Material stacking method and device, computer equipment and readable storage medium

Abstract

The invention relates to a material stacking method and device, computer equipment, a computer readable storage medium and a computer program product. The method comprises the steps that according to the sizes of multiple to-be-stacked materials and the occupation state of each voxel in the three-dimensional storage space, multiple stacking areas of the to-be-stacked materials in the three-dimensional storage space are determined, and according to a preset stacking quality scoring standard, the stacking quality of the to-be-stacked materials is determined; the stacking quality scores under the condition that all the to-be-stacked materials are stacked to different stacking areas are determined, preset stacking quality scoring standards comprise at least one of the space utilization rate scoring standard, the volley rate scoring standard and the stack shape regularity scoring standard, and all the to-be-stacked materials are stacked according to the stacking quality scores. By adopting the scheme, the stacking efficiency can be improved.

Description

Technical Field

[0001] The present application relates to the field of automation technology, and in particular to a material stacking method, device, computer equipment, computer-readable storage medium and computer program product. Background Art

[0002] With the development of automation and intelligent technology, warehouse management technology on production lines has also developed. Operators manually operate forklifts, stackers and other equipment to manually transport, stack and sort materials. However, when faced with a large amount of materials to be stacked, how to improve the efficiency of stacking materials has become one of the problems to be solved.

[0003] In traditional solutions, robotic warehouse management technology is used to control robots to carry, stack, and organize materials. Even when faced with a large amount of materials to be stacked, the robots can efficiently place the materials to be stacked, significantly improving the flexibility and efficiency of warehousing operations.

[0004] However, in traditional solutions, even if the robot can cope with a large number of materials to be stacked well, when the sizes and shapes of the materials to be stacked are different, in order for the robot to continue working, the materials to be stacked need to be strictly sorted and arranged, which limits the flexibility of the operation and makes the material stacking efficiency low. Summary of the invention

[0005] Based on this, it is necessary to provide a material stacking method, device, computer equipment, computer-readable storage medium and computer program product that can improve material stacking efficiency in response to the above technical problems.

[0006] In a first aspect, the present application provides a material stacking method, comprising:

[0007] Determine multiple stacking areas of each of the materials to be stacked in the three-dimensional storage space according to the sizes of the materials to be stacked and the occupation status of each voxel in the three-dimensional storage space;

[0008] According to a preset stacking quality scoring standard, determining a stacking quality score when each of the materials to be stacked is stacked in different stacking areas, wherein the preset stacking quality scoring standard includes at least one of a space utilization scoring standard, an empty rate scoring standard, and a stack regularity scoring standard;

[0009] The materials to be stacked are stacked according to the stacking quality score.

[0010] In one embodiment, determining the stacking quality score when each of the to-be-stacked materials is stacked in different stacking areas according to a preset stacking quality score standard includes:

[0011] According to the sizes of the plurality of materials to be stacked, starting from the material to be stacked with the largest size, the materials to be stacked are selected in sequence;

[0012] For each of the selected materials to be stacked, candidate stacking areas whose sizes are larger than those of the materials to be stacked are screened out from the multiple stacking areas, and according to a preset stacking quality scoring standard, a stacking quality score is determined when the materials to be stacked are stacked in each candidate stacking area.

[0013] In one embodiment, stacking each of the materials to be stacked according to the stacking quality score includes:

[0014] For each of the materials to be stacked, determining the candidate stacking area with the highest stacking quality score as the target stacking area for the materials to be stacked;

[0015] The materials to be stacked are stacked in the target stacking area.

[0016] In one embodiment, determining the stacking quality score when each of the to-be-stacked materials is stacked in different stacking areas according to a preset stacking quality score standard includes:

[0017] For each of the stacking areas, candidate materials whose sizes are smaller than or equal to the size of the stacking area are screened out from a plurality of materials to be stacked, and stacking quality scores when the candidate materials are stacked in the stacking areas are determined according to a preset stacking quality scoring standard;

[0018] The stacking of the materials to be stacked according to the stacking quality score includes:

[0019] Determine the candidate material with the highest stacking quality score as the target material corresponding to the stacking area;

[0020] The target material is stacked in the stacking area.

[0021] In one embodiment, the determining of the stacking quality score when each of the materials to be stacked is stacked in different stacking areas according to a preset stacking quality score standard includes at least one of the following:

[0022] The first item is to determine the space utilization when each of the materials to be stacked is stacked in each of the stacking areas, and determine the space utilization score according to the space utilization and the preset space utilization score standard;

[0023] The second item is to determine the empty rate when each of the materials to be stacked is stacked in each of the stacking areas, and determine the empty rate score according to the empty rate and the preset empty rate score standard;

[0024] The third item is to determine the stack regularity when each of the materials to be stacked is stacked in each of the stacking areas, and determine the stack regularity score based on the stack regularity and a preset stack regularity scoring standard.

