Stacking planning method, device and equipment for loading operation and storage medium

Abstract

The invention provides a stacking planning method, device and equipment for loading operation and a storage medium, and the stacking planning method comprises the steps that stacking planning is conducted according to material information conveyed by a conveying mechanism or known incoming material information, and a target stack type is determined; according to the target stack type, performing sliding direction screening on a to-be-stacked position of a current layer in a 3D direction, and determining a target candidate position; according to the target candidate position, a grabbing mode and a placing mode of the material are determined; and at least one material is grabbed from the conveying mechanism according to the grabbing mode, and the materials are stacked on the target candidate position according to the placing mode. Therefore, layer-by-layer stacking in the optimal stacking sequence can be ensured, collision among the cargoes in the stacking process is avoided, the piece falling rate is effectively reduced, the cargo loss caused by loading is effectively reduced, a manual loading mode can be well replaced, and the overall loading efficiency of the cargoes is greatly improved.

Description

Background Art

[0002] With the development of the logistics industry, the use of robots to perform logistics loading, unloading, sorting and other operations is being promoted by more and more enterprises. This method can greatly improve the efficiency of loading, unloading and sorting, and meet the high-intensity work requirements.

[0003] However, existing depalletizing and palletizing robots generally operate at fixed positions (i.e., fixed at a designated position, and then through the extension of the robotic arm to adapt to the operation requirements within a certain range). When dealing with more complex logistics scenarios, such as semi-enclosed carriages or loading goods in containers at the dock, existing robots are difficult to adapt to palletizing operations within a narrow space range, resulting in this link still highly dependent on manual handling and low efficiency. Summary of the Invention

[0004] Aiming at the defects in the prior art, the purpose of the present invention is to provide a stacking planning method, device, equipment and storage medium for loading operations.

[0005] In a first aspect, an embodiment of the present application provides a stacking planning method for loading operations, including:

[0006] Performing palletizing planning based on the material information conveyed by the conveying mechanism or the known incoming material information to determine the target pallet type;

[0007] Screening the sliding direction of the position to be stacked in the current layer in the 3D direction according to the target pallet type to determine the target candidate position;

[0008] Determining the grasping method and placing method of the material according to the target candidate position;

[0009] Grasping at least one material from the conveying mechanism according to the grasping method and stacking it at the target candidate position according to the placing method.

[0010] Optionally, the grasping method includes: top suction, side suction, side suction with a bottom support; the placing method includes: top placement, side placement.

[0011] Optionally, performing palletizing planning based on the material information conveyed by the conveying mechanism or the known incoming material information to determine the target pallet type includes:

[0012] Performing palletizing planning according to the size of the loading space, the size and type of the materials conveyed by the conveying mechanism, or the known incoming material information, in accordance with the preset pallet type parameters to determine the target pallet type; wherein, the loading space includes: containers, carriages, trucks, warehouses; the pallet type parameters include: loading rate, maximum load-bearing height.

[0013] Optionally, according to the target stacking pattern, perform a sliding direction screening on the positions to be stacked in the current layer in the 3D direction to determine target candidate positions, including:

[0014] Determine all the positions to be stacked in the current layer, and label them with serial numbers 1 to N, where N is the total number of positions to be stacked;

[0015] Traverse all the positions to be stacked. Assume that the i-th position to be stacked is currently being screened, where i = 1, 2, 3,..., N;

[0016] Slide the remaining positions to be stacked except the i-th position to be stacked as a whole along a preset 3D direction, and detect whether there is a collision with the i-th position to be stacked during the sliding. If there is no collision, mark the i-th position to be stacked as a target candidate position;

[0017] If there is a collision, exclude the i-th position to be stacked.

[0018] Optionally, when the number of target candidate positions is greater than 1, the method further includes:

[0019] Determine the stacking priority of the target candidate positions according to preset conditions, where the preset conditions include: stacking from low to high, stacking from left to right.

