CN108275294B - Stacking method, stacking device, computer readable storage medium and electronic equipment - Google Patents

Stacking method, stacking device, computer readable storage medium and electronic equipment Download PDF

Info

Publication number
CN108275294B
CN108275294B CN201710011141.7A CN201710011141A CN108275294B CN 108275294 B CN108275294 B CN 108275294B CN 201710011141 A CN201710011141 A CN 201710011141A CN 108275294 B CN108275294 B CN 108275294B
Authority
CN
China
Prior art keywords
goods
stacking
tray
area
shaped pattern
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201710011141.7A
Other languages
Chinese (zh)
Other versions
CN108275294A (en
Inventor
肖鹏宇
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Jingdong Qianshi Technology Co Ltd
Original Assignee
Beijing Jingdong Century Trading Co Ltd
Beijing Jingdong Shangke Information Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Jingdong Century Trading Co Ltd, Beijing Jingdong Shangke Information Technology Co Ltd filed Critical Beijing Jingdong Century Trading Co Ltd
Priority to CN201710011141.7A priority Critical patent/CN108275294B/en
Publication of CN108275294A publication Critical patent/CN108275294A/en
Application granted granted Critical
Publication of CN108275294B publication Critical patent/CN108275294B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Stacking Of Articles And Auxiliary Devices (AREA)

Abstract

The present disclosure relates to a palletizing method, a palletizing apparatus, a computer-readable storage medium, and an electronic device for palletizing a plurality of rectangular goods onto a rectangular tray. The stacking method comprises the following steps: acquiring a reference point in a stacking area of the tray, and determining a target stacking area by taking the reference point as an origin and two vertical edges extending from the origin as edges; determining an occupied area corresponding to the L-shaped pattern according to the size of the target stacking area and the size of the goods; taking the inner inflection point of the L-shaped pattern as the reference point until an occupied area corresponding to the L-shaped pattern cannot be determined according to the target stacking area; according to all the determined occupied areas, the goods are stacked to the corresponding positions of the tray. This openly can improve the space utilization of tray and the work efficiency of pile up neatly.

