Article stacking method and device, storage medium and electronic equipment

Abstract

The invention provides an article stacking method and device, a storage medium and electronic equipment, and the method comprises the steps that user demand information and structure parameters of a to-be-stacked object are obtained, and the structure parameters at least comprise the shape of the to-be-stacked object and the size of the to-be-stacked object; according to the user demand information and / or the structure parameters of the to-be-stacked objects, the stacking parameters of the to-be-stacked objects are determined, and the stacking parameters at least comprise the stacking column number of the to-be-stacked objects, the stacking positions of the to-be-stacked objects and the stacking directions of the to-be-stacked objects; and according to the stacking parameters of the to-be-stacked objects, the robot is controlled to stack the to-be-stacked objects. By means of the method, a customer can formulate each stacking position and rotation angle of goods and formulate the number of layers of a cycle period, space can be reasonably distributed, stacking of finished products can be completed, and the problems that in the prior art, stacking bags are only simply placed in one side and do not contain position rotation or specific position placement, and the stacking cost is low are solved. And the stacking mode cannot meet the customization requirements of customers.

Description

Technical Field

[0001] The present application relates to the field of robot palletizing, and in particular, to a method for stacking objects, an object stacking device, a computer-readable storage medium, and an electronic device. Background Art

[0002] With the development of automation, the demand for cargo palletizing is increasing rapidly, and the specific palletizing methods are also changing from simple to complex. Although robot palletizing technology has gradually matured, the traditional palletizing program can no longer cope with the increasingly complex industrial control environment. That is, the goods palletized by the traditional palletizing program take up a large space and only have simple unilateral placement, without position rotation and placement in a specific position. The stacking method cannot meet the customization needs of customers. Summary of the invention

[0003] The main purpose of the present application is to provide a method for stacking items, a device for stacking items, a computer-readable storage medium and an electronic device, so as to at least solve the problem in the prior art that the stacking package has only a simple unilateral placement, does not include position rotation and specific position placement, and the stacking method cannot meet the customization needs of customers.

[0004] In order to achieve the above-mentioned purpose, according to one aspect of the present application, a method for stacking objects is provided, comprising: obtaining user demand information and structural parameters of objects to be stacked, the structural parameters at least including the shape of the objects to be stacked and the size of the objects to be stacked; determining the stacking parameters of the objects to be stacked according to the user demand information and / or the structural parameters of the objects to be stacked, the stacking parameters at least including the number of stacking columns of the objects to be stacked, the stacking positions of the objects to be stacked and the stacking directions of the objects to be stacked; and controlling a robot to stack the objects to be stacked according to the stacking parameters of the objects to be stacked.

[0005] Optionally, determining the stacking parameters of the objects to be stacked according to the user demand information and the structural parameters of the objects to be stacked includes: determining the object type of the objects to be stacked according to the structural parameters of the objects to be stacked, wherein the object type is a regular object or an irregular object; determining the total number of the objects to be stacked required by the user according to the user demand information; determining the number of stacking columns of the objects to be stacked and the number of single-column stacking of the objects to be stacked according to the object type of the objects to be stacked, the structural parameters of the objects to be stacked and the total number of the objects to be stacked, wherein the structural parameters of the objects to be stacked include at least the height of the objects to be stacked ; Determine the stacking position of the objects to be stacked and the stacking direction of the objects to be stacked according to the object type of the objects to be stacked and the structural parameters of the objects to be stacked, wherein, when the objects to be stacked are regular objects, the stacking directions of the objects to be stacked in the same column are the same, and when the objects to be stacked are irregular objects, the stacking directions of at least two objects to be stacked in the same column are different; determine the number of stacking columns of the objects to be stacked, the number of single-column stacking of the objects to be stacked, the stacking position of the objects to be stacked and the stacking direction of the objects to be stacked as the stacking parameters of the objects to be stacked.

[0006] Optionally, the number of stacking columns of the objects to be stacked and the number of single-column stacking of the objects to be stacked are determined according to the object type of the objects to be stacked, the structural parameters of the objects to be stacked and the total number of the objects to be stacked, including: determining a stacking height threshold of the objects to be stacked according to the object type of the objects to be stacked and the structural parameters of the objects to be stacked; determining the number of single-column stacking of the objects to be stacked as the ratio of the stacking height threshold of the objects to be stacked to the height of the objects to be stacked; and determining the number of stacking columns of the objects to be stacked as the ratio of the total number of objects to be stacked to the number of single-column stacking of the objects to be stacked.

[0007] Optionally, determining the stacking direction of the objects to be stacked according to the object type of the objects to be stacked and the structural parameters of the objects to be stacked includes: when the objects to be stacked are irregular objects and rotationally symmetrical objects, determining the stacking angle coefficient according to the structural parameters of the objects to be stacked, wherein, when the robot stacks a plurality of the objects to be stacked according to the stacking angle coefficient, no collision occurs between any two of the objects to be stacked; obtaining an angle determination formula 360°=kN, and determining the stacking rotation angle of the stacked objects according to the angle determination formula, wherein N is the stacking rotation angle, k is the stacking angle coefficient, and k is an integer greater than 2; obtaining an arrangement number of the objects to be stacked, the arrangement number representing the stacking order of the objects to be stacked, and determining the stacking direction of the objects to be stacked according to the arrangement number of the objects to be stacked, the stacking angle coefficient and the stacking rotation angle of the stacked objects.

[0008] Optionally, determining the stacking direction of the objects to be stacked according to the arrangement number of the objects to be stacked, the stacking angle coefficient and the stacking rotation angle of the stacked objects includes: calculating the remainder of the arrangement number of the objects to be stacked and the stacking angle coefficient; and determining the product of the remainder and the stacking rotation angle of the stacked objects as the stacking direction of the objects to be stacked.

[0009] Optionally, the object to be stacked is an air-conditioning condenser, which includes a steel pipe structure. According to the stacking parameters of the object to be stacked, the robot is controlled to stack the object to be stacked, including: controlling the robot to stack the i-th air-conditioning condenser to a target position according to a first stacking position and a first stacking direction; controlling the robot to stack the i+1-th air-conditioning condenser to the target position according to a second stacking position and a second stacking direction; controlling the robot to stack the i+2-th air-conditioning condenser to the target position according to a third stacking position and a third stacking direction; controlling the robot to stack the i+3-th air-conditioning condenser to the target position according to a fourth stacking position and a fourth stacking direction, wherein i+3 is an integer multiple of 4, and the first stacking direction, the second stacking direction, the third stacking direction, and the fourth stacking direction are rotated 90° from 0° in sequence.

[0010] Optionally, obtaining user demand information and structural parameters of objects to be stacked includes: obtaining the total number of objects to be stacked required by the user to obtain the user demand information; obtaining the front view, top view and side view of the objects to be stacked; and determining the structural parameters of the objects to be stacked based on the front view, top view and side view of the objects to be stacked.

