Package pre-palletizing system, method, industrial control equipment and storage medium

Abstract

The embodiment of the present invention discloses a package pre-palletizing system, method and storage medium. The package pre-palletizing system includes a package conveying device for conveying packages to be palletized; a feeding device for conveying feeding feeding packages; a visual device including a first shooting module and a second shooting module, the first shooting module and the second shooting module are arranged corresponding to the package conveying device and the feeding feeding device, and are used to collect a first package image of the package to be palletized and a second package image of the feeding feeding package, and transmit them to an industrial control device; the industrial control device is used to receive the first package image and the second package image, and generate a first control instruction and a second control instruction according to the first control instruction and the second control instruction, instructing a package adjustment device to operate according to the first control instruction and the second control instruction; the package adjustment device is used to operate according to the first control instruction and the second control instruction to realize pre-palletizing of the package to be palletized. The present invention quickly obtains package images through a visual device, thereby improving the stability and volume ratio of the package to be palletized.

Description

Technical Field

[0001] The present invention relates to the field of logistics automation, and in particular to a package pre-palletizing system, method and storage medium. Background Art

[0002] With the continuous development of modern technology, the e-commerce industry has also continued to develop and grow, and the express logistics industry has received unprecedented popularity and application. With the increasing number of express parcels, the use of cage trucks for loading and transportation has become increasingly popular. In order to maximize the use of space, the cage trucks must be used for palletizing parcels, and rectangular coordinate manipulators are generally used for palletizing. The existing manipulator palletizing has the following problems: The existing palletizing method is for palletizing items of the same size. Since the sizes of parcels in the logistics industry are different, the existing method of palletizing will cause the parcels to fall over, or even the entire tray of parcels to collapse.

[0003] Therefore, there is an urgent need to provide a parcel pre-palletizing system to solve the technical problems of easy dumping of parcels and low volume ratio during palletizing in the prior art. Summary of the invention

[0004] The embodiments of the present invention provide a package pre-palletizing system, method and storage medium, which provide visual guidance through a visual device, quickly obtain a package image, and generate a control instruction based on the package image to control a package adjustment device to fill in the gaps and / or straighten the package, thereby solving the technical problems of easy toppling of packages and low volume ratio during palletizing in the prior art.

[0005] In a first aspect, the present application provides a package pre-palletizing system, comprising:

[0006] A package conveying device, used for conveying packages to be palletized;

[0007] A feeding device for conveying feeding packages;

[0008] The visual device includes at least two shooting modules, wherein the at least two shooting modules include a first shooting module and a second shooting module, wherein the first shooting module is arranged corresponding to the package conveying device, and is used to collect a first package image of the package to be palletized on the package conveying device, and transmit the first package image to the industrial control device, and the second shooting module is arranged corresponding to the feeding device, and is used to collect a second package image of the feeding package on the feeding device, and transmit the second package image to the industrial control device;

[0009] an industrial control device, which is in communication with the visual device, and is used to receive the first package image and the second package image captured by the visual device, and to generate a first control instruction and a second control instruction according to the first package image and the second package image, and to instruct the package adjustment device to operate according to the first control instruction and the second control instruction;

[0010] The package adjustment device is communicatively connected to the industrial control device and is used to straighten and fill the packages to be palletized according to the first control instruction and the second control instruction to achieve pre-palletizing of the packages to be palletized.

[0011] In some embodiments of the present application, the package adjustment device is mounted above the package conveying device and the feeding device, and the visual device is mounted above the package adjustment device.

[0012] In some embodiments of the present application, the package conveying device includes a package pre-board unit for conveying packages to be palletized, the package pre-board unit corresponds to the first shooting module, and the first shooting module is used to capture a first package image of the package to be palletized on the package pre-board unit;

[0013] The industrial control device is used to generate a first control instruction according to the first package image, and instruct the package adjustment device to operate according to the first control instruction to achieve the straightening of the package to be palletized.

[0014] In some embodiments of the present application, the industrial control equipment is specifically used for:

[0015] Obtaining the corresponding relationship between the inclination angle of the package to be stacked and the operation action of the package adjustment device;

[0016] Determine, according to the first package image, an inclination angle of the package to be palletized corresponding to the first package image;

[0017] generating the first control instruction according to the inclination angle of the package to be palletized corresponding to the first package image and the corresponding relationship;

[0018] Instruct the package adjustment device to operate according to the first control instruction to achieve the straightening of the package to be stacked.

[0019] In some embodiments of the present application, the feeding device includes a first feeding conveying unit for conveying a feeding package, the first feeding conveying unit corresponds to the second shooting module, and the second shooting module is used to capture a second package image of the feeding package on the first feeding conveying unit;

[0020] The industrial control device is used to generate a second control instruction according to the first package image and the second package image, and instruct the package adjustment device to operate according to the second control instruction to achieve empty filling of the packages to be palletized.

[0021] In some embodiments of the present application, the industrial control equipment is specifically used for:

[0022] Obtain the corresponding relationship between the empty space area between the packages to be stacked and the number of packages to be replenished;

[0023] Obtaining the correspondence between the empty space area between the packages to be stacked, the replenishment packages and the operation of the package adjustment device;

[0024] Determine, based on the first package image, an empty area between packages to be stacked corresponding to the first package image;

[0025] Determine the number of supplementary material packages corresponding to the second package image according to the second package image;

[0026] Generate a second control instruction according to the empty space area between the packages to be stacked corresponding to the first package image, the replenishment package corresponding to the second package image, and the corresponding relationship;

[0027] Instruct the package adjustment device to operate according to the second control instruction to achieve the filling of the packages to be stacked.

[0028] In some embodiments of the present application, the package conveying device further includes: a package temporary storage unit for conveying packages to be palletized and a package to be palletized unit, as well as a first sensor, a second sensor, a first blocking portion, and a second blocking portion.

[0029] The package temporary storage unit and the package to be stacked unit are arranged at both ends of the package pre-punching plate unit, the first blocking portion is arranged between the package temporary storage unit and the package pre-punching plate unit, and the first blocking portion is fixedly connected to the package temporary storage unit and the package pre-punching plate unit, the second blocking portion is arranged between the package pre-punching plate unit and the package to be stacked unit, and the second blocking portion is fixedly connected to the package pre-punching plate unit and the package to be stacked unit, the first sensor is arranged at the inlet of the package pre-punching plate unit, and the second sensor is arranged at the outlet of the package pre-punching plate unit;

[0030] The first sensor is used to sense whether the package pre-board unit is full of packages to be stacked, and generates a first sensing signal when sensing that the package pre-board unit is full of packages to be stacked, and the second sensor is used to sense whether there are packages to be stacked on the package to be stacked unit, and generates a second sensing signal when sensing that there are no packages to be stacked on the package to be stacked unit;

[0031] The industrial control device is used to receive a first sensing signal and a second sensing signal, and instruct the first blocking part and the second blocking part to rise and fall according to the first sensing signal and the second sensing signal.

