Article stacking method, device, computer program product and stacking system

Abstract

The invention provides an article stacking method and device, a computer program product and a stacking system. The method comprises the steps that article related information of an article is obtained, and the article related information at least comprises the packaging size of the article and / or the type of the article; controlling the robot to carry the articles to a target warehouse according to the related information of the articles; warehouse related information of the target warehouse is obtained, the warehouse related information at least comprises stacking types and / or remaining volumes of the stacking areas, and the target warehouse comprises a plurality of stacking areas; according to the warehouse related information, the robot is controlled to carry the articles to a target stacking area and stack the articles, the target stacking area is one of the multiple stacking areas, the stacking type of the target stacking area corresponds to the type of the articles, and the residual volume of the target stacking area is larger than or equal to the packaging volume of the articles. According to the scheme, the problem that in the prior art, the stacking efficiency is low is solved.

Description

Technical Field

[0001] The present application relates to the technical field of warehouse management, and in particular to a method, device, computer program product and stacking system for stacking articles. Background Art

[0002] For current warehouse management, manual management and stacking are often used. However, manual management and stacking are prone to errors and space waste, and the stacking efficiency is low. Summary of the invention

[0003] The main purpose of the present application is to provide a method, device, computer program product and stacking system for stacking articles, so as to at least solve the problem of low stacking efficiency in the prior art.

[0004] In order to achieve the above-mentioned purpose, according to one aspect of the present application, a method for stacking articles is provided, comprising: obtaining article-related information of articles, wherein the article-related information at least includes the packaging volume of the articles and / or the type of the articles; controlling a robot to move the articles to a target warehouse according to the article-related information; obtaining warehouse-related information of the target warehouse, wherein the warehouse-related information at least includes the stacking type and / or the remaining volume of a stacking area, and the target warehouse includes a plurality of stacking areas; controlling the robot to move the articles to a target stacking area and stack them according to the warehouse-related information, wherein the target stacking area is one of the plurality of stacking areas, the stacking type of the target stacking area corresponds to the type of the articles, and the remaining volume of the target stacking area is greater than or equal to the packaging volume of the articles.

[0005] Optionally, based on the information related to the item, controlling the robot to move the item to a target warehouse includes: determining the target warehouse corresponding to the item based on the type of the item, wherein the target warehouse is one of the multiple warehouses; obtaining a target navigation path of the target warehouse, wherein the warehouse and the navigation path correspond one-to-one; and controlling the robot to move the item to the target warehouse along the target navigation path.

[0006] Optionally, before controlling the robot to move the items to a target stacking area and stack them according to the warehouse-related information, the method further includes: when the type of the item corresponds to multiple stacking areas, respectively acquiring the remaining volumes of the multiple stacking areas; sorting the multiple stacking areas according to the sizes of the remaining volumes; and determining, among the multiple stacking areas, the stacking area with the smallest remaining volume and a remaining volume greater than or equal to the packaging volume of the item as the target stacking area.

[0007] Optionally, controlling the robot to move the items to a target stacking area and stack them includes: when the packaging volumes of all the items are the same, controlling the robot to stack them in a preset order, wherein the preset order is from top to bottom, from bottom to top, from left to right, or from right to left; when the remaining volume of the target stacking area is less than the packaging volume of the items, controlling the robot to stop stacking.

[0008] Optionally, controlling the robot to move the items to a target stacking area and stacking them includes: when the packaging volumes of all the items are different, sorting them in order of the size of the packaging volumes; controlling the robot to stack all the items in order of the packaging volumes from large to small; and stacking the items in the remaining space of the target stacking area using a nested stacking method.

[0009] Optionally, controlling the robot to move the items to a target stacking area and stacking them includes: obtaining temperature and humidity information of a plurality of the stacking areas; when the type of the items is a special type, selecting at least one of the plurality of stacking areas according to the temperature and humidity information to obtain the target stacking area, wherein the temperature and humidity information of the target stacking area meets the storage requirements for the special type of items, and the special type of items are items with storage requirements for temperature and humidity; controlling the robot to move the items to the target stacking area and stacking them.

[0010] Optionally, before controlling the robot to move the items to the target warehouse based on the item-related information, the method further includes: when the robot arrives at the door of the target warehouse, sending an access control application to a remote terminal, wherein the access control application is a request to open the door; receiving verification information, wherein the verification information is information sent by the remote terminal indicating whether the robot is allowed to enter the target warehouse; and opening the electronic door of the target warehouse when the verification information indicates that release is allowed.

[0011] According to another aspect of the present application, a stacking device for articles is provided, comprising: a first acquisition unit, for acquiring article-related information of articles, wherein the article-related information includes at least the packaging volume of the articles and / or the type of the articles; a first control unit, for controlling a robot to move the articles to a target warehouse according to the article-related information; a second acquisition unit, for acquiring warehouse-related information of the target warehouse, wherein the warehouse-related information includes at least the stacking type and / or the remaining volume of a stacking area, and the target warehouse includes a plurality of stacking areas; a second control unit, for controlling the robot to move the articles to a target stacking area and stack them according to the warehouse-related information, wherein the target stacking area is one of the plurality of stacking areas, the stacking type of the target stacking area corresponds to the type of the articles, and the remaining volume of the target stacking area is greater than or equal to the packaging volume of the articles.

[0012] According to another aspect of the present application, a computer program product is provided, comprising a computer program, wherein when the computer program is executed by a processor, the steps of any one of the methods for stacking objects are implemented.

[0013] According to another aspect of the present application, a stacking system is provided, comprising: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include a stacking method for executing any one of the items described.

[0014] By applying the technical solution of the present application, items can be classified and stacked. A handling robot can be used to transport the items to the stacking area corresponding to the target warehouse, and the items can be stacked according to the remaining volume and type of the stacking area, thereby ensuring the safety of stacking and efficient use of space, reducing human intervention, and improving the efficiency of stacking. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings constituting part of the present application are used to provide a further understanding of the present application. The exemplary embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0016] Figure 1 A hardware structure block diagram of a mobile terminal for executing a method for stacking articles provided in an embodiment of the present application is shown;

[0017] Figure 2 A schematic diagram of a process of stacking an article provided according to an embodiment of the present application is shown;

[0018] Figure 3 A structural block diagram of an article stacking device provided according to an embodiment of the present application is shown;

[0019] Figure 4 A schematic diagram showing a process flow of another method for stacking articles is shown;

[0020] Figure 5 A partial structural schematic diagram of the stacking system of the present solution is shown;

[0021] Figure 6 shows a schematic diagram of a machine vision module;

[0022] Figure 7 A schematic diagram of a navigation module is shown.

[0023] The above drawings include the following reference numerals:

[0024] 102, processor; 104, memory; 106, transmission device; 108, input and output devices. DETAILED DESCRIPTION

[0025] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0026] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0027] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0028] At present, intelligent warehousing technology is one of the important innovations in the logistics and warehousing industry. It improves the efficiency, accuracy and safety of warehousing management by applying computer vision technology. For example, in the logistics industry, computer vision technology is applied to cargo classification and sorting, cargo volume measurement and size verification, high-density stacking and warehouse management, cargo damage and quality control, and package identification and tracking. Among these applications, high-density stacking and warehouse management are considered to be a more challenging task. Compared with traditional manual management and stacking, which are prone to errors and space waste, by using computer vision technology, relatively accurate warehouse management and stacking can be achieved. However, this is limited to the storage management of general goods. For the warehouse management and stacking of explosives, similar stacking methods cannot be simply used. The transportation, storage and use of flammable and explosive materials must be strictly implemented in accordance with the national "Fire Protection Law", "Regulations on the Safety Management of Hazardous Chemicals" and "Regulations on the Supervision and Management of Fire Safety of Flammable and Explosive Chemicals". Among them, the general provisions for the storage of flammable and explosive materials clearly state that flammable and explosive materials should be classified and stored in special warehouses. Inflammable, explosive and combustible items that conflict with general items and have different fire-fighting methods must be stored separately and labeled with the name, properties and fire-fighting methods of the stored items.

[0029] It can be seen that in the current intelligent storage technology for explosives, there is no perfect technical solution for the stacking of explosives, and it is in urgent need of improvement.

[0030] As introduced in the background technology, the stacking efficiency in the prior art is low. To solve the above problem, the embodiments of the present application provide a method, device, computer program product and stacking system for stacking articles.

