CN111410045A - Cargo box handling method and device - Google Patents

Abstract

The embodiments of the present application disclose a container handling method and device. A specific implementation of the method includes: acquiring position information of the containers in the container stacking area, and determining candidate containers in the container stacking area that meet the candidate conditions based on the position information of the containers in the container stacking area , wherein the candidate conditions include: there are no other adjacent containers in each direction in the preset direction set; determining the target container in the candidate container, and determining the transport direction of the target container; based on the target container The location information and the transport direction of the target container are obtained, and the target container is transported out of the stacking area. It is realized that in each handling process, the target container located in the corner among all the containers in the container stacking area is determined, and the target container is transported to the shipping container stacking area in the determined handling direction, thereby avoiding the need for cargo. In the process of box handling, the boxes around the boxes to be transported are scraped, and the shape of the stack of boxes is damaged.

Description

Cargo box handling method and device

technical field

The present application relates to the field of computers, in particular to the field of logistics, and in particular to a method and device for moving a container.

Background technique

In the intelligent logistics system, the containers in the container stacking area are transported to the shipping container stacking area by the handling robot. At present, the usual method is as follows: during each handling process, a container is randomly selected from all containers detected by the vision system, and the handling robot moves the randomly selected container away from the shipping container and stacks them in the vertical direction. area.

For a case such as an A4 carton, the individual cases are stacked closely, and the sides of the case are usually not flat (eg, the outside of the A4 carton contains straps for securing). When the above method is adopted, for example, in the case where a randomly selected container is located in the middle of the container stack (the container stack is composed of a plurality of stacked containers), since the periphery of the container has other In the process of moving the container away from the container stacking area, the handling robot will scratch the surrounding containers. In addition, it will also cause the stack shape of the container to be damaged, which will affect the subsequent handling. Work.

SUMMARY OF THE INVENTION

Embodiments of the present application provide a container handling method and device.

In a first aspect, an embodiment of the present application provides a container handling method. The method includes: acquiring position information of the container in the container stacking area, and determining the stacking of the container based on the position information of the container in the container stacking area. A candidate container in the area that satisfies the candidate condition, wherein the candidate condition includes: there are no other adjacent containers in each direction in the preset direction set; determining the target container in the candidate container, and determining the target The transport direction of the cargo box; based on the position information of the target cargo box and the transport direction of the target cargo box, the target cargo box is transported out of the stacking area.

In a second aspect, an embodiment of the present application provides a container handling device, the device comprising: a processing unit configured to acquire position information of the container in the container stacking area, and based on the position of the container in the container stacking area information, to determine candidate containers in the container stacking area that meet the candidate conditions, wherein the candidate conditions include: there are no other adjacent containers in each direction in the preset direction set; the determining unit is configured to determine The target container in the candidate container is determined, and the transport direction of the target container is determined; the transport unit is configured to transport the target container out of the stacking area based on the position information of the target container and the transport direction of the target container.

In the container handling method and device provided by the embodiments of the present application, by acquiring the position information of the container in the container stacking area, and based on the position information of the container in the container stacking area, the candidates satisfying the requirements in the container stacking area are determined. The candidate container of the condition, wherein the candidate condition includes: there is no other adjacent container in each direction in the preset direction set; determining the target container in the candidate container, and determining the conveying direction of the target container ; Based on the location information of the target container and the transport direction of the target container, the target container is transported out of the stacking area. It is realized that in each handling process, the target container located in the corner among all the containers in the container stacking area is determined, and the target container is transported to the shipping container stacking area in the determined handling direction, thereby avoiding the need for cargo. In the process of box handling, the boxes around the boxes to be transported are scraped, and the shape of the stack of boxes is damaged.

Description of drawings

Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

FIG. 1 shows an exemplary system architecture suitable for implementing embodiments of the present application;

FIG. 2 shows a flow chart of an embodiment of a method for handling a container according to the present application;

Fig. 3 shows a schematic diagram of the effect of determining the target cargo box;

FIG. 4 shows a schematic structural diagram of an embodiment of a container handling device according to the present application;

FIG. 5 is a schematic structural diagram of a computer system suitable for implementing the electronic device according to the embodiment of the present application.

