Palletizing power failure processing method, equipment and storage medium

Abstract

The present application provides a method, device and storage medium for handling power failures in stacking. The method includes: if it is detected that the robot is powered on, obtaining the stacking type file corresponding to the stacking task stored before the power failure, the stacking type file includes the first and second stacking type files, the first stacking type file includes the stacking type information of each object in the target stacking type, and the second stacking type file includes the stacking type information of the stacked objects; determining the third stacking type file according to the stacking type information of each object in the target stacking type and the stacking type information of the stacked objects, the third stacking type file includes the stacking type information of the objects to be stacked; according to the stacking type information of the objects to be stacked, controlling the robot to perform stacking operations on the objects to be stacked, and updating the second and third stacking type files. The method of the present application can re-execute the stacking task before the power failure according to the recorded stacking type file, without the need for re-planning, effectively saving time, and can continuously synchronize the stacking type files according to the actual stacking situation of the objects.

Description

Technical Field

[0001] The present application relates to communication technology, and more particularly to a method, device and storage medium for handling power failures in palletizing. Background Art

[0002] Robots are capable of performing tasks such as grabbing, transporting, stacking, and destacking of large quantities of workpieces and packages in industrial production processes. They are high-tech electromechanical products that integrate mechanics, electronics, information, intelligent technology, computer science and other disciplines.

[0003] In the industrial production process, the robot can perform palletizing according to the palletizing task. There is a sudden power outage during the palletizing process. Usually, after the robot loses power, it is necessary to re-plan a new palletizing task for the robot.

[0004] After an abnormal power outage, the robot cannot complete the previous palletizing task and can only palletize according to the re-planned palletizing task. Summary of the invention

[0005] The present application provides a palletizing power failure processing method, device and storage medium, which are used to solve the problem that in the event of an abnormal power failure, a robot can only perform palletizing according to a re-planned palletizing task.

[0006] In a first aspect, the present application provides a method for handling a power failure in a palletizing process, comprising:

[0007] If it is detected that the robot is powered on, the stacking type file corresponding to the stacking task stored before the power failure is obtained, wherein the stacking type file includes a first stacking type file and a second stacking type file, the first stacking type file includes the stacking type information of each object in the target stacking type, the second stacking type file includes the stacking type information of the stacked objects, and the stacking type information includes the stacking position and object size of each object in the target stacking type;

[0008] Determine a third stack type file according to the stack type information of each object in the target stack type and the stack type information of the stacked objects, wherein the third stack type file includes the stack type information of the objects to be stacked;

[0009] According to the stack type information of the objects to be stacked, the robot is controlled to perform stacking operations on the objects to be stacked, and the second stack type file and the third stack type file are updated.

[0010] In a second aspect, the present application provides an electronic device, including: a processor, a memory and a transceiver;

[0011] Processor, memory and transceiver circuit interconnection;

[0012] Memory stores computer-executable instructions;

[0013] A transceiver for sending and receiving data;

[0014] The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method as described in the first aspect.

[0015] In a third aspect, the present application provides a computer-readable storage medium, wherein 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 method described in the first aspect.

[0016] The stacking power-off processing method, device and storage medium provided by the present application obtain, if it is detected that the robot is powered on, the stacking type file corresponding to the stacking task stored before the power off is obtained, wherein the stacking type file includes a first stacking type file and a second stacking type file, the first stacking type file includes the stacking type information of each object in the target stacking type, the second stacking type file includes the stacking type information of the stacked objects, and the stacking type information includes the stacking position and object size of each object in the target stacking type; a third stacking type file is determined according to the stacking type information of each object in the target stacking type and the stacking type information of the stacked objects, and the third stacking type file includes the stacking type information of the objects to be stacked Stack type information of objects; according to the stack type information of the objects to be stacked, control the robot to perform stacking operations on the objects to be stacked, and update the second stack type file and the third stack type file. In the present application, if it is detected that the robot is powered on, the stacking task before the power failure can be re-executed according to the recorded stack type file, and there is no need to re-plan the unfinished tasks before the power failure, which is convenient for actual production use and effectively saves time. Moreover, the stack type file can be continuously synchronized according to the actual stacking situation of the objects, so that the stacking situation of the objects is consistent with the stack type file, so as to facilitate use during power failure, and the latest stacking situation of the objects can be known through the stack type file. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0018] Figure 1 A schematic diagram of the network architecture of the method for handling power failures in palletizing provided in this application;

