Stacking method, device, actuator, storage medium and computer product

Abstract

The present disclosure discloses a stacking method, device, actuator, storage medium and computer product, the method comprising: generating a stacking scheme according to the current state of the grasping area, the current state of the stacking area and the graspable quantity of the actuator, wherein the stacking scheme comprises a position scheme for stacking the grasped multiple items in the stacking area in multiple times; and performing a stacking action according to the stacking scheme. The stacking method of the present disclosure generates a stacking scheme including a position scheme for stacking the grasped multiple items in the stacking area in multiple times, so that even if the empty positions in the stacking area are scattered, the number of grasped items will not be limited, the number of grasping actions is reduced, and the overall efficiency of stacking items is improved.

Description

Technical Field

[0001] The present disclosure relates to the field of intelligent machine technology, and in particular to a stacking method, device, actuator, storage medium and computer product. Background Art

[0002] When measuring the efficiency of a palletizing system, cycle time is an important parameter. Cycle time is usually defined as the time required to palletize one item. The lower the cycle time, the more items can be palletized in the same amount of time.

[0003] The current method of stacking items can realize the grabbing of multiple items at a time and stacking them all at once, which can effectively reduce the action time of the stacking actuator (such as robotic arms, palletizers, etc.), thereby effectively reducing the average cycle time. However, this method depends on the distribution of empty positions in the stacking area. If the distribution of empty positions is scattered, it will limit the number of items that can be grabbed, resulting in a low overall efficiency of item stacking.

[0004] Therefore, the overall efficiency of the current item stacking method is low. Summary of the invention

[0005] The stacking method, device, actuator, storage medium and computer product provided by the present disclosure are used to solve the problem of low overall efficiency of the current item stacking method.

[0006] In a first aspect, the present disclosure provides a stacking method, wherein an actuator transfers an object from a grabbing area to a stacking area, comprising:

[0007] Generate a stacking plan according to the current state of the grasping area, the current state of the stacking area and the graspable quantity of the actuator, wherein the stacking plan includes a position plan for stacking the grasped multiple objects in the stacking area in multiple times;

[0008] The stacking action is performed according to the stacking scheme.

[0009] In a possible implementation, the current state of the grabbing area includes the number of remaining items in the grabbing area, and the current state of the stacking area includes the number of empty spaces and the positions of the empty spaces;

[0010] The generating of the stacking plan according to the current state of the grasping area, the current state of the stacking area and the graspable quantity of the actuator includes:

[0011] The location plan is generated according to the number of remaining objects, the number of objects that can be grasped by the actuator, the number of empty spaces, and the positions of the empty spaces.

[0012] In a possible implementation, generating the location scheme according to the number of remaining objects, the number of objects that can be grasped by the actuator, the number of empty spaces, and the positions of the empty spaces includes:

[0013] According to the number of remaining items, the number of empty spaces and the number of items that can be grasped by the actuator, the grasping number is obtained; wherein the grasping number is the minimum value among the number of remaining items, the number of empty spaces and the number of items that can be grasped by the actuator;

[0014] The location scheme is determined according to the grasping quantity and the empty position; wherein the location scheme includes the quantity of each stacking, the items stacked each time and the position of each stacking.

[0015] In a possible implementation, the stacking solution further includes a path solution corresponding to the location solution;

[0016] The generating of the stacking scheme according to the current state of the grasping area, the current state of the stacking area and the graspable quantity of the actuator further includes:

[0017] According to the location plan, generating at least one path plan corresponding thereto;

[0018] The performing of the stacking action according to the stacking scheme includes:

[0019] Screening at least one stacking scheme according to the environmental information to generate a final stacking scheme; wherein the environmental information includes: position information of potential collision objects between the stacking area and the actuator;

[0020] Implement stacking actions according to the final stacking plan.

[0021] In a possible implementation, there are multiple stacking schemes;

[0022] The step of screening at least one stacking scheme according to the environmental information to generate a final stacking scheme includes:

[0023] Sorting the position schemes corresponding to the stacking schemes;

[0024] Performing collision detection on the path schemes corresponding to the position schemes one by one according to the position information of the potential collision objects in the sorted order;

[0025] The path plan that passes the collision detection and the corresponding position plan are determined as the final stacking plan.

[0026] In a possible implementation, the sorting of the position schemes corresponding to the stacking schemes includes:

[0027] Determine the total number of stacking times and the total distance of stacking positions corresponding to each of the position schemes; the total distance of stacking positions is the sum of the distances between the stacking positions of each grasped object;

[0028] Performing weighted processing on the total number of stacking times and the corresponding total distance of the stacking positions to generate a stacking score for the corresponding position solution;

[0029] The location solutions are sorted in descending order of stacking scores.

[0030] In a possible implementation, if there is no path solution that passes the collision detection, the method further includes:

[0031] A new stacking scheme is regenerated according to the current state of the grasping area, the current state of the stacking area and the graspable quantity of the actuator; the grasping quantity in the new stacking scheme is the difference between the grasping quantity in the previous stacking scheme and one.

