CN114940386B - Hybrid stacking planning method, device, computing equipment and computer storage medium - Google Patents
Hybrid stacking planning method, device, computing equipment and computer storage medium Download PDFInfo
- Publication number
- CN114940386B CN114940386B CN202210582237.XA CN202210582237A CN114940386B CN 114940386 B CN114940386 B CN 114940386B CN 202210582237 A CN202210582237 A CN 202210582237A CN 114940386 B CN114940386 B CN 114940386B
- Authority
- CN
- China
- Prior art keywords
- division
- boxes
- box
- filled
- region
- 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
Links
- 238000000034 method Methods 0.000 title claims abstract description 67
- 230000011218 segmentation Effects 0.000 claims abstract description 68
- 238000005192 partition Methods 0.000 claims description 60
- 239000002356 single layer Substances 0.000 claims description 29
- 239000010410 layer Substances 0.000 claims description 27
- 238000004891 communication Methods 0.000 claims description 16
- 239000000463 material Substances 0.000 claims description 6
- 238000013138 pruning Methods 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 12
- 238000012545 processing Methods 0.000 description 4
- 238000004590 computer program Methods 0.000 description 2
- 238000012804 iterative process Methods 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000011022 operating instruction Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/16—Stacking of articles of particular shape
- B65G57/20—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical
- B65G57/22—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical in layers each of predetermined arrangement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
Abstract
The invention discloses a mixed stacking planning method, a device, computing equipment and a storage medium, wherein the method comprises the following steps: acquiring the sizes of the boxes to be stacked, the number of the boxes corresponding to each box size and the feeding sequence of the boxes; dividing the stacking container according to the sizes of the boxes and the number of the boxes corresponding to each box size to obtain a plurality of division results, and filling the boxes in a plurality of division areas in each division result according to the box feeding sequence until filling of all the boxes is completed, so as to obtain division filling results corresponding to each division result; determining target mixed stacking type information according to a plurality of segmentation filling results; each division filling result comprises a box size and a box placement position of the box filled in each division area in the corresponding division result. According to the scheme, the stacking containers are segmented in an iterative segmentation mode, the boxes are filled, and reasonable planning of the placement positions of the boxes is achieved.
Description
Technical Field
The invention relates to the technical field of intelligent robots and logistics storage, in particular to a hybrid stacking planning method, a hybrid stacking planning device, computing equipment and a computer storage medium.
Background
With the development of industrial intelligence, in the fields of logistics and storage, manual operation is replaced by robot operation. For example, the robot can perform stacking operation on the box body, so as to reduce manual labor force. Wherein, the stacking means that the box body is placed in a stacking container such as a tray, a cage car and the like. Under actual pile up neatly scene, probably include the box that waits to pile up of multiple size in the single task of stacking, how rationally plan the box position of various boxes in the container of stacking to use less container of stacking as far as possible accomplish the task of stacking, become the problem that needs to solve in the prior art.
Disclosure of Invention
The present invention has been made in view of the above problems, and it is an object of the present invention to provide a hybrid palletizing method, apparatus, computing device and computer storage medium that overcomes or at least partially solves the above problems.
According to one aspect of the present invention, there is provided a hybrid palletizing method for palletizing a plurality of bins having different bin sizes, the method comprising:
Acquiring the sizes of the boxes to be stacked, the number of the boxes corresponding to each box size and the feeding sequence of the boxes;
dividing the stacking container according to the sizes of the boxes and the number of the boxes corresponding to each box size to obtain a plurality of division results, and filling the boxes in a plurality of division areas in each division result according to the box feeding sequence until filling of all the boxes is completed, so as to obtain division filling results corresponding to each division result;
determining target mixed stacking type information according to a plurality of segmentation filling results; each division filling result comprises a box size and a box placement position of the box filled in each division area in the corresponding division result.
According to another aspect of the present invention there is provided a hybrid palletising apparatus for palletising a plurality of bins having different bin sizes, the apparatus comprising:
the acquisition module is suitable for acquiring the sizes of the boxes to be stacked, the number of the boxes corresponding to each box size and the feeding sequence of the boxes;
the division planning module is suitable for dividing the stacking container according to the sizes of the boxes and the quantity of the boxes corresponding to each box size to obtain a plurality of division results, and filling the boxes in a plurality of division areas in each division result according to the box feeding sequence until filling of all the boxes is completed to obtain a division filling result corresponding to each division result;
The stack type determining module is suitable for determining target mixed stacking type information according to a plurality of segmentation filling results; each division filling result comprises a box size and a box placement position of the box filled in each division area in the corresponding division result.
According to yet another aspect of the present invention, there is provided a computing device comprising: the device comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface are communicated with each other through the communication bus;
the memory is used for storing at least one executable instruction, and the executable instruction enables the processor to execute the operation corresponding to the mixed stacking planning method.
According to still another aspect of the present invention, there is provided a computer storage medium having stored therein at least one executable instruction for causing a processor to perform operations corresponding to the hybrid palletizing method as described above.
According to the technical scheme provided by the invention, according to the sizes of the boxes to be stacked, the number of boxes corresponding to each box size and the box feeding sequence, the stacking containers are segmented in an iterative segmentation mode, and the boxes are filled in a plurality of segmentation areas in each segmentation result, so that the better placement positions of the boxes in the stacking containers can be determined for various boxes, the reasonable planning of the placement positions of the boxes is realized, the stacking containers are ensured to have higher space utilization rate, and the stacking task is completed by using fewer stacking containers as much as possible; and, this scheme can be applicable to the pile up neatly scene of multiple box size and each type of box size have the box of more quantity well.
The foregoing description is only an overview of the present invention, and is intended to be implemented in accordance with the teachings of the present invention in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present invention more readily apparent.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:
FIG. 1 shows a flow diagram of a hybrid palletizing approach in accordance with one embodiment of the present invention;
FIG. 2 shows a flow diagram of a split plan embodiment;
fig. 3a to 3g show respective division diagrams of 1 st to 7 th division modes of dividing a single layer region of the stacking container into L-shaped divided regions;
FIG. 4 illustrates a schematic diagram of a segmentation planning process for one specific example;
FIG. 5 shows a block diagram of a hybrid palletizing apparatus in accordance with one embodiment of the present invention;
FIG. 6 illustrates a schematic diagram of a computing device, according to an embodiment of the invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Fig. 1 shows a flow diagram of a hybrid palletizing method for palletizing a plurality of bins having different bin sizes, as shown in fig. 1, according to one embodiment of the present invention, the method comprising the steps of:
step S101, obtaining the sizes of the boxes to be stacked, the number of the boxes corresponding to each box size and the feeding sequence of the boxes.
