CN110222862A - Palletizing method and device - Google Patents

Palletizing method and device Download PDF

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Publication number
CN110222862A
CN110222862A CN201810174092.3A CN201810174092A CN110222862A CN 110222862 A CN110222862 A CN 110222862A CN 201810174092 A CN201810174092 A CN 201810174092A CN 110222862 A CN110222862 A CN 110222862A
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stacking
stacked
articles
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candidate
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李思宇
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Beijing Jingdong Century Trading Co Ltd
Beijing Jingdong Shangke Information Technology Co Ltd
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Beijing Jingdong Century Trading Co Ltd
Beijing Jingdong Shangke Information Technology Co Ltd
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • G06Q10/063—Operations research, analysis or management
    • G06Q10/0639—Performance analysis of employees; Performance analysis of enterprise or organisation operations
    • G06Q10/06395—Quality analysis or management
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders

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  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
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  • Accounting & Taxation (AREA)
  • Finance (AREA)
  • Stacking Of Articles And Auxiliary Devices (AREA)

Abstract

The invention discloses a kind of palletizing method and devices, are related to field of computer technology.Wherein, this method comprises: i) from needing to be piled up the current stacking article of selection in article, the current candidate stacking angle point collection for piling up article is then constructed；Ii) the candidate candidate stacking effect for piling up angle point of each of angle point concentration of piling up is assessed, to determine the current stacking angle point for piling up article according to assessment result；Iii step i) to step ii)) is repeated, until obtaining the stacking angle point of all items；Iv) after obtaining the stacking angle point of all items, stacking pile type is generated.By above step, the pile type of mixing stacking can be automatically generated, improves the effect of mixing stacking.

Description

Stacking method and device
Technical Field
The invention relates to the technical field of computers, in particular to a stacking method and a stacking device.
Background
Pallet stacking is widely used in manufacturing industry, storage and logistics industry and other industries, and generally refers to stacking containers on pallets according to a certain stack shape. Due to business requirements, containers of different types sometimes need to be stacked on the same pallet, i.e. mixed stacking.
In the existing mixed stacking mode, the stack shape of mixed stacking is mostly determined according to manual experience, and then goods are stacked according to the stack shape.
In the process of implementing the invention, the inventor finds that at least the following problems exist in the prior art: the existing mixed stacking mode has higher requirements on the stacking experience of operators, and the effect of mixed stacking is often dependent on the amount of manual experience.
Disclosure of Invention
In view of this, the invention provides a stacking method and a stacking device, which can automatically generate a stack shape of mixed stacking and improve the effect of the mixed stacking.
To achieve the above object, according to a first aspect of the present invention, a palletizing method is provided.
The stacking method comprises the following steps: i) selecting a current stacking object from all objects to be stacked, and then constructing a candidate stacking corner point set of the current stacking object; ii) evaluating the stacking effect of each candidate stacking angular point in the candidate stacking angular point set so as to determine the stacking angular point of the currently stacked article according to the evaluation result; iii) repeatedly executing the steps i) to ii) until the stacking angular points of all the articles are obtained; iv) after obtaining the stacking corner points of all the articles, generating a palletized form.
Optionally, the step of constructing the candidate stacking angle point set of the currently stacked item includes: and selecting candidate stacking angular points of the currently stacked articles from the available angular point set of the container according to a preset placing rule to obtain the candidate stacking angular point set.
Optionally, the preset placement rule includes at least one of: after the currently stacked articles are placed at the available corner points of the container, the currently stacked articles cannot interfere with the stacked articles on the current container; after the currently-stacked articles are placed at available corner points of the container, the currently-stacked articles cannot exceed the boundary of the container; after the currently-stacked article is placed at the available corner of the container, the ratio of the bottom supporting area of the currently-stacked article is greater than or equal to a preset threshold value.
Optionally, the method further comprises; and under the condition that the candidate stacking corner point set is empty, newly opening an empty container, and taking the specified position of the empty container as the stacking corner point of the current stacked article.
Optionally, the method further comprises: after determining the stacking corner point of the currently stacked item, and before repeatedly performing the steps i) to ii), updating an available corner point set of the container.
Optionally, the step of updating the set of available corner points of the container comprises: deleting the stacking angular points of the currently stacked articles from the available angular point set; deleting the corner points covered by the currently-stacked articles from the available corner point set; adding new corner points generated after the currently-stacked article is placed to the set of available corner points; and deleting the repeated corner points in the available corner point set.
Optionally, the method further comprises: and determining the stacking sequence of the articles according to a preset sequencing rule, and selecting the currently stacked articles from all the articles to be stacked according to the stacking sequence.
Optionally, the preset ordering rule includes: performing descending order according to the volume of the articles, and performing descending order according to the height of the articles when the volume is the same; or the articles are arranged in descending order according to the bottom areas of the articles, and are arranged in descending order according to the heights of the articles when the bottom areas are the same; alternatively, the items are arranged in descending order according to their largest dimension on three sides.
Optionally, the palletized form comprises: the correspondence of the article to the container; the method further comprises the following steps: changing the corresponding relation between the articles and the containers according to a neighborhood generation strategy to obtain a new article set corresponding to each container; generating a new stacking type after obtaining the stacking angular point of each article in the new article set; evaluating the quality of the new stacking type, and judging whether to update the current optimized stacking type according to an evaluation result; and when an optimization stopping condition is reached, taking the current optimization stacking type as a final stacking type.
To achieve the above object, according to a second aspect of the present invention, another palletizing method is provided.
The stacking method comprises the following steps: i) constructing a candidate code putting angle point set of all the objects to be put; ii) evaluating the stacking effect of each candidate stacking angular point in the candidate stacking angular point set so as to determine a current stacked article and a stacking angular point of the current stacked article according to an evaluation result; iii) repeatedly executing the steps i) to ii) until the stacking angular points of all the articles are obtained; iv) after obtaining the stacking corner points of all the articles, generating a palletized form.
To achieve the above object, according to a third aspect of the present invention, there is provided a palletizing apparatus.