[0019] Figure 2 A schematic diagram of a process flow of a palletizing power failure processing method provided in this application;

[0020] Figure 3 A schematic flow chart of another method for handling power failures in palletizing provided in this application;

[0021] Figure 4 A schematic diagram of the structure of a palletizing power failure processing device provided in this application;

[0022] Figure 5A first block diagram of an electronic device for implementing the method for processing power failure of palletizing according to an embodiment of the present application;

[0023] Figure 6 The second block diagram is of an electronic device for implementing the palletizing power-off processing method according to an embodiment of the present application.

[0024] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0025] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0026] In order to clearly understand the technical solution of the present application, the solution of the prior art is first introduced in detail.

[0027] There are often a large number of goods that need to be stacked in product warehouses. When goods are put on shelves or shipped out of the warehouse, they need to be stacked on pallets for distribution and transportation. This process is mainly achieved through robots. Robots can perform tasks such as grabbing, handling, stacking, and destacking of large quantities of workpieces and packages in the industrial production process. They are high-tech electromechanical products that integrate mechanical, electronic, information, intelligent technology, computer science and other disciplines.

[0028] In the industrial production process, the robot can perform palletizing according to the palletizing task. There is a sudden power outage during the palletizing process. Usually, after the robot loses power, it is necessary to re-plan a new palletizing task for the robot.

[0029] However, when the factory suddenly loses power or the power is abnormally lost, the robot stops working. After the power is restored, the robot cannot complete the previous palletizing task and can only palletize according to the re-planned palletizing task.

[0030] Therefore, in view of the problem that in the prior art, robots can only perform palletizing according to re-planned palletizing tasks in the event of an abnormal power outage, the inventors have discovered in their research that when the robot performs a stacking operation on objects, it records the stacking status of the objects. If the factory experiences a sudden power outage or an abnormal power outage, the recorded pallet type file can be read to continue to complete the palletizing task that was not completed before the power outage. Specifically, if it is detected that the robot is powered on, the pallet type file corresponding to the stacking task stored before the power outage is obtained, wherein the pallet type file includes a first pallet type file, the first pallet type file includes pallet type information of each object in a target pallet type, the pallet type file also includes a second pallet type file, the second pallet type file includes pallet type information of the stacked objects, a third pallet type file is determined based on the pallet type information of each object in the target pallet type and the pallet type information of the stacked objects, the third pallet type file includes the pallet type information of the objects to be stacked, and based on the pallet type information of the objects to be stacked, the robot is controlled to perform a stacking operation on the objects to be stacked, and the second pallet type file and the third pallet type file are further updated. In the present application, if it is detected that the robot is powered on, the stacking task before the power failure can be re-executed according to the recorded stacking file, without the need to re-plan the unfinished tasks before the power failure, which is convenient for actual production use and effectively saves time. Moreover, the stacking file can be continuously synchronized according to the actual stacking situation of the objects, so that the stacking situation of the objects is consistent with the stacking file, so as to facilitate use during power failure, and the latest stacking situation of the objects can be known through the stacking file.

[0031] Therefore, based on the above creative findings, the inventors have proposed a technical solution of the embodiment of the present application. The network architecture and application scenarios of the data processing method provided in the embodiment of the present application are introduced below.

