Box cargo unloading sequence determination method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a box cargo unloading sequence determination method and device, electronic equipment and a storage medium. The method comprises the following steps: acquiring parameter information of each box in a container, wherein the parameter information comprises an original coordinate and a three-dimensional size; determining first sorting information of each box according to the original coordinate and the three-dimensional size of each box; selecting at least one grabbing mode according to the first sorting information, and outputting second sorting information according to the at least one grabbing mode on the basis of the first sorting information; and selecting at least one sorting mode according to the first sorting information, and outputting a first sorting result according to the at least one sorting mode on the basis of the second sorting information. According to the embodiment of the invention, different grabbing modes and sorting modes are used, so that the output sorting result is more reasonable, and the adaptability of the method is higher.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of logistics technology, and specifically to a method, device, electronic device and storage medium for determining the unloading sequence of box cargo. Background Art

[0002] In automated factory scenarios, we often encounter scenarios where container vehicles transport regular box cargo. According to the placement of different box cargoes inside the container (standard stacking or non-standard stacking), before the robotic arm performs the unloading task, the visual system usually obtains the coordinate information of the box and sorts the boxes from left to right and from top to bottom. However, there are many problems with grasping in this sorting method during the actual unloading process. For example, affected by the internal space of the container, the side wall of the container may interfere with the box during the unloading process, resulting in collision problems. For another example, for boxes with non-standard stacking, if the unloading task is performed according to this sorting, there may be collision problems between the boxes.

[0003] Therefore, when using a robotic arm to unload goods, how to reasonably sort the order in which the boxes are unloaded is a technical problem that needs to be solved urgently in the current scenario. Summary of the invention

[0004] The embodiments of the present invention provide a method, device, electronic device and storage medium for determining the unloading order of box cargo, which are used to solve the technical problem of how to reasonably sort the order of unloading boxes when using a robotic arm to perform unloading work.

[0005] In a first aspect, an embodiment of the present invention provides a method for determining a container cargo unloading sequence, comprising:

[0006] Obtain parameter information of each box in the container, the parameter information including original coordinates and three-dimensional dimensions;

[0007] Determine first sorting information of each box according to the original coordinates and three-dimensional size of each box;

[0008] Selecting at least one crawling method, and outputting second sorting information based on the first sorting information and according to the at least one crawling method;

[0009] At least one sorting method is selected, and based on the second sorting information, a first sorting result is output according to the at least one sorting method.

[0010] In one possible implementation,

[0011] Determining first sorting information of each box according to the original coordinates and the three-dimensional size of each box includes:

[0012] Use the original Z-axis coordinate value z of each box to divide by the height h of the box in the three-dimensional size and round up to get the layer number of each box;

[0013] Arrange the layers where each box is located in descending order, and according to the value y of the original coordinate Y axis of each box, determine the arrangement of each layer of boxes along the Y axis from one side to the other side, and output the first sorting information of each box.

[0014] In one possible implementation,

[0015] The step of determining, according to the value y of the original coordinate Y axis of each box, the arrangement of each layer of boxes along the Y axis from one side to the other side, and outputting the first sorting information of each box includes:

[0016] According to the original Y-axis value y and Z-axis value z of each box, determine that each layer of boxes is arranged from one side to the other along the Y-axis. If there are two layers in one layer, determine that the layer is sorted from top to bottom, and output the first sorting information of each box.

[0017] In one possible implementation,

[0018] The at least one grasping method includes: double-box grasping;

[0019] The selecting at least one crawling method and outputting second sorting information based on the first sorting information and according to the at least one crawling method includes:

[0020] If the grabbing method for each box is selected as double-box grabbing, determine whether the target box in the first sorting information is suitable for double-box grabbing. If suitable, merge the target box with the next box into double boxes, and reorder the merged double boxes with other boxes based on the first sorting information. Repeat the above steps for each box that has not been merged into double boxes to obtain second sorting information.

