CN114084683A

CN114084683A - Method and device for determining a shape of a pile

Info

Publication number: CN114084683A
Application number: CN202111463486.9A
Authority: CN
Inventors: 张波; 彭思远; 庄海龙; 卢冬云; 程宏; 张春磊; 汤守庆
Original assignee: Changsha Chaint Machinery Co Ltd
Current assignee: Chaint Corp
Priority date: 2021-12-02
Filing date: 2021-12-02
Publication date: 2022-02-25
Anticipated expiration: 2041-12-02
Also published as: CN114084683B

Abstract

The application relates to the field of logistics and provides a method and a device for determining a stack shape. The method comprises the following steps: acquiring the size of the bottom of the stack and the size of the goods; determining a first number according to the size of the bottom of the pile and the size of the goods, wherein the first number is the maximum theoretical bearing capacity of the number of the goods borne by the bottom of the pile; determining a second quantity based on the size of the bottom and the size of the goods, the second quantity being the quantity of goods when placed on the bottom according to the first verified stack type; determining the first verified stack type as a target stack type for the cargo when the first number is less than or equal to the second number; when the first number is greater than the second number, dividing a plurality of first regions on the bottom of the stack, the size of any one of the plurality of first regions being greater than or equal to the size of the goods; determining a target pile shape of the cargo based on the size of the plurality of first regions and the size of the cargo. The method can select a proper stack shape for the goods, and the quantity of the goods stacked in the unit space is increased.

Description

Method and device for determining a shape of a pile

Technical Field

The application relates to the field of logistics, in particular to a method and a device for determining a stack shape.

Background

The stack shape refers to the contour shape of goods placed on the stack bottom, and for example, the stack shape can be divided into a rectangular stack, a triangular stack, a circular stack, an annular stack and the like according to the plane shape of the stack bottom; the stack shape can be divided into a platform stack, a ridge stack, a line stack, a trapezoid stack, a well-shaped stack and the like according to the three-dimensional shape of the goods; in addition, the stack shape can be designed into a composite shape of rectangle-triangle, rectangle-trapezoid, rectangle-semicircle and the like.

Different suitable goods of the buttress type are different, if the buttress type is improper, can cause the quantity of the goods of stacking in the unit space to reduce, and how to select suitable buttress type is the problem that needs to solve at present.

Disclosure of Invention

The embodiment of the application provides a method and a device for determining a stacking type, a computer readable storage medium and a computer program product, which can select a proper stacking type for goods and improve the quantity of the goods stacked in a unit space.

In a first aspect, there is provided a method of determining a buttress profile, comprising: acquiring the size of the bottom of the stack and the size of the goods; determining a first number according to the size of the bottom of the pile and the size of the goods, wherein the first number is the maximum theoretical bearing capacity of the number of the goods borne by the bottom of the pile; determining a second quantity based on the size of the bottom and the size of the goods, the second quantity being the quantity of goods when placed on the bottom according to the first verified stack type; determining the first verified stack type as a target stack type for the cargo when the first number is less than or equal to the second number; when the first number is greater than the second number, dividing a plurality of first regions on the bottom of the stack, the size of any one of the plurality of first regions being greater than or equal to the size of the goods; determining a target pile shape of the cargo based on the size of the plurality of first regions and the size of the cargo.

In the above method, the first verified profile is a profile set on the basis of practical experience, able to characterize the minimum practical load capacity of the bottom of the pile. In some cases, the minimum actual load (i.e., the second quantity) of the bottom differs from the maximum theoretical load (i.e., the first quantity), e.g., the minimum actual load of the bottom is greater than the maximum theoretical load when the first inspected stack type allows the cargo to exceed the edge of the bottom; when the first inspected stack type does not allow the cargo to exceed the edge of the bottom, the cargo may not be placed tightly due to operational errors, etc., resulting in a minimum actual load capacity of the bottom being less than the maximum theoretical load capacity. Therefore, when the first number is smaller than or equal to the second number, the first inspected stacking type set according to experience can enable the stacking bottom to bear more cargos on the premise of ensuring the placing safety, the device executing the method can determine that the first inspected stacking type is the target stacking type, and then the mechanical arm is controlled to place the cargos according to the first inspected stacking type, so that the number of the cargos stacked in the unit space is increased; when the first number is greater than the second number, indicating that the first experienced shape set empirically does not enable the bottom to bear a greater quantity of goods, the apparatus for performing the method may divide the bottom into a plurality of sub-regions (i.e. first regions), determine a preferred shape in each sub-region, such that the minimum actual load capacity of the bottom approximates the maximum theoretical load capacity as much as possible, thereby enabling a greater probability of increasing the quantity of goods stacked in the unit space.

Optionally, said determining a target pile shape of the load from the dimensions of the plurality of first regions and the dimensions of the load comprises: determining a third quantity according to the sizes of the plurality of first areas and the size of the goods, wherein the third quantity is the sum of the maximum theoretical bearing capacity of the goods respectively borne by the plurality of first areas; when the second number is greater than or equal to the third number, determining that the first verified stack type is the target stack type of the cargo; when the second quantity is smaller than the third quantity, the plurality of first areas are divided respectively to obtain a plurality of second areas, and the size of any one area in the plurality of second areas is larger than or equal to that of the goods; determining a target pile shape of the cargo based on the size of the plurality of second regions and the size of the cargo.

The device performing the above method may determine a maximum theoretical loading of each first region (one example of a sub-region), and add the maximum theoretical loading of each first region to obtain a third number. If the second number is greater than or equal to the third number, the first inspected stacking type can enable the stacking bottom to bear more cargos, and the first inspected stacking type can be determined as the target stacking type, so that the quantity of the cargos stacked in the unit space can be increased. If the second quantity is smaller than the third quantity, the plurality of first areas can be continuously divided until the sum of the maximum theoretical bearing capacity of each sub-area is smaller than or equal to the second quantity, or until each sub-area can not contain a single cargo, so that the maximum theoretical bearing capacity closest to the second quantity can be obtained, and the failure of cargo placement caused by over-ideal stacking type corresponding to the maximum theoretical bearing capacity can be avoided.

Optionally, the determining the third quantity according to the sizes of the plurality of first areas and the size of the goods includes: when the number of divisions of the bottom of the pile is less than the threshold, a third quantity is determined according to the size of the plurality of first regions and the size of the good.

If the number of times of dividing the bottom of the pile is small (smaller than the threshold), the potential benefit of continuously searching for the preferred shape of the pile for the bottom of the pile is greater than the cost overhead brought by the shape of the pile, and the maximum theoretical bearing capacity of the plurality of first regions can be calculated, so that the bottom of the pile can be continuously divided when the maximum theoretical bearing capacity of the plurality of first regions does not meet the requirement.

