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WO2019056840A1 - 码垛的控制装置、系统、方法和存储介质 - Google Patents

码垛的控制装置、系统、方法和存储介质 Download PDF

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Publication number
WO2019056840A1
WO2019056840A1 PCT/CN2018/095959 CN2018095959W WO2019056840A1 WO 2019056840 A1 WO2019056840 A1 WO 2019056840A1 CN 2018095959 W CN2018095959 W CN 2018095959W WO 2019056840 A1 WO2019056840 A1 WO 2019056840A1
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WO
WIPO (PCT)
Prior art keywords
item
point
offset
horizontal
horizontal offset
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2018/095959
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English (en)
French (fr)
Inventor
宋国库
于宗靖
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Jingdong Century Trading Co Ltd
Beijing Jingdong Shangke Information Technology Co Ltd
Original Assignee
Beijing Jingdong Century Trading Co Ltd
Beijing Jingdong Shangke Information Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Jingdong Century Trading Co Ltd, Beijing Jingdong Shangke Information Technology Co Ltd filed Critical Beijing Jingdong Century Trading Co Ltd
Priority to US16/642,679 priority Critical patent/US11446824B2/en
Publication of WO2019056840A1 publication Critical patent/WO2019056840A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • 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
    • B65G47/02—Devices for feeding articles or materials to conveyors
    • B65G47/04—Devices for feeding articles or materials to conveyors for feeding articles
    • B65G47/06—Devices for feeding articles or materials to conveyors for feeding articles from a single group of articles arranged in orderly pattern, e.g. workpieces in magazines
    • B65G47/08—Devices for feeding articles or materials to conveyors for feeding articles from a single group of articles arranged in orderly pattern, e.g. workpieces in magazines spacing or grouping the articles during feeding
    • B65G47/084—Devices for feeding articles or materials to conveyors for feeding articles from a single group of articles arranged in orderly pattern, e.g. workpieces in magazines spacing or grouping the articles during feeding grouping articles in a predetermined 2-dimensional pattern
    • 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
    • B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G57/00—Stacking of articles
    • B65G57/02—Stacking of articles by adding to the top of the stack
    • B65G57/16—Stacking of articles of particular shape
    • B65G57/20—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical
    • B65G57/22—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical in layers each of predetermined arrangement
    • B65G57/24—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical in layers each of predetermined arrangement the layers being transferred as a whole, e.g. on pallets
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40006—Placing, palletize, un palletize, paper roll placing, box stacking

Definitions

  • the present disclosure relates to the field of logistics technologies, and in particular, to a control device, system, method and storage medium for palletizing.
  • Palletizing refers to the operation of stacking products with substantially identical shapes according to certain requirements.
  • the use of robots as a palletizing execution tool can greatly increase the flexibility of palletizing and save human resources.
  • the one-by-one teaching method adopted in the related art has a large workload and is difficult to dynamically adjust, which reduces the efficiency of the palletizing.
  • One technical problem to be solved by the embodiments of the present disclosure is how to improve the efficiency of the palletizing.
  • a control device for a pallet comprising: a preamble generation module configured to shift a placement point of an item to be placed in a horizontal direction by a direction to be placed a horizontal offset corresponding to the item, a vertical offset corresponding to the item to be placed in the vertical direction, and a pre-point of the item to be placed; the trajectory generating module configured to generate the item with the item to be placed The movement path information of the straight path to the placement point of the item to be placed.
  • control device of the pallet further comprises: a placement point determining module configured to sequentially obtain adjacent to-be-placed according to the placement point of each determined item to be placed in the same layer and the size of the corresponding item to be placed The placement point of the item until the edge of the adjacent item to be placed exceeds the edge of the code wheel.
  • the horizontal offset includes a first horizontal offset and a second horizontal offset, wherein the first horizontal offset represents an offset in a horizontal direction of the horizontal plane, and a second The horizontal offset represents the amount of offset in the direction of the longitudinal direction of the horizontal plane.
  • the first horizontal offset is the product of the length of the item to be placed in the transverse direction of the object and the preset ratio of values.
  • the second horizontal offset is the product of the length of the item to be placed in the longitudinal direction of the pallet and the preset ratio of values.
  • the vertical offset is inversely related to the height of the placement point from the disk.
  • the trajectory generating module further generates moving path information for the plurality of items to be placed, wherein the moving path information further includes a path from the starting point of the item to be placed to the leading point of the item to be placed or the item to be placed The path to place the point to the starting point of another item to be placed.
  • a control system for a pallet comprising: a control device of any one of the foregoing pallets; and a robot controller configured to instruct the robot to control the pallet according to the pallet
  • the generated moving path information code is placed on the item.
  • a method for controlling a pallet comprising: shifting a placement point of an item to be placed in a horizontal direction by a horizontal offset corresponding to an item to be placed, The vertical pallet direction shifts the vertical offset corresponding to the item to be placed, generates a pre-point of the item to be placed, and generates a movement path information having a straight path from the pre-position of the item to be placed to the placement point of the item to be placed.
  • the method for controlling the stacking comprises: sequentially obtaining the placement points of the adjacent items to be placed according to the determined placement point of each item to be placed in the same layer and the size of the corresponding item to be placed, until adjacent The edge of the item to be placed is beyond the edge of the code wheel.
  • the horizontal offset includes a first horizontal offset and a second horizontal offset, wherein the first horizontal offset represents an offset in a horizontal direction of the horizontal plane, and a second The horizontal offset represents the amount of offset in the direction of the longitudinal direction of the horizontal plane.
  • the first horizontal offset is the product of the length of the item to be placed in the transverse direction of the object and the preset ratio of values.
  • the second horizontal offset is the product of the length of the item to be placed in the longitudinal direction of the pallet and the preset ratio of values.
  • the vertical offset is inversely related to the height of the placement point from the disk.
  • generating the movement path information according to the placement point and the pre-position of the item to be placed includes: generating the movement path information for the plurality of items to be placed, wherein the movement path information further includes a starting point of the item to be placed The path of the pre-point of the item or the path of the item to be placed to the starting point of another item to be placed.
  • a control device for a pallet comprising: a memory; and a processor coupled to the memory, the processor being configured to perform any of the foregoing based on an instruction stored in the memory A method of controlling palletizing.
  • a computer readable storage medium having stored thereon a computer program, wherein the program is executed by a processor to implement a control method of any one of the foregoing pallets.
  • the present disclosure obtains a pre-point of an item to be placed by offsetting a placement point of the item to be placed, so that the item to be placed can pass the pre-point while moving, and Moving from the front point to the placement point along a straight line, automated palletizing can be achieved, and collisions between items can be avoided during the stacking process, improving palletizing efficiency and safety.
  • FIG. 1 is a block diagram of a control system of a pallet according to some embodiments of the present disclosure.
  • FIG. 2 is a schematic diagram of a cargo stacking scene in accordance with some embodiments of the present disclosure.
  • FIG. 3 is a flow diagram of a method of controlling a pallet according to some embodiments of the present disclosure.
  • 4A and 4B are schematic diagrams showing the positional relationship between a placement point and a pre-point of an item to be placed in accordance with some embodiments of the present disclosure.
  • 5A-5F are schematic diagrams of scenes corresponding to different setting methods of a first horizontal offset and a second horizontal offset, in accordance with some embodiments of the present disclosure.