[0032] like Figure 1As shown, the network architecture corresponding to the data processing method provided in the embodiment of the present application includes: an electronic device 1 and a robot 2, the electronic device 1 and the robot 2 are connected for communication, if the electronic device 1 detects that the robot 2 is powered on, then the stacking task corresponding to the stored stacking task before the power failure is obtained, wherein the stacking task file includes a first stacking task file and a second stacking task file, the first stacking task file includes the stacking task information of each object in the target stacking task, the second stacking task file includes the stacking task information of the stacked objects, the stacking task information includes the stacking position and the object size of each object in the target stacking task, and the electronic device 1 performs stacking according to the target stacking task. The third stacking type file is determined based on the stacking type information of each object in the stacking type file and the stacking type information of the stacked objects, and the third stacking type file includes the stacking type information of the objects to be stacked; the electronic device 1 controls the robot 2 to perform stacking operations on the objects to be stacked according to the stacking type information of the objects to be stacked, specifically, the electronic device 1 controls the robot's suction cup to suck air to grab the target object and stack the target object according to the stacking type information of the target object; when stacking to the stacking position in the stacking type information of the target object, the suction cup is controlled to open air to detach from the target object, and the second stacking type file and the third stacking type file are updated. If it is detected that the robot is powered on, the stacking task before the power failure can be re-executed according to the recorded stacking type file, without the need to re-plan the unfinished tasks before the power failure, which is convenient for actual production use and effectively saves time, and the stacking type file can be continuously synchronized according to the actual stacking situation of the object, so that the object stacking situation and the stacking type file are consistent, so as to be used during power failure, and the latest stacking situation of the object can be known through the stacking type file.

[0033] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0034] Figure 2 The present invention provides a flow chart of a method for processing a power failure of a palletizing device, which is applied to an electronic device. The electronic device may be a digital computer in various forms, such as a cellular phone, a smart phone, a laptop computer, a desktop computer, a workbench, a personal digital assistant, a server, a blade server, a mainframe computer, and other suitable computers. Figure 2 As shown, the method includes:

[0035] Step 201, if it is detected that the robot is powered on, obtain the stacking type file corresponding to the stacking task stored before power failure, wherein the stacking type file includes a first stacking type file and a second stacking type file, the first stacking type file includes the stacking type information of each object in the target stacking type, the second stacking type file includes the stacking type information of the stacked objects, and the stacking type information includes the stacking position and object size of each object in the target stacking type.

[0036] In this embodiment, when the robot performs stacking operations on objects, the electronic device will record the stacking conditions of the objects, such as recording the target stack type and the stacked objects corresponding to the stacking task before power failure, wherein the target stack type is the shape of the cargo stack formed after the objects are stacked, and the electronic device records the stacking conditions in the stack type file. If the factory suddenly loses power or an abnormal power outage occurs, the robot will be powered off and stop working, and after powering on, the robot will read the stacking conditions recorded before the power outage to continue the stacking operation before the power outage. If it is detected that the robot is powered on, the stack type file corresponding to the stacking task stored before the power outage is obtained, wherein the stack type file includes a first stack type file, the first stack type file includes the stack type information of each object in the target stack type, and the stack type file also includes a second stack type file, the second stack type file includes the stack type information of the stacked objects, and the stack type information includes the stacking position and object size of each object in the target stack type.

[0037] Step 202: determining a third stack type file according to the stack type information of each object in the target stack type and the stack type information of the stacked objects, wherein the third stack type file includes the stack type information of the objects to be stacked.

[0038] In this embodiment, a third stack type file is determined based on the stack type information of each object in the target stack type in the first stack type file and the stack type information of the stacked objects in the second stack type file. The third stack type file includes the stack type information of the objects to be stacked, and the stack type information includes the stacking position and object size of each object to be stacked in the target stack type.

[0039] Step 203 , according to the stack type information of the objects to be stacked, control the robot to perform stacking operations on the objects to be stacked, and update the second stack type file and the third stack type file.

[0040] In this embodiment, the electronic device is connected to communicate with the robot, and according to the stack type information of the objects to be stacked in the third stack type file, the robot is controlled to perform stacking operations on the objects to be stacked, so that the objects that have not been completed corresponding to the stacking task before power failure can continue to be stacked, and the second stack type file and the third stack type file are further updated according to the stacking situation, and the stack type files are synchronized according to the actual stacking situation of the objects for use after power failure.