Optionally, said determining a target pile shape of the load from the dimensions of the plurality of first regions and the dimensions of the load comprises: when the number of times of dividing the bottom of the stack is greater than or equal to the threshold value, determining a fourth number according to the sizes of the plurality of first areas and the sizes of the goods, wherein the fourth number is the number of the goods when the goods are placed on the bottom of the stack according to a second empirical stack type; when the fourth number is greater than or equal to the second number, determining that the second empirical stack shape is the target stack shape for the cargo; when the fourth number is less than the second number, determining that the first inspected stack type is the target stack type for the cargo.

If the number of times of dividing the bottom of the pile is large (greater than or equal to the threshold), the potential benefit of continuously searching for the preferred shape of the pile for the bottom of the pile is less than the cost expense brought by the shape of the pile, at this time, the equipment can calculate the sum of the minimum actual bearing capacity of each sub-region divided currently, compare the sum (fourth number) of the minimum actual bearing capacity of each sub-region with the minimum actual bearing capacity (second number) of the bottom of the pile, determine a larger numerical value, and then determine the shape of the pile corresponding to the larger numerical value as the target shape of the pile, so that the number of the goods stacked in the unit space can be increased on the premise of controlling the cost expense.

Optionally, the method further comprises: if the target pile shape is determined if the number of divisions is less than the threshold, setting the labels of all sub-regions divided by the bottom and the bottom to be first indications indicating that there is no space for optimisation for all sub-regions divided by the bottom and the bottom;

if the target pile shape is determined if the number of divisions equals the threshold, setting the labels of all sub-regions divided by the bottom and the bottom to a second identity indicating that there is an optimization space for all sub-regions divided by the bottom and the bottom.

If the target buttress shape is determined under the condition that the dividing times are less than the threshold, the optimal solution of the bearing capacity of each sub-region is obtained in the dividing process of the sub-regions, therefore, each sub-region and the whole buttress bottom do not need to be divided continuously (namely, no optimization space exists), and when the same buttress bottom or sub-region is processed by the controller subsequently, the buttress bottom or the sub-region can not be divided according to the first identifier, so that the efficiency of subsequently determining the target buttress shape is improved. If the target pile shape is determined under the condition that the dividing times are equal to the threshold, it is indicated that the optimal solution of the bearing capacity of each sub-region may not be obtained in the sub-region dividing process, and the optimal solution of the bearing capacity of each sub-region cannot be solved any more only based on the limitation of the threshold, so that each sub-region and the whole pile bottom can be divided continuously (that is, an optimized space exists), and when the same pile bottom or sub-region is processed by the controller subsequently, the pile bottom or the sub-region can be divided according to the second identifier.

Optionally, said demarcating a plurality of first regions on the bottom of the pile comprises: preferentially dividing the plurality of first regions on the bottom of the stack by using a non-one-knife-cutting dividing manner, wherein the non-one-knife-cutting dividing manner is a manner of dividing the bottom of the stack by at least two intersecting cutting lines.

The sub-region dividing method of the embodiment can enable any sub-region to be adjacent to at least two sub-regions, and the stability of the buttress shape is enhanced.

Optionally, the first verified buttress is a buttress in a buttress database.

The device can query the buttress database according to the size of the bottom of the buttress and the size of the cargo, determine the first verified buttress from the buttress database, thereby quickly determining the second quantity and improving the efficiency of determining the buttress. In addition, the embodiment does not need manual participation, and reduces the cost of logistics enterprises.

Optionally, the first verified buttress shape is a user-entered buttress shape.

In some cases, where the experienced buttress profile in the buttress database does not match the buttress bottom or the cargo, the device may obtain a buttress profile parameter input by the user and determine the first experienced buttress profile based on the buttress profile parameter input by the user, thereby ensuring that the first experienced buttress profile is a buttress profile that ensures security.

Optionally, the method further comprises: and when the target stack shape is the stack shape input by the user, storing the stack shape input by the user into a stack shape database.

When the finally determined target shape is the user-entered shape (e.g., the first verified shape), the device may store the first verified shape in the shape database to facilitate a quick determination of the target shape the next time a similar bottom and load are encountered.

Optionally, the method further comprises: determining an edge distance of a profile of the target pile shape and a profile of the pile bottom; and determining a parameter D according to the size of the goods, the coordinate position of the goods on the pile bottom and the edge distance, wherein the parameter D is a conversion parameter when the edge distance and the size of the goods are used for representing the coordinate position.

The parameter D is a parameter irrelevant to the specific size of the goods, when new goods need to be placed at the bottom of the stack, the controller can determine the coordinate position of the new goods according to the parameter D and the size of the new goods, and a tray division algorithm and an optimal solution algorithm do not need to be executed for the new goods, so that the efficiency of placing the new goods is improved.

In a second aspect, there is provided an apparatus for determining a buttress type, comprising means for performing any one of the methods of the first aspect. The device can be a terminal device or a chip in the terminal device. The apparatus may include an input unit and a processing unit.

When the apparatus is a terminal device, the processing unit may be a processor, and the input unit may be a communication interface; the terminal device may further comprise a memory for storing computer program code which, when executed by the processor, causes the terminal device to perform any of the methods of the first aspect or causes the terminal device to perform any of the methods of the second aspect.

When the apparatus is a chip in a terminal device, the processing unit may be a logic processing unit inside the chip, and the input unit may be an output interface, a pin, a circuit, or the like; the chip may also include a memory, which may be a memory within the chip (e.g., registers, cache, etc.) or a memory external to the chip (e.g., read-only memory, random access memory, etc.); the memory is adapted to store computer program code which, when executed by the processor, causes the chip to perform any of the methods of the first aspect or causes the chip to perform any of the methods of the second aspect.

In a third aspect, there is provided a computer readable storage medium having computer program code stored thereon which, when run by an apparatus for determining a shape of a pile, causes the apparatus to perform any one of the methods of the first aspect.

In a fourth aspect, there is provided a computer program product comprising: computer program code which, when run by an apparatus for determining a shape of a pile, causes the apparatus to perform any one of the methods of the first aspect.

