Semi-online stack type planning method and robot

Abstract

The embodiment of the invention relates to the field of automatic loading in the logistics industry, and discloses a semi-online stack type planning method and a robot. The method comprises the stepsthat an initial stack type is planned according to loading information, and the initial gravity center of the initial stack type is calculated; a first weight threshold is calculated; and the output position of the first goods is determined according to the weight of the first goods, the initial gravity center and the first weight threshold value, and the output position of the first goods comprises a stacking position corresponding to the initial stack type in the compartment and a buffer area. According to the semi-online stack type planning method and the robot, the offline stack type is adjusted online according to the real-time information of the goods, the global optimal characteristic of the offline planning method and the advantage that the real-time information of the goods is considered in online planning are comprehensively utilized, the online calculation amount is reduced, and the loading speed is increased; the goods output position, buffer area sorting and buffer area goods output all take weight as a consideration factor, the problem that the gravity center of the actual stack type moves upwards relative to the initial gravity center is solved, and the stability ofthe actual stack type is guaranteed.

Description

technical field [0001] The invention relates to the field of automatic loading in the logistics industry, in particular to a semi-online stacking planning method and a robot. Background technique [0002] In the field of automatic loading, the loading robot stacks the goods to the designated position in the compartment according to the planned stacking type, and the offline stacking type planning realizes all the known information of the cartons to be loaded, and can obtain the globally optimal stacking type. In the field of mixed packing, one car is usually loaded with one or more orders of goods. Generally speaking, the cartons in an order are of the same size. The stack planning method usually obtains the size, quantity and weight information of the cartons from the order information. The global optimal stack type is planned in the off-line stack type. [0003] However, in the actual production process, the weight information of cartons is a rough estimate, and the same ...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the embodiment of the present invention is to provide a semi-online stacking planning method and robot, which solves the problem that the center of gravity of the actual stacking type moves up compared with the theoretical stacking type in the prior art, and the goods are prone to collapse during transportation after loading Phenomenon, a technical problem with a large amount of computation in stack planning

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