[0031] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0032] The method embodiments provided in the embodiments of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Taking running on a mobile terminal as an example, Figure 1 FIG. 1 is a hardware structure block diagram of a mobile terminal for a method for stacking articles according to an embodiment of the present invention. Figure 1 As shown, the mobile terminal may include one or more ( Figure 1 Only one is shown in the figure) a processor 102 (the processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, wherein the mobile terminal may also include a transmission device 106 and an input / output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1The structure shown is only for illustration and does not limit the structure of the mobile terminal. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations shown.

[0033] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the display method of device information in the embodiment of the present invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, the above method is implemented. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof. The transmission device 106 is used to receive or send data via a network. The above-mentioned specific examples of the network may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0034] In this embodiment, a method for stacking items running on a mobile terminal, a computer terminal or a similar computing device is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0035] Figure 2 FIG. 1 is a flow chart of a method for stacking articles according to an embodiment of the present application. Figure 2 As shown, the method comprises the following steps:

[0036] Step S201, obtaining item-related information of an item, wherein the item-related information at least includes a packaging volume of the item and / or a type of the item;

[0037] Specifically, the items in this solution are explosive items.

[0038] Specifically, the first image information of the explosive package on the transfer rack can be obtained, the first image information at least includes a first identifier for identifying the explosive information, and the package volume of the explosive is obtained according to the first identifier.

[0039] Specifically, the first identifier can be a QR code, barcode or other form of code, which is used to store and convey key information such as the type and packaging volume of the item. The computer vision system can accurately parse the content in the first identifier through the image recognition algorithm, thereby obtaining the packaging volume and type information of the items to be stacked.

[0040] Specifically, the transfer rack is the intermediate link where items are transported from trucks or other sources to storage warehouses. On the transfer rack, each package of explosive items is accompanied by a first identifier, which exists in the form of an image and can be read by the computer vision system. The identifier contained in the first image information is the main source of information for the system to obtain the type of item and the volume of the package.

[0041] Specifically, once the identifier is successfully identified, the explosive packaging volume information stored in the identifier will be interpreted according to the pre-set coding rules.

[0042] Step S202, according to the relevant information of the above items, controlling the robot to move the above items to the target warehouse;

[0043] Specifically, according to the first identifier, the corresponding explosive warehouse number is obtained, and according to the explosive warehouse number, the navigation path of the corresponding number is obtained; the explosive package is clamped from the transfer rack and moved along the navigation path to the corresponding explosive warehouse.

[0044] Specifically, after identifying the packaging volume and type of explosives, the intelligent system will generate handling instructions based on this information and control the robot to perform the corresponding handling tasks, including determining which target warehouse the items should be transported to and how to place the items in the warehouse.

[0045] Specifically, by parsing the information in the first identifier, the warehouse number corresponding to each explosive item can be determined. This number is pre-set according to the type of item and storage requirements, ensuring that the items can be classified and stored in appropriate warehouses to meet national regulations on classified storage of explosive items.

[0046] Specifically, the intelligent warehouse management platform stores detailed navigation path information corresponding to each warehouse number. After obtaining the target warehouse number, the robot will obtain this path from the platform to provide accurate route guidance for the handling process. The navigation path may include a straight path from the transfer rack to the warehouse, as well as path planning inside the warehouse to ensure that the robot can successfully reach the designated stacking area.

[0047] Specifically, the robot accurately picks up the explosive packages from the transfer rack based on the acquired navigation path, and then moves the items to the target warehouse along the planned route.

[0048] Step S203, obtaining warehouse-related information of the target warehouse, wherein the warehouse-related information at least includes the stacking type and / or remaining volume of the stacking area, and the target warehouse includes a plurality of the stacking areas;

[0049] Specifically, the explosive warehouse includes at least one warehouse stacking area, and each warehouse stacking area is deployed with a second identifier, which is a dynamic identifier, and is actually an electronic display screen suspended above the stacking area. The electronic display screen dynamically displays the type, quantity, ambient temperature and humidity information of the explosives stacking in the stacking area, and also displays the remaining stackable volume size of the area in the form of a QR code. After arriving at the corresponding stacking area, the stacking robot can identify the QR code image information, thereby obtaining the remaining stackable volume of the area.

[0050] Specifically, before transporting items to the target warehouse, the robot needs to obtain the latest status information of the warehouse, including the stacking type of the stacking area (i.e. the type of items already stored), the remaining volume, and any environmental conditions (such as temperature and humidity).

[0051] Specifically, each stacking area in the target warehouse is equipped with a second identifier, i.e., a dynamic identifier. In the present invention, this identifier is specifically manifested as an electronic display screen suspended above the stacking area. The information displayed in real time on the electronic display screen includes the type and quantity of the explosives stacked, the ambient temperature and humidity, and the remaining stackable volume. By displaying these key parameters in the form of a QR code, the robot can read this information through a visual recognition system and update its own stacking decision in real time.

[0052] Specifically, when the robot reaches the target stacking area, it will identify the QR code on the electronic display above the area to obtain information such as the type of stacking and remaining volume. This process allows the robot to make more accurate decisions when moving and stacking items, such as determining whether the item can be placed in the current area and whether the stacking strategy needs to be adjusted to adapt to environmental changes.

[0053] Step S204, based on the above-mentioned warehouse-related information, controlling the above-mentioned robot to transport the above-mentioned items to the target stacking area and stack them, wherein the above-mentioned target stacking area is one of the above-mentioned stacking areas, the above-mentioned stacking type of the above-mentioned target stacking area corresponds to the above-mentioned type of the above-mentioned items, and the above-mentioned remaining volume of the above-mentioned target stacking area is greater than or equal to the above-mentioned packaging volume of the above-mentioned items.

[0054] Specifically, a stacking task is generated according to the packaging volume of the explosives and the stackable volume of the stacking area, and the stacking task at least includes navigation path information, stackable volume information and stacking sequence information; according to the stacking task, the stacking of the explosives is completed in sequence.

[0055] Specifically, the robot analyzes the information related to the items and the warehouse to intelligently determine which stacking areas are suitable for the explosive items being transported. The stacking type of the target stacking area must match the type of item, ensuring that the items can be stacked according to the principle of classified storage. At the same time, the remaining volume of the target stacking area must be large enough to accommodate the packaging volume of the items, avoiding the situation where the items cannot be stacked due to insufficient space.

[0056] Specifically, after confirming the target stacking area, the system will generate a specific stacking task based on the packaging volume of the explosives and the stackable volume of the stacking area. This task at least includes navigation path information, that is, the route the robot takes from the transfer rack to the target stacking area; stackable volume information, that is, how much volume of items the target stacking area can accommodate; and stacking sequence information, that is, the order in which the items are placed in the target stacking area to ensure the structural stability and space efficiency of the stacking.

[0057] Specifically, the robot picks up explosives from the transfer rack according to the generated stacking task and moves to the target stacking area along the predetermined navigation path. In this area, the robot will place the items in the best position according to the stacking sequence information. This process may involve multi-layer stacking, and the robot needs to calculate the optimal order for placing items to avoid heavy objects pressing light objects or wasting space.

[0058] Through this embodiment, items can be classified and stacked. A transport robot can be used to transport the items to the stacking area corresponding to the target warehouse. The items can be stacked according to the remaining volume and type of the stacking area, thereby ensuring the safety of stacking and efficient use of space, reducing human intervention, and improving stacking efficiency.

[0059] Specifically, the solution of this application aims to intelligently detect, classify and locate dangerous goods by applying computer vision technology to ensure that the correct items are stacked and reduce the risk to operators. This method will introduce automation and digital elements to the stacking process of explosive items, reduce human intervention, improve production efficiency, and reduce operational risks. It is expected to trigger innovation in the field of dangerous goods logistics and stacking, and promote the development of related fields.

[0060] Specifically, the solution of the present application is linked with the intelligent warehouse management platform and the intelligent access control system, and uses computer vision to estimate the volume of explosives and the stacking capacity, thereby completing the automatic stacking of explosives in a highly automated manner.

