CN115571643B - Stack type determining method, apparatus and device - Google Patents
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- CN115571643B CN115571643B CN202211079372.9A CN202211079372A CN115571643B CN 115571643 B CN115571643 B CN 115571643B CN 202211079372 A CN202211079372 A CN 202211079372A CN 115571643 B CN115571643 B CN 115571643B
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- 238000012216 screening Methods 0.000 claims description 102
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- 238000004590 computer program Methods 0.000 claims description 10
- 239000004973 liquid crystal related substance Substances 0.000 claims description 9
- 238000010276 construction Methods 0.000 claims description 6
- 238000005516 engineering process Methods 0.000 abstract description 7
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/03—Stacking of articles by adding to the top of the stack from above
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
Abstract
The application provides a stack type determining method, a stack type determining device and stack type determining equipment, and relates to a stack disassembling/stacking technology, wherein the stack type determining method comprises the following steps: and obtaining information to be stacked. And acquiring all available preliminary stack types according to the information to be stacked. Selecting a stack type matched with a stacking structure standard from the preliminary stack types according to the preset stacking structure standard; wherein, pile up neatly structural criteria includes: the height value of the stacking object at the position to be stacked in each stacking order is larger than or equal to the height value of all adjacent stacking objects stacked around the stacking position. According to the method, stacking operation is performed according to the stack type selected and matched with the preset stacking structure standard, when the sucker of the stacking device sucks objects to be stacked downwards, the sucker cannot collide with surrounding stacked objects, so that the sucker of the stacking device can stack the objects to the corresponding positions in a falling manner, the objects are prevented from colliding with the corresponding positions, and the technical problem of poor stacking capacity of the stacking device is solved.
Description
Technical Field
The present disclosure relates to stacking and unstacking technologies, and in particular, to a method, an apparatus, and a device for determining a stack type.
Background
At present, along with the development of automation, stacking equipment is generally used for transporting and stacking objects to be stacked.
In the prior art, when objects to be stacked are transported and stacked by using stacking equipment, a stacking list is generally obtained, the stacking list comprises a plurality of objects, and the stacking equipment is controlled to stack the plurality of objects on a stack.
However, in the prior art, when the sucker of the stacking device is controlled to absorb the current object to be stacked and stacked, the sucker of the stacking device collides with the object which is stacked, and the sucker cannot continue to descend until the object to be stacked is stacked to the corresponding position, so that the object to be stacked collides with the corresponding position, and the stacking capability of the stacking device is poor.
Disclosure of Invention
The application provides a stack type determining method, device and equipment, which are used for solving the technical problem of poor stacking capacity of stacking equipment.
In a first aspect, the present application provides a stack type determining method, including:
acquiring information to be stacked;
acquiring all available preliminary stack types according to the information to be stacked;
screening a selected stack type matched with a stacking structure standard from the preliminary stack types according to the preset stacking structure standard; wherein, the liquid crystal display device comprises a liquid crystal display device,
The information to be stacked includes size information of the objects to be stacked,
the stacking structure standard comprises: the height value of the stacking object at the position to be stacked in each stacking order is larger than or equal to the height value of all adjacent stacking objects stacked around the stacking position.
Further, according to the information to be stacked, all available preliminary stack types are obtained, including:
acquiring all the initial stack types which can be generated according to the information to be stacked;
acquiring preset stacking interference information in a simulation stacking scene;
screening all the initial stack types according to the stacking interference information, and taking all screened non-interference stack types as available initial stack types, wherein,
the stacking interference information is interference data influencing the actual construction of the initial stack.
Further, screening all the initial stack types according to the stacking interference information, including:
according to the stacking interference information, performing simulated stacking operation on the initial stack;
taking all initial stack types which simulate successful stacking as available initial stack types, wherein,
the stacking interference information comprises barrier information and/or singular point information, wherein the barrier information is used for indicating barriers which are located between a stacking start point and a stacking end point and prevent the simulated stacking operation, and the singular point information is used for indicating singular points of stacking equipment in the simulated stacking process.
Further, according to a preset stacking structure standard, selecting a stacking type matched with the stacking structure standard from the preliminary stacking types, including:
and carrying out standard matching screening on the preliminary stack types in sequence according to a preset stacking structure standard until the stack types which are matched with the stacking structure standard are screened, and stopping screening the rest preliminary stack types under the condition that the screening is successful.
Further, according to a preset stacking structure standard, selecting a stacking type matched with the stacking structure standard from the preliminary stacking types, including:
according to a preset stacking structure standard, carrying out standard matching screening on each preliminary stacking type to obtain screening results corresponding to each preliminary stacking type;
and if the screening result is that the number of available preliminary stack types is one, determining the screened preliminary stack types as the selected stack types.
Further, according to a preset stacking structure standard, selecting a stacking type matched with the stacking structure standard from the preliminary stacking types, and further comprising:
if the screening result is that the number of available preliminary stack types is more than one, determining the stacking time length corresponding to the preliminary stack types;
Comparing all the stacking time periods;
and determining the preliminary stack type with the shortest stacking time as a selected stack type.