[0021] In one possible implementation,

[0022] If the grabbing mode of each box is selected as double-box grabbing, it is determined whether the target box in the first sorting information is suitable for double-box grabbing. If suitable, the target box is double-boxed with the next box, and the double-boxed merged box is reordered with other boxes based on the first sorting information. For each box that has not been double-boxed, the above steps are repeated to obtain the second sorting information, including:

[0023] If the grabbing method for each box is selected as double-box grabbing, determine whether the target box in the first sorting information is the last box;

[0024] If not, determine whether the target box and the next box are on the same layer;

[0025] If yes, and both the target box and the next box are in standard stacking mode and the distance between the target box and the next box is less than the preset distance, then it is determined to merge the target box and the next box into two boxes;

[0026] Determine in turn whether each box has completed the double box merging. If not, repeat the above steps; if completed, re-sort the merged double boxes with other boxes based on the first sorting information to obtain the second sorting information.

[0027] In a possible implementation, the method further includes:

[0028] If the target box is judged to be unsuitable for double-box grasping, the target box is determined to be suitable for single-box grasping.

[0029] In a possible implementation, the method further includes:

[0030] According to the first sorting result, determining whether the target merged double boxes or the target single box will collide with other merged double boxes or single boxes during the grasping process;

[0031] If yes, the target merged double boxes or target single boxes are reordered with other merged double boxes or single boxes, and a second sorting result is output.

[0032] In a second aspect, an embodiment of the present invention provides a device for determining a container cargo unloading sequence, comprising:

[0033] An acquisition unit, used to acquire parameter information of each box in the container, wherein the parameter information includes original coordinates and three-dimensional dimensions;

[0034] A determining unit, configured to determine first sorting information of each box according to the original coordinates and three-dimensional size of each box;

[0035] A first selection and output unit, configured to select at least one crawling method, and output second sorting information based on the first sorting information and the at least one crawling method;

[0036] The second selection and output unit is used to select at least one sorting method and output a first sorting result according to the at least one sorting method based on the second sorting information.

[0037] In a third aspect, an embodiment of the present invention provides an electronic device, including:

[0038] A memory and a processor, wherein the processor and the memory communicate with each other via a bus; the memory stores program instructions executable by the processor, and the processor calls the program instructions to execute the method described in the first aspect and each step in various possible implementations.

[0039] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in the first aspect and each step in various possible implementations.

[0040] In a fifth aspect, an embodiment of the present invention provides a computer program product comprising instructions, and when the computer program product is run on a computer, each step in the method described in the first aspect and its various possible implementations is executed by the computer.

[0041] The embodiments of the present invention disclose the following technical effects:

[0042] The embodiment of the present invention uses different crawling methods and sorting methods, so that the output sorting results are more reasonable and the method has stronger adaptability.

[0043] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0045] Figure 1 A system architecture diagram applicable to the embodiment of the present invention;

[0046] Figure 2 A schematic diagram of a flow chart of a method for determining the unloading order of container cargo provided by an embodiment of the present invention;

[0047] Figure 3 A schematic diagram of a robotic arm coordinate system provided by an embodiment of the present invention;

[0048] Figure 4 A schematic diagram of first sorting information provided by an embodiment of the present invention;

[0049] Figure 5 A flowchart of a specific process of determining second sorting information when the grabbing mode of each box is selected as double-box grabbing, provided in an embodiment of the present invention;

[0050] Figure 6 A schematic diagram of second sorting information provided by an embodiment of the present invention;

[0051] Figure 7 A schematic diagram of a box side provided by an embodiment of the present invention being clamped in a recessed portion of a container corrugated plate;

[0052] Figure 8 A schematic diagram of a first sorting result after sorting exchange is completed based on first sorting information when the grabbing mode of each box is selected as single box grabbing and the sorting mode is sequential sorting, provided in an embodiment of the present invention;

[0053] Fig. 9 A schematic diagram of a first sorting result after center sorting is completed based on first sorting information when the grabbing mode of each box is selected as single box grabbing and the sorting mode is center sorting provided in an embodiment of the present invention;