[0020] Optionally, if during the loading operation, assume that the number of materials grasped by the robot at one time is M, and when M is greater than 1, the method further includes:

[0021] Determine K target candidate positions corresponding to the number of materials to be grasped, where K is greater than or equal to M;

[0022] According to the K target candidate positions, determine the matching method when the robot places the materials. The matching method includes: rotating along any one or any combination of the X-axis direction, Y-axis direction, and Z-axis direction so that the M materials match the target candidate positions, and when placing, there is no conflict or collision between the materials to be stacked and other materials.

[0023] Optionally, it further includes:

[0024] Detect whether there are any dropped materials;

[0025] If there are dropped materials, determine the original positions where the dropped materials were placed;

[0026] Control the robot to re-stack the dropped materials at their original positions.

[0027] In a second aspect, an embodiment of the present application provides a stacking planning device for loading operations, including:

[0028] The stack type determination module is used to perform palletizing planning based on the material information conveyed by the conveying mechanism or the known incoming material information, and determine the target stack type;

[0029] The sliding direction screening module is used to screen the sliding direction of the positions to be stacked in the current layer in the 3D direction according to the target stack type, and determine the target candidate positions;

[0030] The grasping and placing method determination module is used to determine the grasping method and placing method of the material according to the target candidate positions;

[0031] The stacking module is used to grasp at least one material from the conveying mechanism according to the grasping method and stack it at the target candidate positions according to the placing method.

[0032] Optionally, the grasping methods include: top suction, side suction, and side suction with a bottom support; the placing methods include: top placement and side placement.

[0033] Optionally, the stack type determination module is specifically used for:

[0034] Performing palletizing planning based on the material information conveyed by the conveying mechanism or the known incoming material information to determine the target stack type, including:

[0035] Performing palletizing planning according to the size of the loading space, the size and type of the materials conveyed by the conveying mechanism, or the known incoming material information, and determining the target stack type according to the preset stack type parameters; wherein, the loading space includes: containers, carriages, trucks, warehouses; the stack type parameters include: loading rate, maximum load-bearing height.

[0036] Optionally, the sliding direction screening module is specifically used for:

[0037] Determining all the positions to be stacked in the current layer and labeling the serial numbers 1 to N, where N is the total number of positions to be stacked;

[0038] Traversing all the positions to be stacked, assuming that the i-th position to be stacked is currently screened, where i = 1, 2, 3,..., N;

[0039] Sliding the remaining positions to be stacked except the i-th position to be stacked as a whole along the preset 3D direction, and detecting whether there is a collision with the i-th position to be stacked during the sliding. If there is no collision, the i-th position to be stacked is marked as a target candidate position;

[0040] If there is a collision, the i-th position to be stacked is excluded.

[0041] Optionally, it further includes: a priority determination module, configured to determine the stacking priority of the target candidate positions according to preset conditions when the number of the target candidate positions is greater than 1, where the preset conditions include: stacking from low to high, and stacking from left to right.

[0042] Optionally, when performing the loading operation, assuming that the number of materials grasped by the robot at one time is M and M is greater than 1, the device further includes: a matching module, configured to:

[0043] Determine K target candidate positions corresponding to the number of grasped materials, where K is greater than or equal to M;

[0044] Determine the matching method when the robot places the materials according to the K target candidate positions, where the matching method includes: rotating in any one or any combination of directions along the X-axis direction, the Y-axis direction, and the Z-axis direction, so that the M materials match the target candidate positions, and when placing, there is no conflict or collision between the materials to be stacked and other materials.

[0045] Optionally, it further includes: a dropped part detection module, configured to detect whether there are dropped materials; if there are dropped materials, determine the original placement position of the dropped materials; control the robot to re-stack the dropped materials at the original placement position.

[0046] In a third aspect, an embodiment of the present application provides a stacking planning device for loading operations, including: a processor and a memory, where an executable program instruction is stored in the memory, and when the processor calls the program instruction in the memory, the processor is configured to:

[0047] Execute the steps of the stacking planning method for loading operations according to any one of the first aspects.

[0048] In a fourth aspect, an embodiment of the present application provides a robot, including: a robot body, a drive system, and a robotic arm. A processor and a memory are provided in the robot body, and an executable program instruction is stored in the memory. When the processor calls the program instruction in the memory, the processor is configured to control the drive system to drive the robotic arm to implement the steps of the stacking planning method for loading operations according to any one of the first aspects.

