Dynamic random matching scanning stacking method and device
Through the scanning and palletizing method of dynamic random matching, the problem of goods waiting for fixed stations in the traditional palletizing mode is solved, and the automatic matching of goods and the improvement of palletizing efficiency is achieved.
Patent Information
- Application Number
- CN202411859673.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-16
- Publication Date
- 2025-02-28
AI Technical Summary
In the traditional one-to-many palletizing model, the cargo code and palletizing station code need to be pre-bound, resulting in the long wait for the target cargo to the fixed station, reducing the palletizing production efficiency.
The scanning and palletizing method of dynamic random matching is adopted. By obtaining the goods code and card status of the goods to be palletized, the target palletizing station is dynamically determined, avoiding long-term waiting, and achieving automatic matching.
The palletizing production efficiency is improved, long waits for the palletizing stations are avoided, and automatic matching of goods to be palletized is achieved.
Smart Images
Figure CN119527816A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of palletizing technology, and in particular to a dynamic random matching scanning palletizing method and device. Background Art
[0002] Palletizing technology refers to the process of stacking products on pallets or other containers in a predetermined manner and order through automated equipment. This technology is widely used in many industries such as food, medicine, chemicals, and logistics, aiming to improve production efficiency, reduce labor costs, and improve work safety. Palletizing technology is an emerging technology in the field of logistics automation technology and has developed rapidly in recent years. In particular, significant progress has been made in robot palletizing technology.
[0003] The palletizing robot is an efficient and precise automated equipment specially used for placing and stacking products in the production line. It uses advanced computer vision and motion control technology to quickly identify and grab goods of different sizes, shapes, and weights, and stack them in a specified position in a specific way.
[0004] In the manufacturing workshop, in order to provide automated procedures and production efficiency, and to further improve work efficiency and the work efficiency of palletizing robots, a palletizing mode has emerged in which one palletizing robot corresponds to multiple palletizing stations. However, in the traditional one-to-many palletizing mode, it is necessary to bind the cargo code and the palletizing station code one by one in advance, and stack the target cargo on a fixed palletizing station. This leads to the problem of low palletizing production efficiency due to the long waiting time of the target cargo at the fixed station. Summary of the invention
[0005] The purpose of the present application is to provide a dynamic random matching scanning palletizing method and device, which realizes the dynamic random allocation of goods to be palletized in a one-to-many palletizing mode, avoids long waiting time at the palletizing station, and improves the palletizing production efficiency.
[0006] To achieve the above objectives, this application provides the following solutions:
[0007] In a first aspect, the present application provides a dynamic random matching scanning palletizing method, comprising:
[0008] Obtain the cargo code of the cargo to be palletized;
[0009] Controlling the pallet to move to the palletizing station in the palletizing area, one palletizing station corresponds to one pallet;
[0010] Obtaining the card board status of each of the card boards at the current moment; the card board status indicates whether the card board is ready;
[0011] Judging the palletizing state of the corresponding palletizing station at the current moment according to the palletizing state of the pallet at the current moment; the palletizing state indicates whether the palletizing station is idle;
[0012] Determine the target palletizing station at the current moment according to the palletizing states of all the palletizing stations at the current moment; the palletizing state of the target palletizing station is an idle state;
[0013] Determining whether the cargo information of the cargo to be palletized matches the cargo information required to be palletized in the palletizing area according to the cargo code of the cargo to be palletized;
[0014] If they match, the goods to be palletized are controlled to move to the target palletizing station at the current moment, so as to achieve the palletizing of the goods to be palletized at the current moment.
[0015] Optionally, obtaining the cargo code of the cargo to be palletized specifically includes:
[0016] Laser scanning is used to obtain the cargo code of the goods to be palletized.
[0017] Optionally, the pallet status includes: the pallet is ready, the pallet is being palletized, and the pallet is full.