In order to reasonably plan the box placement positions of the boxes with the box sizes in the stacking container, the box sizes in the boxes to be stacked and the box numbers corresponding to the box sizes can be obtained from the stacking task to be processed and the like. Wherein, the box size can include length, width and the high etc. of box, and the container of putting things in good order can include tray, cage car etc. is used for putting the container of box. In this embodiment, the same type of case may refer to cases whose case size differences conform to a preset difference range, for example, cases whose case sizes are identical or similar. The preset difference range may be set according to a parameter value, which is not limited herein.
If it is possible to traverse all sequences during the planning process for multiple bins with different bin sizes, then there are many sequences that result in longer time consuming planning and less efficient planning. Considering that in an actual stacking scene, a user generally puts forward some stacking requirements on the stacking of the boxes, the feeding sequence of the boxes can be determined according to the stacking requirements. Specifically, the feeding sequence of the boxes is determined according to the box association information corresponding to the boxes. Wherein the case related information includes at least one of: the box weight, the box height, the box density, the box receiving address and the type of articles contained in the box. The order of the materials supplied to the box can be set by those skilled in the art according to actual needs, and is not limited herein.
Specifically, the determining manner of the feeding sequence of the box body can include: arranging a plurality of boxes according to the sequence of the weights of the boxes from large to small, and taking the arrangement sequence as the box feeding sequence; and/or arranging the plurality of boxes according to the sequence from high to low of the box, and taking the arrangement sequence as the box feeding sequence; and/or arranging the plurality of boxes according to the sequence of the box density from large to small, and taking the arrangement sequence as the box feeding sequence; and/or arranging the plurality of boxes according to the sequence from far to near of the box receiving addresses, and taking the arrangement sequence as the box feeding sequence; and/or determining the feeding sequence of the boxes according to the types of the articles contained in the boxes so as to place the boxes with the same types of the articles in the same stacking container.
For example, the sequence of the box body heights from high to low can be used as the box body feeding sequence, so that the box body with the highest height is planned preferentially, the height difference on the same horizontal plane can be effectively reduced according to the box body feeding sequence, and the stability of the stack type is improved; for another example, the sequence of the box weight from large to small or the sequence of the box density from large to small can be used as the box feeding sequence, so that the box with larger box weight or box density is preferably placed below the stacking container to keep the stability of the stacking type; for another example, the sequence of the box receiving addresses from far to near is used as the box feeding sequence, so that the box with the farthest box receiving address is preferably placed below the stacking container, so that the boxes can be disassembled in an orderly manner, and the boxes with the same box receiving address can be planned to be placed in the same stacking container; for another example, the feeding sequence of the boxes is determined according to the types of the articles contained in the boxes, the boxes with the same article types are planned to be placed in the same stacking container, and the boxes with different article types are planned to be placed in different stacking containers, for example, foods and daily necessities are separated.
Step S102, dividing the stacking container according to the sizes of the boxes and the number of the boxes corresponding to each box size to obtain a plurality of division results, and filling the boxes in a plurality of division areas in each division result according to the box feeding sequence until filling of all the boxes is completed, so as to obtain a division filling result corresponding to each division result.
In this embodiment, the stacking container may be used to stack multiple layers of cases. The box placement positions of the boxes with each box size are sequentially planned according to the box feeding sequence, that is, after all boxes with one box size are placed in a stacking mode, the boxes with the same box size are planned to be placed in a stacking mode until all boxes with the same box size are placed in a stacking mode, and iteration is finished. Assuming that the various box sizes are respectively named A, B and C, the box of the various box sizes comprises a box A, a box B and a box C, and the box feeding sequence is 'box A, box B, box C', the box A needs to be stacked first, the box B needs to be stacked after the box A is completely stacked, and the box C needs to be stacked after the box B is completely stacked.
If the number of the boxes corresponding to the first box size in the box feeding sequence is enough to be capable of tiling one or more single-layer areas of the stacking container, the single-layer areas can be used as initial unfilled areas, and the boxes with the box size are filled in the whole initial unfilled areas by using an optimal stack type planning method in the prior art. And carrying out code mixing planning on the boxes which are positioned in the first box size and are not enough to tile the single-layer area and the boxes with other box sizes. Specifically, the stacking container is segmented to obtain a plurality of segmentation results, and each segmentation result comprises a plurality of segmentation areas. And for each division result, taking a plurality of division areas in the division result as a plurality of unfilled areas, sequentially filling the boxes into the division areas corresponding to the single-layer areas according to the feeding sequence of the boxes, if the rest unfilled boxes exist, continuously dividing the next single-layer area of the stacking container into the division areas, sequentially filling the rest boxes into the division areas corresponding to the next single-layer area according to the feeding sequence of the boxes, carrying out iterative processing with the advancing rows until the filling of all the boxes is completed, and ending the iteration to obtain the division filling result corresponding to the division result. That is, for each division result, a plurality of division areas in the division result are filled to obtain one division filling result, that is, one division result corresponds to one division filling result.
Wherein, for each single-layer region, the number of divided regions corresponding to the single-layer region obtained by dividing is related to the shape of the divided region. The shape of the divided regions can be selected by those skilled in the art according to actual needs, and is not particularly limited herein. For example, the divided region may be an L-shaped divided region or the like, and in this embodiment, a rectangle is regarded as a special L-shape. The single layer region may be divided into 2L-shaped divided regions by division.
Because the single-layer region can be divided into the divided regions with preset shapes through a plurality of dividing modes, a plurality of dividing results and dividing filling results corresponding to each dividing result are finally obtained after iterative processing, one dividing filling result corresponds to a stacking mode for stacking all boxes with all box sizes, and each dividing filling result comprises the box sizes and the box placement positions of the boxes filled in each divided region in the corresponding dividing results.
And step S103, determining target stacking type information according to a plurality of segmentation filling results.
After a plurality of division filling results are obtained, the space utilization rate of the division filling results can be obtained according to the box size and the box placement position of the box filled in each division area in the division filling results for each division filling result, and then the division filling result with the highest space utilization rate is selected from the division filling results to serve as target stacking type information, so that a robot can execute stacking operation on the box according to the target stacking type information, and a stacking task is completed. For example, the optimal solution can be obtained by taking the segmentation filling result with the highest space utilization as the target stacking type information.
In consideration of factors such as stacking safety, convenience in stacking and unstacking, a preset height threshold of the stacking container is generally set, and the stacking height of the box body should not exceed the preset height threshold. The person skilled in the art can set the preset height threshold according to actual needs, for example, the preset height threshold may be 2 meters, etc., and due to the limitation of the preset height threshold of the stacking container, a plurality of stacking containers may be required to complete stacking of all single-layer areas.
To facilitate understanding of the present solution, the following describes the iterative process of the segmentation planning for step S102 in detail. Fig. 2 shows a flow diagram of an embodiment of a split plan, as shown in fig. 2, the method comprising the steps of:
step S201, extracting an unfilled region from the unfilled region set, determining a target box to be filled from a plurality of boxes according to the box feeding sequence, and determining the number of unfilled boxes of the target box according to the number of boxes corresponding to the box size of the target box and the number of filled boxes.