Detailed ways

The present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the related invention, but not to limit the invention. In addition, it should be noted that, for the convenience of description, only the parts related to the related invention are shown in the drawings.

It should be noted that the embodiments in the present application and the features of the embodiments may be combined with each other in the case of no conflict. The present application will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

FIG. 1 illustrates an exemplary system architecture suitable for implementing embodiments of the present application.

As shown in FIG. 1 , the system architecture may include a vision system 101 and a handling robot 102 . The vision system 101 and the handling robot 102 can use the TCP/IP communication protocol to transmit data.

The camera of the vision system 101 can shoot and collect images toward the container stacking area. Based on the collected images, the vision system 101 can determine the container at the corner of the shipping container stacking area as a candidate container, and can further determine that it needs to be moved. The target container from the container stacking area. The vision system 101 may encapsulate the determined position information of the target container and a number indicating the type of the target container in an IP packet and send it to the handling robot 102 .

The control system of the handling robot 102 can control the handling robot to locate the target container using the determined position information of the target container that needs to be moved out of the container stacking area, and control the gripping components of the handling robot to clamp the target container. The control system of the handling robot 102 can determine the type of the target container according to the number indicating the type of the target container, and then can determine the conveying direction of the target container according to the type of the target container, and the control system of the handling robot 102 can control the clamp. Move the holding part along the determined conveying direction, and move the target container to the shipping container stacking area.

In each handling process, the vision system 101 can determine a target container located in the corner, and the handling robot 102 can determine a target container located at the corner by the vision system 101 to transport the outbound container stacking area.

Please refer to FIG. 2 , which shows the flow of an embodiment of the method for moving a container according to the present application. The method includes the following steps:

Step 201: Obtain position information of the containers in the container stacking area, and determine candidate containers in the container stacking area based on the position information of the containers in the container stacking area.

In this embodiment, the camera may be used to face the container stacking area, and the angle of the camera may be preset to ensure that the image captured by the camera includes candidate containers at least partially located at the corners of the container stacking area.

In this embodiment, the image collected by the camera can be used to detect the container located in the container stacking area, and obtain the position information of the detected container within the container stacking area.

For example, Canny operator for edge detection, SUSAN (Small Univalue Segment Assimilating Nucleus) operator and other detection methods can be used to detect the image collected by the camera to detect multiple containers in the stacking area. At the same time, the coordinates of the detected corners of the multiple cargo boxes can be obtained, and then, the coordinates of the center point of each cargo box can be further calculated. The position information of the cargo box may include: the coordinates of the corner points and the coordinates of the center point.

In this embodiment, after a plurality of containers are detected, it is ensured in advance that the collected images include candidate containers that are at least partially located at the corners of the container stacking area. Therefore, the detected containers contain at least one Candidate container. Based on the position information of each detected container, candidate containers among all the detected containers may be determined, that is, candidate containers in the container stacking area may be determined. The number of candidate containers in the container stacking area may be multiple.

In this embodiment, the candidate container satisfies the candidate condition, and the candidate condition includes: for each preset direction set in a preset direction set, there is no other adjacent cargo in each direction in the preset direction set. box. When a cargo box has no adjacent other cargo boxes in each direction in a preset direction set, the cargo box can be used as a candidate cargo box. According to the position information of each detected container, it is possible to determine candidate containers of other containers in the stacking area whose directions in the preset direction set are adjacent.

For example, there is only one direction in the preset direction set. All boxes are stacked on the ground, and no other boxes are stacked on top of each box. One preset direction set includes the positive direction of the X axis in the coordinate system established on the plane parallel to the ground, and the other preset direction set includes the negative X axis direction in the coordinate system established on the plane parallel to the ground. The X-axis in a coordinate system established on a plane parallel to the ground is parallel to the horizontal. When a cargo box has no other cargo boxes in the positive direction of the X-axis or the negative direction of the X-axis, the cargo box is a candidate cargo box. According to the position information of each container, it is possible to detect a container that does not have other adjacent containers in the positive direction of the X-axis or the negative direction of the X-axis.