[0018] Optionally, judging the palletizing state of the corresponding palletizing station at the current moment according to the palletizing state of the pallet at the current moment specifically includes:
[0019] If the pallet status of the pallet at the current moment is that the pallet is ready, it is determined that the pallet status of the corresponding palletizing station at the current moment is an idle state;
[0020] If the pallet status of the pallet at the current moment is palletizing, it is determined that the palletizing status of the corresponding palletizing station at the current moment is busy;
[0021] If the pallet status of the pallet at the current moment is that the pallet is full, it is determined that the pallet status of the corresponding palletizing station at the current moment is a suspended state.
[0022] Optionally, determining whether the cargo information of the cargo to be palletized matches the cargo information required for palletizing in the palletizing area according to the cargo code of the cargo to be palletized specifically includes:
[0023] Verify whether the format of the cargo code of the cargo to be palletized is correct;
[0024] If the format of the cargo code of the palletized cargo is correct, the cargo information stored in the cargo code of the cargo to be palletized is compared with the cargo information required to be palletized in the palletizing area;
[0025] If the cargo information stored in the cargo code of the cargo to be palletized is the same as the cargo information required for palletizing in the palletizing area, it is determined that the cargo information of the cargo to be palletized matches the cargo information required for palletizing in the palletizing area.
[0026] Optionally, determining the target palletizing station at the current moment according to the palletizing status of all palletizing stations at the current moment specifically includes:
[0027] Get the station code of the palletizing station in the palletizing area;
[0028] The station codes of all palletizing stations that are idle at the current moment are sorted to obtain a work code sequence;
[0029] The palletizing station with the smallest station code in the work code sequence is determined as the target palletizing station.
[0030] Optionally, after controlling the goods to be palletized to move to the target palletizing station at the current moment to achieve palletizing of the goods to be palletized at the current moment, the method further includes:
[0031] During the palletizing process of the goods to be palletized, if the pallet status of the pallet at the target palletizing station is that the pallet is full, the full pallet is controlled to be moved out of the target palletizing station, the new pallet is controlled to move to the target palletizing station, and the number of palletized goods is counted;
[0032] If the quantity is the same as the quantity of the goods to be palletized, then all the palletizing of the goods to be palletized is completed;
[0033] If the quantity is less than the quantity of the goods to be palletized, the remaining goods to be palletized are controlled to move to a new pallet until all the goods to be palletized are palletized.
[0034] In a second aspect, the present application provides a dynamic random matching scanning and stacking device, comprising: a cardboard, a scanning device, and a controller connected to the cardboard and the scanning device;
[0035] The scanning device is used for:
[0036] Collecting cargo codes of cargo to be palletized and sending the cargo codes of cargo to be palletized to the controller;
[0037] The controller is used to:
[0038] Controlling the pallet to move to the palletizing station in the palletizing area, one palletizing station corresponds to one pallet;
[0039] Obtaining the card board status of each of the card boards at the current moment; the card board status indicates whether the card board is ready;
[0040] Judging the palletizing state of the corresponding palletizing station at the current moment according to the palletizing state of the pallet at the current moment; the palletizing state indicates whether the palletizing station is idle;
[0041] Determine the target palletizing station at the current moment according to the palletizing states of all the palletizing stations at the current moment; the palletizing state of the target palletizing station is an idle state;
[0042] Determining whether the cargo information of the cargo to be palletized matches the cargo information required to be palletized in the palletizing area according to the cargo code of the cargo to be palletized;
[0043] If they match, the goods to be palletized are controlled to move to the target palletizing station at the current moment, so as to achieve the palletizing of the goods to be palletized at the current moment.
[0044] Optionally, in terms of determining the palletizing state of the corresponding palletizing station at the current moment according to the pallet state of the pallet at the current moment, the controller is specifically used to:
[0045] If the pallet status of the pallet at the current moment is that the pallet is ready, it is determined that the pallet status of the corresponding palletizing station at the current moment is an idle state;
[0046] If the pallet status of the pallet at the current moment is palletizing, it is determined that the palletizing status of the corresponding palletizing station at the current moment is busy;
[0047] If the pallet status of the pallet at the current moment is that the pallet is full, it is determined that the pallet status of the corresponding palletizing station at the current moment is a suspended state.