[0054] Fig.10 A schematic diagram of a first sorting result after sequential sorting or center sorting is completed based on first sorting information when the grabbing mode of each box is selected as double-box grabbing and the sorting mode is sequential sorting or center sorting provided in an embodiment of the present invention;

[0055] Fig.11 A schematic diagram of a third box colliding with a fourth box when moving to the left provided in an embodiment of the present invention;

[0056] Fig.12 A schematic diagram of an adjusted crawling sequence provided by an embodiment of the present invention;

[0057] Fig.13 A schematic block diagram of a device for determining the unloading order of box cargo provided by an embodiment of the present invention;

[0058] Fig.14 A schematic block diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0059] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0060] The terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The singular forms "a", "said" and "the" used in the embodiments of the present invention and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0061] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0062] The word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrases "if determining" or "if monitoring (stated condition or event)" may be interpreted as "when determining" or "in response to determining" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)", depending on the context.

[0063] According to the placement of different boxes of goods inside the container (standard stacking or non-standard stacking), before the robot arm performs the unloading task, the visual system usually obtains the coordinate information of the box and sorts the boxes from left to right and from top to bottom. However, there are many problems in grasping in this order during the actual unloading process. For example, affected by the internal space of the container, the side wall of the container may interfere with the box during the unloading process, resulting in collision problems. For another example, for non-standard stacked boxes, if the unloading task is performed according to this order, there may be collision problems between the boxes.

[0064] In view of this, the embodiment of the present invention provides a new idea. In order to facilitate the understanding of the present application, the system architecture based on the embodiment of the present invention is first described. Figure 1 An exemplary system architecture to which the present invention can be applied is shown. Figure 1 As shown in , the system architecture may include a terminal device and a device for determining the unloading sequence of box cargo located at the server end.

[0065] The terminal devices may include, but are not limited to, smart mobile terminals, smart home devices, wearable devices, PCs (Personal Computers), etc. Smart mobile terminals may include mobile phones, tablet computers, laptop computers, PDAs (Personal Digital Assistants), Internet cars, etc. Smart home devices may include smart TVs, smart refrigerators, etc. Wearable devices may include smart watches, smart glasses, virtual reality devices, augmented reality devices, mixed reality devices (i.e., devices that can support virtual reality and augmented reality), etc.

[0066] The device for determining the unloading sequence of box cargo can use the method for determining the unloading sequence of box cargo provided in the embodiment of the present invention to determine the unloading sequence of box cargo.

[0067] The above-mentioned container cargo unloading sequence determination device can be set on a single server, or on a server group consisting of multiple servers, or on a cloud server. A cloud server, also known as a cloud computing server or cloud host, is a host product in a cloud computing service system to solve the defects of difficult management and weak service scalability in traditional physical hosts and virtual private servers (VPS). Figure 1 In addition to the shown architecture, the device for determining the unloading sequence of the container cargo can also be set on a computer terminal with strong computing power.

[0068] Figure 2 A flow chart of a method for determining the unloading order of box cargo provided by an embodiment of the present invention, the method can be performed by Figure 1 The unloading order determination device of the box cargo in the system shown is executed. Figure 2 As shown in , the method may include the following steps:

[0069] Step 201: Obtain parameter information of each box in the container, the parameter information including original coordinates and three-dimensional dimensions.

[0070] Step 202: Determine first sorting information of each box according to the original coordinates and three-dimensional size of each box.

[0071] Step 203: Select at least one crawling method, and output second sorting information based on the first sorting information and the at least one crawling method.

[0072] Step 204: Select at least one sorting method, and output a first sorting result based on the second sorting information and according to the at least one sorting method.

[0073] The following is a detailed description of each step in the above process and the effects that can be further produced in conjunction with the embodiments of the present invention. It should be noted that the limitations such as "first" and "second" involved in the embodiments of the present invention do not have limitations in terms of size, order, and quantity, and are only used to distinguish them in terms of name, for example, "first sorting information" and "second sorting information" are used to distinguish two different sorting information.

[0074] First, the above step 201, namely, "obtaining parameter information of each box in the container, the parameter information including original coordinates and three-dimensional dimensions" is described in detail in conjunction with an embodiment of the present invention.