[0032] In some embodiments of the present application, the feeding device further includes a second feeding conveying unit for conveying a feeding package and a feeding sensor, the second feeding conveying unit is connected in series with the first feeding conveying unit, and the feeding sensor is arranged at the tail of the first feeding conveying unit, and is used to sense whether there is a feeding package at the position of the feeding sensor, and generate a feeding sensing signal;

[0033] The industrial control device is used to receive a material replenishment sensing signal and instruct the first material replenishment conveying unit to start or stop according to the material replenishment sensing signal.

[0034] In some embodiments of the present application, the package adjustment device includes a manipulator for grabbing the packages to be palletized and the packages to be replenished and driving the packages to be palletized and the packages to be replenished to move and / or rotate, and a support frame for supporting the manipulator, and the package conveying device and the replenishing device are within the travel range of the manipulator; the manipulator includes a first sliding part, a second sliding part and a third sliding part that are perpendicular to each other, and a rotating part arranged under the third sliding part, and the rotating part includes: a rotational driving mechanism for providing a rotational driving force for the actuator; a height detection mechanism for detecting the height difference between the actuator and the package to be palletized or the package to be replenished; and an actuator for operating under the drive of the rotational driving force.

[0035] In some embodiments of the present application, the rotation drive mechanism is a rotation motor, the height detection mechanism is a height probe, and the actuator is a sponge suction cup.

[0036] In some embodiments of the present application, the package pre-palletizing system further includes: a centering device, which is arranged on both sides of the package conveying device and is used to center and clamp the packages to be palletized on the package conveying device.

[0037] In a second aspect, the present application provides a method for pre-palletizing a package, the method comprising:

[0038] Capturing, by means of a visual device, an image of a first package of packages to be palletized on a package conveying device and an image of a second package of packages to be replenished on a replenishing device;

[0039] receiving the first package image and the second package image and generating a first control instruction and a second control instruction according to the first package image and the second package image;

[0040] The package adjustment device is instructed to straighten and fill the packages to be palletized according to the first control instruction and the second control instruction, so as to achieve pre-palletizing of the packages to be palletized.

[0041] In some embodiments of the present application, the package adjustment device is mounted above the package conveying device and the feeding device, and the visual device is mounted above the package adjustment device.

[0042] In some embodiments of the present application, the package conveying device includes a package pre-board unit for conveying packages to be palletized, the package pre-board unit corresponds to the first shooting module, and the first shooting module is used to capture a first package image of the package to be palletized on the package pre-board unit;

[0043] The step of straightening the package to be palletized is: generating a first control instruction according to the first package image, and instructing the package adjustment device to operate according to the first control instruction to achieve straightening of the package to be palletized.

[0044] In some embodiments of the present application, the step of straightening the package to be palletized is specifically as follows:

[0045] Obtaining the corresponding relationship between the inclination angle of the package to be stacked and the operation action of the package adjustment device;

[0046] Determine, according to the first package image, an inclination angle of the package to be palletized corresponding to the first package image;

[0047] generating the first control instruction according to the inclination angle of the package to be palletized corresponding to the first package image and the corresponding relationship;

[0048] Instruct the package adjustment device to operate according to the first control instruction to achieve the straightening of the package to be stacked.

[0049] In some embodiments of the present application, the feeding device includes a first feeding conveying unit for conveying a feeding package, the first feeding conveying unit corresponds to the second shooting module, and the second shooting module is used to capture a second package image of the feeding package on the first feeding conveying unit;

[0050] The step of filling the gaps in the packages to be palletized is: generating a second control instruction according to the first package image and the second package image, and instructing the package adjustment device to operate according to the second control instruction to achieve filling the gaps in the packages to be palletized.

[0051] In some embodiments of the present application, the step of filling the empty space of the palletized package is specifically as follows:

[0052] Obtain the corresponding relationship between the empty space area between the packages to be stacked and the number of packages to be replenished;

[0053] Obtaining the correspondence between the empty space area between the packages to be stacked, the replenishment packages and the operation of the package adjustment device;

[0054] Determine, based on the first package image, an empty area between packages to be stacked corresponding to the first package image;

[0055] Determine the number of supplementary material packages corresponding to the second package image according to the second package image;

[0056] Generate a second control instruction according to the empty space area between the packages to be stacked corresponding to the first package image, the replenishment package corresponding to the second package image, and the corresponding relationship;

[0057] Instruct the package adjustment device to operate according to the second control instruction to achieve the filling of the packages to be stacked.

[0058] In a third aspect, the present application provides an industrial control device, comprising: one or more processors; a memory; and one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the processor to implement the package pre-palletizing method as described above.

[0059] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program is loaded by a processor to execute the steps in the package pre-palletizing method as described above.

[0060] In the case where the prior art is unable to effectively solve the problem that packages are prone to tipping over and have a low volume ratio during palletizing, the embodiments of the present invention provide visual guidance through a visual device, quickly obtain a package image, and control a package adjustment device to fill in and / or straighten the package according to the package image, thereby solving the technical problem of empty spaces and tilting of packages during palletizing in the prior art, achieving the technical effect of avoiding the toppling of packages during the palletizing process and improving the volume ratio of the packages. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0062] Figure 1 It is a functional module schematic diagram of a package pre-palletizing system provided by an embodiment of the present invention;

[0063] Figure 2 is a structural schematic diagram of a package pre-palletizing system provided by an embodiment of the present invention;

[0064] Figure 3 is a schematic diagram of a first package image of a package to be palletized on a package pre-palletizing unit in a package pre-palletizing system provided by an embodiment of the present invention;

[0065] Figure 4It is a structural schematic diagram of a manipulator rotating part in a package adjustment device in a package pre-palletizing system provided by an embodiment of the present invention;

[0066] Figure 5 is a structural schematic diagram of a centering device of a package pre-palletizing system provided by an embodiment of the present invention;

[0067] Figure 6 is a flow chart of a package pre-palletizing method provided by an embodiment of the present invention;

[0068] Figure 7 It is a schematic diagram of the structure of an industrial control device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0069] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0070] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0071] In this application, the word "exemplary" is used to mean "serving as an example, illustration, or illustration." Any embodiment described in this application as "exemplary" is not necessarily to be construed as being preferred or advantageous over other embodiments. The following description is given to enable any person skilled in the art to implement and use the invention. In the following description, details are listed for the purpose of explanation. It should be understood that a person of ordinary skill in the art can recognize that the invention can be implemented without using these specific details. In other instances, well-known structures and processes are not elaborated in detail to avoid obscuring the description of the invention with unnecessary details. Therefore, the present invention is not intended to be limited to the embodiments shown, but is consistent with the widest scope consistent with the principles and features disclosed in this application.