[0048] Optionally, in determining whether the cargo information of the cargo to be palletized matches the cargo information required for palletizing in the palletizing area according to the cargo code of the cargo to be palletized, the controller is specifically configured to:
[0049] Verify whether the format of the cargo code of the cargo to be palletized is correct;
[0050] If the format of the cargo code of the palletized cargo is correct, the cargo information stored in the cargo code of the cargo to be palletized is compared with the cargo information required to be palletized in the palletizing area;
[0051] If the cargo information stored in the cargo code of the cargo to be palletized is the same as the cargo information required for palletizing in the palletizing area, it is determined that the cargo information of the cargo to be palletized matches the cargo information required for palletizing in the palletizing area.
[0052] According to the specific embodiments provided in this application, this application has the following technical effects:
[0053] The present application provides a dynamic random matching scanning palletizing method and device. Before starting palletizing, there is no need to bind the goods to be palletized and the palletizing stations one by one in advance. It is only necessary to determine whether the corresponding palletizing station is idle at the current moment through the pallet state of the pallet at the current moment, and then determine whether the goods information of the goods to be palletized matches the goods information required for palletizing in the palletizing area through the goods code of the goods to be palletized. Automatic matching of the goods to be palletized can be achieved, and there is no need to wait for a long time at a fixed palletizing station, which greatly improves the palletizing production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS
[0054] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
[0055] Figure 1 A schematic flow chart of a dynamic random matching scanning palletizing method provided in one embodiment of the present application;
[0056] Figure 2 A schematic diagram of a process for determining a target palletizing station at a current moment according to the palletizing states of all palletizing stations at a current moment provided in an embodiment of the present application;
[0057] Figure 3 A schematic diagram of a process for determining whether cargo information of the cargo to be palletized matches cargo information required for palletizing in a palletizing area according to cargo codes of the cargo to be palletized, provided in one embodiment of the present application;
[0058] Figure 4 A flow chart of the design principles of a one-to-six palletizer provided in one embodiment of the present application. DETAILED DESCRIPTION
[0059] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.
[0060] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.
[0061] In an exemplary embodiment, Figure 1As shown, a dynamic random matching scanning palletizing method is provided, comprising the following steps 100 to 106. Among them:
[0062] Step 100, obtaining the cargo code of the cargo to be palletized: using laser scanning to obtain the cargo code of the cargo to be palletized.
[0063] Step 101, control the pallet to move to the palletizing station in the palletizing area, and one palletizing station corresponds to one pallet.
[0064] Step 102, obtaining the card board status of each card board at the current moment; the card board status indicates whether the card board is ready.
[0065] Step 103, judging the palletizing state of the corresponding palletizing station at the current moment according to the palletizing state of the pallet at the current moment; the palletizing state indicates whether the palletizing station is idle.
[0066] Step 104, determining the target palletizing station at the current moment according to the palletizing states of all the palletizing stations at the current moment; the palletizing state of the target palletizing station is an idle state.
[0067] Step 105: determining, based on the cargo code of the cargo to be palletized, whether the cargo information of the cargo to be palletized matches the cargo information required to be palletized in the palletizing area.
[0068] Step 106: If a match is found, the goods to be palletized are controlled to move to the target palletizing station at the current moment, so as to achieve palletizing of the goods to be palletized at the current moment.
[0069] By implementing the above steps 100 to 106, it is possible to realize that there is no need to bind the goods to be palletized and the palletizing stations one by one in advance before starting palletizing. It is only necessary to determine whether the corresponding palletizing station is idle at the current moment through the pallet state of the pallet at the current moment, and then determine whether the cargo information of the goods to be palletized matches the cargo information required for palletizing in the palletizing area through the cargo code of the goods to be palletized, so that automatic matching of the goods to be palletized can be achieved, and there is no need to wait for a long time at a fixed palletizing station, so as to further improve the palletizing production efficiency.