[0041] In the present application, if it is detected that the robot is powered on, the stacking file corresponding to the stacking task stored before the power failure is obtained, wherein the stacking file includes a first stacking file, the first stacking file includes the stacking information of each object in the target stacking type, the stacking file also includes a second stacking file, the second stacking file includes the stacking information of the stacked objects, and the third stacking file is determined according to the stacking information of each object in the target stacking type and the stacking information of the stacked objects, the third stacking file includes the stacking information of the objects to be stacked, and according to the stacking information of the objects to be stacked, the robot is controlled to perform stacking operations on the objects to be stacked, and the second stacking file and the third stacking file are further updated. If it is detected that the robot is powered on, the stacking task before the power failure can be re-executed according to the recorded stacking file, and there is no need to re-plan the unfinished tasks before the power failure, which is convenient for actual production use, effectively saves time, and can continuously synchronize the stacking file according to the actual stacking situation of the objects, so that the stacking situation of the objects and the stacking file are consistent, so as to be used during power failure, and the latest stacking situation of the objects can be known through the stacking file.

[0042] Figure 3 A schematic diagram of another method for handling power failures in palletizing provided in the present application, which is applied to electronic equipment, such as Figure 3 As shown, the method includes:

[0043] Step 301: If it is detected that the robot is powered on, it is determined whether the robot receives a new stacking task.

[0044] In this embodiment, when the robot performs stacking operation on objects, the electronic device will record the stacking situation of the objects, such as recording the target stack type and the stacked objects corresponding to the stacking task before power failure, wherein the target stack type is the shape of the cargo stack formed after the objects are stacked, and the electronic device records the stacking situation in the stack type file. If the factory suddenly loses power or abnormal power failure, the robot stops working by power failure, and reads the stacking situation recorded before the power failure after power is turned on, so as to continue to perform the stacking operation before the power failure. If the robot is detected to be powered on, it is determined whether the robot receives a new stacking task. If the robot does not receive a new stacking task, it can continue to perform the stacking task before the power failure. If the robot receives a new stacking task, it may be that the power failure time is too long, and the stacking task before the power failure has been completed manually, and it is not necessary to perform the stacking task before the power failure, then the new stacking task is executed, the stack type file corresponding to the stacking task before the power failure is deleted, and the robot is controlled to stack the objects to be stacked corresponding to the new stacking task.

[0045] Step 302, if not, determine to continue to execute the stacking task before the power outage, and obtain the stacking type file corresponding to the stacking task stored before the power outage, wherein the stacking type file includes a first stacking type file and a second stacking type file, the first stacking type file includes the stacking type information of each object in the target stacking type, the second stacking type file includes the stacking type information of the stacked objects, and the stacking type information includes the stacking position and object size of each object in the target stacking type.

[0046] In this embodiment, if the robot does not receive a new stacking task, it determines to continue to execute the stacking task before the power outage, and obtains the stacking type file corresponding to the stacking task stored before the power outage, wherein the stacking type file includes a first stacking type file, the first stacking type file includes the stacking type information of each object in the target stacking type, the stacking type file also includes a second stacking type file, the second stacking type file includes the stacking type information of the stacked objects, and the stacking type information includes the stacking position and object size of each object in the target stacking type.

[0047] In a possible implementation, obtaining the stacking file corresponding to the stacking task stored before the power failure includes:

[0048] Step 3021, according to the power-off setting information, obtain the stacking file corresponding to the stacking task stored before the power-off, wherein the power-off setting information is pre-set information for indicating that after the power is off and then on, the stacking task before the power-off of the robot is continued.

[0049] In this embodiment, the user can make power-off settings in advance, such as selecting the option to save and read the stacking type information in the power-off setting options, so as to record the object stacking situation in the stacking type file, so that the robot can continue to perform the stacking task before the power-off when the power is turned on again after the power-off. According to the power-off setting information, the stacking type file corresponding to the stacking task stored before the power-off is obtained. The power-off setting information is pre-set information for indicating that the robot should continue to perform the stacking task before the power-off after the power is turned on again after the power is turned off. The user pre-sets it according to the needs so that the robot can continue to perform the unfinished stacking task before the power-off without re-planning the stacking task.

[0050] Optionally, the stack type file is a JSON file.

[0051] In this embodiment, the stack type file corresponding to the stacking task stored before the power failure is obtained. The stack type file is a JSON file. The data stored in the JSON is a key-value pair dictionary. One key corresponds to one unique value, which is easy to read and save.