[0049] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium for storing a program, and when the program is executed, the steps of the stacking planning method for loading operations according to any one of the first aspects are implemented.

[0050] In a sixth aspect, an embodiment of the present application provides a program product, which includes a computer program stored in a readable storage medium. At least one processor of the robot can read the computer program from the readable storage medium, and the at least one processor executes the computer program to cause the robot to implement the steps of the stacking planning method for the loading operation described in any one of the first aspects.

[0051] Compared with the prior art, the present invention has the following beneficial effects:

[0052] In the present application, by performing stacking planning based on the material information conveyed by the conveying mechanism or the known incoming material information, the target stack type is determined; according to the target stack type, the sliding direction screening is performed on the positions to be stacked in the current layer in the 3D direction to determine the target candidate positions; according to the target candidate positions, the grasping method and the placing method of the materials are determined; at least one material is grasped from the conveying mechanism according to the grasping method and stacked at the target candidate position according to the placing method. Thereby, it can ensure that the stacking is performed layer by layer in the best stacking order, avoid collisions between goods during the stacking process, effectively reduce the dropping rate, and reduce the loss of goods caused by loading, and can well replace the manual loading method, greatly improving the overall loading efficiency of the goods. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the provided drawings. By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, objects, and advantages of the present invention will become more obvious:

[0054] Figure 1 It is a flowchart of a stacking planning method for a loading operation provided by an embodiment of the present application;

[0055] Figure 2 It is a schematic vertical plane diagram of the sliding direction screening provided by an embodiment of the present application Figure 1 ;

[0056] Figure 3 It is a schematic vertical plane diagram of the sliding direction screening provided by an embodiment of the present application Figure 2 ;

[0057] Figure 4 It is a flowchart of another stacking planning method for a loading operation provided by an embodiment of the present application;

[0058] Figure 5It is a flowchart of another method for palletizing planning in the loading operation provided by the embodiments of the present application;

[0059] Figure 6 It is a schematic structural diagram of a palletizing planning device for the loading operation provided by the embodiments of the present application;

[0060] Figure 7 It is a schematic structural diagram of a palletizing planning device for the loading operation provided by an embodiment of the present application;

[0061] Figure 8 It is a schematic structural diagram of a computer-readable storage medium in the embodiments of the present invention. Detailed implementation manners

[0062] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Apparently, the described embodiments are some but not all of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts shall fall within the protection scope of the present application.

[0063] It should be noted that when a component is referred to as being "fixed to" another component, it can be directly on the other component or there may also be an intermediate component. When a component is considered to be "connected" to another component, it can be directly connected to the other component or there may be an intermediate component at the same time.

[0064] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs. The terms used in the specification of this application herein are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0065] The terms "first", "second", "third", "fourth", etc. (if any) in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and do not necessarily need to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein, for example, can be implemented in an order other than those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0066] The technical solutions of the present invention and how the technical solutions of the present application solve the above technical problems will be described in detail below with specific embodiments. These several specific embodiments below can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

[0067] Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. Without conflict, the embodiments described below and the features in the embodiments can be combined with each other.

[0068] Figure 1 It is a flowchart of a stacking planning method for loading operations provided by an embodiment of the present application. As Figure 1 shown, the method in this embodiment may include:

[0069] Step S101, perform stacking planning according to the material information conveyed by the conveying mechanism or the known incoming material information, and determine the target stack type.

[0070] In this embodiment, stacking planning can be performed according to the size of the loading space, the size and type of the materials conveyed by the conveying mechanism, or the known incoming material information, and the target stack type can be determined according to the preset stack type parameters; wherein, the loading space includes: containers, carriages, trucks, warehouses; the stack type parameters include: loading rate, maximum load height.

[0071] In a possible implementation manner, during the loading operation, the robot does not know the material information conveyed by the conveying mechanism, that is, the size of the incoming material is unknown. This situation is more of a mixed stacking scenario, that is, multiple different materials need to be stacked in a container carriage. In this case, the vision system built into the robot and / or the vision devices arranged in the on-site environment collect the material images conveyed by the conveying mechanism in real time to obtain the material information. Then, according to the obtained material information, the stack type for stacking during loading is dynamically planned. At this time, the target stack type generally changes.

