Title:
METHOD AND DEVICE FOR DETERMINING POSITION INFORMATION ABOUT STACKING POINT, AND ROBOT
Document Type and Number:
WIPO Patent Application WO/2018/120210
Kind Code:
A1
Abstract:
Disclosed are a method and device for determining position information about a stacking point, and a robot. The method comprises: determining a first transformation matrix between an original stacking coordinate system bound with a pallet, and a world coordinate system of a robot (S100); according to position information about a taught stacking point under the original stacking coordinate system, and a position relationship between the first transformation matrix and the world coordinate system, obtaining first position information about the taught stacking point under the world coordinate system, and determining first position information about other stacking points on the pallet (S110); determining a new stacking coordinate system of the moved pallet, and determining a second transformation matrix between the new stacking coordinate system and the world coordinate system (S120); and obtaining, according to the first transformation matrix and the second transformation matrix, a third transformation matrix, and using the third transformation matrix to obtain position information about a moved stacking point under the world coordinate system (S130). When a pallet moves, it is unnecessary to teach a stacking point again, so a large amount of time can be saved, and the efficiency of a stacking production line can be improved.
Inventors:
WANG CHUNXIAO (CN)
Application Number:
PCT/CN2016/113917
Publication Date:
July 05, 2018
Filing Date:
December 30, 2016
Export Citation:
Assignee:
SHENZHEN A & E SMART INST CO LTD (CN)
International Classes:
G01B5/00
Foreign References:
| CN105066831A | 2015-11-18 | |||
| US20140200712A1 | 2014-07-17 | |||
| CN104570735A | 2015-04-29 | |||
| CN105217324A | 2016-01-06 | |||
| CN104331894A | 2015-02-04 |
Attorney, Agent or Firm:
UNITALEN ATTORNEYS AT LAW (CN)
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