Further, according to a preset stacking structure standard, standard matching screening is performed on the preliminary stacking type, including:
acquiring a stacking sequence of the preliminary stack types, wherein the stacking sequence comprises all stacking sequences in the preliminary stack types, and a position to be stacked and an object to be stacked under each stacking sequence;
determining the height value of the stacking object at the position to be stacked in each stacking sequence, and determining the height values of all adjacent stacking objects stacked around the position to be stacked;
if the height value of each stacking object at the position to be stacked is larger than or equal to the height value of all adjacent stacking objects stacked around the corresponding position to be stacked, determining that the preliminary stacking type passes the screening, otherwise discarding the preliminary stacking type.
In a second aspect, the present application provides a stack type determining apparatus, comprising:
the first acquisition unit is used for acquiring information to be coded;
the second acquisition unit is used for acquiring all available preliminary stack types according to the information to be stacked;
the screening unit is used for screening the selected stack type matched with the stacking structure standard from the preliminary stack types according to the preset stacking structure standard; wherein, the liquid crystal display device comprises a liquid crystal display device,
The information to be stacked includes size information of the objects to be stacked,
the stacking structure standard comprises: the height value of the stacking object at the position to be stacked in each stacking order is larger than or equal to the height value of all adjacent stacking objects stacked around the stacking position.
Further, the second acquisition unit includes:
the first acquisition module is used for acquiring all the initial stack types which can be generated according to the information to be stacked;
the second acquisition module is used for acquiring preset stacking interference information in the simulation stacking scene;
a first screening module, configured to screen all the initial stack types according to the stacking interference information, and take all the screened non-interference stack types as available initial stack types, where,
the stacking interference information is interference data influencing the actual construction of the initial stack.
Further, the first screening module includes:
the stacking sub-module is used for performing simulated stacking operation on the initial stacking type according to the stacking interference information;
a first determining sub-module for taking all initial stack types which simulate successful stacking as available initial stack types, wherein,
The stacking interference information comprises barrier information and/or singular point information, wherein the barrier information is used for indicating barriers which are located between a stacking start point and a stacking end point and prevent the simulated stacking operation, and the singular point information is used for indicating singular points of stacking equipment in the simulated stacking process.
Further, the screening unit includes:
and the second screening module is used for sequentially carrying out standard matching screening on the preliminary stack types according to a preset stacking structure standard until the stack types matched with the stacking structure standard are screened, and stopping screening on the rest of the preliminary stack types under the condition of successful screening.
Further, the screening unit includes:
the third screening module is used for carrying out standard matching screening on each preliminary stack type according to a preset stacking structure standard to obtain screening results corresponding to each preliminary stack type;
and the first determining module is used for determining the screened primary stack type as the selected stack type if the screening result shows that the number of the available primary stack types is one.
Further, the method further comprises the following steps:
the second determining module is used for determining the stacking time length corresponding to the available primary stack types if the screening result is that the number of the primary stack types is more than one;
The comparison module is used for comparing all the stacking time lengths;
and the third determining module is used for determining the preliminary stack type with the shortest stacking time as a selected stack type.
Further, the second screening module or the third screening module includes:
the acquisition sub-module is used for acquiring the stacking sequence of the preliminary stacking type, wherein the stacking sequence comprises all stacking sequences in the preliminary stacking type, and the position to be stacked and the object to be stacked under each stacking sequence;
the second determining submodule is used for determining the height value of the stacking object at the position to be stacked in each stacking order and the height values of all adjacent stacking objects stacked around the position to be stacked;
and the third determining submodule is used for determining that the preliminary stack type passes the screening if the height value of the stacking object at each position to be stacked is larger than or equal to the height value of all the adjacent stacking objects stacked around the corresponding position to be stacked, otherwise, discarding the preliminary stack type.
In a third aspect, the present application provides an electronic device, including a memory, a processor, where the memory stores a computer program executable on the processor, and where the processor implements the method according to the first aspect when executing the computer program.
In a fourth aspect, the present application provides a computer-readable storage medium having stored therein computer-executable instructions for performing 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.
The method, the device and the equipment for determining the stack type acquire information to be stacked. And acquiring all available preliminary stack types according to the information to be stacked. Selecting a stack type matched with a stacking structure standard from the preliminary stack types according to the preset stacking structure standard; wherein, pile up neatly structural criteria includes: the height value of the stacking object at the position to be stacked in each stacking order is larger than or equal to the height value of all adjacent stacking objects stacked around the stacking position. In the scheme, all available preliminary stack types can be generated according to the information to be stacked. And then, comparing the actual structure of the preliminary stack type with the stacking structure standard based on the preset stacking structure standard, and screening the selected stack type matched with the preset stacking structure standard from all available preliminary stack types. Therefore, stacking operation is carried out according to the stack type selected and matched with the preset stacking structure standard, when the sucker of the stacking device sucks objects to be stacked downwards, the sucker cannot collide with surrounding stacked objects, so that the sucker of the stacking device can place the objects to the corresponding positions, the objects are prevented from colliding with the corresponding positions, and the technical problem of poor stacking capacity of the stacking device is solved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.
Fig. 1 is a schematic flow chart of a stack type determining method according to an embodiment of the present application;
fig. 2 is a schematic view of a scenario of a stack type determining method according to an embodiment of the present application;
FIG. 3 is a flow chart of another method for determining a stack type according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of a stack type determining device according to an embodiment of the present application;
FIG. 5 is a schematic structural view of another stack type determining device 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 application;
fig. 7 is a block diagram of an electronic device according to an embodiment of the present application.