[0025] In one embodiment, there are multiple stacking quality scoring standards, and determining the stacking quality score when each of the to-be-stacking materials is stacked in each of the stacking areas according to the preset stacking quality scoring standards includes:

[0026] According to each of the stacking quality scoring standards and the preset weights of each of the stacking quality scoring standards, a stacking quality score is determined when each of the to-be-stacking materials is stacked in each of the stacking areas.

[0027] In a second aspect, the present application also provides a material stacking device, comprising:

[0028] A stacking area determination module, used to determine multiple stacking areas of each of the materials to be stacked in the three-dimensional storage space according to the sizes of the multiple materials to be stacked and the occupation status of each voxel in the three-dimensional storage space;

[0029] A stacking quality scoring module, for determining the stacking quality score when each of the materials to be stacked is stacked in different stacking areas according to a preset stacking quality scoring standard, wherein the preset stacking quality scoring standard includes at least one of a space utilization scoring standard, an empty rate scoring standard, and a stack regularity scoring standard;

[0030] The material stacking module is used to stack the materials to be stacked according to the stacking quality score.

[0031] In a third aspect, the present application further provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps in the above-mentioned material stacking method embodiments when executing the computer program.

[0032] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps in the above-mentioned material stacking method embodiments are implemented.

[0033] In a fifth aspect, the present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the steps in the above-mentioned material stacking method embodiments.

[0034] The above-mentioned material stacking method, device, computer equipment, computer-readable storage medium and computer program product are different from traditional solutions. According to the sizes of multiple materials to be stacked and the occupancy status of each voxel in the three-dimensional storage space, multiple stacking areas of each material to be stacked in the three-dimensional storage space are determined, and the occupancy status of each voxel in the three-dimensional storage space is used to characterize the actual occupancy of the storage space. Without stacking the materials in the actual storage space, multiple stacking areas of each material to be stacked in the three-dimensional storage space can be determined, thereby improving the stacking efficiency; further, according to at least one of the space utilization rate scoring standard, the empty rate scoring standard and the stack regularity scoring standard, the stacking quality score is given to each material to be stacked when it is stacked in different stacking areas respectively; finally, according to the stacking quality score, each material to be stacked is stacked without the need to strictly sort and arrange the materials to be stacked in advance, so that a suitable stacking area can be quickly found for each material to be stacked, thereby improving the flexibility and efficiency of the stacking operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0036] FIG1 is an application environment diagram of a material stacking method in one embodiment;

[0037] Figure 2 A schematic diagram of a material stacking method in one embodiment;

[0038] Figure 3 A schematic diagram of a flow chart of a material stacking method in another embodiment;

[0039] Figure 4 A schematic diagram of a flow chart of a material stacking method in another embodiment;

[0040] Figure 5 A schematic diagram of a flow chart of a material stacking method in a detailed embodiment;

[0041] Figure 6 It is a structural block diagram of a material stacking device in one embodiment;

[0042] FIG. 7 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0044] The material stacking method provided in the embodiment of the present application can be applied in the application environment shown in FIG1 . Among them, the operation terminal 102 and the data acquisition terminal 104 communicate with the control terminal 106 through the network. The data storage system can store the data that the control terminal 106 needs to process. The data storage system can be integrated on the control terminal 106, or it can be placed on the cloud or other network servers.

[0045] Specifically, the data acquisition terminal 104 can be a camera or other image acquisition device, the control terminal 106 can receive the image uploaded by the data acquisition terminal 104, analyze and generate the size of multiple materials to be stacked and the occupancy status of each voxel in the three-dimensional storage space, or the control terminal 106 directly obtains the size of multiple materials to be stacked and the occupancy status of each voxel in the three-dimensional storage space from the data storage system. Furthermore, the control terminal 106 determines the stacking quality score when each material to be stacked is stacked in different stacking areas according to a preset stacking quality scoring standard, wherein the preset stacking quality scoring standard includes at least one of a space utilization scoring standard, an empty rate scoring standard, and a stack regularity scoring standard. Finally, the control terminal 106 controls the operation terminal 102 to stack each material to be stacked according to the stacking quality score.

[0046] The control terminal 106 may be an independent physical server, a server cluster or a distributed system composed of multiple physical servers, or a cloud server providing cloud computing services. The operation terminal 102 may be a robot, a mechanical arm, or other devices.

[0047] In an exemplary embodiment, Figure 2 As shown, a material stacking method is provided, and the method is applied to the control terminal 106 in FIG. 1 as an example for description, including the following steps:

[0048] S100, determining a plurality of stacking areas for each material to be stacked in the three-dimensional storage space according to the sizes of the plurality of materials to be stacked and the occupation status of each voxel in the three-dimensional storage space.

