CN115057240A

CN115057240A - Stack-type-based object stacking method, device and equipment

Info

Publication number: CN115057240A
Application number: CN202210761551.4A
Authority: CN
Inventors: 张致伟; 丁有爽; 邵天兰
Original assignee: Mech Mind Robotics Technologies Co Ltd
Current assignee: Mech Mind Robotics Technologies Co Ltd
Priority date: 2022-06-30
Filing date: 2022-06-30
Publication date: 2022-09-16
Anticipated expiration: 2042-06-30
Also published as: CN115057240B

Abstract

The application provides an object stacking method, device and equipment based on stacking type, and relates to the technology of a stacker crane, wherein the method comprises the following steps: acquiring information to be stacked; the information to be stacked comprises object information of each object to be stacked, and the object information represents attribute information of the object to be stacked. And generating a plurality of simulation stack shapes according to the object information of the object to be stacked. In a simulation stacking scene, stacking each object to be stacked in a simulation stack type based on preset obstacle information and/or singular point information to obtain a stacking simulation result of the simulation stack type; wherein the obstacle information characterizes attribute information of obstacles in the palletizing process. Determining a target simulation stack shape according to a stacking simulation result; and controlling the stacking equipment to stack the object to be stacked on the target simulation stack. The method improves the successful stacking probability, greatly saves the stacking time, and solves the technical problem of low stacking efficiency caused by collision with obstacles.

Description

Stack-based object stacking method, device and equipment

Technical Field

The application relates to a stacker crane technology, in particular to a method, a device and equipment for stacking objects based on a stacking type.

Background

At present, with the development of automation, the mechanical arm is generally used for transporting and stacking objects to be stacked.

In the prior art, when the mechanical arm is used for transporting and stacking objects to be stacked, a stacking list is generally obtained and comprises various objects to be stacked, and stacking equipment is controlled to stack various objects to be stacked on a stack.

However, in the prior art, various obstacles exist in the process of controlling the stacking device to stack various objects to be stacked on one stack, so that the situation that various objects to be stacked cannot be stacked in the same stack due to the obstacle occurs, the objects to be stacked need to be stacked again, and the stacking efficiency is low.

Disclosure of Invention

The application provides an object stacking method, device and equipment based on stack type, and aims to solve the technical problem that stacking efficiency is low due to the fact that collision is possibly caused with obstacles.

In a first aspect, the present application provides a method for stacking objects based on a stacking type, comprising:

acquiring information to be stacked; the information to be stacked comprises object information of each object to be stacked, and the object information represents attribute information of the object to be stacked;

generating a plurality of simulation stack shapes according to the object information of the objects to be stacked;

in a simulation stacking scene, stacking each object to be stacked in the simulation stacking type based on preset obstacle information and/or singular point information to obtain a stacking simulation result of the simulation stacking type; the obstacle information represents attribute information of obstacles in a stacking process, the singular point information represents singular points of paths in the stacking process, the stacking simulation result comprises result information, and the result information represents whether stacking is successful or not;

determining a target simulation stack shape according to the stacking simulation result; and controlling stacking equipment to stack the object to be stacked on the target simulation stack.

Further, in the case of performing simulation stacking based on preset obstacle information and singular point information, stacking each object to be stacked in the simulation stacking shape to obtain a stacking simulation result of the simulation stacking shape, including:

in a simulation stacking scene, stacking each object to be stacked in a current simulation stacking type based on preset obstacle information and singular point information in the simulation stacking scene;

determining simulation collision information in the stacking process; wherein the simulated crash information comprises at least one of: the collision condition between the stacking equipment and the obstacle information, the collision condition between a clamp of the stacking equipment and the obstacle information, and the collision condition between an object to be stacked and grabbed by the clamp and the obstacle information;

determining first singular point information of a path in a stacking process;

if the simulation collision information representation of the current simulation stack type is determined to collide or the first singular point information representation has a singular point, generating a stacking simulation result representing unsuccessful stacking, and performing stacking operation on the next simulation stack type;

if the simulation collision information representation of the current simulation stack shape is determined not to be collided and the first singular point information representation has no singular point, generating a stacking simulation result representing successful stacking, and stopping stacking operation on the rest simulation stack shapes;

determining a target simulation stacking type according to the stacking simulation result, wherein the method comprises the following steps:

and selecting the simulation stack shape corresponding to the stacking simulation result representing successful stacking as the target simulation stack shape.

Further, in the case of performing simulation stacking based on preset obstacle information or singular point information, stacking each object to be stacked in the simulation stacking shape to obtain a stacking simulation result of the simulation stacking shape, including:

in a simulation stacking scene, stacking each object to be stacked in a current simulation stacking type based on preset obstacle information or singular point information in the simulation stacking scene;

determining simulation collision information in the stacking process, or determining first singular point information of a path in the stacking process; wherein the simulated crash information comprises at least one of: the collision condition between the stacking equipment and the obstacle information, the collision condition between a clamp of the stacking equipment and the obstacle information, and the collision condition between an object to be stacked and captured by the clamp and the obstacle information;

if the simulation collision information representation of the current simulation stack shape is determined not to be collided or the first singular point information representation has no singular point, generating a stacking simulation result representing successful stacking, and stopping stacking operation on the rest simulation stack shapes;

determining a target simulation stack shape according to the stacking simulation result, comprising the following steps:

Further, before "stacking each object to be stacked in the current simulated stack", the method further includes:

performing simulation priority ordering on a plurality of simulation stacking types;

in a simulation stacking scene, stacking each object to be stacked in a current simulation stacking type based on preset obstacle information and/or singular point information in the simulation stacking scene, including:

determining a current simulation buttress according to the simulation priority sequence of the plurality of simulation buttress;

and stacking the object to be stacked in the determined simulation stacking type based on preset obstacle information and/or singular point information in the simulation stacking scene.

Further, the simulated stack comprises stacking information; wherein the palletization information comprises at least one of: the stacking number, the integral central height, the integral rotational inertia and the stacking distribution which correspond to the simulation stack type;

performing simulation prioritization on a plurality of the simulation builds, comprising:

carrying out weighted summation processing on the stacking number, the integral central height, the integral rotational inertia and the stacking distribution corresponding to each simulation stack type to obtain a stacking value corresponding to each simulation stack type;

and sequencing the plurality of simulation stacking shapes according to the stacking value corresponding to each simulation stacking shape.

Further, in a simulation stacking scene, based on preset obstacle information and/or singular point information, stacking each object to be stacked in the simulation stacking shape to obtain a stacking simulation result of the simulation stacking shape, including:

in a simulation stacking scene, on the basis of preset obstacle information and/or singular point information in the simulation stacking scene, sequentially stacking each grasped object to be stacked in each simulation stacking type;

determining simulation collision information in the stacking process and/or determining second singular point information of a path in the stacking process; wherein the simulated crash information comprises at least one of: the collision condition between the stacking equipment and the obstacle information, the collision condition between a clamp of the stacking equipment and the obstacle information, and the collision condition between an object to be stacked and captured by the clamp and the obstacle information;

obtaining a stacking simulation result of each simulation stack type according to the simulation collision information and/or the second singular point information of each simulation stack type;

and determining the target simulation stack shape according to all the obtained stacking simulation results.