[0070] In another exemplary embodiment of the present application, the pallet status includes: the pallet is ready, the pallet is being palletized, and the pallet is full.
[0071] Step 103 specifically includes: if the pallet state of the pallet at the current moment is that the pallet is ready, determining that the pallet state of the corresponding palletizing station at the current moment is an idle state; if the pallet state of the pallet at the current moment is that the pallet is palletizing, determining that the palletizing state of the corresponding palletizing station at the current moment is a busy state; if the pallet state of the pallet at the current moment is that the pallet is full, determining that the palletizing state of the corresponding palletizing station at the current moment is a suspended state.
[0072] Through the above process, the palletizing state of the pallet corresponding to the pallet at the current moment can be judged according to the pallet state of the pallet at the current moment, laying the foundation for quickly selecting the target palletizing station for the goods to be palletized in the palletizing area.
[0073] In another exemplary embodiment of the present application, Figure 2 As shown, step 104 specifically includes the following steps 200 to 202. Among them:
[0074] Step 200, obtaining the station code of the palletizing station in the palletizing area.
[0075] Step 201, sorting the station codes of all palletizing stations that are idle at the current moment to obtain a work code sequence.
[0076] Step 202: determine the palletizing station with the smallest station code in the work code sequence as the target palletizing station.
[0077] In another exemplary embodiment of the present application, Figure 3 As shown, step 105 specifically includes the following steps 300 to 302. Among them:
[0078] Step 300, verifying whether the format of the cargo code of the cargo to be palletized is correct.
[0079] Step 301: If the format of the cargo code of the palletized cargo is correct, the cargo information stored in the cargo code of the cargo to be palletized is compared with the cargo information required for palletizing in the palletizing area.
[0080] Step 302: If the cargo information stored in the cargo code of the cargo to be palletized is the same as the cargo information required for palletizing in the palletizing area, it is determined that the cargo information of the cargo to be palletized matches the cargo information required for palletizing in the palletizing area.
[0081] By implementing Figure 2 and Figure 3 The steps in the above method realize the rapid selection of the target palletizing station for the goods to be palletized in the palletizing area, thereby avoiding the long waiting time of the goods to be palletized for the target palletizing station.
[0082] In another exemplary embodiment of the present application, after step 106, the following steps are further included:
[0083] During the palletizing process of the goods to be palletized, if the pallet status of the pallet at the target palletizing station is that the pallet is full, the full pallet is controlled to be moved out of the target palletizing station, the new pallet is controlled to move to the target palletizing station, and the number of palletized goods is counted.
[0084] If the quantity is the same as the quantity of the goods to be palletized, all palletizing of the goods to be palletized is completed.
[0085] If the quantity is less than the quantity of goods to be palletized, the remaining goods to be palletized are controlled to move to the new pallet until all the goods to be palletized are palletized.
[0086] By counting the number of palletized goods on the pallet, not only the palletizing accuracy is improved, but also the palletizing completion errors caused by insufficient quantity are avoided, further improving the palletizing production efficiency.
[0087] In another exemplary embodiment of the present application, in a one-to-six palletizer, taking the first movement of two boxes of goods to be palletized to the target palletizing station at the current moment as an example, the actual application process is as follows: Figure 4 As shown, specifically including:
[0088] Step 400, start the one-to-six palletizer, and when palletizing begins, use the Datalogic MATRIX 300N scanning device to scan the pallet code and collect the pallets. After scanning, it outputs a pallet release signal; if the scan fails, it outputs a rejection signal and executes the pallet deletion command.
[0089] Step 401, receiving a pallet release signal, after releasing the pallet, the successfully scanned pallet is moved to the palletizing station, and the one-to-six palletizer outputs a pallet entering the palletizing station signal. After receiving the signal, the one-to-six palletizer records the ready state of the pallet at the palletizing station. When a new pallet enters, steps 400 and 401 are repeated in a loop.