The palletizing device of the present invention comprises: the building module is used for selecting a current stacked article from all articles to be stacked and then building a candidate stacking corner point set of the current stacked article; the determining module is used for evaluating the stacking effect of each candidate stacking angular point in the candidate stacking angular point set so as to determine the stacking angular point of the current stacked article according to an evaluation result; repeatedly calling the building module and the determining module until the stacking angular points of all articles are obtained; and the generating module is used for generating a stacking type after the stacking angular points of all the objects are obtained.
Optionally, the constructing module constructs the candidate stacking angle point set of the currently stacked item, including: the building module selects candidate stacking angular points of the current stacked articles from the available angular point set of the container according to a preset placing rule so as to obtain the candidate stacking angular point set.
Optionally, the determining module is further configured to: and under the condition that the candidate stacking corner point set is empty, newly opening an empty container by the determining module, and taking the specified position of the empty container as the stacking corner point of the current stacked article.
Optionally, the apparatus further comprises: and the updating module is used for updating the available corner point set of the container after the determining module determines the stacking corner point of the current stacked article and before the building module and the determining module are repeatedly called.
Optionally, the updating module updates the set of available corners of the container by: the updating module deletes the stacking angular points of the currently stacked articles from the available angular point set; the updating module deletes the corner points covered by the current stacked object from the available corner point set; the updating module adds new corner points generated after the currently-stacked article is placed to the available corner point set; the update module deletes duplicate corners in the set of available corners.
Optionally, the apparatus further comprises: and the sequencing module is used for determining the stacking sequence of the articles according to a preset sequencing rule so that the construction module selects the current stacked articles from all the articles to be stacked according to the stacking sequence.
Optionally, the palletized form comprises: the correspondence of the article to the container; the device further comprises: the optimization module is used for changing the corresponding relation between the articles and the containers according to the neighborhood generation strategy so as to obtain a new article set corresponding to each container; the stacking corner point of each article in the new article set is obtained, and then a new stacking type is generated; the automatic stacking machine is also used for evaluating the quality of the new stacking type and judging whether to update the current optimized stacking type according to an evaluation result; and the current optimized shape is used as the final shape when the optimization stopping condition is reached.
To achieve the above object, according to a fourth aspect of the present invention, another palletizing device is provided.
The palletizing device of the present invention comprises: the building module is used for building a candidate code placing angle point set of all the objects to be placed; the determining module is used for evaluating the stacking effect of each candidate stacking angular point in the candidate stacking angular point set so as to determine a current stacked article and the stacking angular point of the current stacked article according to an evaluation result; repeatedly calling the building module and the determining module to obtain the stacking angular points of all articles; and the generating module is used for generating a stacking type after the stacking angular points of all the objects are obtained.
To achieve the above object, according to a fifth aspect of the present invention, there is provided an electronic apparatus.
The electronic device of the present invention includes: one or more processors; and storage means for storing one or more programs; when executed by the one or more processors, cause the one or more processors to implement the palletization method of the present invention.
To achieve the above object, according to a sixth aspect of the present invention, there is provided a computer-readable medium.
The computer-readable medium of the invention, on which a computer program is stored which, when being executed by a processor, carries out the palletization method of the invention.
One embodiment of the above invention has the following advantages or benefits: by repeatedly performing steps i) to ii), specifically including: selecting a current stacking object from all objects to be stacked, and then constructing a candidate stacking corner point set of the current stacking object; and evaluating the stacking effect of each candidate stacking angular point in the candidate stacking angular point set so as to determine the stacking angular point of the currently stacked object according to an evaluation result, automatically generating a stack shape of mixed stacking, and improving the mixed stacking effect.
Further effects of the above-mentioned non-conventional alternatives will be described below in connection with the embodiments.
Drawings
The drawings are included to provide a better understanding of the invention and are not to be construed as unduly limiting the invention. Wherein:
FIG. 1 is a schematic illustration of a main flow of a palletization method according to an embodiment of the present invention;
FIG. 2 is a schematic illustration of a main flow of a palletization method according to another embodiment of the present invention;
FIG. 3 is a schematic representation of the spatial representation of hybrid palletization according to an embodiment of the present invention;
figure 4 is a two-dimensional schematic diagram of the residual space of a corner point according to an embodiment of the invention;
FIG. 5 is a schematic illustration of a main flow of a palletizing method according to a further embodiment of the present invention;
FIG. 6 is a schematic diagram of the major modules of the palletizing device according to one embodiment of the present invention;
FIG. 7 is a schematic view of the main modules of a palletising apparatus according to another embodiment of the present invention;
FIG. 8 is a schematic view of the main modules of a palletising apparatus according to a further embodiment of the present invention;
FIG. 9 is an exemplary system architecture diagram in which embodiments of the present invention may be employed;
FIG. 10 is a block diagram of a computer system suitable for use with the electronic device to implement an embodiment of the invention.
Detailed Description
Exemplary embodiments of the present invention are described below with reference to the accompanying drawings, in which various details of embodiments of the invention are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
Fig. 1 is a schematic view of the main flow of a palletization method according to an embodiment of the present invention. As shown in fig. 1, the palletizing method according to the embodiment of the present invention includes:
s101, selecting a current stacked article from all articles to be stacked, and then constructing a candidate stacking corner point set of the current stacked article.
Wherein the set of candidate stacking angle points is understood to be a set of location points in the container where items can be placed. For example, assuming that there are 20 containers in total and 5 containers have been stacked in the pallet, the remaining 15 containers are used as the articles to be stacked, and the container a is selected from the remaining 15 containers as the currently stacked article. Further, the candidate stacking corner point set of the container a may be { candidate stacking corner point 1, candidate stacking corner point 2, candidate stacking corner point 3 }.
And S102, evaluating the stacking effect of each candidate stacking angular point in the candidate stacking angular point set so as to determine the stacking angular point of the currently stacked article according to the evaluation result.
And S103, judging whether stacking corner points of all the articles are obtained or not. If yes, go to step S104; if not, the steps S101 to S102 are repeatedly executed until the stacking corner points of all the articles are obtained.
And step S104, generating a stacking type. Wherein the palletized form may comprise: the corresponding relation between the articles and the container and the stacking corner points of the articles. Illustratively, the correspondence of the item to the container includes: tray 1 corresponds to item A, B, C, D, E; tray 2 corresponds to item F, G, H, I; the article stacking corner point comprises: the stacking angular points (0, 0, 0) of the articles A, the stacking angular points (3, 4, 5) of the articles B and the like.