  • FIG. 6 is a flow diagram of an offset setting method in accordance with some embodiments of the present disclosure.
  • FIG. 7 is a flow diagram of a method of determining placement point coordinates, in accordance with some embodiments of the present disclosure.
  • FIGS. 8A and 8B are schematic diagrams showing the structure of a control device for a pallet according to some embodiments of the present disclosure.
  • FIG. 9 is a schematic structural diagram of a control device for a pallet according to further embodiments of the present disclosure.
  • FIG. 10 is a schematic structural diagram of a control device for a pallet according to still another embodiment of the present disclosure.
  • the control system 10 of the pallet of this embodiment includes a control device 11 of a pallet and a robot controller 12.
  • the items that are palletized in this embodiment may be, for example, a container in a warehouse or the like.
  • the control device 11 of the pallet is used to generate the movement path information and transmit the movement path information to the robot controller 12.
  • the movement path information is used to indicate the movement route of the actuator of the robot, such as the end picker, the robot, and the like, and at least includes the movement route after the robot's actuator grasps the item during the stacking process.
  • the palletizing control device 11 can be a scheduling platform, a module or device in the overall control platform, such as a computer or controller that carries an industrial control programming tool (eg, Codesys).
  • an industrial control programming tool eg, Codesys
  • the robot controller 12 is located in the robot or is connected to various components of the robot.
  • the robot can be, for example, a 6-degree-of-freedom or 4-degree-of-freedom series joint robot.
  • the robot controller 12 receives the information transmitted by the control device 11 of the pallet and controls the various components of the robot to operate according to the received information. In some embodiments of the present disclosure, the robot controller 12 instructs the actuator to move based on the movement path information transmitted by the control device 11 of the pallet.
  • the palletizing control system 10 can also include an end picker.
  • the pick-up device is a device for grasping and stacking articles, such as a mechanical arm, a mechanical gripper, and the like, for example, a device including a jaw and a suction cup.
  • points are used to indicate the placement or via location of an item.
  • the point corresponding to each item may be the center point of the upper surface of the item. Since the flange center of the end picker or the tool center point (TCP point) generally corresponds to the center point of the upper surface of the article during the gripping, the center of the flange of the end picker can be matched with the article.
  • the points have the same coordinates. Of course, those skilled in the art can also use other points on the item to indicate the location of the item as needed.
  • the above embodiment exemplarily shows an application scenario of the present disclosure, and an interaction process between respective devices in the scenario.
  • a method of controlling the pallet of some embodiments of the present disclosure, which may be performed by the control device of the pallet, is described below.
  • FIG. 2 exemplarily illustrates a cargo stacking scene having a viewing angle that is a top view of a code wheel, in accordance with some embodiments of the present disclosure.
  • the items to be placed in FIG. 2 are items of the same specification.
  • each code wheel can hold 9 items.
  • the code placement can be performed in the order of 1 to 9 in FIG. 2, the direction from the article 7 to the article 4 is the front direction of the code wheel, and the direction from the article 7 to the article 8 is the right direction of the code wheel, and the article is horizontally oriented from left to right and front to back.
  • the order is sequentially placed.
  • the second layer of goods is sequentially placed in a certain order, that is, the items are vertically placed in the order from bottom to top.
  • the goods in the code wheel can also be goods of different sizes, as long as the code is placed in a certain order.
  • FIG. 2 is merely an exemplary code placement scenario and does not have any limiting effect on the present disclosure.
  • FIG. 3 is a flow diagram of a method of controlling a pallet according to some embodiments of the present disclosure. As shown in FIG. 3, the method of controlling the pallet of this embodiment includes steps S302 to S304.
  • step S302 by shifting the placement point of the item to be placed in the horizontal direction to the horizontal offset corresponding to the item to be placed, and shifting the vertical offset to the vertical direction corresponding to the item to be placed,
  • the pre-point of the item to be placed is a pre-calculated or pre-acquired placement position of the item to be placed on the code wheel.
  • a spatial coordinate system can be established, with coordinates indicating the specific location of the placement point.
  • the horizontal offset and the vertical offset represent the distance between the leading point and the placing point in the horizontal direction and the vertical direction, respectively.
  • Each direction in the horizontal plane can be regarded as a horizontal direction, such as the horizontal direction of the article on the horizontal plane and the direction of the longitudinal direction, and the like.
  • the horizontal offset can be a single value, which is the linear distance between the leading point and the placement point in the horizontal direction.
  • the horizontal offset may also be a set of values formed by the first horizontal offset and the second horizontal offset, that is, the linear distance between the pre-point and the placement point in the horizontal direction is decomposed into two different The distance in the direction or dimension for easy calculation and setting.
  • the direction in which the code is placed is the direction indicated by the order of the stacking, and can be expressed, for example, by the directions of three coordinate axes perpendicular to each other.
  • the stacking direction is the right side, the rear side, and the upper side of the code wheel. You can offset the placement point above and to the right to obtain the leading point.
  • the placement point and the pre-point can be quantized into coordinates in the three-dimensional space, and the offset direction is corresponding to the direction corresponding to the coordinate axis or the direction of the specific vector in the three-dimensional space to facilitate calculation.
  • the starting point of the item to be placed is the position of the item when the robot grabs the item.
  • the starting point of each item to be placed may be the same, for example, when the item is transported by the conveyor belt, the pick-up of the robot picks up the item at a fixed position of the conveyor belt each time. According to the needs, it is also possible to set each of the items to be placed and placed to have different starting points, and details are not described herein again.
  • step S304 movement path information having a straight path from the leading point of the item to be placed to the placement point of the item to be placed is generated.
  • the movement path information includes at least a movement trajectory of the item to be placed, for example, indicating that the end picker grabs the item to be placed and moves from coordinate A to coordinate B and the like.
  • the movement path information includes a path from a front point of the item to be placed in a straight line to a placement point of the item to be placed.
  • the movement path information may further include other movement information of the end picker itself and related execution information at various positions, including, for example, indicating that the end picker moves from coordinate O to coordinate A under no-load conditions, and grabs the item at coordinate A.
  • Other information such as information from coordinate A linear motion to coordinate B, running speed information, execution time information, and the like.
  • the movement path information may instruct the robot to perform continuous stacking of the plurality of items.
  • the moving path information may include: a first sub-path of the pre-position of the item A to be placed to the pre-position of the item A to be placed, and a pre-position of the item A to be placed until the placement point of the item A to be placed.
  • the motion speeds corresponding to the third sub-path, the first sub-path, and the second sub-path may be set to be successively decremented, that is, the speed of traveling at the time of no-load is the fastest, to improve the operating efficiency, and to grab the falling of the item. The slowest process in the process to mitigate the impact of the landing process on the goods in the item.
  • FIGS. 4A and 4B For the positional relationship between the placement point of the article to be placed and the pre-position point, reference may be made to the schematic diagrams shown in FIGS. 4A and 4B, wherein FIG. 4A is a plan view and FIG. 4B is a rear view.
  • the articles that have been placed are the items 1 to 4 indicated by the implementation box, and the items to be placed are the items 5 indicated by the solid line frame.
  • the placement point of the item 5 is the O point and the front point.
  • the dotted arrow indicates the direction of movement of the article 5
  • the dashed box indicates the placement position after the article 5 has moved.