[0075] In the embodiment of the present invention, the original coordinates of each box are the coordinates in the robot arm coordinate system. The robot arm coordinate system is as follows: Figure 3 As shown, Figure 3 : The coordinate origin of the robot coordinate system is shown in .

[0076] The above step 202, namely "determining first sorting information of each box according to the original coordinates and three-dimensional size of each box" is described in detail below in conjunction with an embodiment of the present invention.

[0077] In an embodiment of the present invention, as a possible implementation method, the value z of the original coordinate Z axis of each box is divided by the height h of the three-dimensional size of the box and then rounded up to obtain the layer number of each box; the layer number of each box is arranged in descending order, and according to the value y of the original coordinate Y axis of each box, it is determined that each layer of boxes is arranged from one side to the other side along the Y axis (exemplarily, each layer of boxes is arranged from left to right along the Y axis), and the first sorting information of each box is output. It can be understood that it is also possible to determine that each layer of boxes is arranged from one side to the other side along the Y axis according to the value y of the original coordinate Y axis and the value z of the Z axis of each box, and if there are two layers above and below in one layer, that is, there are two boxes placed one above the other on the same layer, then it is determined that the layer is sorted from top to bottom, and the first sorting information of each box is output. Exemplarily, the first sorting information of each box is as follows. Figure 4 As shown. Figure 4 In the example, the box with serial number 1 and the box with serial number 2 are located on the third layer and placed one above the other; the box with serial number 3 and the box with serial number 4 are located on the third layer and placed one above the other. At this time, there are two layers in one layer on the third layer, and the number of such layers is two. The above step 203, i.e., "selecting at least one grasping method, and outputting second sorting information based on the at least one grasping method on the basis of the first sorting information" is described in detail below in conjunction with an embodiment of the present invention.

[0078] In the embodiment of the present invention, at least one grasping method may include double-box grasping, and may also include single-box grasping.

[0079] In the embodiment of the present invention, as a possible implementation, if the grabbing mode of each box is selected as double-box grabbing, it is determined whether the target box in the first sorting information is suitable for double-box grabbing. If suitable, the target box is double-boxed with the next box, and the double-boxed merged box is reordered with other boxes based on the first sorting information. For each box that has not been double-boxed, the above steps are repeated to obtain the second sorting information. Specifically, the specific process of implementing this step is shown in FIG. Figure 5 The process diagram shown includes:

[0080] Step 501: Set the target box index in the first sorting information to 1.

[0081] Step 502: If the grabbing method for each box is selected as double-box grabbing, determine whether the target box in the first sorting information is the last box. If not, proceed to step 503; if yes, proceed to step 504.

[0082] Step 503: Determine whether the target box and the next box are on the same layer. If yes, proceed to step 505; if no, proceed to step 504.

[0083] Step 504: Determine whether the target box is suitable for single box grabbing.

[0084] Step 505: Determine whether the target box and the next box are both in standard stacking mode. If yes, proceed to step 506, if not, proceed to step 504.

[0085] It should be noted that standard stacking means that all boxes are stacked in the same way, otherwise it is non-standard stacking.

[0086] Step 506: Determine whether the interval between the target box and the next box is less than the preset interval distance. If yes, proceed to step 507, otherwise proceed to step 504.

[0087] Step 507: Determine to perform double-box merging of the target box and the next box.

[0088] It should be noted that after the target box and the next box are double-boxed, the target box index is increased by 1, and then step 508 is performed.

[0089] Step 508: Determine in turn whether each box has completed double-box merging. If not, repeat the above steps; if completed, proceed to step 509.

[0090] Step 509: Based on the first sorting information, the merged double boxes are re-sorted with other boxes to obtain second sorting information.

[0091] In the embodiment of the present invention, Figure 4 Based on the first sorting information in , two boxes are merged, and the merged two boxes are reordered with other boxes. The second sorting information obtained is as follows Figure 6 As shown. Figure 6 As shown, the two boxes with standard stacking on the 1st and 2nd floors will be combined into one box for grabbing, and the boxes with non-standard stacking on the 3rd floor will maintain the original order.