In the embodiment of the invention, the stack type of the mixed stacking can be automatically generated through the steps, the requirement of the mixed stacking on manual experience is reduced, the efficiency of the mixed stacking is improved, and the effect of the mixed stacking is improved. Furthermore, the stacking method provided by the embodiment of the invention can be applied to the stack type recommendation and stacking guidance scenes of manual stacking or the stack type generation and container positioning scenes of machine stacking, so as to improve the intelligent and automatic levels of mixed stacking.
Fig. 2 is a schematic view of the main flow of a palletization method according to another embodiment of the present invention. As shown in fig. 2, the palletizing method according to the embodiment of the present invention includes:
step S201, determining the stacking sequence of the articles according to a preset sequencing rule. The preset sequencing rule is used for determining the stacking sequence of the articles according to a certain standard. Illustratively, table 1 shows several alternative ordering rules.
TABLE 1
For example, assume that article A has a height of 0.5m and a volume of 0.01m3Article B has a height of 0.4m and a volume of 0.024m3The height of the article C is 0.3m and the volume is 0.006m3According to the ordering rule Volume-Height in table 1, the stacking order of the articles is: the article B is stacked first, the article A is stacked, and the article C is stacked finally.
And S202, selecting the current stacked articles from all the articles to be stacked according to the stacking sequence.
For example, assume that the stacking order of the items is: the article B is stacked first, the article A is stacked, and the article C is stacked finally. When the stacking is carried out for the first time, the articles to be stacked are an article A, an article B and an article C, and the currently stacked article is an article B; when stacking is carried out for the second time, the articles to be stacked are an article A and an article C, and the article A is currently stacked; when stacking is carried out for the third time, the article to be stacked is the article C, and the article to be stacked currently is the article C.
And S203, selecting candidate stacking angular points of the currently stacked articles from the available angular point set of the container according to a preset placing rule to obtain a candidate stacking angular point set.
Illustratively, the container may be a tray.
Illustratively, the preset placement rule includes at least one of: a) after the currently stacked articles are placed at the available corner points of the container, the currently stacked articles cannot interfere with the stacked articles on the current container; b) after the currently-stacked articles are placed at available corner points of the container, the currently-stacked articles cannot exceed the boundary of the container; c) after the currently-stacked article is placed at the available corner of the container, the ratio of the bottom supporting area of the currently-stacked article is greater than or equal to a preset threshold value. Wherein the bottom support area ratio is understood to be "the ratio of the support area provided by the container or other palletized item for the currently palletized item to the bottom area of the currently palletized item". In specific implementation, the preset threshold value can be flexibly set according to requirements. For example, the preset threshold may be set to 0.8.
It should be noted that step S203 is mainly directed to stacking the articles for the second time to the last time. When the items are initially stacked, the first item may be stacked to a designated location of the tray, such as the coordinate origin shown in FIG. 3. In addition, in the specific implementation, the following constraints can be made: the right-angle rotation of the currently stacked object in the horizontal plane (XY plane) is allowed, and the height plane of the currently stacked object is not allowed to be changed. For example, the dimensions of three sides of the cargo box are: the length is 0.4m (X direction), the width is 0.3m (Y direction), the height is 0.5m (Z direction), and the three-side size of the container can be changed into: the length (X direction) was 0.3m, the width (Y direction) was 0.4m, and the height (Z direction) was 0.5 m.
And step S204, judging whether the candidate code placement angle point set is empty or not. If not, go to step S205; if yes, go to step S206.
And S205, evaluating the stacking effect of each candidate stacking angular point in the candidate stacking angular point set so as to determine the stacking angular point of the currently stacked article according to the evaluation result.
In an alternative embodiment, the stacking effect of each candidate stacking corner point may be evaluated according to a first effect function. The first effect function reflects the influence of the current stacked article on the whole stack shape when the current stacked article is placed at a candidate stacking angular point. In particular, the first effect function may take the form of:
wherein, epX and epY represent the abscissa and ordinate of the candidate code-placing angular point; itemX and itemY represent the length and width of the current stacked article; envW and envD represent the length and width of the smallest cuboid capable of accommodating all stacked articles (excluding the currently stacked articles) on the container; w represents the length of the container; d represents the width of the container; max (0, epX + itemX-envW) represents the maximum value taken from 0 and epX + itemX-envW; max (0, epY + itemY-envD) indicates the maximum value taken from 0 and epY + itemY-envD.
Wherein,andand the expansion degree of the envelope curve of the minimum cuboid after the current stacked object is placed at a candidate stacking angular point is reflected. After the function value corresponding to each candidate stacking corner point is calculated through the first effect function, the candidate stacking corner point with the minimum function value can be used as the stacking corner point of the current stacked article. That is, the candidate corner point with the smallest expansion degree of the envelope of the smallest rectangular parallelepiped is selected as much as possible.
In another alternative embodiment, the stacking effect of each candidate stacking corner point may be evaluated according to the second effect function, and then the corner point with the largest function value may be selected. And the second effect function reflects the utilization degree of the residual space of a candidate stacking angular point when the current stacked article is placed at the candidate stacking angular point. In particular, the second effect function may take the form of:
SUM(rsX-itemX,rsY-itemY,rsZ-itemZ)
wherein rsX, rsY and rsZ represent the three-side size of the residual space of a candidate stacking corner point; itemX, itemY and itemZ represent the three-side size of the current stacked object; SUM (rsX-itemX, rsY-itemY, rsZ-itemZ) represents the SUM of rsX-itemX, rsY-itemY, rsZ-itemZ.
After the function value corresponding to each candidate stacking corner point is calculated through the second effect function, the candidate stacking corner point with the largest function value can be used as the stacking corner point of the current stacked article. That is, the candidate stacking corner point with the highest utilization rate of the residual space is selected as much as possible.
And S206, newly opening an empty container, and taking the designated position of the empty container as the stacking angular point of the currently stacked articles.
Wherein the designated position may be a coordinate origin shown in fig. 3. After step S205 or step S206, step S207 may be performed.
And step S207, judging whether stacking angular points of all articles are obtained. If yes, go to step S208; if not, step S209 can be performed.
And step S208, generating a stacking type.
