Robot stacking planning method based on negative multinomial distribution

The invention provides a robot stacking planning method based on negative multinomial distribution, and the method comprises the following steps: extracting workpiece stacking characteristic parameters, and constructing a workpiece arrival probability model; an objective function is constructed in combination with actual demands, and an optimization model of the workpiece arrival probability is formed; solving the optimization model, and determining an optimal solution of the inequality group; and according to the optimal solution of the inequality group, stacking baskets and RGVs are added. According to the invention, the robot stacking and basketing of a plurality of workpieces can be economically realized by utilizing the existing production conditions. 本发明提供了一种基于负多项分布的机器人码垛规划方法，包括以下步骤：提取工件码垛的特征参数，构建工件到来的概率模型；结合实际需求构建目标函数，形成工件到来概率的最优化模型；求解最优化模型，确定不等式组的最优解；根据不等式组的最优解，增加码垛筐和RGV小车。本发明可以利用现有生产条件经济地实现多个工件的机器人码垛、装筐。