Palletizing method, device and electronic equipment based on pallet space planning results

Abstract

The present application discloses a palletizing method and device based on the results of pallet space planning, wherein the space planning method and device iteratively segment the model image of the pallet space in multiple cycles, and determine the cycle process with the largest number of segmentation results as the optimal planning, which can improve the utilization rate of the pallet space when the size of the filling material filling the pallet matches the non-integer multiple of the pallet size. The palletizing method and device based on the relevant space planning method, on the basis of improving the utilization rate of the pallet, determine the approaching area of ​​the pallet according to the results of the optimal planning, and after the filling material enters the approaching area, determine the approaching path according to the segmented area entered by the filling material and the approaching area, on the basis of palletizing with the highest space utilization, ensure that the filling material approaches with the shortest path while avoiding the collision between the current filling material and other filling materials, thereby ensuring the safety of the filling material during the stacking of the filling material.

Description

[0001] Description of the case

[0002] This application is a divisional application of invention patent application CN 202010485758.4, filed on June 1, 2020, entitled “Pallet space planning method, palletizing method and device thereof, and electronic equipment”. Technical Field

[0003] The present invention relates to the technical field of intelligent robots, and in particular to a pallet space planning method, a palletizing method and a device thereof, and electronic equipment. Background Art

[0004] In the related art, a stacking robot automatically stacks the transported materials so that a transport robot can transport them, thereby achieving the purpose of automatic transportation.

[0005] However, the palletizing method of the related art is based on a relatively simple pallet type planning method, which is mostly manually arranged and planned by operators. The planned pallet type is single and cannot adapt to the situation where the pallet size and the filling material size are not matched in integer multiples, which is very common in real applications. For the above-mentioned non-integer multiple matching situation, if the planning method based on the existing technology is used, it is easy to cause the problem of unreasonable pallet space planning and low space utilization. Summary of the invention

[0006] The purpose of this application is to solve one of the above-mentioned technical problems at least to a certain extent.

[0007] To this end, the first objective of this application is to propose a pallet space planning method.

[0008] The second objective of this application is to propose a palletizing method based on pallet space planning results.

[0009] The third objective of the present application is to provide a pallet space planning device.

[0010] The fourth objective of the present application is to propose a palletizing device based on pallet space planning results.

[0011] A fifth objective of the present application is to provide an electronic device.

[0012] A sixth object of the present application is to provide a computer-readable storage medium.

[0013] The first object of the present application proposes a pallet space planning method, which performs simulation planning based on the modeling of the pallet space, and the method comprises:

[0014] Step S1: based on the segmentation lines of various shapes, the model image of the pallet space is segmented iteratively in multiple cycles, wherein: any one of the segmentation lines of various shapes matches the edge of the filling surface of the filling material that needs to fill the pallet space and includes a folded angle that matches the edge of the filling surface; in a single cycle: the segmentation lines of any shapes are used as the basis for the initial segmentation of the iterative segmentation to perform the first segmentation on the model image of the pallet space, and the remaining segmentations are segmented based on the segmentation lines of any shapes on the basis of the image of the previous segmentation result; if in a certain iteration, the spatial area of ​​a certain segmentation result of the previous segmentation is smaller than the filling surface of the filling material, the iterative segmentation of the segmentation result is stopped; until all iterative segmentations are stopped, the single cycle ends; in different cycles, the segmentation line sequences are different, and the segmentation positions of each segmentation line are different, wherein the segmentation lines referenced by the iterative segmentation in the single cycle follow the corresponding segmentation line sequences and are segmented at a certain position in the spatial area of ​​the corresponding segmentation result; Step S2: based on the number of segmentation results corresponding to each cycle at the end of each cycle, the maximum number is selected;

[0015] Step S3: According to the maximum number, determine that the corresponding cycle process is the optimal plan.

[0016] Optionally, in the single cycle of step S1, the remaining segmentations are performed based on the image of the previous segmentation result and based on segmentation lines of arbitrary shapes, including:

[0017] The image of the previous segmentation result is segmented at any segmentation position in the spatial region corresponding to the image based on a segmentation line of any shape.

[0018] Optionally, the single cycle of step S1 further includes:

[0019] For any segmentation line and segmentation position based on which segmentation is performed in an iterative segmentation, the average number of segmentation results in the cycle generated by all segmentations based on the segmentation line and segmentation position before the iterative segmentation is recorded;

[0020] The segmentation based on the segmentation line of any shape is performed at any segmentation position in the space area corresponding to the image of the previous segmentation result, including:

[0021] The spatial area corresponding to the image of the previous segmentation result is segmented using the segmentation line and its segmentation position with the largest average number of segmentation results in the cycle.

[0022] Optionally, after step S3, the method further includes:

[0023] The filling surface image of the filling surface is embedded in each space area corresponding to the optimal planning result, and is translated in a preset direction in the pallet space to be compacted to obtain a minimum area.

[0024] Optionally, the method further comprises:

[0025] In the minimum area, each compacted filling surface image is moved toward the edge of the minimum area; and / or the result after moving toward the edge of the minimum area is rotated or mirrored.

[0026] Optionally, the method further comprises:

[0027] According to the maximum number, determine whether there is a target planning result with the same number of spatial areas matching the filling surface in the preset Tianzi-shaped planning or the preset windmill-shaped planning, and the overall area size of the target planning result is not greater than the overall area size of the result of the optimal planning, wherein the number of spatial areas of the windmill-shaped planning includes an integer multiple of 4;

[0028] If so, the optimal plan is updated according to the planning method corresponding to the target planning result in the preset corresponding type of planning.

[0029] The second object of the present application is to provide a palletizing method based on pallet space planning results, the method comprising:

[0030] Determining an impending area surrounding the overall area based on an overall size of the overall area of ​​the spatial planning result and an area size of each segmented area in the spatial planning result;

[0031] When the filling material stacked in the corresponding segmented area enters the approaching area based on the pre-planned stacking path, the approaching path of the filling material is determined according to the entry point of the filling material and the center point of the entered segmented area.

