Palletizing position determination and palletizing control method and device, and electronic equipment
By obtaining the height and mass of a single layer of palletizing and combining it with the compression deformation coefficient, the precise positioning position can be calculated, solving the problem of uneven palletizing of non-rigid objects such as corrugated cardboard and achieving high-precision and reliable palletizing results.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- SIEMENS (CHINA) CO LTD
- Filing Date
- 2023-10-25
- Publication Date
- 2026-07-10
Smart Images
Figure CN117361215B_ABST
Abstract
Description
Technical Field
[0001] This disclosure relates to the field of palletizing machines and their control technology, and in particular to a method, device and electronic equipment for determining the pressing position and controlling palletizing. Background Technology
[0002] Currently, when stacking rigid objects, the positioning is usually calculated based on the object's height parameter and the current number of stacks. However, for non-rigid objects such as corrugated cardboard stacks, the objects deform during stacking, causing the positioning obtained by the aforementioned calculation method to be too high. This may result in uneven stacking, or even, in more serious cases, the entire stack may collapse. Summary of the Invention
[0003] In view of this, the present disclosure provides a method, apparatus and electronic device for determining the pressing position and controlling palletizing, which at least partially solves the above-mentioned technical problems.
[0004] The first aspect of this disclosure provides a method for determining the palletizing positioning location, applied to a palletizing machine, the method comprising:
[0005] Obtain the single-layer pallet height and single-layer pallet mass;
[0006] Obtain the first correspondence between the number of palletizing layers and the compression deformation coefficient;
[0007] Based on the current number of palletizations, the single-layer palletization height, the single-layer palletization mass, and the first correspondence, determine the first positioning position corresponding to the current palletization.
[0008] In one possible implementation, before determining the first positioning position corresponding to the current palletizing based on the current number of palletizings, the single-layer palletizing height, the single-layer palletizing mass, and the first correspondence, the method further includes: obtaining the position of the bottom material and / or the safety margin.
[0009] The step of determining the first positioning position corresponding to the current palletizing cycle based on the current number of palletizing cycles, the single-layer palletizing height, the single-layer palletizing mass, and the first correspondence further includes:
[0010] Based on the current number of palletizations, the single-layer palletization height, the single-layer palletization mass, the first correspondence, the position of the bottom material, and / or the safety margin, determine the first positioning position corresponding to the current palletization.
[0011] In one possible implementation, the method further includes:
[0012] The second positioning position for the current stacking is determined based on the first positioning position of the previous stacking, the single-layer stacking height, and the safety factor.
[0013] In one possible implementation, the method is used for palletizing and positioning control of corrugated paper packages; and the first correspondence is determined according to the following steps:
[0014] Obtain the type of corrugated cardboard in the stacked corrugated cardboard bundles;
[0015] Determine the second correspondence relationship corresponding to the type of corrugated cardboard obtained;
[0016] The first correspondence is determined based on the single-layer stacking quality and the determined second correspondence.
[0017] In one possible implementation, the single-layer palletizing quality is determined according to the following steps:
[0018] Obtain the number of corrugated cardboard packages in a single stack and the weight of a single corrugated cardboard package;
[0019] The single-layer stacking quality is determined based on the number of corrugated paper packages in the single-layer stack and the weight of each individual corrugated paper package.
[0020] A second aspect of this disclosure provides a palletizing control method applied to a palletizing machine, comprising:
[0021] For each stack in a layer-by-layer stacking process, perform the following steps:
[0022] The positioning position corresponding to the current palletizing is determined according to the aforementioned palletizing positioning position determination method, and the positioning position includes the first positioning position;
[0023] Control the palletizing unit to move to the first positioning position.
[0024] In one possible implementation, the positioning position further includes a second positioning position; and the control of the palletizing unit to move to the first positioning position further includes:
[0025] Control the palletizing unit to move to the second positioning position;
[0026] The palletizing unit is controlled to move downward from the second positioning position to the first positioning position along a first direction, which is perpendicular to the surface of the palletizing layer.