[0090] Step 402, collect the goods to be palletized, and use the Datalogic MATRIX 300N scanning device to automatically scan the goods codes of the two boxes of goods to be palletized. If the above two boxes of goods to be palletized are the first palletizing of the goods to be palletized, the palletizing stations of the palletizing area corresponding to the goods to be palletized are recorded, and then the codes of the goods to be palletized are verified; if the above two boxes of goods to be palletized are not the first palletizing of the goods to be palletized, the codes of the goods to be palletized are directly verified.
[0091] Verify whether the format of the cargo code of the two boxes of goods to be palletized is correct, and verify whether the cargo information stored in the cargo code of the two boxes of goods to be palletized is the same as the cargo information required for palletizing in the palletizing area:
[0092] (1) If the format of the cargo codes of the two boxes of goods to be palletized is correct, the cargo information stored in the cargo codes of the two boxes of goods to be palletized is compared with the cargo information required for palletizing in the palletizing area. If they are the same, it is determined that the cargo information of the goods to be palletized matches the cargo information required for palletizing in the palletizing area. Then, the station codes of the palletizing stations in the palletizing area are obtained, and the station codes of all the palletizing stations that are idle at the current moment are sorted to obtain a work code sequence. The palletizing station with the smallest station code in the work code sequence is determined as the target palletizing station, and the station code of the target palletizing station is output. If they are different, a reflow signal is output to execute reflow.
[0093] (2) If the format of the cargo code of any box of goods to be palletized or the cargo code of two boxes of goods to be palletized is incorrect, a reflow signal is output to execute reflow of the box of goods to be palletized or the two boxes of goods to be palletized with the incorrect format.
[0094] (3) If the format of the cargo codes of the two boxes of goods to be palletized is correct, but after comparing the cargo information stored in the cargo codes of the two boxes of goods to be palletized with the cargo information required for palletizing in the palletizing area, it is found that they are different, indicating that the cargo information of the two boxes of goods to be palletized does not match the cargo information required for palletizing in the palletizing area, a reflow signal is output to execute reflow of the two boxes of goods to be palletized.
[0095] (4) If the format of the cargo codes of the two boxes of goods to be palletized is correct, but after comparing the cargo information stored in the cargo codes of the two boxes of goods to be palletized with the cargo information required for palletizing in the palletizing area, it is found that any one of the two boxes of goods to be palletized is different, indicating that the cargo information of any one of the two boxes of goods to be palletized does not match the cargo information required for palletizing in the palletizing area, then a reflow signal is output to execute reflow for any one of the two boxes of goods to be palletized that does not match the cargo information required for palletizing in the palletizing area.
[0096] Step 403, after the cargo codes of the two boxes of goods to be palletized are verified, the station codes of the target palletizing stations corresponding to the two boxes of goods to be palletized are output, and the two boxes of goods to be palletized are placed on the pallet boards of the target palletizing stations corresponding to the two boxes.
[0097] Step 404, during the palletizing process of two boxes of goods to be palletized, if the pallet status of the pallet at the target palletizing station is that the pallet is full, a full pallet release signal is output, the pallet release is executed, the full pallet is controlled to be moved out of the target palletizing station, and then the new pallet is controlled to move to the target palletizing station, and the number of palletized goods is counted.
[0098] If the quantity is the same as the quantity of the goods to be palletized, all the palletizing of the goods to be palletized is completed and the pallet is released.
[0099] If the quantity is less than the quantity of goods to be palletized, the pallet is released and removed at the subsequent workstation, and the remaining goods to be palletized are controlled to move to the new pallet until all the goods to be palletized are completed.