[0011] According to another aspect of the present application, a device for stacking objects is provided, comprising: an acquisition unit, used to acquire user demand information and structural parameters of objects to be stacked, the structural parameters at least including the shape of the objects to be stacked and the size of the objects to be stacked; a determination unit, used to determine the stacking parameters of the objects to be stacked according to the user demand information and / or the structural parameters of the objects to be stacked, the stacking parameters at least including the number of stacking columns of the objects to be stacked and the stacking direction of the objects to be stacked; and a control unit, used to control a robot to stack the objects to be stacked according to the stacking parameters of the objects to be stacked.

[0012] According to another aspect of the present application, a computer-readable storage medium is provided, 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 any one of the methods for stacking items.

[0013] According to another aspect of the present application, an electronic device 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 method for executing any one of the stacking methods of the items.

[0014] Applying the technical solution of the present application, the stacking method of the above-mentioned items first obtains user demand information and structural parameters of the objects to be stacked, the structural parameters at least including the shape of the objects to be stacked and the size of the objects to be stacked; then, according to the user demand information and / or the structural parameters of the objects to be stacked, the stacking parameters of the objects to be stacked are determined, the stacking parameters at least including the number of stacking columns of the objects to be stacked, the stacking positions of the objects to be stacked, and the stacking directions of the objects to be stacked; finally, according to the stacking parameters of the objects to be stacked, the robot is controlled to stack the objects to be stacked. This method allows customers to set each stacking position and rotation angle of the goods, and set the number of layers of the cycle, so that they can reasonably allocate space and complete the stacking of finished products, solving the problem that the stacking package in the prior art is only unilaterally placed, does not include position rotation and specific position placement, and the stacking method cannot meet the customer's customized needs. 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 items provided in an embodiment of the present application is shown;

[0017] Figure 2 A schematic diagram showing a flow chart of a method for stacking items provided according to an embodiment of the present application is shown;

[0018] Figure 3 A schematic diagram showing an embodiment of a method for stacking articles provided according to an embodiment of the present application is shown;

[0019] Figure 4 A structural block diagram of an article stacking device provided according to an embodiment of the present application is shown.

[0020] The above drawings include the following reference numerals:

[0021] 102, processor; 104, memory; 106, transmission device; 108, input and output devices. DETAILED DESCRIPTION

[0022] 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.

[0023] 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.

[0024] 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.

[0025] As introduced in the background technology, the stacking method of traditional palletizing packages cannot meet the customization needs of customers. Traditional palletizing packages only have simple unilateral placement, and do not include position rotation and specific position placement. In order to solve the problem that the palletizing packages in the prior art only have simple unilateral placement, do not include position rotation and specific position placement, and the stacking method cannot meet the customization needs of customers, the embodiments of the present application provide a method for stacking items, a stacking device for items, a computer-readable storage medium, and an electronic device.

[0026] 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.

[0027] 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 items 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 1 The structure shown is for illustration only and does not limit the structure of the mobile terminal. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations are shown.

[0028] 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 stacking method of the articles 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 may be connected to the mobile terminal via a network. Examples of the above 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 specific example of the above 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.

[0029] 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.

[0030] 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:

[0031] Step S201, obtaining user demand information and structural parameters of the objects to be stacked, wherein the structural parameters at least include the shape of the objects to be stacked and the size of the objects to be stacked;

[0032] Specifically, user demand information is usually provided by the user or system operator, and may include the total number of stacking layers, the number of items on each layer, the final height or width limit of stacking, stacking efficiency requirements (such as time limits), or specific stacking layout requirements, etc. For example, the user may want the stacked items to fit into a specific warehouse storage space, or require a specific stacking method to facilitate subsequent pickup and transportation.

[0033] The structural parameters of the objects to be stacked are obtained by the system through data collection and analysis of the objects to be stacked, mainly including the shape and size of the objects. The shape of the objects to be stacked refers to the geometric form of the objects, which can be regular (such as cubes, cylinders, etc.) or irregular (such as machine parts, etc.). The system needs to identify the shape of the objects to determine the best stacking method when stacking to avoid instability or damage between objects. The dimensions of the objects to be stacked include the length, width, height, or other dimensional parameters in three-dimensional space. Dimensional information is crucial for calculating the feasibility of stacking and the efficiency of space utilization. For example, the system needs to ensure that the total height of the stacking does not exceed the warehouse limit. At the same time, the stacking layout should maximize the use of space and avoid waste.

[0034] The process of obtaining user demand information and structural parameters of objects to be stacked includes the following steps:

[0035] Step S2011, obtaining the total number of the objects to be stacked required by the user, and obtaining the user demand information;

[0036] Among them, user demand information may be directly input through the human-computer interaction interface, or obtained by analyzing historical data, task requirements and other preset conditions.

[0037] Step S2012, obtaining a front view, a top view and a side view of the object to be stacked;

[0038] Step S2013, determining the structural parameters of the objects to be stacked according to the front view, top view and side view of the objects to be stacked.

[0039] Among them, the structural parameters of an object can be obtained in a variety of ways. For example, using a 3D scanner to scan the object to obtain its accurate three-dimensional model; or reading the shape and size information through the object's CAD drawings, product specifications and other materials; in some scenarios, it is also possible to capture the image of the object in real time through a visual sensor, and then analyze the object through an image processing algorithm to obtain the size and shape of the object.

[0040] Specifically, through these detailed user needs and object structure parameters, the stacking system can more intelligently and accurately control the robot to perform stacking tasks, ensure the efficiency and safety of stacking, and meet specific storage and transportation needs.

[0041] Step S202, determining the stacking parameters of the objects to be stacked according to the user demand information and / or the structural parameters of the objects to be stacked, wherein the stacking parameters at least include the number of stacking columns of the objects to be stacked, the stacking positions of the objects to be stacked, and the stacking directions of the objects to be stacked;

[0042] Specifically, this process may involve complex optimization algorithms, such as linear programming, dynamic programming, or genetic algorithms, to find the optimal stacking strategy that meets user needs and physical constraints. The system needs to balance the shape, size, weight and other characteristics of the items to ensure the stability and safety of stacking. At the same time, it is also necessary to consider the stacking efficiency and space utilization efficiency to meet the user's needs for stacking speed and storage space.