[0032] Optionally, the determining the impending area surrounding the overall area based on the overall size of the overall area of ​​the spatial planning result and the area size of each segmented area in the spatial planning result includes:

[0033] Determining an outward expansion value according to a diagonal of the area size;

[0034] The overall area is expanded according to the expansion value.

[0035] The third object of the present application is to provide a pallet space planning device, which performs simulation planning based on the modeling of the pallet space, and the device includes:

[0036] A segmentation module, for iteratively segmenting the model image of the pallet space in multiple cycles based on segmentation lines of various shapes, wherein: any one of the segmentation lines of various shapes matches the edge of the filling surface of the filling material that needs to fill the pallet space and includes a folded angle that matches the edge of the filling surface; in a single cycle: the segmentation lines of any shapes are used as the basis for the initial segmentation of the iterative segmentation to perform the first segmentation on the model image of the pallet space, and the remaining segmentations are performed based on the image of the previous segmentation result and based on the segmentation lines of any shapes; if in a certain iteration, the spatial area of ​​a certain segmentation result of the previous segmentation is smaller than the filling surface of the filling material, the iterative segmentation of the segmentation result is stopped; until all iterative segmentations are stopped, the single cycle ends; in different cycles, the segmentation line sequences are different, and the segmentation positions of each segmentation line are different, wherein the segmentation lines referenced by the iterative segmentation in the single cycle follow the corresponding segmentation line sequences and perform segmentation at a certain position in the spatial area of ​​the corresponding segmentation result;

[0037] A selection module is used to select the maximum number of segmentation results corresponding to each cycle at the end of each cycle;

[0038] The planning module determines that the corresponding cycle process is the optimal planning according to the maximum number.

[0039] Optionally, the segmentation module includes:

[0040] The segmentation unit is used to segment the image of the previous segmentation result at any segmentation position in the space area corresponding to the image based on a segmentation line of any shape.

[0041] Optionally, the segmentation module further includes:

[0042] A recording module is used to record, for any iterative segmentation based on a segmentation line and its segmentation position, the average number of segmentation results within a cycle generated by all segmentations based on the segmentation line and its segmentation position before this iterative segmentation, so that the segmentation module can be further used to segment the spatial area corresponding to the image of the previous segmentation result based on the segmentation line and its segmentation position with the largest average number of segmentation results within the cycle.

[0043] Optionally, the device further comprises:

[0044] The compression module is used to embed the filling surface image of the filling surface into each space area corresponding to the optimal planning result, and translate it in a preset direction in the tray space to make it compact and obtain the minimum area.

[0045] Optionally, the device further comprises:

[0046] The processing module is used to move the compacted filling surface images to the edge of the minimum area within the minimum area; and / or to rotate or mirror the result after moving to the edge of the minimum area.

[0047] Optionally, the device further comprises:

[0048] A judgment module, used for judging, according to the maximum number, whether there is a target planning result with the same number of spatial areas matching the filling surface in a preset Tianzi-shaped planning or a preset windmill-shaped planning, and the overall area size of the target planning result is not greater than the overall area size of the result of the optimal planning, wherein the number of spatial areas of the windmill-shaped planning includes an integer multiple of 4;

[0049] The adjustment module is used to update the optimal plan according to the planning method corresponding to the target planning result in the preset corresponding type of planning when there are target planning results of the same number of spatial areas and the overall area size of the target planning results is not greater than the overall area size of the result of the optimal plan, and adjust the updated optimal plan according to the length and width of the filling surface image.

[0050] The fourth object of the present application is to provide a palletizing device based on a pallet space planning result, comprising:

[0051] A determination module, configured to determine an impending area surrounding the overall area based on an overall size of the overall area of ​​the spatial planning result and an area size of each segmented area in the spatial planning result;

[0052] The palletizing module is used to determine the approaching path of the filling material according to the entry point of the filling material and the center point of the entered segmented area when the filling material stacked to the corresponding segmented area enters the approaching area based on the pre-planned palletizing path.

[0053] Optionally, the determining module includes:

[0054] An acquisition unit, configured to determine an outward expansion value according to a diagonal of the area size;

[0055] An expansion unit is used to expand the overall area according to the expansion value.

[0056] The fifth purpose of the present application provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the pallet space planning method provided by the first purpose of the present application is implemented, or the palletizing method based on the pallet space planning result provided by the second purpose of the present application is implemented.

[0057] The sixth object of the present application is to provide a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the pallet space planning method provided by the first object of the present application is implemented, or the palletizing method based on the pallet space planning result provided by the second object of the present application is implemented.

[0058] The space planning method and device disclosed in the present application iteratively segment the model image of the pallet space in multiple cycles, and determine the cycle process with the largest number of segmentation results as the optimal planning. It can improve the utilization rate of the pallet space when the size of the filling material filling the pallet does not match the pallet size in an integer multiple.

[0059] The palletizing method and device based on the relevant space planning method, on the basis of improving the utilization rate of the pallet, determine the approaching area of ​​the palletizing according to the result of the optimal planning, and after the filling material enters the approaching area, determine the approaching path according to the segmented area entered by the filling material and the approaching area. On the basis of palletizing with the highest space utilization rate, it ensures that the filling material approaches with the shortest path while avoiding the collision between the current filling material and other filling materials, thereby ensuring the safety of the filling material in the process of stacking the filling material and the safety of the robot palletizing operation process, thereby improving the intelligence level of the robot industrial operation.

[0060] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0062] Figure 1 A flowchart of a pallet space planning method provided in an embodiment of the present application;

[0063] Figure 1b A dividing line provided in an embodiment of the present application;

[0064] Figure 2 This is an example diagram of a segmentation result of an embodiment of the present application;

[0065] Figure 3a A flowchart of another pallet space planning method provided in an embodiment of the present application;

[0066] Figure 3b A schematic diagram of a filling surface according to an embodiment of the present application;

[0067] Figure 4 - FIG. 6 is an example diagram of different segmentation results according to an embodiment of the present application;

[0068] Figure 7 This is a flow chart of the palletizing method according to an embodiment of the present application;

[0069] Figure 8 Schematic diagram of the optimal planning result;

[0070] Fig. 9 A schematic diagram of an approaching area according to an embodiment of the present application;

[0071] Fig.10 This is an example diagram of a pallet space planning device according to an embodiment of the present application;

[0072] Fig.11 This is an example diagram of a palletizing device based on a pallet space planning method according to an embodiment of the present application;

[0073] Fig.12 A schematic diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0074] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0075] The following describes the pallet space planning method, palletizing method and device of the embodiments of the present application with reference to the accompanying drawings.