[0092] It is understandable that in the embodiment of the present invention, the grabbing mode of each box can also be selected as single box grabbing.

[0093] In the embodiment of the present invention, as another possible implementation manner, if the grabbing mode of each box is selected as single-box grabbing, it is determined that the output second sorting information is the first sorting information.

[0094] The above step 204, namely "selecting at least one sorting method, and outputting a first sorting result according to the at least one sorting method based on the second sorting information" is described in detail below in conjunction with an embodiment of the present invention.

[0095] In the embodiment of the present invention, as a possible implementation manner, at least one sorting manner includes sequential sorting and center sorting.

[0096] In an embodiment of the present invention, as a possible implementation method, if the grabbing method of each box selected in step 203 is single-box grabbing, it is determined that the second sorting information output is the first sorting information. If at least one sorting method selected at this time is sequential sorting, the boxes are arranged from one side to the other along the Y axis. This sequential sorting is to correct the situation in step 202 (that is, according to the value y of the original coordinate Y axis and the value z of the Z axis of each box, it is determined that each layer of boxes is arranged from one side to the other along the Y axis, and if there are two layers above and below in one layer, that is, there are two boxes placed one above the other on the same layer, then it is determined that the layer is sorted from top to bottom). The error occurs when each layer of boxes is arranged from one side to the other along the Y axis. Since the side wall of the container is in the form of a corrugated plate, it sometimes exceeds the side of the cargo (that is, sometimes the side of the box will be stuck in the recessed part of the corrugated plate, refer to Figure 7 ), resulting in collision between the cargo and the container sidewall during unloading. At this time, the sorting interaction step is entered, and the grabbing order of the box next to the corrugated plate needs to be exchanged with that of the next box, and the movement space of the edge box (i.e., the box next to the corrugated plate) needs to be increased to ensure the smooth progress of the unloading task. Figure 4 The first sorting result after the sorting exchange is completed based on the first sorting information is as follows Figure 8 If at least one of the sorting methods selected at this time is center sorting, then start grabbing from the middle box, then grab the box to the left of the middle box, then grab the box to the right of the middle box, and so on, and so on, alternately grabbing from the middle box to the boxes on both sides. Figure 4 The first sorting result after completing the center sorting based on the first sorting information is as follows Fig. 9 It should be noted that, since boxes 1, 2, and 3 are taken out first, that is, the right side of box 4 has room for movement, it can be avoided that the side of box 4 is stuck in the concave part of the corrugated plate, resulting in collision between the cargo and the side wall of the container during unloading.

[0097] In the embodiment of the present invention, as another possible implementation, if the grabbing method of each box is selected as double box grabbing in step 203, then on the basis of the first sorting information, the merged double boxes are reordered with other boxes to obtain the second sorting information. If at least one sorting method selected at this time is sequential sorting, the order of the merged double boxes and / or single boxes is arranged from one side to the other along the Y axis. Since the side wall of the container is in the form of corrugated board, it sometimes exceeds the side of the goods (that is, sometimes the side of the box is stuck in the concave part of the corrugated board, see Figure 7 ), resulting in collision between the cargo and the container sidewall during unloading. At this time, the sorting interaction step is entered, and the grabbing order of the double box or single box next to the corrugated plate needs to be exchanged with the next double box or single box next to it, and the movement space of the edge box is increased to ensure the smooth progress of the unloading task. Figure 6 The first sorting result after the sorting exchange is completed based on the first sorting information is as follows Fig.10 If at least one of the sorting methods selected at this time is center sorting, then start grabbing from the double box or single box merged in the middle, then grab the double box or single box merged on the left of the double box or single box merged in the middle, then grab the double box or single box merged on the right of the double box or single box merged in the middle, ..., and so on, alternately grab the double boxes or single boxes merged on both sides from the double box or single box merged in the middle. For example, in Figure 6 The first sorting result after completing the center sorting based on Fig.10 shown.