[0043] Wherein, determining the stacking parameters of the objects to be stacked according to the user demand information and the structural parameters of the objects to be stacked comprises the following steps:

[0044] Step S301, determining the object type of the object to be stacked according to the structural parameters of the object to be stacked, the object type being a regular object or an irregular object;

[0045] Step S302, determining the total number of the objects to be stacked required by the user according to the user demand information;

[0046] Step S303, determining the number of columns of the objects to be stacked and the number of single-column stacking of the objects to be stacked according to the object types of the objects to be stacked, the structural parameters of the objects to be stacked and the total number of the objects to be stacked, wherein the structural parameters of the objects to be stacked include at least the height of the objects to be stacked;

[0047] The method includes determining the number of columns of the objects to be stacked and the number of single-column stacking of the objects to be stacked according to the object types of the objects to be stacked, the structural parameters of the objects to be stacked and the total number of the objects to be stacked, including the following steps:

[0048] Step S3031, determining a stacking height threshold of the objects to be stacked according to the object types and structural parameters of the objects to be stacked;

[0049] Step S3032, determining the ratio of the stacking height threshold of the objects to be stacked to the height of the objects to be stacked as the single-row stacking quantity of the objects to be stacked;

[0050] Step S3033: determining the number of stacking columns of the objects to be stacked as the ratio of the total number of the objects to be stacked to the number of the objects to be stacked in a single column.

[0051] Specifically, it determines how many columns the objects need to be arranged in. This usually depends on the number and size of the items and the storage space utilization efficiency required by the user. For example, if the storage space is limited, the system may choose to increase the number of columns to reduce the height of a single column, thereby making more reasonable use of the space.

[0052] Step S304, determining the stacking position of the objects to be stacked and the stacking direction of the objects to be stacked according to the object types and the structural parameters of the objects to be stacked, wherein, when the objects to be stacked are regular objects, the stacking directions of the objects to be stacked in the same row are the same, and when the objects to be stacked are irregular objects, the stacking directions of at least two of the objects to be stacked in the same row are different;

[0053] Specifically, the specific location in the warehouse or storage area where the objects are to be stacked is specified. This may involve the starting location of the items, the stacking path, and the final stacking target location. The determination of the stacking location also needs to consider the gaps between items, whether aisles need to be reserved, and other details of warehouse management.

[0054] Structural parameters include the shape, size, weight, center of gravity position, etc. of the object. Depending on the structural parameters of the object, the stacking positions of objects stacked in the same column may be different, that is, there is an offset in the center position. This is to make the stacking structure more stable and avoid collapse during transportation or storage.

[0055] Wherein, determining the stacking direction of the objects to be stacked according to the object types and the structural parameters of the objects to be stacked comprises the following steps:

[0056] Step S401, when the objects to be stacked are irregular objects and rotationally symmetrical objects, a stacking angle coefficient is determined according to structural parameters of the objects to be stacked, wherein when the robot stacks a plurality of the objects to be stacked according to the stacking angle coefficient, no collision occurs between any two of the objects to be stacked;

[0057] Step S402, obtaining an angle determination formula of 360°=kN, and determining the stacking rotation angle of the stacked object according to the angle determination formula, wherein N is the stacking rotation angle, k is the stacking angle coefficient, and k is an integer greater than 2;

[0058] Step S403, obtaining the arrangement numbers of the objects to be stacked, wherein the arrangement numbers represent the stacking order of the objects to be stacked, and determining the stacking direction of the objects to be stacked according to the arrangement numbers of the objects to be stacked, the stacking angle coefficients and the stacking rotation angles of the objects to be stacked.

[0059] Specifically, the stacking direction refers to the rotation angle when stacking objects. For irregular objects, a reasonable stacking direction can improve the stability of the stacking and the efficiency of space utilization. Even for regular objects, choosing an appropriate stacking direction can make the stacking structure more stable and avoid collapse during transportation or storage.

[0060] Wherein, determining the stacking direction of the objects to be stacked according to the arrangement sequence numbers of the objects to be stacked, the stacking angle coefficients and the stacking rotation angles of the objects to be stacked comprises the following steps:

[0061] Step S4031, calculating the remainder of the arrangement sequence number of the objects to be stacked and the stacking angle coefficient;

[0062] Step S4032: The product of the remainder and the stacking rotation angle of the stacked object is determined as the stacking direction of the object to be stacked.

[0063] Specifically, this calculation step is an important strategy to avoid collisions, ensure stable stacking structure and efficiently use space when stacking irregular rotationally symmetrical objects. Through precise mathematical operations, the system can guide the robot to operate according to the optimal rotation angle during the stacking process, thereby achieving high-precision stacking tasks.

[0064] The arrangement number is the position of each object to be stacked in the stacking sequence, which can be understood as the order in which the objects are stacked. For example, if the system needs to stack 100 objects, then each object has a unique number from 1 to 100, which reflects the relative position of the object in the stacking process.

[0065] The stacking angle coefficient is a pre-calculated or set value used to guide the rotation angle during stacking. The stacking angle coefficient is set based on the structural parameters of the object and the stacking strategy to ensure that no two objects will be damaged due to collision during the stacking process, while ensuring the stability of the stacking structure and the efficiency of space utilization.

[0066] The stacking rotation angle refers to the rotation angle of each object relative to the previous object when the robot stacks it. This angle is fixed and is used to guide the robot's rotation operation when stacking different objects.

[0067] The calculation process for determining the stacking direction can be described as follows: First, find the arrangement number of the current object to be stacked, for example, the nth object. Second, perform a modulo operation on the arrangement number n of the object and the stacking angle coefficient k, that is, calculate n mod k. The result of the modulo operation reflects the relative position of the object in the rotation sequence. Finally, multiply the remainder obtained by the stacking rotation angle N, that is, calculate (n mod k) × N. The result of this product is the rotation angle of the nth object when it is stacked, that is, the stacking direction of the object.

[0068] For example, assuming that the stacking angle coefficient k is 4, it means that every 4 objects form a group and the stacking rotation angle N is 90°. For the third object, its arrangement number n is 3, 3mod 4 is equal to 3, so the stacking direction of the third object is 3×90°=270°. For the fifth object, its arrangement number n is 5, 5mod 4 is equal to 1, so its stacking direction is 1×90°=90°.

[0069] This calculation method ensures that all objects can be stacked in a predetermined rotation sequence, avoiding unstable stacking or space waste caused by a single rotation angle. At the same time, by adjusting the stacking angle coefficient k and the stacking rotation angle N, it can flexibly respond to the stacking needs of objects of different shapes and sizes, and improve the automation and intelligence level of the stacking process.

[0070] Step S305 , determining the number of stacking columns of the objects to be stacked, the number of single-column stacking of the objects to be stacked, the stacking positions of the objects to be stacked, and the stacking directions of the objects to be stacked as stacking parameters of the objects to be stacked.

[0071] Specifically, the determination of stacking parameters is the core of the stacking operation, which directly affects the efficiency of the stacking operation, the safety of items, and the optimization of space utilization. Through the above analysis, the system can formulate a detailed stacking plan to guide the robot to perform the stacking task, ensuring that the stacking process is both efficient and safe while meeting the specific requirements of users. This process reflects the development trend of automation and intelligence in stacking, enabling the robot to flexibly adjust the stacking strategy according to different items and user needs, thereby improving the efficiency of warehouse management and logistics operations.

[0072] Step S203, controlling the robot to stack the objects according to the stacking parameters of the objects.