Drawings

FIG. 1 is a schematic illustration of a palletizing system suitable for use in the present application;

FIG. 2 is a schematic illustration of a method of determining a buttress shape provided herein;

FIG. 3 is a schematic illustration of an interface for inputting the size of the bottom of the stack and the size of the load provided by the present application;

FIG. 4 is a schematic illustration of an interface provided by the present application for obtaining an experienced buttress from a buttress database;

FIG. 5 is a schematic illustration of an empirical stack form provided herein;

FIG. 6 is a schematic illustration of a bottom dividing method provided herein;

FIG. 7 is a schematic illustration of another bottom dividing method provided herein;

FIG. 8 is a schematic illustration of a method of determining a target pile shape after a bottom of the pile has been divided as provided herein;

FIG. 9 is a schematic illustration of yet another bottom dividing method provided herein;

FIG. 10 is a schematic diagram of a method of optimizing a target area provided herein;

FIG. 11 is a schematic view of an apparatus for determining a shape of a stack as provided herein;

FIG. 12 is a schematic view of an apparatus for determining a shape of a pile provided herein.

Detailed Description

The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings.

Fig. 1 shows a palletizing system suitable for use in the present application. The palletizing system comprises a controller and a palletizer.

The controller may include a processor, a memory, a communication module, an input module, and a display module; the processor may be a Central Processing Unit (CPU) for processing logical tasks, such as stack type calculation, control of a stacker, and the like. The memory may be a non-volatile memory for storing data such as the stack type, the size of the goods, the size of the pallet, etc. The communication module is used for receiving and sending data, and the controller can send an operation instruction to the stacker crane through the communication module to instruct the stacker crane to place goods according to the stacker crane; the controller may also receive operational feedback from the palletizer via the communication module to determine whether an action of the palletizer is performed in place. The communication module may be a wired communication module (e.g., an optical fiber communication module) or a wireless communication module (e.g., a cellular network module), which is not limited in this application. The input module may be a touch screen or a keyboard for receiving a user's instruction. The display module is, for example, a display screen for displaying palletizing-related information so that a user can make a decision based on the information.

After the controller obtains the order, the stack shape can be calculated according to the stack shape generation method and parameters such as the size of the goods and the size of the tray in the order, and the stack shape can also be selected from the stack shape database according to the parameters such as the size of the goods and the size of the tray. After determining the target stack type (the calculated stack type or the stack type selected from the database), the controller may send a control command to the stacker according to the target stack type to control the stacker to place the goods on the tray in the form of the target stack type.

The stacker crane can be a machine comprising a mechanical arm or other types of machines, and the specific type of the stacker crane is not limited in the application. After the stacker crane receives a control command (such as moving distance, grabbing and putting down) of the controller, the mechanical arm is driven by the motor to move to the position near the goods to be processed, then the goods can be grabbed by a sucker or a gripper at the tail end of the mechanical arm, the goods are transferred to a stack bottom (such as a tray) by the motor driving the mechanical arm, and the goods are put down at a preset position of the stack bottom until all the goods are put on the stack bottom according to a target stack shape.

During the stacking process, the stack shape is critical to the quantity of goods stacked on the bottom of the stack, and if the stack shape selected by the controller is not appropriate, the space utilization rate may be reduced.

The method of determining the shape of the pile provided by the present application is described below. The method may be performed by a controller, as shown in fig. 2, and includes the following.

S210, acquiring the size of the pile bottom and the size of the goods.

The bottom of the stack can be a tray or other platforms for placing goods, and the specific form of the bottom of the stack is not limited in the application.

The dimensions of the bottom of the stack are generally planar dimensions, for example, when the bottom of the stack is rectangular, the dimensions of the bottom of the stack include the length and width of the rectangle; when the bottom is circular, the dimensions of the bottom include the radius or diameter of the circle.

The size of the goods can be a plane size or a three-dimensional size. When the stacking layer number of the goods is a single layer, the size of the goods is the size of the projection of the goods on the horizontal plane, for example, when the goods is a cube, the size of the goods is the length and width of the cube; when the cargo is a sphere, the size of the cargo is the radius or diameter of the sphere. When the number of the opposite layers of the goods is multiple, the size of the goods further includes the size of the goods in the vertical direction, such as the height of a cube.

The size of the bottom of the stack and the size of the load may be input to the controller by a user via the input module, for example, the controller may display the interface shown in FIG. 3 to facilitate the user in inputting the size of the bottom of the stack and the size of the load. After obtaining the size of the bottom and the size of the load, the controller may perform the following steps to calculate a maximum theoretical load and a minimum actual load of the bottom bearing the load. The execution sequence of S220 and S230 is not sequential.

S220, determining a first quantity according to the size of the pile bottom and the size of the goods, wherein the first quantity is the maximum theoretical bearing capacity of the quantity of the goods borne by the pile bottom.

The controller may input the size of the bottom of the stack and the size of the goods into the theoretical model to obtain a maximum theoretical load capacity, i.e. a first quantity, of the number of loads carried by the bottom of the stack. The theoretical model for calculating the first number is not limited in this application.

In this application, the terms "first," "second," and the like are used to define different individuals within the same type of subject, and for example, a first quantity and a second quantity hereinafter refer to two different quantity parameters, and the specific values of the two quantities may be the same or different, except that no other definition exists.

And S230, determining a second quantity according to the size of the stack bottom and the size of the goods, wherein the second quantity is the quantity of the goods when the goods are placed on the stack bottom according to the first verified stack type.

The first verified stack type is a stack type set based on practical experience, and can represent the minimum practical bearing capacity of the stack bottom, namely, the number of cargos which can be borne by the stack bottom at least on the premise of ensuring safety. The controller may determine the first inspected buttress type itself or based on information input by the user.

For example, the user may click "select other buttress" in the interface shown in FIG. 3, and the controller may query the buttress database based on the size of the bottom and the size of the good, determine from the buttress database the buttress that matches the size of the bottom and the size of the good (i.e., the first verified buttress), as shown in FIG. 4, so that the second quantity may be quickly determined, improving the efficiency of determining the target buttress.

In some cases, the experienced shape in the shape database does not match the bottom of the stack or the cargo, the user may click "generate the shape on condition" in the interface shown in fig. 4, the input shape parameters (e.g., stacking gap, number of stacking layers) are input, and the controller determines the first experienced shape according to the shape parameters input by the user, as shown in fig. 5, so as to ensure that the first experienced shape is a shape that can ensure the safety of the cargo.

The controller may then perform the following steps to determine a target pile type.

S240, when the first number is smaller than or equal to the second number, determining that the first verified stack type is the target stack type of the goods.

S250, when the first number is larger than the second number, dividing a plurality of first areas on the pile bottom, wherein the size of any one of the first areas is larger than or equal to that of the goods; determining a target pile shape of the cargo based on the size of the plurality of first regions and the size of the cargo.

