Article stacking method, device, computer equipment and storage medium

Abstract

The present invention provides an article stacking method, device, computer equipment and storage medium, the method comprising the following steps: obtaining stack type information and stacking direction, wherein the stack type information includes the stacking positions of all articles in the stack, and the stacking direction of each article is consistent; identifying the number of objects blocked by stacking of each article according to the stacking positions and stacking directions of all articles in the stack; and obtaining the final stacking order of each article according to the number of objects blocked by stacking of each article. The present invention can reduce the algorithm complexity, efficiently and reasonably perform article stacking sorting, and improve the efficiency of article stacking.

Description

Technical Field

[0001] The present invention relates to the technical field of article stacking, and in particular to an article stacking method, device, computer equipment and storage medium. Background Art

[0002] Conventional item stacking schemes usually calculate the distance between the stacking position of the item and the starting point of the item when planning the stacking order, then assign weights according to the distance, and sort the stacking order of all items based on the weights. However, this method is not universal. When encountering some items of special shapes or special stacking, there will be a large number of order problems. This stacking scheme has extremely high requirements for weight processing. The choice of parameters used to calculate the weights affects the stacking effect to a certain extent. In order to avoid stacking errors, there are too many factors to consider, which often leads to a high complexity of the algorithm. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides an article stacking method, device, computer equipment and storage medium, which can reduce the complexity of the algorithm, efficiently and reasonably perform article stacking and sorting, and improve the efficiency of article stacking.

[0004] The technical solution adopted by the present invention is as follows:

[0005] A method for stacking items comprises the following steps: obtaining stack type information and stacking direction, wherein the stack type information comprises the stacking positions of all items in the stack, and the stacking direction of each item is consistent; identifying the number of items blocked by stacking for each item according to the stacking positions and stacking directions of all items in the stack; and obtaining the final stacking order of each item according to the number of items blocked by stacking for each item.

[0006] In addition, the article stacking method proposed above according to the present invention may also have the following additional technical features:

[0007] According to one embodiment of the present invention, the stack is carried by a pallet, and the number of objects blocked by stacking of each object is identified according to the stacking position and stacking direction of all the objects in the stack, specifically comprising: taking the corner point of the pallet pointed to by the stacking direction as the stacking corner point; taking the corner point of the stacking area of ​​each object that is farthest from the stacking corner point as the origin of the stacking quadrant of the object, taking the two sides of the stacking area adjacent to the stacking quadrant origin as the boundaries of the stacking quadrant, and establishing a stacking quadrant for each object, wherein the stacking area is a rectangle for stacking the objects determined according to the stacking position of the objects; and taking the number of objects involved in the stacking quadrant of each object as the number of objects blocked by stacking of the object.

[0008] According to one embodiment of the present invention, the final stacking order of each of the items is obtained according to the number of stacked and obstructed objects of each of the items, which specifically includes: obtaining the initial stacking order of each of the items according to the stacking positions of all the items in the stack; sorting all the items according to the number of stacked and obstructed objects of each of the items; when the number of stacked and obstructed objects of multiple items is the same, the order of these items is sorted according to the initial stacking order to obtain the final stacking order.

[0009] According to one embodiment of the present invention, labels are provided on the items, and after obtaining the stack type information and the stacking direction, the method further includes: selecting items near the border of the pallet according to the stacking position of each item; obtaining the incoming material method and label position of each item near the border of the pallet; and adjusting the label of each item near the border of the pallet to face the border of the pallet closest to the item according to the stacking position, incoming material method and label position of each item near the border of the pallet.

[0010] Specifically, objects located near the border of the pallet are selected based on the projection of each object according to the stacking position of each object.

[0011] According to one embodiment of the present invention, objects located near the boundary of the pallet are selected based on the projection of each object according to the stacking position of each object, specifically comprising: projecting a side edge of the stacking area of ​​the object in a direction corresponding to the side edge according to the stacking position of each object; and determining whether the projection of the side edge of the stacking area of ​​the object in a direction corresponding to the side edge overlaps with the projections of other objects, and as long as there is a projection of one side edge of the stacking area of ​​the object that does not overlap with the projections of other objects, the object is an object located near the boundary of the pallet.