[0073] Specifically, stacking parameters are a series of indicators determined during the stacking strategy planning phase, including but not limited to the number of stacking columns, stacking positions, stacking directions, and the number of stacking columns of objects to be stacked. These parameters combine the structural characteristics of the objects themselves (such as shape and size), user needs (such as stacking efficiency, space utilization, and stacking stability requirements), and the stacking environment (such as warehouse layout and storage space limitations). Robotic stacking control refers to calling robot hardware (such as robotic arms, sensors, actuators, etc.) through the robot control system to perform specific stacking tasks. This usually includes the following key steps:

[0074] 1. Plan the optimal path from the current position of the robot to the stacking target position according to the stacking position and stacking direction. This may require considering the robot's own range of motion, obstacle avoidance requirements, and the layout of other items in the stacking area.

[0075] 2. Pick and place: The robot picks up items in order according to the stacking parameters and places them at the specified rotation angle and position. This step involves precise object recognition, gripping force control, and stability judgment of object placement.

[0076] 3. Real-time monitoring and adjustment: During the stacking process, the robot will monitor the stacking status in real time, including whether the placement of the items is accurate, whether the stacking structure is stable, etc. If deviations from the stacking parameters are found, the robot or system will adjust the subsequent stacking actions to ensure the smooth completion of the stacking task.

[0077] 4. Cycle control: If the stacking parameters include cyclic stacking instructions, the robot will cyclically stack items in a fixed pattern until the requirements for the number of stacking columns or the total stacking quantity are met.

[0078] This process is highly dependent on robot control systems and sensor technology to ensure the accuracy and safety of stacking operations. The robot control system converts stacking parameters into specific action instructions, such as moving distance, rotation angle, grabbing and placement force, etc. These instructions are sent to the robot's actuators (such as motors, cylinders, etc.) to drive the robot to complete the stacking task.

[0079] In modern automated warehouses or production lines, this process is usually assisted by advanced algorithms and machine learning models to cope with complex and changing stacking requirements. For example, deep learning models can be used for object recognition and grasping, while optimization algorithms can be used for path planning and stability analysis of stacking structures, thereby greatly improving the automation and efficiency of stacking operations. In this way, even when faced with objects of various shapes and sizes to be stacked, flexible, efficient, and stable stacking operations can be achieved to meet stacking requirements in different scenarios.

[0080] The object to be stacked is an air-conditioning condenser, and the air-conditioning condenser includes a steel pipe structure. According to the stacking parameters of the object to be stacked, the robot is controlled to stack the object to be stacked, including the following steps:

[0081] Step S2031, controlling the robot to stack the i-th air-conditioning condenser to a target position according to the first stacking position and the first stacking direction;

[0082] Step S2032, controlling the robot to stack the (i+1)th air-conditioning condenser to the target position according to the second stacking position and the second stacking direction;

[0083] Step S2033, controlling the robot to stack the (i+2)th air-conditioning condenser to the target position according to the third stacking position and the third stacking direction;

[0084] Step S2034, control the above-mentioned robot to stack the i+3th air-conditioning condenser to the above-mentioned target position according to the fourth stacking position and the fourth stacking direction, wherein i+3 is an integer multiple of 4, and the first stacking direction, the second stacking direction, the third stacking direction and the fourth stacking direction are rotated 90° from 0° in sequence.

[0085] Specifically, the above-mentioned stacking type is a single vertical row of single products, that is, X×Y×Z=1×1×n, where n is the number of objects to be stacked. Since the copper tube structure of the two heads of the air-conditioning condenser is complex and protrudes into a T shape, the two devices are stacked in the southeast, northwest and northeast directions according to customer requirements. This stacking method can avoid interference between the T head and the next two devices, minimize the volume, maximize the contact area, increase the friction between objects, and reduce the possibility of tipping during transportation. However, the two devices are not cubes, and the center of placement is eccentric. At this time, it is necessary to set the relative offset of the center of each layer. Therefore, the stacking method needs to meet the setting of the direction of each layer and the offset of the center position. After completing the four layers in the east, west, south and north directions, continue to connect in the east, west, south and north stacking method. If the customer needs to change the placement method, he only needs to modify the corresponding variable parameters under the program framework to achieve placement in more directions and more relative positions.

[0086] In some embodiments, when the program starts to execute, all variables, signals and robot positions are initialized. The current end coordinate point information of the robot is obtained, and the coordinate data is compared with the safety range of the set XYZ values. If it is not a safe position, the robot will loosen the fixture and move upward with the current position in the positive z direction, and smoothly transition to a safe position without interference. If the object sensing is currently triggered, the alarm will display "There is a workpiece clamped in the fixture during initialization, please handle it manually". Only when there is no abnormality in the object sensing can the fixture be reset and the robot safe transition action be performed.

[0087] like Figure 3 As shown, the above case is combined with the keba control system palletizing programming package. The program execution method is as follows: set the placement of four layers in different directions and relative positions. The robot executes the automatic program, completes the self-checking program, and starts to come to the pickup point. The clamp or suction cup obtains the goods, moves them to the target plug board, and places the goods in the specific position and specific rotation angle of the first layer to complete the first palletizing action; return to the pickup position, place the goods in the specific position and specific rotation angle of the second layer, and complete the second palletizing action; return to the pickup position, place the goods in the specific position and specific rotation angle of the third layer, and complete the third palletizing action; return to the pickup position, place the goods in the specific position and specific rotation angle of the fourth layer, and complete the fourth palletizing action. After completing the four placements, it will be regarded as a cycle, and continue to stack on the upper layer, and stack up in the same way as the first layer.

[0088] The stacking method of the above-mentioned items of the present application first obtains user demand information and structural parameters of the objects to be stacked, the structural parameters at least include the shape of the objects to be stacked and the size of the objects to be stacked; then, according to the user demand information and / or the structural parameters of the objects to be stacked, the stacking parameters of the objects to be stacked are determined, the stacking parameters at least include the number of stacking columns of the objects to be stacked, the stacking positions of the objects to be stacked, and the stacking directions of the objects to be stacked; finally, according to the stacking parameters of the objects to be stacked, the robot is controlled to stack the objects to be stacked. This method allows customers to set each stacking position and rotation angle of the goods, and set the number of layers of the cycle, so that they can reasonably allocate space and complete the stacking of finished products, solving the problem that the stacking package in the prior art is only a simple one-sided placement, does not include position rotation and specific position placement, and the stacking method cannot meet the customer's customization needs.

[0089] The embodiments of the present application also provide a device for stacking articles. It should be noted that the device for stacking articles in the embodiments of the present application can be used to execute the method for stacking articles provided in the embodiments of the present application. The device is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions thereof will not be repeated here. As used below, the term "module" may be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation in hardware, or a combination of software and hardware, is also possible and conceivable.

[0090] The following is an introduction to the article stacking device provided in the embodiments of the present application.

