A Free Palletizing and Packing Method Based on Reference Line Criterion
A reference line and stacking technology, applied in the field of logistics picking and warehousing industrial applications, to achieve the effect of optimizing utilization, overcoming inefficiency, and achieving positioning information acquisition
Active Publication Date: 2021-08-31
XIAMEN UNIV TAN KAH KEE COLLEGE
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Problems solved by technology
However, few people have studied the automatic packing scheme through the control of the manipulator of the palletizing robot. Therefore, it is imperative to design a controllable programmer to realize the manipulator to grab the goods and realize the automatic packing scheme.
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[0022] The technical solution of the present invention will be specifically described below in conjunction with the accompanying drawings.
[0023] Aiming at the B2B logistics warehousing scene, the present invention proposes a logistics intelligent packing algorithm based on automatic guided vehicles, palletizing robots and scheduling management. This scenario generally has the characteristics of a large number of items and a variety of models. The implementation of this algorithm can maximize the processing speed of identification, sorting, incoming and outgoing goods, especially the efficiency and accuracy of picking. Specific steps are as follows:
[0024] (1) Define a pallet, regard the pallet as a cuboid, and the products to be palletized as small cuboids, record the specifications and models of each product to be palletized, and put them into a list;
[0025] (2) Through the programming control system, the location information and motion status of the AGV car body, the...
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The invention relates to a free palletizing and packing method based on a reference line criterion. First define a pallet that can be regarded as a cuboid, and place the goods as a small cuboid; through the programming controller, control the position of the manipulator to grab the goods each time, and start grabbing from the nearest point as much as possible; place the goods on the pallet again In the upper left corner, the principle of selecting goods is: according to the list in the space, place them according to the length priority rule or the minimum Manhattan distance. At this time, record the position of the goods on the pallet; finally use the list traversal method to place the next goods along the Arrange in a straight line until the first layer can no longer be placed; when performing the second layer operation, when the manipulator grabs a cargo, it will form a three-dimensional in space. At this time, it is required that the three-dimensional and all the cuboids that have been placed are in three dimensions. Separation in space means that they cannot collide. The present invention is designed for grabbing multi-standard boxes, and makes the remaining space as small as possible while ensuring the maximum loading of goods as much as possible.
Description
technical field [0001] The invention belongs to the industrial application field of logistics picking and warehousing, and relates to computers, automatic control systems and communication principles. Under the premise of automatically identifying the position information of the goods, the palletizing robot automatically grabs the goods through the manipulator and puts the goods into the pallet. At the same time, it is guaranteed to achieve the best intuitive loading method for the box packing problem under various constraints, especially the maximum loading rate and the minimum remaining space method considering the direction constraints, specifically a free palletizing method based on the reference line criterion. box method. Background technique [0002] With the advent of the era of artificial intelligence, the strong and continuous development of science and technology will drive the rapid rise of the overall industry. The automation and mechanization of the production...
Claims
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IPC IPC(8): B65B5/10B65B57/14
Inventor 王海玲魏雅君周游刘宇航黄诚毅
Owner XIAMEN UNIV TAN KAH KEE COLLEGE