[0027] A third aspect of this disclosure provides a positioning and location determination device, the device comprising:
[0028] The acquisition module is used to obtain the first correspondence between the single-layer palletizing height, single-layer palletizing mass, number of palletizing layers, and compression deformation coefficient;
[0029] The positioning and location determination module is used to determine the first positioning position corresponding to the current palletizing based on the current number of palletizing cycles, the single-layer palletizing height, the single-layer palletizing mass, and the first correspondence.
[0030] A fourth aspect of this disclosure provides a palletizing control device for use in a palletizing machine, characterized in that the device comprises:
[0031] The positioning position determination module is used to determine the first positioning position corresponding to the current palletizing according to the aforementioned palletizing positioning position determination method for each palletizing.
[0032] The palletizing control module is used to control the movement of the palletizing unit to the determined first positioning position.
[0033] The fifth aspect of this disclosure provides an electronic device, including: a processor, a communication interface, a memory, and a bus, wherein the processor, the communication interface, and the memory communicate with each other via the bus;
[0034] The memory is used to store at least one executable instruction, which causes the processor to perform the operation corresponding to the aforementioned palletizing positioning method, or to perform the operation corresponding to the aforementioned palletizing control method.
[0035] A sixth aspect of this disclosure provides a computer-readable storage medium storing computer instructions that, when executed by a processor, cause the processor to perform the aforementioned palletizing positioning method or the aforementioned palletizing control method.
[0036] The seventh aspect of this disclosure provides a computer program product including computer instructions that instruct a computing device to perform an operation corresponding to the aforementioned palletizing positioning method or an operation corresponding to the aforementioned palletizing control method.
[0037] In the embodiments of this application, a novel method for determining the palletizing positioning position is proposed. The determined palletizing positioning position has high accuracy. Palletizing using the positioning position calculated by this method results in high palletizing reliability and neat palletizing. Furthermore, for each layer of palletizing, a first positioning position and a second positioning position are calculated respectively, and a downward movement action from the second positioning position to the first positioning position is executed, further improving the palletizing reliability. Attached Figure Description
[0038] Figure 1 This is a flowchart of a method for determining the palletizing positioning position according to an embodiment of the present disclosure.
[0039] Figure 2This is a structural diagram of a palletizing positioning device according to an embodiment of the present disclosure.
[0040] Figure 3 This is a flowchart of a palletizing control method according to an embodiment of the present disclosure.
[0041] Figure 4 This is a structural diagram of a palletizing control device according to an embodiment of the present disclosure.
[0042] Figure 5 This is a structural diagram of an electronic device according to an embodiment of the present disclosure.
[0043] List of reference numerals in the attached diagram:
[0044] 100. Method for determining the palletizing positioning location; 200. Palletizing positioning device; 202. Acquisition Module; 204. First positioning location determination module; 300. Palletizing control methods; 400. Palletizing control device; 402. Position determination module; 404. Palletizing control module; 500. Electronic equipment 502, Processor 504, Communication Interface 506. Memory 508, Bus 510. Procedure Detailed Implementation
[0045] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided with reference to the accompanying drawings and embodiments. Obviously, the described embodiments are merely some embodiments of this application, and not all embodiments. All other technical solutions obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application. It should be noted that the "correspondence relationship" mentioned in this disclosure refers to a correspondence relationship between two or more data, such as a list format, coordinate curve format, etc. The "corrugated cardboard package" mentioned in this disclosure refers to a cardboard package formed by stacking corrugated cardboard pieces together.
[0046] One approach is to detect the height of the palletized object by installing a series of photoelectric sensors on the palletizer and guide the palletizer to perform palletizing based on this height. However, there are the following problems: (1) photoelectric sensors are expensive; (2) if any of the photoelectric sensors in the series fails, the palletizing operation will be interrupted; (3) when the non-rigid palletized object is tilted, this may accidentally trigger the photoelectric sensor, causing a deviation in the positioning position.
[0047] To address at least the aforementioned problems, embodiments of this disclosure propose a novel method for determining the palletizing positioning position, which yields a highly accurate positioning position. This method has been applied in the field and verified to prevent pallet collapse when using the determined positioning position, and the palletizing neatness meets requirements. It can essentially replace the photoelectric sensor solution or serve as a redundant application of the photoelectric sensor solution. The basic principles and preferred embodiments of the invention will be discussed in more detail below with reference to the accompanying drawings.