The second quantity is based on a value obtained for the first inspected pallet type, subject to empirical limitations, which may not be the most space-efficient pallet type, and therefore the minimum actual load (i.e. the second quantity) of the bottom of the pallet may differ from the maximum theoretical load (i.e. the first quantity).

When the first number is smaller than or equal to the second number, the fact that the first checked stack type set according to experience can enable the stack bottom to bear more cargos on the premise of ensuring the placing safety is shown, the controller can determine that the first checked stack type is the target stack type, and then the mechanical arm is controlled to place the cargos according to the first checked stack type, so that the number of the cargos stacked in the unit space is increased; when the first number is greater than the second number, indicating that the first experienced shape set empirically does not enable the bottom to bear a greater quantity of goods, the apparatus for performing the method may divide the bottom into a plurality of sub-regions (i.e. first regions), determine a preferred shape in each sub-region, such that the minimum actual load capacity of the bottom approximates the maximum theoretical load capacity as much as possible, thereby enabling a greater probability of increasing the quantity of goods stacked in the unit space.

The method by which the controller determines the target shape of the stack after dividing the bottom of the stack is described below.

Fig. 6 and 7 respectively show the dividing manner of the first area provided by the present application.

In FIG. 6, the controller divides the bottom of the stack into two regions (B1 and B2), which may be referred to as a "one-knife" method. In FIG. 7, the controller divides the bottom of the stack into five regions (B1-B5), which may be referred to as a "non-one-knife" method, where the solid lines represent the boundaries of the regions and the dashed lines represent the extension of the boundaries of the regions.

As can be seen from fig. 6 and 7, only one edge of each sub-region obtained by dividing through the one-edge cutting method is adjacent to other sub-regions, and at least two edges of each sub-region obtained by dividing through the non-one-edge cutting method are adjacent to other sub-regions, so that when the goods placing directions in the adjacent sub-regions are different, the goods in each sub-region obtained through the non-one-edge cutting method are more stable.

For example, when the pallet is tilted east, the goods in the B1 area in the stack of fig. 6 and 7 are blocked by the goods in the adjacent area, when the pallet is tilted south, the goods in the B1 area in fig. 6 have no blocking area, and the goods in the B1 area in fig. 7 can be blocked by the goods in the B4 area. Therefore, the stacking type corresponding to the 'non-one-knife-cutting' method is more stable than the stacking type corresponding to the 'one-knife-cutting' method, the controller can preferentially select the 'non-one-knife-cutting' method to divide the bottom of the stack, and when the target stacking type determined based on the 'non-one-knife-cutting' method cannot reach the maximum theoretical bearing capacity, the target stacking type determined based on the 'one-knife-cutting' method is tried again. If the target stack shape determined based on the one-knife cutting method cannot reach the maximum theoretical bearing capacity, determining a stack shape with larger bearing capacity from the target stack shapes of the one-knife cutting method and the non-one-knife cutting method as a final target stack shape.

It should be noted that, whatever partitioning method is used, the size of the sub-areas needs to be greater than or equal to the size of a single cargo, i.e. each sub-area needs to be able to carry at least one cargo.

Fig. 8 is a flowchart of a tray partitioning algorithm provided herein. The method comprises the following steps.

S801, the controller obtains L, W, L and W, where L is the length of the pallet, W is the width of the pallet, L is the length of the goods, and W is the width of the goods.

Alternatively, if the tray is circular, L and W may be replaced by the radius of the circle, and if the tray is other shape, the controller may acquire a parameter capable of indicating the size of the shape. Similarly, if the projection of the goods on the pallet is other shapes, l and w may be replaced by parameters representing the size of the shape.

S802, the controller calculates an upper bound Up and a lower bound Down of the current tray bearing capacity according to L, W, l and w, wherein the Up is a theoretical value (namely, a first quantity) obtained based on an algorithm, and no corresponding stack shape exists; down is based on the actual load (i.e., the second number) obtained from empirical stacking.

S803, the controller determines whether Up is less than or equal to Down. If yes, the controller outputs a stack shape corresponding to Down; if not, the controller executes the following steps.

S804, the controller determines the current tray dividing mode.

The tray dividing mode can comprise 'one-cutting' and 'non-one-cutting', wherein the 'one-cutting' can be divided into a vertical one-cutting and a horizontal one-cutting, and the controller can preferentially select the 'non-one-cutting'; when the bearing capacity corresponding to all the non-cutting is smaller than Up, the controller tries to cut vertically; when the bearing capacity corresponding to all the vertical cutting is smaller than Up, the controller tries to cut horizontally again, so that under the condition of meeting the requirement (P is larger than or equal to Up), a more stable non-cutting buttress type can be obtained preferentially.

The manner in which the tray is divided is described below by way of example in fig. 7.

Defining Bn as (Ln, Wn), n as 1, 2, 3, 4, or 5, where Bn represents one region from B1 to B5, Ln represents the length of Bn in the x direction, and Wn represents the length of Bn in the y direction, for any given quaternion group (x1, x2, y1, y2), the partitioning result of the pallet can be expressed as:

wherein x1 is more than or equal to 0 and less than or equal to L, x2 is more than or equal to 0 and less than or equal to L, y1 is more than or equal to 0 and less than or equal to W, and y2 is more than or equal to 0 and less than or equal to W. It can be seen that "one-edge cutting" is a division result of "non-one-edge cutting" when "0 < x1 ═ x2, y1 ═ y2 ═ 0", or "0 < y1 ═ y2, and x1 ═ x2 ═ 0" are satisfied.

S805, determining whether the current tray dividing mode has an unused grid point set.

To simplify the algorithmic model, the concept of a grid point set is introduced, wherein the grid point set of x values can be expressed as:

S_L＝{x∈Z+|x＝r.l+s.w,0≤x≤L,r,s∈Z+}；

the set of grid points for the y value can be expressed as:

S_W＝{x∈Z+|y＝t.l+u.w,0≤y≤L,t,u∈Z+}；

the complement of the grid point set is defined as:

it can be demonstrated that the four corners of all the goods placed on the pallet can certainly all fall on the grid points, or that the complement of the grid point set is a subset of the grid point set, and that the points falling on the grid point set also fall on the complement of the grid point set.

Based on the above analysis, the pallet planning problem can be transformed into a problem that solves the quaternion array (x1, x2, y1, y2) so that the quantity of the goods placed in the pallet approaches the upper limit of the pallet load capacity. For different tray division modes, the following limiting conditions exist:

1) for "non-one-edge cutting", there are:

2) for "vertical one-knife" there are:

3) for "horizontal one-knife cut", there are:

wherein,

and S806, dividing the tray by using the grid point set S by using the controller to obtain a stack shape X.