[0061] During the specific implementation process, according to the relevant information of the above-mentioned items, controlling the robot to move the above-mentioned items to the target warehouse can be achieved through the following steps: determining the above-mentioned target warehouse corresponding to the above-mentioned items according to the type of the above-mentioned items, wherein the above-mentioned target warehouse is one of the above-mentioned warehouses among multiple warehouses; obtaining the target navigation path of the above-mentioned target warehouse, wherein the above-mentioned warehouse and the navigation path correspond one to one; controlling the above-mentioned robot to move the above-mentioned items to the above-mentioned target warehouse along the above-mentioned target navigation path.

[0062] In this solution, advanced navigation technology and intelligent decision-making are used to automate the entire process from identification to handling of explosives, further reducing human intervention and improving efficiency and safety.

[0063] Specifically, after obtaining the volume of the explosive package, since the explosive information has been obtained at the same time, the warehouse number where the explosive should be stored can be obtained based on the correspondence between the explosive information and the warehouse number pre-stored in the intelligent warehouse management platform. Furthermore, the warehouse number has a corresponding navigation route on the intelligent warehouse management platform. At this time, the palletizing robot can operate the clamp to clamp the explosive package, and move to the corresponding explosive warehouse according to the obtained navigation route.

[0064] Specifically, when the robot retrieves an item from a transfer rack or receiving point, it first needs to identify the type of the item. This is usually done by reading a QR code, barcode, or other identifier on the item, which contains key information about the item, such as type, size, weight, and storage requirements. The robot's built-in machine vision module is used to read and parse these identifiers. Once the item type is determined, the robot will query the intelligent warehouse management platform, which has a pre-stored correspondence between the item type and the warehouse number, to find the most suitable storage warehouse. This correspondence may be designed based on factors such as the item's hazard level, chemical properties, storage conditions, etc., to ensure that the items are stored in a classified manner and comply with safety regulations.

[0065] Specifically, the intelligent warehouse management platform not only stores item information, but also contains detailed warehouse layout and navigation path information. Once the target warehouse for the item is determined, the robot will obtain the precise navigation path to the warehouse from the platform. This path information not only includes the route from the starting point to the end point, but may also include details such as obstacle avoidance strategies, speed limits, and safety checkpoints to ensure the safety and efficiency of the robot during the handling process. Each warehouse corresponds to a specific navigation path, ensuring that the robot can find the target location quickly and accurately.

[0066] Specifically, the robot uses its navigation module to move autonomously along the target navigation path. The control unit interprets the path information and drives the robot to travel at a preset speed, while ensuring that corresponding adjustments can be made when encountering obstacles or requiring safety checks. During the handling process, the machine vision module continuously monitors the environment to prevent accidents. When the robot arrives at the target warehouse, it will follow the preset stacking plan and accurately place the items to ensure the safety and space optimization of the stacking.

[0067] For example, the video acquisition unit equipped on the robot captures the QR code of the item on the transfer rack, and the deep vision unit further analyzes the three-dimensional size of the item. The control unit reads the item type as "TNT" from the QR code and records its size as "30cm x 20cm x 10cm". The robot sends the item type and size information to the intelligent warehouse management platform through the communication unit. According to the storage rules, the platform determines that "TNT" should be stored in the explosion-proof warehouse with the warehouse number "W02", which is designed to store low-sensitivity explosive items. The intelligent warehouse management platform sends the navigation path data of warehouse W02 to the robot. The path includes a route map starting from the transfer rack, passing through a specific channel of the warehouse, and reaching the entrance of the W02 warehouse. The path data also includes grayscale navigation markers and magnetic guide line information along the way, as well as the QR code access control information of the warehouse entrance. The robot starts to move, first using the inertial navigation unit to keep driving in a straight line, and then following the preset path through the grayscale navigation unit and the magnetic navigation unit to avoid other robots and obstacles in the warehouse. When arriving at the warehouse entrance, the robot uses the QR code navigation unit to read the access control QR code, interacts with the intelligent access control system, and automatically opens the access control after verifying the legitimacy of the handling task. The robot enters the warehouse and continues to find the best stacking position based on the navigation path and the real-time warehouse stacking area status to accurately place the items.

[0068] In order to further ensure efficient use of space, before controlling the robot to move the items to the target stacking area and stack them according to the warehouse-related information, the method also includes the following steps: in the case where the type of the items corresponds to multiple stacking areas, respectively obtaining the remaining volumes of the multiple stacking areas; sorting the multiple stacking areas according to the size of the remaining volumes; and determining, among the multiple stacking areas, the stacking area with the smallest remaining volume and a remaining volume greater than or equal to the packaging volume of the items as the target stacking area.

[0069] In this solution, the best stacking area can be selected, and the space utilization of the warehouse can be continuously optimized through precise remaining volume management and item volume matching, which enables the intelligent selection and storage of explosive items in multiple stacking areas, further improving the utilization rate of warehouse space.

[0070] Specifically, when there are multiple stacking areas corresponding to the type of item, this usually means that there are multiple areas in the warehouse that can meet the storage conditions of the item, such as temperature, humidity or safety isolation requirements. At this time, the intelligent warehousing system needs to make the best choice from these areas to ensure efficient use of warehouse space.

[0071] Specifically, the remaining volume information of each optional stacking area is first obtained separately. This can be achieved in a variety of ways, such as: a dynamic identifier (such as a QR code on an electronic screen) updates the area status in real time; or the remaining space of the current area is calculated through computer vision algorithms and sensor data.

[0072] Specifically, the obtained multiple stacking areas are sorted according to the size of the remaining volume. This sorting helps the system quickly identify which areas are close to saturation in storage capacity and which areas still have more available space.

[0073] Specifically, based on the sorting, the stacking area with the smallest remaining volume but still greater than or equal to the packaging volume of a single item is determined as the target stacking area. The principle behind this decision logic is to give priority to the area with the highest space utilization, but at the same time ensure that there is enough space to safely store the items to be placed in, avoiding safety risks caused by excessive stacking.

[0074] Assume that in an intelligent warehousing operation, the palletizing robot receives a task to carry a batch of explosive items of the "detonator" type and needs to carry and store these detonators in the warehouse. Since detonators are highly sensitive explosives, they require specific storage conditions. There are three stacking areas (area 1, area 2, and area 3) in the warehouse where detonators can be stored, but the current remaining volume of each area is different.

[0075] The current remaining volume of area 1 is "200000cm 3 ", other types of small explosive items have been stored.

[0076] The current remaining volume of area 2 is "150000cm 3 ", which is specially used for storing detonators, but the current storage capacity is quite large.

[0077] The current remaining volume of area 3 is "100000cm 3 ” is a newly opened stacking area specially designed for the storage of highly sensitive explosive items, which currently have a small storage volume.

[0078] The palletizing robot recognizes the packaging volume of the detonators as "20cm x 15cm x 10cm". This means that the volume of each detonator is "3000cm 3 ”.

[0079] The robot interacts with the intelligent warehouse management platform to obtain the remaining volume information of area 1, area 2, and area 3.

[0080] The platforms are sorted by remaining volume: Area 3 (100000cm 3 )、Region 2(150000cm 3 )、Region 1(200000cm 3 ).

[0081] According to the decision logic, the system determines area 3 as the target stacking area for this batch of detonators because its remaining volume is the smallest but still larger than the volume of a single detonator, and the design conditions of area 3 best match the storage requirements of the detonators.

[0082] The palletizing robot plans the optimal path based on the target stacking area information, starts from the transfer rack for items, and reaches area 3 accurately through the navigation system.

[0083] After arriving at Area 3, the robot again uses the depth vision unit and video acquisition unit to confirm the precise details of the stack location to ensure that the detonators are placed safely and accurately in this area.

[0084] After each storage operation is completed, the robot updates the remaining volume information of Area 3 on the intelligent warehouse management platform. The platform adjusts the storage strategy and stacking plan based on the new data to ensure the efficient operation of the warehouse and the safe storage of items.

[0085] During the specific implementation process, controlling the robot to transport the items to the target stacking area and stack them can be achieved through the following steps: when the packaging volumes of all the items are the same, controlling the robot to stack them in a preset order, wherein the preset order is from top to bottom, from bottom to top, from left to right, or from right to left; when the remaining volume of the target stacking area is smaller than the packaging volume of the items, controlling the robot to stop stacking.

[0086] In this solution, when the packaging volume of all items is consistent, efficient stacking can be carried out in accordance with the preset order, while the remaining volume of the stacking area is monitored in real time to ensure the safety and rationality of the stacking process and avoid operational interruptions or accident risks caused by insufficient space.