Specific embodiments of the present disclosure have been shown by way of the above drawings and will be described in more detail below. These drawings and the written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the disclosed concepts to those skilled in the art by reference to specific embodiments.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure.
In one example, when objects to be stacked are transported and stacked using a stacking apparatus, a stacking list is generally obtained, where the stacking list includes a plurality of objects, and the stacking apparatus is controlled to stack the plurality of objects on a stack. However, in the prior art, when the sucker of the stacking device is controlled to absorb the current object to be stacked and stacked, the sucker of the stacking device collides with the object which is stacked, and the sucker cannot continue to descend until the object to be stacked is stacked to the corresponding position, so that the object to be stacked collides with the corresponding position, and the stacking capability of the stacking device is poor.
The application provides a stack type determining method, device and equipment, which aim to solve the technical problems in the prior art.
The following describes the technical solutions of the present application and how the technical solutions of the present application solve the above technical problems in detail with specific embodiments. The following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.
Fig. 1 is a flow chart of a stack type determining method according to an embodiment of the present application, as shown in fig. 1, where the method includes:
And 101, acquiring information to be coded.
The execution subject of the present embodiment may be, for example, an electronic device, or a terminal device, or a stack type determining apparatus or device, or other apparatus or device that may execute the present embodiment, which is not limited thereto. In this embodiment, the execution body is described as an electronic device.
First, information to be coded needs to be acquired. The information to be stacked includes attribute information of each object to be stacked, where the attribute information can reflect properties of the objects to be stacked related to stacking, for example, the attribute information may include any one or more stacking related object parameters such as size, shape, weight, and shell hardness of the objects to be stacked. In this embodiment, the information to be stacked includes size information of the object to be stacked, where the size information may include a height value, a length value, a height value, and other size parameters of the object to be stacked.
And 102, acquiring all available preliminary stack types according to the information to be stacked.
For example, the electronic device may generate all the stack types that can be successfully stacked according to the attribute information of each object to be stacked, and determine the available preliminary stack types according to all the stack types that can be successfully stacked. Specifically, the ways of confirming the usable preliminary stack type include the following two.
The first way is to take all stackable stacks as available preliminary stacks. The second mode is that the electronic equipment judges whether interference information exists in the stacking process of the initial stacking type according to preset stacking interference information in a simulation stacking scene, and takes all screened interference-free stacking types as available initial stacking types, wherein the stacking interference information is interference data influencing the completion of the actual construction of the initial stacking type, for example, the stacking interference information comprises barrier information and/or singular point information, the barrier information is used for indicating barriers between a stacking starting point and a stacking end point, which are used for preventing simulation stacking operation, the singular point information is used for indicating singular points of the stacking equipment in the simulation stacking process, and the singular points are error activity angles of the stacking equipment, which are faults in the stacking process.
The preset stacking structure standard indicates that the height value of the stacking object at the position to be stacked in each stacking order in the stacking type is greater than or equal to the height value of all adjacent stacking objects stacked around the stacking position. According to a preset stacking structure standard, the electronic equipment obtains stacking orders of a plurality of objects in the preliminary stacking, wherein the stacking orders comprise all stacking orders in the preliminary stacking, and positions to be stacked and objects to be stacked in each stacking order. And determining the height value of the stacking object at the position to be stacked in each stacking order, and determining the height values of all adjacent stacking objects stacked around the position to be stacked. And comparing the height value of the stacking object at each stacking position in each stacking sequence with the height values of all the adjacent stacking objects stacked around the stacking position, if the height value of the stacking object at each stacking position is determined to be more than or equal to the height value of all the adjacent stacking objects stacked around the corresponding stacking position, determining that the preliminary stacking type accords with the preset stacking structure standard, and screening, if the height value of the stacking object at each stacking position is determined to be less than the height value of all the adjacent stacking objects stacked around the corresponding stacking position, then the preliminary stacking type does not pass through screening and is discarded.