Wherein the number of stacking containers is at least one, the set of unfilled regions is generated from one stacking container, e.g. the set of unfilled regions may be generated from a single layer region of the stacking container. Specifically, when planning is required for a box of the first box size in the box feeding sequence, a new single-layer area is generated as an initial unfilled area and added into the unfilled area set, i.e. the initial unfilled area set contains an unfilled area. Specifically, the set of unfilled regions may be represented as { L ] u }。
In step S201, an unfilled region is extracted from the unfilled region set, and a target box to be filled is determined from the boxes of each box size according to the box feed order. Each unfilled region is used for filling a plurality of boxes with differences in box sizes conforming to a preset difference range, and in this embodiment, a plurality of boxes with differences in box sizes conforming to a preset difference range are referred to as boxes with the same box size. In order to achieve accurate planning of the stack, the number of filled boxes and the number of unfilled boxes for each box size also need to be recorded. For any box size, the sum of the number of filled boxes and the number of unfilled boxes of the box is equal to the number of boxes corresponding to the box size. After the target box is determined, the number of unfilled boxes of the target box is determined according to the number of boxes corresponding to the box size of the target box and the number of filled boxes.
Step S202, obtaining the accommodating quantity of the target box body capable of being accommodated by the unfilled region according to the box body size of the target box body and the region size of the unfilled region.
In the process of obtaining the accommodating quantity of the target boxes which can be accommodated in the unfilled region, the accommodating quantity of the target boxes which can be accommodated in the unfilled region can be obtained according to the length and the width in the box size of the target boxes and the length and the width in the region size of the unfilled region by utilizing the optimal stack type planning method in the prior art.
Step S203, judging whether the number of unfilled boxes of the target box is larger than or equal to the accommodating number; if yes, go to step S204; if not, step S205 is performed.
If the number of unfilled boxes of the target box is larger than or equal to the accommodating number, which indicates that the unfilled target box is enough to fill the unfilled region, step S204 is executed; if it is determined that the number of unfilled cases in the target case is smaller than the accommodation number, it is indicated that the unfilled target case is insufficient to fill the unfilled region, and the unfilled region has an empty region to form a new region after the filling of the target case is completed, and is available for filling other cases, step S205 is performed.
In step S204, the target box is used to fill the unfilled region, the unfilled region is updated to a filled region and added to the filled region set, and a new unfilled region is generated and added to the unfilled region set.
And when the number of the unfilled boxes of the target box is larger than or equal to the accommodating number, the unfilled target box is enough to fill the unfilled region, the unfilled region is filled by the target box, the filled unfilled region is updated to be a filled region and added into a filled region set, and then a new unfilled region is generated and added into the unfilled region set so as to carry out stack type planning of the next single-layer region. In particular, a new single layer region may be generated as an unfilled region. Specifically, the set of filled regions may be represented as { L } f }。
In step S205, the unfilled region is divided according to a plurality of division modes, and the first division region capable of accommodating the target boxes with the number of unfilled boxes is searched from the division regions corresponding to the plurality of division modes for filling the target boxes.
Under the condition that the number of unfilled boxes of the target box is smaller than the accommodating number, the unfilled target box is insufficient to fill the unfilled region, and the unfilled region has an idle region which can be used for filling other boxes after the unfilled target box is filled, so that the unfilled region can be segmented according to a plurality of segmentation modes, the unfilled region is segmented into segmentation regions with preset shapes, and segmentation regions corresponding to the segmentation modes are obtained, namely a plurality of segmentation conditions are formed. In the present embodiment, a plurality of division cases in which an unfilled region is divided according to a plurality of division methods are referred to as division branches corresponding to the unfilled region.
Taking the shape of the division area as L-shape as an example, FIGS. 3a to 3g show the division diagrams of the 1 st to 7 th division modes of dividing the single layer area of the stacking container into L-shaped division areas, respectively, as shown in FIGS. 3a to 3g, the stacking container can be divided by 7 different division modes The single layer region is divided into 2 divided regions, wherein a rectangle can be regarded as a special L-shape. In the 1 st to 5 th division modes shown in fig. 3a to 3e, specifically, a part of a region of one corner of a single layer region is removed first and then divided. To facilitate representation of the segmented regions, the lower left corner of the single layer region may be designated (0, 0) and the upper right corner may be designated (X, Y). An L-shaped area can be formed by removing a small rectangle at one corner position of the large rectangle, and then the length and width of the large rectangle and the length and width of the removed small rectangle can be used for representing the segmentation area corresponding to each segmentation mode. Wherein, the 1 st division mode corresponds to the division area L 1 Can be expressed as l 1 (L,1,p 1 ) =l (x, Y-Y ', x', Y-Y), dividing region L 2 Can be expressed as l 2 (L,1,p 1 ) =l (X, y, X-X ', y'); dividing region L corresponding to the 2 nd dividing method 1 Can be expressed as l 1 (L,2,p 2 ) =l (x, Y-Y, x-x ', Y-Y'), dividing the region L 2 Can be expressed as l 2 (L,2,p 2 ) =l (X, y ', X', y); division region L corresponding to the 3 rd division method 1 Can be expressed as l 1 (L,3,p 3 ) =l (X, Y, X ', Y'), dividing the region L 2 Can be expressed as l 2 (L,3,p 3 ) =l (X-X ', Y-Y', X-X ', Y-Y'); partition area L corresponding to the 4 th partition mode 1 Can be expressed as l 1 (L,4,p 4 ) =l (x ', Y, x, Y'), dividing the region L 2 Can be expressed as l 2 (L,4,p 4 ) =l (X-X, y, X-X ', y-y'); division region L corresponding to the 5 th division method 1 Can be expressed as l 1 (L,5,p 5 ) =l (x, Y, x ', Y-Y'), dividing the region L 2 Can be expressed as l 2 (L,5,p 5 ) =l (X-X ', y, X-X, y'); dividing region L corresponding to the 6 th dividing method 1 Can be expressed as l 1 (L,6,p 6 ) =l (x ", Y, x ', Y-Y'), dividing the region L 2 Can be expressed as l 2 (L,6,p 6 ) =l (X-X ', Y, X-X ", Y'); partition area L corresponding to the 7 th partition mode 1 Can be expressed as l 1 (L,7,p 7 ) =l (X, Y-Y ', X', Y-Y "), dividing region L 2 Can be expressed as l 2 (L,7,p 7 )＝L(X,y”,X-x',y')。
And searching a partition area which can exactly accommodate the target boxes with the number of unfilled boxes from partition areas corresponding to the multiple partition modes as a first partition area, and filling the target boxes with the number of unfilled boxes in the first partition area, thereby completing the filling of all the target boxes.
In step S206, the first divided region is updated to be a filled region and added to the filled region set, and the second divided region corresponding to the first divided region is added to the unfilled region set as an unfilled region corresponding to the single-layer region.