[0049] Among them, the materials to be stacked can be regular objects similar to boxes, or other materials of different sizes and shapes that need to be stacked. The sizes of the materials to be stacked can include but are not limited to the length, width, height, shape, etc. of the materials to be stacked. The image information of the materials to be stacked located in the buffer area can be collected by a camera or other sensing equipment, and the image information can be analyzed to determine the size of the materials to be stacked.

[0050] The three-dimensional storage space is obtained by simulating the actual storage space. The actual storage space can be a warehouse, cage car or other space. Specifically, the storage space can be divided into a number of voxels. By controlling the side length of each voxel, the total number of voxels can be controlled. Each voxel represents a minimum storage unit. Each voxel has three possible occupancy states: open, occupied and supporting. The occupancy state of each voxel can be tracked and managed using a three-dimensional grid system.

[0051] It should be noted that in this embodiment, a three-dimensional grid system is used to track and manage the occupancy status of voxels, and the possibilty planes and possibilty points in the three-dimensional storage space can be found according to the occupancy status of each voxel. In addition, the three-dimensional grid data in the three-dimensional storage space can be stored and adjusted through a JSON file, and only the three-dimensional coordinates of the voxels whose occupancy status is the supporting state need to be stored, because the Z coordinate value of the voxels whose occupancy status is the open state is greater than the Z coordinate value of the voxels whose occupancy status is the supporting state, and the Z coordinate value of the voxels whose occupancy status is the occupied state is less than the Z coordinate value of the voxels whose occupancy status is the supporting state.

[0052] For example, if the material to be stacked is placed in the three-dimensional storage space, the occupation state of the voxels on the upper surface of the material to be stacked is the support state, which means that it can provide support for other materials placed on the material to be stacked, and the plane with the voxels whose occupation state is the support state is regarded as the placement plane. Each time the material to be stacked is placed in the three-dimensional storage space, the occupation state of the voxels is updated. In addition, the voxels whose occupation state is the support state are regarded as placement points.

[0053] Specifically, the control terminal 106 identifies and determines multiple potential stacking areas based on the size of the materials to be stacked and the occupancy status of the voxels in the three-dimensional storage space. These stacking areas are places where the materials to be stacked may be placed in the three-dimensional storage space, and the size of the stacking area should be greater than or equal to the size of the materials to be stacked.

[0054] S200, determining a stacking quality score when each to-be-stacked material is stacked in different stacking areas according to a preset stacking quality score standard.

[0055] Among them, the preset stacking quality scoring standard includes at least one of the space utilization scoring standard, the empty rate scoring standard and the stack regularity scoring standard. Space utilization refers to the ratio of the space volume occupied by materials in the stacking area to the total available space volume of the stacking area. When all materials to be stacked are stacked, the space utilization is the ratio of the space volume occupied by all materials in the three-dimensional storage space to the total available space volume in the three-dimensional storage space. The empty rate refers to the ratio of the part of the material that is suspended in contact with other materials or the ground after stacking to the overall volume of the material. A high empty rate indicates that there are more parts of the material suspended in the air, and the risk of unstable stacking is higher. Stack regularity refers to the neatness of the arrangement of materials in the stacking area, which can be evaluated by the height difference and inclination angle of the stacked materials. For example, when a certain material is placed in a certain stacking area, the material has a large height difference with its adjacent materials, indicating that the stack regularity is low.

[0056] Since there may be multiple materials to be stacked, and each material to be stacked may have multiple stacking areas, it is necessary to score each group of materials to be stacked and the combination of stacking areas based on a preset stacking quality scoring standard, and finally determine the stacking area for each material to be stacked. The above process can be implemented using a greedy algorithm, a heuristic algorithm, or the like.

[0057] For example, the stacking area with the highest score can be determined for each material to be stacked, or the material to be stacked with the highest score can be determined for each stacking area, so as to quantify the advantages and disadvantages of different stacking strategies. The preset stacking quality scoring standard is used to find the optimal solution among multiple possible stacking strategies, thereby maximizing space utilization, maintaining structural stability and improving storage regularity.

[0058] S300: stack the materials to be stacked according to the stacking quality score.

[0059] Following the above steps, after completing the stacking quality scores for all stacking areas or materials to be stacked, select the optimal stacking strategy and perform the material stacking operation according to the stacking quality scores. Specifically, through the conversion of the three-dimensional space coordinate system and the stacking robot coordinate system, the above stacking operation can be performed by the stacking robot, and the materials to be stacked are adsorbed to the corresponding stacking area of ​​the actual storage space, such as a cage truck, a pallet, a warehouse, etc. by controlling the robotic arm of the stacking robot and the suction cup at the end of the robotic arm.