For example, fig. 2 is a schematic view of a scenario of a stack type determining method provided in the embodiment of the present application, as shown in fig. 2, taking a certain layer of a preliminary stack type, such as a first layer near a ground plane, for example, the layer is to stack the objects 1-4, and the corresponding overall stacking sequence of the layers is the sequence of stacking the objects 1-4, such as sequentially stacking the objects 1-4, or stacking the objects 1 first, then stacking the objects 3, and then sequentially stacking the objects 2, 4. The corresponding to-be-stacked positions in each stacking order are to-be-placed positions of the objects to be stacked, for example, when stacking the objects 1, the to-be-stacked positions are the upper left corners of the illustrated rectangular tray, when stacking the objects 2, the to-be-stacked positions are the positions … … which are close to the upper edge of the rectangular tray and are close to the right side of the objects 1, and in a scene that the objects 1-4 are sequentially stacked, the method for determining whether the preliminary stack shape accords with the preset stacking structure standard is as follows: for the second stacking of the objects 2, the height value of the objects 2 to be stacked at the current position and the height value of the objects 1 to be stacked adjacent to the objects 2 (the objects 3 and 4 are not stacked yet, and the objects 1 to be stacked only for the first time are adjacent to the objects 2) are obtained, the height value of the objects 2 is compared with the height value of the objects 1, and if the height value of the objects 2 is determined to be greater than or equal to the height value of the objects 1, the 2 nd object 2 to be stacked adjacent to the objects 1 to be stacked is determined to be in accordance with the stacking structural standard. And so on, when judging the stacking sequence 3, the to-be-stacked position is the to-be-placed position of the object 3, the stacked object adjacent to the to-be-stacked position is the object 1 stacked earlier than the stacking sequence 3, so that whether the stacking sequence 3 still meets the stacking structural standard can be judged by only comparing whether the height value of the object 3 is greater than or equal to the height value of the object 1, similarly, when judging the stacking sequence 4, the to-be-stacked position is the to-be-placed position of the object 4, the stacked object adjacent to the to-be-stacked position is the object 2 and the object 3 stacked earlier than the stacking sequence 4, and whether the stacking sequence 4 still meets the stacking structural standard can be judged by comparing whether the height value of the object 4 is greater than or equal to the height value of the object 2 and the object 3. When judging the whole preliminary stacking type, starting from the stacking sequence 2 (the number of adjacent stacked objects existing in the stacking sequence 1 is 0, and the default accords with the height judgment condition), judging each stacking sequence in sequence according to the mode until judging whether the last object of the preliminary stacking type accords with the stacking structure standard, and if the first object to the last object of the preliminary stacking type are determined to accord with the stacking structure standard, indicating that the preliminary stacking type is the stack type matched with the stacking structure standard. If an object which does not meet the stacking structure standard appears in the judging process, the preliminary stack type is the stack type which is not matched with the stacking structure standard, the next object is stopped to be continuously judged, and the preliminary stack type is abandoned.
In the embodiment of the application, information to be coded is acquired. And acquiring all available preliminary stack types according to the information to be stacked. Selecting a stack type matched with a stacking structure standard from the preliminary stack types according to the preset stacking structure standard; wherein, pile up neatly structural criteria includes: the height value of the stacking object at the position to be stacked in each stacking order is larger than or equal to the height value of all adjacent stacking objects stacked around the stacking position. In the scheme, all available preliminary stack types can be generated according to the information to be stacked. And then, comparing the actual structure of the preliminary stack type with the stacking structure standard based on the preset stacking structure standard, and screening the selected stack type matched with the preset stacking structure standard from all available preliminary stack types. Therefore, stacking operation is carried out according to the stack type selected and matched with the preset stacking structure standard, when the sucker of the stacking device sucks objects to be stacked downwards, the sucker cannot collide with surrounding stacked objects, so that the sucker of the stacking device can place the objects to the corresponding positions, the objects are prevented from colliding with the corresponding positions, and the technical problem of poor stacking capacity of the stacking device is solved.
It should be noted that, although the above embodiments are described with reference to stacking one object at a time, the present embodiment is not limited to the case that a plurality of objects are stacked simultaneously in a partial stacking sequence during stacking, for example, when the stacking suction cup simultaneously sucks more than one object to be stacked, the plurality of objects that are stacked together at this time can be regarded as a whole, and the heights of the plurality of objects are mostly consistent in view of the fact that the height value of the object to be stacked at this time is the height value of any box in the whole when the suction cup type clamp sucks the plurality of objects. When a plurality of objects are stacked at one time through other types of clamps and the objects have inconsistent heights, the height value of the object to be stacked at this time is the height value of the object with the smallest height value in the whole. When comparing the height values of the adjacent stacked objects around the to-be-placed positions of the plurality of objects to be stacked, the object with the smallest height value in the plurality of objects to be stacked is not shorter than the adjacent stacked object. The person skilled in the art can correspondingly adjust the determination mode of the height value of the objects to be stacked in the stacking sequence according to the actual stacking requirement.
Fig. 3 is a flow chart of another stack type determining method according to an embodiment of the present application, as shown in fig. 3, where the method includes:
Illustratively, this step may refer to step 101 in fig. 1, and will not be described in detail.
Illustratively, this step may refer to step 102 in fig. 1, and will not be described in detail.
The electronic device obtains preset stacking interference information in the simulation stacking scene. The stacking interference information is interference data influencing the actual establishment of the initial stacking, the stacking interference information comprises barrier information and/or singular point information, the barrier information is used for indicating barriers which are positioned between a stacking starting point and a stacking ending point and prevent the simulation stacking operation, for example, the barriers comprise stacking disassembly and other scene objects which cause stacking obstruction; the singular point information is used for indicating singular points of the stacking equipment in the simulated stacking process, and the singular points refer to error activity angles of the stacking equipment in the stacking process.
And 204, screening all the initial stack types according to the stacking interference information, and taking all the screened interference-free stack types as available initial stack types.
In one example, step 204 includes: according to the stacking interference information, performing simulated stacking operation on the initial stacking type; and taking all initial stack types which simulate successful stacking as available initial stack types.