After completion of the filling of the first divided region, the first divided region is updated to a filled region and added to the filled region set { L ] f In the second divided region corresponding to the first divided region is added to the unfilled region set { L } as an unfilled region corresponding to the single-layer region u In }.
And (3) performing the steps S201 to S206 in a loop iteration mode until filling of all the boxes is completed, and obtaining a plurality of segmentation filling results.
Specifically, the unfilled region is denoted as L t Taking the L-shaped divided area as an example, the case feeding sequence is assumed to be 'case A, case B, case C', and the number of cases of case A is n A The number of the box bodies of the box body B is n B The number of the box bodies C is n C If all the boxes are not yet subjected to stacking planning, the currently determined target box to be filled is a box A, and the number of unfilled boxes of the box A is n A And each. At the point of n A The box body A is filled to a certain L t ∈{L u When in use, the optimal stack type planning method in the prior art is needed to be utilized to calculate L t Number n of cases A that can be accommodated A，Lt . There are two possibilities in this case.
First, when n A ≥n A，Lt When the number of unfilled boxes of the box A is enough, L can be calculated t Filling.
Second, when n A ＜n A，Lt In this case, it is necessary to traverse all the L-shaped division modes to divide L t Divided into 2L-shaped divided regions. Assume that a total of M segmentation branches are obtained by segmentation, denoted as { L ] t1 ,L t2 } m M=1, …, M. Traversal L ti ∈{L t1 ,L t2 } m Wherein m=1, …, M; i=1, 2; find out those exactly able to hold n A The divided regions of the respective cases A are used as first divided regions, the first divided regions are filled, and the filled first divided regions are added to the filled region set { L } f In }. Accordingly, another divided region (i.e., a second divided region) corresponding to the first divided region is added to the unfilled region set { L ] as an unfilled region corresponding to the single-layer region u In }. Since there are first division regions in the plural kinds of division branches, so that the number of the first division regions is plural, then the second division regions corresponding to these first division regions are added to the unfilled region set { L } as unfilled regions corresponding to the plural kinds of division branches of the single layer region u In the case where there are a plurality of division branches in this single-layer region, each division branch is traversed, and the unfilled region corresponding to the division branch needs to be planned for each division branch.
In the stacking planning process, L needs to be traversed t ∈{L u In filling L t Or fill L after segmentation ti ∈{L t1 ,L t2 } m Thereafter, the current remaining unfilled bin size and bin number, { L, is updated f Sum { L } u }. If { L u The empty set indicates that all unfilled regions have been filled, according to { L } f New unfilled regions are generated. The end condition of the stacking plan of the current stacking container is that all the boxes are stacked or that the current stacking container is full (i.e., the stacking height of the boxes exceeds the preset height threshold of the stacking container).
Optionally, in the stacking planning process, if the first division area is multiple, it is indicated that there are multiple division branches, pruning may be performed according to a preset heuristic. Specifically, the preferred condition required by the preset heuristic can be selected without exploring other sub-optimal segmentation branches, so that the operation amount of the sub-optimal segmentation branches is cut off, the algorithm complexity is effectively reduced, and the stacking planning efficiency is improved. Wherein the preset heuristics may include at least one of: the method comprises the steps of scoring a stack of a first filled partition area, utilizing the space of the first filled partition area, forming a filling space height of the first filled partition area, scoring the stack of a second filled partition area corresponding to the first partition area, utilizing the space of the second filled partition area corresponding to the first partition area and filling the number of boxes of the second filled partition area corresponding to the first partition area.
Those skilled in the art can determine how to prune according to the preset heuristic according to actual needs, and the method is not specifically limited herein. Specifically, pruning modes may include: obtaining a stack type score of each filled first dividing region, reserving dividing branches corresponding to the first dividing regions, of which the stack type scores accord with a first preset stack type scoring range, and removing dividing branches corresponding to other first dividing regions; and/or obtaining the space utilization rate of each filled first division region, reserving division branches corresponding to the first division regions, of which the space utilization rate accords with a first preset space utilization rate range, and removing the division branches corresponding to other first division regions; and/or, obtaining the height of a filling space formed by each filled first division region, reserving division branches corresponding to the first division regions with the height of the filling space conforming to a preset height range, and removing the division branches corresponding to other first division regions; and/or obtaining a stack type score of the filled second division region corresponding to each first division region, reserving division branches corresponding to the second division regions with stack type scores conforming to a second preset stack type score range, and removing the division branches corresponding to other second division regions; and/or obtaining the space utilization rate of the filled second division region corresponding to each first division region, reserving the division branches corresponding to the second division regions, of which the space utilization rate accords with a second preset space utilization rate range, and removing the division branches corresponding to other second division regions; and/or obtaining the number of the boxes filled in the second partition area after filling corresponding to each first partition area, reserving partition branches corresponding to the second partition areas, of which the number of the boxes accords with the range of the preset material number, and removing partition branches corresponding to other second partition areas.
The stack type score of the filled first divided area is obtained according to the space utilization rate of the filled first divided area, the top layer height of the filled first divided area and/or the supporting distribution condition of each box body in the filled first divided area; the stack type score of the filled second divided area is obtained according to the space utilization rate of the filled second divided area, the top layer height of the filled second divided area and/or the supporting distribution condition of each box body in the filled second divided area.
The specific ranges of the first preset stack type scoring range, the first preset space utilization range, the preset height range, the second preset stack type scoring range, the second preset space utilization range and the preset material quantity range can be set by a person skilled in the art according to actual needs, and are not specific herein. For example, the first pre-stack scoring range and the second pre-stack scoring range may be: the stack type scores are arranged in a certain range (such as the first 5% or the first 10%) in the order from high to low, or are arranged in a plurality of modes, or the stack type scores are larger than a certain threshold value. The first preset space utilization range and the second preset space utilization range may be: the space utilization is arranged in a front certain range (such as front 3% or front 5%) in the order from high to low, or a plurality of the space utilization is arranged in front, or the space utilization is larger than a certain threshold value. The preset height range may be: the filling space height is arranged in a certain range (such as the first 5 percent, etc.) at the front in the order from low to high, or is arranged in a plurality of modes at the front, or is smaller than a certain threshold value, etc. The range of the preset material quantity can be: the number of boxes filled in the second divided region is arranged in a front certain range (such as the first 10%) in the sorting order from more to less, or arranged in a plurality of front boxes, or the number of filled boxes is larger than a certain threshold value, etc.
When the method is applied specifically, the stack type of each filled first divided area can be scored, and the divided branch corresponding to the first divided area with the highest stack type score is selected; or selecting a partition branch corresponding to the first partition area with the highest space utilization rate in single filling; or selecting a partition branch corresponding to the first partition area with the lowest filling space height; or after single segmentation and filling, selecting a segmentation branch corresponding to a second segmentation area with the highest stack type score; or after single division and filling, selecting a division branch corresponding to a second division region with the highest space utilization rate; or selecting the partition branch corresponding to the second partition area with the largest number of the filled boxes. In addition, considering that there is a high probability that a single index (such as stack type score and space utilization) is optimal, and other indexes are poor, the corresponding segmentation mode can be reserved according to a certain range of the single index or a certain threshold value or more, which is helpful for reserving segmentation branches with better comprehensive indexes.