[0100] At present, in the related technology, when the palletizer performs palletizing, it is necessary to bind the goods to be palletized and the palletizing stations in advance, so that the goods to be palletized correspond to the palletizing stations one by one. Then, when the production order is placed, manual scheduling is performed to specify the palletizing stations. After loading, the cargo code of the goods to be palletized is scanned, the corresponding palletizing stations are identified, and the goods to be palletized that have passed the scan are controlled to be grabbed, and the goods to be palletized are moved to the designated palletizing stations to complete the palletizing.
[0101] In an exemplary embodiment of the present application, when a one-to-six palletizer performs palletizing, there is no need to bind the goods to be palletized and the palletizing stations one by one in advance. When a production order is placed, whether the corresponding palletizing station is idle at the current moment is determined by the pallet status of the pallet at the current moment, and then the cargo code of the goods to be palletized is used to determine whether the cargo information of the goods to be palletized matches the cargo information required for palletizing in the palletizing area, so that the target palletizing station can be automatically determined, and then the matching goods to be palletized are controlled to be grabbed and moved to the target palletizing station, thereby realizing automatic matching of the goods to be palletized and finally completing palletizing.
[0102] The present application provides a dynamic random matching scanning palletizing method and device. Before starting palletizing, there is no need to bind the goods to be palletized and the palletizing stations one by one in advance. It is only necessary to determine whether the corresponding palletizing station is idle at the current moment through the pallet state of the pallet at the current moment, and then determine whether the goods information of the goods to be palletized matches the goods information required for palletizing in the palletizing area through the goods code of the goods to be palletized. Automatic matching of the goods to be palletized can be achieved, and there is no need to wait for a long time at a fixed palletizing station, which greatly improves the palletizing production efficiency.
[0103] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
[0104] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. At the same time, for those skilled in the art, according to the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.
Claims
1. A dynamic random matching scanning palletizing method, characterized in that: The dynamic random matching scanning palletizing method comprises: Obtain the cargo code of the cargo to be palletized; Controlling the pallet to move to the palletizing station in the palletizing area, one palletizing station corresponds to one pallet; Obtaining the card board status of each of the card boards at the current moment; the card board status indicates whether the card board is ready; Judging the palletizing state of the corresponding palletizing station at the current moment according to the palletizing state of the pallet at the current moment; the palletizing state indicates whether the palletizing station is idle; Determine the target palletizing station at the current moment according to the palletizing states of all the palletizing stations at the current moment; the palletizing state of the target palletizing station is an idle state; Determining whether the cargo information of the cargo to be palletized matches the cargo information required to be palletized in the palletizing area according to the cargo code of the cargo to be palletized; If they match, the goods to be palletized are controlled to move to the target palletizing station at the current moment, so as to achieve the palletizing of the goods to be palletized at the current moment.
2. The dynamic random matching scanning palletizing method according to claim 1, characterized in that: Get the cargo code of the cargo to be palletized, including: Laser scanning is used to obtain the cargo code of the goods to be palletized.
3. The dynamic random matching scanning palletizing method according to claim 1, characterized in that: The pallet status includes: the pallet is ready, the pallet is being stacked, and the pallet is full.
4. The dynamic random matching scanning palletizing method according to claim 3 is characterized in that: According to the pallet status of the pallet at the current moment, the pallet status of the corresponding palletizing station at the current moment is judged, specifically including: If the pallet status of the pallet at the current moment is that the pallet is ready, it is determined that the pallet status of the corresponding palletizing station at the current moment is an idle state; If the pallet status of the pallet at the current moment is palletizing, it is determined that the palletizing status of the corresponding palletizing station at the current moment is busy; If the pallet status of the pallet at the current moment is that the pallet is full, it is determined that the pallet status of the corresponding palletizing station at the current moment is a suspended state.
5. The dynamic random matching scanning palletizing method according to claim 1, characterized in that: Determining whether the cargo information of the cargo to be palletized matches the cargo information required for palletizing in the palletizing area according to the cargo code of the cargo to be palletized specifically includes: Verify whether the format of the cargo code of the cargo to be palletized is correct; If the format of the cargo code of the cargo to be palletized is correct, the cargo information stored in the cargo code of the cargo to be palletized is compared with the cargo information required to be palletized in the palletizing area; If the cargo information stored in the cargo code of the cargo to be palletized is the same as the cargo information required for palletizing in the palletizing area, it is determined that the cargo information of the cargo to be palletized matches the cargo information required for palletizing in the palletizing area.