Description

Stacking method, stacking device, computer readable storage medium and electronic equipment
Technical Field
The present disclosure relates to the field of warehousing technologies, and in particular, to a stacking method, a stacking apparatus, a computer-readable storage medium, and an electronic device.
Background
A large number of goods are often stacked in a product warehouse, and when the goods are put on shelves in a warehouse or are taken out of the warehouse, the scattered goods need to be stacked on a tray as tightly as possible according to a certain mode so as to be convenient for distribution and transportation. The process is mainly realized by conveying the goods to a mechanical arm of a stacker crane through a conveying line, grabbing the goods through a mechanical arm and stacking the goods on a tray according to a specified stacking coordinate.
The existing stacking modes mainly comprise a basic sequential stacking method, a horizontal and vertical staggered stacking method and a seam-pressing type stacking method. As shown in fig. 1, the basic sequential palletizing method means that goods are conveyed through a conveying line, a palletizing robot grabs one goods on the conveying line and stacks the goods layer by layer in the same direction, or after a layer of goods is sorted through a sorting device at the end of the conveying line, the palletizing robot grabs one layer of goods at a time and stacks the goods on a tray. As shown in fig. 2, the horizontal-vertical staggered stacking method means that all the cargos on the first layer are stacked in a plurality of rows in a horizontal sequence, a plurality of rows are stacked vertically, all the cargos on the second layer are stacked in a mirror image of the first layer, the third layer is the same as the first layer, and so on. As shown in fig. 3, the seam pressing type stacking method means that a first layer of goods is sequentially stacked, a second layer of goods is pressed on a gap between the first layer of goods and sequentially stacked in the same direction as the first layer of goods, and so on. The existing stacking mode has the characteristic of simplicity and regularity, but the compactness of goods is not enough, so that the space utilization rate of the tray is low.
It is to be noted that the information disclosed in the above background section is only for enhancement of understanding of the background of the present disclosure, and thus may include information that does not constitute prior art known to those of ordinary skill in the art.
Disclosure of Invention
An object of the present disclosure is to provide a palletizing method, a palletizing apparatus, a computer-readable storage medium, and an electronic device, which overcome one or more problems due to limitations and disadvantages of the related art, at least to a certain extent.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows, or in part will be obvious from the description, or may be learned by practice of the disclosure.
According to a first aspect of the present disclosure, there is provided a palletizing method for palletizing a plurality of rectangular goods onto a rectangular pallet; the method comprises the following steps:
acquiring a reference point in a stacking area of the tray, and determining a target stacking area by taking the reference point as an origin and two vertical edges extending from the origin as edges;
determining an occupied area corresponding to the L-shaped pattern according to the size of the target stacking area and the size of the goods;
taking the inner inflection point of the L-shaped pattern as the reference point until an occupied area corresponding to the L-shaped pattern cannot be determined according to the target stacking area;
according to all the determined occupied areas, the goods are stacked to the corresponding positions of the tray.
In an exemplary embodiment of the disclosure, the determining the occupied area corresponding to the L-shaped pattern includes:
determining the number of the cargos stacked along the first edge in the first direction, the number of the cargos stacked along the second edge in the second direction and the stacking width according to the size of the target stacking area and the size of the cargos to form an L-shaped pattern, wherein the L-shaped pattern corresponds to the occupied area of the cargos;
the first side is one of the two perpendicular sides and is parallel to the first direction, and the second side is the other of the two perpendicular sides and is parallel to the second direction.
In an exemplary embodiment of the present disclosure, a stacking width of the L-shaped pattern is equal to 1.
In an exemplary embodiment of the present disclosure, the palletizing method further comprises:
acquiring the residual size of the L-shaped pattern in the target stacking area along the tail end of the first edge;
and determining an occupied area corresponding to the goods stacked along the first edge tail end in the second direction according to the size of the goods and the residual size.
In an exemplary embodiment of the present disclosure, the palletizing method further comprises:
judging whether the sum of the sizes of the goods in the first direction is smaller than the side length of a stacking area of the tray in the first direction;
when the sum of the sizes of the goods in the first direction is smaller than the side length of the stacking area of the tray in the first direction, keeping the edge of the goods at the tail end of the first direction flush with the edge of the stacking area of the tray; and/or the presence of a gas in the gas,
judging whether the sum of the sizes of the goods in the second direction is smaller than the side length of the stacking area of the tray in the second direction;
and when the sum of the sizes of the goods in the second direction is smaller than the side length of the stacking area of the tray in the direction, keeping the edge of the goods at the tail end of the direction flush with the edge of the stacking area of the tray.
In an exemplary embodiment of the present disclosure, the palletizing method further comprises:
and adjusting the placing mode of the goods at the conveying line terminal to ensure that the goods are arranged into a whole layer of goods according to all the determined occupied areas so as to be ready for the palletizing robot to grab and place the goods on the corresponding positions of the trays in a stacking mode.
In an exemplary embodiment of the present disclosure, the palletizing method further comprises:
and adjusting the placing mode of the goods at the conveying line terminal to enable a plurality of goods to be clamped in the same direction and placed at one corner of the conveying line terminal so as to enable the palletizing robot to grab and place the goods in the corresponding position of the tray.
In an exemplary embodiment of the present disclosure, the palletizing method further comprises:
according to the height limit of the tray, after the single-layer goods are stacked, the goods are stacked layer by layer in a stacking mode which is the same as or mirror images of the stacking mode of the single-layer goods.
In an exemplary embodiment of the present disclosure, the palletizing method further comprises:
and (5) carrying out film winding and packaging on the stacked goods through a tray winding machine.
According to a second aspect of the present disclosure, there is provided a palletizing apparatus for palletizing a plurality of rectangular goods onto a rectangular pallet; the palletizing device comprises:
the acquisition module is used for acquiring a reference point in the stacking area of the tray, and determining a target stacking area by taking the reference point as an origin and two vertical edges extending from the origin as edges;
the calculation module is used for determining an occupied area corresponding to the L-shaped pattern according to the size of the target stacking area and the size of the goods;
the resetting module is used for taking the inner inflection point of the L-shaped pattern as the reference point until an occupied area corresponding to the L-shaped pattern cannot be determined according to the target stacking area;
and the stacking module is used for stacking the goods to the corresponding positions of the tray according to all the determined occupied areas.
According to a third aspect of the present disclosure, there is provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the palletizing method according to the above first aspect.
According to a fourth aspect of the present disclosure, there is provided an electronic device comprising:
a processor; and
a memory for storing executable instructions of the processor;
wherein the processor is configured to perform the palletising method according to the first aspect described above via execution of the executable instructions.
The stacking method and the stacking device provided by the exemplary embodiment of the disclosure are used for stacking a plurality of rectangular cargos on a rectangular tray. The stacking method determines the occupied area of the goods according to the L-shaped pattern of at least one order in the stacking area of the tray, and by stacking each layer of goods according to the mode, the space waste caused by overlarge distance between the edges of the goods and the edges of the stacking area of the tray in the existing stacking method can be effectively avoided, so that the space utilization rate of the tray is improved, and the stacking work efficiency is further improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure. It is to be understood that the drawings in the following description are merely exemplary of the disclosure, and that other drawings may be derived from those drawings by one of ordinary skill in the art without the exercise of inventive faculty.
Figure 1 schematically illustrates a basic sequential palletization process according to the prior art;
FIG. 2 is a schematic diagram illustrating a prior art cross-palletizing method;
FIG. 3 schematically illustrates a prior art pinch-off palletizing process;
FIG. 4 schematically illustrates a palletizing method flow diagram in an exemplary embodiment of the present disclosure;
5A-5D schematically illustrate a palletizing process in exemplary embodiments of the present disclosure;
FIG. 6 schematically illustrates a palletizing effect in an exemplary embodiment of the present disclosure;
fig. 7 schematically illustrates a block diagram of an electronic device in an exemplary embodiment of the present disclosure.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
Furthermore, the drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus their repetitive description will be omitted. Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.
The example embodiment provides a stacking method for stacking a plurality of rectangular cargos on a rectangular tray; as shown in fig. 4, the palletizing method may mainly include the following steps:
s1, acquiring a reference point in the stacking area of the tray, and determining a target stacking area by taking the reference point as an origin and two vertical edges extending from the origin as edges;
s2, determining an occupied area corresponding to the L-shaped pattern according to the size of the target stacking area and the size of the goods;
s3, taking the inner inflection point of the L-shaped pattern as the reference point until an occupied area corresponding to the L-shaped pattern cannot be determined according to the target stacking area;
s4, according to all the determined occupied areas, stacking the goods to the corresponding positions of the tray.
The stacking method provided by the exemplary embodiment of the disclosure is used for stacking a plurality of rectangular cargos on a rectangular tray. The stacking method determines the occupied area of the goods according to the L-shaped pattern of at least one order in the stacking area of the tray, and by stacking each layer of goods according to the mode, the space waste caused by overlarge distance between the edges of the goods and the edges of the stacking area of the tray in the existing stacking method can be effectively avoided, so that the space utilization rate of the tray is improved, and the stacking work efficiency is further improved.
It should be noted that: the stacking method provided by the embodiment is suitable for cargoes of any size and pallets of any size, and particularly when the sizes of all sides of the stacking area of the pallets are not integral multiples of the sizes of all sides of the cargoes, the improvement of the space utilization rate is more obvious.
The steps of the palletizing method in this exemplary embodiment will be further explained below.
In step S1, a reference point is obtained in the stackable region of the pallet, and a target stacking region is determined using the reference point as an origin and using the two vertical sides extending from the origin as edges.
In this exemplary embodiment, the stacking area of the pallet refers to a total area on the pallet that can be used for stacking goods, and the range of the stacking area is constant; the target stacking area refers to an area selected for determining a cargo occupation area, and the range of the target stacking area changes along with the determination of the occupation area. It should be noted that: when the occupied area is determined initially, the target stacking area is the stacking area of the tray; after several footprint areas have been determined, the target stacking area is only a partial area of the stackable areas of the pallet.
For example, as shown in fig. 5A, the stackable region of the tray is a region within a dashed line frame in the figure, a vertex O of the stackable region is used as a reference point, the vertex O is used as an origin, and two vertical edges connecting the vertex O are used as edges, so as to determine a rectangular target stacking region; the directions of the two vertical edges are respectively marked as an X direction and a Y direction, and the length and the width of the stacking area of the tray are respectively marked as an LsAnd WsThe length and width of the cargo are respectively marked as LbAnd Wb. Because the occupied area is determined for the first time in the step, the determined target stacking area coincides with the stacking area of the tray, and the length and the width of the target stacking area are respectively LsAnd Ws。
In step S2, an occupied area corresponding to an L-shaped pattern is determined according to the size of the target stacking area and the size of the goods.
In the present exemplary embodiment, the L pattern refers to a pattern constituted by the determined occupied area.
The determining the occupied area corresponding to the L-shaped pattern may include:
determining the number of goods stacked along a first side according to a first direction, the number of goods stacked along a second side according to a second direction and a stacking width according to the size of the target stacking area and the size of the goods to form an L-shaped pattern, wherein the L-shaped pattern corresponds to an occupied area of the goods;
