CN108275294A - Palletizing method, palletizing apparatus, computer readable storage medium and electronic equipment - Google Patents
Palletizing method, palletizing apparatus, computer readable storage medium and electronic equipment Download PDFInfo
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- CN108275294A CN108275294A CN201710011141.7A CN201710011141A CN108275294A CN 108275294 A CN108275294 A CN 108275294A CN 201710011141 A CN201710011141 A CN 201710011141A CN 108275294 A CN108275294 A CN 108275294A
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- cargo
- pallet
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- piling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
- B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B57/00—Automatic control, checking, warning, or safety devices
- B65B57/10—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged
-
- 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
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
-
- 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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Stacking Of Articles And Auxiliary Devices (AREA)
Abstract
This disclosure relates to a kind of palletizing method, palletizing apparatus, computer readable storage medium and electronic equipment, for piling up multiple rectangular loads to the pallet of a rectangle.The palletizing method includes：A reference point is obtained in region in piling up for pallet, using the reference point as origin, using two vertical edges extended by the origin as edge, determines that a target piles up region；The size that the size and the cargo in region are piled up according to the target, determines the corresponding occupied area of a L-type pattern；Using the interior inflection point of the L-type pattern as the reference point, until the corresponding occupied area of a L-type pattern can not be determined by piling up region according to the target；According to identified all occupied areas, the cargo is piled up to the corresponding position of the pallet.The disclosure can improve the space availability ratio of pallet and the working efficiency of stacking.
Description
Technical field
This disclosure relates to storage technique field more particularly to a kind of palletizing method, palletizing apparatus, computer-readable storage medium
Matter and electronic equipment.
Background technology
Often there is a large amount of cargo to need to carry out stacking stacking in product warehouse, cargo is needed when being put in storage restocking or outbound
The cargo of bulk storage is closely piled up on pallet as far as possible according to certain mode, in order to dispense and transport.This mistake
Journey is mainly by pipeline by the mechanical arm of goods handling to stacking machine, then by manipulator crawl cargo, and according to
Specified stacking coordinate realizes cargo stacking on pallet.
Existing stacking mode includes mainly fundamental order palletizing method, interlock palletizing method and overlapping seam type stacking side anyhow
Method.It is sent by pipeline as shown in Figure 1, fundamental order palletizing method refers to cargo, robot palletizer captures pipeline
On a cargo, pass through tally equipment by the same direction successively being piled up side by side, or in pipeline terminal
After one layer of cargo is arranged, the cargo that robot palletizer disposably captures one layer is piled up on pallet.As shown in Fig. 2, vertical and horizontal hand over
Error code stacking method refers to that all cargos of first layer sequentially pile up several rows by lateral, vertically piles up several rows, second layer institute is in stockit is available
Object is piled up by the mirror image of first layer, and third layer is identical as first layer, and so on.As shown in figure 3, overlapping seam type palletizing method refers to
First layer sequence is piled up, and second layer cargo presses suitable with the equidirectional progress of first layer cargo on the gap between first layer cargo
Sequence is piled up, and so on.Existing stacking mode has the characteristics that simple regular, but the tight ness rating of cargo is insufficient, to lead
Cause the space availability ratio of pallet relatively low.
It should be noted that information is only used for reinforcing the reason to the background of the disclosure disclosed in above-mentioned background technology part
Solution, therefore may include the information not constituted to the prior art known to persons of ordinary skill in the art.
Invention content
Be designed to provide a kind of palletizing method, palletizing apparatus, computer readable storage medium and the electronics of the disclosure are set
It is standby, and then one or more is overcome the problems, such as caused by the limitation and defect of the relevant technologies at least to a certain extent.
Other characteristics and advantages of the disclosure will be apparent from by the following detailed description, or partially by the disclosure
Practice and acquistion.
According to the disclosure in a first aspect, a kind of palletizing method is provided, for piling up multiple rectangular loads to a rectangle
Pallet on；The method includes：
A reference point is obtained in region in piling up for pallet, using the reference point as origin, with what is extended by the origin
Two vertical edges are edge, determine that a target piles up region；
The size that the size and the cargo in region are piled up according to the target, determines the corresponding used area of a L-type pattern
Domain；
Using the interior inflection point of the L-type pattern as the reference point, until piling up region according to the target can not determine
The corresponding occupied area of one L-type pattern；
According to identified all occupied areas, the cargo is piled up to the corresponding position of the pallet.
In a kind of exemplary embodiment of the disclosure, the corresponding occupied area of one L-type pattern of the determination includes：
The size of the size and the cargo in region is piled up according to the target, is determined along the first side according to first direction code
The cargo number put, the cargo number piled up according to second direction along the second side and width is piled up, constitutes L-type pattern, and institute
State the occupied area that L-type pattern corresponds to the cargo；
Wherein, first side for one side in two vertical edges and is parallel to the first direction, second side
For the another side in two vertical edges and it is parallel to the second direction.
In a kind of exemplary embodiment of the disclosure, the stacking width of the L-type pattern is equal to 1.