In some optional implementations of this embodiment, all the containers in the container stacking area may be stacked in the stacking area. A number of stacked cases constitute a case stack. A coordinate system can be established in a plane parallel to the horizontal plane. For example, a coordinate system with the X axis parallel to the horizontal direction is established in a plane parallel to the horizontal plane. A preset direction set includes one of the following: the positive direction of the X axis and the positive direction of the Y axis in the established coordinate system, the positive direction of the X axis and the negative direction of the Y axis in the established coordinate system, the established coordinate system The negative direction of the X axis and the negative direction of the Y axis in the established coordinate system are the negative direction of the X axis and the positive direction of the Y axis.

When a cargo box satisfies that there are no other adjacent cargo boxes in each direction in a preset direction set, the cargo box can be used as a candidate cargo box. When a cargo box has no adjacent cargo boxes in the positive direction of the X axis and the positive direction of the Y axis, the cargo box can be used as a candidate cargo box. When a cargo box has no adjacent cargo boxes in the negative direction of the X axis and the positive direction of the Y axis, the cargo box can be used as a candidate cargo box. When a cargo box has no adjacent cargo boxes in the negative direction of the X axis and the negative direction of the Y axis, the cargo box can be used as a candidate cargo box. When a cargo box has no adjacent cargo boxes in the negative direction of the X axis and the positive direction of the Y axis, the cargo box can be used as a candidate cargo box.

In step 202, a target container in the candidate containers is determined, and a transport direction of the target container is determined.

In this embodiment, after all candidate containers are determined, a target container among all candidate containers can be determined. One container can be selected from all candidate containers as the target container.

For example, according to the coordinates of the center point of the candidate container in the position information of each candidate container and the coordinates of the clamping part of the conveying robot, the candidate container with the closest distance to the clamping part of the conveying robot can be selected as the target container. box.

In some optional implementations of this embodiment, when a target container among all candidate containers is determined, a candidate container with the smallest error in position information among the candidate containers may be used as the target container. For example, the position information of the candidate container includes the coordinates of the center point of the candidate container determined according to the coordinates of the corner points of the candidate container. The position information of the cargo box is determined by using Canny operator for edge detection, SUSAN (Small Univalue Segment Assimilating Nucleus) operator, etc. There is an error in the position information of each candidate cargo box. The candidate container with the smallest error in the coordinates of the center point in the position information can be used as the target container.

In this embodiment, after the target container is determined, the transport direction of the target container can be further determined.

For example, each preset direction set contains only one direction. All boxes are stacked on the ground and no other boxes are stacked on top of each box. One preset direction set includes the positive direction of the X-axis of the coordinate system established on a plane parallel to the ground, and the other preset direction set includes the negative direction of the X-axis in the coordinate system established on the plane parallel to the ground. The X axis is parallel to the horizontal direction. When a cargo box has no other cargo boxes in the positive direction of the X-axis or the negative direction of the X-axis, the cargo box can be used as a candidate cargo box. When a cargo box has no adjacent other cargo boxes in the positive direction of the X-axis, the transport direction of the cargo box may be the positive direction of the X-axis. When a cargo box has no adjacent other cargo boxes in the negative direction of the X-axis, the transport direction of the cargo box may be the negative direction of the X-axis.

For another example, all preset direction sets include: a preset direction set composed of the positive direction of the X-axis and the positive direction of the Y-axis in the established coordinate system, and the positive direction of the X-axis and the Y-axis in the established coordinate system. The preset direction set composed of the negative direction of the axis, the preset direction set composed of the negative direction of the X axis and the negative direction of the Y axis in the established coordinate system, and the negative direction of the X axis and the Y axis in the established coordinate system. A set of preset directions consisting of the positive direction of the axis. When a container has no adjacent other containers in each direction in a preset direction set, the preset direction set may also be referred to as a target preset direction set. The included angle formed by the determined transport direction of the target container and each direction in the set of target preset directions may be smaller than 90 degrees. Therefore, the determined conveying direction of the target container is inclined at a certain angle with respect to each direction in the target preset direction set.

In some optional implementations of this embodiment, when a cargo box has no adjacent other cargo boxes in each direction in a preset direction set, the preset direction set may also be referred to as a target preset Set direction set. For each direction in the target preset direction set, the determined transport direction of the target container may include an included angle with the direction as a preset angle corresponding to the direction.

