Method and device for determining case unpacking and palletizing sequence based on stack type information

Abstract

The present invention discloses a method and device for determining the unstacking and stacking order of boxes based on stack type information. The method includes: obtaining stack type information and the relative position between a robot and a stacking container in an unstacking and stacking scenario; constructing a directed graph of occlusion relationships based on the stack type information and the relative position between the robot and the stacking container; and determining the unstacking and stacking order of the boxes according to the directed graph of occlusion relationships. By using the technical solution provided by the present invention, based on the stack type information and the relative position between the robot and the stacking container, the construction of the directed graph of occlusion relationships can be accurately and quickly completed. According to the directed graph of occlusion relationships, the reasonable planning of the unstacking and stacking order of the boxes is efficiently realized, enabling the robot to grab the boxes according to the unstacking and stacking order and perform unstacking and stacking operations, which can effectively avoid the deformation or damage of the boxes caused by the robot's manipulator or grasping end touching other boxes during the unstacking and stacking process.

Description

Technical Field

[0001] The present invention relates to the field of industrial intelligence technology, and particularly relates to a method and device for determining the unpacking and palletizing sequence of boxes based on stack type information. Background Art

[0002] With the development of industrial intelligence, robot operation is used to replace manual operation to reduce manual labor. For example, in the fields of logistics and warehousing, robots can perform unpacking and palletizing operations on boxes. The unpacking and palletizing operations include depalletizing and palletizing. Depalletizing refers to removing the boxes from the stacking container, and palletizing refers to placing the boxes in stacking containers such as pallets and cage carts. In actual unpacking and palletizing scenarios, due to the occlusion relationship between boxes, when the robot performs palletizing or depalletizing operations, its robotic arm or grasping end often touches other boxes, resulting in box deformation or damage. How to reasonably plan the unpacking and palletizing sequence of boxes has become an urgent problem to be solved in the prior art. Summary of the Invention

[0003] In view of the above problems, the present invention is proposed to provide a method and device for determining the unpacking and palletizing sequence of boxes based on stack type information that overcomes the above problems or at least partially solves the above problems.

[0004] According to one aspect of the present invention, there is provided a method for determining the unpacking and palletizing sequence of boxes based on stack type information, the method comprising:

[0005] Obtaining stack type information and the relative position between the robot and the stacking container in the unpacking and palletizing scenario;

[0006] Constructing an occlusion relationship directed graph according to the stack type information and the relative position between the robot and the stacking container;

[0007] Determining the unpacking and palletizing sequence of boxes based on the occlusion relationship directed graph.

[0008] According to another aspect of the present invention, there is provided a device for determining the unpacking and palletizing sequence of boxes based on stack type information, the device comprising:

[0009] An obtaining module, adapted to obtain stack type information and the relative position between the robot and the stacking container in the unpacking and palletizing scenario;

[0010] A constructing module, adapted to construct an occlusion relationship directed graph according to the stack type information and the relative position between the robot and the stacking container;

[0011] A determining module, adapted to determine the unpacking and palletizing sequence of boxes based on the occlusion relationship directed graph.

[0012] According to another aspect of the present invention, there is provided a computing device, comprising: a processor, a memory, a communication interface, and a communication bus, through which the processor, the memory, and the communication interface complete communication with each other;

[0013] The memory is used to store at least one executable instruction, and the executable instruction causes the processor to perform the operations corresponding to the above-mentioned method for determining the unpacking and stacking order of boxes based on stack type information.

[0014] According to still another aspect of the present invention, there is provided a computer storage medium storing at least one executable instruction, and the executable instruction causes the processor to perform the operations corresponding to the above-mentioned method for determining the unpacking and stacking order of boxes based on stack type information.

[0015] According to the technical solution provided by the present invention, based on the stack type information and the relative position between the robot and the stacking container, the construction of the directed graph of occlusion relationships can be accurately and quickly completed, and the constructed directed graph of occlusion relationships can intuitively and conveniently reflect the occlusion relationships between the boxes in the stacking container; based on the directed graph of occlusion relationships, the reasonable planning of the unpacking and stacking order of the boxes is efficiently realized, enabling the robot to grasp the boxes according to the unpacking and stacking order of the boxes and perform the unpacking and stacking operations, which can effectively avoid the deformation or damage of the boxes caused by the robot's manipulator or grasping end touching other boxes during the unpacking and stacking process.