[0098] In the embodiment of the present invention, the robot arm grabs and unloads the boxes in the container according to the aforementioned first sorting result.

[0099] In an embodiment of the present invention, as a possible implementation method, based on the first sorting result, it is determined whether the target merged double boxes or the target single box will collide with other merged double boxes or single boxes during the grabbing process; if so, the target merged double boxes or the target single box are re-sorted with other merged double boxes or single boxes, and a second sorting result is output. According to the second sorting result, the box is unloaded. For example, Fig.11 As shown in the figure, the grasping path of each box is detected. At this time, the third box will collide with the fourth box when moving to the left. After the judgment module determines whether the target merged double box or the target single box will collide with other merged double boxes or single boxes during the grasping process, the grasping order will be adjusted to Fig.12 If you grab the boxes in this order, there will be no collision problem.

[0100] From the above content, it can be seen that the embodiments of the present invention use different grabbing methods and sorting methods, and at the same time add pre-judgment of obstacles such as container side walls (container side walls are in the form of corrugated plates, which sometimes exceed the side of the goods), so that the output sorting results are more reasonable and the method is more adaptable; when grabbing double boxes, it is determined that the target box and the next box are not both in the standard stacking method, and then the target box is determined to be suitable for single-box grabbing. It can be seen that this method has good adaptability when the boxes are placed in non-standard stacking, and can output reasonable and safe sorting results; the grabbing method and sorting method are flexible. Single-box grabbing and double-box grabbing can be selected, and sequential sorting and center sorting can be subdivided at the same time, which allows users to choose appropriate grabbing methods and sorting methods according to the actual situation on site, such as robot arm model, fixture model, container size, cargo stacking method, etc.

[0101] According to an embodiment of another aspect, a device for determining a box cargo unloading sequence is provided. Fig.13 A schematic block diagram showing the determination of the unloading order of the box cargo according to an embodiment is shown. The device can be arranged at Figure 1 The server side of the architecture shown in Figure 1. Fig.13 As shown, the device 1300 may include: an acquisition unit 1301, a determination unit 1302, a first selection output unit 1303, and a second selection output unit 1304. The main functions of each component unit are as follows:

[0102] The acquisition unit 1301 is used to acquire parameter information of each box in the container, wherein the parameter information includes original coordinates and three-dimensional dimensions;

[0103] The determining unit 1302 is used to determine the first sorting information of each box according to the original coordinates and the three-dimensional size of each box;

[0104] The first selection and output unit 1303 is used to select at least one crawling method, and output second sorting information based on the first sorting information and the at least one crawling method;

[0105] The second selection and output unit 1304 is used to select at least one sorting method, and output a first sorting result according to the at least one sorting method based on the second sorting information.

[0106] In a possible implementation, the determination unit 1302 is specifically used to obtain the layer number of each box by dividing the value z of the original coordinate Z axis of each box by the height h in the three-dimensional size of the box and rounding up; arranging the layer numbers of each box in descending order, and according to the value y of the original coordinate Y axis of each box, determining that each layer of boxes is arranged from one side to the other side along the Y axis, and outputting the first sorting information of each box.

[0107] In a possible implementation, the determination unit 1302 is specifically used to determine that each layer of boxes is arranged from one side to the other along the Y-axis according to the original coordinate Y-axis value y and the Z-axis value z of each box, and if there are two layers, upper and lower layers, in one layer, it is determined that the layer is sorted from top to bottom, and the first sorting information of each box is output.

[0108] In a possible implementation, the at least one grasping method includes: double-box grasping;

[0109] The first selection output unit 1303 is specifically used to determine whether the target box in the first sorting information is suitable for double-box grabbing if the grabbing method for each box is double-box grabbing. If suitable, the target box is double-box merged with the next box, and based on the first sorting information, the merged double box is reordered with other boxes. For each box that has not been double-box merged, the above steps are repeated to obtain second sorting information.