In a kind of exemplary embodiment of the disclosure, the palletizing method further includes：
It obtains the target and piles up L-type pattern described in region along the surplus size of first edge tail；
According to the size of the cargo and the surplus size, determine along first edge tail according to the second direction
The corresponding occupied area of cargo of stacking.
In a kind of exemplary embodiment of the disclosure, the palletizing method further includes：
Judge whether the sum of cargo size on the first direction is less than the pallet in this direction and piles up region
The length of side；
When the sum of the cargo size on the first direction is less than the length of side for piling up region of the pallet in this direction
When, the cargo edge for making party's terminad is flushed with the edge holding for piling up region of the pallet；And/or
Judge whether the sum of cargo size in the second direction is less than the pallet in this direction and piles up region
The length of side；
When the sum of the cargo size in the second direction is less than the length of side for piling up region of the pallet in this direction
When, the cargo edge for making party's terminad is flushed with the edge holding for piling up region of the pallet.
In a kind of exemplary embodiment of the disclosure, the palletizing method further includes：
The disposing way for adjusting the cargo of pipeline terminal, makes multiple cargos according to identified all occupancy
Regio-regular is at flood cargo, in case robot palletizer crawl is piled up to the corresponding position of pallet.
In a kind of exemplary embodiment of the disclosure, the palletizing method further includes：
The disposing way for adjusting the cargo of pipeline terminal, making multiple cargos, card is placed on the pipeline terminal in the same direction
One jiao, in case robot palletizer crawl is piled up to the corresponding position of pallet.
In a kind of exemplary embodiment of the disclosure, the palletizing method further includes：
According to the limit for height of the pallet, after the stacking for completing single layer cargo, according to the stacking mode phase with single layer cargo
Stacking mode that is same or being mutually mirrored into, successively carries out the stacking of cargo.
In a kind of exemplary embodiment of the disclosure, the palletizing method further includes：
The cargo piled up is subjected to film winding package by pallet wrapping machine.
According to the second aspect of the disclosure, a kind of palletizing apparatus is provided, for piling up multiple rectangular loads to a rectangle
Pallet on；The palletizing apparatus includes：
Acquisition module, for obtaining a reference point in region in piling up for pallet, and using the reference point as origin, with
It is edge by two vertical edges that the origin is extended, determines that a target piles up region；
Computing module, the size of size and the cargo for piling up region according to the target, determines a L-type pattern
Corresponding occupied area；
Module is reset, for using the interior inflection point of the L-type pattern as the reference point, being piled up up to according to the target
Region can not determine the corresponding occupied area of a L-type pattern；
Stacking module, for according to identified all occupied areas, the cargo to be piled up to the pallet
Corresponding position.
According to the third aspect of the disclosure, a kind of computer readable storage medium is provided, computer program is stored thereon with,
The palletizing method according to above-mentioned first aspect is realized when the computer program is executed by processor.
According to the fourth aspect of the disclosure, a kind of electronic equipment is provided, including：
Processor；And
Memory, the executable instruction for storing the processor；
Wherein, the processor is configured to execute the code according to above-mentioned first aspect via the executable instruction is executed
Stacking method.
The palletizing method and palletizing apparatus that disclosure exemplary embodiment is provided, for by multiple rectangular loads pile up to
On the pallet of one rectangle.The palletizing method determines goods in piling up in region for pallet according to the L-type pattern of at least single order
The occupied area of object can effectively avoid existing palletizing method by piling up every layer of cargo all in accordance with this mode
Middle space waste caused by due to the spacing that cargo edge and pallet can pile up edges of regions is excessive, to improve the sky of pallet
Between utilization rate, and further improve the working efficiency of stacking.
It should be understood that above general description and following detailed description is only exemplary and explanatory, not
The disclosure can be limited.
Description of the drawings
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the disclosure
Example, and together with specification for explaining the principles of this disclosure.It should be evident that the accompanying drawings in the following description is only the disclosure
Some embodiments for those of ordinary skill in the art without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 schematically shows fundamental order palletizing method schematic diagram in the prior art；
Fig. 2 schematically shows the palletizing method schematic diagram in the prior art that interlocks anyhow；
Fig. 3 schematically shows overlapping seam type palletizing method schematic diagram in the prior art；
Fig. 4 schematically shows the palletizing method flow chart in disclosure exemplary embodiment；
Fig. 5 A-5D schematically show the palletization schematic diagram in disclosure exemplary embodiment；
Fig. 6 schematically shows the stacking effect diagram in disclosure exemplary embodiment；
Fig. 7 schematically shows the module diagram of the electronic equipment in disclosure exemplary embodiment.
Specific implementation mode
Example embodiment is described more fully with reference to the drawings.However, example embodiment can be with a variety of shapes
Formula is implemented, and is not understood as limited to example set forth herein；On the contrary, thesing embodiments are provided so that the disclosure will more
Fully and completely, and by the design of example embodiment comprehensively it is communicated to those skilled in the art.Described feature, knot
Structure or characteristic can be in any suitable manner incorporated in one or more embodiments.