Further, the stacking simulation result comprises stacking time, wherein the stacking time represents the time used in the stacking process;

determining one target simulation stacking type according to all the obtained stacking simulation results, wherein the step of determining the target simulation stacking type comprises the following steps:

screening stacking simulation results representing successful stacking from all the obtained stacking simulation results;

if a plurality of stacking simulation results representing successful stacking exist, determining the stacking time used by each stacking simulation result representing successful stacking;

and determining the simulated stack shape corresponding to the minimum stacking time length as a target simulated stack shape.

Further, the method further comprises:

and sending prompt information, wherein the prompt information is used for prompting that the target simulation stack shape is determined.

In a second aspect, the present application provides an object palletization-based device comprising:

the acquisition unit is used for acquiring information to be stacked; the information to be stacked comprises object information of each object to be stacked in a plurality of types of objects to be stacked, and the object information is used for indicating attribute information of the objects to be stacked;

the generating unit is used for generating a plurality of simulation stack shapes according to the object information of the objects to be stacked;

the first determining unit is used for stacking each object to be stacked in the simulation stacking type in a simulation stacking scene based on preset obstacle information and/or singular point information to obtain a stacking simulation result of the simulation stacking type; the obstacle information is used for indicating attribute information of obstacles in a stacking process, the singular point information is used for indicating singular points of paths in the stacking process, the stacking simulation result comprises result information, and the result information represents whether stacking is successful or not;

the second determining unit is used for determining a target simulation stacking type according to the stacking simulation result;

and the stacking unit is used for controlling stacking equipment to stack the object to be stacked on the target simulation stack shape.

Further, in the case of performing simulation palletizing based on preset obstacle information and singular point information, the first determining unit includes:

the first stacking module is used for stacking each object to be stacked in the current simulation stacking type in a simulation stacking scene based on preset obstacle information and singular point information in the simulation stacking scene;

the first determining module is used for determining simulation collision information in the stacking process; wherein the simulated crash information comprises at least one of: the collision condition between the stacking equipment and the obstacle information, the collision condition between a clamp of the stacking equipment and the obstacle information, and the collision condition between an object to be stacked and captured by the clamp and the obstacle information;

the second determining module is used for determining first singular point information of a path in the stacking process;

the first generation module is used for generating a stacking simulation result representing unsuccessful stacking if the simulation collision information representation of the current simulation stacking type is determined to collide or the first singular point information representation has a singular point, and stacking the next simulation stacking type;

the second generation module is used for generating a stacking simulation result representing successful stacking if the simulation collision information representation of the current simulation stacking model is determined not to be collided and the first singular point information representation has no singular point, and stopping stacking operation on the rest simulation stacking models;

the second determining unit is specifically configured to:

Further, in the case of performing simulation palletizing based on preset obstacle information or singular point information, the first determining unit includes:

the second stacking module is used for stacking each object to be stacked in the current simulation stacking type in a simulation stacking scene based on preset obstacle information or singular point information in the simulation stacking scene;

the third determining module is used for determining simulation collision information in the stacking process or determining first singular point information of a path in the stacking process; wherein the simulated crash information comprises at least one of: the collision condition between the stacking equipment and the obstacle information, the collision condition between a clamp of the stacking equipment and the obstacle information, and the collision condition between an object to be stacked and captured by the clamp and the obstacle information;

the third generation module is used for generating a stacking simulation result representing unsuccessful stacking if the simulation collision information representation of the current simulation stacking type is determined to collide or the first singular point information representation has a singular point, and stacking the next simulation stacking type;

the fourth generation module is used for generating a stacking simulation result representing successful stacking if the simulation collision information representation of the current simulation stacking type is determined not to have collision or the first singular point information representation has no singular point, and stopping stacking operation on the rest simulation stacking types;

the second determining unit is specifically configured to:

Further, the apparatus further comprises:

the sorting unit is used for sorting simulation priorities of the plurality of simulation stacking types before the objects to be stacked are stacked in the current simulation stacking type;

the first or second stacking module comprises:

the first determining submodule is used for determining the current simulation stacking type according to the simulation priority sequence of the simulation stacking types;

and the first stacking submodule is used for stacking the objects to be stacked in the determined simulation stacking type based on preset obstacle information and/or singular point information in the simulation stacking scene.

the sorting unit comprises:

the weighted summation module is used for carrying out weighted summation processing on the stacking number, the integral central height, the integral moment of inertia and stacking distribution corresponding to each simulation stack type to obtain a stacking value corresponding to each simulation stack type;

and the sequencing module is used for sequencing the plurality of simulation stack types according to the stacking value corresponding to each simulation stack type.

Further, the first determination unit includes:

the third stacking module is used for sequentially stacking the grabbed objects to be stacked in each simulation stacking type according to preset obstacle information and/or singular point information in the simulation stacking scene;

the fourth determining module is used for determining simulation collision information in the stacking process and/or determining second singular point information of a path in the stacking process; wherein the simulated crash information comprises at least one of: the collision condition between the stacking equipment and the obstacle information, the collision condition between a clamp of the stacking equipment and the obstacle information, and the collision condition between an object to be stacked and captured by the clamp and the obstacle information;

the fifth determining module is used for obtaining a stacking simulation result of each simulation stacking type according to the simulation collision information and/or the second singular point information of each simulation stacking type;

the second determination unit includes:

and the sixth determining module is used for determining one target simulation stacking type according to all the obtained stacking simulation results.

Further, the stacking simulation result comprises stacking time, wherein the stacking time represents the time used in the stacking process; the sixth determining module includes:

the second determining submodule is used for screening stacking simulation results representing successful stacking in all the obtained stacking simulation results;

the third determining submodule is used for determining the stacking time used by each stacking simulation result representing successful stacking if a plurality of stacking simulation results representing successful stacking are determined to exist;

and the fourth determining submodule is used for determining the simulation stack shape corresponding to the minimum stacking time length as the target simulation stack shape.

Further, the apparatus further comprises:

and the prompting unit is used for sending out prompting information, wherein the prompting information is used for prompting that the target simulation stack shape is determined.

In a third aspect, the present application provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program operable on the processor, and the processor implements the method of the first aspect when executing the computer program.

In a fourth aspect, the present application provides a computer-readable storage medium having stored thereon computer-executable instructions for implementing the method of the first aspect when executed by a processor.

In a fifth aspect, the present application provides a computer program product comprising a computer program which, when executed by a processor, implements the method of the first aspect.