  • FIGS. 4A and 4B when the article 5 is moved from the P point to the O point, it does not collide with other items.
  • the method of the above embodiment obtains the pre-position of the item to be placed by offsetting the placement point of the item to be placed, so that the item to be placed can pass the pre-point while moving, and moves from the pre-point to the placement point along the straight line.
  • the horizontal offset may include a first horizontal offset and a second horizontal offset.
  • the first horizontal offset represents an offset in the horizontal direction of the horizontal plane
  • the second horizontal offset represents an offset in the longitudinal direction of the horizontal plane.
  • Other settings may be adopted by those skilled in the art as needed, and are not described herein again. 5A to 5D, different setting methods of the first horizontal offset and the second horizontal offset are exemplified.
  • the items to be placed are items 5 indicated by solid lines, and the other solid lines indicate items that have been placed.
  • the placement point of the item 5 is O point
  • the front point is P point
  • the dotted arrow indicates The direction of movement of the article 5
  • the dashed box indicates the placement position after the article 5 has moved.
  • the first horizontal offset represents the offset in the horizontal direction of the horizontal plane, that is, the offset to the right
  • the second horizontal offset represents the horizontal plane.
  • the offset in the longitudinal direction of the pallet that is, the backward offset.
  • the first setting method is that the first horizontal offset and the second horizontal offset are both zero. At this time, the leading point of the item to be placed is located directly above the placement point.
  • FIG. 5A is a rear view of a cargo stacking scene when both the first horizontal offset and the second horizontal offset are zero. As shown in FIG. 5A, the article 5 can be first moved directly above the placement point, and then the item to be placed is vertically dropped to complete the stacking. This method of setting allows the items to be placed directly to fall vertically, whether it is set or implemented.
  • the second setting method is that one of the first horizontal offset and the second horizontal offset is 0 and the other is not 0.
  • the following describes the case where the first horizontal offset is 0 and the second horizontal offset is not 0.
  • 5B and 5C are respectively a top view and a side view of a cargo stacking scene when the first horizontal offset is 0 and the second horizontal offset is not 0.
  • the article X moves in the forward direction; in the side view as shown in FIG. 5C, the article X moves obliquely downward toward the front.
  • This setting method allows the item to reach a more gradual transition after reaching the front point, making the movement track smoother and more consistent, reducing the operating pressure of the robot.
  • the third setting method is that neither the first horizontal offset nor the second horizontal offset is zero.
  • FIG. 5D is a schematic top view of the cargo stacking scene when both the first horizontal offset and the second horizontal offset are not zero.
  • the article X is moved obliquely to the placement point.
  • the first horizontal offset can also be made equal to the second horizontal offset. Thereby, the distance between the items to be placed and placed in the direction of the two stacking directions on the horizontal plane can be made equal during the movement.
  • the actual placement position of the item may be slightly offset from the preset placement point.
  • the third setting method described above can still avoid collisions in the presence of errors in the pallets.
  • FIGS. 5E and 5F are schematic diagrams showing different ways of setting the horizontal offset in the case where there is an error in the placement of the article.
  • the solid line frames marked with the articles 1 to 4 are the positions where the articles 1 to 4 that have been placed are actually placed, and the positions where the articles 2 and 4 should be placed are indicated by the dotted boxes; the articles 5 to be placed are solid lines.
  • the box indicates that the placement point is point O and the front point is point P.
  • the first horizontal offset is 0 and the second horizontal offset is not zero. That is, the article 5 moves forward in the overhead view.
  • the container code is placed without error, the item 5 can be smoothly moved to the placement point; and when the container code is placed with an error, the item 5 may occur with the item 4 when the item 5 is moved to the illustrated position and then moved forward. collision.
  • neither the first horizontal offset nor the second horizontal offset is zero. That is, in the overhead view, the article X is obliquely moved to the left front. At this time, even if there is an error in the codes of the articles 1 to 4, the article X does not collide with the articles 1 to 4 in the process of moving. Also, when the item X reaches the vicinity of the placement point and comes into contact with the items 2 and 4, it may also push the items 2 and 4 and other adjacent items to move slightly to bring the packaged item closer to where it should be placed. .
  • the horizontal offset and the vertical offset can also be set according to the size of the item and the placement.
  • An offset setting method of some embodiments of the present disclosure is described below with reference to FIG.
  • the offset setting method of this embodiment includes steps S602 to S606.
  • step S602 the size of the article and the current stack height are acquired, and the size includes the length of the article in the lateral direction and the length in the longitudinal direction. That is, the length, width, and height of the item are obtained.
  • step S604 the product of the length of the item to be placed on the horizontal plane in the horizontal direction of the horizontal direction and the preset ratio of the values is determined as the first horizontal offset.
  • step S606 the product of the length of the article to be placed on the horizontal plane in the longitudinal direction of the horizontal direction and the preset ratio of values is determined as the second horizontal offset.
  • the preset value ratio may be 0.5 to 1, so that the item does not occupy too much extra space when moving to the front point, and maintains a certain safe distance from the placed item to avoid collision.
  • step S608 the vertical offset amount is determined according to the height of the placement point from the disk.
  • the vertical offset can be inversely related to the height of the placement point. That is, the higher the item code is placed, the smaller the height difference between the leading point and the placement point. When the item code is placed low, it is easy to lift the item to be placed high. When the item is placed at a certain height and the height is lowered, the height difference between the front point and the placement point can be reduced to reduce the time and burden of the robot performing the lifting operation.
  • the horizontal offset can be automatically determined according to the size of the article
  • the vertical offset can be automatically determined according to the stacking height of the article, which can improve the efficiency of the stacking, and can save the space occupied by the stacking and the reduction.
  • the workload of small robots can be automatically determined according to the size of the article, and the vertical offset can be automatically determined according to the stacking height of the article, which can improve the efficiency of the stacking, and can save the space occupied by the stacking and the reduction.
  • steps S602 and S604 can select some of the steps in the above embodiments to perform, for example, determining only the first horizontal offset by using steps S602 and S604, or determining the second horizontal offset by using only steps S602 and S606, or Only the steps S602 and S608 are used to determine the vertical offset and the like, and details are not described herein again.
  • the present disclosure can also automatically calculate the placement point of each item to be placed and placed by means of coordinate offset.
  • the placement point of the first item to be placed in the same layer of the code wheel may be first determined, and then the phase is obtained according to the placement point of each determined item to be placed in the same layer and the size of the corresponding item to be placed.
  • the placement point of the adjacent item is placed until the edge of the adjacent item to be placed exceeds the edge of the code wheel.
  • a placement point coordinate determining method of some embodiments of the present disclosure is described below with reference to FIG. The method of this embodiment is suitable for stacking articles of the same size.
  • the placement point coordinate determining method of this embodiment includes steps S702 to S714.
  • step S702 the size of the code wheel is acquired, and the size of the code wheel includes the length and width of the code wheel.
  • step S704 the placement point coordinates of the first item to be placed in the same layer of the code wheel are determined.
  • step S706 the last determined item placement point is offset in the lateral stacking direction, and the offset length is the length of the item to obtain a new item placement point.
  • step S708 in a case where the newly determined article placement point is shifted by 0.5 times the length of the article in the lateral stacking direction, the step S706 is repeatedly executed. That is, in the case where the edge of the article placed in the row does not exceed the edge of the code wheel, the tape placement continues in the lateral stacking direction.