[0072] The embodiments of the present invention provide a package pre-palletizing system, method, industrial control equipment and storage medium, which are described in detail below.

[0073] like Figure 1 FIG. 1 is a schematic diagram of the functional modules of the package pre-palletizing system of the present invention, and the package pre-palletizing system includes:

[0074] The parcel conveying device 100 is used to convey parcels to be palletized; the parcels to be palletized refer to parcels of different specifications that need to be loaded into a cage car after palletizing; the parcels to be palletized may have a single parcel to be palletized tilted or multiple parcels to be palletized enclosed to form an empty space;

[0075] The feeding device 200 is used to convey the feeding package; the feeding package refers to the package with the smallest specifications among the packages to be palletized, and is used to be placed in the empty space formed by multiple packages to be palletized; specifically, the feeding package can be sorted out from the packages to be palletized by the sorting mechanism before pre-palletizing;

[0076] The visual device 300 includes at least two shooting modules. In the embodiment of the present application, the visual device 300 includes two shooting modules, which are respectively arranged corresponding to the package conveying device 100 and the feeding device 200, and are used to collect the first package image of the package to be palletized on the package conveying device 100 and the second package image of the feeding package on the feeding device 200, and transmit the first package image and the second package image to the industrial control device 500;

[0077] The industrial control device 500 is connected to the visual device 300 for receiving the first package image and the second package image captured by the visual device 300, generating the first control instruction and the second control instruction according to the first package image and the second package image, and instructing the package adjustment device 400 to operate according to the first control instruction and the second control instruction;

[0078] The package adjustment device 400 is communicatively connected to the industrial control device 500, and is used to straighten and fill the packages to be palletized according to the first control instruction and the second control instruction to achieve pre-palletizing of the packages to be palletized.

[0079] The industrial control equipment 500 is also used to specify the shooting area of ​​the shooting module in the visual device 300. In some embodiments of the present invention, the package conveying device 100 and the feeding device 200 are transmission components with a length, and the shooting area can be set to the entire package conveying device 100 and the feeding device 200 or part of the package conveying device 100 and the feeding device 200 according to actual needs. It should be understood that in order to improve the information integrity of the collected package image, the shooting area is set to the entire package conveying device 100 and the feeding device 200.

[0080] In the embodiment of the present invention, the shooting module can be specifically an industrial camera. The industrial camera provides visual guidance, can quickly obtain the first package image and the second package image, and generate control instructions according to the package image to instruct the operation of the package adjustment device 400, so as to achieve real-time control of the package to be stacked and the replenishment package, thereby improving the stability and volume ratio of the package to be stacked during the stacking process, and the operation of the package adjustment device 400 is controlled in real time through the industrial control equipment 500, with high accuracy and strong timeliness.

[0081] In some embodiments of the present application, the package conveying device 100 and the replenishing device 200 can both be belt conveyors to achieve the purpose of conveying packages to be stacked and replenishing packages.

[0082] Specifically, in some embodiments of the present application, Figure 2 As shown, in order to facilitate the visual device 300 to quickly capture the package image and avoid interference between the package adjustment device 400 and the visual device 300, the package conveying device 100 and the replenishing device 200 during operation, the package adjustment device 400 is mounted above the package conveying device 100 and the replenishing device 200, and the visual device 300 is mounted above the package adjustment device 400.

[0083] Further, in some embodiments of the present application, Figure 2 As shown, the visual device 300 includes a first shooting module 310 and a second shooting module 320, and the package conveying device 100 includes a package pre-boarding unit 110 for conveying packages to be palletized. The package pre-boarding unit 110 corresponds to the first shooting module 310. The package pre-boarding unit 110 can be a belt conveyor. The first shooting module 310 is arranged directly above this belt conveyor. The first shooting module 310 is used to collect the first package image of the package to be palletized on the package pre-boarding unit 110.

[0084] The industrial control device 500 generates a first control instruction according to the first package image, and instructs the package adjustment device 400 to operate according to the first control instruction to realize the straightening of the package to be palletized.

[0085] When there are inclined packages to be stacked, the inclined packages to be stacked are adjusted by the package adjusting device 400 so that the packages to be stacked are not tilted, which is called straightening.

[0086] In some embodiments of the present application, the industrial control device 500 generates a first control instruction according to the first package image, and instructs the package adjustment device 400 to operate according to the first control instruction to realize the straightening of the package to be palletized. Specifically:

[0087] Obtaining the correspondence between the inclination angle of the package to be stacked and the operation of the package adjustment device 400;

[0088] Determine, according to the first package image, the inclination angle of the package to be palletized corresponding to the first package image;

[0089] Generate a first control instruction according to the inclination angle of the package to be palletized corresponding to the first package image and the corresponding relationship;

[0090] The package adjustment device 400 is instructed to operate according to the first control instruction to realize the straightening of the package to be palletized.

[0091] In some embodiments of the present invention, the correspondence between the tilt angle of the package to be palletized and the operation action of the package adjustment device 400 can be established as a program, and the program is pre-input into the industrial control device 500. The industrial control device 500 can execute the program at any time, that is, the operation action of the package adjustment device 400 can be obtained according to the tilt angle of the package to be palletized. The first control instruction is to instruct the package adjustment device 400 to operate according to the corresponding action to realize the straightening of the tilted package to be palletized on the package pre-board unit 110. Specifically, the first control instruction includes some instruction actions, such as: the package adjustment device 400 rotates 10 degrees clockwise, etc., wherein the operation action of the package adjustment device 400 according to the first control instruction is specifically: the package adjustment device 400 runs to the tilted package to be palletized on the package pre-board unit 110 and grabs the tilted package to be palletized, drives the tilted package to be palletized to rotate until it is not tilted, and releases the package to be palletized and retracts it to the initial position of the package adjustment device 400.

[0092] In some embodiments of the present application, Figure 2As shown, the replenishing device 200 includes a first replenishing conveying unit 210 for conveying replenishing packages. The first replenishing conveying unit 210 corresponds to the second shooting module 320. The first replenishing conveying unit 210 can be a belt conveyor. The second shooting module 320 is arranged directly above this belt conveyor. The second shooting module 320 is used to collect the second package image of the replenishing package on the first replenishing conveying unit 210.

[0093] The industrial control device 500 generates a second control instruction according to the first package image and the second package image, and instructs the package adjustment device 400 to operate according to the second control instruction to achieve the filling of the packages to be palletized.

[0094] Since a plurality of packages to be palletized form an empty space, the package adjustment device 400 is used to place the supplementary package into the empty space formed by the packages to be palletized to eliminate the empty space, which is called filling the empty space.