[0087] Specifically, when all items have the same packaging volume, which usually means that the items in a batch have uniform size and shape, this facilitates automated palletizing. The robot can simplify the decision-making process when palletizing, and only needs to consider the limitations of the stacking height and width.

[0088] According to the preset sequence of stacking, the robot can stack from top to bottom, from bottom to top, from left to right or from right to left. This sequential stacking strategy helps optimize the stability of the stacking and ensures that the items will not collapse due to the shift of the center of gravity during the stacking process. For example, stacking from bottom to top can place the items at the bottom first, providing solid support for subsequent items, while the order from left to right or right to left can ensure the uniform distribution of the stacking width, avoiding excessive stacking on one side and wasting space on the other side.

[0089] The system has a real-time monitoring mechanism to continuously monitor the remaining volume of the stacking area. The robot reads this information before stacking to ensure that there is enough space to accommodate the items to be stacked.

[0090] Stop stacking mechanism: If the robot finds that the remaining volume of the target stacking area is less than the packaging volume of a single item during the stacking process, that is, it cannot place more items, it will automatically stop the stacking operation to avoid occupying space or causing safety risks. At this time, the robot may need to find another stacking area or wait for further instructions from the warehouse management platform.

[0091] For example, in an intelligent explosion-proof warehouse, a palletizing robot receives a batch of "detonators" (packaging volume of "20cm x15cm x10cm") for handling and stacking. There are multiple stacking areas in the warehouse, each with the same length, width and height of "200cm x 150cm x 100cm", which can accommodate multiple layers of stacked items, but the current remaining volume is different.

[0092] The palletizing robot reads the remaining volume information of the first stacking area, which is displayed as "40000cm 3 Since the volume of each detonator is 3000cm 3 ", theoretically, 13 detonators can be stacked.

[0093] According to the preset stacking order (e.g. from bottom to top), the robot begins to place the detonators at the bottom of the area, ensuring the stability of the stacking structure.

[0094] The robot continues to stack until the remaining volume in the area drops to "2700cm 3 ", which is smaller than the volume of a detonator, at which point stacking cannot continue.

[0095] The robot automatically stops the current stacking operation and queries the remaining volume status of other stacking areas through the intelligent warehouse management platform.

[0096] The platform feedback information shows that the second stacking area still has a remaining volume of "100000cm 3 ”, enough to continue stacking.

[0097] The robot replans its path and goes to the second stacking area, repeating the above stacking process until all detonators are safely stored or there is insufficient remaining volume in all stacking areas.

[0098] During the specific implementation process, controlling the above-mentioned robot to move the above-mentioned items to the target stacking area and stack them can be achieved through the following steps: when the above-mentioned packaging volumes of all the above-mentioned items are different, sorting them in order of the size of the above-mentioned packaging volumes; controlling the above-mentioned robot to stack all the above-mentioned items in order of the above-mentioned packaging volumes from large to small; using nested stacking method to stack the above-mentioned items in the remaining space of the above-mentioned target stacking area.

[0099] In this solution, when the packaging volumes of items are different, the palletizing robot achieves effective stacking of items of different sizes through stacking order from large to small and nested stacking methods, which not only further improves the utilization rate of warehouse space, but also ensures the stability and safety of the stacking structure.

[0100] Specifically, in actual warehousing operations, different batches or types of items may have a variety of packaging sizes, which poses a challenge to automated palletizing and requires flexible strategies to optimize space utilization.

[0101] Specifically, before stacking, the system counts and sorts the packaging volume of all items. Through this step, it is possible to clearly understand which items are larger and which are smaller, providing a basis for subsequent stacking planning.

[0102] Specifically, the robot follows a large-to-small order, first stacking larger items, and then gradually stacking smaller items. This strategy helps maximize the use of the stacking area because larger items can serve as the bottom foundation to provide stable support for smaller items, while avoiding the waste of space and the risk of instability caused by stacking small items on the bottom.

[0103] Specifically, nested stacking is an efficient space optimization strategy in scenarios where the packaging volume of items varies. The robot will try to stack items in a shape-matching manner, that is, try to place smaller items in the gaps between larger items to form a nested structure, thereby storing as many items as possible in a limited space.

[0104] For example, the intelligent explosion-proof warehouse receives a batch of explosives with different packaging volumes, including Type A (50cm x 40cm x 30cm), Type B (30cm x 20cm x 15cm), and Type C (10cm x 10cm x 10cm). The robot needs to move these items to the stacking area in the warehouse for storage, and the current remaining volume of the area is "100000cm 3 ”.

[0105] The palletizing robot first reads the packaging volume information of all items and sorts them from large to small by volume to obtain the stacking order of type A, type B, and type C.

[0106] The robot carries the largest type A items and places them at the bottom of the stacking area to form the base layer of the stack. Assume that the space occupied by type A items is "60000cm 3 ", the remaining volume becomes "40000cm 3 ”.

[0107] Next, the robot carries the smaller type B items for stacking. Since the volume of type B items is “9000cm 3 ", you can try to nest and stack type B items in the remaining volume, that is, find the gaps after type A items are stacked to place them, so as to reduce space waste. Assume that two type B items are successfully placed through nested stacking, and the remaining volume is reduced to "22000cm 3 ”.

[0108] Finally, the robot carries the smallest C-type object for stacking. 3 ", the robot can continue to use the remaining space and the gaps between type B items to store as many type C items as possible through nested stacking, until the remaining space in the stacking area is insufficient to place any items.

[0109] During the stacking process, the robot's depth vision unit and video acquisition unit continuously monitor the status of the stacking area to ensure the stability of the stacking. At the same time, the remaining volume information of the stacking area is updated in real time through the intelligent warehouse management platform to avoid overloading and waste of space.

[0110] When the remaining space in the target stacking area is insufficient to place any items to be stacked, the robot automatically stops the stacking operation and reports the completion of the stacking to the platform. The platform adjusts the storage strategy based on the report, which may require finding a new stacking area or re-evaluating the stacking order of items to achieve optimal use of warehouse space.

[0111] Specifically, in actual production, the intelligent storage of explosives needs to cover the autonomous loading and unloading, handling, stacking and distribution of robots, which usually requires the unified scheduling of the deployed intelligent warehouse management platform. Specifically, taking unloading as an example, the handling robot and the transfer robot relay the explosive packaging from the truck compartment to the transfer rack. At the same time or subsequently, the stacking robot obtains the explosive packaging from the transfer rack and then stacks it in the explosive warehouse. In the explosive stacking planning method of the present invention, considering the need for classified storage of explosives in different warehouses, the stacking robot needs to first obtain the information of the explosives, such as the type, quantity, packaging specifications and storage information of the explosives, which can be represented by a first identifier, which can be a QR code or other computer-readable identifier. The identification unit (camera, RFID tag reader) set on the stacking robot can read the explosive information, thereby determining the explosive warehouse number and the corresponding navigation path based on the explosive information. The stacking robot will then grab the explosive packages from the transfer rack, and transport the explosives to the corresponding warehouse according to the navigation path, and confirm the location of the stacking area and how many goods can be stacked in the area based on the computer vision algorithm. Relatively speaking, one of the differences between the present invention and the prior art is the generation and shared uploading of stacking tasks, which enables real-time updates of stacking tasks, and multiple stacking robots can understand the stacking progress of the stacking area at any time. When the stacking in one area is saturated, it can be directly postponed to the second stacking area. Because in current technology, it often happens that after an area is saturated with stacking, the subsequent stacking robots do not know how to deal with it, and frequent manual intervention is required.

[0112] Another outstanding improvement of the present invention is the dynamic stacking process. In fact, in some cases, in a stacking task, the specifications and models of explosives are basically the same, that is, the sizes of the packages are the same. In this case, there is basically no particularly complex stacking planning. It is only necessary to estimate the preset volume of the stacking area, and then the best stacking method can be estimated through geometric calculation.

[0113] Specifically, since explosives are stored in different warehouses and in different categories, the maximum amount of explosive packages that can be stacked can be estimated after knowing the remaining stackable volume and the volume of a single explosive package. Moreover, since the package body has a preset packaging style, the stacking task can be generated based on the package volume of the explosive and the stackable volume of the stacking area according to general geometric operation rules. The stacking task at least includes navigation path information, stackable volume information and stacking sequence information.