If there is no unused set of grid points, indicating that the current tray dividing method cannot achieve the preferred result, the controller may update the tray dividing method, for example, to update the "non-one-knife-cut" to the "vertical one-knife-cut" or to update the "vertical one-knife-cut" to the "horizontal one-knife-cut".

If an unused grid point set exists, the controller can select a grid point set (such as a grid point set S) from the unused grid point set to divide the tray to obtain the stack shape X.

S807, the controller determines the load P corresponding to the stack type X.

The controller may determine the load P of the formations X according to an optimal solution, an embodiment of which will be described in detail in FIG. 9.

S808, the controller determines whether P is greater than or equal to Up.

If P is less than Up, it indicates that the buttress type X does not meet the requirements, the tray is divided in a manner that further optimization space exists, and the controller may return to S805.

If P is larger than or equal to Up, the stack type X is the stack type meeting the requirement, and the controller can output the stack type X.

The stack type X is stacking data, generally only including a coordinate position and a tray dividing manner corresponding to a cargo of one size, and the stack type X is used for conveniently placing a new cargo, and the controller also needs to convert the stack type X into a stack type template.

Knowing that all four corners of all the goods on the pallet fall on the grid points, the goods placement position coordinate (x, y) can be expressed by the following formula according to the definition of the grid point set:

where l is the length of the goods, w is the width of the goods, xl represents the number of horizontal goods on the left side, xw represents the number of vertical goods on the left side, yl represents the number of vertical goods on the lower side, yw represents the number of horizontal goods on the lower side, Kx represents the relative deviation of the stack-type edge and the pallet edge in the x-axis direction, and Ky represents the relative deviation of the stack-type edge and the pallet edge in the y-axis direction.

Parameter(s)

The size of the goods and the tray is irrelevant, and the goods are only relevant to the placing mode of the goods, so that the corresponding parameter of any one goods i in all m goods on the tray is solved

Wherein, i is 1, 2, …, m, thus obtaining the buttress template of the buttress X.

An embodiment of converting the pallet data into a pallet type template is described in detail below in conjunction with FIG. 9.

For example, the pallet size is 1200 × 1200mm, the cargo size is 500 × 300mm, the pallet is divided into 8 regions, and the edge of the cargo is within the pallet edge as shown in fig. 9 as a result of the pallet type planning.

The coordinates of the goods on the pallet are shown in table 1.

TABLE 1

Serial number	x	y
				1	50	850
2	50	550
			3	550	650
4	850	650
			5	50	50
6	350	50
			7	650	350
8	650	50

In regions No. 1, No. 2, No. 7 and No. 8, the long side of the goods is parallel to the x-axis, and in regions No. 3, No. 4, No. 5 and No. 6, the long side of the goods is parallel to the y-axis, and therefore, the length of the pallet in the x-axis direction is l +2w, and the length of the pallet in the y-axis direction is also l +2 w.

The outline of the tray can be expressed as

Wherein L represents the length of the shape in the x-axis direction and W represents the length of the shape in the y-axis direction, such that a parameter is obtained which is independent of the size of the load

If a new cargo is placed by using the stack shape shown in fig. 9 (namely, the stack shape is not changed, and the size of the cargo is changed), the controller can obtain the profile of the stack shape corresponding to the new cargo according to the parameter D and the size of the new cargo, so that the stack shape is formedAnd the tray capable of placing new goods can be selected according to the profile of the stack shape.

For the item in region No. 1, its size is (50, 850), the y-axis coordinate of the item is equal to the distance of the pallet edge from the upper tray boundary (Ky), the length of region No. 5 in the y-axis direction (l), and the length of region No. 2 in the y-axis direction (w), so 850 ═ l + w + Ky, where Ky ═ (length of pallet in y-direction-length of pallet in y-direction)/2 ═ 1200-. Similarly, the x-axis coordinate of the cargo within zone No. 1 is equal to the distance of the pallet edge from the left tray boundary (Kx), thus 50 ═ 0 × +0 × + Kx, where Kx ═ length of the pallet in the x-direction-length of the pallet in the x-direction)/2 ═ 1200-.

Thus, the coordinates of the cargo within region No. 1 can be expressed as

Thus, a parameter independent of the size of the goods is obtained

D1 may be understood as: by cargo size

And the distance from the edge

The conversion parameters of the coordinate positions of the goods are expressed, so that when new goods need to be placed at the bottom of the stack, the controller can determine the coordinate positions of the new goods according to the D1 and the sizes of the new goods, a tray division algorithm and an optimal solution algorithm do not need to be executed for the new goods, and therefore the efficiency of placing the new goods is improved.

Similarly, the parameter D in the region within the remaining region of fig. 9 is as follows:

the optimal solution algorithm provided by the present application is described below, as shown in fig. 10.

S1001, the controller determines the upper and lower bounds of the sub-regions of the target region B, and SumDown.

If the current division is the first division, the target area is the whole area of the tray; if the current partition is not the first partition, the target area may be a sub-area of the tray (e.g., B1 in fig. 6).

Taking the target area as the whole area B of the pallet as an example, if the size of B is 1200 × 1000 and the size of the goods is 600 × 400, for one of the subdivisions, the size of B1 may be set to 1200 × 400 and the size of B2 may be set to 1200 × 600.

S1002, the controller may determine a size relationship of the recursion number (i.e., the division number) of the tray and the threshold n, and execute a corresponding logic according to the size relationship.

Case 1, the number of times of tray division is less than the threshold.

When the dividing times of the tray are smaller than the threshold, if the dividing times of the tray are less (smaller than the threshold), the potential benefit of continuously searching the optimal stacking type for the tray dividing is larger than the cost expense brought by the stacking type dividing, and the maximum theoretical bearing capacity of the plurality of sub-areas (such as the first area) can be calculated, so that the tray can be continuously divided when the maximum theoretical bearing capacity of the plurality of sub-areas does not meet the requirement. Accordingly, the controller may perform S1003.

S1003, it is judged whether the lower bound Down (an example of the second number) of the pallet is smaller than the upper bound and the SumUp (an example of the third number) of the plurality of sub-areas.

From the empirical palletization profile of FIG. 6 (e.g., the first empirical palletization profile), it may be determined that tray B corresponds to a lower bound Down of 4. According to the upper bound algorithm and the size of B1, the upper bound of B1 can be determined to be 2; the upper bound of B2 can be found to be 3 according to the upper bound algorithm and the size of B2; thus, SumUp equals 5. Since Down is smaller than SumUp, the controller may perform S1004.