[0110] In a possible implementation, the first selection output unit 1303 is specifically used to determine whether the target box in the first sorting information is the last box if the grabbing method for each box is double-box grabbing; if not, determine whether the target box and the next box are on the same layer; if yes, and the target box and the next box are both stacked in a standard manner and the interval between the target box and the next box is less than a preset interval distance, determine to merge the target box and the next box into double boxes; determine whether each box has completed the double-box merging in turn, if not, repeat the above steps; if completed, re-sort the merged double boxes with other boxes on the basis of the first sorting information to obtain second sorting information.

[0111] In a possible implementation, the device further includes: a target determination unit. The target determination unit is configured to determine that the target box is suitable for single-box grabbing if it is determined that the target box is not suitable for double-box grabbing.

[0112] In a possible implementation, the device further includes: a judgment unit. The judgment unit is used to judge whether the target merged double box or the target single box will collide with other merged double boxes or single boxes during the grasping process according to the first sorting result; if so, re-sort the target merged double box or the target single box with other merged double boxes or single boxes, and output a second sorting result.

[0113] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment. The device embodiment described above is only schematic, wherein the unit described as a separate component may or may not be physically separated, and the component displayed as a unit may or may not be a physical unit, that is, it may be located in one place, or it may be distributed on multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative work.

[0114] In addition, an embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the steps of any one of the methods in the aforementioned method embodiments are implemented.

[0115] And an electronic device, comprising:

[0116] one or more processors; and

[0117] A memory associated with the one or more processors, the memory being used to store program instructions, wherein the program instructions, when read and executed by the one or more processors, execute the steps of the method described in any one of the aforementioned method embodiments.

[0118] An embodiment of the present invention further provides a computer program product, including a computer program, which implements the steps of any one of the methods in the aforementioned method embodiments when executed by a processor.

[0119] in, Fig.14The architecture of the electronic device is exemplarily shown, which may include a processor 1410, a video display adapter 1411, a disk drive 1412, an input / output interface 1413, a network interface 1414, and a memory 1420. The processor 1410, the video display adapter 1411, the disk drive 1412, the input / output interface 1413, the network interface 1414, and the memory 1420 may be communicatively connected via a communication bus 1430.

[0120] Among them, the processor 1410 can be implemented by a general-purpose CPU, a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, etc., to execute relevant programs to implement the technical solutions provided by the embodiments of the present invention.

[0121] The memory 1420 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1420 can store an operating system 1421 for controlling the operation of the electronic device 1400, and a basic input and output system (BIOS) 1422 for controlling the low-level operation of the electronic device 1400. In addition, a web browser 1423, a data storage management system 1424, and a box cargo unloading sequence determination device 1425, etc. can also be stored. The above-mentioned box cargo unloading sequence determination device 1425 can be an application program that specifically implements the above-mentioned steps in the embodiment of the present invention. In short, when the technical solution provided by the embodiment of the present invention is implemented by software or firmware, the relevant program code is stored in the memory 1420 and is called and executed by the processor 1410.

[0122] The input / output interface 1413 is used to connect the input / output module to realize information input and output. The input / output module can be configured in the device as a component (not shown in the figure), or it can be externally connected to the device to provide corresponding functions. Among them, the input device may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device may include a display, a speaker, a vibrator, an indicator light, etc.

[0123] The network interface 1414 is used to connect to a communication module (not shown) to achieve communication interaction between the device and other devices. The communication module can achieve communication through a wired method (such as USB, network cable, etc.) or a wireless method (such as mobile network, WIFI, Bluetooth, etc.).

[0124] The bus 1430 comprises a pathway for transmitting information between the various components of the device (eg, the processor 1410, the video display adapter 1411, the disk drive 1412, the input / output interface 1413, the network interface 1414, and the memory 1420).

[0125] It should be noted that, although the above device only shows a processor 1410, a video display adapter 1411, a disk drive 1412, an input / output interface 1413, a network interface 1414, a memory 1420, a bus 1430, etc., in the specific implementation process, the device may also include other components necessary for normal operation. In addition, it can be understood by those skilled in the art that the above device may also only include components necessary for implementing the solution of the present application, and does not necessarily include all the components shown in the figure.