[0012] According to one embodiment of the present invention, when the projection of a side edge of the stacking area of ​​an object near the boundary of the pallet does not overlap with the projections of other objects, the boundary of the pallet pointed to by the projection of the side edge is the boundary of the pallet closest to the object.

[0013] In addition, to achieve the above-mentioned purpose, the present invention also provides an article stacking device.

[0014] An article stacking device comprises: an acquisition module, the acquisition module is used to acquire stack type information and stacking direction, wherein the stack type information includes the stacking position of all articles in the stack, and the stacking direction of each of the articles is consistent; an occlusion recognition module, the occlusion recognition module is used to identify the number of stacking occlusion objects of each of the articles according to the stacking position and stacking direction of all the articles in the stack; and a sorting module, the sorting module is used to obtain the final stacking order of each of the articles according to the number of stacking occlusion objects of each of the articles.

[0015] In addition, to achieve the above objective, the present invention also provides a computer device.

[0016] A computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the article stacking method described above is implemented.

[0017] In addition, to achieve the above-mentioned purpose, the present invention also proposes a non-temporary computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the object stacking method as described above is implemented.

[0018] Beneficial effects of the present invention:

[0019] The article stacking method of the present invention identifies the number of objects blocked by stacking of each article according to the stacking positions and stacking directions of all articles in the stack, and obtains the final stacking order of each article according to the number of objects blocked by stacking of each article. It does not need to allocate weights according to distances, and there is no collision problem caused by improper parameter selection. The algorithm complexity is reduced, and the article stacking order can be performed efficiently and reasonably. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A flowchart of an article stacking method according to an embodiment of the present invention;

[0021] Figure 2 This is a schematic diagram of stacking items before sorting according to a specific embodiment of the present invention;

[0022] Figure 3 This is a schematic diagram of the final stacking order of all items in a specific embodiment of the present invention;

[0023] Figure 4 This is a schematic projection diagram of a stacking area of ​​items A, B, and C according to an embodiment of the present invention;

[0024] Figure 5 A schematic diagram of an article delivery method and label position according to an embodiment of the present invention;

[0025] Figure 6This is a schematic diagram of stacking items with their labels facing outwards according to an embodiment of the present invention;

[0026] Figure 7 The figure is a block diagram of an article stacking device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] like Figure 1 As shown, the article stacking method of the embodiment of the present invention includes the following steps:

[0029] S1, obtaining the stacking type information and the stacking direction, wherein the stacking type information includes the stacking positions of all items in the stack, and the stacking direction of each item is consistent.

[0030] S2, identifying the number of obstructed objects for each object according to the stacking positions and stacking directions of all objects in the stack.

[0031] In one embodiment of the present invention, the stacking may be carried by a stacking tray, and step S2 may specifically include:

[0032] S21, taking the corner point of the pallet pointed to by the stacking direction as the stacking corner point.

[0033] S22, taking the corner point of the stacking area of ​​each item that is farthest from the stacking corner point as the stacking quadrant origin of the item, taking the two sides of the stacking area adjacent to the stacking quadrant origin as the stacking quadrant boundaries, and establishing the stacking quadrant for each item, wherein the stacking area is a rectangle for stacking items determined according to the stacking positions of the items.

[0034] It should be noted that the present embodiment does not limit the shape of the objects, and the objects in the stack can be rectangular or cylindrical. The stacking area is a rectangle for stacking objects determined according to the stacking positions of the objects, so that the projection of the objects on the stacking tray perpendicular to the stacking tray will not exceed the range of the stacking area.

[0035] S23, taking the number of objects involved in the encoding quadrant of each object as the number of objects blocked by encoding of the object.

[0036] It should be noted that the number of items involved in the quadrant for stacking each item may include each item itself or not, and it will not affect the adjustment of the stacking order.

[0037] like Figure 2 As shown, in a specific embodiment of the present invention, the stacking direction of each item (the direction pointed by the arrow in the figure) is toward the upper left corner of the pallet, so the upper left corner of the pallet is determined as the stacking corner point. At this time, the lower right corner point of the stacking area of ​​each item can be used as the stacking quadrant origin of the item, and the two adjacent to the stacking quadrant origin in the stacking area are used as the stacking quadrant boundaries, wherein the number of items included in the stacking quadrant of item 5 is 5 (items 0, 1, 2, 3, 4), the number of items included in the stacking quadrant of item 7 is 4 (items 0, 1, 4, 6), and the number of items included in the stacking quadrant of item 8 is 7 (items 0, 1, 2, 4, 5, 6, 7), so the number of items blocked by the stacking of items 5, 7, and 8 is 5, 4, and 7 respectively.