Alternatively, if Down is greater than or equal to SumUp, indicating that the empirical buttress form shown in FIG. 6 has been a preferred buttress form, the controller may execute S1020.

S1004, it is determined whether a new sub-region [ Bj ] can be selected from the plurality of sub-regions, j being a positive integer.

For example, after B is divided into B1 and B2, optimal solutions of B1 and B2 are not obtained, then B1 and B2 are both new sub-regions, and the controller may respectively find the optimal solution for the sub-regions of B from B1 according to the serial number identifier.

If the current controller has already solved the optimal solution for all sub-regions of B, the controller cannot select a new sub-region from all sub-regions of B any more, and the controller may perform S1020.

If B1 is a non-repeating sub-region, the controller may perform S1005.

S1005, it is determined whether [ Bj ] appears in the division of the other area.

Taking [ Bj ] ═ B2/1 as an example, B2/1 is a sub-region obtained by dividing B2, and if B2/1 and B1 are two regions having the same shape, Depth [ B2/1] ═ Depth [ B1] ═ 1, and research limit [ B2/1] ═ research limit [ B1 ].

If Bj has not occurred in the division of the other region, the controller performs S1006.

S1006, the Depth [ Bj ] of Bj is updated to the maximum value nmax, and the optimal de-tag Research Limit [ Bj ] of Bj is updated to true.

Since Depth [ Bj ] indicates that Bj is the region obtained by the first division and B1 is the region obtained by the second division, Depth [ Bj ] is equal to 1. If B1 is not present in the partitioning of the other regions, the depth of B1 is assigned to the maximum value nMax.

The research limit [ Bj ] is used for indicating whether Bj reaches the optimal solution, when the research limit [ Bj ] is equal to true, it indicates that the optimal solution (i.e. the maximum carrying capacity) of Bj is not obtained, and the optimal solution of Bj can be continuously obtained; when research limit [ Bj ] ═ false, it indicates that the optimal solution for Bj has been obtained. If [ B1] appears in the partitions of other regions, the ResearcLimit [ B1] is assigned to true, indicating that the optimal solution for B1 can also continue.

S1007, it is determined whether Depth [ Bj ] > n and research limit [ Bj ] ═ future satisfy at the same time.

The execution steps after S1007 are described below based on case 1.1 and case 1.2, respectively.

Case 1.1, Depth [ Bj ] > n and research limit [ Bj ] ═ ure are satisfied simultaneously.

For example, for B1, when Depth [ B1] > n and research limit [ B1] ═ true are simultaneously satisfied, the controller may perform S1008.

n is used to indicate that the currently analyzed sub-region (i.e., Bj) belongs to the second level of partitioning, e.g., the region B is partitioned into two sub-regions B1, B2, then B1, B2 belong to the first level of partitioning, when n is 1. If B1 is further divided into B1/1 and B1/2, and B2 is divided into B2/1 and B2/2, then B1/1, B1/2, B2/1 and B2/2 belong to the secondary division, and n is equal to 2.

S1008, dividing [ Bj ] through a tray division algorithm, and solving the optimal division [ Zj ] of [ Bj ].

Taking the sub-region B1 of tray B as an example, taking B1 as a new tray and bringing it into the tray partitioning algorithm, when the upper bound of B1 equals the lower bound, the lower bound empirical pallet shape of B1 is returned, otherwise the controller executes the tray partitioning algorithm to traverse all possible partitions of B1, returning an optimal partitioned pallet shape, the result of which is represented by Zj. It is apparent that the tray carrying capacity represented by Zj is equal to or greater than the lower bound of B1 and equal to or less than the upper bound of B1.

S1009, update Depth [ Bj ] and research limit [ Bj ].

Having obtained Z1, the lower bound of B1 may be updated to Z1. Since the current B1 has been divided, the Depth value of B1 needs to be updated to the actual Depth, i.e., Depth [ B1] is 1. If Z1 is the optimal solution for B1 (i.e., Z1 ═ the upper bound of B1), then research limit [ B1] needs to be updated to false; if Z1 is not equal to the upper bound of B1, the ResearcLimit [ B1] needs to be updated to true, indicating that B1 has the space to optimize.

S1010, determine whether the ResearhLimit [ Bj ] is false.

If the current research limit [ Bj ] is false, which indicates that the optimal solution of Bj has been obtained, the controller may execute S1011.

If the current research limit [ Bj ] is true, it indicates that the optimal solution of Bj has not been obtained yet, and accordingly B does not reach the optimal solution, so the controller needs to execute S1015 to update the research limit [ B ] to true.

S1011, updating the upper bound of Bj to Z [ j ].

S1012, updating SumUp and SumDown according to the upper and lower bounds of Bj.

Case 1.2, Depth [ Bj ] > n and research limit [ Bj ] ═ future cannot be satisfied simultaneously.

Depth [ Bj ] < n, indicating that Bj has occurred in the previous partition. For example, B2/1 is one sub-region obtained by dividing B2, so that n is 2. If B2/1 and B1 are two regions with the same shape, it is known from S1005 that Depth [ B2/1] ═ 1<2, which means that B2/1 region was already analyzed at the time of the first level of division and returned to the optimal division by the tray division algorithm, and it is obviously unnecessary to analyze again in the second level of division.

Research limit [ Bj ] ═ false, indicate that Bj has no room for optimization. Taking Bj as an example of B2, B1/1 is a sub-region obtained by dividing B1, if the optimal division of B1/1 is equal to the upper bound, then B1/1 does not have the optimized space research limit [ B1/1] ═ false, if B1/1 and B2 are two regions with the same shape, then from S1005, it can be known that research limit [ B1/1] ═ research limit [ B2] = false, which means that it is known that there is no need to analyze the region without the optimized space.

The controller may perform S1013 to directly acquire the optimal partition (zj) of Bj from the previous record, thereby improving the efficiency of the optimal solution algorithm.

S1013, the lower bound of Bj is updated to Z [ j ].

S1014, judging whether the ResearcLimit [ Bj ] is true.

If the research limit [ Bj ] is true, it indicates that the optimal solution of Bj has not been obtained yet, and accordingly B does not reach the optimal solution, so the controller needs to execute S1015 to update the research limit [ B ] to true.

If the research limit [ Bj ] is false, which indicates that the optimal solution of Bj has been obtained, the research limit [ B ] is not updated (the research limit [ B ] is default to false), and S1012 is directly executed.

S1015, update ResearchLimit [ B ] to true.

S1016, judging whether SumUp is larger than Down.