Wherein the palletized form may comprise: the corresponding relation between the articles and the container and the stacking corner points of the articles. Illustratively, the correspondence of the item to the container includes: tray 1 corresponds to item A, B, C, D, E; tray 2 corresponds to item F, G, H, I; the article stacking corner point comprises: the stacking angular points (0, 0, 0) of the articles A, the stacking angular points (3, 4, 5) of the articles B and the like.
And step S209, updating the available corner point set of the container.
Wherein, this step specifically includes: 1) deleting the stacking corner points of the currently stacked articles from the available corner point set of the container; 2) deleting the corner points covered by the currently-stacked articles from the available corner point set; 3) adding new corner points generated after the currently stacked item is placed to the set of available corner points; 4) and deleting the repeated corner points in the available corner point set.
After step S209, steps S201 to S207 are repeatedly performed until the stacking corner points of all the articles are obtained.
Further, after step S208, the palletizing method according to the embodiment of the present invention may further include the following steps: optimizing the palletized form.
In particular, said optimizing said palletization profile comprises:
and A, changing the corresponding relation between the articles and the containers according to a neighborhood generation strategy to obtain a new article set corresponding to each container.
In this step, neighborhood generation strategies such as genetic algorithm, tabu search, and the like may be used to perform operations such as exchanging, adding, subtracting, and the like on the stacked articles on multiple containers (such as trays) to obtain a new article set corresponding to each container.
And B, generating a new stacking type after the stacking angular point of each article in the new article set is obtained.
In this step, the step shown in fig. 2 may be collectively performed on the new articles to obtain a stacking corner point of each article, so as to generate a new palletizing form.
C, evaluating the quality of the new stacking type, and judging whether to update the current optimized stacking type according to an evaluation result;
in this step, the quality of the palletized form may be calculated by means of a quantitative index. Updating the current optimized stack shape under the condition that the quality of the new stack shape is higher than that of the original stack shape; and under the condition that the quality of the new stacking type is less than or equal to that of the original stacking type, the current optimized stacking type is not updated. And C, repeatedly executing the step A to the step C until the optimization stopping condition is reached.
And D, when the optimization stopping condition is reached, taking the current optimized stack shape as a final stack shape.
Wherein the optimal stop condition may be a calculation time or a lower limit value of acceptable buttress quality.
In the embodiment of the invention, the stack type of the mixed stacking can be automatically generated through the steps, the requirement of the mixed stacking on manual experience is reduced, the efficiency of the mixed stacking is improved, and the effect of the mixed stacking is improved. Furthermore, the stacking method provided by the embodiment of the invention can be applied to the stack type recommendation and stacking guidance scenes of manual stacking or the stack type generation and container positioning scenes of machine stacking, so as to improve the intelligent and automatic levels of mixed stacking.
Step S209 in the embodiment shown in fig. 2 is further described with reference to fig. 3. FIG. 3 is a schematic representation of the spatial representation of hybrid palletization according to an embodiment of the present invention. As shown in fig. 3, assuming that the tray is placed flat on the bottom surface, a three-dimensional rectangular coordinate system is established with the left-rear point of the upper surface of the tray as the origin. The ray is respectively emitted from the origin to the X axis, the Y axis and the Z axis until all boundary limits of the tray, and the enclosed space is the initial available volume of the tray.
Wherein "available corner points" are understood to be points in the pallet space where new containers can be placed. When placing the first container on the pallet, the first container is placed at a designated location, such as the origin. After the first container is placed on the pallet, corner (0, 0, 0) is occupied, but three new corners are created, namely corner 1, corner 2 and corner 3 shown in the left part of fig. 3. Thus, when a second container is placed on the pallet, the set of available corners for the pallet is updated to { corner 1, corner 2, corner 3 }.
More generally, as shown in the right part of fig. 3, assume that the kth container is placed at a certain corner point C on the pallet. At this time, a new corner point may be generated as follows:
1) point Zup is a newly created corner point.
2) And (4) emitting rays from a Zdown point to the negative direction of the Z axis until the rays reach the surface of the pallet or are contacted with the upper surface of the nearest container. If the contact point does not coincide with the ZDown point, this contact point is a newly created corner point.
3) Rays, namely Zx, Zy, Yx, Yz, Xy, Xz, are emitted from three points (respectively, a left-rear-upper point, a left-front-lower point, and a right-rear-lower point of the currently stacked container) of the currently stacked container. Wherein Xz and Yz are rays emitted in the negative direction of the Z axis until the rays contact the pallet boundary or the nearest container surface, and two contact points generated by the rays are newly generated angular points. Zx, Zy, Yx and Xy are rays horizontally emitted towards the corresponding direction until the rays are contacted with the boundary of the tray or the nearest container surface, and if the contact point generated by the rays is supported in the height direction (namely the contact point is positioned on the bottom surface of the tray or the top surface of the container), the contact point is a newly generated angular point; otherwise, the contact point needs to be vertically moved towards the negative direction of the Z axis until the condition that the contact point has support in the height direction is met, and the vertically moved contact point is a newly generated angular point.
The analysis of this particular case in the left part of fig. 3 according to steps 1), 2), 3) yields: point 3 on the left part of fig. 3 is equivalent to Zup and is a newly generated angular point, and a contact point generated by emitting rays from a Zdown point to the negative direction of the Z axis coincides with the Zdown point, so that the contact point cannot be used as a new angular point; the contact points resulting from rays Xy, Xz, Yx, Yz, Zx, Zy made by points 1, 2, 3 are points 1, 2, 3 themselves. The available corner points of the left part shown in fig. 3 are therefore point 1, point 2 and point 3 after the duplicate corner points have been deleted.
The concept of "headroom" in the embodiment of fig. 2 is further explained below in conjunction with fig. 4. Fig. 4 is a two-dimensional schematic diagram of the residual space of a corner point according to an embodiment of the invention. As shown in fig. 4, the gray area in the left part is the current remaining space of the corner point 2, and after a container is put down, the updated remaining space of the corner point 2 is shown as the gray area in the right part of fig. 4.