[0038] S3, based on the initial stacking order of each object and according to the number of stacked and blocked objects of each object, the stacking order of all objects is adjusted to obtain the final stacking order of each object.

[0039] It should be noted that if all items are sorted directly according to the number of obstructed items, it will often happen that multiple items have the same number of obstructed items. In this case, the sorting obtained is affected by the order of calculating the number of obstructed items. Therefore, it is necessary to adjust the stacking order of all items based on determining the initial stacking order of each item.

[0040] In one embodiment of the present invention, step S3 may specifically include:

[0041] S31, obtaining an initial stacking order of each item according to the stacking positions of all items in the stack.

[0042] In one embodiment of the present invention, the stacking positions of each item can be sorted according to their spatial positions in the stack, thereby obtaining the initial stacking order of each item. For example, the initial stacking order of each item can be obtained by sorting according to the order of the stacking positions of each item in the horizontal direction and the vertical direction on the same horizontal plane or according to the distance from the stacking position to the starting point of the item, which is not limited in this embodiment.

[0043] S32, sorting all the objects according to the number of objects blocked by the code of each object.

[0044] S33, when the number of stacked obstructed objects of multiple objects is the same, the order of these objects is sorted according to the initial stacking order to obtain a final stacking order.

[0045] like Figure 2As shown, in a specific embodiment of the present invention, the initial stacking order of items 0-9 is 0, 1, 2, 3, 4, 5, 6, 7, 8, 9. The coding quadrant of item 2 contains 2 items (items 0 and 1), the coding quadrant of item 3 contains 3 items (items 0, 1, 2), and item 4 contains 2 items (items 0 and 1), so the number of coded obstructed items of items 2, 3, and 4 are 2, 3, and 2, respectively. Since the number of coded obstructed items of item 2 and item 4 is the same, if the initial stacking order is not considered, the stacking order of items 2, 3, and 4 can be 2, 4, 3 or 4, 2, 3. Considering that the initial stacking order of the two is that item 2 is before item 4, the final stacking order of items 2, 3, and 4 is 2, 4, 3. Similarly, the final stacking order of items 0-9 can be 0, 1, 2, 4, 6, 3, 7, 5, 8, 9, as shown in Figure 3 shown.

[0046] In one embodiment of the present invention, after step S1, the following steps may also be included:

[0047] S4, picking out the objects near the border of the pallet according to the stacking position of each object.

[0048] Specifically, objects located near the border of the pallet may be selected based on the projection of each object according to the stacking position of each object.

[0049] In one embodiment of the present invention, step S4 may specifically include:

[0050] S41, projecting a side edge of a stacking area of ​​each object in a direction corresponding to the side edge according to the stacking position of the object;

[0051] S42, determining whether the projection of the side of the stacking area of ​​the item in the direction corresponding to the side overlaps with the projection of other items; as long as there is a projection of one side of the stacking area of ​​the item that does not overlap with the projection of other items, the item is located near the boundary of the pallet.

[0052] like Figure 4As shown, projection is used to determine whether an item is near the boundary of the pallet. For example, the left side of the stacking area of ​​item A is projected to the left, and then it is traversed to determine whether there is overlap with the projections of the stacking areas of other items. No projection overlap means that item A is at the leftmost side of the pallet (i.e., item A is near the boundary of the pallet). For another example, if the left side of the stacking area of ​​item B is projected to the left and it is found that there is overlap with the stacking areas of other items, the other sides are continued to be determined. When the lower side of item B is projected downward, it is found that there is no projection overlap, indicating that item B is at the bottom of the pallet. Item C in the figure is located in the center of the pallet because the projections of the four sides of its stacking area to the surrounding areas overlap with the projections of the stacking areas of other items. Therefore, item C is not located near the boundary of the pallet.

[0053] S5, obtaining the incoming material mode and label position of each object near the border of the pallet.