[0016] The above description is only an overview of the technical solution of the present invention. In order to be able to understand the technical means of the present invention more clearly, it can be implemented according to the content of the description. And in order to make the above and other objects, features, and advantages of the present invention more obvious and understandable, the following specifically illustrates the embodiments of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] By reading the detailed description of the preferred embodiments below, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present invention. And throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0018] Figure 1 A flowchart showing the method for determining the unpacking and stacking order of boxes based on stack type information according to an embodiment of the present invention is shown;

[0019] Figure 2 A schematic diagram showing a stack type information is shown;

[0020] Figure 3 A schematic diagram showing a directed graph of occlusion relationships is shown;

[0021] Figure 4The structural block diagram of the device for determining the unstacking and stacking sequence of boxes based on stack type information according to an embodiment of the present invention is shown;

[0022] Figure 5 The structural schematic diagram of a computing device according to an embodiment of the present invention is shown. Detailed implementation manners

[0023] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be fully conveyed to those skilled in the art.

[0024] Figure 1 The flowchart of the method for determining the unstacking and stacking sequence of boxes based on stack type information according to an embodiment of the present invention is shown, as Figure 1 shown, the method includes the following steps:

[0025] Step S101, obtain the stack type information and the relative position between the robot and the stacking container in the unstacking and stacking scenario.

[0026] In order to reasonably plan the unstacking and stacking sequence of boxes, the stack type information corresponding to the unstacking and stacking task can be obtained from a database or the like. The stack type information is pre-planned according to information such as the box size and the number of boxes included in the unstacking and stacking task. Among them, the stack type information includes the placement positions of each box in the stacking container, and the stacking container can include containers for placing boxes such as pallets and cage carts. In addition, the relative position between the robot and the stacking container in the actual unstacking and stacking scenario can also be obtained from a database or the like, for example, the robot is located in the upper right corner of the stacking container.

[0027] Step S102, construct a directed graph of occlusion relationships according to the stack type information and the relative position between the robot and the stacking container.

[0028] After obtaining the stack type information and the relative position between the robot and the stacking container, the placement positions of each box in the stacking container can be obtained from the stack type information; then, according to the placement positions of each box in the stacking container and the relative position between the robot and the stacking container, a plurality of box occlusion pairs are obtained; then, according to the plurality of box occlusion pairs, the edges and the directions of the edges between the boxes are determined, and a directed graph of occlusion relationships is constructed. The directed graph of occlusion relationships can intuitively and conveniently reflect the occlusion relationships between each box in the stacking container, and clearly records which box is occluded by which box or boxes relative to the position of the robot.

[0029] To facilitate the construction of the directed graph of occlusion relationships, multiple box occlusion pairs can be obtained based on the placement positions of each box in the stacking container and the relative positions between the robot and the stacking container. Each box occlusion pair includes two boxes and their occlusion relationship. Specifically, based on the relative position between the robot and the stacking container, the entry direction of the robot into the stacking container during the palletizing and depalletizing operations is determined. This entry direction is specifically the direction from the position of the robot to the position of the stacking container.

[0030] For example, in a palletizing and depalletizing task, there are a total of 8 boxes, and these 8 boxes are located on the same layer of the stacking container. Among them, these 8 boxes are box 1 to box 8 respectively. Then the corresponding pallet pattern information can be as Figure 2 shown. Figure 2 clearly records the placement positions of box 1 to box 8 in the stacking container. If it is known from the relative position between the robot and the stacking container in the palletizing and depalletizing scenario that the robot is located at the upper right corner position of the stacking container, then based on the relative position between the robot and the stacking container, the determined entry direction of the robot into the stacking container can be the direction from the position of the robot to the stacking container. The entry direction is as Figure 2 shown.

[0031] After determining the entry direction, for each box, based on the placement position of each box in the stacking container, the box directly occluded by this box can be found along the entry direction to obtain the box occlusion pair. Taking the Figure 2 shown pallet pattern information as an example, for box 8, along the entry direction, the boxes occluded by box 8 found from the boxes directly adjacent to the box edge of box 8 include box 7 and box 4. Then the corresponding box occlusion pairs of box 8 obtained include: (box 8, box 7) and (box 8, box 4); for box 7, along the entry direction, the boxes occluded by box 7 found from the boxes directly adjacent to the box edge of box 7 include box 6, box 5, and box 4. Then the corresponding box occlusion pairs of box 7 obtained include: (box 7, box 6), (box 7, box 5), and (box 7, box 4). And so on, the box occlusion pairs corresponding to each box are obtained. Among them, the box occlusion pair can enclose the two boxes with (), indicating that there is an occlusion relationship between these two boxes. The occlusion relationship included in the box occlusion pair is a direct occlusion relationship. The direct occlusion relationship reflects which adjacent boxes are occluded by the box. The first box in the box occlusion pair directly occludes the second box, that is, the second box is the box directly occluded by the first box.

