performing a dimensional analysis on the target pile placed in the palletizing region based on the point location attribute information of the candidate point location to obtain the dimensional parameter of the target pile includes:
screening a first target point position with highest point position height from the candidate point positions, and taking the point position height of the first target point position as the pile height of the target pile;
And screening a plurality of second target points with the point position height exceeding a first height threshold value from the candidate points, and taking the sum of the point position areas of the second target points as the pile surface area of the target pile.
4. A method according to claim 3, characterized in that the method further comprises:
Based on the pile height of the target pile and the pile surface area of the target pile, performing height adjustment evaluation on a lifting column of the target robot to obtain a height adjustment evaluation result of the lifting column;
the determining the stacking height matched with the size parameter comprises the following steps:
and under the condition that the height adjustment evaluation result indicates that the lifting column needs to be subjected to height adjustment, carrying out height matching based on the size parameter of the target pile, and obtaining the stacking height matched with the size parameter.
5. The method of claim 4, wherein the height adjustment evaluation of the lifting column of the target robot based on the pile height of the target pile and the pile surface area of the target pile, comprises:
comparing the pile height of the target pile with a second height threshold to obtain a height comparison result of the target pile;
Comparing the surface area of the target pile with a preset area threshold value to obtain a surface area comparison result of the target pile;
And taking the height comparison result and the surface area comparison result together as a height adjustment evaluation result of the lifting column.
6. The method according to claim 1, wherein the three-dimensional modeling of the palletized region based on the target region information to obtain a target three-dimensional model of the palletized region comprises:
based on the target region information, carrying out three-dimensional modeling on the stacking region to obtain an initial three-dimensional model of the stacking region;
Acquiring position information of each target cargo in target piles aiming at the target piles placed in the stacking area;
and updating the initial three-dimensional model according to the position information to obtain a target three-dimensional model of the stacking area.
7. An adjustment device for a robotic lifting column, the device comprising:
The information acquisition module is used for responding to an elevating column adjusting instruction aiming at a target robot and acquiring target area information of a stacking area where the target robot performs stacking work;
the three-dimensional modeling module is used for carrying out three-dimensional modeling on the stacking area based on the target area information to obtain a target three-dimensional model of the stacking area;
the size analysis module is used for respectively acquiring the respective point position information of each stacking point position in the target three-dimensional model, and carrying out size analysis on the target pile placed in the stacking area according to the point position information to obtain the size parameters of the target pile;
And the lifting column adjusting module is used for determining the stacking height matched with the size parameter and adjusting the lifting column of the target robot to the stacking height.
8. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 6 when the computer program is executed.
9. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 6.
10. A computer program product comprising a computer program, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 6.
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| CN117023177A (en) * | 2023-09-18 | 2023-11-10 | 杭州中建云天科技有限公司 | Stacker crane based on machine vision AI control |
| CN117023175A (en) * | 2023-09-07 | 2023-11-10 | 深圳市大族机器人有限公司 | Palletizing workstation and palletizing method |
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| CN118220723B (en) * | 2024-05-22 | 2024-07-26 | 菲特（天津）检测技术有限公司 | Accurate stacking method and system based on machine vision |
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| CN117023175A (en) * | 2023-09-07 | 2023-11-10 | 深圳市大族机器人有限公司 | Palletizing workstation and palletizing method |
| CN117023177A (en) * | 2023-09-18 | 2023-11-10 | 杭州中建云天科技有限公司 | Stacker crane based on machine vision AI control |
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