[0095] In some embodiments of the present application, the industrial control device 500 generates a second control instruction according to the first package image and the second package image, and instructs the package adjustment device 400 to operate according to the second control instruction, specifically including:

[0096] Obtain the corresponding relationship between the empty space area between the packages to be stacked and the number of packages to be replenished;

[0097] Obtaining the correspondence between the empty space area between the packages to be stacked, the replenishment packages and the action of the package adjustment device 400;

[0098] Determine, according to the first package image, the empty space area between the packages to be stacked corresponding to the first package image;

[0099] According to the second package image, determine the number of supplementary material packages corresponding to the second package image;

[0100] Generate a second control instruction according to the empty space area between the packages to be stacked corresponding to the first package image, the number of packages to be replenished corresponding to the second package image, and the corresponding relationship;

[0101] Instruct the package adjustment device 400 to operate according to the second control instruction to achieve the filling of the packages to be stacked.

[0102] It should be understood that after the industrial control device 500 receives the first package image and the second package image captured by the visual device 300, the industrial control device 500 is built with an image analysis module, which can analyze the first package image and the second package image to determine the empty space area between the packages to be stacked and the number of replenishment packages. Specifically, taking the first package image as an example, the image analysis module performs binarization processing on the first package image, and after the binarization processing, the outline of the empty space between the packages to be stacked can be highlighted, and then the empty space area between the packages to be stacked is determined based on the outline. In the period, the binarization processing means that all pixels with a grayscale greater than or equal to a threshold are judged to belong to a specific object, and the grayscale value is 255, otherwise these pixels are excluded from the object area, and the grayscale value is 0, indicating the background or the exceptional object area. It should be understood that the image processing method is not limited to the binarization processing, and can also be other analysis methods, which are not limited here.

[0103] In some embodiments of the present invention, the correspondence between the empty space area between the packages to be stacked and the number of packages to be replenished can be established as a table, and the table is pre-input into the industrial control device 500, and the industrial control device 500 can call this table at any time. Specifically, the correspondence between the empty space area between the packages to be stacked and the number of packages to be replenished can be specifically as shown in Table 1:

[0104] Table 1

[0105] <![CDATA[Empty space area between packages to be palletized (m 2 )]]> Refill package (number) ＜0.2 0 [0.2，0.5] 1 [0.51，1.0] 2 ...... ......

[0106] As can be seen from Table 1, if the area of ​​the empty space between the packages to be stacked on the first package image is detected to be 0.3m 2 , then one filling package is needed to fill the gap. It can be understood that the corresponding relationship in Table 1 above is only an example, and the specific corresponding relationship can be adjusted according to the actual application scenario.

[0107] Further, in some embodiments of the present invention, the corresponding relationship between the empty space area between the packages to be palletized, the replenishment package and the operation action of the package adjustment device 400 can be established as a program, and this program is pre-input into the industrial control device 500. The industrial control device 500 can execute this program at any time, that is, according to the empty space between the packages to be palletized and the replenishment package, the operation action of the package adjustment device 400 can be obtained. The second control instruction is to instruct the package adjustment device 400 to operate according to the corresponding action to achieve the empty space of the package to be palletized. Specifically, the second control instruction includes some instruction actions, such as: the package adjustment device 400 moves horizontally by 5 cm, etc., wherein the operation action of the package adjustment device 400 according to the second control instruction is specifically: the package adjustment device 400 runs to the replenishment package on the first replenishment conveying unit 210, grabs the replenishment package, drives the replenishment package to move to the empty space enclosed by the packages to be palletized, and releases the replenishment package and retracts it to the initial position of the package adjustment device 400.

[0108] It should be understood that the industrial control device 500 may also perform image processing, such as filtering and scaling, on the first package image and / or the second package image when the first package image and / or the second package image is not clear, so as to accurately analyze the position, inclination and quantity.

[0109] For example, Figure 3 As shown, in some embodiments of the present application, the first package image captured by the first shooting module 310 is 6 packages 101 of 3 different specifications to be stacked, which are enclosed on the package pre-board unit 110 to form an empty space 102. The industrial control device 500 issues a second control instruction according to the above steps, and moves the package adjustment device 400 to the replenishment package, grabs one or more replenishment packages and moves one or more replenishment packages to the empty space 102, thereby filling the empty space 102 and avoiding the package from tipping over due to the existence of the empty space 102 during the subsequent palletizing process.

[0110] Furthermore, if Figure 2 As shown, the package conveying device 100 further includes: a package temporary storage unit 120 and a package to be palletized unit 130 for conveying packages to be palletized, as well as a first sensor 140, a second sensor 150, a first blocking portion 160, and a second blocking portion 170;

[0111] The package temporary storage unit 120 and the package to be stacked unit 130 are arranged at both ends of the package pre-board unit 110, the first blocking portion 160 is arranged between the package temporary storage unit 120 and the package pre-board unit 110 and is fixedly connected to the package temporary storage unit 120 and the package pre-board unit 110, the second blocking portion 170 is arranged between the package pre-board unit 110 and the package to be stacked unit 130 and is fixedly connected to the package pre-board unit 110 and the package to be stacked unit 130, the first sensor 140 is arranged at the entrance of the package pre-board unit 110, and the second sensor 150 is arranged at the exit of the package pre-board unit 110;

[0112] The first sensor 140 is used to sense whether the package pre-board unit 110 is full of packages to be palletized, and generates a first sensing signal when it is sensed that the package pre-board unit 110 is full of packages to be palletized. The second sensor 150 is used to sense whether there are packages to be palletized on the package to be palletized unit 130, and generates a second sensing signal when it is sensed that there are no packages to be palletized on the package to be palletized unit 130.

[0113] It should be understood that in order to facilitate the transportation of the parcels to be palletized, the parcel temporary storage unit 120, the parcel palletizing unit 130 and the parcel pre-boarding unit 110 are at the same height, and the parcel temporary storage unit 120 and the parcel palletizing unit 130 are both belt conveyors.

[0114] The industrial control device 500 is used to receive the first sensing signal and the second sensing signal, and instruct the first blocking part 160 and the second blocking part 170 to rise and fall according to the first sensing signal and the second sensing signal. Specifically, the initial state of the first blocking portion 160 is that the first blocking portion 160 is flush with the height of the package pre-board unit 110, and the initial state of the second blocking portion 170 is that the height of the second blocking portion 170 is higher than the height of the package pre-board unit 110; when the first sensor 140 senses that the package pre-board unit 110 is full of packages to be palletized, a first sensing signal is generated, and the industrial control device 500 receives this sensing signal, indicating that the first blocking portion 160 rises, and the packages to be palletized on the package temporary storage unit 120 are temporarily stored on the package temporary storage unit 120; when the second sensor 150 senses that there are no packages to be palletized on the package to be palletized unit 130, and the package pre-board unit 110 is full of packages to be palletized, a second sensing signal is generated, and the industrial control device 500 receives this sensing signal, indicating that the second blocking portion 170 descends, thereby transporting the packages to be palletized on the current package pre-board unit 110 to the package to be palletized unit 130 for palletizing.