[0032] After obtaining all the box occlusion pairs, each box is used as a node in the directed graph of occlusion relationships. For each box occlusion pair, the two boxes included in the box occlusion pair are connected to form an edge between the two boxes, and the direction of the edge is set according to the occlusion relationship between the two boxes included in the box occlusion pair. Specifically, the direction of the edge is set to point from the first box in the box occlusion pair to the second box in the box occlusion pair; after completing the connection of the edges between the pairwise boxes and the setting of the directions of the edges according to all the box occlusion pairs, a directed graph of occlusion relationships is obtained. Among them, the constructed directed graph of occlusion relationships can be as shown in Figure 3 shown.

[0033] Step S103: Determine the box unstacking and stacking order according to the directed graph of occlusion relationships.

[0034] After completing the directed graph of occlusion relationships, it is convenient and fast to determine the box unstacking and stacking order according to the directed graph of occlusion relationships. Specifically, for each edge in the directed graph of occlusion relationships, according to the direction of the edge, determine the order of the two boxes corresponding to the edge in the process of unstacking and stacking; summarize the order of the two boxes corresponding to each edge in the directed graph of occlusion relationships in the process of unstacking and stacking to obtain the box unstacking and stacking order. Among them, the box unstacking and stacking order includes: the box unstacking order and the box stacking order. The box unstacking order refers to the order of disassembling the boxes during the unstacking process, and the box stacking order refers to the order of stacking the boxes during the stacking process.

[0035] For example, for each edge in the directed graph of occlusion relationships, according to the direction of the edge, determine the order of the two boxes corresponding to the edge in the unstacking process. Specifically, the edge is connected to two boxes, such as box A and box B. Assuming the direction of the edge is from box A to box B, it means that box A occludes box B. Then, during the unstacking process, box A needs to be disassembled first and then box B. If box B is disassembled first, it is very likely that the robotic arm or the grasping end of the robot will touch box A, resulting in deformation or damage of box A.

[0036] After determining the order of the two boxes corresponding to each edge in the directed graph of occlusion relationships in the unstacking process, summarize the order of the two boxes corresponding to each edge in the directed graph of occlusion relationships in the unstacking process to obtain the box unstacking order. For example, according to the order of the two boxes corresponding to each edge in the unstacking process, the boxes can be connected in series to obtain the box unstacking order. Considering that there may be multiple branches during the series connection process, such as Figure 3For the directed graph of occlusion relationships shown, after the box 7 is disassembled, both box 6 and box 4 can be disassembled. For such a situation with multiple branches, some other restrictive conditions can be introduced to determine the sequence between the branches. Those skilled in the art can set the restrictive conditions according to actual needs, which are not limited herein. For example, the restrictive condition can be to give priority to disassembling from the right side of the robot, etc.

[0037] After obtaining the box unstacking sequence, the box stacking sequence can be conveniently determined according to the box unstacking sequence. Specifically, the reverse sequence of the box unstacking sequence can be determined as the box stacking sequence.

[0038] It should be understood that those skilled in the art can also first determine the sequence of the two boxes corresponding to each edge in the directed graph of occlusion relationships according to the direction of the edge, and then summarize the sequences of the two boxes corresponding to each edge in the directed graph of occlusion relationships during the stacking process to obtain the box stacking sequence, and then determine the box stacking sequence according to the box unstacking sequence. Those skilled in the art can choose whether to determine the box stacking sequence first or the box unstacking sequence first according to actual needs, which is not specifically limited herein.

[0039] In addition, if the unpacking and stacking task only includes the stacking task, only the box stacking sequence needs to be determined finally; if the unpacking and stacking task only includes the unstacking task, only the box unstacking sequence needs to be determined finally; if the unpacking and stacking task includes both the stacking task and the unstacking task, both the box stacking sequence and the box unstacking sequence need to be determined.