Illustratively, in a first case, the palletizing interference information includes obstacle information, based on which the electronic device performs a simulated palletizing operation on the initial stack. Specifically, whether an obstacle indicated by the obstacle information appears in the simulated stacking operation is judged, if the obstacle indicated by the obstacle information does not appear in the simulated stacking operation, the simulated stacking operation is a safe operation capable of avoiding the obstacle, and then the initial stack type corresponding to the safe simulated stacking operation is determined to be the screened available initial stack type.
Alternatively, in the second case, the palletizing interference information includes singular point information, and the electronic device performs the simulated palletizing operation on the initial stack type based on the singular point information. Specifically, whether the stacking equipment has singular points indicated by singular point information in the simulated stacking operation is judged, if the stacking equipment has no singular points indicated by the singular point information in the simulated stacking operation, the fact that the stacking equipment has no false activity angle in the moving process of the simulated stacking operation is indicated, the stacking equipment can successfully complete the simulated stacking operation is determined, and the initial stack type corresponding to the successfully completed simulated stacking operation is the screened available initial stack type.
Alternatively, in the third case, the palletizing interference information includes obstacle information and singular point information, and the electronic apparatus performs the simulated palletizing operation on the initial stack type based on the obstacle information and the singular point information. Specifically, whether an obstacle indicated by obstacle information appears in the simulated stacking operation or whether singular points indicated by singular point information appear in the stacking equipment is judged, if no obstacle information appears in the simulated stacking operation and no singular points indicated by the singular point information appear in the stacking equipment, the simulated stacking operation is indicated to avoid the obstacle and no false activity angle is generated in the moving process of the simulated stacking operation by the stacking equipment, and then the initial stack type corresponding to the simulated stacking operation is determined to be the screened available initial stack type.
Step 205 includes two implementations:
the first implementation of step 205: and carrying out standard matching screening on the preliminary stack types in sequence according to a preset stacking structure standard until the stack types matched with the stacking structure standard are screened, and stopping screening the rest of the other preliminary stack types under the condition of successful screening.
The second implementation of step 205: according to a preset stacking structure standard, carrying out standard matching screening on each preliminary stacking type to obtain screening results corresponding to each preliminary stacking type; and if the screening result is that the number of available preliminary stack types is one, determining the screened preliminary stack types as the selected stack types.
In one example, according to a preset stacking structure standard, a stacking type matched with the stacking structure standard is selected from the preliminary stacking types, and the method further includes: if the screening result is that the number of available preliminary stack types is more than one, determining the stacking time length corresponding to the preliminary stack types; comparing all stacking time lengths; and determining the initial stack type with the shortest stacking time as the selected stack type.
In one example, according to a preset stacking structure standard, standard matching screening is performed for a preliminary stacking type, including: acquiring a stacking sequence of the preliminary stacking type, wherein the stacking sequence comprises all stacking sequences in the preliminary stacking type, and a position to be stacked and an object to be stacked under each stacking sequence; determining the height value of the stacking object at the position to be stacked in each stacking order, and determining the height values of all adjacent stacking objects stacked around the position to be stacked; if the height value of each stacking object at the position to be stacked is larger than or equal to the height value of all adjacent stacking objects stacked around the corresponding position to be stacked, determining that the preliminary stacking type passes the screening, otherwise, discarding the preliminary stacking type.
The preset stacking structure standard indicates that the height value of the stacking object at the position to be stacked in each stacking order in the stacking type is greater than or equal to the height value of all adjacent stacking objects stacked around the stacking position. According to a preset stacking structure standard, the electronic equipment screens the actual structure of the preliminary stacking type to obtain a screening result corresponding to the preliminary stacking type, and determines the selected stacking type matched with the stacking structure standard according to the screening result, wherein the screening result represents whether the actual structure of the preliminary stacking type is matched with the stacking structure standard or not. Specifically, the screening of the preliminary stack type includes the following two modes.
In a first screening mode, based on preset stacking structure standards, whether the actual structure of each preliminary stack meets the stacking structure standards is judged sequentially, a screening result of the preliminary stack is obtained, whether the actual structure of the screening result represents the preliminary stack is matched with the stacking structure standards or not is judged until a screening result representing the actual structure of the preliminary stack is matched with the stacking structure standards is obtained, the preliminary stack corresponding to the screening result matched with the stacking structure standards is determined to be a usable selected stack, and screening of other residual preliminary stacks is stopped under the condition of successful screening.
In a second screening mode, according to preset stacking structure standards, judging whether the actual structure of each preliminary stacking type meets the stacking structure standards or not according to each preliminary stacking type, and obtaining a screening result corresponding to each preliminary stacking type, wherein the screening result represents whether the actual structure of the preliminary stacking type is matched with the stacking structure standards or not. If only one screening result represents that the actual structure of the primary stack type is matched with the stacking structure standard in the multiple screening results, the number of available primary stack types is indicated to be one, and the screened available primary stack types are determined to be the selected stack types. If the screening result is that the number of the available preliminary stack types is more than one, determining the stacking time lengths corresponding to the available preliminary stack types, comparing all the stacking time lengths, determining the shortest stacking time length, and determining the preliminary stack type with the shortest stacking time length as the available selected stack type.