the first edge and the second edge are two vertical edges connecting the original point, the direction (X direction) of the first edge is parallel to the first direction, and the direction (Y direction) of the second edge is parallel to the second direction.
It should be noted that: the stacking according to the first direction means that the long edge of the stacked goods is parallel to the first direction, and the short edge is parallel to the second direction; the stacking according to the second direction means that the long edge of the stacked goods is parallel to the second direction, and the short edge is parallel to the first direction; the stacking width refers to the number of rows of goods stacked in the first direction or the number of columns of goods stacked in the second direction, and the two numbers are equal in the present exemplary embodiment.
For example, as shown in fig. 5B, the occupied area corresponding to the L-shaped pattern is determined as follows:
(1) starting from the origin O, the number m of goods that can be stacked transversely (i.e. in a first direction) along the X-axis is calculated;
m＝floor(Ls/Lb)；
wherein floor is a down-rounding function;
(2) calculating the number n of cargos which can be stacked vertically (namely according to a second direction) above the cargos stacked transversely in the first row along the Y axis;
n＝floor[(Ws–Wb)/Lb]；
(3) fixing the number n of vertically stacked cargos, and calculating the number r of rows of transversely stacked cargos;
r＝floor[(Ws–n·Lb)/Wb]；
wherein r is the stacking width of the L-shaped pattern;
(4) the occupied area determined according to the steps is as follows: starting from an original point O, transversely stacking r rows of goods along an X axis, and stacking m goods in each row; vertically stacking r rows of goods above the r rows of goods along the Y axis, and stacking n goods in each row; the r rows of goods stacked transversely and the r columns of occupied areas corresponding to the goods stacked vertically form an L-shaped pattern.
In the present exemplary embodiment, the stacking width of the L-shaped pattern may be set to 1.
In this case, the width of the horizontal side (the side length in the X direction) and the width of the vertical side (the side length in the Y direction) of the L-shaped pattern formed are equal to the width of the goods, and in this case, the L-shaped pattern is referred to as a basic L-shaped pattern, and the palletizing method is referred to as a basic L-shaped palletizing method. It should be noted that: in the stacking area of the tray, if at least one L-shaped pattern is not equal to 1, the width of the transverse edge and the width of the vertical edge of the formed L-shaped pattern are larger than the width of the goods, which is called a common L-shaped stacking method.
In step S3, the inner inflection point of the L-shaped pattern is used as the reference point until an occupied area corresponding to the L-shaped pattern cannot be determined according to the target stacking area.
In this exemplary embodiment, the inner inflection point of the L-shaped pattern refers to an intersection point of goods stacked in a first direction (lateral direction) along a first side and goods stacked in a second direction (vertical direction) along a second side, which is shown as an inner inflection point of the L in the L-shaped pattern.
Based on the above steps, S1-S3 is a loop process, and the loop termination condition is that the target stacking area cannot determine the occupied area corresponding to an L-shaped pattern, that is: the number of the goods transversely stacked along the first edge and the number of the goods vertically stacked along the second edge are both zero.
For example, as shown in fig. 5C, after the occupied area corresponding to the first-order L-shaped pattern is determined, the inner inflection point O' of the L-shaped pattern may be used as a new reference point to update the origin and the target stacking area, and the length and width of the newly determined target stacking area (shown by the shaded portion in the figure) are: l iss＝Ls–r·Wb，Ws＝Ws–r·Wb(ii) a And repeating the steps until the residual space is insufficient to determine the occupied area corresponding to the L pattern.
In this example embodiment, the palletizing method may further include:
SI, acquiring the residual size of the L-shaped pattern in the target stacking area along the end of the first edge;
and SII, determining an occupied area corresponding to the goods stacked along the first edge end in the second direction according to the size of the goods and the residual size.
In this exemplary embodiment, the step SI-SII is configured to, after determining the occupied area corresponding to the L-shaped pattern, continuously add the goods stacked vertically at the end of the L-shaped pattern along the first edge (i.e., the end in the X direction), so as to stack as many goods as possible in the stacking area of the tray, thereby further improving the space utilization of the tray.
It should be noted that: the process can be carried out after each cycle, namely, the occupied area corresponding to each step of L-shaped pattern is determined firstly, and then the occupied area corresponding to the goods vertically stacked is determined at the tail end of the L-shaped pattern in the X direction; or after the whole circulation is finished, namely, the occupied areas corresponding to all the L-shaped patterns are determined firstly, and then the occupied areas corresponding to the vertically stacked goods are determined at the tail end of the X direction of each-order L-shaped pattern; alternatively, the above two methods can be alternatively performed.
For example, as shown in fig. 5D, after the occupied area corresponding to the L-shaped pattern is determined, the number of the goods that can be vertically stacked at the end of the goods that are horizontally stacked along the X axis is calculated; the number of rows and the number of columns of goods which can be vertically stacked are marked as row and col respectively;
row＝floor(r·Wb/Lb)；
col＝floor[(Ls–m·Lb)/Wb]；
therefore, it can be determined that row col row goods can be vertically stacked at the tail end of goods transversely stacked along the X axis, and the goods are not stacked if one of row and col is zero.
Prior to step S4, the palletizing method may further include:
judging whether the sum of the sizes of the goods in the first direction is smaller than the side length of a stacking area of the tray in the first direction;
when the sum of the sizes of the goods in the first direction is smaller than the side length of the stacking area of the tray in the first direction, keeping the edge of the goods at the tail end of the first direction flush with the edge of the stacking area of the tray; and/or the presence of a gas in the gas,
judging whether the sum of the sizes of the goods in the second direction is smaller than the side length of the stacking area of the tray in the second direction;
and when the sum of the sizes of the goods in the second direction is smaller than the side length of the stacking area of the tray in the direction, keeping the edge of the goods at the tail end of the direction flush with the edge of the stacking area of the tray.
In the exemplary embodiment, by adjusting the internal spacing between the stacked goods in each row or each column, the gap left at the end of each row or each column can be distributed into the internal spacing of the row or the column, so that the outline of the layer of goods is in a regular rectangular shape, and the final package and transportation are facilitated.