[0040] After determining the box unpacking and stacking sequence, the box unpacking and stacking sequence can be sent to the robot for the robot to grab the boxes according to the box unpacking and stacking sequence and perform the unpacking and stacking operations, thus effectively avoiding the deformation or damage of the boxes caused by the robot's manipulator or gripping end touching other boxes during the unpacking and stacking process.

[0041] Using the method for determining the box unpacking and stacking sequence based on the stack type information provided in this embodiment, according to the stack type information and the relative position between the robot and the stacking container, the construction of the directed graph of occlusion relationships can be accurately and quickly completed. The constructed directed graph of occlusion relationships can intuitively and conveniently reflect the occlusion relationships between the boxes in the stacking container; based on the directed graph of occlusion relationships, the reasonable planning of the box unpacking and stacking sequence is efficiently realized, enabling the robot to grab the boxes according to the box unpacking and stacking sequence and perform the unpacking and stacking operations, which can effectively avoid the deformation or damage of the boxes caused by the robot's manipulator or gripping end touching other boxes during the unpacking and stacking process.

[0042] Figure 4The structural block diagram of a device for determining the case unstacking and stacking order based on stack type information according to an embodiment of the present invention is shown, as Figure 4 shown, the device includes: an acquisition module 410, a construction module 420, and a determination module 430.

[0043] The acquisition module 410 is adapted to: acquire stack type information and the relative position between the robot and the stacking container in the unstacking and stacking scenario.

[0044] The construction module 420 is adapted to: construct a directed graph of occlusion relationships based on the stack type information and the relative position between the robot and the stacking container.

[0045] The determination module 430 is adapted to: determine the case unstacking and stacking order based on the directed graph of occlusion relationships.

[0046] Optionally, the construction module 420 is further adapted to: obtain the placement positions of each case in the stacking container from the stack type information; obtain a plurality of case occlusion pairs according to the placement positions of each case in the stacking container and the relative position between the robot and the stacking container, each case occlusion pair including two cases and their occlusion relationship; determine the edges and the directions of the edges between the cases according to the plurality of case occlusion pairs, and construct a directed graph of occlusion relationships.

[0047] Optionally, the construction module 420 is further adapted to: determine the entry direction of the robot into the stacking container according to the relative position between the robot and the stacking container; for each case, search for the case directly occluded by the case along the entry direction according to the placement position of each case in the stacking container, and obtain a case occlusion pair.

[0048] Optionally, the determination module 430 is further adapted to: for each edge in the directed graph of occlusion relationships, determine the sequence of the two cases corresponding to the edge in the unstacking and stacking process according to the direction of the edge; summarize the sequences of the two cases corresponding to each edge in the directed graph of occlusion relationships in the unstacking and stacking process to obtain the case unstacking and stacking order; the case unstacking and stacking order includes: the case unstacking order and the case stacking order.

[0049] Using the device for determining the case unstacking and stacking order based on stack type information provided in this embodiment, according to the stack type information and the relative position between the robot and the stacking container, the construction of the directed graph of occlusion relationships can be accurately and quickly completed, and the constructed directed graph of occlusion relationships can intuitively and conveniently reflect the occlusion relationships between each case in the stacking container; based on the directed graph of occlusion relationships, the reasonable planning of the case unstacking and stacking order is efficiently realized, so that the robot grabs the cases according to the case unstacking and stacking order and performs the unstacking and stacking operations, which can effectively avoid the deformation or damage of the cases caused by the robot's manipulator or grasping end touching other cases during the unstacking and stacking process.

[0050] The present invention also provides a non-volatile computer storage medium, which stores at least one executable instruction, and the executable instruction can execute the method for determining the unpacking and stacking order of boxes based on stack type information in any of the above method embodiments.

[0051] Figure 5 The structural schematic diagram of a computing device according to an embodiment of the present invention is shown. The specific implementation of the computing device is not limited in the specific embodiments of the present invention.

[0052] As Figure 5 shown, the computing device may include: a processor 502, a communications interface 504, a memory 506, and a communication bus 508.

[0053] Wherein:

[0054] The processor 502, the communications interface 504, and the memory 506 communicate with each other through the communication bus 508.

[0055] The communications interface 504 is used to communicate with network elements of other devices such as clients or other servers.

[0056] The processor 502 is used to execute the program 510, and specifically can execute the relevant steps in the method embodiment for determining the unpacking and stacking order of boxes based on stack type information.

[0057] Specifically, the program 510 may include program code, and the program code includes computer operation instructions.