Based on the first screening mode and the second screening mode, when standard matching screening is performed on the preliminary stacking type according to preset stacking structure standards, firstly, the stacking sequence of a plurality of objects in the actual structure of the preliminary stacking type is obtained, wherein the stacking sequence comprises all stacking sequences in the preliminary stacking type, and the positions to be stacked and the objects to be stacked under each stacking sequence. And determining the height value of the stacking object at the position to be stacked in each stacking order and the height values of all adjacent stacking objects stacked around the position to be stacked according to a preset stacking structure standard. And comparing the height value of the stacking object at each stacking position in each stacking sequence with the height values of all the adjacent stacking objects stacked around the stacking position, if the height value of the stacking object at each stacking position is determined to be more than or equal to the height value of all the adjacent stacking objects stacked around the corresponding stacking position, determining that the preliminary stacking type accords with the preset stacking structure standard, and screening, if the height value of the stacking object at each stacking position is determined to be less than the height value of all the adjacent stacking objects stacked around the corresponding stacking position, then the preliminary stacking type does not pass through screening and is discarded.
In the embodiment of the application, information to be coded is acquired. And acquiring all the initial stack types which can be generated according to the information to be stacked. The method comprises the steps of obtaining preset stacking interference information in a simulation stacking scene, wherein the stacking interference information is interference data influencing the actual construction of an initial stacking, the stacking interference information comprises barrier information and/or singular point information, the barrier information is used for indicating barriers which are located between a stacking starting point and a stacking ending point and prevent simulation stacking operation, and the singular point information is used for indicating singular points of stacking equipment in a simulation stacking process. And screening all the initial stack types according to the stacking interference information, and taking all the screened interference-free stack types as available initial stack types. Selecting a stack type matched with a stacking structure standard from the preliminary stack types according to the preset stacking structure standard; the stacking information comprises attribute information of each object to be stacked, the stacking information comprises size information of the objects to be stacked, and stacking structure standards comprise: the height value of the stacking object at the position to be stacked in each stacking order is larger than or equal to the height value of all adjacent stacking objects stacked around the stacking position. Therefore, stacking operation is carried out according to the stack type selected and matched with the preset stacking structure standard, when the sucker of the stacking device sucks objects to be stacked downwards, the sucker cannot collide with surrounding stacked objects, so that the sucker of the stacking device can place the objects to the corresponding positions, the objects are prevented from colliding with the corresponding positions, and the technical problem of poor stacking capacity of the stacking device is solved.
Fig. 4 is a schematic structural diagram of a stack type determining device according to an embodiment of the present application, as shown in fig. 4, where the device includes:
a first acquiring unit 31, configured to acquire information to be stacked.
And a second acquiring unit 32, configured to acquire all available preliminary stack types according to the information to be stacked.
The screening unit 33 is configured to screen a selected stack type that matches the stacking structure standard from the preliminary stack types according to a preset stacking structure standard; the information to be stacked comprises attribute information of each object to be stacked, and the information to be stacked comprises size information of the objects to be stacked. The stacking structure standard comprises: the height value of the stacking object at the position to be stacked in each stacking order is larger than or equal to the height value of all adjacent stacking objects stacked around the stacking position.
The device of the embodiment may execute the technical scheme in the above method, and the specific implementation process and the technical principle are the same and are not described herein again.
Fig. 5 is a schematic structural diagram of another stack type determining device according to an embodiment of the present application, and, based on the embodiment shown in fig. 4, as shown in fig. 5, a second obtaining unit 32 includes:
the first obtaining module 321 is configured to obtain all the initial stack types that can be generated according to the information to be stacked.
The second obtaining module 322 is configured to obtain preset stacking interference information in the simulated stacking scene.
The first screening module 323 is configured to screen all initial stack types according to stacking interference information, and take all screened non-interference stack types as available initial stack types, where the stacking interference information is interference data that affects the completion of the initial stack types to be actually built.
In one example, the first screening module 323 includes:
and the stacking submodule 3231 is used for performing simulated stacking operation on the initial stacking type according to the stacking interference information.
A first determination sub-module 3232 for taking all initial stack types that simulate successful palletizing as available preliminary stack types, wherein,
the palletizing interference information includes obstacle information for indicating an obstacle between a palletizing start point and a palletizing end point that hinders a simulated palletizing operation and/or singular point information for indicating a singular point that occurs in palletizing equipment in a simulated palletizing process.
In one example, the screening unit 33 includes:
and the second screening module 331 is configured to sequentially perform standard matching screening on the preliminary stack types according to a preset stacking structure standard until the stack types matched with the stacking structure standard are screened, and stop screening on the remaining other preliminary stack types under the condition that the screening is successful.
In one example, the screening unit 33 includes:
and the third screening module 332 is configured to perform standard matching screening for each preliminary stack type according to a preset stacking structure standard, so as to obtain a screening result corresponding to each preliminary stack type.
The first determining module 333 is configured to determine the selected preliminary stack type as the selected stack type if the number of preliminary stack types that are available as a result of the screening is one.
In one example, further comprising:
a second determining module 334 is configured to determine a stacking duration corresponding to the available preliminary stack types if the screening result is more than one of the available preliminary stack types.
A comparison module 335, configured to compare all stacking durations.
And a third determining module 336, configured to determine the preliminary stack type with the shortest stacking duration as the selected stack type.