[0076] In the first aspect, the present invention introduces a method for pallet space planning, which is based on space modeling and performs multiple cycles of simulation operations on the modeled images of the relevant space to obtain corresponding results.

[0077] In some embodiments, robot palletizing is performed based on the planning results of pallet space planning, and pallet space planning is defined as a process of segmenting corresponding operations based on the modeling of the pallet space for a material to be stacked by the robot to fill the pallet space. Executing this process is the process of generating the corresponding pallet type to be filled; the best plan obtained by executing this process corresponds to the generation method of the generated optimal pallet type; the result of the best plan is the modeling of the segmented pallet space, which includes the segmented areas, i.e., the shape of the optimal pallet type. In some embodiments, the above-mentioned robot can be a robot arm, or other robots with the function of carrying objects.

[0078] Of course, in other embodiments, the pallet space planning method can be applied to other scenarios besides robot palletizing, such as the placement of items of the same specification based on pallets.

[0079] Figure 1A flow chart of a pallet space planning method provided for an embodiment of the present application. It should be noted that the executor of the pallet space planning method of the present embodiment may be a pallet space planning device, which is configured in an electronic device. For a description of the pallet space planning device and the electronic device, please refer to the subsequent embodiments. The electronic device may include but is not limited to a terminal device, a server, etc., which is not limited in the present application.

[0080] Alternatively, if Figure 1 The pallet space planning method may include:

[0081] In step S1, based on the segmentation lines of each shape, the model image of the tray space is segmented iteratively in multiple cycles.

[0082] In some embodiments, in order to solve the problem of underutilization of pallet space in related technologies, embodiments of the present application provide a pallet space planning method, which simulates space planning of actual pallets through a model established on an electronic device to obtain a pallet space planning result. The planning can be performed through a simulation platform for pallet space modeling installed on the electronic device.

[0083] In some embodiments, when performing iterative segmentation, it is performed based on a modeling model of the tray space, and the model is highly consistent with the actual space of the tray.

[0084] It can be understood that the segmentation of a certain thing is a one-time operation. After a thing is segmented in a certain way, it is no longer possible to segment the thing in the same state in another way. Therefore, when operating in different segmentation methods in different cycles, it can be based on the image of the model. The same model can include multiple images, and each image is highly consistent with the model to which it corresponds, so that the effect of segmenting the same model in method A, method B, and method C can be achieved. Therefore, in some embodiments, the segmentation operation performed in different segmentation methods in different cycles is an operation performed on the model image.

[0085] In some embodiments, the shape of the dividing line matches the edge shape of the filling material that will fill the pallet space. For example, if the filling material is a box, the dividing line can match the two intersecting edges of the box to form an L shape, or the dividing line can match the two intersecting edges of the box and also match the reverse extension line of the third edge that is in the same plane as the two aforementioned edges to form a L shape. Figure 1b Various step shapes shown.

[0086] In other embodiments, the filling material may also be in a trapezoidal, triangular, or other irregular shapes.

[0087] In some embodiments, the filling materials have the same size and shape, that is, if a material is determined, then in subsequent iterations and cycles, the shape of the dividing line is determined based on the determined material.

[0088] In some embodiments, iterative segmentation is a process of performing another segmentation based on the result of the previous segmentation. Each iterative segmentation can be based on the same segmentation line or different segmentation lines, can be based on segmentation lines of the same posture or different postures, can be segmented at the same position in the area corresponding to the previous result, or can be segmented at different positions in the area corresponding to the previous result. The position can be a relative position based on a reference point in the relevant area, or can be a plurality of fixed positions in the relevant area pre-divided in the model image. This embodiment does not make specific limitations on the above related content. When the iterative segmentation satisfies the conditions for the end of the iteration, the iteration ends. For an illustrative embodiment of the conditions for the end of the iteration, please see the relevant description below.

[0089] In some embodiments, the first segmentation is followed by multiple iterative segmentations, and then the segmentation is stopped when the iterative exit condition is met. This process is called a cycle. In some embodiments, in different cycles, the shapes of the segmentation lines based on each iteration are different; in some embodiments, in different cycles, the positions of the segmentation based on the segmentation lines for each iteration are different. In some embodiments, the above-mentioned differences can be reflected as completely different or partially different.

[0090] For the convenience of explanation, in the subsequent embodiments, the dividing line shapes based on different iterations in one cycle and the order formed by multiple iterations are called dividing line sequences. However, it should be understood that the dividing line sequence is only a name for the dividing line shapes based on each iteration in one cycle and the order in which the dividing is performed based on the relevant dividing line shapes in multiple iterations in the relevant illustrative embodiments, and the name does not mean that the relevant process in the relevant embodiment pre-sets the dividing line shape and order.

[0091] Optionally, the filling material can be any object that can be manipulated by the robot, such as boxes, industrial parts, small entities, logistics packages, various types of packaging, packaging boxes, etc., so that the relevant materials fill the various divided areas formed by the space planning. This application does not specifically limit the filling material.

[0092] In some embodiments, the model of the tray space may be a two-dimensional plane model, such as a plane from a top view of the tray space in reality, or a plane from a side view of the tray space in reality. The corresponding two-dimensional dimensions may be described by two axial directions of a Cartesian coordinate system, and the two axes form a plane such as an XOY, YOZ, or XOZ plane.

[0093] In some cases, the model of the tray space can change over time based on the two-dimensional plane model. In some cases, the changed content matches the actual changed content of the tray space from the corresponding perspective. In some cases, the changed content matches a portion of the actual changed content of the tray space from the corresponding perspective. For example, if the position of the tray moves, the position of the model of the tray space also moves accordingly; if the spatial shape and spatial area of ​​the tray change, the spatial shape and spatial area of ​​the model of the tray space also change accordingly.