[0114] In other cases, the volumes of the packages may be different, for example, they contain two or more packaging specifications. In this case, if they are stacked in a simple order, it will inevitably cause a waste of space. Therefore, in this invention, an adaptive algorithm mechanism is proposed for this situation, and its principle is roughly as follows:

[0115] 1) Data collection: Collect explosive packaging data: This step can be directly obtained through the intelligent warehouse management platform. The warehouse management platform stores the category, packaging specifications and quantity of explosives for each handling task, and collects the size (length, width, height) and weight of all packages that need to be stacked. Collect stacking area data: Obtain the size (length, width, height) of the stacking area and the location of any potential obstacles. This step can be obtained by reading the QR code on the real-time electronic screen of the stacking area;

[0116] 2) Perform three-dimensional modeling on the stacking area and create M*N three-dimensional matrices representing the spatial status; in the three-dimensional matrix, 1 represents occupation and 0 represents unoccupied; where M is the least common multiple of the lengths of packages of different specifications, and N is the least common multiple of the widths of packages of different specifications;

[0117] 3) Fill the M*N three-dimensional matrices with packages in order. For the current package, find a matrix position that can be placed in the stacking area, and determine whether the current package exceeds the matrix position size. If so, move to the next matrix position; otherwise, place the package at the matrix position; update the three-dimensional matrix, repeat until all packages have been placed, and store the three-dimensional matrix;

[0118] 4) Sort the M*N three-dimensional matrices to obtain the three-dimensional matrix with the smallest absolute value, and generate a stacking solution based on the filling solution corresponding to the three-dimensional matrix.

[0119] In some embodiments, controlling the robot to move the items to a target stacking area and stack them can be achieved through the following steps: obtaining temperature and humidity information of the multiple stacking areas; in the case where the type of the items is a special type, selecting at least one stacking area from the multiple stacking areas according to the temperature and humidity information to obtain the target stacking area, wherein the temperature and humidity information of the target stacking area meets the storage requirements for the special type of items, and the special type of items are items with storage requirements for temperature and humidity; controlling the robot to move the items to the target stacking area and stack them.

[0120] In this solution, the temperature and humidity conditions of the stacking area are evaluated to determine whether special types of items are stored safely in a suitable environment. At the same time, the automated operation of the stacking robot further improves storage efficiency and space utilization. This approach is particularly important when handling explosive items that have strict environmental requirements, and reflects the dual guarantee of safety and efficiency of the intelligent storage system.

[0121] Specifically, each stacking area in the intelligent storage system is equipped with a temperature and humidity sensor to continuously monitor and record environmental conditions. This information is crucial for storing items with special temperature and humidity requirements, ensuring that items are stored in a suitable environment to prevent safety issues or item deterioration caused by substandard environmental conditions.

[0122] Specifically, some types of explosive items, such as gunpowder, certain fuses, etc., have strict requirements on the temperature and humidity of the storage environment. This may include temperature ranges, humidity thresholds, etc. to prevent the items from becoming unstable or ineffective under unsuitable conditions.

[0123] After the system receives information about special types of items that need to be stored, the intelligent warehouse management platform automatically obtains the temperature and humidity information of all available stacking areas and selects areas that meet the storage requirements. The platform sorts these areas according to the degree of matching of temperature and humidity conditions and selects at least one stacking area with the best conditions as the target stacking area.

[0124] According to the instructions of the intelligent warehouse management platform, the palletizing robot moves special types of items to the selected target stacking area and performs stacking under the premise of ensuring that the environmental conditions meet the requirements. The robot may use the depth vision unit and the video acquisition unit to monitor and verify the temperature and humidity conditions of the target area to ensure the safe storage of the items.

[0125] For example, a batch of "gunpowder" (a special type of explosive item) was received in the intelligent explosion-proof warehouse for handling and stacking. Gunpowder has strict requirements on the temperature and humidity of the storage environment and needs to be stored in a temperature range of "15°C to 20°C" and humidity below "50% RH". The warehouse has multiple stacking areas, each with independent temperature and humidity control and monitoring systems.

[0126] The palletizing robot receives the gunpowder handling task and reads the gunpowder storage requirement information from the item identifier.

[0127] The intelligent warehouse management platform automatically collects real-time temperature and humidity data of each stacking area to evaluate whether each area meets the storage conditions for gunpowder. Assume that the temperature and humidity conditions of area A are "18°C" and "45%RH", area B is "22°C" and "55%RH", and area C is "16°C" and "40%RH".

[0128] Based on the evaluation results, the platform determines that Area A and Area C are the target stacking areas that meet the storage requirements of gunpowder. Considering the storage safety and stability of gunpowder, the platform gives priority to Area A with the best conditions as the target stacking area.

[0129] According to the platform instructions, the robot moves the gunpowder from the transfer rack to area A. During the transportation process, the robot uses the depth vision unit and video acquisition unit to monitor the packaging status of the gunpowder and the ambient temperature and humidity in real time to ensure the safety of the transportation process.

[0130] After arriving at area A, the robot once again verifies the temperature and humidity conditions in the stacking area to confirm that they meet the storage requirements for gunpowder. The robot then uses its high-precision manipulator and sensors to accurately stack the gunpowder in the area while maintaining the stability and safety of the stacking structure.

[0131] After each stacking, the robot updates the temperature and humidity conditions and remaining space information of area A, as well as the storage status of gunpowder, on the intelligent warehouse management platform. Based on the new data, the platform dynamically adjusts the storage strategy and may need to re-evaluate the availability of area C in preparation for subsequent stacking tasks of gunpowder or items with similar storage requirements.

[0132] In some embodiments, before controlling the robot to move the items to the target warehouse based on the information related to the items, the method further includes the following steps: when the robot arrives at the door of the target warehouse, sending an access control application to a remote terminal, wherein the access control application is a request to open the door; receiving verification information, wherein the verification information is information sent by the remote terminal indicating whether the robot is allowed to enter the target warehouse; and opening the electronic door of the target warehouse when the verification information indicates that release is allowed.

[0133] In this solution, the palletizing robot and the remote terminal apply for access control and verify information, and use automated access control detection to control whether the robot is allowed to enter a specific warehouse. This ensures that only robots that meet safety standards and operating requirements can enter the warehouse, avoiding human errors and safety risks, and further improving the overall efficiency and safety of the intelligent warehousing system.

[0134] Specifically, when the robot arrives at the door of the target warehouse with items, it will send an access control request to the remote terminal. The remote terminal here can refer to the intelligent warehouse management platform or an independent system with permission control function. The access control request contains the robot's intention to request to enter the warehouse and necessary information, such as the robot ID, the type of items carried, storage task details, etc.

[0135] Specifically, after receiving the access control application, the remote terminal will verify it according to the storage task, safety regulations and current warehouse status. The verification process may include checking whether the robot has the authority to enter the warehouse, whether the items carried meet the storage conditions of the warehouse, whether the warehouse has reached the storage capacity limit, etc. The verification result is sent back to the robot in the form of verification information, indicating whether it is allowed to enter the warehouse.

[0136] Specifically, if the verification information indicates that release is allowed, that is, the remote terminal confirms that the robot and the items it carries can safely enter the warehouse, the electronic door of the warehouse will be opened and the robot can continue its storage task; if the verification information indicates that release is refused, the robot will suspend operation and wait for further instructions or perform error troubleshooting.

[0137] Specifically, when arriving at the explosive warehouse, in fact most explosive warehouses include an intelligent access control system. Therefore, when the stacking robot arrives at the explosive warehouse, it can also include interaction with the intelligent access control system. The specific steps are: first obtain the warehouse task information contained in the above-mentioned first identifier, and then send an access control application to the above-mentioned intelligent access control system according to the above-mentioned warehouse task information, and then the above-mentioned intelligent access control system will verify the task information with the above-mentioned intelligent warehouse management platform, and the access control will be released after verification.

[0138] Specifically, after the access control system releases the access control system, the stacking robot then obtains the second image information of the warehouse stacking area, the second image information at least includes the second identifier identifying the stacking area number, and obtains the stackable volume of the stacking area according to the second image information. The stacking area can be a specific area on the ground that meets the storage requirements and is circled by specific lines or symbols, or an electronic fence or other computer-readable identification form. Moreover, this area can be a completely vacant area or an area that has not been fully stacked.