[0060] In this embodiment, the material stacking method is different from the traditional scheme. According to the sizes of multiple materials to be stacked and the occupancy status of each voxel in the three-dimensional storage space, multiple stacking areas of each material to be stacked in the three-dimensional storage space are determined, and the occupancy status of each voxel in the three-dimensional storage space is used to characterize the actual occupancy of the storage space. There is no need to stack the materials in the actual storage space, and multiple stacking areas of each material to be stacked in the three-dimensional storage space can be determined, thereby improving the stacking efficiency; further, according to at least one of the space utilization rate scoring standard, the empty rate scoring standard and the stack regularity scoring standard, the stacking quality score is given to each material to be stacked when it is stacked in different stacking areas respectively; finally, according to the stacking quality score, each material to be stacked is stacked without the need to strictly sort and arrange the materials to be stacked in advance, so that a suitable stacking area can be quickly found for each material to be stacked, thereby improving the flexibility and efficiency of the stacking operation.

[0061] Following the above embodiment, the stacking area with the highest score can be determined for each material to be stacked, or the material to be stacked with the highest score can be determined for each stacking area, so as to quantify the advantages and disadvantages of different stacking strategies. Taking the determination of the stacking area with the highest score for each material to be stacked as an example, in an exemplary embodiment, Figure 3 As shown, S200 includes:

[0062] S210, selecting materials to be stacked in sequence according to the sizes of the plurality of materials to be stacked, starting from the material to be stacked with the largest size.

[0063] S220, for each selected material to be stacked, select candidate stacking areas whose sizes are larger than those of the material to be stacked from multiple stacking areas, and determine the stacking quality scores when the material to be stacked is stacked in each candidate stacking area according to a preset stacking quality scoring standard.

[0064] Specifically, the materials to be stacked are first sorted according to their sizes, starting with the materials to be stacked with the largest size, and then selected in sequence. In addition, the materials to be stacked can be sorted according to their weight or the product of weight and size, starting with the materials to be stacked with the largest mass or the materials to be stacked with the largest product of weight and size, wherein, for materials to be stacked with constant density, the weight of the materials to be stacked can be determined based on the size and density of the materials to be stacked. In this way, the materials to be stacked with large size and weight can be placed in the three-dimensional storage space first, for example, starting with the materials to be stacked with the largest size, which can reduce the problem of insufficient space in subsequent processing and simplify the subsequent stacking process, because after processing the large materials to be stacked, the remaining space will be more likely to meet the needs of smaller materials to be stacked.

[0065] For example, there are three types of materials to be stacked in the buffer area, with sizes as follows: large boxes (3m×2m×1.5m), medium boxes (2m×1.5m×1m) and small boxes (1m×1m×0.5m). The large boxes are processed first, followed by the medium boxes and finally the small boxes. This way, large boxes can get enough space first and it is easier to meet the needs of medium and small boxes.

[0066] Furthermore, after selecting the materials to be stacked, for each material to be stacked, those candidate stacking areas whose sizes are larger than the materials to be stacked are screened out from all available stacking areas, so that appropriate blank space can be left when placing the materials to be stacked to reduce collisions with other materials or the boundaries of the three-dimensional storage space. In addition, stacking areas equal to the size of the materials to be stacked can also be determined as candidate stacking areas to improve space utilization. Then, each candidate area is evaluated according to the preset stacking quality scoring criteria, and the evaluation process includes but is not limited to: measuring the space utilization of the materials to be stacked after being placed in the candidate stacking area, measuring whether the materials to be stacked are stable after being placed in the candidate stacking area, and measuring the neatness and regularity of the materials after being placed in the candidate stacking area.

[0067] In this embodiment, through this large to small sorting method, space allocation can be effectively managed, the space utilization efficiency of the three-dimensional storage space is improved, and all materials to be stacked can be stacked in appropriate positions as smoothly as possible. In addition, during the stacking process, the best stacking area is selected for each material to be stacked based on the preset stacking quality scoring standard, which can maximize the space utilization efficiency and material stability and improve the overall stacking neatness.

[0068] Furthermore, after determining the quality scores of the candidate stacking positions, the best stacking position is selected from all the candidate stacking positions. In an exemplary embodiment, Figure 3 As shown, S300 includes:

[0069] S310: For each material to be stacked, determine the candidate stacking area with the highest stacking quality score as the target stacking area for the material to be stacked.

[0070] S320, stacking the materials to be stacked in the target stacking area.