In addition, attached drawing is only the schematic illustrations of the disclosure, it is not necessarily drawn to scale.Identical attached drawing mark in figure
Note indicates same or similar part, thus will omit repetition thereof.Some block diagrams shown in attached drawing are work(
Energy entity, not necessarily must be corresponding with physically or logically independent entity.Software form may be used to realize these work(
Energy entity, or these functional entitys are realized in one or more hardware modules or integrated circuit, or at heterogeneous networks and/or place
These functional entitys are realized in reason device device and/or microcontroller device.
A kind of palletizing method is proposed in this example embodiment, for piling up multiple rectangular loads to the support of a rectangle
On disk；As shown in figure 4, the palletizing method mainly may comprise steps of：
S1, a reference point is obtained in region in piling up for pallet, using the reference point as origin, to be extended by the origin
Two vertical edges be edge, determine a target pile up region；
S2, according to the target pile up region size and the cargo size, determine the corresponding occupancy of a L-type pattern
Region；
S3, using the interior inflection point of the L-type pattern as the reference point, until piling up region according to the target can not be true
The fixed corresponding occupied area of a L-type pattern；
S4, according to identified all occupied areas, the cargo is piled up to the corresponding position of the pallet.
The palletizing method that disclosure exemplary embodiment is provided, for piling up multiple rectangular loads to the support of a rectangle
On disk.The palletizing method determines the used area of cargo in region in piling up for pallet according to the L-type pattern of at least single order
Domain can effectively be avoided in existing palletizing method by piling up every layer of cargo all in accordance with this mode because of cargo side
Edge and pallet can pile up edges of regions spacing it is excessive and caused by space waste, to improve the space availability ratio of pallet,
And further improve the working efficiency of stacking.
It should be noted that：The palletizing method that this example embodiment is provided is suitable for the cargo of arbitrary dimension and arbitrary
The pallet of size, especially pallet pile up region it is each while size be not cargo it is each while size integral multiple when, it is empty
Between the raising of utilization rate become apparent.
Each step of the palletizing method in this example embodiment will be further described below.
In step sl, a reference point is obtained in region in piling up for pallet, using the reference point as origin, with by this
Two vertical edges that origin is extended are edge, determine that a target piles up region.
In this example embodiment, the region of piling up of the pallet refers to that can be used in what cargo was piled up on the pallet
Overall area, range are invariable；It refers to the selected region for determining cargo occupied area that the target, which piles up region,
Its range changes with the determining for occupied area.It should be noted that：When initially starting to determine occupied area,
It is that the pallet piles up region that the target, which piles up region,；After having determined that several occupied areas, the mesh
Coding puts the subregion piled up in region that region is only the pallet.
For example, as shown in Figure 5A, the region of piling up of the pallet is the region in figure in dotted line frame, can by described in
The vertex O for piling up region is as a reference point, using vertex O as origin, to connect two vertical edges of vertex O as edge, determines
The target of one rectangle piles up region；Wherein, the direction where two vertical edges is denoted as X-direction and Y-direction, the pallet respectively
The length for piling up region and wide be denoted as L respectivelysAnd Ws, the length and width of the cargo are denoted as L respectivelybAnd Wb.Since this step is
Occupied area is determined for the first time, therefore identified target piles up region and the region of piling up of the pallet coincides, at this time institute
It states target and piles up the length in region and wide also respectively LsAnd Ws。
In step s 2, the size that the size and the cargo in region are piled up according to the target, determines a L-type pattern pair
The occupied area answered.
In this example embodiment, the L patterns refer to the pattern that identified occupied area is constituted.
The corresponding occupied area of one L-type pattern of the determination may include：
The size of the size and the cargo in region is piled up according to the target, is determined along the first side according to first direction code
The cargo number put, the cargo number piled up according to second direction along the second side and width is piled up, to constitute L-type pattern, and
The L-type pattern corresponds to the occupied area of the cargo；
Wherein, described first while and it is described second while be two vertical edges for connecting origin, and where first side
Direction (X-direction) is parallel to the first direction, and the direction (Y-direction) where second side is parallel to the second direction.
It should be noted that：It is described according to first direction pile up refer to institute's store items long side be parallel to first direction,
Short side is parallel to second direction；Described piled up according to second direction refers to that the long sides of institute's store items is parallel to second direction, short
While being parallel to first direction；The stacking width refers to the number of rows for the cargo piled up according to first direction or according to second direction
The columns of the cargo of stacking, the numerical value both in this example embodiment are equal.