[0094] In some embodiments, the model of the tray space may be a three-dimensional solid model, and the three-dimensional solid model may be described by using a Cartesian coordinate system with any actual space point as a reference.

[0095] In some cases, the model of the tray space may change over time based on the three-dimensional model, in some cases the changes may match actual changes in the tray space, and in some cases the changes may match a portion of actual changes in the tray space.

[0096] Optionally, the model of the pallet space is pre-established based on a scene image of a real scene where the pallet is located. Optionally, the real scene can be imaged based on a visual sensor (e.g., a 3D industrial camera, an intelligent industrial camera, a high-precision industrial camera), and the model of the pallet space can be obtained based on the scene image collected.

[0097] Optionally, the real scene may be imaged based on a visual sensor, and point cloud data of the pallet space may be obtained based on the acquired pallet space image to establish a corresponding model.

[0098] Step S2, based on the number of segmentation results corresponding to each cycle at the end of each cycle, select the maximum number.

[0099] Based on the description of other related embodiments, it can be understood that when the iteration is exited and the iterative segmentation is stopped, the segmentation effect is reflected in the corresponding segmented model image. Figure 2 A schematic description is given. Figure 2 In (a), the common area including shadows and non-shadows is a model corresponding to the real pallet space. The segmentation operation is performed based on the model image obtained by copying the model. In a certain cycle, a model image of the model is segmented iteratively, and the result can be obtained by Figure 2 (a) shows that the iterative segmentation result includes a space area that can be filled with materials, such as Figure 2 After one cycle, it also includes the empty area where the space is not enough to fill the material, such as Figure 2In some embodiments, the number of segmentation results of a cycle only includes the number of spatial regions that can be filled by material stacking, for example, only includes Figure 2 (a) shows the number of blank areas. In another cycle Figure 2 (a) Another model image of the embodiment model is iteratively segmented, and the result can be shown as follows Figure 2 (b) is embodied. In some embodiments, Figure 2 (a) The number of segmentation results corresponding to the loop is 8. Figure 2 (b) The number of segmentation results corresponding to the loop is 6.

[0100] For a description of split iterations within a loop, please refer to the subsequent embodiments.

[0101] Step S3: Determine the corresponding cycle process as the optimal plan based on the maximum number.

[0102] In some embodiments, the corresponding loop process is determined to be the optimal plan according to the maximum number of segmentation results.

[0103] It can be understood that in some embodiments, within a cycle, the model image of the pallet space is segmented based on the segmentation line sequence, and then a cycle includes a combination of multiple segmentations performed in batches, and then a cycle corresponds to a plan for the pallet space. In some embodiments, when the corresponding cycle is determined according to the number of segmentation results, the corresponding plan is determined. The maximum number of segmentation results corresponds to the optimal plan.

[0104] The space planning method disclosed in the present application iteratively segments the model image of the pallet space in multiple cycles and determines the cycle process with the largest number of segmentation results as the optimal planning, thereby improving the utilization rate of the pallet space when the size of the filling material filling the pallet does not match the pallet size as an integer multiple.

[0105] For the iterative segmentation performed in a single loop, please refer to some of the following embodiments.

[0106] In a single loop: the dividing lines of arbitrary shapes are used as the basis for the initial segmentation of the iterative segmentation to perform the first segmentation on the model image of the pallet space, and the remaining segmentations are performed based on the image of the previous segmentation result and the dividing lines of arbitrary shapes; if in a certain iteration, the spatial area of ​​a certain segmentation result of the previous segmentation is smaller than the filling surface of the filling material, the iterative segmentation of the segmentation result is stopped; until all iterative segmentations are stopped, the single loop ends.

[0107] In some embodiments, the iteration division in a single loop may be as shown in FIG. 3 , including:

[0108] Step S301: using the first segmentation line as the basis for the first segmentation of iterative segmentation to perform the first segmentation on the model image of the pallet space to obtain the first model image;

[0109] If the storage space of the pallet is divided by an L-shaped dividing line, two sub-pallets are obtained by the first division.

[0110] Step S302: segmenting the first model image using the second segmentation line as a basis for the second segmentation of iterative segmentation to obtain a second model image;

[0111] That is, on the basis of obtaining two sub-trays by the first division, the accommodation space of each sub-tray is further divided to obtain four sub-trays.

[0112] The shape of the second dividing line based on step S302 may be different from the first dividing line in step S301. Specifically, the dividing line itself may be different, for example, the dividing line is no longer based on an L-shaped dividing line but is based on Figure 1b Of course, the splitting postures can also be different, that is, the second splitting line can be rotated or mirrored based on the first splitting line.

[0113] Step S303: segmenting the second model image using the third segmentation line as a basis for the third segmentation of iterative segmentation to obtain a third model image;

[0114] Step S30N: and so on, until the N-1th model image is smaller than the filling surface of the filling material, the iterative segmentation stops.

[0115] In some examples, when the spatial area of ​​a sub-pallet cannot accommodate a single material, that is, the spatial area of ​​a certain segmentation result is smaller than the filling surface of the filling material, the sub-pallet is stopped from being segmented, and so on, until the storage space of all segmented sub-pallets cannot accommodate a single material, the segmentation operation is stopped, and the single cycle ends.

[0116] In some embodiments, the planning of the pallet space can be performed by reducing the dimension based on the corresponding dimension of the three-dimensional space, and reducing the dimension helps to reduce the amount of calculation in the planning process. In some embodiments, by referring to the filling surface of the filling material, it is determined whether to exit the iteration. In some embodiments, the perspective based on the filling surface is consistent with the perspective based on which the spatial model of the pallet is established.

[0117] Planning for reduced dimensions can be understood as plane space planning, and three-dimensional space planning can be achieved through multiple plane planning at different depths. For example, based on the model image of the pallet space, space planning can be first performed on the bottom layer to determine the best plan for the bottom layer; then space planning can be performed on the second layer to determine the best plan for the second layer...until the top layer is reached to determine the best plan for the top layer. The position of the model image of each layer of the pallet space can be adjusted based on actual conditions, or the shape of the model image of the pallet space can be adjusted with reference to the relevant stability conditions of the three-dimensional space. For example, in order to stabilize the filling materials of each layer after filling the relevant space planning results, the model image of the pallet space can be reduced accordingly.