[0115] It should be understood that, in order to improve the safety of the packages during the palletizing process, the second blocking portion 170 should be lowered after the packages to be palletized are straightened and filled.

[0116] In some embodiments of the present application, Figure 2 As shown, the feeding device 200 further includes a second feeding conveying unit 220 for conveying feeding packages and a feeding sensor 230, the second feeding conveying unit 220 and the first feeding conveying unit 210 are sequentially connected in series, and the feeding sensor 230 is arranged at the tail of the first feeding conveying unit 210, and is used to sense whether there is a feeding package at the position of the feeding sensor 230, and generate a feeding sensing signal;

[0117] The industrial control device 500 is used to receive the replenishment sensing signal and instruct the first replenishment conveying unit 210 to start or stop according to the replenishment sensing signal. Specifically, the initial state of the first replenishment conveying unit 210 is the running state. When the replenishment sensor 230 senses that there is a replenishment package, the industrial control device 500 receives this signal and instructs the first replenishment unit 210 to stop running. This step can prevent the replenishment package from being transferred to the package pre-boarding unit 110, causing the replenishment package on the first replenishment conveying unit 210 to fall or the package to be stacked on the package pre-boarding unit 110 to tilt and be damaged, further improving the safety of the package.

[0118] Furthermore, in order to reduce the start and stop of the second replenishing material conveying unit 220, in some embodiments of the present application, the second replenishing material conveying unit 220 and the first replenishing material conveying unit 210 are driven independently, and the operating speed of the second replenishing material conveying unit 220 is lower than the operating speed of the first replenishing material conveying unit 210.

[0119] By setting the operating speed of the second feeding conveying unit 220 to be lower than the operating speed of the first feeding conveying unit 210, the time for the feeding package to be transmitted on the first feeding conveying unit 210 is shorter than the time for the feeding package to be transmitted on the second feeding conveying unit 220. Therefore, when the feeding package is transmitted to the position of the feeding sensor 230, the first feeding conveying unit 210 stops running under the instruction of the industrial control equipment 500, and the feeding package on the second feeding conveying unit 220 has not yet run to the first feeding conveying unit 210. Therefore, the second feeding conveying unit 220 can still continue to operate, avoiding the need for the second feeding conveying unit 220 to stop running when the first feeding conveying unit 210 stops running, thereby achieving the technical effect of reducing the start and stop of the second feeding transmission unit 220.

[0120] And by Figure 2 It can be seen that in some embodiments of the present application, in order to improve the structural compactness of the package pre-palletizing system, the tail of the first material replenishment conveying unit 210 is vertically abutted against the package pre-palletizing unit 110. It can be understood that the positional relationship between the first material replenishment conveying unit 210 and the package pre-palletizing unit 110 is flexible and can be adjusted according to actual installation conditions, and is not limited here.

[0121] In some embodiments of the present application, in order to facilitate the transportation of replenishment packages, the second replenishment conveying unit 220 and the first replenishment conveying unit 210 have the same height, and the second replenishment conveying unit 220 and the first replenishment conveying unit 210 are both belt conveyors.

[0122] Furthermore, if Figure 2 As shown, the package adjustment device 400 includes a manipulator 410 for grabbing the packages to be palletized and the replenishment packages and driving the packages to be palletized and the replenishment packages to move and / or rotate, and a support frame 420 for supporting the manipulator 410. It should be understood that the package conveying device 100 and the replenishment device 200 are within the travel range of the manipulator 410. Preferably, in order to further improve the compactness of the pre-palletizing system, the package pre-board unit 110 in the package conveying device 100 and the first replenishment conveying unit 210 in the replenishment device 200 are within the formation range of the manipulator 410.

[0123] Specifically, the manipulator 410 includes a first sliding portion 411, a second sliding portion 412, and a third sliding portion 413 that are perpendicular to each other, and a rotating portion 414 disposed below the third sliding portion 413. The first sliding portion 411, the second sliding portion 412, and the third sliding portion 413 that are perpendicular to each other can enable the manipulator 410 to reach any point in the three-dimensional space within its travel range; the rotating portion 414 can be provided to adjust the angle of the package to be palletized, thereby realizing the straightening of the package to be palletized.

[0124] Furthermore, if Figure 4 As shown, the rotating part 414 includes: a rotating drive mechanism 4141, which is used to provide a rotating drive force for the actuator; a height detection mechanism 4142, which is used to detect the height difference between the actuator and the package to be stacked or the package to be replenished; and an actuator 4143, which is used to operate under the drive of the rotating drive force.

[0125] Specifically, the working principle of the robot 410 is as follows: when there is an empty space in the package to be stacked and needs to be filled, the first sliding part 411 and the second sliding part 412 move the rotating part 414 to a position close to the position of the filling package, and then the third sliding part 413 drives the rotating part 414 to descend until the height detection mechanism 4142 detects contact with the filling package, and then the actuator 4143 grabs the filling package, and driven by the first sliding part 411, the second sliding part 412 and the third sliding part 413, the filling package is moved and placed to the empty position to achieve filling. When the package to be palletized is tilted, the first sliding part 411 and the second sliding part 412 move the rotating part 414 to a position close to the position of the package to be palletized, and then the third sliding part 413 drives the rotating part 414 to descend until the height detection mechanism 4142 detects contact with the package to be palletized. The actuator 4143 grabs the replenishment package and drives the package to be palletized to rotate under the drive of the rotation drive mechanism 4141 until it is no longer tilted, thereby achieving the straightening of the package to be palletized.

[0126] Furthermore, in order to improve the pre-palletizing rate of the packages to be palletized, in some embodiments of the present application, the industrial control device 500 can also calculate the height difference between the actuator 4143 and the packages to be palletized and the replenishment packages based on the first package image and the second package image, so that the first sliding part 411, the second sliding part 412 and the third sliding part 413 drive the actuator 4143 to run quickly to the approximate position of the packages to be palletized / replenishment packages, and then the third sliding part 413 decelerates and descends until the height detection mechanism 4142 detects contact with the packages to be palletized / replenishment packages.