[0048] Palletizing Position Determination Method
[0049] Figure 1An embodiment of a palletizing positioning method 100 is shown, applied to a palletizing machine. For example... Figure 1 As shown, method 100 includes:
[0050] S102: Obtain the single-layer palletizing height and single-layer palletizing mass. This can be obtained, for example, but not limited to, through user input. It should be noted that the single-layer palletizing object involved in this disclosure may include one or more objects. Taking a corrugated cardboard package in an overlapping palletizing format as an example, the single-layer palletizing object may include A rows * B columns of corrugated cardboard packages, where A and B are positive integers. Furthermore, this corrugated cardboard package and overlapping palletizing format are merely exemplary and should not be considered a limitation of this disclosure.
[0051] S104: Obtain the first correspondence between the number of stacking layers and the compression deformation coefficient.
[0052] In some implementations, the first correspondence can be pre-stored in a storage device or memory, such as a database, file, hard disk, or memory; thus, it can be directly retrieved from the storage device or memory when executing step S104. In some implementations, the first correspondence can also be obtained before step S104 by executing the step of "determining the first correspondence based on the single-layer stacking quality and the pre-stored second correspondence between the mass of the pressed corrugated paper package and the compression deformation coefficient".
[0053] The aforementioned second correspondence can be obtained through a palletizing experiment. To better understand this, a simple example palletizing experiment is described below. For ease of description, the palletizing mass of each single layer in this example is M. Specifically, this includes: stacking m layers, stacking layer by layer (one layer at a time), and sequentially recording the compression deformation of the bottom layer (i.e., the first layer of the first stack) when the compressive mass is M, 2M, 3M, ..., m*M. , , … At the same time, combined You can get Group data "( , ), ( , ), ( , ), ..., ( , )",in Related to the elasticity and gravitational acceleration of the palletized object, this By plotting and fitting the data, a second correspondence between the compressed mass and the compression deformation coefficient is obtained.
[0054] Furthermore, the quality of a single layer of palletizing can vary in the palletizing experiment. Additionally, for the same application scenario (e.g., the same palletized object specification), any palletizing method can be selected for the above-mentioned palletizing experiment to obtain a general second correspondence. Alternatively, palletizing experiments can be conducted separately for different palletizing methods to obtain corresponding second correspondences, and then the results can be summarized to obtain the final second correspondence. The palletizing methods mentioned include, but are not limited to, overlapping palletizing, staggered palletizing, and rotating staggered palletizing.
[0055] S106: Based on the current number of palletizations, single-layer palletizing height, single-layer palletizing mass, and the first correspondence, determine the first positioning position corresponding to the current palletizing operation. The current number of palletizations can be obtained, for example, by recording the number of palletizations.
[0056] There are many ways to implement the aforementioned step S106.
[0057] For example, in some implementations, step S106 can be further implemented as follows: determining the sum of the compression deformation of each layer of palletizing based on the current number of palletizing operations, the mass of a single layer of palletizing, and the first correspondence; determining the first positioning position corresponding to the current palletizing operation based on the height of a single layer of palletizing and the sum of the compression deformation of each layer of palletizing. This is because, in palletizing experiments, it has been found that for each layer of palletizing, the upper layer exerts different pressures on the lower layer, causing different compression deformations in the lower layer. That is, the sum of the compression deformations of each layer forms the difference between the theoretical height and the actual palletizing height. Taking a corrugated paper package with a single layer palletizing mass of M as an example... These are the compression elastic coefficients corresponding to the number of stacking layers 1, 2, ..., n. Then, when the current number of stacking times is n, the sum of the compression deformations of each paper package is expressed by the following formula (1):
[0058] (1)
[0059] Furthermore, based on formula (1), step S106 can be exemplarily expressed as formula (2) below, where It is the height of a single-layer stacking.
[0060] (2)
[0061] For example, in some implementations, step S106 can be further implemented as: determining the first positioning position corresponding to the current palletizing based on the first positioning position corresponding to the previous palletizing, the current number of palletizing, the single-layer palletizing height, the single-layer palletizing quality and the first correspondence.