For example, all preset direction sets include: a preset direction set composed of the positive direction of the X-axis and the positive direction of the Y-axis, a preset direction set composed of the positive direction of the X-axis and the negative direction of the Y-axis, and a preset direction set composed of the positive direction of the X-axis and the negative direction of the Y-axis. A preset direction set composed of the negative direction of the axis and the negative direction of the Y axis, and a preset direction set composed of the negative direction of the X axis and the positive direction of the Y axis.

When the target preset direction set is a preset direction set consisting of the positive direction of the X axis and the positive direction of the Y axis, the transport direction of the target container

The angle between the positive direction of the X axis and the positive direction of the X axis is the preset angle corresponding to the positive direction of the X axis, and the angle between the transport direction of the target container and the positive direction of the Y axis is the preset angle corresponding to the positive direction of the Y axis, X The preset angle corresponding to the positive direction of the axis and the preset angle corresponding to the positive direction of the Y axis may both be less than 90 degrees. When the target preset direction set is a preset direction set composed of the positive direction of the X axis and the negative direction of the Y axis, the angle between the transport direction of the target container and the positive direction of the X axis is the preset direction corresponding to the positive direction of the X axis. Setting the angle, the included angle between the conveying direction of the target container and the negative direction of the Y-axis is a preset angle corresponding to the negative direction of the Y-axis, and the preset angle corresponding to the negative direction of the Y-axis may be less than 90 degrees. When the target preset direction set is a preset direction set composed of the negative direction of the X-axis and the negative direction of the Y-axis, the angle between the transport direction of the target container and the negative direction of the X-axis corresponds to the negative direction of the X-axis The preset angle, the angle between the transport direction of the target container and the negative direction of the Y axis is the preset angle corresponding to the negative direction of the Y axis, and the preset angle corresponding to the negative direction of the X axis may be less than 90 degrees. When the target preset direction set is a preset direction set consisting of the negative direction of the X-axis and the positive direction of the Y-axis, the angle between the transport direction of the target container and the negative direction of the X-axis corresponds to the negative direction of the X-axis The preset angle, the included angle between the conveying direction of the target container and the positive direction of the Y-axis is a preset angle corresponding to the positive direction of the Y-axis.

In this embodiment, each preset direction set may correspond to a type, and when a target container has no adjacent other containers in each direction in a preset direction set, the The type is the type corresponding to the preset direction set.

For example, when a target container has no adjacent container in the positive direction of the X axis and the positive direction of the Y axis, that is, the target container is in the preset consisting of the positive direction of the X axis and the positive direction of the Y axis. When each direction in the direction set is an adjacent other container, the type of the target container is Class 1. When a target box has no adjacent boxes in the negative direction of the X axis and the positive direction of the Y axis, the type of the target box is Class 2. When a target box has no adjacent boxes in the negative direction of the X axis and the negative direction of the Y axis, the type of the target box is Class 3. When a target box has no adjacent boxes in the negative direction of the X axis and the negative direction of the Y axis, the type of the target box is Category 4.

In this embodiment, the type of the target container can be determined by the vision system, and the vision system encapsulates a number representing the type of the target container in an IP packet and sends it to the handling robot. The handling robot determines the preset direction set corresponding to the type according to the type of the target container, and then determines the handling direction.

Step 203 , based on the location information of the target container and the transport direction of the target container, transport the target container out of the stacking area.

In this embodiment, a handling robot can be used to locate the target container according to the position information of the target container, and the control system of the handling robot can control a clamping device such as a suction cup to clamp the target container, and then the handling robot can place the target The container transports the target container out of the stacking area along the determined transport direction.

For example, the gripping device of the handling robot, such as a suction cup, can grip the candidate container, and then the clamping device of the handling robot moves along the determined conveying direction, and then moves the target container to the outbound container stacking area.

Please refer to FIG. 3 , which shows a schematic diagram of an effect of determining the target container.