[0118] In other embodiments, based on the model image of the pallet space, space planning can be first performed on the bottom layer to determine the optimal planning for the bottom layer, and then the optimal planning for higher layers can be obtained through rotation and mirroring operations, thereby satisfying the stability of the materials after filling the materials based on the space planning.

[0119] In some embodiments, for the planning of reducing the dimension, the shape of the segmentation line used for iterative segmentation matches the edge of the filling surface of the filling material, and the segmentation line includes a corner that matches the edge of the filling surface. For example, if the filling surface is rectangular, the segmentation line shape can be L-shaped, that is, including a corner, or Figure 1b The shape shown in , which includes two corners; if the filling surface is as Figure 3b If it is a rounded rectangle as shown, the corner shape of the dividing line will match accordingly.

[0120] In the actual execution process, the splitting line of each iterative splitting operation can be randomly determined.

[0121] In some embodiments, different sub-segments in the iterative segmentation can be segmented based on a segmentation line of any shape at any segmentation position in the spatial region corresponding to the image of the previous segmentation result. The above position can be a relative position based on a reference part of the corresponding spatial region, such as the center point of a side of the corresponding fixed region, or a third point of a side, etc.

[0122] In some examples, since the type and placement of the segmentation lines in each segmentation in the iterative segmentation may be different, the number of segmentation results in different cycles may be different. As shown in Figure 4, Figure 4 The left and right are the results based on different types of dividing lines and dividing line placements. The left side includes 4 results and the right side includes 6 results.

[0123] In some embodiments, in a single-loop iterative segmentation process, the number of results generated by the segmentation line and its segmentation position based on each iterative segmentation is recorded, which is used to: for any segmentation line and its segmentation position based on the iterative segmentation, record the average number of segmentation results generated by all segmentations based on the segmentation line and its segmentation position before the iterative segmentation; and then the segmentation line and its segmentation position with the largest average number of segmentation results in the loop can be used to segment the spatial area corresponding to the image of the previous segmentation result. For example, a simple illustrative embodiment is listed. Figure 4 As shown, the initial segmentation is based on Figure 4 The dotted dividing line shape A in (a) divides the left side midpoint of the model image of the tray space, and the number of segmentation results in the loop is recorded as 2. The second segmentation focuses on Figure 4 The upper area of ​​(a), i.e. Figure 4 (b) The non-shaded part. Figure 4 In the non-shaded part of (b), if the segmentation is performed based on the segmentation line shape A at the midpoint of the left side, the number of segmentation results in the loop is 3, as shown in Figure 4 (c) As shown; if the segmentation is performed based on the same type of segmentation line shape A at the third point of the left side, the number of segmentation results obtained in the loop is 2, as shown in Figure 4 (d) is shown. At this time, the average number of segmentation results recorded in the cycle of "shape A segmentation position at the midpoint of the left side" is: (number of segmentation results in the cycle of the first segmentation + number of segmentation results in the cycle of the second segmentation) ÷ 2 times = 2.5 / time; and the average number of segmentation results in the cycle of "shape A segmentation position at the one-third point of the left side" is 2 / time, because only the second segmentation is based on "shape A segmentation position at the one-third point of the left side". In the third segmentation, the "shape A segmentation position at the midpoint of the left side" method is preferentially selected for segmentation.

[0124] It should be noted that the above embodiment is only the simplest illustrative embodiment, which is intended to explain the decision optimization mechanism for the current and subsequent segmentations based on the experience of the previous segmentation during the iterative segmentation process. The above embodiment does not limit the shape of the segmentation line, the order in which the segmentation line is formed in each segmentation, the segmentation position, and the number of iterations.

[0125] In some embodiments, due to the randomness of the segmentation line shape, segmentation position, etc., when the cycle ends, various forms of segmentation results may appear, and thus there may be gaps between the spatial regions corresponding to the determined optimal plan. Figure 5 The shaded part of the 12 segmentation results shown in (a) of FIG. In some embodiments of the present application, the segmentation results are compacted to obtain the following Figure 5(b) shows the effect. Specifically, the steps include: embedding the filling surface image of the filling surface into each space area corresponding to the optimal planning result, and translating in a preset direction in the pallet space to make it compact, so as to obtain the minimum area.

[0126] In some embodiments, the compacted filling surface images can be moved to the edge of the minimum area to make them evenly distributed, so as to obtain Figure 5 (c) shows the effect. In some embodiments, the result after moving to the edge of the minimum area can be rotated or mirrored.

[0127] In some embodiments of the present application, a conventional planning method is pre-set, which may include four windmill-type plans as shown in FIG. 6(a), or two field-type plans as shown in FIG. 6(b). The number of spaces in the conventional planning method can be adjusted in a corresponding manner. For example, in a field-type planning with an array distribution as a rule, the number of rows / columns on which the planning is based can be adjusted to form a corresponding row / column planning result; in a windmill-type planning with a distribution method similar to "each side of a rectangle" as an arrangement rule, the "each side of the rectangle" is used as a different unit, and the number of spatial areas of each unit can be increased / decreased as shown in the four types in FIG. 6(a). Furthermore, in some embodiments, after obtaining the optimal plan, based on the maximum number corresponding to the optimal plan, it is determined whether there is a target planning result with the same number of spatial areas matching the filling surface in the preset T-shaped plan or the preset pinwheel-shaped plan, and the overall area size of the target planning result is not greater than the overall area size of the result of the optimal plan, wherein the number of spatial areas in the pinwheel-shaped plan includes integer multiples of 4; if so, the optimal plan is updated according to the planning method corresponding to the target planning result in the preset corresponding type of planning, and the updated optimal plan is adjusted according to the length and width of the filling surface image.