[0091] Figure 4 Schematic diagram of a device for stacking articles according to an embodiment of the present application. Figure 4 As shown, the device includes an acquisition unit 10, a determination unit 20 and a control unit 30, the acquisition unit 10 is used to acquire user demand information and structural parameters of the objects to be stacked, the above structural parameters at least include the shape of the above objects to be stacked and the size of the above objects to be stacked; the determination unit 20 is used to determine the stacking parameters of the above objects to be stacked according to the above user demand information and / or the structural parameters of the above objects to be stacked, the above stacking parameters at least include the number of stacking columns of the above objects to be stacked and the stacking direction of the above objects to be stacked; the control unit 30 is used to control the robot to stack the above objects to be stacked according to the stacking parameters of the above objects to be stacked.

[0092] The stacking device of the above-mentioned articles of the present application includes an acquisition unit, a determination unit and a control unit. The acquisition unit is used to acquire user demand information and structural parameters of the objects to be stacked, and the structural parameters at least include the shape of the objects to be stacked and the size of the objects to be stacked; the determination unit is used to determine the stacking parameters of the objects to be stacked according to the user demand information and / or the structural parameters of the objects to be stacked, and the stacking parameters at least include the number of stacking columns of the objects to be stacked, the stacking positions of the objects to be stacked, and the stacking directions of the objects to be stacked; the control unit is used to control the robot to stack the objects to be stacked according to the stacking parameters of the objects to be stacked. The device allows customers to set each stacking position and rotation angle of the goods, and set the number of layers of the cycle, so that it can reasonably allocate space and complete the stacking of finished products, solving the problem that the stacking package in the prior art is only unilaterally placed, does not include position rotation and specific position placement, and the stacking method cannot meet the customized needs of customers.

[0093] In some examples, the determination unit includes a first determination module, a second determination module, a third determination module, a fourth determination module and a fifth determination module, the first determination module is used to determine the object type of the objects to be stacked according to the structural parameters of the objects to be stacked, and the object type is a regular object or an irregular object; the second determination module is used to determine the total number of the objects to be stacked required by the user according to the user demand information; the third determination module is used to determine the number of stacking columns of the objects to be stacked and the number of single-column stacking of the objects to be stacked according to the object type of the objects to be stacked, the structural parameters of the objects to be stacked and the total number of the objects to be stacked, and the structural parameters of the objects to be stacked at least include the number of the objects to be stacked The height of the object; the fourth determination module is used to determine the stacking position and the stacking direction of the object to be stacked according to the object type and the structural parameters of the object to be stacked, wherein, when the object to be stacked is a regular object, the stacking directions of the objects to be stacked in the same column are the same, and when the object to be stacked is an irregular object, the stacking directions of at least two objects to be stacked in the same column are different; the fifth determination module is used to determine the number of stacking columns of the objects to be stacked, the number of single-column stacking of the objects to be stacked, the stacking position of the objects to be stacked, and the stacking direction of the objects to be stacked as the stacking parameters of the objects to be stacked. It reflects the development trend of automation and intelligence in stacking, enabling the robot to flexibly adjust the stacking strategy according to different items and user needs, thereby improving the efficiency of warehouse management and logistics operations.

[0094] In some examples, the third determination module includes a first determination submodule, a second determination submodule and a third determination submodule, wherein the first determination submodule is used to determine the stacking height threshold of the objects to be stacked according to the object type and the structural parameters of the objects to be stacked; the second determination submodule is used to determine the ratio of the stacking height threshold of the objects to be stacked to the height of the objects to be stacked as the number of single-row stacking of the objects to be stacked; and the third determination submodule is used to determine the ratio of the total number of the objects to be stacked to the number of single-row stacking of the objects to be stacked as the number of stacking columns of the objects to be stacked. Reduce the height of a single column, thereby making more reasonable use of space.

[0095] In some examples, the fourth determination module includes a fifth determination module, a sixth determination module and a seventh determination module, the fifth determination module is used to determine the stacking angle coefficient according to the structural parameters of the above-mentioned objects to be stacked when the above-mentioned objects to be stacked are irregular objects and rotationally symmetrical objects, wherein when the above-mentioned robot stacks multiple objects to be stacked according to the above-mentioned stacking angle coefficient, no collision occurs between any two of the above-mentioned objects to be stacked; the sixth determination module is used to obtain the angle determination formula 360°=kN, and determine the stacking rotation angle of the above-mentioned objects to be stacked according to the above-mentioned angle determination formula, wherein N is the above-mentioned stacking rotation angle, k is the above-mentioned stacking angle coefficient, and k is an integer greater than 2; the seventh determination module is used to obtain the arrangement sequence number of the above-mentioned objects to be stacked, the above-mentioned arrangement sequence number represents the stacking order of the above-mentioned objects to be stacked, and determine the stacking direction of the above-mentioned objects to be stacked according to the arrangement sequence number of the above-mentioned objects to be stacked, the above-mentioned stacking angle coefficient and the stacking rotation angle of the above-mentioned objects to be stacked. Selecting an appropriate stacking direction can also make the stacking structure more stable and avoid collapse during transportation or storage.

[0096] In some examples, the seventh determination module includes a calculation submodule and a fourth determination submodule, the calculation submodule is used to calculate the remainder of the arrangement sequence number of the above-mentioned objects to be stacked and the above-mentioned stacking angle coefficient; the fourth determination submodule is used to determine the product of the above-mentioned remainder and the stacking rotation angle of the above-mentioned objects to be stacked as the stacking direction of the above-mentioned objects to be stacked. Through precise mathematical operations, the system can guide the robot to operate according to the optimal rotation angle during the stacking process, thereby achieving high-precision stacking tasks.

[0097] In some examples, the objects to be stacked are air conditioner condensers, which include steel pipe structures. The control unit includes a first control module, a second control module, a third control module, and a fourth control module. The first control module is used to control the robot to stack the i-th air conditioner condenser to the target position according to the first stacking position and the first stacking direction; the second control module is used to control the robot to stack the i+1-th air conditioner condenser to the target position according to the second stacking position and the second stacking direction; the third control module is used to control the robot to stack the i+2-th air conditioner condenser to the target position according to the third stacking position and the third stacking direction; the fourth control module is used to control the robot to stack the i+3-th air conditioner condenser to the target position according to the fourth stacking position and the fourth stacking direction, wherein i+3 is an integer multiple of 4, and the first stacking direction, the second stacking direction, the third stacking direction, and the fourth stacking direction are rotated from 0° to 90° in sequence. Minimize the volume, maximize the contact area, increase the friction between objects, and reduce the possibility of tipping during transportation.

[0098] In some examples, the acquisition unit includes a first acquisition module, a second acquisition module and an eighth determination module. The first acquisition module is used to acquire the total number of the objects to be stacked required by the user to obtain the user's demand information; the second acquisition module is used to acquire the front view, top view and side view of the objects to be stacked; the eighth determination module is used to determine the structural parameters of the objects to be stacked according to the front view, top view and side view of the objects to be stacked. Through these detailed user requirements and object structural parameters, the stacking system can more intelligently and accurately control the robot to perform stacking tasks, ensure the efficiency and safety of stacking, and meet specific storage and transportation requirements.