More generally, the remaining space of corner points can be defined as follows: and (4) taking the angular points as starting points, emitting rays in the forward direction along the X axis, the Y axis and the Z axis until the rays reach the boundary of the tray or the surface of the cargo box, and taking a cuboid space formed by enclosing the three rays as a residual space of the angular points. When the second effect function is used for evaluation, since the new container is stacked and interferes with the remaining space of the existing corner points, the available corner point set and the remaining space of the corner points need to be updated after the new container is placed.
Fig. 5 is a schematic view of the main flow of a palletization method according to a further embodiment of the present invention. As shown in fig. 5, the palletizing method according to the embodiment of the present invention includes:
step S501, constructing candidate code placing angle point sets of all articles to be placed.
Wherein the set of candidate stacking angle points is understood to be a set of location points in the container where items can be placed. For example, assuming that there are 10 containers in total and 5 containers have been stacked in the pallet, the remaining 5 containers are used as the objects to be stacked, i.e., container a, container B, container C, container D, and container E. Further, the candidate code lofting point sets for the five containers a to E may be: { candidate code placement corner 1, candidate code placement corner 2, candidate code placement corner 3 }.
Step S502, evaluating the stacking effect of each candidate stacking angular point in the candidate stacking angular point set so as to determine the current stacked article and the stacking angular point of the current stacked article according to the evaluation result.
And S503, judging whether stacking angular points of all the articles are obtained or not. If yes, go to step S504; if not, the steps S501 to S502 are repeatedly executed until the stacking corner points of all the articles are obtained.
And step S504, generating a stacking type.
The embodiment shown in fig. 5 differs from the embodiment shown in fig. 1 mainly in that: the embodiment shown in fig. 5 adopts "dynamic sorting", that is, all the combinations of the candidate stacking angular points of all the articles to be stacked are compared, and an optimal combination is selected by calculating an effect function to determine the stacking angular points of the currently stacked article and the currently stacked article; the embodiment shown in fig. 1 adopts "static sorting", that is, the currently-stacked article is determined first, and then the optimal candidate stacking angular point corresponding to the currently-stacked article is selected through the effect function, so as to determine the stacking angular point of the currently-stacked article.
In the embodiment of the invention, the stack type of the mixed stacking can be automatically generated through the steps, the requirement of the mixed stacking on manual experience is reduced, the efficiency of the mixed stacking is improved, and the effect of the mixed stacking is improved. Compared with the stacking method adopting static sorting, the dynamic sorting can further improve the effect of mixed stacking.
Fig. 6 is a schematic view of the main modules of a palletising device according to one embodiment of the invention. As shown in fig. 6, a palletizing apparatus 600 according to an embodiment of the present invention includes: a building module 601, a determining module 602, and a generating module 603.
The building module 601 is configured to select a currently stacked article from all articles to be stacked, and then build a candidate stacking corner point set of the currently stacked article.
Wherein the set of candidate stacking angle points is understood to be a set of location points in the container where items can be placed. For example, assuming that there are 20 containers in total and 5 containers have been stacked in the pallet, the remaining 15 containers are used as the articles to be stacked, and the container a is selected from the remaining 15 containers as the currently stacked article. Further, the candidate stacking corner point set of the container a may be { candidate stacking corner point 1, candidate stacking corner point 2, candidate stacking corner point 3 }.
A determining module 602, configured to evaluate a stacking effect of each candidate stacking corner in the candidate stacking corner set, so as to determine a stacking corner of the currently stacked article according to an evaluation result.
When mixing and stacking are performed, the building module 601 and the determining module 602 need to be called repeatedly until stacking corner points of all articles are obtained.
A generating module 603, configured to generate a palletizing type after obtaining the stacking angular points of all the articles.
Wherein the palletized form may comprise: the corresponding relation between the articles and the container and the stacking corner points of the articles. Illustratively, the correspondence of the item to the container includes: tray 1 corresponds to item A, B, C, D, E; tray 2 corresponds to item F, G, H, I; the article stacking corner point comprises: the stacking angular points (0, 0, 0) of the articles A, the stacking angular points (3, 4, 5) of the articles B and the like.
In the embodiment of the invention, the stacking type of the mixed stacking can be automatically generated through the stacking device, the requirement of the mixed stacking on manual experience is reduced, the efficiency of the mixed stacking is improved, and the effect of the mixed stacking is improved. Furthermore, the stacking device provided by the embodiment of the invention can be applied to the stack type recommendation and stacking guidance scenes of manual stacking or the stack type generation and container positioning scenes of machine stacking, so as to improve the intellectualization and automation level of mixed stacking.
Fig. 7 is a schematic view of the main modules of a palletising device according to another embodiment of the invention. As shown in fig. 7, a palletizing apparatus 700 according to an embodiment of the present invention includes: a sorting module 701, a building module 702, a determining module 703, an updating module 704, and a generating module 705.
The sorting module 701 is configured to determine a stacking order of the articles according to a preset sorting rule.
The preset sequencing rule is used for determining the stacking sequence of the articles according to a certain standard. Table 1 shows several alternative ordering rules. Illustratively, assume article A has a height of 0.5m and a volume of 0.01m3Article B has a height of 0.4m and a volume of 0.024m3The height of the article C is 0.3m and the volume is 0.006m3According to the ordering rule Volume-Height in table 1, the stacking order of the articles is: the article B is stacked first, the article A is stacked, and the article C is stacked finally.
A building module 702, configured to select a currently stacked article from all articles to be stacked according to the stacking sequence, and then select a candidate stacking corner point of the currently stacked article from an available corner point set of the container according to a preset stacking rule, so as to obtain a candidate stacking corner point set.
For example, assume that the stacking order of the items is: the article B is stacked first, the article A is stacked, and the article C is stacked finally. When the stacking is carried out for the first time, the articles to be stacked are an article A, an article B and an article C, and the currently stacked article is an article B; when stacking is carried out for the second time, the articles to be stacked are an article A and an article C, and the article A is currently stacked; when stacking is carried out for the third time, the article to be stacked is the article C, and the article to be stacked currently is the article C.
Illustratively, the preset placement rule includes at least one of: a) after the currently stacked articles are placed at the available corner points of the container, the currently stacked articles cannot interfere with the stacked articles on the current container; b) after the currently-stacked articles are placed at available corner points of the container, the currently-stacked articles cannot exceed the boundary of the container; c) after the currently-stacked article is placed at the available corner of the container, the ratio of the bottom supporting area of the currently-stacked article is greater than or equal to a preset threshold value. Wherein the bottom support area ratio is understood to be "the ratio of the support area provided by the container or other palletized item for the currently palletized item to the bottom area of the currently palletized item". In specific implementation, the preset threshold value can be flexibly set according to requirements. For example, the preset threshold may be set to 0.8.