For example, as shown in Figure 5 B, the determination method of the corresponding occupied area of the L-type pattern is as follows：
(1) since origin O, the cargo number m that can be laterally piled up (i.e. according to first direction) along X-axis is calculated；
M=floor (Ls/Lb)；
Wherein, floor is downward bracket function；
(2) goods that can be vertically piled up (i.e. according to second direction) along Y-axis above the cargo that the first row is laterally piled up is calculated
Object number n；
N=floor [(Ws–Wb)/Lb]；
(3) the fixed cargo number n vertically piled up, calculates the line number r for the cargo laterally piled up；
R=floor [(Ws–n·Lb)/Wb]；
Wherein, r is the stacking width of L-type pattern；
(4) occupied area determined according to above-mentioned steps is：Since origin O, r crudely-made articles objects are laterally piled up along X-axis, are often gone
Pile up m cargo；R row cargos are vertically piled up along Y-axis above this r crudely-made articles object, each column piles up n cargo；This r row is laterally piled up
Cargo and the cargo vertically piled up of r row corresponding to occupied area constitute L-type pattern.
In this example embodiment, the stacking width of the L-type pattern can be set as 1.
In the case, the horizontal edge width (length of side in X direction) and vertical edge width of the L-type pattern constituted are (along Y-direction
The length of side) be equal to the width of cargo, the L-type pattern is known as substantially l-shaped pattern at this time, and the palletizing method is known as basic L
Type palletizing method.It should be noted that：Region is piled up in the pallet, if there is the code of at least one L-type pattern
Degree of relaxing is not equal to 1, and the horizontal edge width and vertical edge width of the L-type pattern constituted are just more than the width of cargo, and at this time referred to as one
As L-type palletizing method.
In step s3, using the interior inflection point of the L-type pattern as the reference point, until piling up area according to the target
Domain can not determine the corresponding occupied area of a L-type pattern.
In this example embodiment, the interior inflection point of the L-type pattern refers to along the first side according to first direction (transverse direction) code
The cargo put and the interface point along the second side according to the cargo of (vertical) stacking of second direction, the interface point are shown in L-type pattern
The inflection point being shown as inside L.
Based on above-mentioned steps it is found that S1-S3 is a cyclic process, loop termination condition is that the target piles up region
It can not determine the corresponding occupied area of a L-type pattern, i.e.,：Along first while the cargo number laterally piled up and along second while vertical code
The cargo number put is zero.
It for example, as shown in Figure 5 C, can be by the L-type figure after having determined the corresponding occupied area of single order L-type pattern
The interior inflection point O ' of case piles up region as new reference point, to origin and target and is updated, and newly determining target piles up region
The length and width of (in figure shown in dash area) is respectively：Ls=Ls–r·Wb, Ws=Ws–r·Wb；Then it repeats the above steps, directly
To remaining insufficient space until determining the corresponding occupied area of L patterns.
In this example embodiment, the palletizing method can also include：
SI, L-type pattern described in target stacking region is obtained along the surplus size of first edge tail；
SII, the size according to the cargo and the surplus size are determined along first edge tail according to described second
The corresponding occupied area of cargo that direction is piled up.
In this example embodiment, the step SI-SII is for determining the corresponding occupied area of the L-type pattern
Afterwards, the cargo vertically piled up is continued growing along the end (i.e. X-direction end) on the first side in the L-type pattern, in the hope of in pallet
Pile up and can pile up cargo as much as possible in region, to further increase the space availability ratio of pallet.
It should be noted that：The process can carry out after each cycle, i.e., first determine and corresponded to per single order L-type pattern
Occupied area, then determine the corresponding occupied area of cargo vertically piled up in the X-direction end of the rank L-type pattern；Or
It can also entirely carry out after circulation terminates, i.e., first determine the corresponding occupied area of all L-type patterns, then in each rank L-type pattern
X-direction end determine the corresponding occupied area of cargo vertically piled up；Alternatively, both the above mode can also intert progress.
For example, as shown in Figure 5 D, after having determined the corresponding occupied area of single order L-type pattern, calculate along X-axis transverse direction
The cargo number that the cargo end of stacking can also vertically pile up；Wherein, the line number for the cargo that can vertically pile up is denoted as row, columns
It is denoted as col；
Row=floor (rWb/Lb)；
Col=floor [(Ls–m·Lb)/Wb]；
It is possible thereby to determine, row row col row cargos can also be vertically piled up in the cargo end laterally piled up along X-axis, if
One of row and col are zero not pile up then.
Before step S 4, the palletizing method can also include：
Judge whether the sum of cargo size on the first direction is less than the pallet in this direction and piles up region
The length of side；
When the sum of the cargo size on the first direction is less than the length of side for piling up region of the pallet in this direction
When, the cargo edge for making party's terminad is flushed with the edge holding for piling up region of the pallet；And/or
Judge whether the sum of cargo size in the second direction is less than the pallet in this direction and piles up region
The length of side；
When the sum of the cargo size in the second direction is less than the length of side for piling up region of the pallet in this direction
When, the cargo edge for making party's terminad is flushed with the edge holding for piling up region of the pallet.
In this example embodiment, by adjusting the inside spacing between every row or each column institute store items, will can often it go
Or the gap that each column end is vacated is shared into the inside interval of the row or the row, so that the gabarit of this layer of cargo is in regular
Rectangle is convenient for final packed and transported.