[0054] like Figure 5 As shown, there are two ways of incoming materials: horizontal and vertical, and the label positions are divided into four types: up, down, left, and right. Therefore, it is necessary to process the stack type information. According to the different positions of incoming materials and labels, the items near the edge of the stack are adjusted so that the labels of these items face outward (i.e., the edge of the stack closest to the item). Figure 5 (a)-(h) respectively show eight situations: vertical incoming materials, label on the top, vertical incoming materials, label on the bottom, vertical incoming materials, label on the left, vertical incoming materials, label on the right, horizontal incoming materials, label on the top, horizontal incoming materials, label on the bottom, horizontal incoming materials, label on the left, horizontal incoming materials, and label on the right.

[0055] S6, according to the stacking position, material supply method and label position of each object near the edge of the pallet, adjust the label of each object near the edge of the pallet to face the edge of the pallet closest to the object.

[0056] It should be noted that S4-S6 can be performed before, after or simultaneously with S2 and S3, and this embodiment does not limit this.

[0057] In one embodiment of the present invention, when the projection of a side edge of the stacking area of ​​an object near the edge of a pallet does not overlap with the projections of other objects, the edge of the pallet to which the projection points is the edge of the pallet closest to the object.

[0058] exist Figure 4In the figure, the lower side of the stacking area of ​​item B does not overlap with the projections of other items when projected downward, so the lower boundary of the pallet is the boundary of the pallet closest to the item; the left side of the stacking area of ​​item A does not overlap with the projections of other items when projected upward, so the upper boundary and left boundary of the pallet are both the boundaries closest to item A. At this time, the boundary of the pallet closest to the item can be determined based on the position of the label of item A.

[0059] In one embodiment of the present invention, Figure 5 According to the two material feeding methods and four label positions in the stacking tray, the label orientation of each item near the edge of the stacking tray is adjusted so that the projection of the side edge of the stacking area facing each label in the corresponding direction does not overlap with the projection of the stacking area of ​​other items, so that the label of each item near the edge of the stacking tray is facing the edge of the stacking tray closest to the item (such as Figure 6 As shown, all item labels face outwards), making it easier for staff to manage items and stacks based on item labels.

[0060] According to the object stacking method of the embodiment of the present invention, the number of objects blocked by stacking of each object is identified according to the stacking position and stacking direction of all objects in the stack, and the final stacking order of each object is obtained according to the number of objects blocked by stacking of each object. There is no need to assign weights according to the distance, and there is no collision problem caused by improper parameter selection. The algorithm complexity is reduced, and the object stacking and sorting can be performed efficiently and reasonably, thereby improving the efficiency of object stacking.

[0061] Corresponding to the article stacking method of the above embodiment, the present invention further provides an article stacking device.

[0062] like Figure 7 As shown, the object stacking device of the embodiment of the present invention includes an acquisition module 10, an occlusion recognition module 20 and a sorting module 30. The acquisition module 10 is used to acquire the stacking type information and the stacking direction, wherein the stacking type information includes the stacking position of all objects in the stack, and the stacking direction of each object is consistent; the occlusion recognition module 20 is used to identify the number of stacking occlusion objects of each object according to the stacking position and stacking direction of all objects in the stack; the sorting module 30 is used to obtain the final stacking order of each object according to the number of stacking occlusion objects of each object.

[0063] In one embodiment of the present invention, stacking can be carried out by a pallet, and the occlusion recognition module 20 can be specifically used to: use the corner point of the pallet pointed to by the stacking direction as the stacking corner point; use the corner point of the stacking area of ​​each item that is farthest from the stacking corner point as the stacking quadrant origin of the item, use the two sides of the stacking area adjacent to the stacking quadrant origin as the stacking quadrant boundaries, and establish a stacking quadrant for each item, wherein the stacking area is a rectangle for stacking items determined according to the stacking position of the item; and use the number of items involved in the stacking quadrant of each item as the number of stacking occluded items of the item.

[0064] It should be noted that the present embodiment does not limit the shape of the objects, and the objects in the stack can be rectangular or cylindrical. The stacking area is a rectangle for stacking objects determined according to the stacking positions of the objects, so the projection of the objects on the pallet perpendicular to the pallet will not exceed the range of the stacking area. The number of objects involved in the stacking quadrant of each object can include each object itself or not, and it will not affect the adjustment of the stacking order.