Alternatively, considering that the segmentation of the bottom layer affects the segmentation of the upper layer, in practical applications pruning may not be performed for the earlier several segmentations, in order to obtain a better solution with an increased breadth of exploration.
In order to more clearly understand the iterative process of segmentation planning, a specific example is illustrated below. Fig. 4 shows a schematic diagram of a specific example of a division planning process, and fig. 4 is a specific top view, in this example, a stacking task is to stack a box a, a box B and a box C in sequence, and then the box feeding sequence is "box a→box b→box C". Wherein, box A's box quantity is 12, and box B's box quantity is 16, and box C's box quantity is 10. Layer 0 in fig. 4 shows a schematic size of an empty stacking container and a schematic size of each box size.
When filling the layer 1 of the stacking container (i.e. layer 1 of the stacking container from bottom to top), taking the whole area of the layer 1 as an unfilled area, finding that the number of the boxes of the box A is enough, and filling the layer 1 by using an optimal stack type planning method in the prior art. Layer 1 fills 10 bins a, the remaining 2 bins a are unfilled.
When filling the layer 2 of the stacking container, the rest of the box body A is insufficient to fill the whole layer, so that the layer 2 needs to be subjected to L-shaped segmentation, and the segmentation situation that 2 box bodies A can be put down just is found. The result of the traversal search is shown in layer 2 in fig. 4, and there are four dividing modes that satisfy the condition. For ease of description, these four cases are denoted from left to right as 2a, 2b, 2c and 2d, respectively. Since this is a plurality of cases resulting from the first segmentation, it is necessary to perform the next search based on 2a, 2b, 2c and 2d, respectively.
Taking 2a as an example, after filling the remaining 2 cases a, the remaining area may be filled with 6 cases B, and after completing the filling, 10 cases B remain. 3E is a search based on 2a, and the dashed box represents the new L-shaped region generated by the top-most layer of 2 a. After filling these L-shaped regions, layer 3 is obtained. 7 cases B may be filled in the 3 rd layer, and after filling the 3 rd layer, 3 cases B remain.
4E is an L-shaped region generated by 1-2a-3, and a total of 7 boxes B can be filled, while only 3 boxes B remain at the moment, the region cannot be filled, and L-shaped division is needed. The results of the L-type division of 4E and filling of 3 cases B and several cases C are shown as layer 4 in fig. 4, denoted by 4a, 4B, 4C, 4d, and 4E in order from left to right. The five dividing branches can be explored one by one in turn, the processing mode is the same as that of the four conditions aiming at the layer 2, or only one dividing branch which is optimal at present is selected for further exploration according to a preset heuristic, and the other four dividing branches are cut off. For convenience of explanation, only one segmentation branch with the optimal current comprehensive index is selected according to a preset heuristic to further explore. And then the search depth of the solution is 1, namely only one breadth search is performed, and the rest searches are pruned according to the preset heuristic. Assuming that the preset heuristic currently used is considered to be currently optimal at 4e, the search is further based on 4e, and the rest of the split branches are ignored. 4e are capable of filling 5 cases C, with 5 unfilled cases C remaining. 5E is an L-shaped area generated by 4E, and can accommodate the rest 5 boxes C, so that a solution, namely a group of component filling results, is planned.
Similarly, 2b, 2c and 2d are explored to obtain corresponding 1-2b-3x-4y-5z,1-2c-3x-4y-5z and 1-2d-3x-4y-5z, namely, the other three segmentation filling results are obtained. Wherein x, y and z represent optimal solutions obtained through preset heuristic items at the corresponding layers. And comparing the four segmentation filling results, and selecting one segmentation filling result with the highest space utilization ratio as target mixed stacking type information, wherein the target mixed stacking type information is the solution of the current stacking task. After the stack planning of one layer is completed, the box bodies in the adjacent layers are not overlapped by limiting the dividing points of the next layer, so that the occurrence of box pressing is avoided.
According to the mixed stacking planning method provided by the embodiment, according to the sizes of the boxes to be stacked, the number of boxes corresponding to each box size and the box feeding sequence, the stacking containers are segmented in an iterative segmentation mode, and the boxes are filled in a plurality of segmentation areas in each segmentation result, so that the better placement positions of the boxes in the stacking containers can be determined for various boxes, the reasonable planning of the placement positions of the boxes is realized, the higher space utilization rate of the stacking containers is ensured, and the stacking task is completed by using fewer stacking containers as much as possible; moreover, the scheme can be well suitable for stacking scenes of various box sizes, wherein each box size has a plurality of boxes; in addition, the scheme can reduce the searching times as much as possible so as to ensure that a feasible solution can be found in a short time.
Fig. 5 shows a block diagram of a hybrid palletizing apparatus for palletizing a plurality of bins having different bin sizes, as shown in fig. 5, according to one embodiment of the present invention, the apparatus comprising: an acquisition module 510, a segmentation planning module 520, and a stack determination module 530.
The acquisition module 510 is adapted to: and obtaining the sizes of the boxes to be stacked, the number of the boxes corresponding to each box size and the feeding sequence of the boxes.
The segmentation planning module 520 is adapted to: dividing the stacking container according to the sizes of the boxes and the number of the boxes corresponding to each box size to obtain a plurality of division results, and filling the boxes in a plurality of division areas in each division result according to the box feeding sequence until filling of all the boxes is completed, so as to obtain division filling results corresponding to each division result.
The stack determination module 530 is adapted to: determining target mixed stacking type information according to a plurality of segmentation filling results; each division filling result comprises a box size and a box placement position of the box filled in each division area in the corresponding division result.
Optionally, the feeding sequence of the boxes is determined according to the box related information corresponding to the boxes.
Optionally, the case related information includes at least one of: the box weight, the box height, the box density, the box receiving address and the type of articles contained in the box. Specifically, arranging a plurality of boxes according to the sequence of the box weight from large to small, and taking the arrangement sequence as the box feeding sequence; and/or arranging the plurality of boxes according to the sequence from high to low of the box, and taking the arrangement sequence as the box feeding sequence; and/or arranging the plurality of boxes according to the sequence of the box density from large to small, and taking the arrangement sequence as the box feeding sequence; and/or arranging the plurality of boxes according to the sequence from far to near of the box receiving addresses, and taking the arrangement sequence as the box feeding sequence; and/or determining the feeding sequence of the boxes according to the types of the articles contained in the boxes so as to place the boxes with the same types of the articles in the same stacking container.