Further, the palletizing method can also include：
The disposing way for adjusting the cargo of pipeline terminal, makes multiple cargos according to identified all occupancy
Regio-regular is at flood cargo, in case robot palletizer crawl is piled up to the corresponding position of pallet；Or
The disposing way for adjusting the cargo of pipeline terminal, making multiple cargos, card is placed on the pipeline terminal in the same direction
One jiao, in case robot palletizer crawl is piled up to the corresponding position of pallet.
Wherein, the disposing way of the cargo of the pipeline terminal can stop organizer by tally and gear and be adjusted
It is whole.
This exemplary the first embodiment the cargo disposing way of pipeline terminal can be adjusted to it is identified
The completely the same mode in occupied area on pallet is equivalent to and has fulfiled the position of cargo ahead of schedule in pipeline terminal and set in this way
It is fixed, the cargo of pipeline terminal need to be only transferred to the corresponding position of pallet by robot palletizer；This exemplary the
The cargo disposing way of pipeline terminal can be adjusted to put in the same direction by two kinds of embodiments, be convenient for robot palletizer to know in this way
The cargo coordinate of other pipeline terminal is transferred to the correspondence of pallet to be conducive to robot palletizer by the cargo of pipeline terminal
At position.
In step s 4, according to identified all occupied areas, the cargo is piled up to pair of the pallet
It answers at position.
Wherein, the stacking of the cargo is realized by the manipulator of robot palletizer.
In this example embodiment, all occupied areas include per single order L-type pattern corresponding occupied area and
Along the corresponding occupied area of cargo that first edge tail is piled up according to the second direction.
According to step S1-S4 and its additional step, the stacking of single layer cargo can be completed, stacking effect is as shown in Figure 6.
Compared to existing palletizing method, the palletizing method that this example embodiment is provided can effectively improve the space profit of pallet
With rate.
In actual palletization, it usually needs pile up more than one layer of cargo.On this basis, the palletizing method
It can further include：
According to the limit for height of the pallet, after the stacking for completing single layer cargo, according to the stacking mode phase with single layer cargo
The stacking mode of same stacking mode or the stacking mode or Plane Rotation that are mutually mirrored into, successively carries out the code of cargo
It puts.
Wherein, the identical stacking mode refers to the stacking mode of first layer and the stacking mode complete one of the second layer
It causes；The stacking mode being mutually mirrored into refers to the stacking mode of first layer and the stacking mode of the second layer is in mirror symmetry；Institute
The stacking mode for stating Plane Rotation refers to the rotation angled relative to the stacking mode of first layer of the stacking mode of the second layer
Turn, such as 90 °, 180 ° or 270 °.
This example embodiment is primarily directed to the stacking with the cuboid cargo of identical size, and assumes cargo bottom
Face (the long and wide face determined) stacking downward and (the long and high face determined) stacking downward and cargo side before cargo are (wide and high
Determining face) downward pile up the case where it is similar.So, under the premise of the single layer space availability ratio of pallet improves, with phase
Same mode or mirror-image fashion or Plane Rotation mode pile up other layers of cargo, can improve whole space availability ratio.
Transported for the ease of final dispatching, complete cargo it is whole pile up after, the palletizing method can also be into
One step includes：
The cargo piled up is subjected to film winding package by pallet wrapping machine.
Compared to existing palletizing method, the palletizing method that this example embodiment is provided can effectively improve pallet
Space availability ratio.In order to prove the effect of this example embodiment, it is provided below several groups and is counted based on specific data by emulating
Obtained result.
(1) size that can pile up region is 1200mm1200mm1200mm, and the size of cargo is 350mm
250mm100mm, it is as follows by the result of simulation calculation：
(a) fundamental order palletizing method：Space availability ratio is 73.1%
(b) substantially l-shaped palletizing method：Space availability ratio is 79.2%
(c) general L-type palletizing method：Space availability ratio is 85.3%
(2) size that can pile up region is 1200mm1200mm1200mm, and the size of cargo is 270mm
110mm100mm, it is as follows by the result of simulation calculation：
(a) fundamental order palletizing method：Space availability ratio is 82.6%
(b) interlock palletizing method anyhow：Space availability ratio is 90.9%
(c) general L-type palletizing method：Space availability ratio is 92.9%
(3) size that can pile up region is 1200mm1200mm1200mm, and the size of cargo is 310mm
280mm200mm, it is as follows by the result of simulation calculation：
(a) fundamental order is piled up：Space availability ratio is 72.48%
(b) L-type is piled up：Space availability ratio is 84.56%
(4) size that can pile up region is 1200mm1200mm1200mm, and the size of cargo is 310mm
290mm200mm, it is as follows by the result of simulation calculation：
(a) fundamental order is piled up：Space availability ratio is 75.0%
(b) L-type is piled up：Space availability ratio is 87.5%
(5) size that can pile up region is 1200mm1200mm1200mm, and the size of cargo is 410mm
250mm200mm, it is as follows by the result of simulation calculation：
(a) fundamental order is piled up：Space availability ratio is 71.43%
(b) L-type is piled up：Space availability ratio is 78.57%
(6) size that can pile up region is 1200mm1200mm1200mm, and the size of cargo is 410mm
260mm200mm, it is as follows by the result of simulation calculation：
(a) fundamental order is piled up：Space availability ratio is 74.38%
(b) L-type is piled up：Space availability ratio is 81.82%
(7) size that can pile up region is 1200mm1200mm1200mm, and the size of cargo is 510mm
310mm200mm, it is as follows by the result of simulation calculation：
(a) fundamental order is piled up：Space availability ratio is 66.67%
(b) L-type is piled up：Space availability ratio is 77.78%
(8) size that can pile up region is 1200mm1200mm1200mm, and the size of cargo is 210mm
190mm200mm, it is as follows by the result of simulation calculation：
(a) fundamental order is piled up：Space availability ratio is 83.33%
(b) L-type is piled up：Space availability ratio is 88.89%
By simulation calculation it is found that the L-type palletizing method provided using this example embodiment can effectively improve sky
Between utilization rate.