[0071] Continuing from the above embodiment, according to the calculated stacking quality score, the candidate stacking area with the highest score is selected as the final target stacking area for each material to be stacked, so that the materials to be stacked are placed in the optimal space to maximize space utilization, improve stacking stability, and maintain the stacking regularity of the overall warehouse.

[0072] The stacking quality score takes into account multiple factors, such as space utilization, empty rate, and regularity of stack shape. Therefore, selecting the area with the highest score means that the area performs well in all relevant indicators and can provide the best stacking conditions for materials. Exemplarily, the above embodiment screened three candidate stacking areas for a large box (3 meters × 2 meters × 1.5 meters), namely area A, area B, and area C, and scored the stacking quality of these candidate stacking areas: area A: 85 points, area B: 90 points, area C: 80 points. Finally, area B was selected as the target stacking area for this large box, because area B had the highest stacking quality score, which means that area B can provide the best stacking conditions for the box.

[0073] Furthermore, after determining the target stacking area, the automated robotic arm or other stacking equipment can be controlled to place the materials to be stacked in the target stacking area. For example, the stacking equipment will accurately place the materials to be stacked in the target stacking area based on the location of the target stacking area, the size and location of the materials to be stacked, and other information. In addition, the stacking process can be monitored in real time. If an abnormal situation occurs, such as the materials to be stacked cannot be placed correctly or there is a placement deviation, an alarm message can be generated to remind the operator to adjust the stacking position or try to stack again.

[0074] In this embodiment, by selecting the candidate stacking area with the highest stacking quality score as the final target stacking area, not only can the space utilization of the three-dimensional storage space be maximized, but also the stability and safety of material stacking can be improved, making the entire stacking process more accurate and efficient, and further improving the accuracy of the stacking operation through the precise operation of the automated equipment.

[0075] Following the above embodiment, in addition to scoring the candidate stacking areas, the candidate materials may also be scored. In one embodiment, S230, as shown in FIG. Figure 4 As shown, S200 includes:

[0076] For each stacking area, candidate materials whose size is less than or equal to the size of the stacking area are screened out from multiple materials to be stacked, and stacking quality scores are determined when the candidate materials are stacked in the stacking areas according to preset stacking quality scoring standards.

[0077] S300 includes:

[0078] S330, determining the candidate material with the highest stacking quality score as the target material corresponding to the stacking area, and stacking the target material in the stacking area.

[0079] Specifically, according to the size of each stacking area, candidate materials whose size is less than or equal to the stacking area are screened out from all materials to be stacked, so that the candidate materials are suitable for the selected stacking area in size, and the situation that the candidate materials cannot be placed in the stacking area because they are too large is reduced. Similarly, the screened candidate materials are further evaluated according to the preset stacking quality scoring criteria, and the preset stacking quality scoring criteria include but are not limited to: evaluating the space utilization and space utilization rate of the three-dimensional storage space after the candidate materials are placed in the stacking area, evaluating the stability of the candidate materials after they are placed in the stacking area, and evaluating the regularity of the stack shape of the candidate materials after they are placed in the stacking area.

[0080] For example, suppose there is a stacking area A with dimensions of 4 meters in length, 3 meters in width and 2 meters in height, then the volume of the stacking area is 24 cubic meters, and the dimensions of the materials to be stacked are 3.5 meters in length, 2.5 meters in width and 1.8 meters in height, then the volume of the materials to be stacked is 15.75 cubic meters, and if the materials to be stacked are placed in the stacking area, the space utilization rate is 65.63%. Furthermore, if due to uneven ground or improper stacking position, 3.15 cubic meters of the materials to be stacked are suspended in the air and not in contact with other objects, the air rate at this time is 20%. In addition, if the height difference between the stacked material and its adjacent materials in the stack shape is 10 centimeters, and if the same material to be stacked is stacked in another stacking area B, the height difference between the stacked material and its adjacent materials in the stack shape is 2 centimeters, then compared with stacking area A, the material to be stacked is stacked in stacking area B with a higher degree of regularity in the stack shape.

[0081] Furthermore, after the target material is determined, the automated stacking equipment (such as a stacking robot) is instructed to move the target material from its current position to the corresponding stacking area, and accurately place it in the stacking area according to the preset placement method and placement angle. In addition, the above stacking process can be monitored in real time so that the placement method and placement angle of the target material meet the expected standards. If an abnormal situation occurs, such as the target material cannot be placed correctly or there is a placement deviation, an alarm message can be generated to remind the operator to adjust the target material or try to stack it again.

[0082] In this embodiment, through the preset stacking quality scoring standard, accurate matching of materials and stacking areas is achieved, the three-dimensional storage space is maximized and the stability of material stacking is improved, thereby improving the management efficiency and space utilization of the entire three-dimensional storage space, and through the precise operation of automated stacking equipment, the errors that may be caused by human operation are reduced, thereby improving the efficiency and accuracy of stacking.