According to the stacking method, the stacking device and the stacking equipment based on the stack type, information to be stacked is obtained; the information to be stacked comprises object information of each object to be stacked, and the object information represents attribute information of the object to be stacked. And generating a plurality of simulation stack shapes according to the object information of the object to be stacked. In a simulation stacking scene, stacking each object to be stacked in a simulation stack type based on preset obstacle information and singular point information to obtain a stacking simulation result of the simulation stack type; the obstacle information represents attribute information of obstacles in the stacking process, singular point information is used for indicating singular points of paths in the stacking process, a stacking simulation result comprises result information, and the result information represents whether stacking is successful or not. Determining a target simulation stack shape according to a stacking simulation result; and controlling the stacking equipment to stack the object to be stacked on the target simulation stack. According to the scheme, information to be stacked is obtained, a plurality of simulation stacking types are generated according to the information to be stacked, then in a simulation scene, on the basis of obstacle information or singular point information in the simulation scene, each object to be stacked is simulated and stacked in the simulation stacking types for verification, a stacking simulation result of the simulation stacking types is obtained, a target simulation stacking type is determined according to the stacking simulation result, the target simulation stacking type is the stacking type for stacking the objects to be stacked under the condition that obstacles can be avoided, and finally stacking equipment is controlled to place the equipment to be stacked on the target simulation stacking type. Therefore, through carrying out stacking operation on the simulation stack type, a target simulation stack type which can avoid obstacles and singular points is verified, and then the stacking equipment is controlled to directly place the equipment to be stacked on the target simulation stack type, the problem that the stacking work is blocked by the obstacles in a stacking field in the stacking process is avoided to a certain extent, the preset stack type cannot be stacked due to the fact that the stacking equipment is possibly collided with the obstacles, the singular points of the stacking equipment in the stacking process are prevented from being generated, invalid stacking due to the fact that the stacking equipment is collided and the singular points are generated is avoided, the successful probability of stacking is improved, the stacking time is greatly saved, and the technical problem that the stacking efficiency is lower due to the fact that the stacking equipment is possibly collided with the obstacles is solved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.

FIG. 1 is a schematic flow chart illustrating a stacking method for stacking objects based on a stacking type according to an embodiment of the present disclosure;

FIG. 2 is a schematic flow chart illustrating another stacking method for stacking objects based on a stacking type according to an embodiment of the present disclosure;

FIG. 3 is a scene schematic diagram of an object stacking method based on a stacking type according to an embodiment of the present disclosure;

FIG. 4 is a schematic structural diagram of an object stacking device based on a stacking type according to an embodiment of the present disclosure;

FIG. 5 is a schematic structural diagram of another stacking device for stacking objects based on a stacking type according to an embodiment of the present disclosure;

fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure;

fig. 7 is a block diagram of an electronic device according to an embodiment of the present application.

With the foregoing drawings in mind, certain embodiments of the disclosure have been shown and described in more detail below. These drawings and written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the concepts of the disclosure to those skilled in the art by reference to specific embodiments.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure.

At present, with the development of science and technology, for convenience and rapidness, mechanical equipment is usually used for carrying and stacking objects, but more problems exist in the carrying process.

In one example, when the mechanical arm is used for transporting and stacking the objects to be stacked, a stacking list is generally obtained, the stacking list comprises various types of objects to be stacked, and the stacking device is controlled to stack various types of objects to be stacked on a stack. However, in the prior art, various obstacles exist in the process of controlling the stacking device to stack various objects to be stacked on one stack, so that the situation that various objects to be stacked cannot be stacked in the same stack due to the obstacle occurs, the objects to be stacked need to be stacked again, and the stacking efficiency is low.

The application provides a method, a device and equipment for stacking objects based on a stack shape, and aims to solve the technical problems in the prior art.

The following describes the technical solutions of the present application and how to solve the above technical problems with specific embodiments. These several specific embodiments may be combined with each other below, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.

Fig. 1 is a schematic flow chart of an object stacking method based on a stacking type according to an embodiment of the present application, and as shown in fig. 1, the method includes:

101. acquiring information to be stacked; the information to be stacked comprises object information of each object to be stacked, and the object information represents attribute information of the object to be stacked.

For example, the executing subject of this embodiment may be an electronic device, or a terminal device, or an object stacking device or device based on a stacking type, or other devices or devices that may execute this embodiment, which is not limited in this respect. In this embodiment, an execution main body is described as an electronic device.

First, information to be encoded needs to be acquired. The information to be coded can be obtained from the memory; or receiving information to be coded transmitted by other equipment, and the like. The information to be stacked includes object information of each object to be stacked, and the object information represents attribute information of the object to be stacked, where the type of the object to be stacked may be one or more, and the attribute information of the object to be stacked is related attribute information of the object to be stacked, which can affect the unstacking/stacking (including that the object to be unstacked and stacked is transported), for example, the related attribute information may include information of the volume, weight, shape, and the like of the object to be stacked, which is not limited to this.

102. And generating a plurality of simulation stack shapes according to the object information of the object to be stacked.

For example, the electronic device may generate a plurality of simulated buttress shapes based on information about the volume, weight, shape, etc. of the object to be stacked.

103. In a simulation stacking scene, stacking each object to be stacked in a simulation stack type based on preset obstacle information and/or singular point information to obtain a stacking simulation result of the simulation stack type; the obstacle information represents attribute information of obstacles in the stacking process, singular point information is used for indicating singular points of paths in the stacking process, a stacking simulation result comprises result information, and the result information represents whether stacking is successful or not.

Illustratively, the obstacle is an object capable of obstructing a palletizing process of the palletizing device, the attribute information of the obstacle is information describing the obstacle itself, for example, the attribute information is a position, a size, and the like of the obstacle, and the obstacle indicated by the preset obstacle information refers to at least one of the following in the simulated palletizing scene: the object to be stacked which is not captured and is placed in the unstacking field, the stacked object to be stacked or the building object in the unstacking field, the placed working equipment and other scene objects, for example, compared with the object clamped by the operating arm of the electronic equipment, the clamp on the operating arm and the clamp, a plurality of obstacles in the simulation stacking scene hinder the electronic equipment from carrying and stacking the object, besides, the obstacle information may also include other objects, which is not limited to this; the singular point information is used for indicating singular points of a path in the stacking process, and the singular points represent wrong activity positions of stacking equipment, for example, the singular points appear on the path of the stacking equipment in the stacking process, so that the stacking equipment fails and the like; the stacking simulation result comprises result information, and the result information represents whether stacking is successful or not. In a simulation stacking scene, based on preset obstacle information and/or singular point information, in order to verify a simulation stacking type capable of being correctly stacked, the electronic equipment stacks each object to be stacked in the simulation stacking type to obtain a stacking simulation result of the simulation stacking type, wherein the stacking operation of the simulation stacking type comprises two implementation modes.

In a first stacking operation of the simulated stacking type, in a simulated stacking scene, a current simulated stacking type can be determined randomly or according to a preset sequence, and each object to be stacked is stacked in the current simulated stacking type based on preset obstacle information and/or singular point information in the simulated stacking scene; determining simulation collision information in the stacking process and determining first singular point information of a path in the stacking process; if the simulation collision information representation of the current simulation stack type is determined to be collided or the first singular point information representation has a singular point, generating a stacking simulation result representing that stacking is not successful, randomly selecting or determining the next simulation stack type according to a preset sequence and performing stacking operation on the next simulation stack type, if the simulation collision information representation of the current simulation stack type is determined to be not collided and the first singular point information representation has no singular point, generating a stacking simulation result representing that stacking is successful, and stopping the stacking operation on the rest simulation stack types. Wherein the simulated collision information comprises at least one of: the information of the first singular point is used for indicating the singular point of a path in the stacking process.