[0072] In another possible implementation manner, for example, in the scenario of loading a container at a dock, the materials in a container are often of the same or similar categories. Therefore, stacking planning can be performed according to the known incoming material information to determine the target stack type.

[0073] Step S102, screen the sliding direction of the position to be stacked in the current layer in the 3D direction according to the target stack type, and determine the target candidate position.

[0074] In this embodiment, first, all the positions to be stacked in the current layer are determined and numbered 1 to N, where N is the total number of positions to be stacked. Then, all the positions to be stacked are traversed. Assume that the i-th position to be stacked is currently being screened, where i = 1, 2, 3, …, N. Next, the remaining positions to be stacked except the i-th position are slid as a whole along a preset 3D direction, and it is detected whether there is a collision with the i-th position during the sliding. If there is no collision, the i-th position to be stacked is marked as a target candidate position; if there is a collision, the i-th position to be stacked is excluded.

[0075] Exemplarily, when the number of target candidate positions is greater than 1, the stacking priorities of the target candidate positions can be determined according to preset conditions, where the preset conditions include: stacking from low to high and stacking from left to right.

[0076] In this embodiment, sometimes more than 1 position to be stacked passes the collision screening in the preset sliding direction. At this time, the placement priority can be set according to actual operation experience, such as stacking from low to high, from left to right, or from right to left. It should be noted that the specific setting strategy of the priority is not limited in this embodiment, and common priority setting strategies can be applied to the method of this embodiment.

[0077] Figure 2 Schematic diagram of the vertical plane for screening the sliding direction provided by the embodiment of the present application Figure 1 , such as Figure 2 shown. Assume that a total of 9 materials can be stacked on the vertical plane of the carriage (i.e., the same layer) (the target stack type is stratified by the vertical plane, because the loading operation is carried out layer by layer from the inside to the outside). Among them, the numbers 1 to 6 represent a total of six positions to be stacked. Starting from the 1st position to be stacked, each position to be stacked is traversed, and the collision screening of the preset sliding direction is carried out. Taking the 1st position to be stacked as an example, when the other positions to be stacked (2 to 6) are slid as a whole along the preset direction, there will be no collision with the 1st position to be stacked. Therefore, the 1st position to be stacked is marked as a target candidate position.

[0078] Figure 3 Schematic diagram of the vertical plane for screening the sliding direction provided by the embodiment of the present application Figure 2 , such as Figure 3 shown. For the 2nd position to be stacked, the collision screening of the sliding direction is carried out. When the other positions to be stacked (1, 3 to 6) are slid as a whole along the preset direction, the 1st position to be stacked will collide with the 2nd position to be stacked. That is, if the material is first placed at the 2nd position to be stacked, then when the material is placed at the 1st position to be stacked later, due to the limitations of the movement angle (joint angle) of the robotic arm itself, etc., collisions will occur between the materials, resulting in situations such as dropping parts and material damage.

[0079] It should be noted that in this embodiment, collision screening is performed in one sliding direction shown by Figure 2 and Figure 3 . In practical applications, it may be necessary to perform similar collision screening for two or more sliding directions. The principle is similar to that of the screening in one direction in the above embodiment, and will not be elaborated here.

[0080] It should be noted that when stacking materials, in order not to damage the materials already placed on the stack, the robotic arm often places the materials in an inclined insertion manner, which is also the reason for performing collision screening in different sliding directions in this embodiment.

[0081] Step S103: Determine the grasping method and placing method of the material according to the target candidate position.

[0082] In this embodiment, the grasping methods include: top suction, side suction, and side suction with a bottom support; the placing methods include: top placement and side placement.

[0083] Step S104: Grasp at least one material from the conveying mechanism according to the grasping method and stack it at the target candidate position according to the placing method.

[0084] In this embodiment, after determining the target candidate position, the materials are stacked according to the grasping method and placing method determined in step S103.