[0083] Based on the above embodiment, the preset stacking quality scoring standard includes at least one of a preset space utilization scoring standard, a preset empty rate scoring standard, and a preset stacking regularity scoring standard. In an exemplary embodiment, S300 includes at least one of the following:

[0084] The first item is to determine the space utilization when each material to be stacked is stacked in each stacking area, and to determine the space utilization score based on the space utilization and a preset space utilization score standard.

[0085] The space utilization rate refers to the ratio between the space occupied by the materials to be stacked in the stacking area and the available space in the area. A higher space utilization rate means that the stacking area is used more effectively, reducing idle space. In this embodiment, the materials to be stacked are placed in different stacking areas by simulation, and the space utilization rate in each case is calculated. Alternatively, the stacking areas for all the materials to be stacked are determined first, and the ratio between the space occupied by all the materials to be stacked in the three-dimensional storage space and all the available space in the three-dimensional storage space is calculated as the space utilization rate.

[0086] For example, assuming that the size of a stacking area is 4 meters × 3 meters × 2 meters, if the size of the material to be stacked is 3.5 meters × 2.5 meters × 1.8 meters, then after the material to be stacked is placed in this stacking area, the space utilization is: the ratio of the volume of the material to be stacked to the volume of the stacking area is 78.75%. The space utilization is compared with the preset space utilization scoring standard. If the space utilization of 78.75% corresponds to a score of 80 points, then the score of the material to be stacked or the stacking area in this item of space utilization is 80 points.

[0087] The second item is to determine the empty rate when each material to be stacked is stacked in each stacking area, and determine the empty rate score according to the empty rate and the preset empty rate score standard;

[0088] Among them, the air rate can indicate whether there are unsupported parts of the materials to be stacked after they are stacked, that is, whether some of the materials to be stacked are suspended in the air. If the air rate is too high, it may lead to unstable material stacking and the risk of material dumping or material shifting.

[0089] For example, suppose a material to be stacked has a size of 3.5 meters × 2.5 meters × 1.8 meters and is placed in a stacking area with a size of 4 meters × 3 meters × 2 meters. However, due to the uneven ground or the shape of the material, part of the material to be stacked is suspended in the air. For example, the suspended part occupies 20% of the material to be stacked, and the suspended rate is 20%. In the preset suspended rate scoring standard, a 20% suspended rate may correspond to 60 points. Therefore, the score of the material to be stacked or the stacking area for the suspended rate is 60 points.

[0090] The third item is to determine the stack regularity when each material to be stacked is stacked in each stacking area, and determine the stack regularity score based on the stack regularity and a preset stack regularity scoring standard.

[0091] Among them, the regularity of the stack shape evaluates the neatness of the arrangement of the materials to be stacked in the stacking area. Neat stacking of the materials to be stacked can not only improve the visual aesthetics, but also facilitate subsequent material management and retrieval operations. A higher regularity means that the materials are arranged more orderly and easier to manage after stacking.

[0092] For example, assuming that the size of a material to be stacked is 3.5 meters × 2.5 meters × 1.8 meters, and the shape of the material to be stacked is regular and the edges are flat, when it is stacked in a stacking area of ​​4 meters × 3 meters × 2 meters, the height difference with the surrounding stacked materials is small, forming a neat arrangement. According to the preset stack regularity scoring standard, the score of the material to be stacked or the stacking area for the air rate may be 90 points.

[0093] In this embodiment, by introducing the stacking quality scoring standards of three dimensions: space utilization, empty space rate and stack regularity, it is possible to comprehensively evaluate various key factors in the material stacking process, which not only improves the space utilization of the three-dimensional storage space, but also enhances the stability and neatness of material placement.

[0094] However, in some exemplary embodiments, there may be multiple preset stacking quality scoring standards. In this case, S300 includes: determining the stacking quality score when each material to be stacked is stacked in each stacking area according to each stacking quality scoring standard and the preset weight of each stacking quality scoring standard.

[0095] Continuing from the above embodiment, the space utilization score, the empty rate score, and the stack regularity score of the stacking area or the materials to be stacked are calculated respectively. Furthermore, the space utilization score, the empty rate score, and the stack regularity score are weighted according to preset weights to obtain the final stacking quality score.