In a second stacking operation of the simulated stacking type, in the simulated stacking scene, on the basis of preset obstacle information and singular point information in the simulated stacking scene, each grasped object to be stacked is sequentially stacked in each simulated stacking type. And determining simulation collision information in the stacking process and determining second singular point information of a path in the stacking process. And obtaining a stacking simulation result of each simulation stack type according to the simulation collision information and the second singular point information of each simulation stack type. Wherein the simulated collision information comprises at least one of: the information of the collision between the palletizing equipment and the obstacle information, the information of the collision between a clamp of the palletizing equipment and the obstacle information, and the information of the collision between the object to be palletized and the obstacle information, wherein the object to be palletized and grabbed by the clamp, and the obstacle information are acquired, and the second singular point information is used for indicating the singular point of the path in the palletizing process.

104. Determining a target simulation stack shape according to a stacking simulation result; and controlling the stacking equipment to stack the object to be stacked on the target simulation stack.

Illustratively, as the stacking simulation result comprises result information which represents whether stacking is successful or not, the target simulation stacking type can be determined according to the stacking simulation result, and the stacking equipment is controlled to stack the object to be stacked on the target simulation stacking type; the determination of the target simulation stack shape comprises the following two modes.

For example, in the first stacking operation of the simulated stacking forms, because a simulation model is separately stacked each time until a stacking simulation result representing successful stacking is obtained, and the stacking operation of the remaining simulated stacking forms is stopped at this time, the finally obtained stacking simulation results are a stacking simulation result representing successful stacking and stacking simulation results representing unsuccessful stacking which are greater than or equal to 0, it can be directly determined that the simulated stacking form corresponding to the stacking simulation result representing successful stacking is the target simulated stacking form, and the stacking device is controlled to stack the object to be stacked on the target simulated stacking form.

Or in the second stacking operation of the simulated stack, because the plurality of simulated stacks are stacked to obtain simulation result information corresponding to each simulated stack, and the finally obtained simulation result information comprises a plurality of stack simulation results representing unsuccessful stacking and a plurality of stack simulation results representing successful stacking, the stacking time duration in the plurality of simulated stacks representing successful stacking can be judged to obtain the minimum stacking time duration, so that the simulated stack corresponding to the minimum stacking time duration is determined to be the target simulated stack, and the stacking equipment is controlled to stack the object to be stacked on the target simulated stack.

In the embodiment of the application, information to be stacked is obtained; the information to be stacked comprises object information of each object to be stacked, and the object information represents attribute information of the object to be stacked. And generating a plurality of simulation stack shapes according to the object information of the object to be stacked. In a simulation stacking scene, stacking each object to be stacked in a simulation stack type based on preset obstacle information and singular point information to obtain a stacking simulation result of the simulation stack type; the obstacle information represents attribute information of the obstacles in the stacking process, and the singular point information is used for indicating singular points of paths in the stacking process. Determining a target simulation stack shape according to a stacking simulation result; and controlling the stacking equipment to stack the object to be stacked on the target simulation stack. According to the scheme, information to be stacked is obtained, a plurality of simulation stacking shapes are generated according to the information to be stacked, then in a simulation scene, simulation stacking of all objects to be stacked is carried out on the simulation stacking shapes for verification based on obstacle information and/or singular point information in the simulation scene, a stacking simulation result of the simulation stacking shapes is obtained, a target simulation stacking shape is determined according to the stacking simulation result, the target simulation stacking shape is the stacking shape for stacking the objects to be stacked under the condition that obstacles can be avoided, and finally stacking equipment is controlled to place the equipment to be stacked on the target simulation stacking shape. Therefore, the target simulation stack model capable of avoiding the obstacles and singular points is verified through carrying out stacking operation on the simulation stack model, and then the stacking device is controlled to directly place the device to be stacked on the target simulation stack model, so that the problem that the stacking work is blocked by the obstacles in a stacking field in the stacking process is avoided to a certain extent, the preset stack model cannot be stacked due to the fact that the stacking device is likely to collide with the obstacles, the singular points of the stacking device are prevented from occurring in the stacking process, invalid stacking due to the fact that the stacking device collides and the singular points occur is avoided, the successful probability of stacking is improved, the stacking time is greatly saved, and the technical problem that the stacking efficiency is low due to the fact that the stacking device is likely to collide with the obstacles is solved.

Fig. 2 is a schematic flow chart of another stacking method for stacking objects based on a stacking type according to an embodiment of the present application, and as shown in fig. 2, the method includes:

201. acquiring information to be stacked; the information to be stacked comprises object information of each object to be stacked, and the object information represents attribute information of the object to be stacked.

For example, this step may refer to step 101 in fig. 1, and is not described again.

202. And generating a plurality of simulation stack shapes according to the object information of the object to be stacked.

For example, this step can be referred to as step 102 in fig. 1, and is not described again.

203. In a simulation stacking scene, stacking each object to be stacked in a simulation stack type based on preset obstacle information and/or singular point information to obtain a stacking simulation result of the simulation stack type; the obstacle information represents attribute information of obstacles in the stacking process, singular point information is used for indicating singular points of paths in the stacking process, a stacking simulation result comprises result information, and the result information represents whether stacking is successful or not.

In one example, the obstacle indicated by the obstacle information includes at least one of: objects to be stacked which are not grabbed, stacked objects to be stacked and other scene objects.

In one example, step 203 includes three implementations:

first implementation of step 203: under the condition of carrying out simulation stacking based on preset obstacle information and singular point information, stacking each object to be stacked in a simulation stacking type to obtain a stacking simulation result of the simulation stacking type, and the method comprises the following steps: in the simulation stacking scene, stacking each object to be stacked in the current simulation stacking type based on preset obstacle information and singular point information in the simulation stacking scene; determining simulation collision information in the stacking process; wherein the simulated collision information comprises at least one of: the collision condition between the stacking equipment and the obstacle information, the collision condition between a clamp of the stacking equipment and the obstacle information, and the collision condition between an object to be stacked and the obstacle information, which are grabbed by the clamp; determining first singular point information of a path in a stacking process; if the simulation collision information representation of the current simulation stack type is determined to be collided or the first singular point information representation has a singular point, generating a stacking simulation result representing unsuccessful stacking, and stacking the next simulation stack type; and if the simulation collision information representation of the current simulation stack type is determined not to be collided and the first singular point information representation has no singular point, generating a stacking simulation result representing successful stacking, and stopping stacking operation on the rest simulation stack types.