Further, the palletizing method may further include:
adjusting the goods placing mode of the conveying line terminal to enable a plurality of goods to be arranged into a whole layer of goods according to all the determined occupied areas, so that the palletizing robot can grab and place the goods on corresponding positions of the trays in a stacking mode; or
And adjusting the placing mode of the goods at the conveying line terminal to enable a plurality of goods to be clamped in the same direction and placed at one corner of the conveying line terminal so as to enable the palletizing robot to grab and place the goods in the corresponding position of the tray.
The goods placing mode of the conveying line terminal can be adjusted through the goods sorting and blocking stopping and sorting device.
The first implementation manner of the example can adjust the goods placing manner of the conveyor line terminal into a manner completely consistent with the determined occupied area on the tray, which is equivalent to that the goods are set in advance at the conveyor line terminal, and the goods at the conveyor line terminal are only required to be transferred to the corresponding position of the tray by the palletizing robot; the second implementation mode of this example can be adjusted into the syntropy with the goods mode of putting at transfer chain terminal and put, and the pile up neatly machine people of being convenient for discerns the goods coordinate at transfer chain terminal like this to be favorable to the pile up neatly machine people to shift the goods at transfer chain terminal to the corresponding position department of tray.
In step S4, the goods are stacked to the corresponding positions of the tray according to all the determined occupied areas.
Wherein, the stacking of goods is realized through the manipulator of the palletizing robot.
In this exemplary embodiment, all the occupied areas include an occupied area corresponding to each step of the L-shaped pattern and an occupied area corresponding to the goods stacked along the first edge end in the second direction.
According to the steps S1-S4 and the additional steps, the stacking of single-layer goods can be completed, and the stacking effect is shown in FIG. 6. Compared with the existing stacking method, the stacking method provided by the embodiment can effectively improve the space utilization rate of the tray.
In the actual palletizing process, more than one layer of goods is generally required to be stacked. On this basis, the palletizing method may further include:
according to the height limit of the tray, after the single-layer goods are stacked, the goods are stacked layer by layer according to a stacking mode which is the same as the stacking mode of the single-layer goods, or a stacking mode which forms mirror images with each other, or a stacking mode of plane rotation.
The same stacking mode means that the stacking mode of the first layer is completely consistent with the stacking mode of the second layer; the stacking mode of the mirror images is that the stacking mode of the first layer is mirror images of the stacking mode of the second layer; the planar rotation stacking means that the stacking means of the second layer is rotated at an angle, for example, 90 °, 180 °, or 270 °, with respect to the stacking means of the first layer.
The present exemplary embodiment is mainly directed to the palletization of rectangular parallelepiped cargos having the same size, and it is assumed that the bottom face (face determined by length and width) of the cargos is stacked face down similarly to the case where the front face (face determined by length and height) of the cargos is stacked face down and the side face (face determined by width and height) of the cargos is stacked face down. Therefore, on the premise that the single-layer space utilization rate of the tray is improved, goods on other layers are stacked in the same mode, the mirror image mode or the plane rotation mode, and the whole space utilization rate can be improved.
In order to facilitate the final delivery transportation, after the completion of the integral stacking of the goods, the palletizing method may further include:
and (5) carrying out film winding and packaging on the stacked goods through a tray winding machine.
Compared with the existing stacking method, the stacking method provided by the embodiment can effectively improve the space utilization rate of the tray. To demonstrate the effect of the present exemplary embodiment, several sets of results obtained by simulation calculations based on specific data are provided below.
(1) The size of the stacking area is 1200mm & 1200mm, the size of the goods is 350mm & 250mm & 100mm, and the simulation calculation result is as follows:
(a) the basic sequential stacking method comprises the following steps: the space utilization rate is 73.1 percent
(b) The basic L-shaped stacking method comprises the following steps: the space utilization rate is 79.2 percent
(c) The general L-shaped stacking method comprises the following steps: the space utilization rate is 85.3 percent
(2) The size of the stacking area is 1200mm & 1200mm, the size of the goods is 270mm & 110mm & 100mm, and the simulation calculation result is as follows:
(a) the basic sequential stacking method comprises the following steps: the space utilization rate is 82.6 percent
(b) The method for stacking transversely and vertically in a staggered manner comprises the following steps: the space utilization rate is 90.9 percent
(c) The general L-shaped stacking method comprises the following steps: the space utilization rate is 92.9 percent
(3) The size of the stacking area is 1200mm & 1200mm, the size of the goods is 310mm & 280mm & 200mm, and the simulation calculation result is as follows:
(a) basic sequence stacking: the space utilization rate is 72.48 percent
(b) L-shaped stacking: the space utilization rate is 84.56 percent
(4) The size of the stacking area is 1200mm & 1200mm, the size of the goods is 310mm & 290mm & 200mm, and the simulation calculation result is as follows:
(a) basic sequence stacking: the space utilization rate is 75.0 percent
(b) L-shaped stacking: the space utilization rate is 87.5 percent
(5) The size of the stacking area is 1200mm & 1200mm, the size of the goods is 410mm & 250mm & 200mm, and the simulation calculation result is as follows:
(a) basic sequence stacking: the space utilization rate is 71.43 percent
(b) L-shaped stacking: the space utilization rate is 78.57 percent
(6) The size of the stacking area is 1200mm & 1200mm, the size of the goods is 410mm & 260mm & 200mm, and the simulation calculation result is as follows:
(a) basic sequence stacking: the space utilization rate is 74.38 percent
(b) L-shaped stacking: the space utilization rate is 81.82 percent
(7) The size of the stacking area is 1200mm & 1200mm, the size of the goods is 510mm & 310mm & 200mm, and the simulation calculation result is as follows:
(a) basic sequence stacking: the space utilization rate is 66.67 percent
(b) L-shaped stacking: the space utilization rate is 77.78 percent
(8) The size of the stacking area is 1200 mm-1200 mm, the size of the goods is 210 mm-190 mm-200 mm, and the simulation calculation result is as follows:
(a) basic sequence stacking: the space utilization rate is 83.33 percent
(b) L-shaped stacking: the space utilization rate is 88.89 percent
As can be seen from simulation calculation, the space utilization rate can be effectively improved by using the L-shaped stacking method provided by the present exemplary embodiment.
The example embodiment also provides a stacking device for stacking a plurality of rectangular cargos on a rectangular tray; the palletizing device comprises:
the acquisition module is used for acquiring a reference point in the stacking area of the tray, and determining a target stacking area by taking the reference point as an origin and two vertical edges extending from the origin as edges;
the calculation module is used for determining an occupied area corresponding to the L-shaped pattern according to the size of the target stacking area and the size of the goods;
the resetting module is used for taking the inner inflection point of the L-shaped pattern as the reference point until an occupied area corresponding to the L-shaped pattern cannot be determined according to the target stacking area;
and the stacking module is used for stacking the goods to the corresponding positions of the tray according to all the determined occupied areas.
The stacking device provided by the exemplary embodiment of the disclosure can effectively avoid space waste caused by too large distance between the goods edge and the edge of the stacking area of the tray in the existing stacking method, thereby improving the space utilization rate of the tray and further improving the stacking work efficiency.
In this exemplary embodiment, the working principle of the computing module is as follows: determining the number of the cargos stacked along the first edge in the first direction, the number of the cargos stacked along the second edge in the second direction and the stacking width according to the size of the target stacking area and the size of the cargos to form an L-shaped pattern, wherein the L-shaped pattern corresponds to the occupied area of the cargos; the stacking width of the L-shaped patterns can be set to be 1, the first edge is one of the two perpendicular edges and is parallel to the first direction, and the second edge is the other one of the two perpendicular edges and is parallel to the second direction.
In order to further improve the space utilization rate, goods which are vertically stacked can be added at the tail end of each-stage L-shaped pattern. At this time, the obtaining module may be further configured to obtain a remaining size of the L-shaped pattern along the first edge end in the target stacking area; the calculation module may be further configured to determine, according to the size of the goods and the remaining size, an occupied area corresponding to the goods stacked along the first edge end in the second direction.
On this basis, the stacking device may further include:
the judging module is used for judging whether the sum of the sizes of the goods in the first direction is smaller than the side length of the stacking area of the tray in the first direction; or judging whether the sum of the sizes of the goods in the second direction is smaller than the side length of the stacking area of the tray in the second direction;
the arranging module is used for keeping the edge of the goods at the tail end of the direction flush with the edge of the stacking area of the tray when the sum of the sizes of the goods in the first direction is smaller than the side length of the stacking area of the tray in the first direction; or when the sum of the sizes of the goods in the second direction is smaller than the side length of the stacking area of the tray in the direction, keeping the edge of the goods at the tail end of the direction flush with the edge of the stacking area of the tray.
Further, the stacking device may further include:
and the goods arranging module is used for adjusting the placing mode of the goods at the conveying line terminal to ensure that the goods are arranged into a whole layer of goods according to all the determined occupied areas, or the goods are clamped in the same direction and placed at one corner of the conveying line terminal so as to be ready for the palletizing robot to grab and place the goods in the corresponding position of the tray.
When the stacking device needs to stack multiple layers of goods, the computing module is further used for determining stacking modes of other layers of goods according to the height limit of the tray and the stacking mode of the single layer of goods after stacking of the single layer of goods is completed. On the basis, the stacking module is also used for stacking the cargos layer by layer in a stacking mode which is the same as or mirror image of the stacking mode of the single-layer cargos after the stacking of the single-layer cargos is finished.
After the whole goods are stacked, in order to facilitate the final distribution and transportation, the stacking device may further include:
and the packaging module is used for performing film winding and packaging on the stacked goods through the tray winding machine.
It should be noted that: the specific details of each module unit in the palletizing device have been described in detail in the corresponding palletizing method, and therefore, the details are not described herein again.
It should be noted that although in the above detailed description several modules or units of the device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functionality of two or more modules or units described above may be embodied in one module or unit, according to embodiments of the present disclosure. Conversely, the features and functions of one module or unit described above may be further divided into embodiments by a plurality of modules or units.
Moreover, although the steps of the methods of the present disclosure are depicted in the drawings in a particular order, this does not require or imply that the steps must be performed in this particular order, or that all of the depicted steps must be performed, to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step execution, and/or one step broken down into multiple step executions, etc.
Also presented in this example embodiment is a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the palletizing method described above.
A computer readable storage medium may include a propagated data signal with readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable storage medium may transmit, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied in a computer readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
The present exemplary embodiment also proposes an electronic device, and as shown in fig. 7, the electronic device 10 includes: the processing component 11, which may further include one or more processors, and memory resources, represented by memory 12, for storing instructions, such as application programs, that are executable by the processing component 11. The application stored in memory 12 may include one or more modules that each correspond to a set of instructions. Furthermore, the processing component 11 is configured to execute instructions to perform the above-described method.
The electronic device 10 may further include: a power component configured to power manage the performing electronic device 10; a wired or wireless network interface 13 configured to connect the electronic device 10 to a network; and an input/output (I/O) interface 14. The electronic device 10 may operate based on an operating system stored in memory 12, such as Windows Server, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM, or the like.
Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (which may be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which may be a personal computer, a server, a mobile terminal, or a network device, etc.) to execute the method according to the embodiments of the present disclosure.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