6. The dynamic random matching scanning palletizing method according to claim 1, characterized in that: Determine the target palletizing station at the current moment according to the palletizing status of all palletizing stations at the current moment, including: Get the station code of the palletizing station in the palletizing area; The station codes of all palletizing stations that are idle at the current moment are sorted to obtain a work code sequence; The palletizing station with the smallest station code in the work code sequence is determined as the target palletizing station.
7. The dynamic random matching scanning palletizing method according to claim 3, characterized in that: After controlling the goods to be palletized to move to the target palletizing station at the current moment, and realizing the palletizing of the goods to be palletized at the current moment, the method further includes: During the palletizing process of the goods to be palletized, if the pallet status of the pallet at the target palletizing station is that the pallet is full, the full pallet is controlled to be moved out of the target palletizing station, the new pallet is controlled to move to the target palletizing station, and the number of palletized goods is counted; If the quantity is the same as the quantity of the goods to be palletized, then all the palletizing of the goods to be palletized is completed; If the quantity is less than the quantity of the goods to be palletized, the remaining goods to be palletized are controlled to move to a new pallet until all the goods to be palletized are palletized.
8. A dynamic random matching scanning and stacking device, characterized in that: The dynamic random matching scanning and stacking device comprises: a cardboard, a scanning device, and a controller connected to the cardboard and the scanning device; The scanning device is used for: Collecting cargo codes of cargo to be palletized and sending the cargo codes of cargo to be palletized to the controller; The controller is used to: Controlling the pallet to move to the palletizing station in the palletizing area, one palletizing station corresponds to one pallet; Obtaining the card board status of each of the card boards at the current moment; the card board status indicates whether the card board is ready; Judging the palletizing state of the corresponding palletizing station at the current moment according to the palletizing state of the pallet at the current moment; the palletizing state indicates whether the palletizing station is idle; Determine the target palletizing station at the current moment according to the palletizing states of all the palletizing stations at the current moment; the palletizing state of the target palletizing station is an idle state; Determining whether the cargo information of the cargo to be palletized matches the cargo information required to be palletized in the palletizing area according to the cargo code of the cargo to be palletized; If they match, the goods to be palletized are controlled to move to the target palletizing station at the current moment, so as to achieve the palletizing of the goods to be palletized at the current moment.
9. The dynamic random matching scanning and stacking device according to claim 8, characterized in that: In terms of judging the palletizing state of the corresponding palletizing station at the current moment according to the pallet state of the pallet at the current moment, the controller is specifically used for: If the pallet status of the pallet at the current moment is that the pallet is ready, it is determined that the pallet status of the corresponding palletizing station at the current moment is an idle state; If the pallet status of the pallet at the current moment is palletizing, it is determined that the palletizing status of the corresponding palletizing station at the current moment is busy; If the pallet status of the pallet at the current moment is that the pallet is full, it is determined that the pallet status of the corresponding palletizing station at the current moment is a suspended state.
10. The dynamic random matching scanning and stacking device according to claim 8, characterized in that: In terms of determining whether the cargo information of the cargo to be palletized matches the cargo information required for palletizing in the palletizing area according to the cargo code of the cargo to be palletized, the controller is specifically used to: Verify whether the format of the cargo code of the cargo to be palletized is correct; If the format of the cargo code of the palletized cargo is correct, the cargo information stored in the cargo code of the cargo to be palletized is compared with the cargo information required to be palletized in the palletizing area; If the cargo information stored in the cargo code of the cargo to be palletized is the same as the cargo information required for palletizing in the palletizing area, it is determined that the cargo information of the cargo to be palletized matches the cargo information required for palletizing in the palletizing area.