[0126] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0127] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the embodiments of the present invention, rather than to limit them. Although the embodiments of the present invention have been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for determining the unloading order of container cargo, characterized in that: include: Obtain parameter information of each box in the container, the parameter information including original coordinates and three-dimensional dimensions; Determine first sorting information of each box according to the original coordinates and three-dimensional size of each box; Selecting at least one crawling method, and outputting second sorting information based on the first sorting information and according to the at least one crawling method; At least one sorting method is selected, and based on the second sorting information, a first sorting result is output according to the at least one sorting method.

2. The method according to claim 1, characterized in that Determining first sorting information of each box according to the original coordinates and the three-dimensional size of each box includes: Use the original Z-axis coordinate value z of each box to divide by the height h of the box in the three-dimensional size and round up to get the layer number of each box; Arrange the layers where each box is located in descending order, and according to the value y of the original coordinate Y axis of each box, determine the arrangement of each layer of boxes along the Y axis from one side to the other side, and output the first sorting information of each box.

3. The method according to claim 2, characterized in that The step of determining, according to the value y of the original coordinate Y axis of each box, that each layer of boxes is arranged from one side to the other side along the Y axis, and outputting first sorting information of each box, includes: According to the original Y-axis value y and Z-axis value z of each box, determine that each layer of boxes is arranged from one side to the other along the Y-axis. If there are two layers in one layer, determine that the layer is sorted from top to bottom, and output the first sorting information of each box.

4. The method according to claim 1, characterized in that The at least one grasping method includes: double-box grasping; The selecting at least one crawling method and outputting second sorting information based on the first sorting information and according to the at least one crawling method includes: If the grabbing method for each box is selected as double-box grabbing, determine whether the target box in the first sorting information is suitable for double-box grabbing. If suitable, merge the target box with the next box into double boxes, and reorder the merged double boxes with other boxes based on the first sorting information. Repeat the above steps for each box that has not been merged into double boxes to obtain second sorting information.

5. The method according to claim 4, characterized in that If the grabbing mode of each box is selected as double-box grabbing, it is determined whether the target box in the first sorting information is suitable for double-box grabbing. If suitable, the target box is double-boxed with the next box, and the double-boxed merged box is reordered with other boxes based on the first sorting information. For each box that has not been double-boxed, the above steps are repeated to obtain the second sorting information, including: If the grabbing method for each box is selected as double-box grabbing, determine whether the target box in the first sorting information is the last box; If not, determine whether the target box and the next box are on the same layer; If yes, and both the target box and the next box are in standard stacking mode and the distance between the target box and the next box is less than the preset distance, then it is determined to merge the target box and the next box into two boxes; Determine in turn whether each box has completed the double box merging. If not, repeat the above steps; if completed, re-sort the merged double boxes with other boxes based on the first sorting information to obtain the second sorting information.

6. The method according to claim 4, characterized in that The method further comprises: If the target box is judged to be unsuitable for double-box grasping, the target box is determined to be suitable for single-box grasping.

7. The method according to claim 5, characterized in that The method further comprises: According to the first sorting result, determining whether the target merged double boxes or the target single box will collide with other merged double boxes or single boxes during the grasping process; If yes, the target merged double boxes or target single boxes are reordered with other merged double boxes or single boxes, and a second sorting result is output.

8. A device for determining the unloading order of box cargo, characterized in that: include: An acquisition unit, used to acquire parameter information of each box in the container, wherein the parameter information includes original coordinates and three-dimensional dimensions; A determining unit, configured to determine first sorting information of each box according to the original coordinates and three-dimensional size of each box; A first selection and output unit, configured to select at least one crawling method, and output second sorting information based on the first sorting information and the at least one crawling method; The second selection and output unit is used to select at least one sorting method and output a first sorting result according to the at least one sorting method based on the second sorting information.

9. An electronic device, characterized in that: include: A memory and a processor, wherein the processor and the memory communicate with each other via a bus; The memory stores program instructions executable by the processor, and the processor can execute the method according to any one of claims 1 to 7 by calling the program instructions.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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