[0032] In a second aspect, the present disclosure provides a stacking device, wherein the device is used for an actuator to transfer an object from a grabbing area to a stacking area, comprising:

[0033] A generating module, configured to generate a stacking scheme according to the current state of the grasping area, the current state of the stacking area and the graspable quantity of the actuator, wherein the stacking scheme includes a location scheme for stacking the grasped multiple objects in the stacking area in multiple times;

[0034] The stacking module is used to implement the stacking action according to the stacking scheme.

[0035] In a possible implementation, the current state of the grabbing area includes the number of remaining items in the grabbing area, and the current state of the stacking area includes the number of empty spaces and the positions of the empty spaces;

[0036] The generation module is specifically used for:

[0037] The location plan is generated according to the number of remaining objects, the number of objects that can be grasped by the actuator, the number of empty spaces, and the positions of the empty spaces.

[0038] In a possible implementation, when the generating module generates the position scheme according to the number of remaining objects, the number of objects that can be grasped by the actuator, the number of empty spaces, and the positions of the empty spaces, it is specifically configured to:

[0039] The grabbing quantity is obtained according to the remaining number of items, the number of empty spaces and the grabbable number of the actuator; wherein the grabbing quantity is the minimum value among the remaining number of items, the number of empty spaces and the grabbable number of the actuator; the positioning scheme is determined according to the grabbing quantity and the position of the empty spaces; wherein the positioning scheme includes the number of stacking each time, the items stacked each time and the position of each stacking.

[0040] In a possible implementation, the stacking solution further includes a path solution corresponding to the location solution;

[0041] The generation module is also used for:

[0042] According to the location plan, generating at least one path plan corresponding thereto;

[0043] The stacking module is specifically used for:

[0044] At least one stacking scheme is screened according to environmental information to generate a final stacking scheme; wherein the environmental information includes: position information of potential collision objects between the stacking area and the actuator; and a stacking action is performed according to the final stacking scheme.

[0045] In a possible implementation, there are multiple stacking schemes;

[0046] When the stacking module screens at least one stacking scheme according to the environmental information and generates a final stacking scheme, it is specifically used to:

[0047] The position schemes corresponding to the stacking schemes are sorted; collision detection is performed on the path schemes corresponding to the position schemes one by one according to the position information of the potential collision objects in the sorted order; and the path scheme and the corresponding position scheme that pass the collision detection are determined as the final stacking scheme.

[0048] In a possible implementation, when the stacking module sorts the position schemes corresponding to the stacking schemes, it is specifically configured to:

[0049] Determine the total number of stacking times and the total distance of the stacking positions corresponding to each of the position schemes; the total distance of the stacking positions is the sum of the distances between the stacking positions of the grasped items; perform weighted processing on each of the total number of stacking times and the corresponding total distance of the stacking positions to generate a stacking score for the corresponding position scheme; and sort the position schemes in descending order of the stacking scores.

[0050] In a possible implementation, if there is no path solution that passes the collision detection, the device further includes:

[0051] A regeneration module is used to regenerate a new stacking plan according to the current state of the grasping area, the current state of the stacking area and the graspable quantity of the actuator; the grasping quantity in the new stacking plan is the difference between the grasping quantity in the previous stacking plan and one.

[0052] In a third aspect, the present disclosure provides an execution mechanism, including: a processor, a memory, and an execution component;

[0053] The processor, the memory and the execution component circuits are interconnected;

[0054] The memory stores computer-executable instructions; the execution component is used to grasp or stack objects under the control of the processor;

[0055] The processor executes the computer-executable instructions stored in the memory to implement the stacking method provided by the first aspect or any possible implementation manner of the first aspect.

[0056] In a fourth aspect, the present disclosure provides a computer-readable storage medium, wherein the computer-readable medium stores computer execution instructions, and when the computer execution instructions are executed by a processor, they are used to implement the stacking method provided by the first aspect or any possible implementation method of the first aspect.

[0057] In a fifth aspect, the present disclosure provides a chip, comprising:

[0058] Processor and memory;

[0059] The memory stores a computer program;

[0060] When the processor executes the computer program stored in the memory, the stacking method provided by the first aspect or any possible implementation manner of the first aspect is implemented.

[0061] In a sixth aspect, the present disclosure provides a computer program product, including a computer program, which, when executed by a processor, implements the stacking method provided by the above-mentioned first aspect or any possible implementation manner of the first aspect.

[0062] The present disclosure provides a stacking method, device, actuator, storage medium and computer product, the method comprising: generating a stacking scheme according to the current state of the grasping area, the current state of the stacking area and the graspable quantity of the actuator, wherein the stacking scheme comprises a position scheme for stacking the grasped multiple items in the stacking area in multiple times; and performing a stacking action according to the stacking scheme. The stacking method of the present disclosure generates a stacking scheme including a position scheme for stacking the grasped multiple items in the stacking area in multiple times, so that even if the empty positions in the stacking area are scattered, the number of grasped items will not be limited, the number of grasping actions is reduced, and the overall efficiency of stacking items is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0064] Figure 1 An example diagram of an application scenario provided for an embodiment of the present disclosure;

[0065] Figure 2 This is a schematic diagram of the stacking method provided by the present disclosure. Figure 1 ;