[0139] It is also worth noting that, in order to improve work efficiency, in the present invention, in fact, the handling robot, the transfer robot, and the stacking robot are actually multiple and work simultaneously. Therefore, based on the above scheme, the stacking task can preferably be uploaded to the intelligent warehouse management platform in real time. Therefore, when the stacking robot performs the stacking task, it also includes obtaining the stacking task from the above intelligent warehouse management platform, stacking the explosive packages on the above transfer rack to the cargo pile according to the above stacking task, and updating the above stacking task.

[0140] In summary, the solution of the present application is highly automated and intelligent. Through the computer vision system, it can realize the automatic detection, identification, positioning and classification of explosives. This reduces the burden on operators, reduces the risk of human error, and improves the degree of automation of operations. The solution of the present application adopts computer vision technology, and the system can accurately identify different types of explosives and intelligently plan their stacking methods to ensure the stability of the items and avoid dangerous situations. This helps to improve the safety of the stacking process and reduce the risk of accidents. The solution of the present application uses a computer vision system, and the system can more effectively plan the stacking of explosives and optimize the space utilization of items to the greatest extent. This reduces storage space costs and improves warehouse efficiency.

[0141] In summary, in the explosive stacking planning method based on computer vision, the automatic detection, positioning and identification of explosives are achieved by combining advanced image processing and pattern recognition technologies. The computer vision system can efficiently process complex scenes, extract key information of target objects, and provide accurate position and shape data for the robot. The planning method under this technical background not only improves the automation level of explosive handling, but also enhances the system's ability to adapt to environmental changes, providing a feasible solution for safe and efficient management of explosives.

[0142] The present application embodiment also provides a stacking device for articles. It should be noted that the stacking device for articles of the present application embodiment can be used to execute the stacking method for articles provided by the present application embodiment. The device is used to implement the above-mentioned embodiments and preferred embodiments, and the descriptions thereof will not be repeated. As used below, the term "module" can implement a combination of software and / or hardware of a predetermined function. Although the device described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceived.

[0143] The following is an introduction to the stacking device for articles provided in the embodiments of the present application.

[0144] Figure 3 1 is a structural block diagram of an article stacking device according to an embodiment of the present application. Figure 3 As shown, the device comprises:

[0145] A first acquisition unit 10 is used to acquire item-related information of an item, wherein the item-related information at least includes a packaging volume of the item and / or a type of the item;

[0146] The first control unit 20 is used to control the robot to transport the above-mentioned items to the target warehouse according to the above-mentioned item related information;

[0147] A second acquisition unit 30 is used to acquire warehouse-related information of the target warehouse, wherein the warehouse-related information at least includes the stacking type and / or the remaining volume of the stacking area, and the target warehouse includes a plurality of the stacking areas;

[0148] The second control unit 40 is used to control the robot to transport the above-mentioned items to a target stacking area and stack them according to the above-mentioned warehouse-related information, wherein the above-mentioned target stacking area is one of the above-mentioned stacking areas, the above-mentioned stacking type of the above-mentioned target stacking area corresponds to the above-mentioned type of the above-mentioned items, and the above-mentioned remaining volume of the above-mentioned target stacking area is greater than or equal to the above-mentioned packaging volume of the above-mentioned items.

[0149] Through this embodiment, items can be classified and stacked. A transport robot can be used to transport the items to the stacking area corresponding to the target warehouse. The items can be stacked according to the remaining volume and type of the stacking area, thereby ensuring the safety of stacking and efficient use of space, reducing human intervention, and improving stacking efficiency.

[0150] During the specific implementation process, the first control unit includes a determination module, a first acquisition module and a first control module. The determination module is used to determine the target warehouse corresponding to the above-mentioned item according to the type of the above-mentioned item, wherein the above-mentioned target warehouse is one of the above-mentioned warehouses; the first acquisition module is used to obtain the target navigation path of the above-mentioned target warehouse, wherein the above-mentioned warehouse and the navigation path correspond one to one; the first control module is used to control the above-mentioned robot to transport the above-mentioned item to the above-mentioned target warehouse along the above-mentioned target navigation path.

[0151] In this solution, advanced navigation technology and intelligent decision-making are used to automate the entire process from identification to handling of explosives, further reducing human intervention and improving efficiency and safety.

[0152] In order to further ensure efficient use of space, the above-mentioned device also includes a third acquisition unit, a sorting unit and a determination unit. The third acquisition unit is used to control the above-mentioned robot to transport the above-mentioned items to the target stacking area and stack them according to the above-mentioned warehouse-related information, and when the above-mentioned type of the above-mentioned items corresponds to multiple stacking areas, respectively acquire the above-mentioned remaining volumes of multiple stacking areas; the sorting unit is used to sort the multiple stacking areas according to the size of the above-mentioned remaining volumes; the determination unit is used to determine that among the multiple stacking areas, the stacking area with the smallest remaining volume and the remaining volume greater than or equal to the above-mentioned packaging volume of the above-mentioned items is the above-mentioned target stacking area.

[0153] In this solution, the best stacking area can be selected, and the space utilization of the warehouse can be continuously optimized through precise remaining volume management and item volume matching, which enables the intelligent selection and storage of explosive items in multiple stacking areas, further improving the utilization rate of warehouse space.

[0154] During the specific implementation process, the second control unit includes a second control module and a third control module. The second control module is used to control the robot to stack in a preset order when the packaging volumes of all the above-mentioned articles are the same, wherein the preset order is from top to bottom, from bottom to top, from left to right or from right to left; the third control module is used to control the robot to stop stacking when the remaining volume of the above-mentioned target stacking area is less than the above-mentioned packaging volume of the above-mentioned articles.

[0155] In this solution, when the packaging volume of all items is consistent, efficient stacking can be carried out in accordance with the preset order, while the remaining volume of the stacking area is monitored in real time to ensure the safety and rationality of the stacking process and avoid operational interruptions or accident risks caused by insufficient space.

[0156] During the specific implementation process, the second control unit includes a sorting module, a fourth control module and a stacking module. The sorting module is used to sort the above-mentioned items in the order of the size of the above-mentioned packaging volumes when the above-mentioned packaging volumes of all the above-mentioned items are different; the fourth control module is used to control the above-mentioned robot to stack all the above-mentioned items in the order of the above-mentioned packaging volumes from large to small; the stacking module is used to stack the above-mentioned items in the remaining space of the above-mentioned target stacking area by using a nested stacking method.

[0157] In this solution, when the packaging volumes of items are different, the palletizing robot achieves effective stacking of items of different sizes through stacking order from large to small and nested stacking methods, which not only further improves the utilization rate of warehouse space, but also ensures the stability and safety of the stacking structure.

[0158] In some embodiments, the second control unit includes a second acquisition module, a selection module and a fifth control module, the second acquisition module is used to acquire the temperature and humidity information of the multiple stacking areas; the selection module is used to select at least one of the multiple stacking areas according to the temperature and humidity information when the type of the above-mentioned items is a special type, so as to obtain the above-mentioned target stacking area, wherein the temperature and humidity information of the above-mentioned target stacking area meets the storage requirements of the above-mentioned special type of items, and the above-mentioned special type of items are the above-mentioned items with storage requirements for temperature and humidity; the fifth control module is used to control the above-mentioned robot to transport the above-mentioned items to the above-mentioned target stacking area and stack them.

[0159] In this solution, the temperature and humidity conditions of the stacking area are evaluated to determine whether special types of items are stored safely in a suitable environment. At the same time, the automated operation of the stacking robot further improves storage efficiency and space utilization. This approach is particularly important when handling explosive items that have strict environmental requirements, and reflects the dual guarantee of safety and efficiency of the intelligent storage system.

[0160] In some embodiments, the above-mentioned device also includes a sending unit, a receiving unit and a processing unit. The sending unit is used to send an access control application to the remote terminal when the robot arrives at the door of the above-mentioned target warehouse before controlling the robot to transport the above-mentioned items to the target warehouse based on the above-mentioned item-related information, wherein the above-mentioned access control application is a request for opening the door; the receiving unit is used to receive verification information, wherein the above-mentioned verification information is information sent by the above-mentioned remote terminal whether the above-mentioned robot is allowed to enter the above-mentioned target warehouse; the processing unit is used to open the electronic door of the above-mentioned target warehouse when the above-mentioned verification information indicates that release is allowed.