[0065] like Figure 2 As shown, in a specific embodiment of the present invention, the stacking direction of each item (the direction pointed by the arrow in the figure) is toward the upper left corner of the pallet, so the upper left corner of the pallet is determined as the stacking corner point. At this time, the lower right corner point of the stacking area of ​​each item can be used as the stacking quadrant origin of the item, and the two adjacent to the stacking quadrant origin in the stacking area are used as the stacking quadrant boundaries, wherein the number of items included in the stacking quadrant of item 5 is 5 (items 0, 1, 2, 3, 4), the number of items included in the stacking quadrant of item 7 is 4 (items 0, 1, 4, 6), and the number of items included in the stacking quadrant of item 8 is 7 (items 0, 1, 2, 4, 5, 6, 7), so the number of items blocked by the stacking of items 5, 7, and 8 is 5, 4, and 7 respectively.

[0066] In one embodiment of the present invention, the sorting module 30 can be specifically used to: obtain the initial stacking order of each item according to the stacking position of all items in the stack; sort all items according to the number of stacked and obstructed objects of each item; when the number of stacked and obstructed objects of multiple items is the same, the order of these items is sorted according to the initial stacking order to obtain the final stacking order.

[0067] It should be noted that if all items are sorted directly according to the number of obstructed items, it will often happen that multiple items have the same number of obstructed items. In this case, the sorting obtained is affected by the order of calculating the number of obstructed items. Therefore, it is necessary to adjust the stacking order of all items based on determining the initial stacking order of each item.

[0068] In one embodiment of the present invention, the stacking positions of each item can be sorted according to their spatial positions in the stack, thereby obtaining the initial stacking order of each item. For example, the initial stacking order of each item can be obtained by sorting according to the order of the stacking positions of each item in the horizontal direction and the vertical direction on the same horizontal plane or according to the distance from the stacking position to the starting point of the item, which is not limited in this embodiment.

[0069] like Figure 2 As shown, in a specific embodiment of the present invention, the initial stacking order of items 0-9 is 0, 1, 2, 3, 4, 5, 6, 7, 8, 9. The coding quadrant of item 2 contains 2 items (items 0 and 1), the coding quadrant of item 3 contains 3 items (items 0, 1, 2), and item 4 contains 2 items (items 0 and 1), so the number of coded obstructed items of items 2, 3, and 4 are 2, 3, and 2, respectively. Since the number of coded obstructed items of item 2 and item 4 is the same, if the initial stacking order is not considered, the stacking order of items 2, 3, and 4 can be 2, 4, 3 or 4, 2, 3. Considering that the initial stacking order of the two is that item 2 is before item 4, the final stacking order of items 2, 3, and 4 is 2, 4, 3. Similarly, the final stacking order of items 0-9 can be 0, 1, 2, 4, 6, 3, 7, 5, 8, 9, as shown in Figure 3 shown.

[0070] In one embodiment of the present invention, labels are provided on the items, and the item stacking device further includes a label adjustment module, which is used to: select items near the border of the pallet according to the stacking position of each item; obtain the incoming material method and label position of each item near the border of the pallet; and adjust the label of each item near the border of the pallet to face the border of the pallet closest to the item according to the stacking position, incoming material method and label position of each item near the border of the pallet.

[0071] Specifically, the label adjustment module may select objects located near the border of the pallet according to the stacking position of each object based on the projection of each object.

[0072] In one embodiment of the present invention, the label adjustment module can project the side of the stacking area of ​​the item in the direction corresponding to the side according to the stacking position of each item; and determine whether the projection of the side of the stacking area of ​​the item in the direction corresponding to the side overlaps with the projections of other items. As long as there is a projection of one side of the stacking area of ​​the item that does not overlap with the projections of other items, the item is located near the boundary of the pallet.

[0073] like Figure 4As shown, projection is used to determine whether an item is near the boundary of the pallet. For example, the left side of the stacking area of ​​item A is projected to the left, and then it is traversed to determine whether there is overlap with the projections of the stacking areas of other items. No projection overlap means that item A is at the leftmost side of the pallet (i.e., item A is near the boundary of the pallet). For another example, if the left side of the stacking area of ​​item B is projected to the left and it is found that there is overlap with the stacking areas of other items, the other sides are continued to be determined. When the lower side of item B is projected downward, it is found that there is no projection overlap, indicating that item A is at the bottom of the pallet. Item C in the figure is located in the center of the pallet because the projections of the four sides of its stacking area to the surrounding areas overlap with the projections of the stacking areas of other items. Therefore, item C is not located near the boundary of the pallet.