[0099] The stacking device for articles includes a processor and a memory. The acquisition unit and the like are 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.

[0100] The processor includes a kernel, which retrieves the corresponding program unit from the memory. One or more kernels can be set, and the kernel parameters can be adjusted to solve the problem that the existing technology only has a simple one-way placement of the palletizing package, does not include position rotation and specific position placement, and the stacking method cannot meet the customized needs of customers.

[0101] 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.

[0102] 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 items.

[0103] An embodiment of the present invention provides a processor, and the processor is used to run a program, wherein the program executes the method for stacking the items when it is run.

[0104] An embodiment of the present invention provides a device, the device comprising 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 following method steps are implemented:

[0105] Step S201, obtaining user demand information and structural parameters of the objects to be stacked, wherein the structural parameters at least include the shape of the objects to be stacked and the size of the objects to be stacked;

[0106] Specifically, user demand information is usually provided by the user or system operator, and may include the total number of stacking layers, the number of items on each layer, the final height or width limit of stacking, stacking efficiency requirements (such as time limits), or specific stacking layout requirements, etc. For example, the user may want the stacked items to fit into a specific warehouse storage space, or require a specific stacking method to facilitate subsequent pickup and transportation.

[0107] Step S202, determining the stacking parameters of the objects to be stacked according to the user demand information and / or the structural parameters of the objects to be stacked, wherein the stacking parameters at least include the number of stacking columns of the objects to be stacked, the stacking positions of the objects to be stacked, and the stacking directions of the objects to be stacked;

[0108] Specifically, this process may involve complex optimization algorithms, such as linear programming, dynamic programming, or genetic algorithms, to find the optimal stacking strategy that meets user needs and physical constraints. The system needs to balance the shape, size, weight and other characteristics of the items to ensure the stability and safety of stacking. At the same time, it is also necessary to consider the stacking efficiency and space utilization efficiency to meet the user's needs for stacking speed and storage space.

[0109] Step S203, controlling the robot to stack the objects according to the stacking parameters of the objects.

[0110] Specifically, stacking parameters are a series of indicators determined in the stacking strategy planning stage, including but not limited to the number of stacking columns, stacking positions, stacking directions, and the number of stacking columns of objects to be stacked. These parameters combine the structural characteristics of the objects themselves (such as shape and size), user needs (such as stacking efficiency, space utilization, and stacking stability requirements), and the stacking environment (such as warehouse layout and storage space limitations).

[0111] Optionally, determining the stacking parameters of the objects to be stacked according to the user demand information and the structural parameters of the objects to be stacked includes: determining the object type of the objects to be stacked according to the structural parameters of the objects to be stacked, wherein the object type is a regular object or an irregular object; determining the total number of the objects to be stacked required by the user according to the user demand information; determining the number of stacking columns of the objects to be stacked and the number of single-column stacking of the objects to be stacked according to the object type of the objects to be stacked, the structural parameters of the objects to be stacked and the total number of the objects to be stacked, wherein the structural parameters of the objects to be stacked include at least the height of the objects to be stacked ; Determine the stacking position and the stacking direction of the objects to be stacked according to the object types and structural parameters of the objects to be stacked, wherein, when the objects to be stacked are regular objects, the stacking directions of the objects to be stacked in the same column are the same, and when the objects to be stacked are irregular objects, the stacking directions of at least two objects to be stacked in the same column are different; determine the number of stacking columns of the objects to be stacked, the number of objects to be stacked in a single column, the stacking position and the stacking direction of the objects to be stacked as the stacking parameters of the objects to be stacked.

[0112] Optionally, the number of stacking columns of the objects to be stacked and the number of single-row stacking of the objects to be stacked are determined according to the object types of the objects to be stacked, the structural parameters of the objects to be stacked and the total number of the objects to be stacked, including: determining the stacking height threshold of the objects to be stacked according to the object types of the objects to be stacked and the structural parameters of the objects to be stacked; determining the number of single-row stacking of the objects to be stacked as the ratio of the stacking height threshold of the objects to be stacked to the height of the objects to be stacked; determining the number of stacking columns of the objects to be stacked as the ratio of the total number of objects to be stacked to the number of single-row stacking of the objects to be stacked.

[0113] Optionally, the stacking direction of the objects to be stacked is determined according to the object type of the objects to be stacked and the structural parameters of the objects to be stacked, including: when the objects to be stacked are irregular objects and rotationally symmetrical objects, the stacking angle coefficient is determined according to the structural parameters of the objects to be stacked, wherein, when the robot stacks a plurality of the objects to be stacked according to the stacking angle coefficient, no collision occurs between any two of the objects to be stacked; an angle determination formula of 360°=kN is obtained, and the stacking rotation angle of the stacked objects is determined according to the angle determination formula, wherein N is the stacking rotation angle, k is the stacking angle coefficient, and k is an integer greater than 2; an arrangement number of the objects to be stacked is obtained, the arrangement number represents the stacking order of the objects to be stacked, and the stacking direction of the objects to be stacked is determined according to the arrangement number of the objects to be stacked, the stacking angle coefficient and the stacking rotation angle of the objects.

[0114] Optionally, the stacking direction of the objects to be stacked is determined according to the arrangement number of the objects to be stacked, the stacking angle coefficient and the stacking rotation angle of the objects, including: calculating the remainder of the arrangement number of the objects to be stacked and the stacking angle coefficient; and determining the product of the remainder and the stacking rotation angle of the objects as the stacking direction of the objects to be stacked.

[0115] Optionally, the objects to be stacked are air-conditioning condensers, which include a steel pipe structure. According to the stacking parameters of the objects to be stacked, the robot is controlled to stack the objects to be stacked, including: controlling the robot to stack the i-th air-conditioning condenser to the target position according to the first stacking position and the first stacking direction; controlling the robot to stack the i+1-th air-conditioning condenser to the target position according to the second stacking position and the second stacking direction; controlling the robot to stack the i+2-th air-conditioning condenser to the target position according to the third stacking position and the third stacking direction; controlling the robot to stack the i+3-th air-conditioning condenser to the target position according to the fourth stacking position and the fourth stacking direction, wherein i+3 is an integer multiple of 4, and the first stacking direction, the second stacking direction, the third stacking direction and the fourth stacking direction are rotated 90° from 0° in sequence.

[0116] Optionally, obtaining user demand information and structural parameters of the objects to be stacked includes: obtaining the total number of the objects to be stacked required by the user to obtain the user demand information; obtaining the front view, top view and side view of the objects to be stacked; and determining the structural parameters of the objects to be stacked based on the front view, top view and side view of the objects to be stacked.

[0117] The devices in this article can be servers, PCs, PADs, mobile phones, etc.