Second implementation of step 203: under the condition of carrying out simulation stacking based on preset obstacle information or singular point information, stacking each object to be stacked in a simulation stacking type to obtain a stacking simulation result of the simulation stacking type, and the method comprises the following steps: in the simulation stacking scene, stacking each object to be stacked in the current simulation stacking type based on preset obstacle information or singular point information in the simulation stacking scene; determining simulation collision information in the stacking process, or determining first singular point information of a path in the stacking process; wherein the simulated collision information comprises at least one of: the collision condition between the stacking equipment and the obstacle information, the collision condition between a clamp of the stacking equipment and the obstacle information, and the collision condition between an object to be stacked and the obstacle information, which are grabbed by the clamp; if the simulation collision information representation of the current simulation stack type is determined to be collided or the first singular point information representation has a singular point, generating a stacking simulation result representing unsuccessful stacking, and stacking the next simulation stack type; and if the simulation collision information representation of the current simulation stack shape is determined not to be collided or the first singular point information representation has no singular point, generating a stacking simulation result representing successful stacking, and stopping stacking operation on the rest simulation stack shapes.

In one example, after step 202 and before "stacking each object to be stacked in the current simulation stack" in step 203, the method further includes: and carrying out simulation priority sequencing on the plurality of simulation stack shapes.

In this example scenario, in the simulation stacking scene, stacking each object to be stacked in the current simulation stacking type based on preset obstacle information and/or singular point information in the simulation stacking scene includes: determining a current simulation buttress according to the simulation priority sequence of the plurality of simulation buttress; and stacking the objects to be stacked in the determined simulation stacking type based on preset obstacle information and/or singular point information in the simulation stacking scene.

In one example, the simulated stack shape includes stacking information; wherein the palletization information comprises at least one of: the stacking number, the integral central height, the integral rotational inertia and the stacking distribution which correspond to the simulation stack type; "carry out simulation prioritization to a plurality of simulation buttress types", includes: carrying out weighted summation processing on the stacking number, the integral central height, the integral rotational inertia and the stacking distribution corresponding to each simulation stack type to obtain a stacking value corresponding to each simulation stack type; and sequencing the plurality of simulation stack shapes according to the stacking value corresponding to each simulation stack shape.

Third implementation of step 203: in the simulation stacking scene, based on preset obstacle information and/or singular point information in the simulation stacking scene, aiming at each simulation stacking type, sequentially stacking each grabbed object to be stacked in each simulation stacking type; determining simulation collision information in the stacking process and/or determining second singular point information of a path in the stacking process; wherein the simulated crash information comprises at least one of: the collision condition between the palletizing equipment and the obstacle information, the collision condition between a clamp of the palletizing equipment and the obstacle information, and the collision condition between an object to be palletized and the obstacle information, which are grabbed by the clamp; and obtaining a stacking simulation result of each simulation stack type according to the simulation collision information and/or the second singular point information of each simulation stack type.

Illustratively, the obstacle indicated by the preset obstacle information refers to at least one of the following simulated palletizing scenes: objects to be stacked, other scene objects and the like which are not grabbed are provided, for example, compared with objects clamped by an operating arm of the electronic equipment, a clamp on the operating arm and the clamp, a plurality of obstacles in the simulation stacking scene hinder the electronic equipment from carrying and stacking the objects, and besides, the obstacles may include other objects, which is not limited to this; the stacking simulation result comprises result information, and the result information represents whether stacking is successful or not. In a simulation stacking scene, based on preset obstacle information, in order to verify a simulation stacking type capable of being correctly stacked, the electronic equipment stacks each object to be stacked in the simulation stacking type to obtain a stacking simulation result of the simulation stacking type, wherein the stacking operation of the simulation stacking type comprises two implementation modes.

In a first implementation manner of step 203, in the simulation stacking scene, each object to be stacked is placed in the current simulation stacking type in a simulation stacking mode based on preset obstacle information and singular point information in the simulation stacking scene; and determining simulation collision information in the stacking process and determining first singular point information of a path in the stacking process. If the simulation collision information representation of the current simulation stack type is determined to be collided or the first singular point information representation has a singular point, generating a stacking simulation result representing that stacking is not successful, and performing stacking operation on the next simulation stack type, and if the simulation collision information representation of the current simulation stack type is determined to be not collided and the first singular point information representation has no singular point, generating a stacking simulation result representing that stacking is successful, and stopping the stacking operation on the rest simulation stack types. Wherein the simulated collision information comprises at least one of: the collision condition between the stacking equipment and the obstacle information, the collision condition between the clamp of the stacking equipment and the obstacle information, and the collision condition between the object to be stacked and the obstacle information, which are grabbed by the clamp.

In a second implementation manner of step 203, in the simulation stacking scene, each object to be stacked is placed in the current simulation stacking type in a simulation stacking mode based on preset obstacle information or singular point information in the simulation stacking scene; and determining simulation collision information in the stacking process, or determining first singular point information of a path in the stacking process. If the simulation collision information representation of the current simulation stack type is determined to be collided or the first singular point information representation has a singular point, generating a stacking simulation result representing that the stacking is not successful, and performing stacking operation on the next simulation stack type, and if the simulation collision information representation of the current simulation stack type is determined to be not collided or the first singular point information representation has no singular point, generating a stacking simulation result representing that the stacking is successful, and stopping the stacking operation on the rest simulation stack types. Wherein the simulated collision information comprises at least one of: the collision condition between the stacking equipment and the obstacle information, the collision condition between the clamp of the stacking equipment and the obstacle information, and the collision condition between the object to be stacked and the obstacle information, which are grabbed by the clamp.

On the basis of the first implementation manner and the second implementation manner, in the stacking operation of the plurality of simulation stacking types, in order to shorten the overall simulation time consumed for obtaining the stacking simulation result representing successful stacking, the simulation priority ranking can be firstly carried out on the plurality of simulation stacking types, the sequence information of the simulation stacking types is determined, and then the simulation stacking type with higher probability of representing successful stacking is preferentially simulated and stacked. In the specific sorting process, the stacking number, the overall center height, the overall moment of inertia and the stacking distribution corresponding to each simulation stack type are weighted and summed to obtain a stacking value corresponding to each simulation stack type. And sequencing the stacking values according to a preset sequencing mode to obtain the sequenced stacking values, wherein each simulated stacking type corresponds to one stacking value, so that the sequence information of the simulated stacking types can be determined according to the sequenced stacking values, the preset sequencing mode comprises a mode from large to small or a mode from small to large, and the like, and the mode is not limited. Aiming at a plurality of simulation stack shapes with the same part stacking value and the same simulation priority, the simulation stacking sequence can be randomly arranged and set among the simulation stack shapes.

For example, in a first implementation manner of the weighted summation processing, the stacking information includes any one of, for example, the stacking information includes a stacking number corresponding to the simulated stack type, the number of the simulated stack types is N, N is a positive integer greater than or equal to 2, and the electronic device prestores a first weight value corresponding to the stacking number, so that a first weight value corresponding to the stacking number of each simulated stack type can be determined, that is, the first weight value corresponding to each stacking number is equal, and the stacking number of each simulated stack type is multiplied by the first weight value to obtain the first weight value of each simulated stack type, where the first weight value is the stacking value of each simulated stack type.