[0161] In this solution, the palletizing robot and the remote terminal apply for access control and verify information, and use automated access control detection to control whether the robot is allowed to enter a specific warehouse. This ensures that only robots that meet safety standards and operating requirements can enter the warehouse, avoiding human errors and safety risks, and further improving the overall efficiency and safety of the intelligent warehousing system.

[0162] The stacking device for articles includes a processor and a memory. The first acquisition unit, the first control unit, the second acquisition unit, the second control unit, etc. are all stored in the memory as program units, and the processor executes the program units stored in the memory to implement corresponding functions. The modules are all located in the same processor; or, the modules are located in different processors in any combination.

[0163] The processor includes a kernel, which retrieves the corresponding program unit from the memory. One or more kernels can be provided, and the problem of low stacking efficiency in the prior art can be solved by adjusting kernel parameters.

[0164] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0165] An embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the method for stacking objects.

[0166] An embodiment of the present invention provides a processor, and the processor is used to run a program, wherein the method for stacking objects is executed when the program is run.

[0167] The embodiment of the present invention provides a device, which includes a processor, a memory, and a program stored in the memory and executable on the processor, and when the processor executes the program, at least the steps of the method for stacking items are implemented. The device in this article can be a server, a PC, a PAD, a mobile phone, etc.

[0168] A computer program product includes a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method for stacking objects in the various embodiments of the present application are implemented.

[0169] The solution of the present application also provides a stacking system, including one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the one or more memories and are configured to be executed by the one or more processors, and the one or more programs include a method for executing any one of the above-mentioned stacking methods of the items.

[0170] Specifically, the solution of the present application can be deployed in a palletizing robot suitable for handling explosives, and is used to carry the transfer robot to stack the explosive packages on the transfer rack to a predetermined position in the warehouse to form a cargo pile, such as Figure 4 The specific contents of the plan are as follows:

[0171] S1. Acquire first image information of explosive packaging on a transfer rack, where the first image information at least includes a first identifier for identifying information of the explosive, and estimate the packaging volume of the explosive according to the first image information;

[0172] S2. According to the first identifier, obtain the corresponding explosive warehouse number, and according to the explosive warehouse number, obtain the navigation path corresponding to the number;

[0173] S3, picking up explosive packages from the transfer rack, moving along the navigation path to the corresponding explosive warehouse, acquiring second image information of the warehouse stacking area, the second image information at least including a second identifier identifying the stacking area number, and estimating the stackable volume of the stacking area according to the second image information;

[0174] S4, generating a stacking task according to the packaging volume of the explosive and the stackable volume of the stacking area, wherein the stacking task at least includes navigation path information, stackable volume and stacking sequence information;

[0175] S5. Complete the stacking of explosives in sequence according to the stacking tasks.

[0176] Specifically, Figure 5 As shown, the stacking system includes an intelligent warehouse management platform, an intelligent access control system, a transfer rack and a palletizing robot.

[0177] The intelligent warehouse management platform is the central brain of the entire stacking system, responsible for coordinating and managing all logistics and warehousing activities. It stores detailed information about explosive items, such as type, packaging specifications, storage requirements (such as temperature and humidity), and unique identifiers for each item. The platform also maintains a real-time database of warehouse layout, stacking area status (including stacking type, quantity, remaining volume) and navigation paths. When the stacking robot needs to perform a task, the platform will provide the necessary information and instructions, and update the status of the stacking task and stacking area in real time, thereby ensuring the automation, intelligence and safety of the stacking.

[0178] The intelligent access control system is responsible for controlling the robot's access to and from specific warehouse areas. It verifies the legitimacy of the robot's access to the warehouse based on real-time mission information received from the intelligent warehouse management platform. Once the palletizing robot arrives at the warehouse entrance, the access control system automatically identifies the robot, extracts information about the items it is handling, and compares it with the platform data. If the information matches and the operation complies with safety and management regulations, the access control system will automatically open and allow the robot to enter the warehouse for stacking operations. Otherwise, the robot will be prevented from entering, ensuring the safety and compliance of explosive storage.

[0179] The transfer rack is the transition link from the receiving point (such as a truck or production line) to the warehouse stacking area of ​​explosives. It is usually designed to carry explosives of different specifications and types, providing a temporary collection point for palletizing robots. The items on the transfer rack are attached with a first identifier, such as a QR code or barcode, which contains key information such as the type of item and the packaging volume. This information is crucial for the palletizing robot to identify and move items.

[0180] The palletizing robot is an entity that performs the stacking operation and is equipped with an advanced computer vision system and autonomous navigation capabilities. It can read the identifiers of items and stacking areas, parse the information therein, and autonomously plan the handling path based on the stacking tasks received from the intelligent warehouse management platform, accurately clamp the items, and then transport them to the target stacking area for stacking. The robot can also interact with the intelligent access control system to ensure safe access to the warehouse area. During the stacking process, the robot will upload the stacking information in real time, update the status of the stacking area, and synchronize information with other robots and platforms to achieve efficient collaborative operations.

[0181] The palletizing robot includes a drive unit, a control unit, a communication unit, a robot arm, a charge and discharge management unit, a battery assembly, a navigation module, a machine vision module and a motion platform.

[0182] The drive unit is the core power source for the robot's movement and operation. It is usually composed of a motor, a reducer and a transmission device, and is responsible for providing driving power for the robot's wheels and manipulator. In stacking operations, the drive unit enables the robot to move precisely to the specified location, pick up and place items, while ensuring the stability and safety of the operation.

[0183] The control unit is the brain of the robot, responsible for processing data from various sensors and modules, executing algorithm logic, and controlling the robot's actions. It receives stacking task instructions from the intelligent warehouse management platform, parses task details such as item type, packaging volume, target stacking area, and navigation path, and then generates specific action instructions based on this information to drive the robot to perform stacking tasks. The control unit is also responsible for monitoring the robot's status to ensure that it operates within a safe range.

[0184] The communication unit enables the robot to exchange data with the intelligent warehouse management platform, the intelligent access control system, and other robots in real time. It receives task instructions, uploads execution status, obtains dynamic information about the stacking area, such as remaining volume and environmental conditions, and interacts with the intelligent access control system for authority verification and access control. The communication unit ensures information synchronization between the robot and other parts of the system, enabling efficient collaborative operations.

[0185] The robot arm is a tool for the robot to perform the operation of gripping and placing items. It usually has multiple degrees of freedom and can flexibly adjust the gripping angle and strength. It can accurately identify and grip the explosive packaging on the transfer rack, and then place the items in the best position in the target stacking area according to the stacking task instructions to ensure the stability of the stacking and maximize the space utilization.

[0186] The charge and discharge management unit is responsible for monitoring and managing the robot's battery components to ensure that the robot has enough power during mission execution. It can automatically identify the battery status, decide when to charge, and control the charging process when the robot returns to the charging station, keeping the robot in an operational state at all times.

[0187] The battery pack provides the necessary power for the robot and is the energy source for the robot to continue to operate. It needs to have sufficient capacity to support the robot to complete a series of stacking tasks, and has the ability to charge and discharge quickly to reduce the robot's downtime due to charging.

[0188] The navigation module integrates positioning and path planning functions, enabling the robot to navigate autonomously in complex warehouse environments. It uses map data, sensor information, and navigation paths received from the intelligent warehouse management platform to determine the shortest path from the robot to the target stacking area while avoiding collisions and obstacles, ensuring that the robot reaches its destination safely and efficiently.

[0189] The machine vision module is an important component for identifying and analyzing image information based on computer vision technology. It can read the first identifier and the second identifier (usually a QR code) to extract key information such as item type, packaging volume, and stacking area status. The machine vision module is also responsible for monitoring environmental conditions such as temperature and humidity to ensure that explosive items are stacked in a suitable environment.

[0190] The motion platform is the platform for the robot to carry and transport explosives. It not only supports the weight of the items, but also keeps the items stable during the handling process to avoid damage to the items or safety accidents caused by bumps or tilts. The motion platform needs to have sufficient carrying capacity and stability to support the handling of explosives of different sizes and weights.

[0191] Specifically, Figure 6 As shown, the machine vision module includes a depth vision unit and a video acquisition unit.