[0058] The processor 502 may be a central processing unit CPU, or a specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present invention. One or more processors included in the computing device may be of the same type of processor, such as one or more CPUs; or may be of different types of processors, such as one or more CPUs and one or more ASICs.

[0059] The memory 506 is used to store the program 510. The memory 506 may include a high-speed RAM memory, and may also include a non-volatile memory, such as at least one disk memory.

[0060] The program 510 can specifically be used to cause the processor 502 to execute the method for determining the case unpacking and palletizing sequence based on the stack type information in any of the above method embodiments. For the specific implementation of each step in the program 510, reference can be made to the corresponding steps and descriptions in the corresponding units in the above embodiments of the method for determining the case unpacking and palletizing sequence based on the stack type information, which will not be elaborated herein. Those skilled in the art can clearly understand that for the convenience and conciseness of description, the specific working processes of the above-described devices and modules can refer to the corresponding process descriptions in the foregoing method embodiments, which will not be repeated herein.

[0061] The algorithms and displays provided herein are not inherently related to any particular computer, virtual system, or other device. Various general-purpose systems can also be used in conjunction with the teachings provided herein. The structure required to construct such systems will be apparent from the above description. In addition, the present invention is not directed to any particular programming language. It should be understood that the content of the present invention described herein can be implemented using various programming languages, and the description of a specific language above is to disclose the best mode of the present invention.

[0062] In the specification provided herein, a large number of specific details are set forth. However, it can be understood that the embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures, and technologies have not been shown in detail so as not to obscure the understanding of this specification.

[0063] Similarly, it should be understood that, for the purpose of streamlining this disclosure and aiding in the understanding of one or more of the various inventive aspects, in the foregoing description of the exemplary embodiments of the present invention, the various features of the present invention are sometimes grouped together in a single embodiment, figure, or description thereof. However, the disclosed method should not be construed as reflecting an intention that the claimed invention requires more features than are expressly recited in each claim. Rather, as the claims reflect, the inventive aspects lie in less than all the features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of the present invention.

[0064] Those skilled in the art can understand that the modules in the devices in the embodiments can be adaptively changed and set in one or more devices different from the embodiments. The modules or units or components in the embodiments can be combined into one module or unit or component, and in addition, they can be divided into multiple sub-modules or sub-units or sub-components. Except that at least some of such features and / or processes or units are mutually exclusive, any combination can be adopted to combine all the features disclosed in this specification (including the accompanying claims, abstract and drawings) and all the processes or units of any method or device so disclosed. Unless otherwise explicitly stated, each feature disclosed in this specification (including the accompanying claims, abstract and drawings) can be replaced by an alternative feature that provides the same, equivalent or similar purpose.

[0065] In addition, those skilled in the art can understand that although some of the embodiments described herein include certain features included in other embodiments rather than other features, the combination of the features of different embodiments means that it is within the scope of the present invention and forms different embodiments. For example, in the claims, any one of the claimed embodiments can be used in any combination.

[0066] Each component embodiment of the present invention can be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art should understand that a microprocessor or a digital signal processor (DSP) can be used in practice to implement some or all of the functions of some or all of the components according to the embodiments of the present invention. The present invention can also be implemented as a device or device program (for example, a computer program and a computer program product) for executing part or all of the methods described herein. Such a program for implementing the present invention can be stored on a computer-readable medium, or can be in the form of one or more signals. Such signals can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

[0067] It should be noted that the above embodiments are illustrative of the present invention and not restrictive thereof, and alternative embodiments can be designed by those skilled in the art without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in the claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present invention can be implemented by means of hardware including several different elements and by means of a suitably programmed computer. In the unit claims listing several devices, several of these devices can be embodied by the same item of hardware. The use of the words first, second, and third, etc. does not denote any order. These words can be interpreted as names.