Or, in a second implementation manner of the weighted summation processing, the stacking information includes at least two of the following arbitrary types, for example, the stacking information includes a stacking number and an overall center height corresponding to the simulation stack type, the number of the simulation stack types is N, N is a positive integer greater than or equal to 2, and the electronic device pre-stores a second weight value corresponding to the stacking number and a third weight value corresponding to the overall center height, so that the second weight value corresponding to the stacking number of each simulation stack type and the third weight value corresponding to the overall center height of each simulation stack type can be determined, that is, the second weight values corresponding to the stacking numbers are equal and the third weight values corresponding to the overall center heights are equal, the stacking number of each simulation stack type is multiplied by the second weight value to obtain the second weight value of each simulation stack type, and the overall center height of each simulation stack type is multiplied by the third weight value, and obtaining a third weighted value of each simulated stack shape, and adding the second weighted value and the third weighted value of each simulated stack shape to obtain a weighted sum corresponding to each simulated stack shape, wherein the weighted sum is the stacking value of each simulated stack shape.

In the first implementation manner and the second implementation manner, in addition to the above list, a person skilled in the art may add other types of stacking information according to the stacking simulation requirement, which is not limited to the above type of stacking information involved in calculating the stacking value.

In a third implementation manner of step 203, in the simulation stacking scene, based on preset obstacle information and/or singular point information in the simulation stacking scene, for each simulation stacking type, the grabbed objects to be stacked are sequentially stacked in each simulation stacking type, that is, all the generated simulation stacking types are subjected to simulation stacking. Determining simulation collision information in the stacking process and/or determining second singular point information of a path in the stacking process; wherein the simulated collision information comprises at least one of: the collision condition between the stacking equipment and the obstacle information, the collision condition between the clamp of the stacking equipment and the obstacle information, and the collision condition between the object to be stacked and the obstacle information, which are grabbed by the clamp. And obtaining a stacking simulation result of each simulation stack type according to the simulation collision information and/or the second singular point information of each simulation stack type, for example, if it is determined that only the simulation collision information of each simulation stack type exists, obtaining the stacking simulation result of each simulation stack type according to the simulation collision information of each simulation stack type, or if it is determined that only the second singular point information of each simulation stack type exists, obtaining the stacking simulation result of each simulation stack type according to the second singular point information of each simulation stack type, or if it is determined that the simulation collision information and the second singular point information of each simulation stack type exist, obtaining the stacking simulation result of each simulation stack type according to the simulation collision information and the second singular point information of each simulation stack type.

204. And determining a target simulation stack shape according to the stacking simulation result.

In one example, step 204 includes two implementations:

first implementation of step 204: and selecting the simulation stack shape corresponding to the stacking simulation result representing successful stacking as a target simulation stack shape.

Second implementation of step 204: and determining a target simulation stack shape according to all the obtained stacking simulation results.

In one example, the palletizing simulation result comprises a palletizing time length, wherein the palletizing time length represents the time length used in the palletizing process; "determining a target simulation stack type according to all the obtained stacking simulation results" includes: screening stacking simulation results representing successful stacking from all the obtained stacking simulation results; if a plurality of stacking simulation results representing successful stacking exist, determining the stacking time used by each stacking simulation result representing successful stacking; and determining the simulated stack shape corresponding to the minimum stacking time length as a target simulated stack shape.

Illustratively, according to the stacking simulation result, a target simulation stacking type is determined, and the method comprises the following two implementation modes. In a first implementation manner, because the stacking operation is independently performed on one simulation model at each time until a stacking simulation result representing successful stacking is obtained, the stacking operation on the remaining simulation stacking types is stopped at this time, and the finally obtained stacking simulation results are a stacking simulation result representing successful stacking and stacking simulation results representing unsuccessful stacking greater than or equal to 0, the simulation stacking type corresponding to the stacking simulation result representing successful stacking can be directly determined as the target simulation stacking type.

Or, in a second implementation manner, the stacking simulation result includes stacking time, and the stacking time is operation time consumed by actual stacking into each simulated stack according to the actual stack of each simulated stack, and comprehensive stacking conditions such as speed, moving pose, moving path and the like of each time the stack to be stacked is picked up and moved. The simulation result information corresponding to each simulation stack type is obtained by performing simulated stacking operation on the simulation stack types, and the finally obtained simulation result information comprises a plurality of stacking simulation results representing unsuccessful stacking and a plurality of stacking simulation results representing successful stacking, so that when all stacking simulation results are obtained, the stacking simulation results representing successful stacking are screened out, if the plurality of stacking simulation results representing successful stacking are determined, the stacking time length used by each stacking simulation result is determined, each stacking time length is judged, the minimum stacking time length is determined, and the simulation stack type corresponding to the minimum stacking time length is determined to be the target simulation stack type.

205. And controlling the stacking equipment to stack the object to be stacked on the target simulation stack.

For example, the electronic device may control the palletizing device to stack the object to be palletized on the target simulated palletized form, wherein the palletizing device may be a device including a mechanical arm, which is not limited thereto.

For example, fig. 3 is a schematic view of a scene of a stacking method for stacking objects based on a buttress shape according to an embodiment of the present application, as shown in fig. 3, where fig. 3 includes: the stacking device comprises a stacking device, a stacking position, barriers, a left unstacking position cache, a left unstacking position obtained according to the left unstacking position cache, a right unstacking position cache and a right unstacking position obtained according to the right unstacking position cache, wherein the type of the object to be stacked on the left unstacking position is different from the type of the object to be stacked on the right unstacking position. The mechanical arm of the stacking equipment clamps the object to be stacked at the left unstacking position, avoids obstacles in the process of transporting the object to be stacked, finally transports the object to the stacking position for stacking, and transports the object located at the stacking position by the transporting equipment. Or the mechanical arm of the stacking equipment clamps the object to be stacked at the right unstacking position, avoids obstacles in the process of transporting the object to be stacked, finally transports the object to the stacking position for stacking, and transports the object located at the stacking position by the transporting equipment. Or the mechanical arm of the stacking equipment clamps the object to be stacked at the left unstacking position and the right unstacking position in sequence according to a preset clamping sequence, avoids obstacles in the process of transporting the object to be stacked, finally transports the object to the stacking position for stacking, and transports the object and the like at the stacking position by the transporting equipment without limitation.

206. And sending prompt information, wherein the prompt information is used for prompting that the target simulation stack shape is determined.

Illustratively, when it is determined that the target simulated stack shape has been determined, the electronic device may send a prompt message to prompt the user in time.