All cases in the stacking area are stacked in the case stacking area. The four types of candidate containers located in the corners detected by the vision system can be used. Then, the vision system can further determine the candidate container with the smallest error in the position information, and the candidate container with the smallest error in the position information can be used as the target. cargo box. The vision system can encapsulate a number representing the type of the target container in an IP packet and send it to the handling robot. The handling robot can determine the preset direction set corresponding to the type according to the type of the target container, and then determine the handling direction of the target container. When the target container is Category 1, the conveying direction has a preset angle with both the positive X-axis and the positive Y-axis. When the target container is Category 2, the conveying direction has a preset angle with the positive direction of the X axis and the negative direction of the Y axis. When the target container is Category 3, the conveying direction has a preset angle with the negative direction of the X axis and the negative direction of the Y axis. When the target container is Category 4, the conveying direction has a preset angle with the negative direction of the X axis and the positive direction of the Y axis.

When the target container is transported to the outbound container stacking area, the transport direction and the direction of the corresponding coordinate axis have a certain angle, which can avoid scratching the surrounding containers during the transport process.

Referring to FIG. 4 , as an implementation of the methods shown in the above figures, the present application provides an embodiment of a container handling device, and the device embodiment corresponds to the method embodiment shown in FIG. 2 . For the specific implementation of the operations that are configured to be completed by each unit in the apparatus, reference may be made to the specific implementation of the corresponding operations described in the method embodiments.

As shown in FIG. 4 , the container handling device in this embodiment includes: a processing unit 401 , a determining unit 402 , and a handling unit 403 . Wherein, the processing unit 401 is configured to obtain the position information of the containers in the container stacking area, and based on the position information of the containers in the container stacking area, determine the candidate containers in the container stacking area that meet the candidate conditions, Wherein, the candidate conditions include: there is no other adjacent container in each direction in the preset direction set; the determining unit 402 is configured to determine the target container in the candidate container, and determine the transport direction of the target container ; The transport unit 403 is configured to transport the target container out of the stacking area based on the position information of the target container and the transport direction of the target container.

In some optional implementations of this embodiment, a preset direction set includes one of the following: a positive X-axis direction and a positive Y-axis direction, a positive X-axis direction and a negative Y-axis direction, and a negative X-axis direction and a Y-axis A negative direction, a negative X-axis direction, and a positive Y-axis direction, where the X-axis and the Y-axis are coordinate axes in a plane parallel to the horizontal plane.

In some optional implementations of this embodiment, for each direction in the target preset direction set, the included angle between the transport direction of the target container and the direction is a preset angle corresponding to the direction, The target container has no adjacent other containers in each direction in the target preset direction set.

In some optional implementations of this embodiment, the determining unit is further configured to: use the candidate container with the smallest error of the position information in the candidate container as the target container.

FIG. 5 shows a schematic structural diagram of a computer system suitable for implementing the electronic device according to the embodiment of the present application.

As shown in FIG. 5, the computer system includes a central processing unit (CPU) 501, which can be processed according to a program stored in a read only memory (ROM) 502 or a program loaded from a storage section 508 into a random access memory (RAM) 503 Various appropriate actions and processes are performed. In the RAM 503, various programs and data necessary for the operation of the computer system are also stored. The CPU 501 , the ROM 502 , and the RAM 503 are connected to each other through a bus 504 . An input/output (I/O) interface 505 is also connected to bus 504 .

The following components are connected to the I/O interface 505: an input part 506; an output part 507; a storage part 508 including a hard disk and the like; The communication section 509 performs communication processing via a network such as the Internet. A drive 510 is also connected to the I/O interface 505 as needed. A removable medium 511, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is mounted on the drive 510 as needed so that a computer program read therefrom is installed into the storage section 508 as needed.

In particular, the processes described in the embodiments of the present application can be implemented as computer programs. For example, embodiments of the present application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program comprising instructions for performing the method illustrated in the flowchart. The computer program can be downloaded and installed from the network through the communication section 509 and/or installed from the removable medium 511 . When the computer program is executed by the central processing unit (CPU) 501, the above-described functions defined in the method of the present application are performed.

The present application also provides an electronic device, which may be configured with one or more processors; a memory for storing one or more programs, and the one or more programs may contain a program for executing the descriptions in the foregoing embodiments. instruction of the operation. One or more programs, when executed by one or more processors, cause the one or more processors to perform the operations described in the above-described embodiments.

The present application also provides a computer-readable medium, which may be included in the electronic device; or may exist alone without being assembled into the electronic device. The above-mentioned computer-readable medium carries one or more programs, and when the one or more programs are executed by the electronic device, cause the electronic device to perform the instructions of the operations described in the above-mentioned embodiments.