In one example, the second screening module 331 or the third screening module 332 includes:
and the obtaining submodule 3311 is used for obtaining the stacking sequence of the preliminary stacking type, wherein the stacking sequence comprises all stacking sequences in the preliminary stacking type, and the position to be stacked and the object to be stacked under each stacking sequence.
A second determining submodule 3312 is used for determining the height value of the stacking object at the position to be stacked in each stacking order and the height values of all the adjacent stacking objects which are stacked around the position to be stacked.
And a third determining submodule 3313, configured to determine that the preliminary stack is passed through the screening if the height value of the stacked object at each to-be-stacked position is equal to or greater than the height value of all the adjacent stacked objects stacked around the corresponding to-be-stacked position, otherwise, discarding the preliminary stack.
The device of the embodiment may execute the technical scheme in the above method, and the specific implementation process and the technical principle are the same and are not described herein again.
Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application, where, as shown in fig. 6, the electronic device includes: a memory 51, and a processor 52.
The memory 51 stores a computer program executable on the processor 52.
The processor 52 is configured to perform the method as provided by the above-described embodiments.
The electronic device further comprises a receiver 53 and a transmitter 54. The receiver 53 is for receiving instructions and data transmitted from an external device, and the transmitter 54 is for transmitting instructions and data to the external device.
Fig. 7 is a block diagram of an electronic device, which may be a mobile phone, a computer, a tablet device, etc., provided in an embodiment of the present application.
The 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 apparatus 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 part 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 may 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 the apparatus 600, contact data, phonebook data, messages, pictures, videos, and the like. The memory 604 may be implemented by any type or combination of volatile or nonvolatile 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 disk.
The power supply component 606 provides power to the various components of the device 600. The power supply 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 between the device 600 and the user that provides an output interface. 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 input signals from a user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensor may sense not only the boundary of a touch or sliding action, but also the duration and pressure associated with the touch or sliding operation. In some embodiments, the multimedia component 608 includes a front camera and/or a rear camera. The front camera and/or the rear camera may receive external multimedia data when the apparatus 600 is in an operational mode, such as a photographing mode or a video mode. Each front camera and rear camera may be a fixed optical lens system or have focal length and optical zoom capabilities.
The audio component 610 is configured to output and/or input audio signals. For example, the audio component 610 includes a Microphone (MIC) configured to receive external audio signals when the apparatus 600 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may be further 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 a keyboard, click wheel, buttons, etc. These buttons may include, but are not limited to: homepage button, volume button, start button, and lock button.
The sensor assembly 614 includes one or more sensors for providing status assessment of various aspects of the apparatus 600. For example, the sensor assembly 614 may detect the on/off state of the device 600, the relative positioning of the assemblies, such as the display and keypad of the device 600, the sensor assembly 614 may also detect the change in position of the device 600 or one of the assemblies of the device 600, the presence or absence of user contact with the device 600, the orientation or acceleration/deceleration of the device 600, and the change in temperature of the device 600. The sensor assembly 614 may include a proximity sensor configured to detect the presence of nearby objects 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 gyroscopic sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.
The communication component 616 is configured to facilitate communication between the apparatus 600 and other devices in a wired or wireless manner. The device 600 may access a wireless network based on a communication standard, such as WiFi,2G or 3G, or a combination thereof. In one exemplary embodiment, the communication component 616 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one 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, microcontrollers, microprocessors, or other electronic elements for executing the methods described above.
In an exemplary embodiment, a non-transitory computer-readable storage medium is also provided, such as memory 604, including instructions executable by processor 620 of apparatus 600 to perform the above-described method. For example, the non-transitory computer readable storage medium may be ROM, random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.
Embodiments of the present application also provide a non-transitory computer-readable storage medium, which when executed by a processor of an electronic device, enables the electronic device to perform the method provided by the above embodiments.
The embodiment of the application also provides a computer program product, which comprises: a computer program stored in a readable storage medium, from which at least one processor of an electronic device can read, the at least one processor executing the computer program causing the electronic device to perform the solution provided by any one 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 adaptations, 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 is to be understood that the present disclosure is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (9)
1. A stack type determining method, comprising:
acquiring information to be stacked;
acquiring all available preliminary stack types according to the information to be stacked;
screening a selected stack type matched with a stacking structure standard from the preliminary stack types according to the preset stacking structure standard; wherein, the liquid crystal display device comprises a liquid crystal display device,
the information to be stacked includes size information of the objects to be stacked,
the stacking structure standard comprises: the height value of the stacking object at the position to be stacked in each stacking order is larger than or equal to the height value of all adjacent stacking objects stacked around the stacking position;
and acquiring all available preliminary stack types according to the information to be stacked, wherein the method comprises the following steps:
acquiring all the initial stack types which can be generated according to the information to be stacked;
acquiring preset stacking interference information in a simulation stacking scene;
and screening all the initial stack types according to the stacking interference information, and taking all the screened interference-free stack types as the available initial stack types, wherein the stacking interference information is interference data influencing the actual construction of the initial stack types.