[0066] Figure 3 This is a schematic diagram of the grasped objects and the stacking positions of the stacking method provided by the present disclosure Figure 1 ;

[0067] Figure 4 This is a schematic diagram of the stacking method provided by the present disclosure. Figure 2 ;

[0068] Figure 5 This is a schematic diagram of the stacking method provided by the present disclosure. Figure 3 ;

[0069] Figure 6 This is a schematic diagram of the stacking method provided by the present disclosure. Figure 4 ;

[0070] Figure 7 This is a schematic diagram of the stacking method provided by the present disclosure. Figure 5 ;

[0071] Figure 8 Schematic diagram of the grasped objects and stacking positions of the stacking method provided by the present disclosure Figure 2 ;

[0072] Fig. 9 It is a schematic diagram of the overall process of the stacking method provided by the present disclosure;

[0073] Fig.10is a structural schematic diagram of the stacking device provided by the present disclosure;

[0074] Fig.11 It is a schematic diagram of the internal structure of the actuator provided by the present invention.

[0075] The above drawings show clear embodiments of the present disclosure, which will be described in more detail below. These drawings and text descriptions are not intended to limit the scope of the present disclosure in any way, but to illustrate the concepts of the present disclosure to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0076] In order to enable those skilled in the art to better understand the disclosed solution, the technical solution in the disclosed embodiment will be clearly and completely described below in conjunction with the drawings in the disclosed embodiment. Obviously, the described embodiment is only a part of the disclosed embodiment, not all of the embodiments. Based on the embodiments in the disclosed embodiment, all other embodiments obtained by ordinary technicians in the field without creative work should fall within the scope of protection of the disclosed embodiment.

[0077] It should be noted that the terms "first", "second", etc. in the specification, claims, and drawings of the present disclosure are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or intelligent device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or intelligent devices.

[0078] In order to clearly understand the technical solution of the present invention, the solution of the prior art is first introduced in detail.

[0079] At present, when stacking items, multiple items are usually grabbed at a time and stacked all at once. This method requires selecting appropriate grabbing and stacking schemes based on the current incoming material stacking state and the target stacking state. Among them, the incoming material stacking type is located in the grabbing area, and the target stacking type is located in the stacking area. If the target stacking type is scattered and the empty positions in the stacking area are scattered, the number of grabbed items will be limited, resulting in the grabbing number not reaching the maximum grabbing number that the actuator can grab, resulting in low overall efficiency of item stacking.

[0080] Therefore, in order to solve the problem of low overall efficiency of item stacking in the above method, the inventors have discovered through research that the core is to reduce the number of grasping actions, generate a stacking plan based on the current state of the grasping area, the current state of the stacking area and the number of items that can be grasped by the actuator, and improve the overall efficiency of item stacking through multiple stacking.

[0081] Specifically, a stacking plan is generated according to the current state of the grabbing area, the current state of the stacking area, and the number of items that can be grabbed by the actuator, wherein the stacking plan includes a position plan for stacking the multiple items that have been grabbed in the stacking area in multiple times. The stacking action is performed according to the stacking plan. Therefore, even if the empty positions in the stacking area are scattered, the number of items that can be grabbed will not be limited, the number of grabbing actions is reduced, and the overall efficiency of item stacking is improved.

[0082] Based on the above creative findings, the inventors proposed the technical solution of the present disclosure.

[0083] Figure 1 This is an example diagram of an application scenario provided by the embodiment of the present disclosure. Figure 1 As shown, the application scenario includes an actuator 1, a gripping area 2 and a stacking area 3.

[0084] The actuator 1 is a mechanism that can grasp multiple objects at the same time. In some embodiments, the actuator 1 is illustrated in the form of a mechanical arm 11 and a suction cup 12, and the figure shows 6 suction cups 12 as an example. There are multiple objects placed in the grasping area 2, and the figure shows 8 objects at present as an example. There are multiple objects that have been stacked in the stacking area 3, and the figure shows 4 objects that have been stacked and 4 empty spaces as an example.

[0085] The actuator 1 can identify the current state of the grasping area and the current state of the stacking area. For example, it can obtain the current state of the grasping area and the current state of the stacking area by setting a camera or a camera to perform image recognition and other operations. At the same time, a stacking plan is generated in combination with the graspable number in the actuator 1. The graspable number in the actuator 1 can be determined according to the number of suction cups 12. For example, if the number of suction cups 12 in the figure is 6, the graspable number is 6. After generating the stacking plan, the actuator 1 controls the robot arm 11 to move according to the stacking plan, and controls the suction cup 12 to perform the stacking action, such as which items are stacked each time, the stacking position, etc., to complete the stacking process of the grasped items.

[0086] In some embodiments, the actuator 1 may also use multiple grippers, and the number of grippers may be set according to the actual application. For example, in this application scenario, the number of grippers is 5. The number of items placed in the grabbing area 2 and the number of stacked items in the stacking area 3 are the same as those in the previous application scenario. The specific stacking process in this application scenario is similar to that in the previous application scenario, and will not be described one by one here. At the same time, the end of the gripper may also include multiple small grippers, so that each gripper can grab multiple items, further improving the grabbing efficiency.