A kind of palletizing apparatus is also proposed in this example embodiment, for piling up multiple rectangular loads to a rectangle
On pallet；The palletizing apparatus includes：
Acquisition module, for obtaining a reference point in region in piling up for pallet, and using the reference point as origin, with
It is edge by two vertical edges that the origin is extended, determines that a target piles up region；
Computing module, the size of size and the cargo for piling up region according to the target, determines a L-type pattern
Corresponding occupied area；
Module is reset, for using the interior inflection point of the L-type pattern as the reference point, being piled up up to according to the target
Region can not determine the corresponding occupied area of a L-type pattern；
Stacking module, for according to identified all occupied areas, the cargo to be piled up to the pallet
Corresponding position.
The palletizing apparatus that disclosure exemplary embodiment is provided can be avoided effectively in existing palletizing method because of cargo side
Edge and pallet can pile up edges of regions spacing it is excessive and caused by space waste, to improve the space availability ratio of pallet,
And further improve the working efficiency of stacking.
In this example embodiment, the operation principle of the computing module is：The size in region is piled up according to the target
With the size of the cargo, determine along first while the cargo number piled up according to first direction, along second while according to second direction
The cargo number and stacking width of stacking, constitute L-type pattern, and the L-type pattern corresponds to the used area of the cargo
Domain；Wherein, the stacking width of the L-type pattern can be set as 1, and first side is one side in two vertical edges and parallel
In the first direction, second side is the another side in two vertical edges and is parallel to the second direction.
In order to further increase space availability ratio, the goods vertically piled up can also be increased in the end of every single order L-type pattern
Object.At this point, the acquisition module can be also used for obtaining L-type pattern described in target stacking region along first side end
The surplus size at end；The computing module can be also used for the size according to the cargo and the surplus size, determine along institute
State the corresponding occupied area of cargo that the first edge tail is piled up according to the second direction.
On this basis, the stacking device can also include：
Determination module, for judging whether the sum of cargo size on the first direction is less than the pallet in this direction
The length of side for piling up region；Alternatively, it is described in this direction to judge whether the sum of cargo size in the second direction is less than
The length of side for piling up region of pallet；
Regular module, for the sum of cargo size in said first direction be less than the pallet in this direction can code
When putting the length of side in region, the cargo edge for making party's terminad is flushed with the edge holding for piling up region of the pallet；Or
Person makes when the sum of cargo size in this second direction is less than the length of side for piling up region of the pallet in this direction
The cargo edge of party's terminad is flushed with the edge holding for piling up region of the pallet.
Further, the stacking device can also include：
Tally module, the disposing way of the cargo for adjusting pipeline terminal make multiple cargos according to determining
All occupied areas it is regular at flood cargo, or make multiple cargos in the same direction card be placed on the pipeline terminal
One jiao, in case robot palletizer crawl is piled up to the corresponding position of pallet.
When the palletizing apparatus needs to carry out the stacking of multilayer cargo, the computing module is additionally operable to complete single layer goods
After the stacking of object, according to the stacking mode of the limit for height of the pallet and single layer cargo, the stacking mode of other layers of cargo is determined.
On the basis of this, the stacking module is additionally operable to after the stacking for completing single layer cargo, according to the stacking mode phase with single layer cargo
Stacking mode that is same or being mutually mirrored into, successively carries out the stacking of cargo.
It after completing whole cargo and piling up, is transported for the ease of final dispatching, the palletizing apparatus can be with
Further comprise：
Module is packed, for the cargo piled up to be carried out film winding package by pallet wrapping machine.
It should be noted that：The detail of each modular unit is in corresponding palletizing method in the palletizing apparatus
It is described in detail, therefore which is not described herein again.
It should be noted that although being referred to several modules or list for acting the equipment executed in above-detailed
Member, but this division is not enforceable.In fact, according to embodiment of the present disclosure, it is above-described two or more
The feature and function of module either unit can embody in a module or unit.Conversely, an above-described mould
Either the feature and function of unit can be further divided into and embodied by multiple modules or unit block.