It should be noted that the computer-readable medium described in this application may be a computer-readable signal medium or a computer-readable storage medium, or any combination of the above two. Computer-readable storage media may include, but are not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof, for example. More specific examples of computer readable storage media may include, but are not limited to, electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), erasable Programmable read only memory (EPROM or flash memory), fiber optics, portable compact disk read only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing. In this application, a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with a message execution system, apparatus, or device. In this application, however, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code therein. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. A computer-readable signal medium can also be any computer-readable medium, other than a computer-readable storage medium, that can transmit, propagate, or transport a program for use by or in connection with a message execution system, apparatus, or device . Program code embodied on a computer readable medium may be transmitted using any suitable medium including, but not limited to, wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

The flowchart and block diagrams in the Figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code that contains one or more logical functions for implementing the specified functions executable message. It should also be noted that, in some alternative implementations, the functions noted in the blocks may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It is also noted that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented in dedicated hardware-based systems that perform the specified functions or operations , or can be implemented with a combination of dedicated hardware and computer messages.

The above description is only a preferred embodiment of the present application and an illustration of the applied technical principles. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to the technical solution formed by the specific combination of the above-mentioned technical features, and should also cover the above-mentioned technical features without departing from the inventive concept. Other technical solutions formed by any combination of its equivalent features. For example, a technical solution is formed by replacing the above-mentioned features with the technical features disclosed in this application (but not limited to) with similar functions.

Claims (10)

1. A cargo box handling method, comprising: Obtain the position information of the containers in the container stacking area, and determine the candidate containers in the container stacking area that meet the candidate conditions based on the position information of the containers in the container stacking area, wherein the candidate conditions include: It is assumed that there are no other adjacent cargo boxes in each direction in the direction set; Determine the target container in the candidate container, and determine the direction of transportation of the target container; Based on the location information of the target container and the transport direction of the target container, the target container is transported out of the stacking area. 2. The method according to claim 1, a preset direction set comprises one of the following: the positive direction of the X axis and the positive direction of the Y axis, the positive direction of the X axis and the negative direction of the Y axis, the negative direction of the X axis and the negative direction of the Y axis , the negative direction of the X axis and the positive direction of the Y axis, wherein the X axis and the Y axis are coordinate axes in a plane parallel to the horizontal plane. 3. The method according to claim 2, for each direction in the target preset direction set, the included angle between the transport direction of the target container and the direction is a preset angle corresponding to the direction, and the target cargo Each direction of the box in the target preset direction set has no other adjacent boxes. 4. The method of claim 3, said determining a target container among candidate containers comprising: The candidate container with the smallest error in the position information in the candidate container is used as the target container. 5. A cargo box handling device, comprising: The processing unit is configured to obtain the position information of the containers in the container stacking area, and based on the position information of the containers in the container stacking area, determine the candidate containers in the container stacking area that meet the candidate condition, wherein, The candidate conditions include: there are no other adjacent cargo boxes in each direction in the preset direction set; a determining unit, configured to determine a target container among the candidate containers, and to determine the direction of transport of the target container; The transport unit is configured to transport the target container out of the stacking area based on the position information of the target container and the transport direction of the target container. 6. The device according to claim 5, wherein a preset direction set comprises one of the following: a positive direction of the X axis and a positive direction of the Y axis, a positive direction of the X axis and a negative direction of the Y axis, a negative direction of the X axis and a negative direction of the Y axis , the negative direction of the X axis and the positive direction of the Y axis, wherein the X axis and the Y axis are coordinate axes in a plane parallel to the horizontal plane. 7. The device according to claim 6, for each direction in the target preset direction set, the included angle between the transport direction of the target container and the direction is a preset angle corresponding to the direction, and the target cargo Each direction of the box in the target preset direction set has no other adjacent boxes. 8. The apparatus according to claim 7, wherein the determining unit is further configured to: take the candidate container with the smallest error of the position information among the candidate containers as the target container. 9. An electronic device comprising: one or more processors; memory for storing one or more programs, The one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method of any of claims 1-4. 10. A computer-readable medium having stored thereon a computer program which, when executed by a processor, implements the method of any one of claims 1-4.

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