Claims (12)

1. A stacking method is used for stacking a plurality of rectangular cargos on a rectangular tray; the stacking method is characterized by comprising the following steps:
acquiring a reference point in a stacking area of the tray, and determining a target stacking area by taking the reference point as an origin and two vertical edges extending from the origin as edges;
determining an occupied area corresponding to the L-shaped pattern according to the size of the target stacking area and the size of the goods;
taking the inner inflection point of the L-shaped pattern as the reference point until an occupied area corresponding to the L-shaped pattern cannot be determined according to the target stacking area;
according to all the determined occupied areas, the goods are stacked to the corresponding positions of the tray.
2. The palletizing method according to claim 1, wherein the determining an occupation area corresponding to an L-shaped pattern comprises:
determining the number of the cargos stacked along the first edge in the first direction, the number of the cargos stacked along the second edge in the second direction and the stacking width according to the size of the target stacking area and the size of the cargos to form an L-shaped pattern, wherein the L-shaped pattern corresponds to the occupied area of the cargos;
the first side is one of the two perpendicular sides and is parallel to the first direction, and the second side is the other of the two perpendicular sides and is parallel to the second direction;
the stacking width is the number of rows of goods stacked in the first direction or the number of columns of goods stacked in the second direction.
3. The palletizing method according to claim 2, characterized in that the stacking width of the L-shaped patterns is equal to 1.
4. The palletizing method according to claim 2, further comprising:
acquiring the residual size of the L-shaped pattern in the target stacking area along the tail end of the first edge;
and determining an occupied area corresponding to the goods stacked along the first edge tail end in the second direction according to the size of the goods and the residual size.
5. The palletization method according to any one of claims 2 to 4, further comprising:
judging whether the sum of the sizes of the goods in the first direction is smaller than the side length of the stacking area of the tray in the first direction;
when the sum of the sizes of the goods in the first direction is smaller than the side length of the stacking area of the tray in the first direction, keeping the edge of the goods at the tail end of the first direction flush with the edge of the stacking area of the tray; and/or the presence of a gas in the gas,
judging whether the sum of the sizes of the goods in the second direction is smaller than the side length of the stacking area of the tray in the second direction;
and when the sum of the sizes of the goods in the second direction is smaller than the side length of the stacking area of the tray in the second direction, keeping the edge of the goods at the tail end of the second direction flush with the edge of the stacking area of the tray.
6. The palletizing method according to claim 1, further comprising:
and adjusting the placing mode of the goods at the conveying line terminal to ensure that the goods are arranged into a whole layer of goods according to all the determined occupied areas so as to be ready for the palletizing robot to grab and place the goods on the corresponding positions of the trays in a stacking mode.
7. The palletizing method according to claim 1, further comprising:
and adjusting the placing mode of the goods at the conveying line terminal to enable a plurality of goods to be clamped in the same direction and placed at one corner of the conveying line terminal so as to enable the palletizing robot to grab and place the goods in the corresponding position of the tray.
8. The palletization method according to any one of claims 1 to 4, further comprising:
according to the height limit of the tray, after the single-layer goods are stacked, the goods are stacked layer by layer in a stacking mode which is the same as or mirror images of the stacking mode of the single-layer goods.
9. The palletization method according to any one of claims 1 to 4, further comprising:
and (5) carrying out film winding and packaging on the stacked goods through a tray winding machine.
10. A stacking device is used for stacking a plurality of rectangular cargos on a rectangular tray; characterized in that, the pile up neatly device includes:
the acquisition module is used for acquiring a reference point in the stacking area of the tray, and determining a target stacking area by taking the reference point as an origin and two vertical edges extending from the origin as edges;
the calculation module is used for determining an occupied area corresponding to the L-shaped pattern according to the size of the target stacking area and the size of the goods;
the resetting module is used for taking the inner inflection point of the L-shaped pattern as the reference point until an occupied area corresponding to the L-shaped pattern cannot be determined according to the target stacking area;
and the stacking module is used for stacking the goods to the corresponding positions of the tray according to all the determined occupied areas.
11. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the palletization method according to any one of claims 1 to 9.
12. An electronic device, comprising:
a processor; and
a memory for storing executable instructions of the processor;
wherein the processor is configured to perform the palletizing method as claimed in any one of claims 1 to 9 via execution of the executable instructions.
CN201710011141.7A 2017-01-06 2017-01-06 Stacking method, stacking device, computer readable storage medium and electronic equipment Active CN108275294B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710011141.7A CN108275294B (en) 2017-01-06 2017-01-06 Stacking method, stacking device, computer readable storage medium and electronic equipment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710011141.7A CN108275294B (en) 2017-01-06 2017-01-06 Stacking method, stacking device, computer readable storage medium and electronic equipment