[0127] Furthermore, in some embodiments of the present application, the rotary drive mechanism 4141 is a rotary motor, the height detection mechanism 4142 is a height probe, and the actuator 4143 is a sponge suction cup. The sponge suction cup can absorb the package without setting a grasping mechanism, has a simple structure, and has stable grasping. Furthermore, in order to ensure effective suction when the package surface is damaged or the adsorption area is insufficient, the sponge suction cup adopts a flat sponge suction cup with a check valve to further improve the stability of grasping.

[0128] In some embodiments of the present application, Figure 2 As shown, the package pre-palletizing system further includes: a centering device 600, which is arranged on both sides of the package pre-plate unit 110 and is used to center and clamp the package to be palletized on the package pre-plate unit 110. This is because, as shown in FIG. Figure 5As shown, when the packages to be palletized are transferred from the package temporary storage unit 120, a gap L is left between the packages to be palletized. The size of the gap L is the sum of the front-end belt feeding accuracy and the visual error. The existence of the gap L will cause poor stability during package palletizing and too low volume ratio. By setting the centering device 600, the inclination rate of the packages to be palletized can be reduced, thereby improving the stability and palletizing rate of the packages during palletizing.

[0129] Specifically: In some embodiments of the present application, Figure 5 As shown, the centering device 600 includes a first centering unit 610 and a second centering unit 620, and the first centering unit 610 and the second centering unit 620 are symmetrically distributed on both sides of the wrapping pre-board unit 110. The centering device 600 can be driven by a cylinder or a motor.

[0130] Furthermore, the first centering unit 610 includes a first fixed portion 611, a second fixed portion 612, a first telescopic portion 613, a second telescopic portion 614 and a centering plate 615. The centering plate 615 is arranged in parallel with the package pre-punching unit 110. One end of the first telescopic portion 613 and the second telescopic portion 614 are fixedly connected to the centering plate 615, and the other ends of the first telescopic portion 613 and the second telescopic portion 614 are telescopically connected to the first fixed portion 611 and the second fixed portion 612. When the package to be palletized is transferred to the package pre-punching unit 110, the first telescopic portion 613 and the second telescopic portion 614 extend along the side away from the first fixed portion 611 and the second fixed portion 612, pushing the centering plate 615 to move closer to the side toward the second centering unit 620, and the second centering unit 620 moves closer to the side toward the first centering unit 610 simultaneously, so as to realize the centering and clamping of the package to be palletized.

[0131] Furthermore, if Figure 2 As shown, the package pre-palletizing system further includes: a first support portion 700 for supporting the feeding device 200 and the package conveying device 100 and a second support portion 800 for supporting the visual device 300, so as to further improve the stability of the package pre-palletizing system.

[0132] The present invention also provides a method for pre-palletizing packages, such as Figure 6 As shown, the method includes:

[0133] 601. The visual device 300 collects a first package image of a package to be palletized on the package conveying device 100 and a second package image of a replenishing package on the replenishing device 200;

[0134] 602. Receive a first package image and a second package image and generate a first control instruction and a second control instruction according to the first package image and the second package image;

[0135] 603. Instruct the package adjustment device 400 to straighten and fill the package to be palletized according to the first control instruction and the second control instruction to achieve pre-palletizing of the package to be palletized. The package to be palletized refers to packages of different specifications that need to be palletized before being loaded into the cage car; the filling package refers to the smallest package, which is used to be placed in the package to be palletized.

[0136] In the embodiment of the present invention, visual guidance is provided by the visual device 300, so that the package image can be quickly acquired, and control instructions are generated according to the package image to instruct the operation of the package adjustment device 400, so as to realize real-time control of the packages to be stacked and the packages to be replenished, thereby improving the stability and volume ratio of the packages during the stacking process.

[0137] In some embodiments of the present application, in order to facilitate the visual device 300 to quickly capture the package image and avoid interference between the package adjustment device 400 and the visual device 300, the package conveying device 100 and the replenishing device 200 during operation, the package adjustment device 400 is mounted above the package conveying device 100 and the replenishing device 200, and the visual device 300 is mounted above the package adjustment device 400.

[0138] Furthermore, in some embodiments of the present application, the visual device 300 includes a first shooting module 310 and a second shooting module 320, and the package conveying device 100 includes a package pre-board unit 110 for conveying packages to be palletized, the package pre-board unit 110 corresponds to the first shooting module 310, and the first shooting module 310 is used to capture a first package image of the package to be palletized on the package pre-board unit 110.

[0139] The industrial control device 500 generates a first control instruction according to the first package image, and instructs the package adjustment device 400 to operate according to the first control instruction to realize the straightening of the package to be palletized.

[0140] The specific steps for straightening the packages to be palletized are:

[0141] Obtaining the correspondence between the inclination angle of the package to be stacked and the operation of the package adjustment device 400;

[0142] Determine, according to the first package image, the inclination angle of the package to be palletized corresponding to the first package image;

[0143] Generate a first control instruction according to the inclination angle of the package to be palletized corresponding to the first package image and the corresponding relationship;

[0144] The package adjustment device 400 is instructed to operate according to the first control instruction to realize the straightening of the package to be palletized.

[0145] In some embodiments of the present invention, the correspondence between the tilt angle of the package to be palletized and the operation action of the package adjustment device 400 can be established as a program, and this program is pre-input into the industrial control device 500. The industrial control device 500 can execute this program at any time, that is, the operation action of the package adjustment device 400 can be obtained according to the tilt angle of the package. The first control instruction is to instruct the package adjustment device 400 to operate according to the corresponding action to realize the straightening of the tilted package to be palletized on the package pre-boarding unit 110. Among them, the first control instruction includes some instruction actions, such as: the package adjustment device 400 rotates 10 degrees clockwise, etc.

[0146] Specifically, the operating action of the package adjustment device 400 according to the first control instruction is as follows: the package adjustment device 400 runs to the inclined package to be stacked on the package pre-board unit 110 and grabs the inclined package to be stacked, drives the inclined package to be stacked to rotate until it is no longer tilted, and releases the package to be stacked, and retracts it to the initial position of the package adjustment device 400.

[0147] In some embodiments of the present application, the replenishing device 200 includes a first replenishing conveying unit 210 for conveying replenishing packages, the first replenishing conveying unit 210 corresponds to the second shooting module 320, and the second shooting module 320 is used to capture the second package image of the replenishing package on the first replenishing conveying unit 210.

[0148] The steps of filling the empty space of the package to be palletized are: generating a second control instruction according to the first package image and the second package image, and instructing the package adjustment device 400 to operate according to the second control instruction to fill the empty space of the package to be palletized.