  • step S710 the placement point of the first item to be placed in the previous line is offset in the longitudinal direction, and the placement point of the first item to be placed in the current line is obtained, and the offset length is the width of the item.
  • the offset method described above can be used to determine the position of each item in the same row.
  • step S712 in a case where the newly determined article placement point is shifted by 0.5 times the article width in the longitudinal stacking direction without exceeding the edge of the code wheel, steps S706 to S708 are performed. That is, in the case where the edge of the article placed in the column does not exceed the edge of the code wheel, the tape placement continues in the horizontal longitudinal stacking direction.
  • step S714 the stacking of the layer is ended.
  • the placement point coordinates of each item in the code wheel can be automatically determined, thereby improving the stacking efficiency.
  • the only difference being the magnitude of the offset when the offset is made.
  • the offset is half the sum of the lengths of articles A and B.
  • a control device for a pallet of some embodiments of the present disclosure is described below with reference to FIG. 8A.
  • FIG. 8A is a schematic structural diagram of a control device of a pallet according to some embodiments of the present disclosure.
  • the control device 81 of the pallet of this embodiment includes a preamble generation module 811 configured to shift the placement point of the item to be placed in the horizontal direction by a horizontal offset corresponding to the item to be placed. Transmitting, shifting the vertical offset corresponding to the item to be placed in the vertical direction, generating a pre-point of the item to be placed; the trajectory generating module 812 is configured to generate a pre-point from the item to be placed The movement path information of the straight path of the placement point of the code item.
  • the horizontal offset may include a first horizontal offset and a second horizontal offset, wherein the first horizontal offset represents an offset in a horizontal direction of the horizontal plane, and the second horizontal offset represents The amount of offset in the direction of the longitudinal direction of the horizontal plane.
  • the first horizontal offset may be the product of the length of the item to be placed in the lateral direction of the object and the preset ratio of values.
  • the second horizontal offset may be the product of the length of the item to be placed in the longitudinal direction of the pallet and the preset ratio of values.
  • the vertical offset may be inversely related to the height of the placement point from the disk.
  • the trajectory generating module 812 may further generate moving path information for the plurality of items to be placed, wherein the moving path information further includes a path from the starting point of the item to be placed to the leading point of the item to be placed or The path from the placement point of the item to the starting point of another item to be placed.
  • FIG. 8B is a schematic structural diagram of a control device for a pallet according to further embodiments of the present disclosure.
  • the control device 82 of the stack of the embodiment includes a preamble generation module 821 and a trajectory generation module 822.
  • the specific implementation of the preamble generation module 821 and the trajectory generation module 822 can be referred to the embodiment of FIG. 8A.
  • the preamble generation module 811 and the trajectory generation module 812 are not described here.
  • the pallet control device 82 of this embodiment may further include a placement point determination module 823 configured to sequentially obtain adjacent points according to each determined placement point of the item to be placed in the same layer and the size of the corresponding item to be placed. The placement point of the item to be placed until the edge of the adjacent item to be placed exceeds the edge of the code wheel.
  • control device of the pallet may further include an I/O monitoring module, a buffer area, and the like.
  • the I/O control module is configured to detect the cylinder position of the end picker, collect barometric pressure sensor data, and the like for understanding the current state of the end picker.
  • the buffer area is used to store information such as a starting point, a placement point, a preamble, and the like of each item to be placed and placed.
  • the apparatus 900 of this embodiment includes a memory 910 and a processor 920 coupled to the memory 910, the processor 920 being configured to perform any of the foregoing embodiments based on instructions stored in the memory 910.
  • the control method of the palletizing includes a memory 910 and a processor 920 coupled to the memory 910, the processor 920 being configured to perform any of the foregoing embodiments based on instructions stored in the memory 910. The control method of the palletizing.
  • the memory 910 may include, for example, a system memory, a fixed non-volatile storage medium, or the like.
  • the system memory stores, for example, an operating system, an application, a boot loader, and other programs.
  • FIG. 10 is a structural diagram of a control device of a pallet according to still another embodiment of the present disclosure.
  • the apparatus 1000 of this embodiment includes a memory 1010 and a processor 1020, and may further include an input/output interface 1030, a network interface 1040, a storage interface 1050, and the like. These interfaces 1030, 1040, 1050 and the memory 1010 and the processor 1020 can be connected, for example, via a bus 1060.
  • the input/output interface 1030 provides a connection interface for input and output devices such as a display, a mouse, a keyboard, and a touch screen.
  • Network interface 1040 provides a connection interface for various networked devices.
  • the storage interface 1050 provides a connection interface for an external storage device such as an SD card or a USB flash drive.
  • Embodiments of the present disclosure also provide a computer readable storage medium having stored thereon a computer program, wherein the program is executed by a processor to implement a control method of any one of the foregoing pallets.
  • embodiments of the present disclosure can be provided as a method, system, or computer program product. Accordingly, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment, or a combination of software and hardware aspects. Moreover, the present disclosure may take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program code. .
  • the computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device.
  • the apparatus implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of the flowchart.
  • These computer program instructions can also be loaded onto a computer or other programmable data processing device such that a series of operational steps are performed on a computer or other programmable device to produce computer-implemented processing for execution on a computer or other programmable device.
  • the instructions provide steps for implementing the functions specified in one or more of the flow or in a block or blocks of a flow diagram.