[0062] Furthermore, optionally, in each of the aforementioned implementations of step S106, the first positioning position of the first palletizing can be a preset position (e.g., set by user input), or it can be automatically determined based on the height of the underlying material (if any). The underlying material is, for example, but not limited to, a pallet.
[0063] Optionally, a safety margin can be added to the aforementioned determined first positioning position to further improve reliability. For example, the first positioning position corresponding to the current palletizing cycle is determined based on the current number of palletization cycles, the single-layer palletizing height, the single-layer palletizing mass, the first correspondence, and the safety margin. This safety margin can be directly obtained through user input or setting, and can also be based on a safety factor. and single-layer stacking height Confirmed. Based on the aforementioned formula (2), the first positioning position after increasing the safety margin can be exemplarily expressed as the following formula (3):
[0064] (3)
[0065] It should be noted that in the aforementioned formulas (1), (2), and (3), the number of stacking layers of the nth stacking layer is recorded as 1, the number of stacking layers of the (n-1)th stacking layer is recorded as 2, ..., and so on, with the number of stacking layers of the 1st stacking layer recorded as n.
[0066] As previously mentioned, the palletizing object of this disclosure is an elastic object, such as, but not limited to, corrugated paper packages. Furthermore, for corrugated paper packages, since the compressive elasticity coefficient is also related to the type of corrugated cardboard inside the package (e.g., three-ply, five-ply, seven-ply, etc.), in application scenarios involving multiple types of corrugated cardboard, palletizing experiments can be performed in advance for different types of compressed cardboard to obtain the corresponding second relationship. Based on this, optionally, before step S106, the following steps are also included: obtaining the type of corrugated cardboard in the currently palletized corrugated paper package; obtaining the second correspondence relationship corresponding to the type of corrugated cardboard.
[0067] Optionally, the aforementioned single-layer palletizing quality can be obtained directly through user input, or it can be automatically determined according to the following steps: obtaining the number of corrugated paper packages in a single-layer palletizing and the weight of a single package; determining the single-layer palletizing quality based on the number of corrugated paper packages in the single-layer palletizing and the weight of a single package. Furthermore, for overlapping palletizing, the number of corrugated paper packages in a single-layer palletizing can be further determined based on the number of rows and columns in the single-layer palletizing.
[0068] Optionally, the method 100 of this embodiment may further include: determining a second positioning position corresponding to the current palletizing based on the first positioning position of the previous palletizing, the single-layer palletizing height, and the safety margin. For example, The second positioning position corresponding to the first stacking can be obtained by user input or setting, or it can be automatically determined based on the aforementioned safety margin and / or the position of the bottom material, etc.
[0069] Palletizing Position Determination Device
[0070] To implement the palletizing positioning position determination method 100 of the aforementioned embodiments, another embodiment of this disclosure also provides a palletizing positioning position determination device 200. For example... Figure 2 As shown, the device 200 includes an acquisition module 202 and a first positioning position determination module 204. The acquisition module 202 is used to acquire the single-layer stacking height, the single-layer stacking mass, and the first correspondence between the number of stacking layers and the compression deformation coefficient. The first positioning position determination module 204 is used to determine the first positioning position corresponding to the current stacking based on the current number of stackings, the single-layer stacking height, the single-layer stacking mass, and the first correspondence.
[0071] Optionally, the device 200 may also include an input module for providing a window for user input data.
[0072] Optionally, the device 200 may further include a second positioning position determination module, which is used to determine a second positioning position corresponding to the current stacking based on the first positioning position of the previous stacking, the single-layer stacking height, and the safety margin. Furthermore, since the device 200 of this embodiment is designed to implement the stacking positioning position determination method 100 of the aforementioned embodiment, each module in the device 200 of this embodiment is designed to implement each step of the aforementioned method 100. Therefore, this disclosure is not limited to this embodiment, and any device, unit, or module that can implement the aforementioned stacking positioning position determination method 100 should be included within the protection scope of this disclosure. Devices 200 of this embodiment that are otherwise identical to the aforementioned method 100 are omitted here for brevity.