[0118] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program for initializing at least the following method steps:

[0119] Step S201, obtaining user demand information and structural parameters of the objects to be stacked, wherein the structural parameters at least include the shape of the objects to be stacked and the size of the objects to be stacked;

[0120] Specifically, user demand information is usually provided by the user or system operator, and may include the total number of stacking layers, the number of items on each layer, the final height or width limit of stacking, stacking efficiency requirements (such as time limits), or specific stacking layout requirements, etc. For example, the user may want the stacked items to fit into a specific warehouse storage space, or require a specific stacking method to facilitate subsequent pickup and transportation.

[0121] Step S202, determining the stacking parameters of the objects to be stacked according to the user demand information and / or the structural parameters of the objects to be stacked, wherein the stacking parameters at least include the number of stacking columns of the objects to be stacked, the stacking positions of the objects to be stacked, and the stacking directions of the objects to be stacked;

[0122] Specifically, this process may involve complex optimization algorithms, such as linear programming, dynamic programming, or genetic algorithms, to find the optimal stacking strategy that meets user needs and physical constraints. The system needs to balance the shape, size, weight and other characteristics of the items to ensure the stability and safety of stacking. At the same time, it is also necessary to consider the stacking efficiency and space utilization efficiency to meet the user's needs for stacking speed and storage space.

[0123] Step S203, controlling the robot to stack the objects according to the stacking parameters of the objects.

[0124] Specifically, stacking parameters are a series of indicators determined in the stacking strategy planning stage, including but not limited to the number of stacking columns, stacking positions, stacking directions, and the number of stacking columns of objects to be stacked. These parameters combine the structural characteristics of the objects themselves (such as shape and size), user needs (such as stacking efficiency, space utilization, and stacking stability requirements), and the stacking environment (such as warehouse layout and storage space limitations).

[0125] Optionally, determining the stacking parameters of the objects to be stacked according to the user demand information and the structural parameters of the objects to be stacked includes: determining the object type of the objects to be stacked according to the structural parameters of the objects to be stacked, wherein the object type is a regular object or an irregular object; determining the total number of the objects to be stacked required by the user according to the user demand information; determining the number of stacking columns of the objects to be stacked and the number of single-column stacking of the objects to be stacked according to the object type of the objects to be stacked, the structural parameters of the objects to be stacked and the total number of the objects to be stacked, wherein the structural parameters of the objects to be stacked include at least the height of the objects to be stacked ; Determine the stacking position and the stacking direction of the objects to be stacked according to the object types and structural parameters of the objects to be stacked, wherein, when the objects to be stacked are regular objects, the stacking directions of the objects to be stacked in the same column are the same, and when the objects to be stacked are irregular objects, the stacking directions of at least two objects to be stacked in the same column are different; determine the number of stacking columns of the objects to be stacked, the number of objects to be stacked in a single column, the stacking position and the stacking direction of the objects to be stacked as the stacking parameters of the objects to be stacked.

[0126] Optionally, the number of stacking columns of the objects to be stacked and the number of single-row stacking of the objects to be stacked are determined according to the object types of the objects to be stacked, the structural parameters of the objects to be stacked and the total number of the objects to be stacked, including: determining the stacking height threshold of the objects to be stacked according to the object types of the objects to be stacked and the structural parameters of the objects to be stacked; determining the number of single-row stacking of the objects to be stacked as the ratio of the stacking height threshold of the objects to be stacked to the height of the objects to be stacked; determining the number of stacking columns of the objects to be stacked as the ratio of the total number of objects to be stacked to the number of single-row stacking of the objects to be stacked.

[0127] Optionally, the stacking direction of the objects to be stacked is determined according to the object type of the objects to be stacked and the structural parameters of the objects to be stacked, including: when the objects to be stacked are irregular objects and rotationally symmetrical objects, the stacking angle coefficient is determined according to the structural parameters of the objects to be stacked, wherein, when the robot stacks a plurality of the objects to be stacked according to the stacking angle coefficient, no collision occurs between any two of the objects to be stacked; an angle determination formula of 360°=kN is obtained, and the stacking rotation angle of the stacked objects is determined according to the angle determination formula, wherein N is the stacking rotation angle, k is the stacking angle coefficient, and k is an integer greater than 2; an arrangement number of the objects to be stacked is obtained, the arrangement number represents the stacking order of the objects to be stacked, and the stacking direction of the objects to be stacked is determined according to the arrangement number of the objects to be stacked, the stacking angle coefficient and the stacking rotation angle of the objects.

[0128] Optionally, the stacking direction of the objects to be stacked is determined according to the arrangement number of the objects to be stacked, the stacking angle coefficient and the stacking rotation angle of the objects, including: calculating the remainder of the arrangement number of the objects to be stacked and the stacking angle coefficient; and determining the product of the remainder and the stacking rotation angle of the objects as the stacking direction of the objects to be stacked.

[0129] Optionally, the objects to be stacked are air-conditioning condensers, which include a steel pipe structure. According to the stacking parameters of the objects to be stacked, the robot is controlled to stack the objects to be stacked, including: controlling the robot to stack the i-th air-conditioning condenser to the target position according to the first stacking position and the first stacking direction; controlling the robot to stack the i+1-th air-conditioning condenser to the target position according to the second stacking position and the second stacking direction; controlling the robot to stack the i+2-th air-conditioning condenser to the target position according to the third stacking position and the third stacking direction; controlling the robot to stack the i+3-th air-conditioning condenser to the target position according to the fourth stacking position and the fourth stacking direction, wherein i+3 is an integer multiple of 4, and the first stacking direction, the second stacking direction, the third stacking direction and the fourth stacking direction are rotated 90° from 0° in sequence.

[0130] Optionally, obtaining user demand information and structural parameters of the objects to be stacked includes: obtaining the total number of the objects to be stacked required by the user to obtain the user demand information; obtaining the front view, top view and side view of the objects to be stacked; and determining the structural parameters of the objects to be stacked based on the front view, top view and side view of the objects to be stacked.

[0131] 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.

[0132] 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.

[0133] 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.

[0134] 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 including 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.

[0135] 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.

[0136] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0137] 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.

[0138] 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.

[0139] 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.

[0140] From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

[0141] 1) The stacking method of the above-mentioned items of the present application first obtains user demand information and structural parameters of the objects to be stacked, the structural parameters at least include the shape of the objects to be stacked and the size of the objects to be stacked; then, according to the user demand information and / or the structural parameters of the objects to be stacked, the stacking parameters of the objects to be stacked are determined, the stacking parameters at least include the number of stacking columns of the objects to be stacked, the stacking positions of the objects to be stacked, and the stacking directions of the objects to be stacked; finally, according to the stacking parameters of the objects to be stacked, the robot is controlled to stack the objects to be stacked. This method allows customers to set each stacking position and rotation angle of the goods, and the number of layers of the cycle, so that they can reasonably allocate space and complete the stacking of finished products, solving the problem that the stacking package in the prior art is only a simple one-sided placement, does not include position rotation and specific position placement, and the stacking method cannot meet the customer's customized needs.