In addition, although describing each step of method in the disclosure with particular order in the accompanying drawings, this does not really want
These steps must be executed according to the particular order by asking or implying, or the step having to carry out shown in whole could be realized
Desired result.Additional or alternative, it is convenient to omit multiple steps are merged into a step and executed by certain steps, and/
Or a step is decomposed into execution of multiple steps etc..
It also proposed a kind of non-transient computer readable storage medium in this example embodiment, be stored thereon with computer
Program, the computer program realize above-mentioned palletizing method when being executed by processor.
Computer readable storage medium may include in a base band or as the data-signal that a carrier wave part is propagated,
In carry readable program code.The data-signal of this propagation may be used diversified forms, including but not limited to electromagnetic signal,
Optical signal or above-mentioned any appropriate combination.Computer readable storage medium can send, propagates or transmit for by referring to
Enable execution system, device either device use or program in connection.
The program code for including in computer readable storage medium can transmit with any suitable medium, including but unlimited
In wireless, wired, optical cable, radio frequency etc. or above-mentioned any appropriate combination.
A kind of electronic equipment is also proposed in this example embodiment, as shown in fig. 7, the electronic equipment 10 includes：Processing
Component 11 can further include one or more processors, and by the memory resource representated by memory 12, be used for
Store the instruction that can be executed by processing component 11, such as application program.The application program stored in memory 12 may include one
It is a or it is more than one each correspond to one group of instruction module.In addition, processing component 11 is configured as executing instruction, to hold
The row above method.
The electronic equipment 10 can also include：One power supply module, power supply module are configured to executing electronic equipment 10
Carry out power management；One wired or wireless network interface 13 is configured to electronic equipment 10 being connected to network；And one
Input and output (I/O) interface 14.The electronic equipment 10 can be operated based on the operating system for being stored in memory 12, such as
Windows ServerTM, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM or similar.
Through the above description of the embodiments, those skilled in the art is it can be readily appreciated that example described herein is implemented
Mode can also be realized by software realization in such a way that software is in conjunction with necessary hardware.Therefore, according to the disclosure
The technical solution of embodiment can be expressed in the form of software products, the software product can be stored in one it is non-volatile
Property storage medium (can be CD-ROM, USB flash disk, mobile hard disk etc.) in or network on, including some instructions are so that a calculating
Equipment (can be personal computer, server, mobile terminal or network equipment etc.) is executed according to disclosure embodiment
Method.
Those skilled in the art after considering the specification and implementing the invention disclosed here, will readily occur to its of the disclosure
Its embodiment.This application is intended to cover any variations, uses, or adaptations of the disclosure, these modifications, purposes or
Person's adaptive change follows the general principles of this disclosure and includes the undocumented common knowledge in the art of the disclosure
Or conventional techniques.The description and examples are only to be considered as illustrative, and the true scope and spirit of the disclosure are by appended
Claim is pointed out.
Claims (12)
1. a kind of palletizing method, for piling up multiple rectangular loads to the pallet of a rectangle；It is characterized in that, the stacking
Method includes：
A reference point is obtained in region in piling up for pallet, is hung down using the reference point as origin, with extended by the origin two
Straight flange is edge, determines that a target piles up region；
The size that the size and the cargo in region are piled up according to the target, determines the corresponding occupied area of a L-type pattern；
Using the interior inflection point of the L-type pattern as the reference point, until a L-type can not be determined by piling up region according to the target
The corresponding occupied area of pattern；
According to identified all occupied areas, the cargo is piled up to the corresponding position of the pallet.
2. palletizing method according to claim 1, which is characterized in that the corresponding occupied area of one L-type pattern of the determination
Including：
The size of the size and the cargo in region is piled up according to the target, what determination was piled up along the first side according to first direction
Cargo number, the cargo number piled up according to second direction along the second side and width is piled up, constitutes L-type pattern, and the L
Type pattern corresponds to the occupied area of the cargo；
Wherein, first side for one side in two vertical edges and is parallel to the first direction, and second side is institute
It states the another side in two vertical edges and is parallel to the second direction.
3. palletizing method according to claim 2, which is characterized in that the stacking width of the L-type pattern is equal to 1.
4. palletizing method according to claim 2, which is characterized in that the palletizing method further includes：
It obtains the target and piles up L-type pattern described in region along the surplus size of first edge tail；
According to the size of the cargo and the surplus size, determination is piled up along first edge tail according to the second direction
The corresponding occupied area of cargo.
5. according to claim 2 to 4 any one of them palletizing method, which is characterized in that the palletizing method further includes：
Judge whether the sum of cargo size on the first direction is less than the side for piling up region of the pallet in this direction
It is long；
When the sum of the cargo size on the first direction is less than the length of side for piling up region of the pallet in this direction, make
The cargo edge of party's terminad is flushed with the edge holding for piling up region of the pallet；And/or
Judge whether the sum of cargo size in the second direction is less than the side for piling up region of the pallet in this direction
It is long；
When the sum of the cargo size in the second direction is less than the length of side for piling up region of the pallet in this direction, make
The cargo edge of party's terminad is flushed with the edge holding for piling up region of the pallet.