[0085] Exemplarily, when placing materials at a lower position, the top suction and top placement method is preferably used. When placing materials at a higher position, the top suction and side placement method is used, so that the stacking of materials in a narrow space can be completed flexibly, the loading rate of the space can be improved as much as possible, and the safety during material stacking can be ensured.

[0086] In this embodiment, by performing palletizing planning according to the material information conveyed by the conveying mechanism or the known incoming material information, the target pallet type is determined; according to the target pallet type, the sliding direction screening is performed on the positions to be stacked in the current layer in the 3D direction to determine the target candidate positions; according to the target candidate positions, the grasping method and placing method of the materials are determined; at least one material is grasped from the conveying mechanism according to the grasping method and stacked at the target candidate position according to the placing method. Thus, it can be ensured that the stacking is performed layer by layer in the best stacking order, avoiding collisions between goods during the stacking process, effectively reducing the dropping rate, and the loss of goods caused by loading, and can well replace the manual loading method, greatly improving the overall loading efficiency of the goods.

[0087] Figure 4 is a flowchart of another stacking planning method for loading operations provided by the embodiment of the present application. As Figure 4 shown, the method in this embodiment may include:

[0088] Step S401: perform palletizing planning based on the material information conveyed by the transmission mechanism or the known incoming material information to determine the target pallet type.

[0089] Step S402: According to the target stack type, the positions to be stacked in the current layer are screened in the sliding direction in the 3D direction to determine the target candidate positions.

[0090] Step S403: Determine the material grabbing method and placement method based on the target candidate position.

[0091] In this embodiment, the implementation principle and technical effect of steps S401 to S403 are shown in Figure 1 The description of steps S101 to S103 in the method shown will not be repeated here.

[0092] Step S404: When the number of materials grasped by the robot in a single time is M and M is greater than 1, K target candidate positions corresponding to the number of grasped materials are determined, where K is greater than or equal to M.

[0093] Step S405: Determine the matching method for robot placement based on the K target candidate positions.

[0094] In this embodiment, the matching method includes: rotating along any one or multiple directions of the X-axis direction, the Y-axis direction, and the Z-axis direction, so that the M materials are matched with the target candidate positions. When placing, there will be no conflict or collision between the materials to be stacked and other materials.

[0095] Step S406: grab at least one material from the transmission mechanism according to the grabbing method, and stack the M materials on the target candidate positions according to the placement method according to the determined matching method.

[0096] This embodiment can be applied to scenarios where multiple materials need to be grasped at a time. When the robot's manipulator grasps two or more materials at the same time, multiple materials can be placed at corresponding target candidate positions at the same time by matching and controlling the manipulator in the 3D direction, thereby significantly improving the stacking efficiency.

[0097] Figure 5 A flowchart of another method for stacking planning of loading operations provided in an embodiment of the present application is shown as follows: Figure 5 As shown, the method in this embodiment may include:

[0098] Step S501: perform palletizing planning based on the material information conveyed by the transmission mechanism or the known incoming material information to determine the target pallet type.

[0099] Step S502: According to the target stack type, the positions to be stacked in the current layer are screened in the sliding direction in the 3D direction to determine the target candidate positions.

[0100] Step S503: Determine the material grabbing method and placement method based on the target candidate position.

[0101] Step S504: grab at least one material from the transmission mechanism according to the grabbing method, and place it on the target candidate position according to the placing method.

[0102] In this embodiment, the implementation principle and technical effect of steps S501 to S504 are shown in Figure 1 The description of steps S101 to S104 in the method shown will not be repeated here.

[0103] Step S505: Detect whether there is any fallen material.

[0104] Step S506: If there is any fallen material, determine the original location of the fallen material.

[0105] Step S507: Control the robot to re-stack the fallen materials at their original locations.

[0106] In this embodiment, the robot can monitor the stacking of materials during the loading process. For example, it can use its built-in vision system or cameras deployed at the work site to capture images of the loading environment and determine whether there are any dropped materials based on these images. If there are dropped materials, the robot can be controlled to promptly confirm their location and re-stack them to their original location.