Optionally, the segmentation planning module 520 is further adapted to: extracting an unfilled region from the unfilled region set, determining a target box to be filled from a plurality of boxes according to the feeding sequence of the boxes, and determining the number of unfilled boxes of the target box according to the number of boxes corresponding to the box size of the target box and the number of filled boxes; wherein the number of stacking containers is at least one, and the unfilled region set is generated according to one stacking container; obtaining the accommodating quantity of the target boxes which can be accommodated in the unfilled region according to the box size of the target boxes and the region size of the unfilled region; judging whether the number of unfilled boxes of the target box is greater than or equal to the accommodating number; if yes, filling the unfilled region by using the target box body, updating the unfilled region into a filled region and adding the filled region into a filled region set, generating a new unfilled region and adding the new unfilled region into the unfilled region set; if not, dividing the unfilled region according to a plurality of dividing modes, searching first dividing regions capable of accommodating target boxes with the number of the unfilled boxes from the dividing regions corresponding to the dividing modes for filling the target boxes, updating the first dividing regions into filled regions and adding the filled regions into a filled region set, and adding second dividing regions corresponding to the first dividing regions into the unfilled region set as unfilled regions corresponding to the same single-layer regions; and performing the steps in a loop iteration mode until filling of all the boxes is completed, and obtaining a plurality of segmentation filling results.
Optionally, the segmentation planning module 520 is further adapted to: if the first segmentation area is multiple, pruning is performed according to a preset heuristic.
Optionally, the preset heuristics include at least one of: the method comprises the steps of scoring a stack of a first filled partition area, utilizing the space of the first filled partition area, forming a filling space height of the first filled partition area, scoring the stack of a second filled partition area corresponding to the first partition area, utilizing the space of the second filled partition area corresponding to the first partition area and filling the number of boxes of the second filled partition area corresponding to the first partition area.
Optionally, the segmentation planning module 520 is further adapted to: obtaining a stack type score of each filled first dividing region, reserving dividing branches corresponding to the first dividing regions, of which the stack type scores accord with a first preset stack type scoring range, and removing dividing branches corresponding to other first dividing regions; and/or obtaining the space utilization rate of each filled first division region, reserving division branches corresponding to the first division regions, of which the space utilization rate accords with a first preset space utilization rate range, and removing the division branches corresponding to other first division regions; and/or, obtaining the height of a filling space formed by each filled first division region, reserving division branches corresponding to the first division regions with the height of the filling space conforming to a preset height range, and removing the division branches corresponding to other first division regions; and/or obtaining a stack type score of the filled second division region corresponding to each first division region, reserving division branches corresponding to the second division regions with stack type scores conforming to a second preset stack type score range, and removing the division branches corresponding to other second division regions; and/or obtaining the space utilization rate of the filled second division region corresponding to each first division region, reserving the division branches corresponding to the second division regions, of which the space utilization rate accords with a second preset space utilization rate range, and removing the division branches corresponding to other second division regions; and/or obtaining the number of the boxes filled in the second partition area after filling corresponding to each first partition area, reserving partition branches corresponding to the second partition areas, of which the number of the boxes accords with the range of the preset material number, and removing partition branches corresponding to other second partition areas.
Optionally, the stack type score of the filled first divided area is obtained according to the space utilization rate of the filled first divided area, the top layer height of the filled first divided area and/or the supporting distribution condition of each box body in the filled first divided area; the stack type score of the filled second divided area is obtained according to the space utilization rate of the filled second divided area, the top layer height of the filled second divided area and/or the supporting distribution condition of each box body in the filled second divided area.
Optionally, each unfilled region is for filling a plurality of bins whose differences in bin size meet a predetermined range of differences.
Alternatively, the divided area is an L-shaped divided area.
Optionally, the stack determination module 530 is further adapted to: aiming at each division filling result, according to the box size and the box placement position of the box filled in each division area in the division filling result, the space utilization rate of the division filling result is obtained; and selecting a segmentation filling result with the highest space utilization rate from the plurality of segmentation filling results as target stacking type information.
According to the mixed stacking planning device provided by the embodiment, according to the sizes of the boxes to be stacked, the number of boxes corresponding to each box size and the box feeding sequence, the stacking containers are segmented in an iterative segmentation mode, the boxes are filled in a plurality of segmentation areas in each segmentation result, the better placement positions of the boxes in the stacking containers can be determined for various boxes, reasonable planning of the placement positions of the boxes is realized, the higher space utilization rate of the stacking containers is ensured, and stacking tasks are completed by using fewer stacking containers as much as possible; moreover, the scheme can be well suitable for stacking scenes of various box sizes, wherein each box size has a plurality of boxes; in addition, the scheme can reduce the searching times as much as possible so as to ensure that a feasible solution can be found in a short time.
The invention also provides a nonvolatile computer storage medium, wherein the computer storage medium stores at least one executable instruction, and the executable instruction can execute the mixed palletizing planning method in any method embodiment.
FIG. 6 illustrates a schematic diagram of a computing device, according to an embodiment of the invention, the particular embodiment of the invention not being limited to a particular implementation of the computing device.
As shown in fig. 6, the computing device may include: a processor 602, a communication interface (Communications Interface), a memory 606, and a communication bus 608.
Wherein:
processor 602, communication interface 604, and memory 606 perform communication with each other via communication bus 608.
Communication interface 604 is used to communicate with network elements of other devices, such as clients or other servers.
The processor 602 is configured to execute the program 610, and may specifically perform relevant steps in the above-described embodiment of the hybrid palletizing method.
In particular, program 610 may include program code including computer-operating instructions.
The processor 602 may be a central processing unit CPU or a specific integrated circuit ASIC (Application Specific Integrated Circuit) or one or more integrated circuits configured to implement embodiments of the present invention. The one or more processors included by the computing device may be the same type of processor, such as one or more CPUs; but may also be different types of processors such as one or more CPUs and one or more ASICs.
A memory 606 for storing a program 610. The memory 606 may comprise high-speed RAM memory or may further comprise non-volatile memory (non-volatile memory), such as at least one disk memory.
The program 610 may be specifically configured to cause the processor 602 to perform the hybrid palletizing method in any of the method embodiments described above. The specific implementation of each step in the procedure 610 may refer to the corresponding descriptions of the corresponding steps and units in the above hybrid palletizing embodiment, which are not repeated herein. It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the apparatus and modules described above may refer to corresponding procedure descriptions in the foregoing method embodiments, which are not repeated herein.
The algorithms and displays presented herein are not inherently related to any particular computer, virtual system, or other apparatus. Various general-purpose systems may also be used with the teachings herein. The required structure for a construction of such a system is apparent from the description above. In addition, the present invention is not directed to any particular programming language. It will be appreciated that the teachings of the present invention described herein may be implemented in a variety of programming languages, and the above description of specific languages is provided for disclosure of enablement and best mode of the present invention.