[0073] Palletizing control methods
[0074] Figure 3 An embodiment of a palletizing control method 300 is shown, primarily applied to palletizing machines. For example... Figure 3 As shown, method 300 includes:
[0075] For each stack in a layer-by-layer stacking process (i.e., stacking one layer at a time), perform the following steps:
[0076] S302: Determine the positioning position corresponding to the current palletizing, the positioning position including the first positioning position, which is determined according to the palletizing positioning position determination method 100 of the aforementioned embodiment.
[0077] Furthermore, since the positioning positions (first and second positioning positions) in this embodiment are determined according to the palletizing positioning position determination method 100 of the aforementioned embodiment, the palletizing control method 300 of this embodiment includes the palletizing positioning position determination method 100 of the aforementioned embodiment. Therefore, all technical details of the palletizing positioning position determination method 100 of the aforementioned embodiment are applicable to this embodiment, and are omitted here to save space.
[0078] S304: Control the palletizing unit to move to the first positioning position.
[0079] Optionally, the positioning position further includes the second positioning position. Based on this, step S304 can be further implemented as: controlling the palletizing unit to move to the second positioning position; controlling the palletizing unit to press down and move along a first direction from the second positioning position to the first positioning position, the first direction being perpendicular to the surface of the palletizing layer. Taking a palletizing elevator as an example, step S304 can be implemented as follows: controlling the lifting unit of the palletizing machine to rise and fall to the first positioning position, controlling the pushing unit of the palletizing machine to extend along a second direction; controlling the pushing unit to press down and move along the first direction to the second positioning position; sequentially controlling the insert arm and push plate in the palletizing unit to retract, the first direction and the second direction being perpendicular to each other. It can be seen that this pressing and moving action can effectively flatten the raised paper packages or cardboard, further improving palletizing reliability compared to directly moving to the first positioning position for palletizing.
[0080] Palletizing control device
[0081] To implement the palletizing control method 300 of the aforementioned embodiments, another embodiment of this disclosure also provides a palletizing control device 400, such as... Figure 4 As shown, the device 400 includes a positioning position determination module 402 and a palletizing control module 404. Specifically, the positioning position determination module 402 is used to determine the positioning position corresponding to the current palletizing for each palletizing operation according to the palletizing positioning position determination method of the aforementioned embodiment, wherein the positioning position includes a first positioning position; and the palletizing control module 404 is used to control the palletizing unit to move to the determined first positioning position.
[0082] Optionally, the positioning position also includes a second positioning position, and the palletizing control module 404 is also used to sequentially control the palletizing unit to move to the second positioning position and to move down from the second positioning position to the first positioning position along a first direction, the first direction being perpendicular to the surface of the palletizing layer.
[0083] Furthermore, it should be noted that since the palletizing control device 400 of this embodiment is for implementing the palletizing control method 300 of the aforementioned embodiment, each module in the device 400 of this embodiment is designed to implement each step of the aforementioned palletizing control method 300. Therefore, this disclosure is not limited to this embodiment, and any device, unit, or module that can implement the aforementioned palletizing control method 300 should be included within the protection scope of this disclosure. Other contents that are identical to those of the aforementioned method 300 and are applicable to the device 400 of this embodiment are omitted here for the sake of brevity.
[0084] It should be noted that the embodiments disclosed herein are particularly applicable to palletizing machines for hierarchical palletizing, such as palletizing elevator palletizing machines.
[0085] Electronic equipment 500
[0086] Figure 5 A schematic diagram of an electronic device 500 according to an embodiment of the present disclosure is shown. It should be noted that this embodiment does not limit the specific implementation of the electronic device 500. Figure 5 As shown, the electronic device 500 includes: a processor 502, a communications interface 504, a memory 506, and a bus 508. Wherein:
[0087] The processor 502, communication interface 504, and memory 506 communicate with each other via bus 508.
[0088] Communication interface 504 is used to communicate with other electronic devices 500 or servers.
[0089] The processor 502 is used to execute program 510, which can specifically execute the relevant steps in the above-described palletizing positioning method 100 and palletizing control method 300 embodiments.