[0107] Figure 6 A schematic diagram of the structure of a stacking planning device for a loading operation is provided in an embodiment of the present application. Figure 6 As shown, the device in this embodiment may include: a stacking type determination module 601, which is used to perform stacking planning based on the material information transported by the transmission mechanism or the known incoming material information, and determine the target stacking type; a sliding direction screening module 602, which is used to perform sliding direction screening on the current layer's to-be-stacked position in the 3D direction according to the target stacking type, and determine the target candidate position; a grabbing and placing method determination module 603, which is used to determine the grabbing method and placement method of the material according to the target candidate position; and a stacking module 604, which is used to grab at least one material from the transmission mechanism according to the grabbing method, and stack it on the target candidate position according to the placement method.

[0108] Optionally, the grabbing methods include: top suction, side suction, and side suction with bottom support; the placement methods include: top placement and side placement.

[0109] Optionally, the stack type determination module 601 is specifically configured to:

[0110] Perform palletizing planning based on the material information conveyed by the conveying mechanism or the known incoming material information, and determine the target pallet type, including:

[0111] Perform palletizing planning according to the size of the loading space, the size and type of the materials conveyed by the conveying mechanism, or the known incoming material information, and determine the target pallet type according to the preset pallet type parameters; wherein, the loading space includes: containers, carriages, trucks, warehouses; the pallet type parameters include: loading rate, maximum load-bearing height.

[0112] Optionally, the sliding direction screening module 602 is specifically configured to: determine all the positions to be palletized in the current layer and label them with serial numbers 1 to N, where N is the total number of positions to be palletized; traverse all the positions to be palletized, assuming that the i-th position to be palletized is currently being screened, i = 1, 2, 3,..., N; slide the remaining positions to be palletized except the i-th position to be palletized as a whole along the preset 3D direction, and detect whether there is a collision with the i-th position to be palletized during the sliding. If there is no collision, mark the i-th position to be palletized as the target candidate position; if there is a collision, exclude the i-th position to be palletized.

[0113] Exemplarily, the above device may further include: a priority determination module 605, configured to determine the palletizing priority of the target candidate positions according to preset conditions when the number of target candidate positions is greater than 1, where the preset conditions include: palletizing from low to high, palletizing from left to right.

[0114] Exemplarily, when performing loading operations, assuming that the number of materials grasped by the robot at one time is M and M is greater than 1, the above device may further include: a matching module 606, configured to: determine K target candidate positions corresponding to the number of grasped materials, where K is greater than or equal to M; determine the matching method when the robot places the materials according to the K target candidate positions, and the matching methods include: rotating along any one or any combination of the X-axis direction, Y-axis direction, and Z-axis direction so that the M materials match the target candidate positions, and when placing, there is no conflict or collision between the materials to be palletized and other materials.

[0115] Exemplarily, the above device may further include: a dropped part detection module 607, configured to detect whether there are dropped materials; if there are dropped materials, determine the original position where the dropped materials were placed; control the robot to re-palletize the dropped materials at the original position.

[0116] In this embodiment, palletizing planning is performed according to the material information conveyed by the conveying mechanism or the known incoming material information to determine the target pallet pattern; according to the target pallet pattern, the sliding direction of the position to be stacked in the current layer is screened in the 3D direction to determine the target candidate position; according to the target candidate position, the grasping method and the placing method of the material are determined; at least one material is grasped from the conveying mechanism according to the grasping method and stacked at the target candidate position according to the placing method. Thus, it can ensure that the best stacking order is adopted to stack layer by layer, avoid collisions between goods during the stacking process, effectively reduce the dropping rate, and reduce the loss of goods caused by loading. It can well replace the manual loading method and greatly improve the overall loading efficiency of goods.

[0117] Figure 7 FIG. 4 is a schematic structural diagram of a stacking planning device for loading operations provided by an embodiment of the present application. The stacking planning device 700 for loading operations in this embodiment may include: a processor 701 and a memory 702.