[0052] Optionally, after obtaining the stacking type file corresponding to the stacking task stored before the power failure, the method further includes:

[0053] In response to the display instruction, a three-dimensional model of the target stack type is created and displayed according to the first stack type file, and a three-dimensional model of the stacked objects is created and displayed according to the second stack type file.

[0054] In this embodiment, if the user wants to view the three-dimensional model of the stacking situation, the viewing operation can be triggered. In response to the display instruction, a three-dimensional model of the target stack type is created according to the first stack type file and the three-dimensional model is displayed. A three-dimensional model of the stacked objects is created according to the second stack type file and the three-dimensional model is displayed, so that the user can understand the target stack type and the stacked situation more intuitively.

[0055] Step 303: determining a third stack type file according to the stack type information of each object in the target stack type and the stack type information of the stacked objects, wherein the third stack type file includes the stack type information of the objects to be stacked.

[0056] In a possible implementation, determining the third stack type file according to the stack type information of each object in the target stack type and the stack type information of the stacked objects includes:

[0057] Step 3031, matching the stacking type information of each object in the target stacking type with the stacking type information of the stacked objects.

[0058] In this embodiment, the stack type information of each object in the target stack type file is matched with the stack type information of the stacked objects, and the third stack type file is determined according to the matching result.

[0059] Step 3032: Determine a third stack type file based on the stack type information of the objects in the target stack type that do not match the stack type information of the stacked objects.

[0060] In this embodiment, the third stack type file is determined based on the stack type information of objects in the target stack type that does not match the stack type information of the stacked objects, wherein the objects that do not match the stack type information of the stacked objects refer to objects that have not yet been stacked, that is, objects to be stacked, and the third stack type file includes the stack type information of the objects to be stacked.

[0061] Step 304 , according to the stack type information of the objects to be stacked, control the robot to perform stacking operations on the objects to be stacked, and update the second stack type file and the third stack type file.

[0062] In a possible implementation, according to the stack type information of the objects to be stacked, controlling the robot to perform stacking operations on the objects to be stacked includes:

[0063] Step 3031, according to the stack type information of the objects to be stacked, obtain the next target object to be stacked and the stack type information of the target object.

[0064] In this embodiment, the stacking type information of the next target object to be stacked and the stacking type information of the target object are obtained according to the stacking type information of the object to be stacked in the third stacking type file, wherein the target object is the next stacking object of the robot, and the stacking type information includes the stacking position and the object size.

[0065] Step 3032: Control the robot to complete the stacking operation of the target object according to the stacking type information of the target object.

[0066] In this embodiment, the robot is controlled to complete the stacking operation of the target object according to the stacking position in the current object stack type information, wherein the stacking position refers to the stacking position of the target object in the target stack type.

[0067] Optionally, according to the stacking type information of the target object, controlling the robot to complete the stacking operation of the target object includes:

[0068] According to the stacking type information of the target object, the suction cup of the robot is controlled to suck air to grab the target object and stack the target object; when stacking to the stacking position in the stacking type information of the target object, the suction cup is controlled to open the air to detach from the target object; wherein, the suction cup opening the air is used to indicate that the stacking operation of the target object is completed.

[0069] In this embodiment, the robot is provided with a pneumatic suction cup, which can grab objects by suction. The suction cup of the robot is controlled to suction air according to the stack type information of the target object to grab the target object and stack the target object. When the target object is stacked to the stacking position in the stack type information of the target object, the suction cup of the robot is controlled to open the air so that the target object is separated from the suction cup so that the target object is located at the stacking position in the stack type information.

[0070] Optionally, before stacking the target object, the method further includes:

[0071] The robot is controlled to identify the barcode of the target object on the suction cup; if the barcode is identified, the step of stacking the target object is executed.

[0072] In this embodiment, the robot's suction cup is controlled to suck air to grab the target object according to the stack type information of the target object, and the barcode of the target object is further identified. The barcode can be a two-dimensional code. A barcode is set on each object, and the barcode contains relevant information of the object. If it is determined that the barcode is not recognized, the target object is moved to a preset position; if it is determined that the barcode is recognized, the target object is stacked. When the target object is stacked at the stacking position in the stack type information of the target object, the robot's suction cup is controlled to open air so that the target object is separated from the suction cup so that the target object is located at the stacking position in the stack type information.

