Abstract: The present disclosure discloses a method and apparatus for motion planning of a robot, a method and apparatus for path planning of a robot, and a method and apparatus for grasping of a robot. The method includes: when the robot operates on an object to be operated, performing, in combination with a space model of a real scene where the object is located, collision detection on the object and a collision subject in the space model; and determining a motion planning scheme for the robot corresponding to a result of the collision detection based on collision sensitivity of the object and collision sensitivity of the collision subject, the motion planning scheme being formed by the robot operating on the object.

Abstract: The present disclosure provides a modulation method, apparatus, and system for imaging scanning signal synchronization. The method includes: transmitting control signals, wherein the control signals include a galvanometer driving signal, a laser scanning signal, and a camera exposure signal, the galvanometer driving signal and the camera exposure signal have a same period, and the laser scanning signal enables laser to be emitted for N times within time for enabling positive oscillation of a galvanometer in one period of the galvanometer driving signal; measuring an actual signal waveform of the galvanometer, and obtaining a noise-reduced waveform by filtering and de-noising the actual signal waveform; performing a waveform comparison detection on the noise-reduced waveform and a corresponding control waveform for the galvanometer driving signal to obtain a waveform deviation; and adjusting the control signals based on the waveform deviation and transmitting the adjusted control signals.

Abstract: Provided are a tray space planning method and a palletizing method thereof. The space planning method of the present disclosure can increase a utilization rate of the tray space when a size of a filling material for filing the tray matches a size of the tray by a non-integer multiple. The palletizing method based on the related space planning method, in addition to improving a utilization rate of the tray, can avoid a collision between the current filling material and other filling materials, while ensuring that the filling material approaches in a shortest path based on palletizing at a highest space utilization rate.

Abstract: Provided is a fixing device for line laser output. The device includes a laser beam expander having: a laser via hole defined in an axial direction thereof; an emitter embedding groove disposed at a laser entry end of the laser via hole, the emitter embedding groove having a peripheral wall coaxial with a peripheral wall of the laser via hole, and a bottom wall perpendicular to the peripheral wall of the laser via hole; and a Powell lens embedding groove disposed at a laser exit end of the laser via hole, the Powell lens embedding groove having a peripheral wall coaxial with the peripheral wall of the laser via hole, and a bottom wall perpendicular to the peripheral wall of the laser via hole.

Abstract: Provided is a fixing device for line laser output. The device includes a laser beam expander having: a laser via hole defined in an axial direction thereof; an emitter embedding groove disposed at a laser entry end of the laser via hole, the emitter embedding groove having a peripheral wall coaxial with a peripheral wall of the laser via hole, and a bottom wall perpendicular to the peripheral wall of the laser via hole; and a Powell lens embedding groove disposed at a laser exit end of the laser via hole, the Powell lens embedding groove having a peripheral wall coaxial with the peripheral wall of the laser via hole, and a bottom wall perpendicular to the peripheral wall of the laser via hole.

Abstract: Provided are a tray space planning method and a palletizing method thereof. The space planning method of the present disclosure can increase a utilization rate of the tray space when a size of a filling material for filing the tray matches a size of the tray by a non-integer multiple. The palletizing method based on the related space planning method, in addition to improving a utilization rate of the tray, can avoid a collision between the current filling material and other filling materials, while ensuring that the filling material approaches in a shortest path based on palletizing at a highest space utilization rate.

Abstract: The present disclosure provides a modulation method, apparatus, and system for imaging scanning signal synchronization. The method includes: transmitting control signals, wherein the control signals include a galvanometer driving signal, a laser scanning signal, and a camera exposure signal, the galvanometer driving signal and the camera exposure signal have a same period, and the laser scanning signal enables laser to be emitted for N times within time for enabling positive oscillation of a galvanometer in one period of the galvanometer driving signal; measuring an actual signal waveform of the galvanometer, and obtaining a noise-reduced waveform by filtering and de-noising the actual signal waveform; performing a waveform comparison detection on the noise-reduced waveform and a corresponding control waveform for the galvanometer driving signal to obtain a waveform deviation; and adjusting the control signals based on the waveform deviation and transmitting the adjusted control signals.

Abstract: The present disclosure discloses a method and apparatus for motion planning of a robot, a method and apparatus for path planning of a robot, and a method and apparatus for grasping of a robot. The method includes: when the robot operates on an object to be operated, performing, in combination with a space model of a real scene where the object is located, collision detection on the object and a collision subject in the space model; and determining a motion planning scheme for the robot corresponding to a result of the collision detection based on collision sensitivity of the object and collision sensitivity of the collision subject, the motion planning scheme being formed by the robot operating on the object.