[0118] The memory 702 is used to store programs; the memory 702 may include a volatile memory (English: volatile memory), such as a random access memory (English: random-access memory, abbreviation: RAM), such as a static random access memory (English: static random-access memory, abbreviation: SRAM), a double data rate synchronous dynamic random access memory (English: Double Data Rate Synchronous Dynamic Random Access Memory, abbreviation: DDR SDRAM), etc.; the memory may also include a non-volatile memory (English: non-volatile memory), such as a flash memory (English: flash memory). The memory 702 is used to store computer programs (such as application programs and functional modules for implementing the above methods), computer instructions, etc. The above computer programs, computer instructions, etc. may be stored in one or more memories 702 in a partitioned manner. And the above computer programs, computer instructions, data, etc. can be called by the processor 701.

[0119] The above computer programs, computer instructions, etc. may be stored in one or more memories 702 in a partitioned manner. And the above computer programs, computer instructions, data, etc. can be called by the processor 701.

[0120] The processor 701 is used to execute the computer programs stored in the memory 702 to implement each step in the method involved in the above embodiment.

[0121] Specifically, reference may be made to the relevant descriptions in the foregoing method embodiments.

[0122] The processor 701 and the memory 702 can be independent structures or integrated structures integrated together. When the processor 701 and the memory 702 are independent structures, the memory 702 and the processor 701 can be coupled through a bus 703.

[0123] The stacking planning device 700 for loading operations in this embodiment can execute Figures 2 to 5 the technical solutions in the method shown, and for the specific implementation process and technical principle, refer to Figures 2 to 5 the relevant descriptions in the method shown, which will not be elaborated here.

[0124] Those skilled in the art can understand that various aspects of the present invention can be implemented as a system, a method, or a program product. Therefore, various aspects of the present invention can be specifically implemented in the following forms, namely: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or an implementation combining hardware and software aspects, which can be collectively referred to as "circuit", "module", or "platform" here.

[0125] In addition, the embodiments of the present application further provide a computer-readable storage medium. Computer-executable instructions are stored in the computer-readable storage medium. When at least one processor of the user equipment executes the computer-executable instructions, the user equipment executes the above various possible methods.

[0126] Among them, the computer-readable medium includes a computer storage medium and a communication medium. The communication medium includes any medium facilitating the transmission of a computer program from one place to another. The storage medium can be any available medium accessible by a general-purpose or special-purpose computer. An exemplary storage medium is coupled to the processor, enabling the processor to read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an ASIC. Additionally, the ASIC can be located in the user equipment. Of course, the processor and the storage medium can also exist as discrete components in a communication device.

[0127] The present application also provides a program product. The program product includes a computer program. The computer program is stored in a readable storage medium. At least one processor of the server can read the computer program from the readable storage medium, and the execution of the computer program by at least one processor enables the server to implement any of the methods in the above embodiments of the present invention.

[0128] Those of ordinary skill in the art can understand that all or part of the steps to implement the above method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps including those of the above method embodiments; and the aforementioned storage medium includes: various media that can store program codes such as read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs.

[0129] Figure 8 is a schematic structural diagram of a computer-readable storage medium in an embodiment of the present invention. Refer to Figure 8 As shown, a program product 800 for implementing the above method according to an embodiment of the present invention is described. It can be a portable compact disc read-only memory (CD-ROM) and includes program codes, and can run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto. In this document, a readable storage medium can be any tangible medium that contains or stores a program, and this program can be used by or in combination with an instruction execution system, apparatus, or device.

[0130] The program product can adopt any combination of one or more readable media. The readable media can be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0131] The computer-readable storage medium can include a data signal propagated in a baseband or as part of a carrier wave, which carries the readable program code. Such a propagated data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The readable storage medium can also be any readable medium other than the readable storage medium, and this readable medium can send, propagate, or transmit a program for use by or in combination with an instruction execution system, apparatus, or device. The program code contained on the readable storage medium can be transmitted by any appropriate medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the above.

[0132] The program code for performing the operations of the present invention can be written in any combination of one or more programming languages, including object-oriented programming languages such as Java, C++, etc., and also including conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computing device, partially on the user's device, executed as a stand-alone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the user's computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computing device (e.g., by using an Internet service provider to connect through the Internet).

[0133] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the same or similar parts among the various embodiments, reference can be made to each other. The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown herein, but rather will conform to the widest scope consistent with the principles and novel features disclosed herein.