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Abstract

一种码垛的控制装置、系统、方法和存储介质，涉及物流技术领域。码垛的控制装置包括：前置点生成模块(811)，被配置为通过将待码放物品的放置点向水平码垛方向偏移与待码放物品对应的水平偏移量、向垂直码垛方向偏移与待码放物品对应的垂直偏移量，生成待码放物品的前置点；轨迹生成模块(812)，被配置为生成具有从待码放物品的前置点到待码放物品的放置点的直线路径的移动路径信息。从而可以实现自动化的码垛，并且在码放的过程中能够避免物品之间的碰撞，提高了码垛效率和安全性。

Description

码垛的控制装置、系统、方法和存储介质
相关申请的交叉引用
本申请是以CN申请号为201710856002.4，申请日为2017年9月21日的申请为基础，并主张其优先权，该CN申请的公开内容在此作为整体引入本申请中。
技术领域
本公开涉及物流技术领域，特别涉及一种码垛的控制装置、系统、方法和存储介质。
背景技术
码垛指将形状基本一致的产品按一定的要求堆叠起来的操作。使用机器人作为码垛的执行工具能够极大地提升码垛的灵活性，节约人力资源。
发明内容
发明人经过分析后发现，在相关技术中，对于每一个待码放的物品，都需要工程师以提前示教的方式来确定每个货品的空间位置，即，工程师通过手动操作的方式预先确定一遍机器人在码垛过程中的运行轨迹和作业点，以防止物品之间的碰撞。相关技术中所采用的逐一示教的方式工作量大、动态调整困难，会降低码垛效率。
本公开实施例所要解决的一个技术问题是：如何提高码垛效率。
根据本公开一些实施例的第一个方面，提供一种码垛的控制装置，包括：前置点生成模块，被配置为通过将待码放物品的放置点向水平码垛方向偏移与待码放物品对应的水平偏移量、向垂直码垛方向偏移与待码放物品对应的垂直偏移量，生成待码放物品的前置点；轨迹生成模块，被配置为生成具有从待码放物品的前置点到待码放物品的放置点的直线路径的移动路径信息。
在一些实施例中，码垛的控制装置还包括：放置点确定模块，被配置为依次根据同一层中每个已确定的待码放物品的放置点及相应待码放物品的尺寸获得相邻待码放物品的放置点，直到相邻待码放物品的边缘超出码盘边缘为止。
在一些实施例中，水平偏移量包括第一水平偏移量和第二水平偏移量，其中，第一水平偏移量表示在水平面上的横向码垛方向上的偏移量，第二水平偏移量表示在水 平面上的纵向码垛方向上的偏移量。
在一些实施例中，第一水平偏移量是待码放物品在横向码垛方向上的长度与预设的取值比例的乘积。
在一些实施例中，第二水平偏移量是待码放物品在纵向码垛方向上的长度与预设的取值比例的乘积。
在一些实施例中，垂直偏移量与放置点距离垛盘的高度成负相关关系。
在一些实施例中，轨迹生成模块进一步为多个待码放物品生成移动路径信息，其中，移动路径信息中还包括待码放物品的起始点至待码放物品的前置点的路径或者待码放物品的放置点至另一个待码放物品的起始点的路径。
根据本公开一些实施例的第二个方面，提供一种码垛的控制系统，包括：前述任意一种码垛的控制装置；和，机器人控制器，被配置为指示机器人根据码垛的控制装置生成的移动路径信息码放物品。
根据本公开一些实施例的第三个方面，提供一种码垛的控制方法，包括：通过将待码放物品的放置点向水平码垛方向偏移与待码放物品对应的水平偏移量、向垂直码垛方向偏移与待码放物品对应的垂直偏移量，生成待码放物品的前置点；生成具有从待码放物品的前置点到待码放物品的放置点的直线路径的移动路径信息。
在一些实施例中，码垛的控制方法还包括：依次根据同一层中每个已确定的待码放物品的放置点及相应待码放物品的尺寸获得相邻待码放物品的放置点，直到相邻待码放物品的边缘超出码盘边缘为止。
在一些实施例中，水平偏移量包括第一水平偏移量和第二水平偏移量，其中，第一水平偏移量表示在水平面上的横向码垛方向上的偏移量，第二水平偏移量表示在水平面上的纵向码垛方向上的偏移量。
在一些实施例中，第一水平偏移量是待码放物品在横向码垛方向上的长度与预设的取值比例的乘积。
在一些实施例中，第二水平偏移量是待码放物品在纵向码垛方向上的长度与预设的取值比例的乘积。
在一些实施例中，垂直偏移量与放置点距离垛盘的高度成负相关关系。
在一些实施例中，根据待码放物品的放置点和前置点生成移动路径信息包括：为多个待码放物品生成移动路径信息，其中，移动路径信息中还包括待码放物品的起始点至待码放物品的前置点的路径或者待码放物品的放置点至另一个待码放物品的起 始点的路径。
根据本公开一些实施例的第四个方面，提供一种码垛的控制装置，包括：存储器；以及耦接至存储器的处理器，处理器被配置为基于存储在存储器中的指令，执行前述任意一种码垛的控制方法。
根据本公开一些实施例的第五个方面，提供一种计算机可读存储介质，其上存储有计算机程序，其中，该程序被处理器执行时实现前述任意一种码垛的控制方法。
上述公开中的一些实施例具有如下优点或有益效果：本公开通过对待码放物品的放置点进行偏移来获得待码放物品的前置点，使待码放物品在移动时能够经过前置点、并沿直线从前置点运动到放置点，从而可以实现自动化的码垛，并且在码放的过程中能够避免物品之间的碰撞，提高了码垛效率和安全性。
通过以下参照附图对本公开的示例性实施例的详细描述，本公开的其它特征及其优点将会变得清楚。
附图说明
为了更清楚地说明本公开实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本公开的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为根据本公开一些实施例的码垛的控制系统的结构示意图。
图2为根据本公开一些实施例的货物码放场景的示意图。
图3为根据本公开一些实施例的码垛的控制方法的流程示意图。
图4A和图4B为根据本公开一些实施例的待码放物品的放置点和前置点之间的位置关系示意图。
图5A～5F为根据本公开一些实施例的第一水平偏移量和第二水平偏移量的不同设置方法所对应的场景示意图。
图6为根据本公开一些实施例的偏移量设置方法的流程示意图。
图7为根据本公开一些实施例的放置点坐标确定方法的流程示意图。
图8A和图8B为根据本公开一些实施例的码垛的控制装置的结构示意图。
图9为根据本公开另一些实施例的码垛的控制装置的结构示意图。
图10为根据本公开又一些实施例的码垛的控制装置的结构示意图。
具体实施方式
下面将结合本公开实施例中的附图，对本公开实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本公开一部分实施例，而不是全部的实施例。以下对至少一个示例性实施例的描述实际上仅仅是说明性的，决不作为对本公开及其应用或使用的任何限制。基于本公开中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本公开保护的范围。
除非另外具体说明，否则在这些实施例中阐述的部件和步骤的相对布置、数字表达式和数值不限制本公开的范围。
同时，应当明白，为了便于描述，附图中所示出的各个部分的尺寸并不是按照实际的比例关系绘制的。
对于相关领域普通技术人员已知的技术、方法和设备可能不作详细讨论，但在适当情况下，所述技术、方法和设备应当被视为授权说明书的一部分。
在这里示出和讨论的所有示例中，任何具体值应被解释为仅仅是示例性的，而不是作为限制。因此，示例性实施例的其它示例可以具有不同的值。