[0142] 2) The stacking device of the above-mentioned articles of the present application includes an acquisition unit, a determination unit and a control unit. The acquisition unit is used to acquire user demand information and structural parameters of the objects to be stacked, and the structural parameters at least include the shape of the objects to be stacked and the size of the objects to be stacked; the determination unit is used to determine the stacking parameters of the objects to be stacked according to the user demand information and / or the structural parameters of the objects to be stacked, and the stacking parameters at least include the number of stacking columns of the objects to be stacked, the stacking positions of the objects to be stacked, and the stacking directions of the objects to be stacked; the control unit is used to control the robot to stack the objects to be stacked according to the stacking parameters of the objects to be stacked. The device allows customers to set each stacking position and rotation angle of the goods, and set the number of layers of the cycle, so that it can reasonably allocate space and complete the stacking of finished products, solving the problem that the stacking package in the prior art is only unilaterally placed, does not include position rotation and specific position placement, and the stacking method cannot meet the customer's customized needs.

[0143] 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: Acquire user demand information and structural parameters of the objects to be stacked, wherein the structural parameters at least include the shape of the objects to be stacked and the size of the objects to be stacked; Determining stacking parameters of the objects to be stacked according to the user demand information and / or the structural parameters of the objects to be stacked, wherein the stacking parameters at least include the number of stacking columns of the objects to be stacked, the stacking positions of the objects to be stacked, and the stacking directions of the objects to be stacked; According to the stacking parameters of the objects to be stacked, the robot is controlled to stack the objects to be stacked.

2. The method according to claim 1, characterized in that Determining the stacking parameters of the objects to be stacked according to the user demand information and the structural parameters of the objects to be stacked includes: Determining the object type of the object to be stacked according to the structural parameters of the object to be stacked, the object type being a regular object or an irregular object; Determining the total number of objects to be stacked required by the user according to the user demand information; Determining the number of stacking columns of the objects to be stacked and the number of single-column stacking of the objects to be stacked according to the object types of the objects to be stacked, the structural parameters of the objects to be stacked, and the total number of the objects to be stacked, wherein the structural parameters of the objects to be stacked include at least the height of the objects to be stacked; Determine the stacking position and the stacking direction of the objects to be stacked according to the object types and the structural parameters of the objects to be stacked, wherein, when the objects to be stacked are regular objects, the stacking directions of the objects to be stacked in the same row are the same, and when the objects to be stacked are irregular objects, the stacking directions of at least two of the objects to be stacked in the same row are different; The number of stacking columns of the objects to be stacked, the number of single-column stacking of the objects to be stacked, the stacking positions of the objects to be stacked, and the stacking directions of the objects to be stacked are determined as stacking parameters of the objects to be stacked.

3. The method according to claim 2, characterized in that Determining the number of stacking columns of the objects to be stacked and the number of single-column stacking of the objects to be stacked according to the object types of the objects to be stacked, the structural parameters of the objects to be stacked, and the total number of the objects to be stacked includes: Determining a stacking height threshold of the objects to be stacked according to the object type of the objects to be stacked and the structural parameters of the objects to be stacked; Determine the ratio of the stacking height threshold of the objects to be stacked to the height of the objects to be stacked as the single-row stacking quantity of the objects to be stacked; The ratio of the total number of the objects to be stacked to the number of the objects to be stacked in a single row is determined as the number of stacking rows of the objects to be stacked.

4. The method according to claim 2, characterized in that: Determining a stacking direction of the objects to be stacked according to the object types of the objects to be stacked and the structural parameters of the objects to be stacked includes: When the objects to be stacked are irregular objects and rotationally symmetrical objects, a stacking angle coefficient is determined according to the structural parameters of the objects to be stacked, wherein when the robot stacks a plurality of the objects to be stacked according to the stacking angle coefficient, no collision occurs between any two of the objects to be stacked; Obtain an angle determination formula of 360°=kN, and determine the stacking rotation angle of the stacked object according to the angle determination formula, wherein N is the stacking rotation angle, k is the stacking angle coefficient, and k is an integer greater than 2; The arrangement sequence numbers of the objects to be stacked are obtained, wherein the arrangement sequence numbers represent the stacking order of the objects to be stacked, and the stacking directions of the objects to be stacked are determined according to the arrangement sequence numbers of the objects to be stacked, the stacking angle coefficients and the stacking rotation angles of the objects to be stacked.

5. The method according to claim 4, characterized in that Determining a stacking direction of the objects to be stacked according to the arrangement sequence numbers of the objects to be stacked, the stacking angle coefficient, and the stacking rotation angle of the objects to be stacked includes: Calculate the remainder of the arrangement sequence number of the object to be stacked and the stacking angle coefficient; The product of the remainder and the stacking rotation angle of the stacking object is determined as the stacking direction of the object to be stacked.

6. The method according to claim 1, characterized in that The object to be stacked is an air-conditioning condenser, and the air-conditioning condenser includes a steel pipe structure. According to the stacking parameters of the object to be stacked, the robot is controlled to stack the object to be stacked, including: Controlling the robot to stack the i-th air-conditioning condenser to a target position according to a first stacking position and a first stacking direction; Controlling the robot to stack the (i+1)th air-conditioning condenser to the target position according to the second stacking position and the second stacking direction; Controlling the robot to stack the (i+2)th air-conditioning condenser to the target position according to the third stacking position and the third stacking direction; The robot is controlled to stack the i+3th air-conditioning condenser to the target position according to the fourth stacking position and the fourth stacking direction, wherein i+3 is an integer multiple of 4, and the first stacking direction, the second stacking direction, the third stacking direction and the fourth stacking direction are rotated 90° from 0° in sequence.

7. The method according to claim 1, characterized in that Obtain user demand information and structural parameters of objects to be stacked, including: Obtaining the total number of objects to be stacked required by the user to obtain the user demand information; Obtaining a front view, a top view and a side view of the object to be stacked; The structural parameters of the objects to be stacked are determined according to the front view, the top view and the side view of the objects to be stacked.

8. An article stacking device, characterized in that: include: An acquisition unit, used to acquire user demand information and structural parameters of the objects to be stacked, wherein the structural parameters at least include the shape of the objects to be stacked and the size of the objects to be stacked; a determination unit, configured to determine the stacking parameters of the objects to be stacked according to the user demand information and / or the structural parameters of the objects to be stacked, wherein the stacking parameters at least include the number of stacking columns of the objects to be stacked and the stacking direction of the objects to be stacked; The control unit is used to control the robot to stack the objects to be stacked according to the stacking parameters of the objects to be stacked.

9. A computer-readable storage medium, characterized in that: 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 articles according to any one of claims 1 to 7.

10. An electronic device, 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 items described in any one of claims 1 to 7.

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