Publications (2)

Publication Number Publication Date
CN108275294A CN108275294A (en) 2018-07-13
CN108275294B true CN108275294B (en) 2020-06-05

Family

ID=62801018

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710011141.7A Active CN108275294B (en) 2017-01-06 2017-01-06 Stacking method, stacking device, computer readable storage medium and electronic equipment

Country Status (1)

Country Link
CN (1) CN108275294B (en)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110371561B (en) * 2018-08-28 2022-04-26 北京京东乾石科技有限公司 Method and device for stacking and warehousing
CN109436813A (en) * 2018-10-25 2019-03-08 中船动力有限公司 Special-shaped furniture board piles up method
CN109384042B (en) * 2018-11-29 2020-07-21 湖南视比特机器人有限公司 Sequence incremental stacking method and device and computer readable storage medium thereof
CN110443435B (en) * 2019-08-23 2022-03-08 博众精工科技股份有限公司 Bar stacking method, bar stacking device, bar stacking equipment and bar stacking medium
CN113651118B (en) * 2020-11-03 2023-02-10 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
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
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
CN114633979B (en) * 2022-03-08 2024-08-16 北京京东乾石科技有限公司 Goods stacking method, device, electronic equipment and computer readable 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

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3678241D1 (en) * 1985-10-15 1991-04-25 Kao Corp METHOD AND DEVICE FOR PALLETIZING UNITS MADE FROM LAYERS.
DE4308992C2 (en) * 1993-03-20 1998-07-09 Betriebswirtschaftliche Beratu Stacking packaging units used in the food industry
JPH11130263A (en) * 1997-10-27 1999-05-18 Yaskawa Electric Corp Loading pattern preparation
CN102774661B (en) * 2012-07-10 2014-07-16 北京航空航天大学 Stack generating method for transfer robot
CN104528389B (en) * 2014-12-24 2017-06-30 天津商业大学 A kind of method of the palletizing pattern that misplaces

Also Published As

Publication number Publication date
CN108275294A (en) 2018-07-13

Similar Documents

Publication Publication Date Title
CN108275294B (en) Stacking method, stacking device, computer readable storage medium and electronic equipment
CN108275293B (en) Stacking method, stacking device, computer readable storage medium and electronic equipment
CN108238451B (en) Palletizing method and palletizing apparatus
KR102332603B1 (en) Robotic system for palletizing packages using real-time placement simulation
US11488323B2 (en) Robotic system with dynamic packing mechanism
US20180357584A1 (en) Method and system for collaborative scheduling of production and transportation in supply chains based on improved particle swarm optimization
CN112009813A (en) Robot system with packaging mechanism
CN112009810A (en) Robot system with error detection and dynamic packaging mechanism
CN109784449B (en) Bagged object loading method, loading equipment and storage medium
JP2018020408A (en) Article holding device and article holding method
CN116835334B (en) Disordered stacking method, disordered stacking device, disordered stacking medium and disordered stacking equipment based on 3D vision
EP4160496A1 (en) Automated placement of objects in bins using look ahead information by virtual sorting and packing
TW202346187A (en) Packing and planning for tight incollapsible loads
CN112193706A (en) Self-adaptive control method and warehousing control system applied to intelligent warehousing
CN110222862A (en) Palletizing method and device
CN111605938A (en) Robotic system for palletizing packages using real-time placement simulation
CN113800270B (en) Robot control method and system for logistics unstacking
CN113083695B (en) Goods information rechecking method, device, equipment and storage medium
CN110077866B (en) Manipulator control method, control device, stacking device and readable storage medium
Ojha et al. A generalized algorithm and framework for online 3-dimensional bin packing in an automated sorting center
TW202322062A (en) Detection system for objects stacking on pallet and method thereof
CN115947008A (en) Goods management method, system and storage medium
CN114632725A (en) Method and device for stacking articles in warehouse
CN114535143A (en) Logistics goods sorting method, device, equipment and storage medium
JP3550792B2 (en) How to create a container replacement order plan

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant
TR01 Transfer of patent right
TR01 Transfer of patent right

Effective date of registration: 20210302

Address after: 101, 1st floor, building 2, yard 20, Suzhou street, Haidian District, Beijing 100080

Patentee after: Beijing Jingbangda Trading Co.,Ltd.

Address before: 100195 Beijing Haidian Xingshikou Road 65 West Cedar Creative Garden 4 District 11 Building East 1-4 Floor West 1-4 Floor

Patentee before: BEIJING JINGDONG SHANGKE INFORMATION TECHNOLOGY Co.,Ltd.

Patentee before: BEIJING JINGDONG CENTURY TRADING Co.,Ltd.

Effective date of registration: 20210302

Address after: Room a1905, 19 / F, building 2, No. 18, Kechuang 11th Street, Daxing District, Beijing, 100176

Patentee after: Beijing Jingdong Qianshi Technology Co.,Ltd.

Address before: 101, 1st floor, building 2, yard 20, Suzhou street, Haidian District, Beijing 100080

Patentee before: Beijing Jingbangda Trading Co.,Ltd.