In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be construed as reflecting the intention that: i.e., the claimed invention requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
Those skilled in the art will appreciate that the modules in the apparatus of the embodiments may be adaptively changed and disposed in one or more apparatuses different from the embodiments. The modules or units or components of the embodiments may be combined into one module or unit or component and, furthermore, they may be divided into a plurality of sub-modules or sub-units or sub-components. Any combination of all features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or units of any method or apparatus so disclosed, may be used in combination, except insofar as at least some of such features and/or processes or units are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features but not others included in other embodiments, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.
Various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that some or all of the functions of some or all of the components in accordance with embodiments of the present invention may be implemented in practice using a microprocessor or Digital Signal Processor (DSP). The present invention can also be implemented as an apparatus or device program (e.g., a computer program and a computer program product) for performing a portion or all of the methods described herein. Such a program embodying the present invention may be stored on a computer readable medium, or may have the form of one or more signals. Such signals may be downloaded from an internet website, provided on a carrier signal, or provided in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third, etc. do not denote any order. These words may be interpreted as names.
Claims (15)
1. A hybrid palletizing method for palletizing a plurality of bins having different bin sizes, the method comprising:
acquiring the sizes of the boxes to be stacked, the number of the boxes corresponding to each box size and the feeding sequence of the boxes;
Dividing the stacking container according to the sizes of the boxes and the number of the boxes corresponding to each box size to obtain a plurality of division results, and filling the boxes in a plurality of division areas in each division result according to the box feeding sequence until filling of all the boxes is completed, so as to obtain division filling results corresponding to each division result; each division result comprises a plurality of division areas, wherein each division area is an area formed by dividing a single-layer area of the stacking container;
determining target mixed stacking type information according to a plurality of segmentation filling results; each division filling result comprises a box size and a box placement position of a box filled in each division area in the corresponding division result; the target stacking type information is a segmentation filling result with the highest space utilization rate.
2. The method of claim 1, wherein the bin feed order is determined based on bin associated information corresponding to a plurality of bins.
3. The method of claim 2, wherein the bin associated information comprises at least one of: the box weight, the box height, the box density, the box receiving address and the type of articles contained in the box.
4. A method according to claim 3, wherein the method further comprises:
arranging a plurality of boxes according to the sequence of the box weight from large to small, and taking the arrangement sequence as the box feeding sequence;
and/or arranging a plurality of boxes according to the sequence from high to low of the box, and taking the arrangement sequence as the box feeding sequence;
and/or arranging a plurality of boxes according to the sequence of the box density from large to small, and taking the arrangement sequence as the box feeding sequence;
and/or arranging a plurality of boxes according to the sequence from far to near of the box receiving addresses, and taking the arrangement sequence as the box feeding sequence;
and/or determining the feeding sequence of the boxes according to the types of the articles contained in the boxes so as to place the boxes with the same types of the articles in the same stacking container.
5. The method of claim 1, wherein the dividing the stacking container according to the sizes of the boxes and the number of boxes corresponding to each size of the boxes to obtain a plurality of divided results, and filling the boxes in the plurality of divided areas in each divided result according to the box feeding sequence until filling of all the boxes is completed, and obtaining the divided filling result corresponding to each divided result further comprises:
Extracting an unfilled region from the unfilled region set, determining a target box to be filled from a plurality of boxes according to the feeding sequence of the boxes, and determining the number of unfilled boxes of the target box according to the number of boxes corresponding to the box size of the target box and the number of filled boxes; wherein the number of stacking containers is at least one, and the set of unfilled regions is generated from one of the stacking containers;
obtaining the accommodating quantity of the target box body which can be accommodated in the unfilled region according to the box body size of the target box body and the region size of the unfilled region;
judging whether the number of unfilled boxes of the target box is larger than or equal to the accommodating number;
if yes, filling the unfilled region by using the target box body, updating the unfilled region into a filled region and adding the filled region into a filled region set, and generating a new unfilled region and adding the new unfilled region into the unfilled region set;
if not, dividing the unfilled region according to a plurality of dividing modes, searching a first dividing region capable of accommodating the target boxes with the number of unfilled boxes from the dividing regions corresponding to the plurality of dividing modes for filling the target boxes, updating the first dividing region into filled regions and adding the filled regions into a filled region set, and adding a second dividing region corresponding to the first dividing region into the unfilled region set as an unfilled region corresponding to a single-layer region;
And performing the steps in a loop iteration mode until filling of all the boxes is completed, and obtaining a plurality of segmentation filling results.
6. The method of claim 5, wherein the method further comprises:
and if the number of the first segmentation areas is multiple, pruning is performed according to a preset heuristic.
7. The method of claim 6, wherein the preset heuristics include at least one of: the method comprises the steps of scoring a stack of a first filled partition area, utilizing the space of the first filled partition area, forming a filling space height of the first filled partition area, scoring the stack of a second filled partition area corresponding to the first partition area, utilizing the space of the second filled partition area corresponding to the first partition area and filling the number of boxes of the second filled partition area corresponding to the first partition area.
8. The method of claim 7, wherein pruning according to the preset heuristics further comprises:
obtaining a stack type score of each filled first dividing region, reserving dividing branches corresponding to the first dividing regions, of which the stack type scores accord with a first preset stack type scoring range, and removing dividing branches corresponding to other first dividing regions;
And/or obtaining the space utilization rate of each filled first division region, reserving division branches corresponding to the first division regions, of which the space utilization rate accords with a first preset space utilization rate range, and removing the division branches corresponding to other first division regions;
and/or, obtaining the height of a filling space formed by each filled first division region, reserving division branches corresponding to the first division regions with the height of the filling space conforming to a preset height range, and removing the division branches corresponding to other first division regions;
and/or obtaining a stack type score of the filled second division region corresponding to each first division region, reserving division branches corresponding to the second division regions with stack type scores conforming to a second preset stack type score range, and removing the division branches corresponding to other second division regions;
and/or obtaining the space utilization rate of the filled second division region corresponding to each first division region, reserving the division branches corresponding to the second division regions, of which the space utilization rate accords with a second preset space utilization rate range, and removing the division branches corresponding to other second division regions;
and/or obtaining the number of the boxes filled in the second partition area after filling corresponding to each first partition area, reserving partition branches corresponding to the second partition areas, of which the number of the boxes accords with the range of the preset material number, and removing partition branches corresponding to other second partition areas.
9. The method of claim 8, wherein the stack score of the filled first divided region is obtained based on a space utilization of the filled first divided region, a top level of the filled first divided region, and/or a support distribution of each bin in the filled first divided region;
the stack type score of the filled second divided area is obtained according to the space utilization rate of the filled second divided area, the top layer height of the filled second divided area and/or the supporting distribution condition of each box body in the filled second divided area.
10. The method of any of claims 5-9, wherein each unfilled region is used to fill a plurality of bins whose differences in bin size meet a predetermined range of differences.