[0149] In some embodiments of the present application, the specific steps for achieving the empty filling of the packages to be palletized are:

[0150] Obtain the corresponding relationship between the empty space area between the packages to be stacked and the number of packages to be replenished;

[0151] Obtaining the correspondence between the empty spaces between the packages to be stacked, the replenishment packages and the actions of the package adjustment device 400;

[0152] Determine, according to the first package image, the empty space area between the packages to be stacked corresponding to the first package image;

[0153] According to the second package image, determine the number of supplementary material packages corresponding to the second package image;

[0154] Generate a second control instruction according to the empty space area between the packages to be stacked corresponding to the first package image, the replenishment package corresponding to the second package image, and the corresponding relationship;

[0155] Instruct the package adjustment device 400 to operate according to the second control instruction to achieve the filling of the packages to be stacked.

[0156] In some embodiments of the present invention, the correspondence between the empty space area between the packages to be stacked and the number of replenishment packages can be established as a table, and this table can be pre-input into the industrial control device 500, and the industrial control device 500 can call this table at any time.

[0157] Furthermore, in some embodiments of the present invention, the correspondence between the empty spaces between the packages to be palletized, the replenishment packages and the operation of the package adjustment device 400 can be established as a program, and this program is pre-input into the industrial control device 500. The industrial control device 500 can execute this program at any time, that is, according to the empty spaces between the packages to be palletized and the number of replenishment packages, the operation of the package adjustment device 400 can be obtained. The second control instruction is to instruct the package adjustment device 400 to operate according to the corresponding action to achieve the empty space of the package to be palletized. The second control instruction includes some instruction actions, such as: the package adjustment device 400 moves horizontally by 5 cm, etc.

[0158] Specifically, the operating actions of the package adjustment device 400 according to the second control instruction are as follows: the package adjustment device 400 runs to the replenishment package on the first replenishment conveying unit 210, grabs the replenishment package, drives the replenishment package to move to the empty space formed by the package to be stacked, and releases the replenishment package and retracts it to the initial position of the package adjustment device 400.

[0159] It should be understood that the industrial control device 500 may also perform image processing, such as filtering and scaling, on the first package image and / or the second package image when the first package image and / or the second package image is not clear, so as to accurately analyze the position, inclination and quantity.

[0160] The embodiment of the present invention further provides an industrial control device, which integrates any package pre-palletizing system provided by the embodiment of the present invention, and the industrial control device includes:

[0161] one or more processors;

[0162] Memory; and

[0163] One or more applications, wherein the one or more applications are stored in the memory and configured to cause the processor to execute the steps of the package pre-palletizing method described in any of the above package pre-palletizing method embodiments.

[0164] The embodiment of the present invention further provides an industrial control device, which integrates any package pre-palletizing system provided by the embodiment of the present invention. Figure 7 As shown, it shows a schematic diagram of the structure of the industrial control equipment involved in the embodiment of the present invention, specifically:

[0165] The industrial control device may include one or more processing core processors 701, one or more computer-readable storage media memories 702, a power supply 703, an input unit 704 and other components. Those skilled in the art will appreciate that Figure 7 The industrial control device structure shown in the figure does not constitute a limitation on the industrial control device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange components differently. Among them:

[0166] The processor 701 is the control center of the industrial control device. It uses various interfaces and lines to connect various parts of the entire industrial control device. By running or executing software programs and / or modules stored in the memory 702 and calling data stored in the memory 702, it executes various functions of the industrial control device and processes data, thereby monitoring the industrial control device as a whole. Optionally, the processor 701 may include one or more processing cores; preferably, the processor 701 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 601.

[0167] The memory 702 can be used to store software programs and modules. The processor 701 executes various functional applications and data processing by running the software programs and modules stored in the memory 602. The memory 602 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area may store data created according to the use of the industrial control equipment, etc. In addition, the memory 702 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices. Accordingly, the memory 702 may also include a memory controller to provide the processor 701 with access to the memory 702.

[0168] The industrial control device also includes a power supply 703 for supplying power to each component. Preferably, the power supply 703 can be logically connected to the processor 701 through a power management system, so as to manage charging, discharging, and power consumption through the power management system. The power supply 703 can also include one or more DC or AC power supplies, recharging systems, power failure detection circuits, power converters or inverters, power status indicators, and other arbitrary components.

[0169] The industrial control device may further include an input unit 704, which may be used to receive input digital or character information and generate keyboard, mouse, joystick, optical or trackball signal input related to user settings and function control.

[0170] Although not shown, the industrial control device may also include a display unit, etc., which will not be described in detail here. Specifically in this embodiment, the processor 701 in the industrial control device will load the executable files corresponding to the processes of one or more application programs into the memory 702 according to the following instructions, and the processor 701 will run the application programs stored in the memory 702, thereby realizing various functions, as follows:

[0171] Capturing, by means of a visual device, an image of a first package of packages to be palletized on a package conveying device and an image of a second package of packages to be replenished on a replenishing device;

[0172] receiving the first package image and the second package image and generating a first control instruction and a second control instruction according to the first package image and the second package image;

[0173] The package adjustment device is instructed to straighten and fill the packages to be palletized according to the first control instruction and the second control instruction, so as to achieve pre-palletizing of the packages to be palletized.

[0174] A person of ordinary skill in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be completed by instructions, or by controlling related hardware through instructions. The instructions may be stored in a computer-readable storage medium and loaded and executed by a processor.

[0175] To this end, an embodiment of the present invention provides a computer-readable storage medium, which may include: a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc. A computer program is stored thereon, and the computer program is loaded by a processor to execute the steps in any of the package pre-palletizing methods provided in the embodiments of the present invention. For example, the computer program may be loaded by a processor to execute the following steps:

[0176] Capturing, by means of a visual device, an image of a first package of packages to be palletized on a package conveying device and an image of a second package of packages to be replenished on a replenishing device;

[0177] receiving the first package image and the second package image and generating a first control instruction and a second control instruction according to the first package image and the second package image;

[0178] The package adjustment device is instructed to straighten and fill the packages to be palletized according to the first control instruction and the second control instruction, so as to achieve pre-palletizing of the packages to be palletized.

[0179] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the detailed description of other embodiments above, and will not be repeated here.

[0180] In specific implementation, the above units or structures can be implemented as independent entities, or can be arbitrarily combined to be implemented as the same or several entities. The specific implementation of the above units or structures can refer to the previous method embodiments, which will not be repeated here.

[0181] The specific implementation of the above operations can be found in the previous embodiments, which will not be described in detail here.