In the embodiment of the application, information to be stacked is obtained; the information to be stacked comprises object information of each object to be stacked, and the object information represents attribute information of the object to be stacked. And generating a plurality of simulation stack shapes according to the object information of the object to be stacked. In a simulation stacking scene, stacking each object to be stacked in a simulation stack type based on preset obstacle information and/or singular point information to obtain a stacking simulation result of the simulation stack type; the obstacle information represents attribute information of obstacles in the stacking process, singular point information is used for indicating singular points of paths in the stacking process, a stacking simulation result comprises result information, and the result information represents whether stacking is successful or not. And determining a target simulation stack shape according to the stacking simulation result. And controlling the stacking equipment to stack the object to be stacked on the target simulation stack. And sending prompt information, wherein the prompt information is used for prompting that the target simulation stack shape is determined. Therefore, through carrying out stacking operation on the simulation stack type, a target simulation stack type which can avoid obstacles and singular points is verified, and then the stacking equipment is controlled to directly place the equipment to be stacked on the target simulation stack type, the problem that the stacking work is blocked by the obstacles in a stacking field in the stacking process is avoided to a certain extent, the preset stack type cannot be stacked due to the fact that the stacking equipment is possibly collided with the obstacles, the singular points of the stacking equipment in the stacking process are prevented from being generated, invalid stacking due to the fact that the stacking equipment is collided and the singular points are generated is avoided, the successful probability of stacking is improved, the stacking time is greatly saved, and the technical problem that the stacking efficiency is lower due to the fact that the stacking equipment is possibly collided with the obstacles is solved.

Fig. 4 is a schematic structural diagram of an object stacking device based on a stacking type according to an embodiment of the present application, and as shown in fig. 4, the device includes:

an obtaining unit 31, configured to obtain information to be stacked; the information to be stacked comprises object information of each object to be stacked in the multiple types of objects to be stacked, and the object information is used for indicating attribute information of the objects to be stacked.

The generating unit 32 is configured to generate a plurality of simulated stack shapes according to the object information of the object to be stacked.

The first determining unit 33 is configured to, in the simulation stacking scene, stack each object to be stacked in the simulation stacking shape based on preset obstacle information and/or singular point information, so as to obtain a stacking simulation result of the simulation stacking shape; the obstacle information is used for indicating attribute information of obstacles in the stacking process, the singular point information is used for indicating singular points of paths in the stacking process, the stacking simulation result comprises result information, and the result information represents whether stacking is successful or not.

And the second determining unit 34 is used for determining the target simulation stacking type according to the stacking simulation result.

And the stacking unit 35 is used for controlling the stacking equipment to stack the object to be stacked on the target simulation stack shape.

The apparatus of this embodiment may execute the technical solution in the method, and the specific implementation process and the technical principle are the same, which are not described herein again.

Fig. 5 is a schematic structural diagram of another stacking device for stacking objects based on a stacking type according to an embodiment of the present application, and based on the embodiment shown in fig. 4, as shown in fig. 5, in a case of performing simulated stacking based on preset obstacle information and singular point information, the first determining unit 33 includes:

the first stacking module 331 is configured to stack, in the simulation stacking scene, each object to be stacked in the current simulation stacking shape based on preset obstacle information and singular point information in the simulation stacking scene.

A first determining module 332, configured to determine simulation collision information in a palletizing process; wherein the simulated collision information comprises at least one of: the collision condition between the stacking equipment and the obstacle information, the collision condition between the clamp of the stacking equipment and the obstacle information, and the collision condition between the object to be stacked and the obstacle information, which are grabbed by the clamp.

A second determining module 333, configured to determine first singular point information of a path in the palletizing process.

The first generating module 334 is configured to generate a stacking simulation result representing that stacking is unsuccessful if it is determined that simulation collision information representation of the current simulation stack collides or singular points exist in first singular point information representation, and perform stacking operation on the next simulation stack.

And a second generating module 335, configured to generate a stacking simulation result representing successful stacking if it is determined that the simulation collision information representation of the current simulation stack does not collide and the first singular point information representation does not have a singular point, and stop stacking the remaining simulation stacks.

The second determining unit 34 is specifically configured to:

and selecting the simulation stack shape corresponding to the stacking simulation result representing successful stacking as a target simulation stack shape.

In one example, in the case of performing the simulation palletizing based on preset obstacle information or singular point information, the first determination unit 33 includes:

and the second stacking module 336 is configured to stack, in the simulation stacking scene, each object to be stacked in the current simulation stacking type based on preset obstacle information or singular point information in the simulation stacking scene.

The third determining module 337 is configured to determine simulation collision information in the stacking process, or determine first singular point information of a path in the stacking process; wherein the simulated collision information comprises at least one of: the collision condition between the stacking equipment and the obstacle information, the collision condition between the clamp of the stacking equipment and the obstacle information, and the collision condition between the object to be stacked and the obstacle information, which are grabbed by the clamp.

And a third generating module 338, configured to generate a stacking simulation result representing that stacking is unsuccessful if it is determined that simulation collision information representation of the current simulation stack indicates that collision occurs or the first singular point information representation indicates that a singular point exists, and perform stacking operation on the next simulation stack.

And the fourth generating module 339 is configured to generate a stacking simulation result representing successful stacking if it is determined that simulation collision information representation of the current simulation stack does not collide or the first singular point information representation does not have a singular point, and stop stacking the remaining simulation stacks.

The second determining unit 34 is specifically configured to:

In one example, the apparatus further comprises:

a sorting unit 41, configured to perform simulation priority sorting on the multiple simulation stacking types before "stacking each object to be stacked in the current simulation stacking type";

the first and second stacking

modules

331 and 336 include:

the first determining sub-module 3311 is configured to determine a current simulation pallet shape according to a simulation priority ranking of the plurality of simulation pallet shapes.

The first stacking sub-module 3312 is configured to stack an object to be stacked in the determined simulation stacking type based on preset obstacle information and/or singular point information in the simulation stacking scene.

In one example, the simulated stack shape includes stacking information; wherein the palletization information comprises at least one of: the stacking number, the integral central height, the integral rotational inertia and the stacking distribution which correspond to the simulation stack type;

a sorting unit 41, comprising:

and the weighted summation module 411 is configured to perform weighted summation on the stacking number, the overall center height, the overall moment of inertia, and the stacking distribution corresponding to each simulated stack type to obtain a stacking value corresponding to each simulated stack type.

And the sequencing module 412 is configured to sequence the plurality of simulation stacking types according to the stacking value corresponding to each simulation stacking type.

In one example, the first determining unit 33 includes:

the third stacking module 3310 is configured to, in the simulation stacking scene, sequentially stack, for each simulation stacking type, the captured objects to be stacked in each simulation stacking type based on preset obstacle information and/or singular point information in the simulation stacking scene.

A fourth determining module 3311, configured to determine simulation collision information in the stacking process, and/or determine second singular point information of a path in the stacking process; wherein the simulated collision information comprises at least one of: the collision condition between the palletizing equipment and the obstacle information, the collision condition between the clamp of the palletizing equipment and the obstacle information, and the collision condition between the object to be palletized and the obstacle information, which are grabbed by the clamp.

The fifth determining module 3312 is configured to obtain a stacking simulation result of each simulated stack according to the simulated collision information and/or the second singular point information of each simulated stack.

A second determination unit 34, comprising:

a sixth determining module 341, configured to determine a target simulation stacking type according to all the obtained stacking simulation results.

In one example, the palletizing simulation result comprises a palletizing time length, wherein the palletizing time length represents the time length used in the palletizing process; a sixth determining module 341, comprising:

the second determining submodule 3411 is configured to screen stacking simulation results representing successful stacking among all the obtained stacking simulation results.

The third determining submodule 3412 is configured to determine, if it is determined that a plurality of successful palletizing simulation results are present, a palletizing time duration used by each successful palletizing simulation result.