[0073] Correspondingly, update the second stack type file and the third stack type file, including:

[0074] Step 3033: after determining that the stacking operation of the target object is completed, update the stacking type information of the stacked objects in the second stacking type file and the stacking type information of the objects to be stacked in the third stacking type file according to the stacking type information of the target object.

[0075] In this embodiment, it is determined whether the stacking operation of the target object is completed. After determining that the stacking operation of the target object is completed, it is necessary to update the stacking type file, and the stacking type information of the objects already stacked in the second stacking type file and the stacking type information of the objects to be stacked in the third stacking type file are updated according to the stacking type information of the target object. Specifically, the stacking type information of the target object is added to the stacking type information already stacked in the second stacking type file to update the stacking type information already stacked in the second stacking type file, and the stacking type information of the target object is deleted from the stacking type information of the objects to be stacked in the third stacking type file to update the stacking type information of the objects to be stacked in the third stacking type file.

[0076] Optionally, updating the stacking type information of the stacked objects in the second stacking type file and the stacking type information of the objects to be stacked in the third stacking type file according to the stacking type information of the target object includes:

[0077] Add the stack type information of the target object to the second stack type file; and delete the stack type information of the target object from the third stack type file.

[0078] In this embodiment, the stack type information of the target object is added to the stack type information already stacked in the second stack type file to update the stack type information already stacked in the second stack type file, and the stack type information of the target object is deleted from the stack type information of the objects to be stacked in the third stack type file to update the stack type information of the objects to be stacked in the third stack type file.

[0079] In this application, if it is detected that the robot is powered on again, it is determined whether the robot has received a new stacking task. If the robot has not received a new stacking task, the stacking task that was not completed before the power failure can be re-executed according to the recorded stacking type file, and there is no need to re-plan the tasks that were not completed before the power failure, which is convenient for actual production use and effectively saves time. Moreover, the stacking type file can be continuously synchronized according to the actual stacking situation of the object, so that the stacking situation of the object and the stacking type file are consistent, so as to be used during power failure, and the latest stacking situation of the object can be known through the stacking type file. In addition, the stacking type file can be a JSON file, which is easy to read and save.

[0080] Figure 4 A schematic diagram of the structure of a palletizing power failure processing device provided in this application, such as Figure 4 As shown, the palletizing power failure processing device 400 provided in this embodiment includes a processing unit 401 and a control unit 402.

[0081] Wherein, the processing unit 401 is used for obtaining the stacking type file corresponding to the stacking task stored before power failure if it is detected that the robot is powered on, wherein the stacking type file includes a first stacking type file and a second stacking type file, the first stacking type file includes the stacking type information of each object in the target stacking type, the second stacking type file includes the stacking type information of the stacked objects, and the stacking type information includes the stacking position and object size of each object in the target stacking type. The processing unit 401 is also used for determining a third stacking type file according to the stacking type information of each object in the target stacking type and the stacking type information of the stacked objects, and the third stacking type file includes the stacking type information of the objects to be stacked. The control unit 402 is used for controlling the robot to perform stacking operations on the objects to be stacked according to the stacking type information of the objects to be stacked. The processing unit 401 is used for updating the second stacking type file and the third stacking type file.

[0082] Optionally, the control unit is further used to obtain the next target object to be stacked and the stacking type information of the target object according to the stacking type information of the object to be stacked; and control the robot to complete the stacking operation of the target object according to the stacking type information of the target object. The processing unit is further used to update the stacking type information of the stacked objects in the second stacking type file and the stacking type information of the objects to be stacked in the third stacking type file according to the stacking type information of the target object after determining that the stacking operation of the target object is completed.

[0083] Optionally, the processing unit is further configured to add the stack type information of the target object to the second stack type file; and delete the stack type information of the target object from the third stack type file.

[0084] Optionally, the control unit is further used to control the robot's suction cup to absorb air to grab the target object and stack the target object according to the stacking type information of the target object; when stacking to the stacking position in the stacking type information of the target object, control the suction cup to open the air to detach from the target object; wherein the suction cup opening the air is used to indicate that the stacking operation of the target object is completed.