应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步讨论。
图1为根据本公开一些实施例的码垛的控制系统的结构图。如图1所示，该实施例的码垛的控制系统10包括码垛的控制装置11、机器人控制器12。该实施例中被码垛的物品例如可以是仓库中的货箱等等。
码垛的控制装置11用于生成移动路径信息，并将移动路径信息发送给机器人控制器12。移动路径信息用于指示机器人的端拾器、机械手等执行机构的运动路线，至少包括码放过程中机器人的执行机构抓取物品后的运动路线。
码垛的控制装置11可以为调度平台、总控制平台中的一个模块或设备，例如可以是承载工业控制编程工具(例如Codesys)的计算机或控制器。
机器人控制器12位于机器人中，或者与机器人的各个部件连接。机器人例如可以为6自由度或者4自由度串联关节机械手。机器人控制器12接收码垛的控制装置11发送的信息，并根据接收的信息来控制机器人的各个部件进行工作。在本公开的一些实施例中，机器人控制器12根据码垛的控制装置11发送的移动路径信息来指示执行机构进行移动。
在一些实施例中，码垛的控制系统10还可以包括端拾器。端拾器为机械手臂、 机械抓手等用于抓取物品并进行码放的装置，例如为包括夹爪和吸盘的装置。
在本公开的一些实施例中，采用点来表示物品的放置位置或经由位置。在一些实施例中，每个物品所对应的点可以是物品的上表面的中心点。由于端拾器的法兰中心或工具中心点(Tool Center Point，简称：TCP点)在抓取时通常对应物品的上表面的中心点，因而可以使端拾器的法兰中心与物品所对应的点具有相同的坐标。当然，根据需要，本领域技术人员也可以采用物品上的其他点来表示物品的位置。
上述实施例示例性地示出了本公开的应用场景、以及场景中的各个装置之间的交互过程。下面描述本公开一些实施例的码垛的控制方法，该实施例的方法可以是由码垛的控制装置执行的。
图2示例性地示出了根据本公开一些实施例的货物码放场景，该场景的视角为俯视码盘的视角。为了便于说明，图2中待码放物品均为同样规格的物品。
如图2所示，根据码盘和物品的尺寸大小，每个码盘能够放置9个物品。在进行码放时，需要按照一定顺序进行码放。例如，在同一层中，可以参照图2中1～9的顺序进行码放。设图2中从物品7指向物品4的方向为码盘的前方方向、从物品7指向物品8的方向为码盘右方方向，则物品在水平方向是按照从左至右、从前至后的顺序依次码放的。当码放完一层货物后，再对第二层货物按照一定的顺序依次码放，即，物品在垂直方向上是按照从下至上的顺序码放的。当然，根据需要，码盘中的货物也可以是大小不等的货物，只要在码放时按照一定的顺序进行即可。
基于上述应用场景以及类似的应用场景，本公开提出了一种码垛的控制方法。在后文的实施例中，各个物品之间的左右、前后、上下方位关系可以参考图2，后文实施例中不再一一赘述。本领域技术人员应当清楚，图2仅仅为一种示例性的码放场景，并不对本公开起任何限制性的作用。
图3为根据本公开一些实施例的码垛的控制方法的流程示意图。如图3所示，该实施例的码垛的控制方法包括步骤S302～S304。
在步骤S302中，通过将待码放物品的放置点向水平码垛方向偏移与待码放物品对应的水平偏移量、向垂直码垛方向偏移与待码放物品对应的垂直偏移量，生成待码放物品的前置点。待码放物品的放置点为预先计算或预先获取的待码放物品在码盘上的放置位置。例如，可以建立空间坐标系，以坐标来表示放置点的具体位置。
水平偏移量和垂直偏移量分别表示前置点与放置点在水平方向上和垂直方向上的距离。水平面中的各个方向均可以视为是水平方向，例如物品在水平面上的横向码 垛方向和纵向码垛方向等等。
水平偏移量可以是单一数值，即表示前置点与放置点在水平方向上的直线距离。水平偏移量还可以是由第一水平偏移量和第二水平偏移量共同构成的一组数值，即，将前置点与放置点在水平方向上的直线距离分解为在两个不同方向或维度上的距离，以便于计算和设定。
码放方向为码放顺序所指的方向，例如可以采用互相垂直的三个坐标轴的方向来表示。例如，参考图2实施例中的码放顺序，则码放方向为码盘的右方、后方和上方。则可以将放置点向上方以及右后方进行偏移，获得前置点。
在进行偏移计算时，可以将放置点、前置点量化为三维空间中的坐标，将偏移方向对应为坐标轴对应的方向、或者三维空间中的特定向量的方向，以方便计算。
此外，还可以获取待码放物品的起始点。待码放物品的起始点为机器人抓取物品时物品所在的位置。各个待码放物品的起始点可以是相同的，例如，在采用传送带运送物品时，机器人的端拾器每次都在传送带的固定位置抓取物品。根据需要，也可以设置各个待码放物品具有不同的起始点，这里不再赘述。
在步骤S304中，生成具有从待码放物品的前置点到待码放物品的放置点的直线路径的移动路径信息。移动路径信息至少包括待码放物品的移动轨迹，例如指示端拾器抓取待码放物品从坐标A移动到坐标B等等。移动路径信息包括从待码放物品的前置点沿直线运动至待码放物品的放置点的路径。
此外，移动路径信息还可以包括端拾器本身的其他移动信息和在各个位置的相关执行信息，例如包括指示端拾器在空载情况下从坐标O运动到坐标A、在坐标A抓取物品、从坐标A直线运动到坐标B的信息、运行速度信息、执行时间信息等其他信息。
在一些实施例中，移动路径信息可以指示机器人对多个物品进行连续的码放。此时，移动路径信息中可以包括：待码放物品A的起始点至待码放物品A的前置点的第一子路径，待码放物品A的前置点至待码放物品A的放置点的第二子路径，待码放物品A的放置点至待码放物品B的起始点的第三子路径。即，将一个物品放置完毕后，机器人再自动回到下一个物品的起始点来码放下一个物品。
根据需要，可以设置这三种不同类型的子路径具有不同的运动速度。在一些实施例中，可以设置第三子路径、第一子路径、第二子路径对应的运动速度依次递减，即，在空载时行进的速度最快、以提高运行效率，抓取物品下落的过程中速度最慢、以减轻降落过程对物品内货品的冲击。
由于前置点相对于放置点处于码放方向上，因此，当前的前置点周围还没有已放置的物品，从前置点到放置点的路径上也不存在已放置的物品。待码放物品的放置点和前置点之间的位置关系可以参考图4A和图4B所示的示意图，其中，图4A为俯视图，图4B为后视图。
在图4A和图4B中，已码放的物品为采用实现框表示的物品1～物品4，待码放的物品为采用实线框表示的物品5，物品5的放置点为O点、前置点为P点，虚线箭头表示物品5的运动方向，虚线框表示物品5移动后的放置位置。如图4A和图4B所示，物品5从P点运动到O点时，不会碰撞到其他物品。
上述实施例的方法通过对待码放物品的放置点进行偏移来获得待码放物品的前置点，使待码放物品在移动时能够经过前置点、并沿直线从前置点运动到放置点，从而可以实现自动化的码垛，并且在码放的过程中能够避免物品之间的碰撞，提高了码垛效率和安全性。
水平偏移量和垂直偏移量的设置方式可以有多种，下面示例性地介绍几种设置方法。
首先，介绍水平偏移量的几种设置方法。
水平偏移量可以包括第一水平偏移量和第二水平偏移量。在一些实施例中，第一水平偏移量表示在水平面上的横向码垛方向上的偏移量，第二水平偏移量表示在水平面上的纵向码垛方向上的偏移量。根据需要，本领域技术人员可以采用其他设置方式，这里不再赘述。下面参考图5A～5D，举例说明第一水平偏移量和第二水平偏移量的不同设置方法。
在图5A～5D中，待码放的物品为采用实线框表示的物品5，其他实线框表示已码放的物品，物品5的放置点为O点、前置点为P点，虚线箭头表示物品5的运动方向，虚线框表示物品5移动后的放置位置。在图5A～5D对应的实施例中，第一水平偏移量表示在水平面上的横向码垛方向上的偏移量，即向右的偏移量；第二水平偏移量表示在水平面上的纵向码垛方向上的偏移量，即向后的偏移量。