Taking B1 and B2 as an example, if SumUp is less than or equal to Down, indicating that the sum of the theoretical loading amounts of B1 and B2 is less than or equal to the actual loading amount of B, the controller may perform S1020; if SumUp is greater than Down, indicating that the sum of the theoretical loadings of B1 and B2 is greater than the actual loading of B, the controller may perform S1017.

S1017, judging whether SumDown is larger than Down.

Taking B1 and B2 as examples, if SumDown is less than or equal to Down, it is stated that the sum of the actual carrying capacities of B1 and B2 is less than or equal to the actual carrying capacity of B, i.e., at least one of B1 and B2 does not reach the optimal solution, the controller needs to continue to return to S1004 to continue to solve the optimal solution of the new area (e.g., B2).

If SumDown is greater than Down, indicating that the sum of the actual loads of B1 and B2 is greater than the actual load of B, the controller may perform S1018.

S1018, update Down to the buttress type information of SumDown.

S1019, judging whether Up is larger than Down.

If Up is greater than Down, which indicates that the theoretical carrying capacity of B is greater than the actual carrying capacity, at least one region of B1 and B2 does not reach the optimal solution, or the partition manner of B1 and B2 is not the preferred partition manner, the controller may return to perform S1004. If the controller cannot select a new region when returning to S1004, it may directly output the stack type information of Down, re-partition B by the tray partitioning algorithm, and try to obtain a stack type that enables Down to be greater than or equal to Up.

If Up is less than or equal to Down, which indicates that the theoretical bearing capacity of B is less than or equal to the actual bearing capacity, Down is the optimal solution of B, and the controller may execute S1020 to output the stack type information of Down.

S1020, the stack type information of Down is returned.

The stack type information of Down contains the actual load capacity of the tray, i.e., the load capacity P in fig. 8, and the final stack type X can be output by returning to S808.

Case 2, the number of times of tray division is greater than or equal to the threshold.

In this case, the controller may perform S1021.

S1021, the value of ResearcLimit [ Bj ] is updated to true.

When research limit [ Bj ] is true, it indicates that Bj still has a further optimization space, but currently is limited by recursion times, and cannot be further optimized, and when dividing other stack bottoms, S1006 can be skipped, thereby improving the efficiency of the optimal solution algorithm.

S1022, judging whether SumDown is larger than Down.

For example, when the lower bounds of B1 and B2 and (SumDown) are less than or equal to the lower bound of B (Down), indicating that B1 and B2 are not the preferred division results of B, the controller may perform S1020, returning Down (the lower bound of B). When the lower bound sum (SumDown) of B1 and B2 is greater than the lower bound (Down) of B, indicating that B1 and B2 are the preferred division result of B, the controller may perform S1023, update Down, and then perform S1020, return Down (the lower bound sum of B1 and B2).

The embodiment can obtain larger lower tray bound under the condition of avoiding overlarge recursion times, thereby improving the efficiency of determining the stacking type.

Alternatively, when the finally-determined target shape is a user-entered shape (e.g., a first verified shape), the controller may store the first verified shape in the shape database to facilitate a quick determination of the target shape the next time a similar bottom and load is encountered.

Examples of the methods of determining a buttress shape provided herein are described in detail above. It is understood that the corresponding apparatus contains hardware structures and/or software modules corresponding to the respective functions for implementing the functions described above. Those of skill in the art would readily appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as hardware or combinations of hardware and computer software. Whether a function is performed as hardware or computer software drives hardware depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

The device for determining the stack type can be divided into functional units according to the method examples, for example, each function can be divided into each functional unit, or two or more functions can be integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit. It should be noted that the division of the units in the present application is schematic, and is only one division of logic functions, and there may be another division manner in actual implementation.

FIG. 11 is a schematic diagram of a device for determining a shape of a stack according to the present application. The apparatus 1100 comprises a processing unit 1110 and an input unit 1120, the input unit 1120 being capable of performing the acquiring step under the control of the processing unit 1110.

The input unit 1120 is configured to: acquiring the size of the bottom of the stack and the size of the goods;

the processing unit 1110 is configured to: determining a first number according to the size of the bottom and the size of the load, the first number being the maximum theoretical capacity of the bottom for carrying the number of loads;

determining a second quantity based on the size of the bottom and the size of the load, the second quantity being the quantity of the load when placed on the bottom according to the first verified stack type;

determining the first verified buttress profile as a target buttress profile for the cargo when the first number is less than or equal to the second number;

when the first number is greater than the second number, demarcating a plurality of first regions on the bottom of the pile, any one of the plurality of first regions having a size greater than or equal to the size of the load; determining a target pile shape of the cargo based on the dimensions of the plurality of first regions and the dimensions of the cargo.

Optionally, the processing unit 1110 is specifically configured to:

determining a third quantity according to the sizes of the plurality of first areas and the size of the goods, wherein the third quantity is the sum of maximum theoretical bearing capacity of the goods respectively borne by the plurality of first areas;

determining the first verified buttress is the target buttress for the cargo when the second number is greater than or equal to the third number;

when the second number is smaller than the third number, the plurality of first areas are divided respectively to obtain a plurality of second areas, and the size of any one of the plurality of second areas is larger than or equal to that of the goods; determining a target pile shape of the cargo based on the dimensions of the plurality of second regions and the dimensions of the cargo.

Optionally, the processing unit 1110 is specifically configured to: determining the third quantity as a function of the size of the plurality of first regions and the size of the good when the number of divisions of the bottom of the pile is less than a threshold.

Optionally, the processing unit 1110 is specifically configured to:

when the number of times of dividing the bottom of the stack is greater than or equal to the threshold value, determining a fourth number according to the sizes of the plurality of first areas and the size of the goods, wherein the fourth number is the number of the goods when placed on the bottom of the stack according to a second empirical stack type;

determining the second empirical shape to be a target shape for the good when the fourth number is greater than or equal to the second number;

determining that the first verified buttress is the target buttress for the cargo when the fourth quantity is less than the second quantity.

Optionally, the processing unit 1110 is further configured to:

if the target pile shape is determined if the number of divisions is less than the threshold, setting the labels of all sub-regions divided by the bottom and the bottom to be first indications indicating that there is no space for optimisation for all sub-regions divided by the bottom and the bottom;

Optionally, the processing unit 1110 is specifically configured to: preferentially dividing the plurality of first regions on the bottom of the stack by using a non-one-knife-cutting dividing manner, wherein the non-one-knife-cutting dividing manner is a manner of dividing the bottom of the stack by at least two intersecting cutting lines.

Optionally, the first verified buttress is a buttress in a buttress database or a user-entered buttress.