[0074] like Figure 5 As shown, there are two ways of incoming materials: horizontal and vertical, and the label positions are divided into four types: up, down, left, and right. Therefore, it is necessary to process the stack type information. According to the different positions of incoming materials and labels, the items near the edge of the stack are adjusted so that the labels of these items face outward (i.e., the edge of the stack closest to the item). Figure 5 (a)-(h) respectively show eight situations: horizontal incoming materials, label on the top, horizontal incoming materials, label on the bottom, horizontal incoming materials, label on the left, horizontal incoming materials, label on the right, vertical incoming materials, label on the left, vertical incoming materials, label on the right, vertical incoming materials, label on the bottom, vertical incoming materials, and label on the top.

[0075] In one embodiment of the present invention, when the projection of a side edge of the stacking area of ​​an object near the edge of a pallet does not overlap with the projections of other objects, the edge of the pallet to which the projection points is the edge of the pallet closest to the object.

[0076] exist Figure 4 In the figure, the lower side of the stacking area of ​​item B does not overlap with the projections of other items when projected downward, so the lower boundary of the pallet is the boundary of the pallet closest to the item; the left side of the stacking area of ​​item A does not overlap with the projections of other items when projected upward, so the upper boundary and left boundary of the pallet are both the boundaries closest to item A. At this time, the boundary of the pallet closest to the item can be determined based on the position of the label of item A.

[0077] In one embodiment of the present invention, Figure 5 According to the two material feeding methods and four label positions in the stacking tray, the label orientation of each item near the edge of the stacking tray is adjusted so that the projection of the side edge of the stacking area facing each label in the corresponding direction does not overlap with the projection of the stacking area of ​​other items, so that the label of each item near the edge of the stacking tray is facing the edge of the stacking tray closest to the item (such as Figure 6 As shown, all item labels face outwards), making it easier for staff to manage items and stacks based on item labels.

[0078] According to the article stacking device of the embodiment of the present invention, the number of stacking-obstructed objects of each article is identified according to the stacking position and stacking direction of all articles in the stack, and the final stacking order of each article is obtained according to the number of stacking-obstructed objects of each article. There is no need to assign weights according to the distance, and there is no collision problem caused by improper parameter selection. The algorithm complexity is reduced, and the article stacking and sorting can be performed efficiently and reasonably, thereby improving the efficiency of article stacking.

[0079] Corresponding to the above embodiment, the present invention also provides a computer device.

[0080] The computer device of the embodiment of the present invention includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the article stacking method according to the above embodiment of the present invention can be implemented.

[0081] According to the computer device of the embodiment of the present invention, when the processor executes the computer program stored in the memory, the number of stacking-blocked objects of each item is identified according to the stacking position and stacking direction of all items in the stack, and the final stacking order of each item is obtained according to the number of stacking-blocked objects of each item. There is no need to assign weights according to the distance, and there is no collision problem caused by improper parameter selection. The algorithm complexity is reduced, and the stacking and sorting of items can be performed efficiently and reasonably, thereby improving the efficiency of item stacking.

[0082] Corresponding to the above embodiment, the present invention also proposes a non-transitory computer-readable storage medium.

[0083] The non-transitory computer-readable storage medium of the embodiment of the present invention stores a computer program, which, when executed by a processor, can implement the article stacking method according to the above embodiment of the present invention.

[0084] According to the non-temporary computer-readable storage medium of an embodiment of the present invention, when the processor executes the computer program stored thereon, the number of stacking-blocked objects of each item is identified according to the stacking position and stacking direction of all items in the stack, and the final stacking order of each item is obtained according to the number of stacking-blocked objects of each item. There is no need to assign weights according to the distance, and there is no collision problem caused by improper parameter selection. The algorithm complexity is reduced, and the stacking and sorting of items can be performed efficiently and reasonably, thereby improving the efficiency of item stacking.