[0134] The specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the above specific embodiments. Those skilled in the art can make various deformations or modifications within the scope of the claims, which do not affect the essence of the present invention.

Claims

1. A stacking planning method for loading operations, characterized in that, Including: Based on the material information conveyed by the conveying mechanism or known incoming material information, perform palletizing planning to determine the target pallet pattern; Based on the target pallet pattern, screen the sliding direction of the positions to be stacked on the current layer in the 3D direction to determine the target candidate positions; Based on the target candidate positions, determine the grasping method and placing method of the material; Grasp at least one material from the conveying mechanism according to the grasping method and stack it at the target candidate position according to the placing method.

2. The stacking planning method for loading operations according to claim 1, characterized in that, The grasping methods include: top suction, side suction, and side suction with a bottom support; the placing methods include: top placement, side placement.

3. The stacking planning method for loading operations according to claim 1, characterized in that Based on the material information conveyed by the conveying mechanism or known incoming material information, perform palletizing planning to determine the target pallet pattern, including: According to the size of the loading space, the size and type of the materials conveyed by the conveying mechanism, or known incoming material information, perform palletizing planning according to preset pallet pattern parameters to determine the target pallet pattern; wherein, the loading space includes: containers, carriages, trucks, warehouses; the pallet pattern parameters include: loading rate, maximum load-bearing height.

4. The stacking planning method for loading operations according to claim 1, wherein Based on the target pallet pattern, screen the sliding direction of the positions to be stacked on the current layer in the 3D direction to determine the target candidate positions, including: Determine all the positions to be stacked on the current layer and label them with serial numbers 1 to N, where N is the total number of positions to be stacked; Traverse all the positions to be stacked. Assume that the current screening is the i-th position to be stacked, where i = 1, 2, 3,..., N; Slide the remaining positions to be stacked except the i-th position to be stacked as a whole along the preset 3D direction, and detect whether there is a collision with the i-th position to be stacked during the sliding. If there is no collision, mark the i-th position to be stacked as a target candidate position; If there is a collision, exclude the i-th position to be stacked.

5. The stacking planning method for loading operations according to claim 4, wherein When the number of the target candidate positions is greater than 1, the method further includes: According to preset conditions, determine the stacking priority of the target candidate positions, where the preset conditions include: stacking from low to high, stacking from left to right.

6. The stacking planning method for loading operations according to any one of claims 1-5, characterized in that If during the loading operation, assume that the number of materials grasped by the robot at one time is M, and when M is greater than 1, the method further includes: Determine K target candidate positions corresponding to the number of grasped materials, where K is greater than or equal to M; According to the K target candidate positions, determine the matching method when the robot places the materials. The matching method includes: rotating in any one or any combination of the X-axis direction, Y-axis direction, and Z-axis direction so that the M materials match the target candidate positions, and there is no conflict and collision between the materials to be stacked and other materials during the placement.

7. The stacking planning method for loading operations according to any one of claims 1-5, characterized in that Also including: Detect whether there are dropped materials; If there are dropped materials, determine the original position where the dropped materials were placed; Control the robot to re-stack the dropped materials at the original position where they were placed.

8. A stacking planning device for loading operations, characterized in that, Including: A pallet pattern determination module for performing palletizing planning based on the material information conveyed by the conveying mechanism or known incoming material information to determine the target pallet pattern; A sliding direction screening module for screening the sliding direction of the positions to be stacked on the current layer in the 3D direction based on the target pallet pattern to determine the target candidate positions; A grasping and placing method determination module, configured to determine the grasping method and the placing method of the material according to the target candidate position; A stacking module, configured to grasp at least one material from the conveying mechanism according to the grasping method and stack it at the target candidate position according to the placing method.

9. A stacking planning device for loading operations, characterized in that, Comprising: A processor and a memory, wherein executable program instructions are stored in the memory, and when the processor calls the program instructions in the memory, the processor is configured to: Execute the steps of the stacking planning method for the loading operation according to any one of claims 1 to 7.

10. A computer-readable storage medium for storing a program, characterized in that, When the program is executed, the steps of the stacking planning method for the loading operation according to any one of claims 1 to 7 are implemented.

Images