It should be noted that the operation of "selecting a candidate stacking corner point for currently stacking an article from the available corner point set of the container according to the preset placement rule" performed by the building module mainly aims at stacking an article for the second time to stacking an article for the last time. Upon initial stacking of the items, the build module may stack the first item to a designated location of the tray, such as the coordinate origin shown in FIG. 3.
A determining module 703, configured to evaluate, when the candidate stacking corner set is not empty, a stacking effect of each candidate stacking corner in the candidate stacking corner set, so as to determine, according to an evaluation result, a stacking corner of the currently stacked article.
In an alternative embodiment, the determining module 703 may evaluate the placement effect of each candidate placement corner point according to a first effect function. The first effect function reflects the influence of the current stacked article on the whole stack shape when the current stacked article is placed at a candidate stacking angular point. In particular, the first effect function may take the form of:
wherein, epX and epY represent the abscissa and ordinate of the candidate code-placing angular point; itemX and itemY represent the length and width of the current stacked article; envW and envD represent the length and width of the smallest cuboid capable of accommodating all stacked articles (excluding the currently stacked articles) on the container; w represents the length of the container; d represents the width of the container; max (0, epX + itemX-envW) represents the maximum value taken from 0 and epX + itemX-envW; max (0, epY + itemY-envD) indicates the maximum value taken from 0 and epY + itemY-envD.
Wherein,andand the expansion degree of the envelope curve of the minimum cuboid after the current stacked object is placed at a candidate stacking angular point is reflected. After the function value corresponding to each candidate stacking corner point is calculated through the first effect function, the candidate stacking corner point with the minimum function value can be used as the stacking corner point of the current stacked article. That is, the candidate corner point with the smallest expansion degree of the envelope of the smallest rectangular parallelepiped is selected as much as possible.
In another alternative embodiment, the determining module 703 may evaluate the stacking effect of each candidate stacking corner according to the second effect function, and then select the corner with the largest function value. And the second effect function reflects the utilization degree of the residual space of a candidate stacking angular point when the current stacked article is placed at the candidate stacking angular point. In particular, the second effect function may take the form of:
SUM(rsX-itemX,rsY-itemY,rsZ-itemZ)
wherein rsX, rsY and rsZ represent the three-side size of the residual space of a candidate stacking corner point; itemX, itemY and itemZ represent the three-side size of the current stacked object; SUM (rsX-itemX, rsY-itemY, rsZ-itemZ) represents the SUM of rsX-itemX, rsY-itemY, rsZ-itemZ.
After the function value corresponding to each candidate stacking corner point is calculated through the second effect function, the candidate stacking corner point with the largest function value can be used as the stacking corner point of the current stacked article. That is, the candidate stacking corner point with the highest utilization rate of the residual space is selected as much as possible.
The determining module 703 is further configured to, when the candidate stacking corner point set is empty, newly set an empty container, and use an assigned position of the empty container as the stacking corner point of the currently stacked article. Wherein the designated position may be a coordinate origin shown in fig. 3.
An updating module 704 for updating the available corner point set of the container in case it is confirmed that the palletized corner points of all the items are not obtained.
The updating module 704 updates the available corner set of the container specifically includes: 1) the updating module 704 deletes the stacking corner points of the currently stacked articles from the available corner point set of the container; 2) the updating module 704 deletes the corner covered by the currently stacked item from the set of available corners; 3) the updating module 704 adds new corner points generated after the currently palletized item is placed to the set of available corner points; 4) the update module 704 deletes duplicate corners in the set of available corners.
After the update module 704 updates the available corner point set of the container, the building module 702 and the determining module 703 may be repeatedly invoked until the palletized corner points of all the items are obtained.
A generating module 705, configured to generate a palletizing type in a case that the stacking corner points of all the articles are confirmed.
Wherein the palletized form may comprise: the corresponding relation between the articles and the container and the stacking corner points of the articles. Illustratively, the correspondence of the item to the container includes: tray 1 corresponds to item A, B, C, D, E; tray 2 corresponds to item F, G, H, I; the article stacking corner point comprises: the stacking angular points (0, 0, 0) of the articles A, the stacking angular points (3, 4, 5) of the articles B and the like.
Further, the stacking apparatus 700 according to the embodiment of the present invention may further include the following modules: and the optimizing module is used for optimizing the stacking type.
In particular, the optimizing module for optimizing the palletization profile comprises: changing the corresponding relation between the articles and the containers according to a neighborhood generation strategy to obtain a new article set corresponding to each container; generating a new stacking type after obtaining the stacking angular point of each article in the new article set; evaluating the quality of the new stacking type, and judging whether to update the current optimized stacking type according to an evaluation result; and when an optimization stopping condition is reached, taking the current optimization stacking type as a final stacking type. Wherein the optimal stop condition may be a calculation time or a lower limit value of acceptable buttress quality.
In the embodiment of the invention, the stack type of the mixed stacking can be automatically generated through the device, the requirement of the mixed stacking on manual experience is reduced, the efficiency of the mixed stacking is improved, and the effect of the mixed stacking is improved. Furthermore, the stacking device provided by the embodiment of the invention can be applied to the stack type recommendation and stacking guidance scenes of manual stacking or the stack type generation and container positioning scenes of machine stacking, so as to improve the intellectualization and automation level of mixed stacking.
Fig. 8 is a schematic view of the main modules of a palletising device according to a further embodiment of the invention. As shown in fig. 8, a palletizing apparatus 800 according to an embodiment of the present invention includes: a building module 801, a determining module 802, and a generating module 803.
A building module 801, configured to build a candidate stacking angle point set of all the articles to be stacked.
Wherein the set of candidate stacking angle points is understood to be a set of location points in the container where items can be placed. For example, assuming that there are 10 containers in total and 5 containers have been stacked in the pallet, the remaining 5 containers are used as the objects to be stacked, i.e., container a, container B, container C, container D, and container E. Further, the candidate code lofting point sets for the five containers a to E may be: { candidate code placement corner 1, candidate code placement corner 2, candidate code placement corner 3 }.