[0085] Optionally, the processing unit is further used to obtain the stacking file corresponding to the stacking task stored before the power outage according to the power outage setting information, wherein the power outage setting information is pre-set information for indicating that the stacking task before the power outage should be continued after the power is restored.

[0086] Optionally, the processing unit is further used to determine whether the robot receives a new stacking task; if not, determine to continue to execute the stacking task before the power failure.

[0087] Optionally, the processing unit is further used to match the stack type information of each object in the target stack type with the stack type information of the stacked objects; and determine the third stack type file based on the stack type information of the objects in the target stack type that do not match the stack type information of the stacked objects.

[0088] Optionally, the palletizing power failure processing device further includes: a display unit.

[0089] The display unit is used to create and display a three-dimensional model of the target stack type according to the first stack type file in response to the display instruction, and to create and display a three-dimensional model of the stacked objects according to the second stack type file.

[0090] Figure 5 The first block diagram of an electronic device for implementing the method for processing power failure of palletizing according to an embodiment of the present application is shown in FIG. Figure 5 As shown, the electronic device 500 includes: a memory 501 , a processor 502 and a transceiver 503 .

[0091] The processor 502, the memory 501 and the transceiver 503 are interconnected;

[0092] A transceiver 503, used for sending and receiving data;

[0093] The memory 501 stores computer executable instructions;

[0094] The processor 502 executes the computer-executable instructions stored in the memory 501 , so that the processor 502 executes the method provided by any of the above embodiments.

[0095] Figure 6 A second block diagram of an electronic device for implementing the method for processing power failure of palletizing according to an embodiment of the present application is shown in FIG. Figure 6 As shown, the electronic device can be a computer, a digital broadcast terminal, a message sending and receiving device, a tablet device, a personal digital assistant, a server, a server cluster, etc.

[0096] The electronic device 800 may include one or more of the following components: a processing component 802 , a memory 804 , a power component 806 , a multimedia component 808 , an audio component 810 , an input / output (I / O) interface 812 , a sensor component 814 , and a communication component 816 .

[0097] The processing component 802 generally controls the overall operation of the electronic device 800, such as operations associated with display, phone calls, data communications, camera operations, and recording operations. The processing component 802 may include one or more processors 820 to execute instructions to complete all or part of the steps of the above-mentioned method. In addition, the processing component 802 may include one or more modules to facilitate the interaction between the processing component 802 and other components. For example, the processing component 802 may include a multimedia module to facilitate the interaction between the multimedia component 808 and the processing component 802.

[0098] The memory 804 is configured to store various types of data to support operations on the electronic device 800. Examples of such data include instructions for any application or method operating on the electronic device 800, contact data, phone book data, messages, pictures, videos, etc. The memory 804 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0099] The power supply component 806 provides power to the various components of the electronic device 800. The power supply component 806 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to the electronic device 800.

[0100] The multimedia component 808 includes a screen that provides an output interface between the electronic device 800 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundaries of the touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 808 includes a front camera and / or a rear camera. When the electronic device 800 is in an operating mode, such as a shooting mode or a video mode, the front camera and / or the rear camera may receive external multimedia data. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.

[0101] The audio component 810 is configured to output and / or input audio signals. For example, the audio component 810 includes a microphone (MIC), and when the electronic device 800 is in an operating mode, such as a call mode, a recording mode, and a voice recognition mode, the microphone is configured to receive an external audio signal. The received audio signal can be further stored in the memory 804 or sent via the communication component 816. In some embodiments, the audio component 810 also includes a speaker for outputting audio signals.

[0102] I / O interface 812 provides an interface between processing component 802 and peripheral interface modules, such as keyboards, click wheels, buttons, etc. These buttons may include but are not limited to: home button, volume button, start button, and lock button.

[0103] The sensor assembly 814 includes one or more sensors for providing various aspects of status assessment for the electronic device 800. For example, the sensor assembly 814 can detect the open / closed state of the electronic device 800, the relative positioning of components, such as the display and keypad of the electronic device 800, and the sensor assembly 814 can also detect the position change of the electronic device 800 or a component of the electronic device 800, the presence or absence of contact between the user and the electronic device 800, the orientation or acceleration / deceleration of the electronic device 800, and the temperature change of the electronic device 800. The sensor assembly 814 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor assembly 814 may also include an optical sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 814 may also include an accelerometer, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0104] The communication component 816 is configured to facilitate wired or wireless communication between the electronic device 800 and other devices. The electronic device 800 can access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 816 receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 816 also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.