[0090] Specifically, program 510 may include program code that includes computer operation instructions.
[0091] The processor 502 may be a central processing unit 502 CPU, an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application. The one or more processors 502 included in the smart device may be processors of the same type, such as one or more CPUs; or they may be processors of different types, such as one or more CPUs and one or more ASICs.
[0092] Memory 506 is used to store program 510. Memory 506 may include high-speed RAM memory 506, and may also include non-volatile memory 506, such as at least one disk storage 506.
[0093] Specifically, program 510 can be used to cause processor 502 to execute the palletizing positioning method 100 and palletizing control method 300 in any of the foregoing embodiments.
[0094] The specific implementation of each step in program 510 can be found in the corresponding steps and units described in the embodiments of palletizing positioning method 100 and palletizing control method 300, and will not be repeated here. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the equipment and modules described above can be referred to the corresponding process descriptions in the foregoing method embodiments, and will not be repeated here.
[0095] Computer-readable storage media
[0096] This application also provides a computer-readable storage medium storing instructions for causing a machine to execute the palletizing positioning and palletizing control methods described herein. Specifically, a system or apparatus equipped with a storage medium storing software program code that implements the functions of any of the embodiments described above, and enabling the computer (or CPU or MPU) of the system or apparatus to read and execute the program code stored in the storage medium.
[0097] In this case, the program code read from the storage medium can itself implement the function of any of the above embodiments, and therefore the program code and the storage medium storing the program code constitute part of this application.
[0098] Storage media embodiments for providing program code include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), magnetic tapes, non-volatile memory cards, and ROMs. Alternatively, program code can be downloaded from a server computer via a communication network.
[0099] Computer program products
[0100] This application also provides a computer program product, including computer instructions that instruct a computing device to perform any corresponding operation in the above-described plurality of method embodiments.
[0101] It should be noted that, depending on the implementation needs, the various components / steps described in the embodiments of this application can be broken down into more components / steps, or two or more components / steps or parts of the operation of components / steps can be combined into new components / steps to achieve the purpose of the embodiments of this application.
[0102] The methods described in the embodiments of this application can be implemented in hardware, firmware, or as software or computer code that can be stored in a recording medium (such as a CD-ROM, RAM, floppy disk, hard disk, or magneto-optical disk), or as computer code downloaded over a network that is originally stored in a remote recording medium or a non-transitory machine-readable medium and will be stored in a local recording medium. Thus, the methods described herein can be processed by software stored on a recording medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware (such as an ASIC or FPGA). It is understood that the computer, processor, microprocessor controller, or programmable hardware includes storage components (e.g., RAM, ROM, flash memory, etc.) capable of storing or receiving software or computer code, which, when accessed and executed by the computer, processor, or hardware, implements the methods described herein. Furthermore, when a general-purpose computer accesses code used to implement the methods shown herein, the execution of the code transforms the general-purpose computer into a dedicated computer for executing the methods shown herein.
[0103] It should be noted that not all steps and modules in the above processes and system structure diagrams are mandatory; some steps or modules can be omitted as needed. The execution order of each step is not fixed and can be adjusted as required. The system structure described in the above embodiments can be a physical structure or a logical structure. That is, some modules may be implemented by the same physical entity, or some modules may be implemented by multiple physical entities, or they may be jointly implemented by certain components in multiple independent devices.
[0104] In the above embodiments, the hardware modules can be implemented mechanically or electrically. For example, a hardware module may include permanent, dedicated circuitry or logic (such as a dedicated processor, FPGA, or ASIC) to perform the corresponding operations. The hardware module may also include programmable logic or circuitry (such as a general-purpose processor or other programmable processor), which can be temporarily configured by software to perform the corresponding operations. The specific implementation method (mechanical, dedicated, permanent circuitry, or temporarily configured circuitry) can be determined based on cost and time considerations.
[0105] The present invention has been shown and described in detail above with reference to the accompanying drawings and preferred embodiments. However, the present invention is not limited to these disclosed embodiments. Based on the above multiple embodiments, those skilled in the art will know that more embodiments of the present invention can be obtained by combining the code review methods in the different embodiments above. These embodiments are also within the protection scope of the present invention.