第一种设置方法为，第一水平偏移量和第二水平偏移量均为0。此时，待码放物品的前置点位于放置点的正上方。
图5A为当第一水平偏移量和第二水平偏移量均为0时货物码放场景的后视示意图。如图5A所示，可以首先将物品5移动至放置点的正上方，再令待码放物品垂直降落以完成码放。这种设置方法可以令待码放物品直接垂直下落，不论是设置还是实 现均较为简便。
第二种设置方法为，第一水平偏移量和第二水平偏移量中的一个为0、另一个不为0。下面以第一水平偏移量为0、第二水平偏移量不为0的情况进行介绍。
图5B和5C分别为第一水平偏移量为0、第二水平偏移量不为0时货物码放场景的俯视示意图和侧视示意图。在如图5B所示的俯视的视角中，物品X向正前方向运动；在如图5C所示的侧视视角中，物品X斜向下前方运动。这种设置方法可以令物品到达前置点后进行更平缓的转折，使运动轨迹更加平滑连贯，减小了机器人的操作压力。
第三种设置方法为，第一水平偏移量和第二水平偏移量均不为0。
图5D为第一水平偏移量和第二水平偏移量均不为0时货物码放场景的俯视示意图。在如图5D所示的俯视视角中，物品X斜向运动到放置点。在一些实施例中，还可以令第一水平偏移量等于第二水平偏移量。从而可以使待码放物品在运动过程中与水平面上两个码放方向的物品的距离是相等的。
在实际的应用场景中，由于设备的精度或操作的误差问题，可能使物品的实际放置位置与预设的放置点有小幅度的偏差。而上述第三种设置方法能够在码垛存在误差的情况下仍然避免发生碰撞。
图5E和5F是物品摆放存在误差的情况下水平偏移量的不同设置方式的示意图。在图5E和5F中，使用物品1～4标注的实线框为已码放的物品1～4实际放置的位置，使用虚线框表示物品2和4应当放置的位置；待码放物品5采用实线框表示，其放置点为O点、前置点为P点。
在图5E中，第一水平偏移量为0、第二水平偏移量不为0。即，在俯视视角中，物品5向正前方运动。当货箱码放无误差时，物品5可以顺利地运动到放置点；而当货箱码放有误差时，当物品5运动至图示位置以后再向前运动时，物品5可能会与物品4发生碰撞。
在图5F中，第一水平偏移量和第二水平偏移量均不为0。即，在俯视视角中，物品X向左前方进行斜线运动。此时，即使物品1～4的码放有误差，物品X在移动的过程中也不会与物品1～4发生边角的碰撞。并且，当物品X到达放置点附近并与物品2和4进行接触时，还可能会推动物品2和4以及其他邻近的物品进行轻微的移动，以使已码放的物品更接近其应当放置的位置。
因此，通过设置第一水平偏移量和第二水平偏移量均不为0，不仅能够使运动轨 迹更加平滑连贯，还能够在码垛存在误差的场景下进一步地防止物品碰撞。
水平偏移量和垂直偏移量还可以根据物品的尺寸以及放置情况来设置。下面参考图6描述本公开一些实施例的偏移量设置方法。
图6为根据本公开一些实施例的偏移量设置方法的流程示意图。如图6所示，该实施例的偏移量设置方法包括步骤S602～S606。
在步骤S602中，获取物品的尺寸和当前码垛高度，尺寸包括物品在横向码垛方向上的长度和在纵向码垛方向上的长度。即，获取物品的长、宽和高。
在步骤S604中，将待码放物品在水平面上的横向码垛方向上的长度与预设的取值比例的乘积确定为第一水平偏移量。
在步骤S606中，将待码放物品在水平面上的纵向码垛方向上的长度与预设的取值比例的乘积确定为第二水平偏移量。
在一些实施例中，预设的取值比例可以为0.5～1，从而使物品在移动到前置点时不会占用太多的额外空间、并与已放置的物品保持一定的安全距离以避免碰撞。
在步骤S608中，根据放置点距离垛盘的高度确定垂直偏移量。
垂直偏移量可以与放置点距离垛盘的高度成负相关关系。即，物品码放得越高，前置点与放置点之间的高度差越小。当物品码放得较低时，可以很容易地将待码放物品举升得很高。而当物品以及累放到一定高度时，可以减小前置点与放置点之间的高度差，以减轻机器人进行举升操作时的时间以及负担。
通过上述实施例的方法，可以根据物品的尺寸自动地确定水平偏移量，以及根据物品的码放高度自动地确定垂直偏移量，既能够提高码放效率，又能够节约码放时占用的空间、减小机器人的工作负担。
根据需要，本领域技术人员可以选择上述实施例中的部分步骤执行，例如，仅采用步骤S602和S604确定第一水平偏移量、或者仅采用步骤S602和S606确定第二水平偏移量、或者仅采用步骤S602和S608确定垂直偏移量等等，这里不再赘述。
本公开还可以采用坐标偏移的方式自动计算每个待码放物品的放置点。在一些实施例中，可以首先确定码盘的同一层中首个待码放物品的放置点，再依次根据同一层中每个已确定的待码放物品的放置点及相应待码放物品的尺寸获得相邻待码放物品的放置点，直到相邻待码放物品的边缘超出码盘边缘为止。下面参考图7描述本公开一些实施例的放置点坐标确定方法。该实施例的方法适用于对具有同样尺寸的物品的码放。
图7为根据本公开一些实施例的放置点坐标确定方法的流程示意图。如图7所示，该实施例的放置点坐标确定方法包括步骤S702～S714
在步骤S702中，获取码盘的尺寸，码盘的尺寸包括码盘的长度和宽度。
在步骤S704中，确定码盘的同一层中首个待码放物品的放置点坐标。
在步骤S706中，将上一个已确定的物品放置点向横向码放方向偏移，偏移长度为物品的长度，以获得新的物品放置点。
在步骤S708中，在将新确定的物品放置点向横向码放方向偏移0.5倍的物品长度后未超出码盘边缘的情况下，重复执行步骤S706。即，在该行中码放的物品边缘未超出码盘的边缘的情况下继续在横向码放方向上进行码放。
在步骤S710中，将上一行物品中的首个待码放物品的放置点向纵向码放方向偏移，获得当前行的首个待码放物品的放置点，偏移长度为物品的宽度。
然后，对于每一行物品，均可以采用前述偏移方法确定同一行中每个物品的位置。
在步骤S712中，在将新确定的物品放置点向纵向码放方向偏移0.5倍的物品宽度后未超出码盘边缘的情况下，执行步骤S706～S708。即，在该列中码放的物品边缘未超出码盘的边缘的情况下继续在水平纵向码放方向上进行码放。
在步骤S714中，结束该层的码放。
通过上述实施例的方法，可以自动地确定码盘中每个物品的放置点坐标，从而提高了码放效率。
对于具有同样长度和同样高度的物品的码放、以及对于具有同样宽度和同样高度的物品的码放均可以参考上述实施例，区别仅在于进行偏移时的偏移量大小。例如，对于具有同样宽度和同样高度的物品的码放，在执行步骤S706的横向偏移时，确定了物品A的放置点后，在确定与物品A的横向相邻的物品B的放置点时，偏移量为物品A和B的长度之和的一半。从而，本公开也可以适用于规格尺寸不完全相同的物品的码放。
下面参考图8A描述本公开一些实施例的码垛的控制装置。
图8A为根据本公开一些实施例的码垛的控制装置的结构示意图。如图8A所示，该实施例的码垛的控制装置81包括前置点生成模块811，被配置为通过将待码放物品的放置点向水平码垛方向偏移与待码放物品对应的水平偏移量、向垂直码垛方向偏移与待码放物品对应的垂直偏移量，生成待码放物品的前置点；轨迹生成模块812，被配置为生成具有从待码放物品的前置点到待码放物品的放置点的直线路径的移动路 径信息。
水平偏移量可以包括第一水平偏移量和第二水平偏移量，其中，第一水平偏移量表示在水平面上的横向码垛方向上的偏移量，第二水平偏移量表示在水平面上的纵向码垛方向上的偏移量。