[0182] The above is a detailed introduction to a package pre-palletizing system, method, industrial control equipment and storage medium provided in an embodiment of the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A package pre-palletizing system, characterized in that: include: A package conveying device, used for conveying packages to be palletized, the package conveying device comprising a package pre-boarding unit for conveying the packages to be palletized; A feeding device for conveying feeding packages; The visual device comprises at least two shooting modules, wherein the at least two shooting modules comprise a first shooting module and a second shooting module, the package pre-boarding unit corresponds to the first shooting module, the first shooting module is used to capture a first package image of a package to be palletized on the package pre-boarding unit, the first shooting module is arranged corresponding to the package conveying device, and is used to capture a first package image of a package to be palletized on the package conveying device, and transmit the first package image to an industrial control device, the second shooting module is arranged corresponding to the feeding device, and is used to capture a second package image of a feeding package on the feeding device, and transmit the second package image to the industrial control device; an industrial control device, which is in communication with the visual device, and is used to receive a first package image and a second package image captured by the visual device, generate a first control instruction and a second control instruction according to the first package image and the second package image, and instruct the package adjustment device to operate according to the first control instruction and the second control instruction, and is specifically used to generate a first control instruction according to the first package image, and instruct the package adjustment device to operate according to the first control instruction, so as to realize the straightening of the package to be palletized; The package adjustment device is communicatively connected to the industrial control device and is used to straighten and fill the packages to be palletized according to the first control instruction and the second control instruction to achieve pre-palletizing of the packages to be palletized.

2. The package pre-palletizing system according to claim 1, characterized in that: The package adjustment device is mounted above the package conveying device and the feeding device, and the visual device is mounted above the package adjustment device.

3. The package pre-palletizing system according to claim 1, characterized in that: The industrial control equipment is specifically used for: Obtaining the corresponding relationship between the inclination angle of the package to be stacked and the operation action of the package adjustment device; Determine, according to the first package image, an inclination angle of the package to be palletized corresponding to the first package image; generating the first control instruction according to the inclination angle of the package to be palletized corresponding to the first package image and the corresponding relationship; Instruct the package adjustment device to operate according to the first control instruction to achieve the straightening of the package to be stacked.

4. The package pre-palletizing system according to claim 1, characterized in that: The feeding device comprises a first feeding conveying unit for conveying feeding packages, the first feeding conveying unit corresponds to the second shooting module, and the second shooting module is used to capture a second package image of the feeding package on the first feeding conveying unit; The industrial control device is used to generate a second control instruction according to the first package image and the second package image, and instruct the package adjustment device to operate according to the second control instruction to achieve empty filling of the packages to be palletized.

5. The package pre-palletizing system according to claim 4, characterized in that: The industrial control equipment is specifically used for: Obtain the corresponding relationship between the empty space area between the packages to be stacked and the number of packages to be replenished; Obtaining the correspondence between the empty spaces between the packages to be stacked, the replenishment packages and the operation of the package adjustment device; Determine, based on the first package image, an empty area between packages to be stacked corresponding to the first package image; Determine the number of supplementary material packages corresponding to the second package image according to the second package image; Generate a second control instruction according to the empty space area between the packages to be stacked corresponding to the first package image, the replenishment package corresponding to the second package image, and the corresponding relationship; Instruct the package adjustment device to operate according to the second control instruction to achieve the filling of the packages to be stacked.

6. The package pre-palletizing system according to claim 2, characterized in that: The package conveying device further comprises: a package temporary storage unit and a package to be palletized unit for conveying packages to be palletized, as well as a first sensor, a second sensor, a first blocking portion, and a second blocking portion. The package temporary storage unit and the package to be stacked unit are arranged at both ends of the package pre-punching plate unit, the first blocking portion is arranged between the package temporary storage unit and the package pre-punching plate unit, and the first blocking portion is fixedly connected to the package temporary storage unit and the package pre-punching plate unit, the second blocking portion is arranged between the package pre-punching plate unit and the package to be stacked unit, and the second blocking portion is fixedly connected to the package pre-punching plate unit and the package to be stacked unit, the first sensor is arranged at the inlet of the package pre-punching plate unit, and the second sensor is arranged at the outlet of the package pre-punching plate unit; The first sensor is used to sense whether the package pre-board unit is full of packages to be stacked, and generates a first sensing signal when sensing that the package pre-board unit is full of packages to be stacked, and the second sensor is used to sense whether there are packages to be stacked on the package to be stacked unit, and generates a second sensing signal when sensing that there are no packages to be stacked on the package to be stacked unit; The industrial control device is used to receive a first sensing signal and a second sensing signal, and instruct the first blocking part and the second blocking part to rise and fall according to the first sensing signal and the second sensing signal.

7. The package pre-palletizing system according to claim 4, characterized in that: The feeding device further comprises a second feeding conveying unit for conveying feeding packages and a feeding sensor, wherein the second feeding conveying unit is connected in series with the first feeding conveying unit in sequence, and the feeding sensor is arranged at the tail of the first feeding conveying unit, and is used to sense whether there is a feeding package at the position of the feeding sensor, and generate a feeding sensing signal; The industrial control device is used to receive a material replenishment sensing signal and instruct the first material replenishment conveying unit to start or stop according to the material replenishment sensing signal.

8. The package pre-palletizing system according to claim 1, characterized in that: The package adjustment device includes a manipulator and a support frame for supporting the manipulator, the manipulator is used to grab the packages to be stacked and the packages to be replenished and drive the packages to be stacked and the packages to be replenished to move and / or rotate, and the package conveying device and the replenishing device are within the travel range of the manipulator; the manipulator includes a first sliding part, a second sliding part and a third sliding part that are perpendicular to each other, and a rotating part arranged under the third sliding part, and the rotating part includes: a rotation driving mechanism, which is used to provide a rotation driving force for the actuator; a height detection mechanism, which is used to detect the height difference between the actuator and the packages to be stacked or the packages to be replenished; the actuator is used to operate under the drive of the rotation driving force.

9. The package pre-palletizing system according to claim 8, characterized in that: The rotary drive mechanism is a rotary motor, the height detection mechanism is a height probe, and the actuator is a sponge suction cup.

10. The package pre-palletizing system according to claim 1, characterized in that: The package pre-palletizing system further includes: a centering device, which is arranged on both sides of the package conveying device and is used to center and clamp the packages to be palletized on the package conveying device.

11. A method for pre-palletizing packages, characterized in that: Applied to the package pre-palletizing system according to any one of claims 1 to 10, the method comprising: The first package image of the package to be palletized on the package conveying device and the package image of the replenishment package on the replenishment device are collected by a visual device; receiving the first package image and the second package image, and generating a first control instruction and a second control instruction according to the first package image and the second package image; The package adjustment device is instructed to straighten and fill the packages to be palletized according to the first control instruction and the second control instruction, so as to achieve pre-palletizing of the packages to be palletized.

12. An industrial control device, characterized in that: The industrial control equipment includes: one or more processors; Memory; and One or more application programs, wherein the one or more application programs are stored in the memory and configured to be executed by the processor to implement the package pre-palletizing method of claim 11.

13. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and the computer program is loaded by a processor to execute the steps in the package pre-palletizing method according to claim 11.

Images