[0087] The embodiments of the present invention are described below in conjunction with the accompanying drawings.

[0088] Figure 2 This is a schematic diagram of the stacking method provided by the present disclosure. Figure 1 .like Figure 2 As shown, in this embodiment, the execution subject of the embodiment of the present invention is a stacking device, which can be integrated in the execution mechanism or set in other electronic devices, and is used for the execution mechanism to transfer the objects from the grasping area to the stacking area. The method includes:

[0089] S101, generating a stacking plan according to the current state of the grasping area, the current state of the stacking area and the graspable quantity of the actuator, wherein the stacking plan includes a position plan for stacking the grasped multiple objects in the stacking area in multiple times.

[0090] The current state of the grabbing area includes the number of remaining items in the grabbing area, the position of the items, etc. The current state of the stacking area includes the number of stacked items in the stacking area, the empty position state, etc. The empty position state includes the number of empty positions, the empty position, etc. The empty position refers to a position that is not occupied by an item. When an item occupies this position, it will not collide with other stacked items. The actuator can be a robotic arm, a palletizer, etc., which can grab multiple items at a time and stack the multiple items that have been grabbed in the stacking area in multiple times. The number of items that can be grabbed is generally related to the upper limit of the number of items that the actuator can grab. For example, if the actuator uses a suction cup to grab items, the number of items that can be grabbed is related to the number of suction cups. At the same time, if the actuator grabs items at one time, it is also related to the distribution of the remaining items in the grabbing area. During one grab, if the remaining items in the grabbing area are scattered, it will affect the number of items that can be grabbed.

[0091] The location plan includes the quantity of each stacking, the items stacked each time, and the location of each stacking.

[0092] S102: Perform stacking actions according to the stacking plan.

[0093] In this embodiment, after the stacking plan is determined, the execution mechanism can implement the stacking action, such as stacking the grasped objects in multiple times to the corresponding stacking positions in the position plan.

[0094] For example, Figure 3 As shown, the actuator grabs four items, namely item A, item B, item C and item D. There can be one or more position schemes. For example, in a certain position scheme, item A and item B are stacked for the first time, and item C and item D are stacked for the second time. Then the actuator stacks item A and item B to the corresponding stacking position for the first time, which is two positions among position a, position b, position c, position d and position e, which can be position b and position c, position d and position e, position a and position b, etc., and stacks item C and item D to the remaining stackable positions for the second time. If the first stacking position is position a and position b, then the second stacking selects two positions from position c, position d and position e, which can be position d and position e, or position c and position d, etc.

[0095] In this embodiment, the generated stacking plan includes a position plan that can stack multiple grasped items in the stacking area in multiple times, so that even if the empty positions in the stacking area are scattered, the number of grasped items will not be limited, which increases the number of grasped items when the actuator performs stacking, thereby improving the overall efficiency of item stacking.

[0096] At the same time, based on the stacking method provided in the previous embodiment of the present invention, the scheme of the present invention can be further refined. Figure 4 As shown, Figure 4 This is a schematic diagram of the stacking method provided by the present disclosure. Figure 2 In this embodiment, the current state of the grabbing area includes the number of remaining items in the grabbing area, and the current state of the stacking area includes the number of empty spaces and the positions of the empty spaces.

[0097] Among them, the number of remaining items and the number of items that can be grasped by the actuator are related to the upper limit of the number of items that can be grasped, and the number of empty spaces is related to the number that needs to be grasped. According to the number of remaining items, the number of items that can be grasped by the actuator, the number of empty spaces and the position of the empty spaces, a location plan can be generated, and the location plan includes relevant information for multiple stacking. At the same time, the process of generating a location plan can be further refined, as follows:

[0098] S201, obtaining a grasping quantity according to the number of remaining objects, the number of empty spaces, and the graspable quantity of the actuator, wherein the grasping quantity is the minimum value among the number of remaining objects, the number of empty spaces, and the graspable quantity of the actuator.

[0099] In this embodiment, the grabbing quantity corresponds to three application scenarios. For example, in the first application scenario, the number of remaining items in the grabbing area is 6, the number of empty spaces in the stacking area is 6, and the number of items that can be grabbed by the actuator is 4, then the current grabbing quantity is the minimum of the three, 4. In this application scenario, the number of remaining items in the grabbing area and the number of empty spaces in the stacking area are relatively sufficient, and the actuator can be made to grab according to the maximum grabbing quantity.

[0100] In the second application scenario, the number of remaining items in the grasping area is 3, the number of empty spaces in the stacking area is 6, and the number of items that can be grasped by the actuator is 4. The current grasping number is the minimum of the three, 3. In this application scenario, the number of remaining items in the grasping area is small, and the grasping is performed according to the number of remaining items.

[0101] In the third application scenario, the number of remaining items in the grabbing area is 6, the number of empty spaces in the stacking area is 3, and the number of items that can be grabbed by the actuator is 4. The current grabbing number is the minimum of 3. In this application scenario, there are fewer empty spaces in the stacking area, so grabbing is performed based on the number of empty spaces.