[0128] It is understandable that if the maximum number determined after each cycle is an integer multiple of 2 or 4, there is a possibility that there may be a planning method consistent with the optimal plan in the preset planning method, and then related operations can be performed based on the preset planning method, such as robot palletizing operations. Therefore, if the maximum number is an integer multiple of 2 or 4, the planning result corresponding to the optimal plan is compared with the preset planning result to determine whether the operation can be performed based on the preset plan. The comparison includes two aspects. On the one hand, the spatial area distribution of each result and the posture of each area are consistent with the results of the preset planning method; on the other hand, the overall area occupied by the results of the preset planning method is not greater than the overall area of ​​each result.

[0129] On the second aspect, the embodiment of the present application provides a palletizing method based on the results of pallet space planning, which can be understood as a method for filling relevant areas based on the results of space planning. After space planning is performed based on the space planning method, the planning results can be filled based on the palletizing method provided by the present application. The palletizing method of the present application is based on a virtual scene that matches reality, determines the corresponding palletizing path based on simulation, and sends the result to the robot for palletizing.

[0130] In some embodiments, the palletizing method based on the pallet space planning result corresponds to a related virtual device, which is operated based on an electronic device, and the electronic device is used to communicate with the robot and then send the palletizing method, thereby preventing collisions between materials when the robot palletizes the materials, thereby improving the intelligence of the robot's industrial operation. For the relevant description of the virtual device and the electronic device, please see the subsequent embodiments.

[0131] In some embodiments, the robot optionally relates to a robot arm. The present application does not specifically limit the form of the robot arm. The related operations of the present application performed by a six-axis robot, a four-axis robot, and robot arms not mentioned in the present application are all included within the scope of protection of the present invention.

[0132] The palletizing method based on the pallet space planning result provided by the embodiment of the present invention is as follows: Figure 7 As shown, the following steps are included: S701: based on the overall size of the overall area of ​​the space planning result and the area size of each segmented area in the space planning result, determine the approaching area surrounding the overall area; S702: determine whether the filling material stacked to the corresponding segmented area enters the approaching area based on the pre-planned stacking path; S703: if so, determine the approaching path of the filling material according to the entry point of the filling material and the center point of the entered segmented area.

[0133] It can be understood that during the robot palletizing process, the stacked materials are driven by the robot to fill the pre-planned spatial area. When filling the corresponding area, that is, stacking a certain material, care must be taken to avoid collision between the current material and other materials. This collision will not occur at a distance from the overall area composed of the various spatial areas, but only close to the overall area. Therefore, after spatial planning based on the optimal spatial planning, the proximity area is determined around the overall area formed by the plan, which is used as a reference for adjusting the stacking path during the palletizing process.

[0134] The following examples are given to schematically illustrate the overall area and the segmented areas. Figure 8 As shown, the segmented area can be Figure 8 The dot matrix filling area is shown as follows: Figure 8There are 12 segmented areas in the apparatus, which can be used to stack filling materials; the 12 segmented areas and the oblique line shaded portion together constitute the overall area. In some embodiments, the segmented areas have the same size.

[0135] In some embodiments, the approaching area is expanded based on the overall area, and the specific degree of expansion can be determined according to the area size of the segmented area.

[0136] In some embodiments, the area size includes length and width; or includes the maximum span of the area size calculated based on the length and width, such as the diagonal of a rectangle, the major axis of an ellipse, the longest part of an irregular figure, etc.; or includes a part of the maximum span of the area size calculated based on the length and width, such as half of the maximum span, one third of the maximum span, two thirds of the maximum span, etc.

[0137] In some preferred embodiments, the extent of the expansion based on the overall area to determine the approaching area can be as follows: Fig. 9 As shown, Fig. 9 The overall size of the overall area is w*l, the diagonal size is 2*d, and the approaching area can expand by d based on the overall size of the overall area. In other words, the expansion degree can be half of the diagonal. In actual situations, the robot's grasping point for the material is located at Fig. 9 The center point of the segmentation area shown is matched to the material shape, and the expansion degree is determined to be half of the material diagonal.

[0138] Those skilled in the art should understand that if the robot's grasping point is not located at the center point in some scenarios, the degree of expansion of the approaching area is determined based on the maximum span according to the grasping point position.

[0139] It should be noted that the judgment of whether the material enters the approaching area in some embodiments S702 is based on the calculation of the virtual scene simulation model, and thus the palletizing method of the present application is pre-planned based on the virtual scene.

[0140] In some embodiments, the optimal planning can be obtained according to the pallet space planning method, and the corresponding planning results can be obtained. In some embodiments, the optimal planning can include a planning method for the pallet space, in which the pallet space is divided multiple times based on the segmentation lines of various shapes that match the filling materials to obtain the optimal planning. The result of the optimal planning includes the division of each segmented area of ​​the segmented pallet space, and when palletizing, the filling materials are stacked in the corresponding segmented area.

[0141] In some embodiments, the result of the optimal planning can be compacted based on the size of the filling material to make it more compact, or translation, rotation, and mirroring operations can be performed to optimize the optimal planning.

[0142] In some embodiments, palletizing is performed based on optimal planning, and the movement of the stacked materials after entering the approaching area is called an approaching path, which is determined based on the entry point of the material into the approaching area and the center point of the material.

[0143] In some embodiments, the initial approach path may be first determined based on the line connecting the entry point and the center point, and then the angle of the initial approach path relative to the horizontal plane may be adjusted according to the height of the stacked materials to avoid collision with other materials.

[0144] In some embodiments, the order in which the materials fill the corresponding segmented areas can be determined to further avoid collisions during the material stacking process. Optionally, the sequence reference point can be determined based on the intersection of the determined reverse extension lines of the approaching paths entering each segmented area, and then the corresponding materials can be stacked in the corresponding segmented areas from far to near based on the distance between the center point of each segmented area and the sequence reference point. If the above distances are the same, the segmented areas at the edge can be stacked first.

[0145] In a third aspect, an embodiment of the present application provides a pallet space planning device.

[0146] Fig.10 A schematic diagram of the structure of a pallet space planning device provided in an embodiment of the present application.