A determining module 802, configured to evaluate a stacking effect of each candidate stacking corner in the candidate stacking corner set, so as to determine, according to an evaluation result, a currently stacked article and a stacking corner of the currently stacked article.
When mixing and stacking are carried out, the building module 801 and the determining module 802 need to be called repeatedly until stacking corner points of all articles are obtained.
A generating module 803, configured to generate a palletized form after obtaining the stacking corner points of all the articles.
Wherein the palletized form may comprise: the corresponding relation between the articles and the container and the stacking corner points of the articles. Illustratively, the correspondence of the item to the container includes: tray 1 corresponds to item A, B, C, D, E; tray 2 corresponds to item F, G, H, I; the article stacking corner point comprises: the stacking angular points (0, 0, 0) of the articles A, the stacking angular points (3, 4, 5) of the articles B and the like.
The main difference between the embodiment shown in fig. 8 and the embodiment shown in fig. 6 is that: the embodiment shown in fig. 8 adopts "dynamic sorting", that is, all the combinations of the candidate stacking angular points of all the articles to be stacked are compared, and an optimal combination is selected by calculating an effect function to determine the stacking angular points of the currently stacked article and the currently stacked article; the embodiment shown in fig. 6 adopts "static sorting", that is, the currently-stacked article is determined first, and then the optimal candidate stacking angular point corresponding to the currently-stacked article is selected through the effect function, so as to determine the stacking angular point of the currently-stacked article.
In the embodiment of the invention, the stack type of the mixed stacking can be automatically generated through the device, the requirement of the mixed stacking on manual experience is reduced, the efficiency of the mixed stacking is improved, and the effect of the mixed stacking is improved. Compared with a stacking device adopting static sorting, the dynamic sorting can further improve the effect of mixed stacking.
Fig. 9 illustrates an exemplary system architecture 900 in which the palletizing method or palletizing device according to embodiments of the present invention may be applied.
As shown in fig. 9, the system architecture 900 may include end devices 901, 902, 903, a network 904, and a server 905. Network 904 is the medium used to provide communication links between terminal devices 901, 902, 903 and server 905. Network 904 may include various connection types, such as wired, wireless communication links, or fiber optic cables, to name a few.
A user may use the terminal devices 901, 902, 903 to interact with a server 905 over a network 904 to receive or send messages and the like. The terminal devices 901, 902, 903 may have various communication client applications installed thereon, such as a shopping application, a web browser application, a search application, an instant messaging tool, a mailbox client, social platform software, and the like.
The terminal devices 901, 902, 903 may be various electronic devices having a display screen and supporting web browsing, including but not limited to smart phones, tablet computers, laptop portable computers, desktop computers, and the like.
The server 905 may be a server that provides various services, such as a background management server that provides support for a stack recommendation website browsed by a user using the terminal devices 901, 902, 903. The background management server may analyze and otherwise process the received data such as the stack type query request, and feed back a processing result (e.g., a generated stack type) to the terminal device.
It should be noted that the palletizing method provided by the embodiment of the present invention is generally executed by the server 905, and accordingly, the palletizing device is generally disposed in the server 905.
It should be understood that the number of terminal devices, networks, and servers in fig. 9 is merely illustrative. There may be any number of terminal devices, networks, and servers, as desired for implementation.
FIG. 10 illustrates a schematic block diagram of a computer system 1000 suitable for use with an electronic device implementing an embodiment of the invention. The computer system illustrated in FIG. 10 is only one example and should not impose any limitations on the scope of use or functionality of embodiments of the invention.
As shown in fig. 10, the computer system 1000 includes a Central Processing Unit (CPU)1001 that can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM)1002 or a program loaded from a storage section 1008 into a Random Access Memory (RAM) 1003. In the RAM 1003, various programs and data necessary for the operation of the system 1000 are also stored. The CPU 1001, ROM 1002, and RAM 1003 are connected to each other via a bus 1004. An input/output (I/O) interface 1005 is also connected to bus 1004.
The following components are connected to the I/O interface 1005: an input section 1006 including a keyboard, a mouse, and the like; an output section 1007 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage portion 1008 including a hard disk and the like; and a communication section 1009 including a network interface card such as a LAN card, a modem, or the like. The communication section 1009 performs communication processing via a network such as the internet. The driver 1010 is also connected to the I/O interface 1005 as necessary. A removable medium 1011 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 1010 as necessary, so that a computer program read out therefrom is mounted into the storage section 1008 as necessary.
In particular, according to the embodiments of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication part 1009 and/or installed from the removable medium 1011. The computer program executes the above-described functions defined in the system of the present invention when executed by the Central Processing Unit (CPU) 1001.
It should be noted that the computer readable medium shown in the present invention can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present invention, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present invention, however, a computer readable signal medium may include a propagated data signal with computer 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 signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The modules described in the embodiments of the present invention may be implemented by software or hardware. The described modules may also be provided in a processor, which may be described as: a processor includes a construction module, a determination module, and a generation module. Where the names of these modules do not in some cases constitute a limitation on the module itself, for example, a building module may also be described as a "module that builds a set of candidate stacking corner points for a currently stacked item".
As another aspect, the present invention also provides a computer-readable medium that may be contained in the apparatus described in the above embodiments; or may be separate and not incorporated into the device. The computer readable medium carries one or more programs which, when executed by a device, cause the device to perform the following: i) selecting a current stacking object from all objects to be stacked, and then constructing a candidate stacking corner point set of the current stacking object; ii) evaluating the stacking effect of each candidate stacking angular point in the candidate stacking angular point set so as to determine the stacking angular point of the currently stacked article according to the evaluation result; iii) repeatedly executing the steps i) to ii) until the stacking angular points of all the articles are obtained; iv) after obtaining the stacking corner points of all the articles, generating a palletized form.
The above-described embodiments should not be construed as limiting the scope of the invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions can occur, depending on design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (20)

1. A palletizing method, characterized in that it comprises:
i) selecting a current stacking object from all objects to be stacked, and then constructing a candidate stacking corner point set of the current stacking object;
ii) evaluating the stacking effect of each candidate stacking angular point in the candidate stacking angular point set so as to determine the stacking angular point of the currently stacked article according to the evaluation result;
iii) repeatedly executing the steps i) to ii) until the stacking angular points of all the articles are obtained;
iv) after obtaining the stacking corner points of all the articles, generating a palletized form.