[0102] In actual applications, the first application scenario is the main application scenario. Therefore, the stacking method of this embodiment can usually enable the actuator to grab items according to the maximum number that the actuator can grab, reducing the overall grabbing times and thus improving the overall stacking efficiency.

[0103] S202: Determine a location plan based on the number of items to be grabbed and the location of the empty space, wherein the location plan includes the number of items to be stacked each time, the items to be stacked each time, and the location of each stacking.

[0104] After determining the number of grabs, you can further determine the number of each stack, the items to be stacked each time, and the location of each stack. Figure 1 As shown in the middle stacking area, there is an empty position in the lower left corner of the stacking area, and three empty positions in the right area. If the number of grabs is 4, you can stack one item for the first time and stack it at the empty position in the lower left corner, and then stack three items for the second time. You can also stack two items for the first time, one item for the second time, and one item for the third time. You can generate multiple position plans by permuting and combining the grab number and the empty positions.

[0105] After the location plans are generated, the location plans may be screened to select a location plan with higher stacking efficiency, or one of the location plans may be randomly selected, which is not limited in this embodiment.

[0106] S203: Implement stacking action according to the location plan.

[0107] In this embodiment, the implementation of S203 is similar to the implementation of S102 in the previous embodiment of the present invention, and will not be described in detail here.

[0108] like Figure 5 As shown, Figure 5 This is a schematic diagram of the stacking method provided by the present disclosure. Figure 3 In the stacking method provided in this embodiment, the stacking scheme also includes a path scheme corresponding to the location scheme, and the method of this embodiment includes the following steps:

[0109] S301, generating a position plan according to the current state of the grasping area, the current state of the stacking area and the graspable quantity of the actuator.

[0110] In this embodiment, the implementation of S301 is similar to the implementation of S201 and S202 in the previous embodiment of the present invention, and will not be described in detail here.

[0111] S302: Generate at least one corresponding path plan according to the location plan.

[0112] After determining the location plan, there can be one or more moving paths between the actuator and the stacking area, so at least one path plan can be generated. Since the path distance and moving efficiency of the generated path plans are not necessarily the same, if there are too many generated path plans, further screening is required.

[0113] S303: Screen at least one stacking solution according to the environmental information to generate a final stacking solution, wherein the environmental information includes: position information of potential collision objects between the stacking area and the actuator.

[0114] Environmental information refers to the relevant information of the area between the stacking area and the actuator, such as whether there are potential collision objects between the stacking area and the actuator. Potential collision objects refer to objects that may collide with the actuator and affect the implementation of stacking. During the stacking process of the actuator, the area between the stacking area and the actuator will change. After grabbing the items, the area between the actuator and the stacking area is the largest, which can be regarded as consisting of the grabbing area, the stacking area, and the area between the grabbing area and the stacking area. Therefore, it is necessary to determine the environmental information in the grabbing area, the stacking area, and the area between the grabbing area and the stacking area.

[0115] Since the stacking scheme includes a location scheme and at least one path scheme corresponding to the location scheme, and the stacking scheme can be one or more, the stacking scheme can be screened according to the environmental information to select the final implementable stacking scheme. Exemplarily, collision detection can be performed on at least one path scheme corresponding to the location scheme according to the environmental information, and the path scheme that passes the collision detection is an implementable path scheme.

[0116] At the same time, the final stacking scheme with high stacking efficiency can also be further screened. For example, the stacking times and stacking positions in the location scheme can be weighted to screen out the location scheme with a higher score, and then the feasible path scheme can be further screened. For example, the moving distance and moving time in the path scheme can be weighted to generate a score for the path scheme, and the path scheme with the highest score and the corresponding location scheme can be selected as the final stacking scheme.

[0117] When it is determined that a highly scored location plan has an implementable path plan, the highly scored location plan and the corresponding implementable path plan can be immediately determined as the final stacking plan without further screening the path plan, thereby improving the efficiency of generating the final stacking plan and further improving the overall stacking efficiency.

[0118] S304: Implement stacking actions according to the final stacking plan.

[0119] In this embodiment, the implementation of S304 is similar to the implementation of S203 in the previous embodiment of the present invention, and will not be described in detail here.

[0120] like Figure 6 As shown, Figure 6 This is a schematic diagram of the stacking method provided by the present disclosure. Figure 4 This embodiment is further refined on the basis of the previous embodiment, and there are multiple stacking schemes and multiple corresponding position schemes. The method of this embodiment includes the following steps:

[0121] S401, generating a position plan according to the current state of the grasping area, the current state of the stacking area and the graspable quantity of the actuator.

[0122] In this embodiment, the implementation of S401 is similar to the implementation of S301 in the previous embodiment of the present invention, and will not be described in detail here.

[0123] S402: Generate at least one corresponding path plan according to the location plan.

[0124] In this embodiment, the implementation of S402 is similar to the implementation of S302 in the previous embodiment of the present invention, and will not be described in detail here.

[0125] S403: Sort the location solutions.