[0147] like Fig.10 As shown, the pallet space planning device performs simulation planning based on the modeling of the pallet space. The device may include: a segmentation module 1010, a selection module 1020 and a planning module 1030, wherein:

[0148] The segmentation module 1010 is used to iteratively segment the model image of the pallet space in multiple cycles based on segmentation lines of various shapes, wherein: any one of the segmentation lines of various shapes matches the edge of the filling surface of the filling material that needs to fill the pallet space and includes a folded angle that matches the edge of the filling surface; in a single cycle: the segmentation lines of any shapes are used as the basis for the initial segmentation of the iterative segmentation to perform the first segmentation on the model image of the pallet space, and the remaining segmentations are performed based on the image of the previous segmentation result and based on the segmentation lines of any shapes; if in a certain iteration, the spatial area of ​​a certain segmentation result of the previous segmentation is smaller than the filling surface of the filling material, the iterative segmentation of the segmentation result is stopped; until all iterative segmentations are stopped, the single cycle ends; in different cycles, the segmentation line sequences are different, and the segmentation positions of each segmentation line are different, wherein the segmentation lines referenced by the iterative segmentation in the single cycle follow the corresponding segmentation line sequences and perform segmentation at a certain position in the spatial area of ​​the corresponding segmentation result;

[0149] A selection module 1020 is used to select the maximum number of segmentation results corresponding to each cycle when each cycle is completed based on the number of segmentation results corresponding to each cycle executed by the segmentation module;

[0150] The planning module 1030 is used to determine the corresponding cycle process as the best plan according to the maximum number.

[0151] In one embodiment of the present application, the segmentation module 1010 includes: a segmentation unit, wherein the segmentation unit is used to segment the image of the previous segmentation result at any segmentation position in the spatial region corresponding to the image based on a segmentation line of any shape.

[0152] In one embodiment of the present application, the segmentation module 1010 further includes: a recording module. The recording module is used to record the number of segmentation results in the cycle generated by all segmentations based on the segmentation line and its segmentation position before the iterative segmentation, so that the segmentation module is further used to segment the spatial area corresponding to the image of the previous segmentation result based on the segmentation line and its segmentation position with the largest number of segmentation results in the cycle.

[0153] In one embodiment of the present application, the device further comprises: a compression module, wherein the compression module is used to embed the filling surface image of the filling surface into each space area corresponding to the optimal planning result, and translate in a preset direction in the tray space to compact it and obtain the minimum area.

[0154] In one embodiment of the present application, the device further comprises: a processing module, wherein the processing module is used to move the compacted filling surface images to the edge of the minimum area within the minimum area; and / or to perform a rotation operation or a mirror operation on the result after the images are moved to the edge of the minimum area.

[0155] In one embodiment of the present application, the device further includes: a judgment module and an adjustment module, wherein:

[0156] A judgment module is used to judge whether there is a target planning result with the same number of spatial areas matching the filling surface in a preset field-shaped planning or a preset windmill-shaped planning according to the maximum number, and the overall area size of the target planning result is not greater than the overall area size of the result of the optimal planning, wherein the number of spatial areas in the windmill-shaped planning includes an integer multiple of 4.

[0157] The adjustment module is used to update the optimal plan according to the planning method corresponding to the target planning result in the preset corresponding type of planning when there are target planning results of the same number of spatial areas and the overall area size of the target planning result is not greater than the overall area size of the result of the optimal plan, and adjust the updated optimal plan according to the length and width of the filling surface image.

[0158] It should be noted that the above explanation of the pallet space planning method embodiment is also applicable to the pallet space planning device of this embodiment, and will not be repeated here.

[0159] The pallet space planning device of the embodiment of the present application iteratively segments the model image of the pallet space in multiple cycles, and determines the cycle process with the largest number of segmentation results as the optimal planning. The space planning performed by the present application can improve the utilization rate of the pallet space when the size of the filling material of the filling pallet matches the non-integer multiple of the pallet.

[0160] In a fourth aspect, the present application introduces a palletizing device based on the pallet space planning results.

[0161] Fig.11 A schematic structural diagram of a palletizing device based on pallet space planning results provided in an embodiment of the present application.

[0162] like Fig.11 As shown, the palletizing device based on the pallet space planning result may include: a determination module 1110 and a palletizing module 1120, wherein:

[0163] The determination module 1110 is used to determine an impending area surrounding the overall area based on the overall size of the overall area of ​​the space planning result and the area size of each segmented area in the space planning result.

[0164] The palletizing module 1120 is used to determine the approaching path of the filling material according to the entry point of the filling material and the center point of the entered segmented area when the filling material stacked to the corresponding segmented area enters the approaching area based on the pre-planned palletizing path.

[0165] In one embodiment of the present application, the determination module 1110 includes: an acquisition unit and an expansion unit, wherein:

[0166] An acquisition unit is used to determine an expansion value according to a diagonal line of the area size.

[0167] An expansion unit is used to expand the overall area according to the expansion value.

[0168] It should be noted that the above explanation of the embodiment of the palletizing method based on the pallet space planning result is also applicable to the palletizing device based on the pallet space planning result of this embodiment, which will not be repeated here.

[0169] The palletizing device based on the pallet space planning result of the embodiment of the present application determines the approaching area of ​​palletizing according to the result of the optimal planning on the basis of improving the utilization rate of the pallet, and determines the approaching path according to the segmented area entered by the filling material and the approaching area after the filling material enters the approaching area. On the basis of palletizing with the highest space utilization rate, it ensures that the filling material approaches with the shortest path while avoiding the collision between the current filling material and other filling materials, thereby ensuring the safety of the filling material in the process of stacking the filling material and the safety of the robot palletizing operation process, thereby improving the intelligence level of the robot industrial operation.

[0170] Fig.12 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. The electronic device may include:

[0171] A memory 1201 , a processor 1202 , and a computer program stored in the memory 1201 and executable on the processor 1202 .

[0172] When the processor 1202 executes the program, the tray space planning method provided in the above embodiment is implemented.

[0173] In one embodiment of the present application, the processor 1202 implements the palletizing method based on the pallet space planning result provided in the above embodiment when executing the program.

[0174] Furthermore, the electronic device further comprises:

[0175] The communication interface 1203 is used for communication between the memory 1201 and the processor 1202 .

[0176] The memory 1201 is used to store computer programs that can be executed on the processor 1202 .