Optionally, the processing unit 1110 is further configured to: and when the target stack shape is the stack shape input by the user, storing the stack shape input by the user into a stack shape database.

Optionally, the processing unit 1110 is further configured to: determining an edge distance of a profile of the target pile shape and a profile of the pile bottom; and determining a parameter D according to the size of the goods, the coordinate position of the goods on the pile bottom and the edge distance, wherein the parameter D is a conversion parameter when the edge distance and the size of the goods are used for representing the coordinate position.

The specific manner in which the apparatus 1100 performs the method of determining a buttress type and the resulting benefits may be seen with reference to the description relating to the method embodiments.

Fig. 12 shows a schematic structural diagram of an electronic device provided in the present application. The dashed lines in fig. 12 indicate that the unit or the module is optional. The apparatus 1200 may be used to implement the methods described in the method embodiments above. The device 1200 may be a terminal device or a server or a chip.

The apparatus 1200 includes one or more processors 1201, and the one or more processors 1201 may enable the apparatus 1200 to implement the methods in the method embodiments corresponding to fig. 2 to 10. The processor 1201 may be a general purpose processor or a special purpose processor. For example, the processor 1201 may be a Central Processing Unit (CPU). The CPU may be configured to control the apparatus 1200, execute software programs, and process data of the software programs. The device 1200 may further comprise an input unit 1205 for enabling input (reception) and output (transmission) of signals.

For example, device 1200 may be a chip and input unit 1205 may be an input circuit of the chip, or input unit 1205 may be an input interface of the chip, which may be a component of a terminal device or other electronic device.

For another example, the device 1200 may be a terminal device, and the input unit 1205 may be a touch screen of the terminal device, or the input unit 1205 may be a keyboard of the terminal device.

The device 1200 may include one or more memories 1202, on which programs 1204 are stored, and the programs 1204 may be executed by the processor 1201, and generate instructions 1203, so that the processor 1201 executes the method described in the above method embodiment according to the instructions 1203. Optionally, data may also be stored in the memory 1202. Alternatively, the processor 1201 may also read data stored in the memory 1202, the data may be stored at the same memory address as the program 1204, or the data may be stored at a different memory address from the program 1204.

The processor 1201 and the memory 1202 may be provided separately or integrated together, for example, on a System On Chip (SOC) of the terminal device.

The specific manner in which the processor 1201 performs the method of determining a buttress type may be found in the associated description of method embodiments.

It should be understood that the steps of the above-described method embodiments may be performed by logic circuits in the form of hardware or instructions in the form of software in the processor 1201. The processor 1201 may be a CPU, Digital Signal Processor (DSP), Application Specific Integrated Circuit (ASIC), Field Programmable Gate Array (FPGA), or other programmable logic device, such as a discrete gate, transistor logic, or discrete hardware components.

The application also provides a computer program product which, when executed by the processor 1201, implements the method according to any of the method embodiments of the application.

The computer program product may be stored in the memory 1202 as a program 1204, and the program 1204 is finally converted into an executable object file capable of being executed by the processor 1201 through preprocessing, compiling, assembling, linking and the like.

The present application also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a computer, implements the method of any of the method embodiments of the present application. The computer program may be a high-level language program or an executable object program.

Such as memory 1202. The memory 1202 may be either volatile memory or nonvolatile memory, or the memory 1202 may include both volatile and nonvolatile memory. The non-volatile memory may be a read-only memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an electrically Erasable EPROM (EEPROM), or a flash memory. Volatile memory can be Random Access Memory (RAM), which acts as external cache memory. By way of example, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), double data rate SDRAM, enhanced SDRAM, SLDRAM, Synchronous Link DRAM (SLDRAM), and direct rambus RAM (DR RAM).

It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes and the generated technical effects of the above-described apparatuses and devices may refer to the corresponding processes and technical effects in the foregoing method embodiments, and are not described herein again.

In the several embodiments provided in the present application, the disclosed system, apparatus and method can be implemented in other ways. For example, some features of the method embodiments described above may be omitted, or not performed. The above-described embodiments of the apparatus are merely exemplary, the division of the unit is only one logical function division, and there may be other division ways in actual implementation, and a plurality of units or components may be combined or integrated into another system. In addition, the coupling between the units or the coupling between the components may be direct coupling or indirect coupling, and the coupling includes electrical, mechanical or other connections.

It should be understood that, in the various embodiments of the present application, the sequence numbers of the processes do not mean the execution sequence, and the execution sequence of the processes should be determined by the functions and the inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

Additionally, the terms "system" and "network" are often used interchangeably herein. The term "and/or" herein is merely an association relationship describing an associated object, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

In short, the above description is only a preferred embodiment of the present disclosure, and is not intended to limit the scope of the present disclosure. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method of determining a shape of a buttress, comprising:

acquiring the size of the bottom of the stack and the size of the goods;

determining a first number according to the size of the bottom and the size of the load, the first number being the maximum theoretical capacity of the bottom for carrying the number of loads;

2. The method of claim 1, wherein determining the target pile shape of the cargo as a function of the size of the plurality of first regions and the size of the cargo comprises:

3. The method of claim 2, wherein determining the third quantity as a function of the size of the plurality of first regions and the size of the good comprises:

determining the third quantity as a function of the size of the plurality of first regions and the size of the good when the number of divisions of the bottom of the pile is less than a threshold.

4. The method of claim 3, wherein determining the target pile shape of the cargo as a function of the size of the plurality of first regions and the size of the cargo comprises:

5. The method of claim 3 or 4, further comprising:

6. A method according to any one of claims 1 to 4, wherein said dividing a plurality of first regions on the stack bottom comprises:

preferentially dividing the plurality of first regions on the bottom of the stack by using a non-one-knife-cutting dividing manner, wherein the non-one-knife-cutting dividing manner is a manner of dividing the bottom of the stack by at least two intersecting cutting lines.

7. A method according to any of claims 1 to 4, wherein the first verified buttress is a user-entered buttress or a buttress in a buttress database.

8. The method of any of claims 1 to 4, further comprising:

determining an edge distance of a profile of the target pile shape and a profile of the pile bottom;

and determining a parameter D according to the size of the goods, the coordinate position of the goods on the pile bottom and the edge distance, wherein the parameter D is a conversion parameter when the edge distance and the size of the goods are used for representing the coordinate position.

9. An apparatus for determining a shape of a pile, comprising a processor and a memory, the processor and the memory being coupled for storing a computer program which, when executed by the processor, causes the apparatus to perform the method of any of claims 1 to 8.

10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which, when executed by a processor, causes the processor to carry out the method of any one of claims 1 to 8.