2. The method of claim 1, wherein the step of constructing the set of candidate stacking corner points for the currently stacked item comprises:
and selecting candidate stacking angular points of the currently stacked articles from the available angular point set of the container according to a preset placing rule to obtain the candidate stacking angular point set.
3. The method of claim 2, wherein the preset placement rules comprise at least one of:
after the currently stacked articles are placed at the available corner points of the container, the currently stacked articles cannot interfere with the stacked articles on the current container;
after the currently-stacked articles are placed at available corner points of the container, the currently-stacked articles cannot exceed the boundary of the container;
after the currently-stacked article is placed at the available corner of the container, the ratio of the bottom supporting area of the currently-stacked article is greater than or equal to a preset threshold value.
4. The method of claim 2, further comprising;
and under the condition that the candidate stacking corner point set is empty, newly opening an empty container, and taking the specified position of the empty container as the stacking corner point of the current stacked article.
5. The method of claim 2, further comprising:
after determining the stacking corner point of the currently stacked item, and before repeatedly performing the steps i) to ii), updating an available corner point set of the container.
6. The method of claim 5, wherein the step of updating the set of available corner points for the container comprises:
deleting the stacking angular points of the currently stacked articles from the available angular point set;
deleting the corner points covered by the currently-stacked articles from the available corner point set;
adding new corner points generated after the currently stacked item is placed to the set of available corner points;
and deleting the repeated corner points in the available corner point set.
7. The method of claim 1, further comprising:
and determining the stacking sequence of the articles according to a preset sequencing rule, and selecting the currently stacked articles from all the articles to be stacked according to the stacking sequence.
8. The method of claim 7, wherein the preset ordering rule comprises:
performing descending order according to the volume of the articles, and performing descending order according to the height of the articles when the volume is the same; or,
performing descending arrangement according to the bottom areas of the articles, and performing descending arrangement according to the heights of the articles when the bottom areas are the same; or,
arranged in descending order according to the largest dimension of the three sides of the article.
9. The method of claim 1, wherein the palletized form comprises: the correspondence of the article to the container; the method further comprises the following steps:
changing the corresponding relation between the articles and the containers according to a neighborhood generation strategy to obtain a new article set corresponding to each container; generating a new stacking type after obtaining the stacking angular point of each article in the new article set; evaluating the quality of the new stacking type, and judging whether to update the current optimized stacking type according to an evaluation result; and when an optimization stopping condition is reached, taking the current optimization stacking type as a final stacking type.
10. A palletizing method, characterized in that it comprises:
i) constructing a candidate code putting angle point set of all the objects to be put;
ii) evaluating the stacking effect of each candidate stacking angular point in the candidate stacking angular point set so as to determine a current stacked article and a stacking angular point of the current stacked article according to an evaluation result;
iii) repeatedly executing the steps i) to ii) until the stacking angular points of all the articles are obtained;
iv) after obtaining the stacking corner points of all the articles, generating a palletized form.
11. A palletizing device, characterized in that it comprises:
the building module is used for selecting a current stacked article from all articles to be stacked and then building a candidate stacking corner point set of the current stacked article;
the determining module is used for evaluating the stacking effect of each candidate stacking angular point in the candidate stacking angular point set so as to determine the stacking angular point of the current stacked article according to an evaluation result;
repeatedly calling the building module and the determining module until the stacking angular points of all articles are obtained;
and the generating module is used for generating a stacking type after the stacking angular points of all the objects are obtained.
12. The apparatus of claim 11, wherein the construction module constructs the set of candidate stacking corner points for the currently stacked item comprises:
the building module selects candidate stacking angular points of the current stacked articles from the available angular point set of the container according to a preset placing rule so as to obtain the candidate stacking angular point set.
13. The apparatus of claim 12, wherein the determining module is further configured to:
and under the condition that the candidate stacking corner point set is empty, newly opening an empty container by the determining module, and taking the specified position of the empty container as the stacking corner point of the current stacked article.
14. The apparatus of claim 12, further comprising:
and the updating module is used for updating the available corner point set of the container after the determining module determines the stacking corner point of the current stacked article and before the building module and the determining module are repeatedly called.
15. The apparatus of claim 14, wherein the update module updates the set of available corners for the container comprises:
the updating module deletes the stacking angular points of the currently stacked articles from the available angular point set; the updating module deletes the corner points covered by the current stacked object from the available corner point set; the updating module adds new corner points generated after the currently-stacked article is placed to the available corner point set; the update module deletes duplicate corners in the set of available corners.
16. The apparatus of claim 11, further comprising:
and the sequencing module is used for determining the stacking sequence of the articles according to a preset sequencing rule so that the construction module selects the current stacked articles from all the articles to be stacked according to the stacking sequence.
17. The apparatus of claim 11, wherein the palletized form comprises: the correspondence of the article to the container; the device further comprises:
the optimization module is used for changing the corresponding relation between the articles and the containers according to the neighborhood generation strategy so as to obtain a new article set corresponding to each container; the stacking corner point of each article in the new article set is obtained, and then a new stacking type is generated; the automatic stacking machine is also used for evaluating the quality of the new stacking type and judging whether to update the current optimized stacking type according to an evaluation result; and the current optimized shape is used as the final shape when the optimization stopping condition is reached.
18. A palletizing device, characterized in that it comprises:
the building module is used for building a candidate code placing angle point set of all the objects to be placed;
the determining module is used for evaluating the stacking effect of each candidate stacking angular point in the candidate stacking angular point set so as to determine a current stacked article and the stacking angular point of the current stacked article according to an evaluation result;
repeatedly calling the building module and the determining module until the stacking angular points of all articles are obtained;
and the generating module is used for generating a stacking type after the stacking angular points of all the objects are obtained.
19. An electronic device, comprising:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-10.
20. A computer-readable medium, on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out the method of any one of claims 1 to 10.
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CN113128118A (en) * 2021-04-20 2021-07-16 广东工业大学 Single-specification stacking method and stacking system based on branch-and-bound algorithm
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