The fourth determining submodule 3413 is configured to determine that the simulated stack shape corresponding to the minimum stacking time is the target simulated stack shape.

In one example, the apparatus further comprises:

and the prompting unit 42 is used for sending out prompting information, wherein the prompting information is used for prompting that the target simulation stack shape is determined.

Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application, and as shown in fig. 5, the electronic device includes: memory 51, processor 52.

The memory 51 stores a computer program that can be run on the processor 52.

The processor 52 is configured to perform the methods provided in the embodiments described above.

The electronic device further comprises a receiver 53 and a transmitter 54. The receiver 53 is used for receiving commands and data transmitted from an external device, and the transmitter 54 is used for transmitting commands and data to an external device.

Fig. 7 is a block diagram of an electronic device, which may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, an exercise device, a personal digital assistant, etc., according to an embodiment of the present application.

Apparatus 600 may include one or more of the following components: a processing component 602, a memory 604, a power component 606, a multimedia component 608, an audio component 610, an input/output (I/O) interface 612, a sensor component 614, and a communication component 616.

The processing component 602 generally controls overall operation of the device 600, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing component 602 may include one or more processors 620 to execute instructions to perform all or a portion of the steps of the methods described above. Further, the processing component 602 can include one or more modules that facilitate interaction between the processing component 602 and other components. For example, the processing component 602 can include a multimedia module to facilitate interaction between the multimedia component 608 and the processing component 602.

The memory 604 is configured to store various types of data to support operations at the apparatus 600. Examples of such data include instructions for any application or method operating on device 600, contact data, phonebook data, messages, pictures, videos, and so forth. The memory 604 may be implemented by any type or combination of volatile or non-volatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.

Power supply component 606 provides power to the various components of device 600. The power components 606 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the apparatus 600.

The multimedia component 608 includes a screen that provides an output interface between the device 600 and the user. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 608 includes a front facing camera and/or a rear facing camera. The front camera and/or the rear camera may receive external multimedia data when the device 600 is in an operating mode, such as a shooting mode or a video mode. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.

The audio component 610 is configured to output and/or input audio signals. For example, audio component 610 includes a Microphone (MIC) configured to receive external audio signals when apparatus 600 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signal may further be stored in the memory 604 or transmitted via the communication component 616. In some embodiments, audio component 610 further includes a speaker for outputting audio signals.

The I/O interface 612 provides an interface between the processing component 602 and peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to: a home button, a volume button, a start button, and a lock button.

The sensor component 614 includes one or more sensors for providing status assessment of various aspects of the apparatus 600. For example, the sensor component 614 may detect an open/closed state of the device 600, the relative positioning of the components, such as a display and keypad of the device 600, the sensor component 614 may also detect a change in position of the device 600 or a component of the device 600, the presence or absence of user contact with the device 600, orientation or acceleration/deceleration of the device 600, and a change in temperature of the device 600. The sensor assembly 614 may include a proximity sensor configured to detect the presence of a nearby object in the absence of any physical contact. The sensor assembly 614 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 614 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

The communication component 616 is configured to facilitate communications between the apparatus 600 and other devices in a wired or wireless manner. The apparatus 600 may access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 616 receives broadcast signals or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 616 further includes a Near Field Communication (NFC) module to facilitate short-range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, Ultra Wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

In an exemplary embodiment, the apparatus 600 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors or other electronic components for performing the above-described methods.

In an exemplary embodiment, a non-transitory computer readable storage medium comprising instructions, such as the memory 604 comprising instructions, executable by the processor 620 of the apparatus 600 to perform the above-described method is also provided. For example, the non-transitory computer readable storage medium may be a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.

Embodiments of the present application also provide a non-transitory computer-readable storage medium, where instructions in the storage medium, when executed by a processor of an electronic device, enable the electronic device to perform the method provided by the above embodiments.

An embodiment of the present application further provides a computer program product, where the computer program product includes: a computer program, stored in a readable storage medium, from which at least one processor of the electronic device can read the computer program, the at least one processor executing the computer program causing the electronic device to perform the solution provided by any of the embodiments described above.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. An object stacking method based on a stack shape is characterized by comprising the following steps:

in a simulation stacking scene, stacking each object to be stacked in the simulation stacking type based on preset obstacle information and/or singular point information to obtain a stacking simulation result of the simulation stacking type; the obstacle information represents attribute information of obstacles in a stacking process, the singular point information is used for indicating singular points of paths in the stacking process, the stacking simulation result comprises result information, and the result information represents whether stacking is successful or not;

2. The method according to claim 1, wherein in the case of performing simulated stacking based on preset obstacle information and singular point information, the stacking each object to be stacked in the simulated stack to obtain a stacking simulation result of the simulated stack, includes:

determining simulation collision information in the stacking process; wherein the simulated crash information comprises at least one of: the collision condition between the stacking equipment and the obstacle information, the collision condition between a clamp of the stacking equipment and the obstacle information, and the collision condition between an object to be stacked and captured by the clamp and the obstacle information;

determining first singular point information of a path in a stacking process;

3. The method according to claim 1, wherein in the case of performing simulated stacking based on preset obstacle information or singular point information, the stacking each object to be stacked in the simulated stack to obtain a stacking simulation result of the simulated stack, includes:

4. A method according to claim 2 or 3, wherein prior to "depositing each of the objects to be deposited in the current simulated stack", the method further comprises:

and stacking the objects to be stacked in the determined simulation stacking type based on preset obstacle information and/or singular point information in the simulation stacking scene.

5. The method of claim 4, wherein the simulated buttress pattern includes palletization information; wherein the palletization information comprises at least one of: the stacking number, the integral central height, the integral rotational inertia and the stacking distribution which correspond to the simulation stack type;

and sequencing the plurality of simulation stack shapes according to the stacking value corresponding to each simulation stack shape.

6. The method according to claim 1, wherein in a simulation stacking scene, based on preset obstacle information and/or singular point information, each object to be stacked is stacked in the simulation stacking shape, so as to obtain a stacking simulation result of the simulation stacking shape, and the method comprises the following steps:

determining simulation collision information in the stacking process and/or determining second singular point information of a path in the stacking process; wherein the simulated crash information comprises at least one of: the collision condition between the stacking equipment and the obstacle information, the collision condition between a clamp of the stacking equipment and the obstacle information, and the collision condition between an object to be stacked and grabbed by the clamp and the obstacle information;

7. The method of claim 6, wherein the palletizing simulation result comprises a palletizing time length, wherein the palletizing time length represents a time length used in the palletizing process;

and determining the simulation stack shape corresponding to the minimum stacking time as a target simulation stack shape.

8. The method of any one of claims 1-3 or 5-7, further comprising:

9. An object stacking device based on a stack shape, comprising:

10. An electronic device, comprising a memory, a processor, a computer program being stored in the memory and being executable on the processor, the processor implementing the method of any of the preceding claims 1-8 when executing the computer program.

11. A computer-readable storage medium having computer-executable instructions stored thereon, which when executed by a processor, perform the method of any one of claims 1-8.