在一些实施例中，第一水平偏移量可以是待码放物品在横向码垛方向上的长度与预设的取值比例的乘积。
在一些实施例中，第二水平偏移量可以是待码放物品在纵向码垛方向上的长度与预设的取值比例的乘积。
在一些实施例中，垂直偏移量可以与放置点距离垛盘的高度成负相关关系。
在一些实施例中，轨迹生成模块812可以进一步为多个待码放物品生成移动路径信息，其中，移动路径信息中还包括待码放物品的起始点至该待码放物品的前置点的路径或者待码放物品的放置点至另一个待码放物品的起始点的路径。
下面参考图8B描述本公开另一些实施例的码垛的控制装置。
图8B为根据本公开另一些实施例的码垛的控制装置的结构示意图。如图8B所示，该实施例的码垛的控制装置82包括前置点生成模块821和轨迹生成模块822，前置点生成模块821和轨迹生成模块822的具体实施方式可以参考图8A实施例中的前置点生成模块811和轨迹生成模块812，这里不再赘述。此外，该实施例的码垛控制的装置82还可以包括放置点确定模块823，被配置为依次根据同一层中每个已确定的待码放物品的放置点及相应待码放物品的尺寸获得相邻待码放物品的放置点，直到相邻待码放物品的边缘超出码盘边缘为止。
此外，本公开实施例提供的码垛的控制装置还可以包括I/O监控模块、缓存区等等。I/O控制模块被配置为检测端拾器的气缸位置、采集气压传感器数据等等，以用于了解端拾器的当前状态。缓存区用于存储各个待码放物品的起始点、放置点、前置点等信息。
图9为根据本公开另一些实施例的码垛的控制装置的结构图。如图9所示，该实施例的装置900包括：存储器910以及耦接至该存储器910的处理器920，处理器920被配置为基于存储在存储器910中的指令，执行前述任意一些实施例中的码垛的控制方法。
其中，存储器910例如可以包括系统存储器、固定非易失性存储介质等。系统存储器例如存储有操作系统、应用程序、引导装载程序(Boot Loader)以及其他程序等。
图10为根据本公开又一些实施例的码垛的控制装置的结构图。如图10所示，该实施例的装置1000包括：存储器1010以及处理器1020，还可以包括输入输出接口1030、网络接口1040、存储接口1050等。这些接口1030，1040，1050以及存储器1010和处理器1020之间例如可以通过总线1060连接。其中，输入输出接口1030为显示器、鼠标、键盘、触摸屏等输入输出设备提供连接接口。网络接口1040为各种联网设备提供连接接口。存储接口1050为SD卡、U盘等外置存储设备提供连接接口。
本公开的实施例还提供一种计算机可读存储介质，其上存储有计算机程序，其中，该程序被处理器执行时实现前述任意一种码垛的控制方法。
本领域内的技术人员应当明白，本公开的实施例可提供为方法、系统、或计算机程序产品。因此，本公开可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本公开可采用在一个或多个其中包含有计算机可用程序代码的计算机可用非瞬时性存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本公开是参照根据本公开实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解为可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
以上所述仅为本公开的较佳实施例，并不用以限制本公开，凡在本公开的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本公开的保护范围之内。

Claims (15)

  1. 一种码垛的控制装置，包括：
    前置点生成模块，被配置为通过将待码放物品的放置点向水平码垛方向偏移与待码放物品对应的水平偏移量、向垂直码垛方向偏移与待码放物品对应的垂直偏移量，生成待码放物品的前置点；
    轨迹生成模块，被配置为生成具有从待码放物品的前置点到待码放物品的放置点的直线路径的移动路径信息。
  2. 根据权利要求1所述的控制装置，还包括：
    放置点确定模块，被配置为依次根据同一层中每个已确定的待码放物品的放置点及相应待码放物品的尺寸获得相邻待码放物品的放置点，直到所述相邻待码放物品的边缘超出码盘边缘为止。
  3. 根据权利要求1所述的控制装置，其中，所述水平偏移量包括第一水平偏移量和第二水平偏移量，所述第一水平偏移量表示在水平面上的横向码垛方向上的偏移量，所述第二水平偏移量表示在水平面上的纵向码垛方向上的偏移量。
  4. 根据权利要求3所述的控制装置，其中，
    所述第一水平偏移量是待码放物品在所述横向码垛方向上的长度与预设的取值比例的乘积；或者，
    所述第二水平偏移量是待码放物品在所述纵向码垛方向上的长度与预设的取值比例的乘积。
  5. 根据权利要求1所述的控制装置，其中，所述垂直偏移量与所述放置点距离垛盘的高度成负相关关系。
  6. 根据权利要求1～5中任一项所述的控制装置，其中，所述轨迹生成模块进一步为多个待码放物品生成移动路径信息，所述移动路径信息中还包括待码放物品的起始点至所述待码放物品的前置点的路径或者所述待码放物品的放置点至另一个待码放 物品的起始点的路径。
  7. 一种码垛的控制系统，包括：
    权利要求1～6中任一项所述的码垛的控制装置；和
    机器人控制器，被配置为指示机器人根据所述码垛的控制装置生成的移动路径信息码放物品。
  8. 一种码垛的控制方法，包括：
    通过将待码放物品的放置点向水平码垛方向偏移与待码放物品对应的水平偏移量、向垂直码垛方向偏移与待码放物品对应的垂直偏移量，生成待码放物品的前置点；
    生成具有从待码放物品的前置点到待码放物品的放置点的直线路径的移动路径信息。
  9. 根据权利要求8所述的控制方法，还包括：
    依次根据同一层中每个已确定的待码放物品的放置点及相应待码放物品的尺寸获得相邻待码放物品的放置点，直到所述相邻待码放物品的边缘超出码盘边缘为止。
  10. 根据权利要求8所述的控制方法，其中，所述水平偏移量包括第一水平偏移量和第二水平偏移量，所述第一水平偏移量表示在水平面上的横向码垛方向上的偏移量，所述第二水平偏移量表示在水平面上的纵向码垛方向上的偏移量。
  11. 根据权利要求10所述的控制方法，其中，
    所述第一水平偏移量是待码放物品在所述横向码垛方向上的长度与预设的取值比例的乘积；或者，
    所述第二水平偏移量是待码放物品在所述纵向码垛方向上的长度与预设的取值比例的乘积。
  12. 根据权利要求8所述的控制方法，其中，所述垂直偏移量与所述放置点距离垛盘的高度成负相关关系。
  13. 根据权利要求8所述的控制方法，其中，所述根据待码放物品的放置点和前置点生成移动路径信息包括：
    为多个待码放物品生成移动路径信息，所述移动路径信息中还包括待码放物品的起始点至所述待码放物品的前置点的路径或者所述待码放物品的放置点至另一个待码放物品的起始点的路径。
  14. 一种码垛的控制装置，包括：
    存储器；以及
    耦接至所述存储器的处理器，所述处理器被配置为基于存储在所述存储器中的指令，执行如权利要求8-13中任一项所述的码垛的控制方法。
  15. 一种计算机可读存储介质，其上存储有计算机程序，其中，该程序被处理器执行时实现权利要求8-13中任一项所述的码垛的控制方法。
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