[0177] The memory 1201 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0178] If the memory 1201, the processor 1202 and the communication interface 1203 are implemented independently, the communication interface 1203, the memory 1201 and the processor 1202 can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig.12 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0179] Optionally, in a specific implementation, if the memory 1201, the processor 1202 and the communication interface 1203 are integrated on a chip, the memory 1201, the processor 1202 and the communication interface 1203 can communicate with each other through an internal interface.

[0180] The processor 1202 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0181] This embodiment also provides a computer-readable storage medium having a computer program stored thereon, characterized in that when the program is executed by a processor, the above-mentioned pallet space planning method is implemented, or a palletizing method based on the pallet space planning result is implemented.

[0182] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0183] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "N" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0184] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present invention belong.

[0185] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or N wirings (electronic devices), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0186] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0187] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0188] In addition, each functional unit in each embodiment of the present invention may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0189] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present invention. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A palletizing method based on pallet space planning results, characterized in that: The method comprises: Determine an impending area surrounding the overall area based on the overall size of the overall area of ​​the pallet space planning result and the area size of each segmented area in the pallet space planning result; When the filling material stacked in the corresponding segmented area enters the approaching area based on the pre-planned stacking path, the approaching path of the filling material is determined according to the entry point of the filling material and the center point of the entered segmented area; The method further comprises: Determine the order in which materials fill the corresponding segmented areas; The step of determining the order in which materials fill corresponding segmented areas includes: The sequence reference point is determined according to the intersection of the reverse extension lines of the approaching paths entering each segmented area, and then the corresponding materials are stacked in the corresponding segmented area from far to near according to the distance between the center point of each segmented area and the sequence reference point. If the distances are the same, the corresponding materials are stacked in the edge segmented area first; The pallet space planning result is determined by the following method: Step S1: based on the segmentation lines of various shapes, the model image of the pallet space is segmented iteratively in multiple cycles, wherein: any one of the segmentation lines of various shapes matches the edge of the filling surface of the filling material to be filled in the pallet space, and the segmentation line includes a corner that matches the edge of the filling surface; in a single cycle: the segmentation lines of any shapes are used as the basis for the initial segmentation of the iterative segmentation to perform the first segmentation on the model image of the pallet space, and the remaining segmentations are performed based on the image of the previous segmentation result and based on the segmentation lines of any shapes; if in a certain iteration, the spatial area of ​​a certain segmentation result of the previous segmentation is smaller than the filling surface of the filling material, the iterative segmentation of the segmentation result is stopped; until all iterative segmentations are stopped, the single cycle ends; in different cycles, the segmentation line sequences are different, and the segmentation positions of each segmentation line are different, wherein the segmentation lines referenced by the iterative segmentation in the single cycle follow the corresponding segmentation line sequences and are segmented at a certain position in the spatial area of ​​the corresponding segmentation result; Step S2: based on the number of segmentation results corresponding to each cycle at the end of each cycle, select the maximum number; Step S3: According to the maximum number, determine that the corresponding cycle process is the optimal plan.

2. The method according to claim 1, characterized in that The determining of the impending area surrounding the overall area based on the overall size of the overall area of ​​the spatial planning result and the area size of each segmented area in the spatial planning result includes: Determining an outward expansion value according to a diagonal of the area size; The overall area is expanded according to the expansion value.

3. The method according to claim 1, characterized in that The region dimensions include length and / or width.

4. The method according to claim 1, characterized in that: The region size comprises a maximum span and / or a portion of a maximum span of the region size calculated based on the length and / or width.

5. The method according to claim 4, characterized in that The maximum span of the area size includes the diagonal of a rectangle, the major axis of an ellipse and / or the longest part of an irregular figure.

6. The method according to claim 1, characterized in that The method further includes: adjusting the angle of the approach path relative to the horizontal plane according to the height of the stacked materials.

7. A palletizing device based on pallet space planning results, characterized in that: include: A determination module, configured to determine an impending area surrounding the overall area based on the overall size of the overall area of ​​the pallet based on the spatial planning result and the area size of each segmented area in the spatial planning result of the pallet; A palletizing module, configured to determine an approaching path of the filling material according to an entry point of the filling material and a center point of the entered segmented area when the filling material stacked to the corresponding segmented area enters the approaching area based on a pre-planned palletizing path; The device also includes: A module for determining the order in which materials fill the corresponding segmented areas; The step of determining the order in which materials fill corresponding segmented areas includes: The sequence reference point is determined according to the intersection of the reverse extension lines of the approaching paths entering each segmented area, and then the corresponding materials are stacked in the corresponding segmented area from far to near according to the distance between the center point of each segmented area and the sequence reference point. If the distances are the same, the corresponding materials are stacked in the edge segmented area first; The device also includes the following module for determining the pallet space planning result: A segmentation module, for iteratively segmenting the model image of the pallet space in multiple cycles based on segmentation lines of various shapes, wherein: any one of the segmentation lines of various shapes matches the edge of the filling surface of the filling material that needs to fill the pallet space, and the segmentation line includes a folded angle that matches the edge of the filling surface; in a single cycle: the segmentation lines of any shapes are used as the basis for the initial segmentation of the iterative segmentation to perform the first segmentation on the model image of the pallet space, and the remaining segmentations are performed based on the image of the previous segmentation result and based on the segmentation lines of any shapes; if in a certain iteration, the spatial area of ​​a certain segmentation result of the previous segmentation is smaller than the filling surface of the filling material, the iterative segmentation of the segmentation result is stopped; until all iterative segmentations are stopped, the single cycle ends; in different cycles, the segmentation line sequences are different, and the segmentation positions of each segmentation line are different, wherein the segmentation lines referenced by the iterative segmentation in the single cycle follow the corresponding segmentation line sequences and perform segmentation at a certain position in the spatial area of ​​the corresponding segmentation result; A selection module is used to select the maximum number of segmentation results corresponding to each cycle based on the number of segmentation results corresponding to each cycle when each cycle is completed by the segmentation module; The planning module is used to determine that the corresponding cycle process is the best plan according to the maximum number.

8. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the palletizing method according to any one of claims 1 to 6 when executing the computer program.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the palletizing method according to any one of claims 1 to 6 is implemented.

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