[0096] For example, suppose that when evaluating the stacking quality of a certain material to be stacked in a certain stacking area, the following individual scores are calculated: space utilization score 80 points, empty rate score 70 points, and stack regularity score 90 points. The preset weights are space utilization weight 0.5, empty rate weight 0.3, and stack regularity weight 0.2. The final weighted calculation result is 79 points, that is, in the current stacking scenario, the final stacking quality score of the material to be stacked in the stacking area. The best stacking strategy can be determined based on this score later. In addition, by adjusting the weights of different scoring criteria, the importance of different evaluation criteria can be flexibly adjusted according to actual needs. For example, in some stacking scenarios, space utilization may be given a higher weight, while in other stacking scenarios, the stability of the material (i.e., empty rate) may be more important.

[0097] In this embodiment, the weights of the preset stacking quality scoring standards can be adjusted according to different operation objectives and stacking scenarios, and multiple scoring standards can be comprehensively considered in a weighted processing manner, so that a suitable stacking position can be quickly determined for each material to be stacked, and the most optimized stacking strategy can be generated, thereby improving the space utilization efficiency of the three-dimensional storage space and enhancing the safety of the stacking operation and the regularity of the stack shape.

[0098] In order to make a clearer description of the material stacking method provided by the present application, the following is a specific embodiment and the attached Figure 5 To illustrate, this specific embodiment includes the following steps:

[0099] S501, determining multiple stacking areas for each material to be stacked in the three-dimensional storage space according to the sizes of the multiple materials to be stacked and the occupation status of each voxel in the three-dimensional storage space.

[0100] S502, selecting materials to be stacked in sequence according to the sizes of the plurality of materials to be stacked, starting from the material to be stacked with the largest size.

[0101] S503, for each selected material to be stacked, selecting a candidate stacking area whose size is larger than that of the material to be stacked from multiple stacking areas;

[0102] S504: Determine the stacking quality score when each to-be-stacking material is stacked in each stacking area according to each stacking quality score standard and a preset weight of each stacking quality score standard.

[0103] S505 , for each material to be stacked, determining the candidate stacking area with the highest stacking quality score as the target stacking area for the material to be stacked, and stacking the material to be stacked in the target stacking area.

[0104] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0105] Based on the same inventive concept, the embodiment of the present application also provides a material stacking device for implementing the material stacking method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more material stacking device embodiments provided below can refer to the limitations on the material stacking method above, and will not be repeated here.

[0106] In an exemplary embodiment, Figure 6 As shown, a material stacking device 600 is provided, comprising: a stacking area determination module 610, a stacking quality scoring module 620 and a material stacking module 630, wherein:

[0107] The stacking area determination module 610 is used to determine multiple stacking areas for each of the materials to be stacked in the three-dimensional storage space according to the sizes of the multiple materials to be stacked and the occupancy status of each voxel in the three-dimensional storage space.

[0108] The stacking quality scoring module 620 is used to determine the stacking quality score when each of the materials to be stacked is stacked in different stacking areas according to a preset stacking quality scoring standard, wherein the preset stacking quality scoring standard includes at least one of a space utilization scoring standard, an empty rate scoring standard, and a stack regularity scoring standard.

[0109] The material stacking module 630 is used to stack the materials to be stacked according to the stacking quality score.

[0110] In an exemplary embodiment, the stacking quality scoring module 620 is also used to select the materials to be stacked in sequence according to the sizes of the multiple materials to be stacked, starting from the material to be stacked with the largest size, and for each selected material to be stacked, screen out candidate stacking areas whose sizes are larger than the sizes of the materials to be stacked from the multiple stacking areas, and determine the stacking quality scores when the materials to be stacked are stacked in each candidate stacking area according to a preset stacking quality scoring standard.

[0111] In an exemplary embodiment, the material stacking module 630 is also used to determine, for each material to be stacked, the candidate stacking area with the highest stacking quality score as the target stacking area for the material to be stacked, and stack the material to be stacked in the target stacking area.

[0112] In an exemplary embodiment, the stacking quality scoring module 620 is also used to screen out candidate materials whose sizes are less than or equal to the size of the stacking area from a plurality of materials to be stacked for each of the stacking areas, and determine the stacking quality scores when the candidate materials are stacked in the stacking areas respectively according to preset stacking quality scoring standards.

[0113] In an exemplary embodiment, the material stacking module 630 is further configured to determine the candidate material with the highest stacking quality score as the target material corresponding to the stacking area, and stack the target material in the stacking area.

[0114] In an exemplary embodiment, the stacking quality scoring module 620 is further configured to perform any one of the following steps:

[0115] The first item is to determine the space utilization when each of the materials to be stacked is stacked in each of the stacking areas, and determine the space utilization score based on the space utilization and the preset space utilization score standard.

[0116] The second item is to determine the empty rate when each of the materials to be stacked is stacked in each of the stacking areas, and determine the empty rate score according to the empty rate and the preset empty rate score standard.

[0117] The third item is to determine the stack regularity when each of the materials to be stacked is stacked in each of the stacking areas, and determine the stack regularity score based on the stack regularity and a preset stack regularity scoring standard.