6. palletizing method according to claim 1, which is characterized in that the palletizing method further includes：
The disposing way for adjusting the cargo of pipeline terminal, makes multiple cargos according to identified all occupied areas
It is regular at flood cargo, in case robot palletizer crawl is piled up to the corresponding position of pallet.
7. palletizing method according to claim 1, which is characterized in that the palletizing method further includes：
The disposing way for adjusting the cargo of pipeline terminal, making multiple cargos, card is placed on the one of the pipeline terminal in the same direction
Angle, in case robot palletizer crawl is piled up to the corresponding position of pallet.
8. palletizing method according to any one of claims 1 to 4, which is characterized in that the palletizing method further includes：
According to the limit for height of the pallet, after the stacking for completing single layer cargo, according to identical as the stacking mode of single layer cargo or
The stacking mode that person is mutually mirrored into successively carries out the stacking of cargo.
9. palletizing method according to any one of claims 1 to 4, which is characterized in that the palletizing method further includes：
The cargo piled up is subjected to film winding package by pallet wrapping machine.
10. a kind of palletizing apparatus, for piling up multiple rectangular loads to the pallet of a rectangle；It is characterized in that, the code
Pile device includes：
Acquisition module, for obtaining a reference point in region in piling up for pallet, and using the reference point as origin, with by this
Two vertical edges that origin is extended are edge, determine that a target piles up region；
Computing module, the size of size and the cargo for piling up region according to the target determine that a L-type pattern corresponds to
Occupied area；
Module is reset, is used for using the interior inflection point of the L-type pattern as the reference point, until piling up region according to the target
It can not determine the corresponding occupied area of a L-type pattern；
Stacking module, for according to identified all occupied areas, the cargo to be piled up to the correspondence of the pallet
At position.
11. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program
Claim 1-9 any one of them palletizing methods are realized when being executed by processor.
12. a kind of electronic equipment, which is characterized in that including：
Processor；And
Memory, the executable instruction for storing the processor；
Wherein, the processor is configured to carry out perform claim requirement 1-9 any one of them via the execution executable instruction
Palletizing method.
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| CN201710011141.7A CN108275294B (en) | 2017-01-06 | 2017-01-06 | Stacking method, stacking device, computer readable storage medium and electronic equipment |
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| CN201710011141.7A CN108275294B (en) | 2017-01-06 | 2017-01-06 | Stacking method, stacking device, computer readable storage medium and electronic equipment |
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| CN109384042A (en) * | 2018-11-29 | 2019-02-26 | 湖南视比特机器人有限公司 | Sequence delta formula palletizing method and its device and computer readable storage medium |
| CN109436813A (en) * | 2018-10-25 | 2019-03-08 | 中船动力有限公司 | Special-shaped furniture board piles up method |
| CN110371561A (en) * | 2018-08-28 | 2019-10-25 | 天津京东深拓机器人科技有限公司 | A kind of method and apparatus of stacking storage |
| CN110443435A (en) * | 2019-08-23 | 2019-11-12 | 博众精工科技股份有限公司 | A kind of bar stacking method, device, equipment and medium |
| CN112700189A (en) * | 2020-12-30 | 2021-04-23 | 深圳千岸科技股份有限公司 | Intelligent trusting method and device, computer equipment and storage medium |
| CN113651118A (en) * | 2020-11-03 | 2021-11-16 | 梅卡曼德（北京）机器人科技有限公司 | Method, device and apparatus for hybrid palletizing of boxes of various sizes and computer-readable storage medium |
| CN114633979A (en) * | 2022-03-08 | 2022-06-17 | 北京京东乾石科技有限公司 | Goods stacking method and device, electronic equipment and computer readable medium |
| CN114940386A (en) * | 2022-05-26 | 2022-08-26 | 梅卡曼德（北京）机器人科技有限公司 | Hybrid stacking planning method and device, computing equipment and computer storage medium |
| CN115246547A (en) * | 2021-10-21 | 2022-10-28 | 梅卡曼德（北京）机器人科技有限公司 | Stacking type continuous coding method and device, computing equipment and computer storage medium |
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| CN115246547B (en) * | 2021-10-21 | 2023-09-12 | 梅卡曼德（北京）机器人科技有限公司 | Stack type continuous coding method, apparatus, computing device and computer storage medium |
| CN114633979A (en) * | 2022-03-08 | 2022-06-17 | 北京京东乾石科技有限公司 | Goods stacking method and device, electronic equipment and computer readable medium |
| CN114940386A (en) * | 2022-05-26 | 2022-08-26 | 梅卡曼德（北京）机器人科技有限公司 | Hybrid stacking planning method and device, computing equipment and computer storage medium |
| CN114940386B (en) * | 2022-05-26 | 2023-11-03 | 梅卡曼德（北京）机器人科技有限公司 | Hybrid stacking planning method, device, computing equipment and computer storage medium |
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