Claims

1. A method for determining the unstacking and stacking order of boxes based on stack type information, the method comprises: Obtain stack type information and the relative position between the robot and the stacking container in the unstacking and stacking scenario; wherein, the stack type information is pre-planned according to the box dimensions and the number of boxes included in the unstacking and stacking task, and the stack type information includes the placement positions of each box in the stacking container; Construct a directed graph of occlusion relationships based on the stack type information and the relative position between the robot and the stacking container; the directed graph of occlusion relationships is used to reflect the occlusion relationships between each box relative to the position of the robot in the stacking container; Determine the unstacking and stacking order of the boxes based on the directed graph of occlusion relationships; Wherein, the constructing a directed graph of occlusion relationships based on the stack type information and the relative position between the robot and the stacking container further includes: Obtain the placement positions of each box in the stacking container from the stack type information; According to the placement positions of each box in the stacking container and the relative position between the robot and the stacking container, obtain a plurality of box occlusion pairs, each box occlusion pair includes two boxes and their occlusion relationship; the occlusion relationship is a direct occlusion relationship, which is used to reflect the adjacent box occluded by the box; Take each box as a node in the directed graph of occlusion relationships, for each box occlusion pair, connect the two boxes included in the box occlusion pair to form an edge between the two boxes, and set a direction for the edge according to the occlusion relationship between the two boxes, thereby constructing a directed graph of occlusion relationships.

2. The method according to claim 1, wherein, the obtaining a plurality of box occlusion pairs according to the placement positions of each box in the stacking container and the relative position between the robot and the stacking container further includes: Determine the entry direction of the robot into the stacking container according to the relative position between the robot and the stacking container; For each box, according to the placement position of each box in the stacking container, search for the box directly occluded by the box along the entry direction to obtain a box occlusion pair.

3. The method according to any one of claims 1-2, wherein, the determining the unstacking and stacking order of the boxes based on the directed graph of occlusion relationships further includes: For each edge in the directed graph of occlusion relationships, determine the sequence of the two boxes corresponding to the edge during the unstacking and stacking process according to the direction of the edge; Summarize the sequence of the two boxes corresponding to each edge in the directed graph of occlusion relationships during the unstacking and stacking process to obtain the unstacking and stacking order of the boxes; the unstacking and stacking order of the boxes includes: the unstacking order of the boxes and the stacking order of the boxes.

4. An apparatus for determining the unstacking and stacking order of boxes based on stack type information, the apparatus comprises: An obtaining module, adapted to obtain stack type information and the relative position between the robot and the stacking container in the unstacking and stacking scenario; wherein, the stack type information is pre-planned according to the box dimensions and the number of boxes included in the unstacking and stacking task, and the stack type information includes the placement positions of each box in the stacking container; A construction module, adapted to construct a directed graph of occlusion relationships according to the stack type information and the relative position between the robot and the stacking container; the directed graph of occlusion relationships is used to reflect the occlusion relationships between the boxes relative to the position of the robot in the stacking container; A determination module, adapted to determine the unpacking and stacking order of the boxes according to the directed graph of occlusion relationships; Wherein, the construction module is further adapted to: Obtain the placement positions of the boxes in the stacking container from the stack type information; According to the placement positions of the boxes in the stacking container and the relative position between the robot and the stacking container, obtain a plurality of box occlusion pairs, each box occlusion pair including two boxes and their occlusion relationship; the occlusion relationship is a direct occlusion relationship, used to reflect the adjacent box occluded by the box; Take each box as a node in the directed graph of occlusion relationships. For each box occlusion pair, connect the two boxes included in the box occlusion pair to form an edge between the two boxes, and set the direction for the edge according to the occlusion relationship between the two boxes, so as to construct a directed graph of occlusion relationships.

5. The device according to claim 4, Wherein, The construction module is further adapted to: Determine the entry direction of the robot into the stacking container according to the relative position between the robot and the stacking container; For each box, according to the placement position of each box in the stacking container, search for the box directly occluded by the box along the entry direction to obtain a box occlusion pair.

6. The device according to any one of claims 4-5, Wherein, The determination module is further adapted to: For each edge in the directed graph of occlusion relationships, determine the sequence of the two boxes corresponding to the edge in the unpacking and stacking process according to the direction of the edge; Summarize the sequence of the two boxes corresponding to each edge in the directed graph of occlusion relationships in the unpacking and stacking process to obtain the unpacking and stacking order of the boxes; The unpacking and stacking order of the boxes includes: the unpacking order of the boxes and the stacking order of the boxes.

7. A computing device, Comprising: A processor, a memory, a communication interface and a communication bus, and the processor, the memory and the communication interface complete communication with each other through the communication bus; The memory is used to store at least one executable instruction, and the executable instruction causes the processor to perform the operations corresponding to the method for determining the unpacking and stacking order of boxes based on stack type information according to any one of claims 1-3.

8. A computer storage medium, in which at least one executable instruction is stored, and the executable instruction causes the processor to perform the operations corresponding to the method for determining the unpacking and stacking order of boxes based on stack type information according to any one of claims 1-3.

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