[0126] In this embodiment, the stacking efficiency, the number of stacking times, or the stacking distance may be used for sorting, which is not limited in this embodiment. Each stacking scheme corresponds to a location scheme, and each location scheme corresponds to at least one path scheme.

[0127] If the location schemes are sorted according to stacking efficiency, the specific process of S403 is as follows: Figure 7 As shown, the following steps are included:

[0128] S4031, determining the total number of stacking times and the total distance of stacking positions corresponding to each position scheme. The total distance of stacking positions is the sum of the distances between the stacking positions of each grasped object.

[0129] S4032: Perform weighted processing on the total number of stacking times and the total distance of the corresponding stacking positions to generate a stacking score for the corresponding position solution.

[0130] S4033. Sort the location plans in descending order of stacking scores.

[0131] In some embodiments, the stacking score is derived based on the total number of stacking times and the total stacking distance.

[0132] The number of stacking times can be selected from 1 to the number of times to be grabbed, that is, from stacking all items at once to stacking one item at a time.

[0133] The total stacking distance may refer to the distance that the fixture moves between multiple stacking positions.

[0134] When considering only one condition change, the more times the stacking occurs, the lower the stacking efficiency, and the longer the total distance of the stacking position, the lower the stacking efficiency. When considering both the number of stacking times and the total distance of the stacking position, the number of stacking times and the total distance of the stacking position have different degrees of influence on the stacking efficiency. Therefore, the stacking score generated by weighting the total number of stacking times and the corresponding total distance of the stacking position can more accurately reflect the stacking efficiency. The location plan with a high stacking score has a higher stacking efficiency. At the same time, the location plan with a low stacking score has a lower stacking efficiency.

[0135] For example, Figure 8 As shown in the figure, the items currently grasped by the actuator are item E, item F, item G, item H, item I and item J. The dotted boxes in the stacking area represent empty positions, and the solid boxes represent stacked items. In the position scheme 1, the stacking times are twice, and three items are stacked each time. The first stacking positions are position f, position g and position h, and the second stacking positions are position m, position n and position o. In the position scheme 2, the stacking times are three times, and two items are stacked each time. The first stacking positions are position i and position j, the second stacking positions are position k and position l, and the third stacking positions are position m and position n.

[0136] Of the two location schemes, location scheme one requires stacking twice, with fewer stacking times, but the distance between the two stackings is longer, from the upper left corner of the stacking area to the lower right corner of the stacking area. Location scheme two requires stacking three times, with more stacking times than location scheme one, but the distance of each stacking is shorter. If the area of ​​the stacking area is large, the impact of the total stacking distance is greater, and the impact of the number of stacking times is relatively small. The stacking efficiency of location scheme one may be lower than that of location scheme two. If the area of ​​the stacking area is small, the impact of the total stacking distance is smaller, and the impact of the number of stacking times is relatively large. The stacking efficiency of location scheme one may be higher than that of location scheme two. The weights of the total stacking distance and the number of stacking times can be set according to the actual application environment, and this embodiment does not limit this.

[0137] S404 , performing collision detection on the path solutions corresponding to the position solutions one by one according to the position information of the potential collision objects in the sorted order.

[0138] S405, determine whether there is a path solution that passes the collision detection, if so, execute step S406, if not, execute S408.

[0139] S406: Determine the path solution that passes the collision detection and the corresponding position solution as the final stacking solution.

[0140] S407: Implement stacking actions according to the final stacking plan.

[0141] S408: The number of captures is reduced by one, and S401 is executed again.

[0142] In this embodiment, starting from the location solution with the highest stacking score, collision detection is performed on the path solution corresponding to the location solution. If the collision detection can be passed, it means that the path solution is feasible. If there is a feasible path solution for the location solution with the highest stacking score, the location solution with the highest stacking score and the path solution are determined as the final stacking solution, and the stacking operation is performed. If there is no feasible path solution for the location solution with the highest stacking score, collision detection is performed on the path solution corresponding to the next location solution according to the ranking.

[0143] If there is no path solution that passes the collision detection in each position solution, then S408 is executed to reduce the current grab number by one and regenerate the stacking solution. At this time, the value after the current grab number is reduced by one is used as the grab number corresponding to the regenerated stacking solution.

[0144] In order to better understand the stacking method of this embodiment, Fig. 9 For further explanation. Fig. 9 As shown, firstly, a position plan is generated according to the current state of the gripping area, the current state of the stacking area and the grippable quantity of the actuator. Fig. 9In the example, three location plans are generated, namely, location plan A, location plan B, and location plan C. For each location plan, a corresponding path plan is generated. The path plans corresponding to location plan A are path plan a1, path plan a2, and path plan a3; the path plans corresponding to location plan B are path plan b1, path plan b2, and path plan b3; and the path plans corresponding to location plan C are path plan c1, path plan c2, and path plan c3. At this time, location plan A, location plan B, and location plan C are sorted. Assuming that the sorted order is location plan C, location plan B, and location plan A, collision detection is first performed on path plan c1, path plan c2, and path plan c3. If path plan c1 is a feasible path plan, location plan C and path plan c1 can be directly determined as the final stacking plan. If the collision detection result shows that path plan c1, path plan c2, and path plan c3 are not feasible, then collision detection is performed on path plan b1, path plan b2, and path plan b3 one by one. The processing flow and processing logic are similar to those of location plan C, and will not be repeated here. After the final stacking plan is determined, the stacking action can be implemented according to the final stacking plan.