[0085] In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. "Multiple" means two or more, unless otherwise clearly and specifically defined.

[0086] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0087] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0088] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0089] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present invention belong.

[0090] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic devices), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0091] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0092] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0093] In addition, each functional unit in each embodiment of the present invention may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0094] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A method for stacking articles, characterized in that: The following steps are involved: Obtaining the stack type information and the stacking direction, wherein the stack type information includes the stacking positions of all the items in the stack, and the stacking direction of each of the items is consistent; Identifying the number of obstructed objects for each object according to the stacking position and stacking direction of all the objects in the stack; According to the number of obstructed objects of each object, the final stacking order of each object is obtained. The stack is carried by a pallet, and the number of obstructed objects of each object is identified according to the stacking position and stacking direction of all objects in the stack, specifically including: The corner point of the pallet pointed by the stacking direction is used as the stacking corner point; the corner point of the stacking area of ​​each item that is farthest from the stacking corner point is used as the stacking quadrant origin of the item, and the two sides adjacent to the stacking quadrant origin in the stacking area are used as the stacking quadrant boundaries to establish a stacking quadrant for each item, wherein the stacking area is a rectangle for stacking the items determined according to the stacking positions of the items; the number of items involved in the stacking quadrant of each item is used as the number of stacking blocked items for the item.

2. The article stacking method according to claim 1, characterized in that: According to the number of obstructed objects of each object, the final stacking order of each object is obtained, which specifically includes: Obtaining an initial stacking order of each of the items according to the stacking positions of all the items in the stack; Sort all items according to the number of occluded items coded into each item; When the number of stacked and blocked objects of a plurality of the objects is the same, the order of the objects is sorted according to the initial stacking order to obtain a final stacking order.

3. The article stacking method according to claim 1, characterized in that: The items are provided with labels, and after obtaining the stack type information and the coding direction, the following steps are further included: Selecting the objects near the border of the pallet according to the stacking position of each of the objects; Obtaining the incoming material mode and label position of each object near the border of the pallet; According to the stacking position, material supply method and label position of each object near the border of the pallet, the label of each object near the border of the pallet is adjusted to face the border of the pallet closest to the object.

4. The article stacking method according to claim 3, characterized in that: Objects located near the border of the pallet are selected based on the projection of each of the objects according to the stacking position of each of the objects.

5. The article stacking method according to claim 4, characterized in that: The method of selecting the objects near the border of the pallet according to the stacking position of each of the objects and based on the projection of each of the objects specifically includes: According to the stacking position of each of the items, projecting the side edge of the stacking area of ​​the items in the direction corresponding to the side edge; Determine whether the projection of the side of the stacking area of ​​the item in the direction corresponding to the side overlaps with the projection of other items. As long as there is a projection of one side of the stacking area of ​​the item that does not overlap with the projection of other items, the item is located near the boundary of the pallet.

6. The article stacking method according to claim 5, characterized in that: When the projection of a side edge of the stacking area of ​​an object near the border of the pallet does not overlap with the projections of other objects, the border of the pallet pointed to by the projection of the side edge is the border of the pallet closest to the object.

7. An article stacking device, characterized in that: include: An acquisition module, the acquisition module is used to acquire the stack type information and the stacking direction, wherein the stack type information includes the stacking position of all the items in the stack, and the stacking direction of each of the items is consistent; An occlusion recognition module, the occlusion recognition module is used to identify the number of objects that are blocked by the stacking of each object according to the stacking position and the stacking direction of all the objects in the stack; A sorting module, the sorting module is used to obtain the final stacking order of each of the items according to the number of items blocked by the code of each of the items, Among them, the stacking is carried out by the pallet, and the occlusion recognition module is specifically used to: take the corner point of the pallet pointed to by the stacking direction as the stacking corner point; take the corner point of the stacking area of ​​each item that is farthest from the stacking corner point as the stacking quadrant origin of the item, and take the two sides in the stacking area adjacent to the stacking quadrant origin as the stacking quadrant boundaries, to establish the stacking quadrant for each item, wherein the stacking area is a rectangle for stacking items determined according to the stacking position of the item; take the number of items involved in the stacking quadrant of each item as the number of stacking occluded items of the item.

8. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the article stacking method according to any one of claims 1 to 6 is implemented.

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

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