2. The stack type determining method according to claim 1, wherein screening all the initial stack types based on the stacking interference information comprises:
according to the stacking interference information, performing simulated stacking operation on the initial stack;
taking all initial stack types which simulate successful stacking as available initial stack types, wherein,
the stacking interference information comprises barrier information and/or singular point information, wherein the barrier information is used for indicating barriers which are located between a stacking start point and a stacking end point and prevent the simulated stacking operation, and the singular point information is used for indicating singular points of stacking equipment in the simulated stacking process.
3. The stack type determining method according to claim 1, wherein selecting a selected stack type matching with a stacking structure standard from the preliminary stack types according to a preset stacking structure standard comprises:
and carrying out standard matching screening on the preliminary stack types in sequence according to a preset stacking structure standard until the stack types which are matched with the stacking structure standard are screened, and stopping screening the rest preliminary stack types under the condition that the screening is successful.
4. The stack type determining method according to claim 1, wherein selecting a selected stack type matching with a stacking structure standard from the preliminary stack types according to a preset stacking structure standard comprises:
according to a preset stacking structure standard, carrying out standard matching screening on each preliminary stacking type to obtain screening results corresponding to each preliminary stacking type;
and if the screening result is that the number of available preliminary stack types is one, determining the screened preliminary stack types as the selected stack types.
5. The stack type determining method according to claim 4, wherein the selecting stack type matched with the stacking structure standard from the preliminary stack types according to the preset stacking structure standard, further comprises:
if the screening result is that the number of available preliminary stack types is more than one, determining the stacking time lengths corresponding to the preliminary stack types respectively;
comparing all the stacking time periods;
and determining the preliminary stack type with the shortest stacking time as a selected stack type.
6. A stack type determining method according to any one of claims 3-5, characterized in that the standard matching screening for the preliminary stack type according to a preset stacking structure standard comprises:
Acquiring a stacking sequence of the preliminary stack types, wherein the stacking sequence comprises all stacking sequences in the preliminary stack types, and a position to be stacked and an object to be stacked under each stacking sequence;
determining the height value of the stacking object at the position to be stacked in each stacking sequence, and determining the height values of all adjacent stacking objects stacked around the position to be stacked;
if the height value of each stacking object at the position to be stacked is larger than or equal to the height value of all adjacent stacking objects stacked around the corresponding position to be stacked, determining that the preliminary stacking type passes the screening, otherwise discarding the preliminary stacking type.
7. A stack type determining apparatus, comprising:
the first acquisition unit is used for acquiring information to be coded;
the second acquisition unit is used for acquiring all available preliminary stack types according to the information to be stacked;
the screening unit is used for screening the selected stack type matched with the stacking structure standard from the preliminary stack types according to the preset stacking structure standard; wherein, the liquid crystal display device comprises a liquid crystal display device,
the information to be stacked includes size information of the objects to be stacked,
the stacking structure standard comprises: the height value of the stacking object at the position to be stacked in each stacking order is larger than or equal to the height value of all adjacent stacking objects stacked around the stacking position;
The second acquisition unit includes:
the first acquisition module is used for acquiring all the initial stack types which can be generated according to the information to be stacked;
the second acquisition module is used for acquiring preset stacking interference information in the simulation stacking scene;
the first screening module is used for screening all the initial stack types according to the stacking interference information, and taking all the screened interference-free stack types as available initial stack types, wherein the stacking interference information is interference data affecting the completion of the actual construction of the initial stack types.
8. An electronic device comprising a memory, a processor, the memory having stored thereon a computer program executable on the processor, the processor implementing the stack type determination method of any one of the preceding claims 1-6 when the computer program is executed.
9. A computer readable storage medium having stored therein computer executable instructions which when executed by a processor are adapted to carry out a stack type determination method as claimed in any one of claims 1 to 6.
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| CN102774661B (en) * | 2012-07-10 | 2014-07-16 | 北京航空航天大学 | Stack generating method for transfer robot |
| CN110377355A (en) * | 2019-06-13 | 2019-10-25 | 珠海格力电器股份有限公司 | A kind of stacking control method, device, electronic equipment and storage medium |
| CN111302078B (en) * | 2020-02-20 | 2021-05-28 | 深圳市今天国际物流技术股份有限公司 | Automatic stack shape changing method and device |
| CN111573292B (en) * | 2020-05-14 | 2022-09-06 | 阿丘机器人科技(苏州)有限公司 | Stacking method and device, electronic equipment and computer readable storage medium |
| CN112434893B (en) * | 2021-01-28 | 2021-04-06 | 苏州澳昆智能机器人技术有限公司 | Loading stacking type layer-by-layer optimal design method |
| CN113387189A (en) * | 2021-08-17 | 2021-09-14 | 天津施格自动化科技有限公司 | Stacking stack type automatic generation method |
| CN113547525B (en) * | 2021-09-22 | 2022-01-14 | 天津施格机器人科技有限公司 | Control method of robot controller special for stacking |
| CN113850793A (en) * | 2021-09-29 | 2021-12-28 | 珠海格力电器股份有限公司 | Stacking planning method and device and electronic equipment |
| CN114084683B (en) * | 2021-12-02 | 2023-09-01 | 中轻长泰(长沙)智能科技股份有限公司 | Method and device for determining stack type |
| CN114632725A (en) * | 2022-03-08 | 2022-06-17 | 北京京东乾石科技有限公司 | Method and device for stacking articles in warehouse |
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