[0145] Fig.10 Schematic diagram of the stacking device provided by the present invention. Fig.10 As shown, the stacking device 500 can be located in an actuator or in other electronic devices. The stacking device 500 includes:

[0146] The generation module 501 is used to generate a stacking plan according to the current state of the grasping area, the current state of the stacking area and the graspable quantity of the actuator, wherein the stacking plan includes a location plan for stacking the grasped multiple objects in the stacking area in multiple times.

[0147] The stacking module 502 is used to perform stacking actions according to the stacking plan.

[0148] Fig.10 The provided stacking device can execute the aforementioned corresponding method embodiments, and its implementation principles and technical effects are similar, which will not be repeated here.

[0149] At the same time, the stacking device provided in the present disclosure is further refined on the basis of the stacking device provided in the previous embodiment, as follows:

[0150] In a possible implementation, the current state of the grabbing area includes the number of remaining items in the grabbing area, and the current state of the stacking area includes the number of empty spaces and the positions of the empty spaces.

[0151] The generation module 501 is specifically used for:

[0152] Generate a location plan based on the number of remaining items, the number of items that can be grasped by the actuator, the number of empty spaces, and the positions of the empty spaces.

[0153] In a possible implementation, when generating a location plan according to the number of remaining objects, the number of objects that can be grasped by the actuator, the number of empty spaces, and the empty space positions, the generation module 501 is specifically configured to:

[0154] The grab number is obtained according to the number of remaining items, the number of empty spaces, and the number of items that can be grabbed by the actuator. The grab number is the minimum value among the number of remaining items, the number of empty spaces, and the number of items that can be grabbed by the actuator. The location plan is determined according to the grab number and the position of the empty spaces. The location plan includes the number of items to be stacked each time, the items to be stacked each time, and the position of each stacking.

[0155] In a possible implementation, the stacking solution also includes a path solution corresponding to the location solution.

[0156] The generation module 501 is also used for:

[0157] At least one path solution corresponding to the location solution is generated according to the location solution.

[0158] The stacking module 502 is specifically used for:

[0159] At least one stacking scheme is screened according to the environmental information to generate a final stacking scheme, wherein the environmental information includes: position information of potential collision objects between the stacking area and the actuator, and the stacking action is performed according to the final stacking scheme.

[0160] In a possible implementation, there are multiple stacking schemes.

[0161] When the stacking module 502 screens at least one stacking scheme according to the environmental information and generates a final stacking scheme, it is specifically used to:

[0162] Sort the location plans corresponding to each stacking plan. Perform collision detection on the path plans corresponding to the location plans one by one according to the position information of the potential collision objects in the sorted order. Determine the path plan and the corresponding location plan that pass the collision detection as the final stacking plan.

[0163] In a possible implementation, when sorting the position schemes corresponding to the stacking schemes, the stacking module 502 is specifically configured to:

[0164] Determine the total number of stacking times and the total distance of stacking positions corresponding to each location scheme. The total distance of stacking positions is the sum of the distances between the stacking positions of each grasped object. Perform weighted processing on each total number of stacking times and the corresponding total distance of stacking positions to generate a stacking score for the corresponding location scheme. Sort each location scheme in descending order of the stacking score.

[0165] In a possible implementation, if there is no path solution that passes the collision detection, the stacking device 500 further includes:

[0166] The regeneration module is used to regenerate a new stacking plan according to the current state of the grabbing area, the current state of the stacking area and the grabbable quantity of the actuator. The grabbable quantity in the new stacking plan is the difference between the grabbable quantity in the previous stacking plan and one.

[0167] The stacking device of this embodiment can execute the aforementioned corresponding method embodiments, and its implementation principles and technical effects are similar, which will not be repeated here.

[0168] Fig.11 A schematic diagram of the internal structure of the actuator provided in the present invention. Fig.11 As shown, the execution mechanism includes: a processor 601, a memory 602 and an execution component 603. The memory 602 stores a computer program. The processor 601 executes the computer program stored in the memory to implement the steps of the stacking method in the above method embodiment. The execution component 603 is used to grasp or stack the items under the control of the processor 601.

[0169] In the above-mentioned execution mechanism, the processor 601, the memory 602 and the execution component 603 are directly or indirectly electrically connected to each other to realize data transmission or interaction. For example, these elements can be electrically connected to each other through one or more communication buses or signal lines, such as through a bus connection. The memory 602 stores computer execution instructions for implementing the data access control method, including at least one software function module that can be stored in the memory 602 in the form of software or firmware. The processor 601 executes various functional applications and data processing by running the software programs and modules stored in the memory 602.

[0170] The memory 602 may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), etc. Furthermore, the software programs and modules in the memory 602 may also include an operating system, which may include various software components and / or drivers for managing system tasks (such as memory management, storage device control, power management, etc.), and may communicate with various hardware or software components to provide an operating environment for other software components.