[0192] The depth vision unit is an important part of the machine vision module and is responsible for obtaining the three-dimensional depth information of objects and the environment. It usually uses technologies such as depth cameras or light time-of-flight (ToF) sensors to generate high-precision three-dimensional models of objects, thereby achieving accurate measurement of the shape, size and spatial position of objects. In the stacking planning of explosive items, the depth vision unit is crucial because it can help the robot understand the actual packaging volume of the items and the three-dimensional spatial conditions of the current stacking area, including the shape of the stacked items, the volume of the remaining space, and the location of obstacles in the warehouse. This information is crucial for generating stacking tasks and planning collision-free paths, while also ensuring the safety of stacking and the correct classification and storage of items.

[0193] The video acquisition unit is responsible for capturing and recording the video stream in the robot's field of view in real time, providing a continuous source of image data for the machine vision algorithm. It is usually composed of a series of high-resolution cameras that can capture images from multiple angles and provide rich and continuous visual information. In the stacking planning system, the role of the video acquisition unit is not limited to identifying the first identifier and the second identifier, but can also continuously monitor the dynamic situation during the handling of items, such as changes in the state of the items, real-time changes in the robot's surroundings (such as the movement of other robots, the increase or decrease of items in the stacking area), and potential safety hazards. The combined use of the video acquisition unit and the depth vision unit enables the robot to handle complex visual tasks, including but not limited to item classification, location confirmation, and environmental safety monitoring, providing a solid foundation for the intelligent execution of stacking tasks.

[0194] Specifically, Figure 7 As shown, the navigation module includes an inertial navigation unit, a grayscale navigation unit, a magnetic navigation unit, a QR code navigation unit and an auxiliary navigation unit.

[0195] The Inertial Navigation System (INS) uses built-in sensors such as gyroscopes and accelerometers to monitor the robot's motion state, including acceleration, angular velocity, and position changes. It can provide continuous positioning information in the absence of external positioning signals, such as indoor environments where GPS signals are unavailable, ensuring that the robot can follow the set path when carrying explosives and maintain stable and accurate movement even in dynamic environments.

[0196] Grayscale Navigation analyzes the grayscale changes on the ground to identify navigation marks, such as dark lines or specific patterns. The camera on the robot can capture the grayscale image of the ground, and the grayscale navigation unit is responsible for extracting navigation information from it and guiding the robot along the preset path. This navigation method is particularly effective in indoor environments, ensuring that the robot can accurately find the target stacking area in the warehouse, and at the same time helps to accurately locate and avoid obstacles in complex environments.

[0197] The Magnetic Navigation Unit uses magnetic positioning technology to locate the robot by detecting magnetic markers pre-arranged on the ground or in the environment. The robot is equipped with magnetic sensors that can identify the location of these magnetic markers, thereby achieving autonomous navigation. The Magnetic Navigation Unit provides good positioning accuracy and path stability while ensuring that the robot follows the established route. It is particularly suitable for environments that require long-term stable operation, such as daily operations in warehouses.

[0198] The QR Code Navigation unit uses machine vision to read the QR codes arranged in the warehouse environment, and obtains navigation information and dynamic data of the warehouse stacking area, such as item type, quantity, temperature and humidity conditions, and remaining volume. The robot captures the QR code image through the camera, and the QR Code Navigation Unit interprets the information in the image to guide the robot to reach the target stacking area and adjust the stacking strategy according to the real-time status. This navigation method not only provides accurate positioning capabilities, but also can update warehouse information in real time, enhancing the intelligence of the system.

[0199] Auxiliary Navigation is designed to make up for the limitations of a single navigation technology. It may include multiple positioning technologies, such as ultrasound, lidar, visual odometer, etc., to provide additional navigation information in complex environments. The auxiliary navigation unit can provide a backup positioning solution when the main navigation system fails or lacks accuracy to ensure that the robot does not lose direction. In the explosive stacking scenario, the auxiliary navigation unit can enhance the robot's navigation capabilities under specific environmental conditions, such as low-light environments, areas with obstructions, or occasions that require high-precision positioning.

[0200] Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order than here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0201] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0202] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0203] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0204] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0205] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0206] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0207] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0208] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0209] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for stacking articles, characterized in that: include: Acquiring item-related information of an item, wherein the item-related information at least includes a packaging volume of the item and / or a type of the item; According to the relevant information of the item, control the robot to move the item to the target warehouse; Acquire warehouse-related information of the target warehouse, wherein the warehouse-related information at least includes the stacking type and / or the remaining volume of a stacking area, and the target warehouse includes a plurality of the stacking areas; According to the warehouse-related information, the robot is controlled to move the items to a target stacking area and stack them, wherein the target stacking area is one of the multiple stacking areas, the stacking type of the target stacking area corresponds to the type of the items, and the remaining volume of the target stacking area is greater than or equal to the packaging volume of the items.

2. The method according to claim 1, characterized in that: According to the item-related information, controlling the robot to move the item to the target warehouse includes: Determine the target warehouse corresponding to the item according to the type of the item, wherein the target warehouse is one of the multiple warehouses; Acquire a target navigation path of the target warehouse, wherein the warehouse and the navigation path correspond one to one; The robot is controlled to move the items to the target warehouse along the target navigation path.

3. The method according to claim 1, characterized in that Before controlling the robot to move the objects to a target stacking area and stack the objects according to the warehouse related information, the method further includes: In the case where the type of the article corresponds to a plurality of the stacking areas, respectively acquiring the remaining volumes of the plurality of the stacking areas; sorting the plurality of stacking areas according to the size of the remaining volumes; The stacking area with the smallest residual volume and the residual volume being greater than or equal to the packaging volume of the article among the plurality of stacking areas is determined as the target stacking area.

4. The method according to claim 1, characterized in that Controlling the robot to carry the objects to a target stacking area and stacking the objects comprises: When the packaging volumes of all the articles are the same, controlling the robot to stack in a preset order, wherein the preset order is from top to bottom, from bottom to top, from left to right, or from right to left; When the remaining volume of the target stacking area is smaller than the packaging volume of the article, the robot is controlled to stop stacking.

5. The method according to claim 1, characterized in that Controlling the robot to carry the objects to a target stacking area and stacking the objects comprises: When the packaging volumes of all the items are different, the items are sorted in order of their packaging volumes; Controlling the robot to stack all the articles in the order of the packaging volumes from large to small; The objects are stacked in the remaining space of the target stacking area by using a nested stacking method.

6. The method according to claim 1, characterized in that Controlling the robot to carry the objects to a target stacking area and stacking the objects comprises: Acquiring temperature and humidity information of a plurality of stacking areas; In the case where the type of the article is a special type, at least one stacking area is selected from the plurality of stacking areas according to the temperature and humidity information to obtain the target stacking area, wherein the temperature and humidity information of the target stacking area satisfies the storage of the special type of articles, and the special type of articles are the articles having storage requirements for temperature and humidity; The robot is controlled to carry the articles to the target stacking area and stack them.

7. The method according to any one of claims 1 to 6, characterized in that: Before controlling the robot to move the object to the target warehouse according to the object related information, the method further includes: When the robot arrives at the door of the target warehouse, sending a door access application to a remote terminal, wherein the door access application is a request for opening the door; receiving verification information, wherein the verification information is information sent by the remote terminal indicating whether the robot is allowed to enter the target warehouse; When the verification information indicates that release is allowed, the electronic gate of the target warehouse is opened.

8. A device for stacking articles, characterized in that: include: A first acquiring unit, configured to acquire item-related information of an item, wherein the item-related information at least includes a packaging volume of the item and / or a type of the item; A first control unit, configured to control the robot to carry the item to a target warehouse according to the item-related information; A second acquisition unit is used to acquire warehouse-related information of the target warehouse, wherein the warehouse-related information at least includes a stacking type and / or a remaining volume of a stacking area, and the target warehouse includes a plurality of stacking areas; A second control unit is used to control the robot to move the articles to a target stacking area and stack them according to the warehouse-related information, wherein the target stacking area is one of the multiple stacking areas, the stacking type of the target stacking area corresponds to the type of the articles, and the remaining volume of the target stacking area is greater than or equal to the packaging volume of the articles.

9. 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 for stacking articles according to any one of claims 1 to 7 are implemented.

10. A stacking system, characterized in that: include: One or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include a method for executing the stacking method of the articles described in any one of claims 1 to 7.

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