[0118] In an exemplary embodiment, the stacking quality scoring module 620 is also used to determine the stacking quality score when each of the materials to be stacked is stacked in each of the stacking areas according to each of the stacking quality scoring standards and the preset weights of each of the stacking quality scoring standards.

[0119] Each module in the material stacking device can be implemented in whole or in part by software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0120] In an exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be shown in FIG7. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. The processor, the memory and the input / output interface are connected via a system bus, and the communication interface is connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data such as the size of the material to be stacked. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a material stacking method is implemented.

[0121] Those skilled in the art will understand that the structure shown in FIG. 7 is merely a block diagram of a partial structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0122] In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the steps in the above-mentioned material stacking method embodiments are implemented.

[0123] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned material stacking method embodiments are implemented.

[0124] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above-mentioned material stacking method embodiments when executed by a processor.

[0125] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0126] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0127] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0128] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A material stacking method, characterized in that: The method comprises: Determine multiple stacking areas of each of the materials to be stacked in the three-dimensional storage space according to the sizes of the materials to be stacked and the occupation status of each voxel in the three-dimensional storage space; According to a preset stacking quality scoring standard, determining a stacking quality score when each of the materials to be stacked is stacked in different stacking areas, wherein the preset stacking quality scoring standard includes at least one of a space utilization scoring standard, an empty rate scoring standard, and a stack regularity scoring standard; The materials to be stacked are stacked according to the stacking quality score.

2. The method according to claim 1, characterized in that The step of determining the stacking quality score when each of the materials to be stacked is stacked in different stacking areas according to a preset stacking quality score standard includes: According to the sizes of the plurality of materials to be stacked, starting from the material to be stacked with the largest size, the materials to be stacked are selected in sequence; For each of the selected materials to be stacked, candidate stacking areas whose sizes are larger than those of the materials to be stacked are screened out from the multiple stacking areas, and according to a preset stacking quality scoring standard, a stacking quality score is determined when the materials to be stacked are stacked in each candidate stacking area.

3. The method according to claim 2, characterized in that The stacking of the materials to be stacked according to the stacking quality score includes: For each of the materials to be stacked, determining the candidate stacking area with the highest stacking quality score as the target stacking area for the materials to be stacked; The materials to be stacked are stacked in the target stacking area.

4. The method according to claim 1, characterized in that The step of determining the stacking quality score when each of the materials to be stacked is stacked in different stacking areas according to a preset stacking quality score standard includes: For each of the stacking areas, candidate materials whose sizes are smaller than or equal to the size of the stacking area are screened out from a plurality of materials to be stacked, and stacking quality scores when the candidate materials are stacked in the stacking areas are determined according to a preset stacking quality scoring standard; The stacking of the materials to be stacked according to the stacking quality score includes: Determine the candidate material with the highest stacking quality score as the target material corresponding to the stacking area; The target material is stacked in the stacking area.

5. The method according to any one of claims 1 to 4, characterized in that: Determining the stacking quality score when each of the to-be-stacked materials is stacked in different stacking areas according to the preset stacking quality score standard includes at least one of the following: The first item is to determine the space utilization when each of the materials to be stacked is stacked in each of the stacking areas, and determine the space utilization score according to the space utilization and the preset space utilization score standard; The second item is to determine the empty rate when each of the materials to be stacked is stacked in each of the stacking areas, and determine the empty rate score according to the empty rate and the preset empty rate score standard; The third item is to determine the stack regularity when each of the materials to be stacked is stacked in each of the stacking areas, and determine the stack regularity score based on the stack regularity and a preset stack regularity scoring standard.

6. The method according to claim 5, characterized in that There are multiple stacking quality scoring standards, and determining the stacking quality score when each of the to-be-stacking materials is stacked in each of the stacking areas according to the preset stacking quality scoring standards includes: According to each of the stacking quality scoring standards and the preset weights of each of the stacking quality scoring standards, a stacking quality score is determined when each of the to-be-stacking materials is stacked in each of the stacking areas.

7. A material stacking device, characterized in that: The device comprises: A stacking area determination module, used to determine multiple stacking areas of each of the materials to be stacked in the three-dimensional storage space according to the sizes of the multiple materials to be stacked and the occupation status of each voxel in the three-dimensional storage space; A stacking quality scoring module, for determining the stacking quality score when each of the materials to be stacked is stacked in different stacking areas according to a preset stacking quality scoring standard, wherein the preset stacking quality scoring standard includes at least one of a space utilization scoring standard, an empty rate scoring standard, and a stack regularity scoring standard; The material stacking module is used to stack the materials to be stacked according to the stacking quality score.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

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

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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