[0171] The processor 601 may be an integrated circuit chip having the ability to process signals. The processor 601 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc. The methods, steps, and logic diagrams disclosed in the embodiments of the present disclosure may be implemented or executed. The general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0172] An embodiment of the present disclosure further provides a chip, including: a processor and a memory. The memory stores a computer program, and when the processor executes the computer program stored in the memory, the steps of the stacking method in the above method embodiment are implemented.

[0173] An embodiment of the present disclosure further provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the steps of the stacking method in the above method embodiment.

[0174] An embodiment of the present disclosure further provides a computer program product, including a computer program, which is used to implement the steps of the stacking method in the above method embodiment when executed by a processor.

[0175] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided by the present disclosure can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0176] So far, the technical solutions of the present disclosure have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present disclosure is obviously not limited to these specific embodiments. Without departing from the principles of the present disclosure, those skilled in the art may make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present disclosure.

[0177] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The description and examples are to be considered exemplary only, and the true scope and spirit of the present disclosure are indicated by the claims.

[0178] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A stacking method, wherein the method is used for an actuator to transfer an object from a gripping area to a stacking area, characterized in that: include: Generate a stacking plan according to the current state of the grasping area, the current state of the stacking area and the graspable quantity of the actuator, wherein the stacking plan includes a position plan for stacking the grasped multiple objects in the stacking area in multiple times; the current state of the grasping area includes the number of remaining objects in the grasping area, and the current state of the stacking area includes the number of empty spaces and the empty space positions; Implementing stacking actions according to the stacking plan; The generating of the stacking plan according to the current state of the grasping area, the current state of the stacking area and the graspable quantity of the actuator includes: According to the number of remaining items, the number of empty spaces and the number of items that can be grasped by the actuator, the grasping number is obtained; wherein the grasping number is the minimum value among the number of remaining items, the number of empty spaces and the number of items that can be grasped by the actuator; The location scheme is determined according to the grasping quantity and the empty position; wherein the location scheme includes the quantity of each stacking, the items stacked each time and the position of each stacking.

2. The method according to claim 1, characterized in that The stacking plan also includes a path plan corresponding to the location plan; The generating of the stacking scheme according to the current state of the grasping area, the current state of the stacking area and the graspable quantity of the actuator further includes: According to the location plan, generating at least one path plan corresponding thereto; The performing of the stacking action according to the stacking scheme includes: Screening at least one stacking scheme according to the environmental information to generate a final stacking scheme; wherein the environmental information includes: position information of potential collision objects between the stacking area and the actuator; Implement stacking actions according to the final stacking plan.

3. The method according to claim 2, characterized in that There are multiple stacking schemes; The step of screening at least one stacking scheme according to the environmental information to generate a final stacking scheme includes: Sorting the position schemes corresponding to the stacking schemes; Performing collision detection on the path schemes corresponding to the position schemes one by one according to the position information of the potential collision objects in the sorted order; The path plan that passes the collision detection and the corresponding position plan are determined as the final stacking plan.

4. The method according to claim 3, characterized in that The sorting of the position schemes corresponding to the stacking schemes includes: Determine the total number of stacking times and the total distance of stacking positions corresponding to each of the position schemes; the total distance of stacking positions is the sum of the distances between the stacking positions of each grasped object; Performing weighted processing on the total number of stacking times and the corresponding total distance of the stacking positions to generate a stacking score for the corresponding position solution; The location solutions are sorted in descending order of stacking scores.

5. The method according to claim 4, characterized in that If there is no path solution that passes the collision detection, the method further includes: A new stacking scheme is regenerated according to the current state of the grasping area, the current state of the stacking area and the graspable quantity of the actuator; the grasping quantity in the new stacking scheme is the difference between the grasping quantity in the previous stacking scheme and one.

6. A stacking device, the device is used for an actuator to transfer objects from a gripping area to a stacking area, characterized in that: include: A generating module, configured to generate a stacking scheme according to the current state of the grasping area, the current state of the stacking area and the graspable quantity of the actuator, wherein the stacking scheme includes a position scheme for stacking the grasped multiple objects in the stacking area in multiple times; the current state of the grasping area includes the number of remaining objects in the grasping area, and the current state of the stacking area includes the number of vacant spaces and the vacant space positions; A stacking module, used for implementing stacking actions according to the stacking scheme; The generating module is specifically used to obtain the grasping quantity according to the remaining number of items, the number of vacancies and the graspable number of the actuator; wherein the grasping quantity is the minimum value among the remaining number of items, the number of vacancies and the graspable number of the actuator; The location scheme is determined according to the grasping quantity and the empty position; wherein the location scheme includes the quantity of each stacking, the items stacked each time and the position of each stacking.

7. An actuator, characterized in that: include: Processor, memory and execution components; The processor, the memory and the execution component circuits are interconnected; The memory stores computer-executable instructions; the execution component is used to grasp or stack objects under the control of the processor; The processor executes the computer-executable instructions stored in the memory to implement the stacking method according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, they are used to implement the stacking method according to any one of claims 1 to 5.

9. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the stacking method according to any one of claims 1 to 5 is implemented.

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