[0105] In an exemplary embodiment, the electronic device 800 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the above methods.

[0106] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 804 including instructions, and the above instructions can be executed by the processor 820 of the electronic device 800 to complete the above method. For example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0107] In an exemplary embodiment, a computer-readable storage medium is further provided, in which computer-executable instructions are stored. The computer-executable instructions are executed by a processor to execute the method in any one of the above embodiments.

[0108] In an exemplary embodiment, a computer program product is also provided, including a computer program, and the computer program is executed by a processor to execute the method in any one of the above embodiments.

[0109] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0110] It should be understood that the present application is not limited to the precise 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 application is limited only by the appended claims.

Claims

1. A method for handling power failure during palletizing, characterized in that: The method comprises: If it is detected that the robot is powered on, the stacking type file corresponding to the stacking task stored before the power failure is obtained, wherein the stacking type file includes a first stacking type file and a second stacking type file, the first stacking type file includes the stacking type information of each object in the target stacking type, the second stacking type file includes the stacking type information of the stacked objects, and the stacking type information includes the stacking position and object size of each object in the target stacking type; Determine a third stack type file according to the stack type information of each object in the target stack type and the stack type information of the stacked objects, wherein the third stack type file includes the stack type information of the objects to be stacked; According to the stack type information of the objects to be stacked, the robot is controlled to perform stacking operations on the objects to be stacked, and the second stack type file and the third stack type file are updated.

2. The method according to claim 1, characterized in that The controlling the robot to perform stacking operations on the objects to be stacked according to the stack type information of the objects to be stacked comprises: According to the stacking type information of the objects to be stacked, obtaining the next target object to be stacked and the stacking type information of the target object; According to the stacking type information of the target object, controlling the robot to complete the stacking operation of the target object; Correspondingly, the updating of the second stack type file and the third stack type file includes: After determining that the stacking operation of the target object is completed, the stacking type information of the stacked objects in the second stacking type file and the stacking type information of the objects to be stacked in the third stacking type file are updated according to the stacking type information of the target object.

3. The method according to claim 2, characterized in that The updating of the stacking type information of the stacked objects in the second stacking type file and the stacking type information of the objects to be stacked in the third stacking type file according to the stacking type information of the target object comprises: adding the stack type information of the target object to the second stack type file; The stack type information of the target object is deleted from the third stack type file.

4. The method according to claim 1, characterized in that The step of obtaining the stacking file corresponding to the stacking task stored before the power failure includes: According to the power-off setting information, the stacking file corresponding to the stacking task stored before the power-off is obtained, wherein the power-off setting information is pre-set information for indicating that after the power is off and then on again, the stacking task before the power-off of the robot is continued.

5. The method according to claim 1 or 4, characterized in that: Before obtaining the stacking type file corresponding to the stacking task stored before the power failure, the method further includes: Determining whether the robot receives a new stacking task; If not, it is determined to continue to execute the stacking task before the power failure.

6. The method according to any one of claims 1 to 4, characterized in that: The step of determining the third stack type file according to the stack type information of each object in the target stack type and the stack type information of the stacked objects comprises: Matching the stacking type information of each object in the target stacking type with the stacking type information of the stacked objects; A third stack type file is determined according to the stack type information of the objects in the target stack type that do not match the stack type information of the stacked objects.

7. The method according to any one of claims 1 to 4, characterized in that: After obtaining the stacking type file corresponding to the stacking task stored before the power failure, the method further includes: In response to the display instruction, a three-dimensional model of the target stack type is created and displayed according to the first stack type file, and a three-dimensional model of the stacked objects is created and displayed according to the second stack type file.

8. The method according to any one of claims 1 to 4, characterized in that: The stack type file is a JSON file.

9. An electronic device, comprising: Processor, memory and transceiver; Processor, memory and transceiver circuit interconnection; A transceiver for sending and receiving data; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to any one of claims 1 to 8.

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

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