11. The method of any of claims 1-9, wherein the segmented region is an L-shaped segmented region.
12. The method according to any one of claims 1-9, wherein determining target palletizing information from a plurality of segmentation fill results further comprises:
aiming at each division filling result, according to the box size and the box placement position of the box filled in each division area in the division filling result, the space utilization rate of the division filling result is obtained;
And selecting a segmentation filling result with the highest space utilization rate from the plurality of segmentation filling results as target stacking type information.
13. A hybrid palletizing apparatus for stacking a plurality of bins having different bin sizes, the apparatus comprising:
the acquisition module is suitable for acquiring the sizes of the boxes to be stacked, the number of the boxes corresponding to each box size and the feeding sequence of the boxes;
the division planning module is suitable for dividing the stacking container according to the sizes of the boxes and the number of the boxes corresponding to each box size to obtain a plurality of division results, and filling the boxes in a plurality of division areas in each division result according to the box feeding sequence until filling of all the boxes is completed to obtain a division filling result corresponding to each division result; each division result comprises a plurality of division areas, wherein each division area is an area formed by dividing a single-layer area of the stacking container;
the stack type determining module is suitable for determining target mixed stacking type information according to a plurality of segmentation filling results; each division filling result comprises a box size and a box placement position of a box filled in each division area in the corresponding division result; the target stacking type information is a segmentation filling result with the highest space utilization rate.
14. A computing device, comprising: the device comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete communication with each other through the communication bus;
the memory is configured to store at least one executable instruction that causes the processor to perform operations corresponding to a hybrid palletizing method as defined in any one of claims 1-12.
15. A computer storage medium having stored therein at least one executable instruction that causes a processor to perform operations corresponding to a hybrid palletizing method as defined in any one of claims 1-12.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210582237.XA CN114940386B (en) | 2022-05-26 | 2022-05-26 | Hybrid stacking planning method, device, computing equipment and computer storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210582237.XA CN114940386B (en) | 2022-05-26 | 2022-05-26 | Hybrid stacking planning method, device, computing equipment and computer storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114940386A CN114940386A (en) | 2022-08-26 |
| CN114940386B true CN114940386B (en) | 2023-11-03 |
Family
ID=82910063
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210582237.XA Active CN114940386B (en) | 2022-05-26 | 2022-05-26 | Hybrid stacking planning method, device, computing equipment and computer storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114940386B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117049199B (en) * | 2023-10-11 | 2024-02-13 | 季华实验室 | Container loading method and related equipment thereof |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05105234A (en) * | 1991-10-14 | 1993-04-27 | Murata Mach Ltd | Palletizing method |
| JPH08225155A (en) * | 1995-02-17 | 1996-09-03 | Murata Mach Ltd | Palletizing method |
| CN107148390A (en) * | 2014-10-29 | 2017-09-08 | 三菱重工业株式会社 | Vanning plan producing device and vanning plan preparation method |
| CN108275294A (en) * | 2017-01-06 | 2018-07-13 | 北京京东尚科信息技术有限公司 | Palletizing method, palletizing apparatus, computer readable storage medium and electronic equipment |
| CN111985675A (en) * | 2020-06-01 | 2020-11-24 | 梅卡曼德（北京）机器人科技有限公司 | Tray space planning method, stacking method and device and electronic equipment |
| CN112085385A (en) * | 2020-09-09 | 2020-12-15 | 广东力生智能有限公司 | Generation system and method of stable mixed box stack type box supply sequence based on order |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3104313A1 (en) * | 2011-10-17 | 2016-12-14 | Symbotic LLC | Pallet building system |
| US9663309B2 (en) * | 2013-09-06 | 2017-05-30 | Liquor Control Board Of Ontario (Lcbo) | Automated palletization method, system and software |
-
2022
- 2022-05-26 CN CN202210582237.XA patent/CN114940386B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05105234A (en) * | 1991-10-14 | 1993-04-27 | Murata Mach Ltd | Palletizing method |
| JPH08225155A (en) * | 1995-02-17 | 1996-09-03 | Murata Mach Ltd | Palletizing method |
| CN107148390A (en) * | 2014-10-29 | 2017-09-08 | 三菱重工业株式会社 | Vanning plan producing device and vanning plan preparation method |
| CN108275294A (en) * | 2017-01-06 | 2018-07-13 | 北京京东尚科信息技术有限公司 | Palletizing method, palletizing apparatus, computer readable storage medium and electronic equipment |
| CN111985675A (en) * | 2020-06-01 | 2020-11-24 | 梅卡曼德（北京）机器人科技有限公司 | Tray space planning method, stacking method and device and electronic equipment |
| CN112085385A (en) * | 2020-09-09 | 2020-12-15 | 广东力生智能有限公司 | Generation system and method of stable mixed box stack type box supply sequence based on order |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114940386A (en) | 2022-08-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112001535B (en) | Logistics boxing method, device, equipment and storage medium | |
| CN112085385A (en) | Generation system and method of stable mixed box stack type box supply sequence based on order | |
| Zhao et al. | A comparative review of 3D container loading algorithms | |
| US6876958B1 (en) | Method and system of optimized sequencing and configuring of items for packing in a bounded region | |
| CN104915817A (en) | Loading method and apparatus for container | |
| CN108861619B (en) | Semi-offline hybrid stacking method, system and robot | |
| CN112533834B (en) | Container packaging system | |
| Zachariadis et al. | The pallet-packing vehicle routing problem | |
| CN114940386B (en) | Hybrid stacking planning method, device, computing equipment and computer storage medium | |
| Khebbache-Hadji et al. | Heuristics and memetic algorithm for the two-dimensional loading capacitated vehicle routing problem with time windows | |
| CN107977756B (en) | Ternary tree planning calculation method for solving three-dimensional packing problem | |
| CN114048926B (en) | Multi-box type three-dimensional boxing optimization method and system based on multi-branch tree search | |
| CN114084683B (en) | Method and device for determining stack type | |
| CN115829454A (en) | Mixed stacking method and device for stacking according to layers, computing equipment and storage medium | |
| CN111507644B (en) | Multi-point unloading constrained three-dimensional multi-container loading method | |
| Maglić et al. | Optimization of container relocation operations in port container terminals | |
| CN110294251B (en) | Box-in-box type three-dimensional warehouse position design method for multiple varieties of small-batch articles | |
| US20190213291A1 (en) | Article-storage simulation device, article-storage simulation method, program, and recording medium | |
| CN115730789A (en) | ASRS task scheduling and goods allocation method and system under classified storage | |
| CN114429325A (en) | Intelligent box type recommendation method and system | |
| CN114971019A (en) | Pruning-based hybrid stacking planning method and device and computing equipment | |
| Jin et al. | A greedy look-ahead heuristic for the container relocation problem | |
| Delgado et al. | Generating optimal stowage plans for container vessel bays | |
| Ku | Rehandling problem of pickup containers under truck appointment system | |
| Koonsintananan et al. | Applied particle swarm optimization in solving container loading problem for logistics |
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 |