Claims
1. A method for determining the palletizing positioning position, used for palletizing positioning control of corrugated paper packages, applied to a palletizing machine, characterized in that, The method includes: Obtain the single-layer pallet height and single-layer pallet mass; Obtain a first correspondence between the number of palletizing layers and the compression deformation coefficient, the first correspondence being determined based on a second correspondence between the single-layer palletizing mass and the mass of the stored pressed corrugated paper package and the compression deformation coefficient; For layer-by-layer stacking, a first positioning position corresponding to the current stacking is determined based on the current stacking count, the single-layer stacking height, the single-layer stacking mass, and the first correspondence. This step further includes: determining the sum of the compression deformation of each stacking layer based on the current stacking count, the single-layer stacking mass, and the first correspondence; determining the first positioning position corresponding to the current stacking based on the single-layer stacking height and the sum of the compression deformation of each stacking layer, wherein the current stacking count is equal to the current stacking layer number during layer-by-layer stacking.
2. The method according to claim 1, characterized in that, Before determining the first positioning position corresponding to the current palletizing based on the current number of palletizing operations, the single-layer palletizing height, the single-layer palletizing mass, and the first correspondence, the method further includes: obtaining the position of the bottom material and / or the safety margin. The step of determining the first positioning position corresponding to the current palletizing cycle based on the current number of palletizing cycles, the single-layer palletizing height, the single-layer palletizing mass, and the first correspondence further includes: Based on the current number of palletizations, the single-layer palletization height, the single-layer palletization mass, the first correspondence, the position of the bottom material, and / or the safety margin, determine the first positioning position corresponding to the current palletization.
3. The method according to claim 2, characterized in that, The method further includes: The second positioning position for the current palletizing is determined based on the first positioning position of the previous palletizing, the single-layer palletizing height, and the safety margin.
4. The method according to any one of claims 1-3, characterized in that, The first correspondence is determined according to the following steps: Obtain the type of corrugated cardboard in the stacked corrugated cardboard bundles; Determine the second correspondence relationship corresponding to the type of corrugated cardboard obtained; The first correspondence is determined based on the single-layer stacking quality and the determined second correspondence.
5. The method according to claim 4, characterized in that, The single-layer palletizing quality is determined according to the following steps: Obtain the number of corrugated cardboard packages in a single stack and the weight of a single corrugated cardboard package; The single-layer stacking quality is determined based on the number of corrugated paper packages in the single-layer stack and the weight of each individual corrugated paper package.
6. A palletizing control method for palletizing and positioning corrugated paper packages, applied to a palletizing machine, characterized in that, include: For each stack in a layer-by-layer stacking process, perform the following steps: The palletizing positioning method according to any one of claims 1-5 determines the positioning position corresponding to the current palletizing, wherein the positioning position includes the first positioning position; Control the palletizing unit to move to the first positioning position.
7. The palletizing control method according to claim 6, characterized in that, The positioning position further includes the second positioning position; and the control of the palletizing unit to move to the first positioning position further includes: Control the palletizing unit to move to the second positioning position; The palletizing unit is controlled to move downward from the second positioning position to the first positioning position along a first direction, which is perpendicular to the surface of the palletizing layer.
8. A palletizing positioning device for controlling the palletizing positioning of corrugated paper packages, applied to a palletizing machine, characterized in that, The palletizing positioning device (200) includes: The acquisition module (202) is used to acquire the first correspondence between the single-layer stacking height, the single-layer stacking mass, the number of stacking layers and the compression deformation coefficient. The first correspondence is determined based on the second correspondence between the single-layer stacking mass and the mass of the stored pressed corrugated paper package and the compression deformation coefficient. The first positioning position determination module (204) is used to determine the first positioning position corresponding to the current stacking based on the current number of stacks, the single-layer stacking height, the single-layer stacking mass, and the first correspondence for layer-by-layer stacking; further, it determines the sum of the compression deformation of each stacking layer based on the current number of stacks, the single-layer stacking mass, and the first correspondence, and determines the first positioning position corresponding to the current stacking based on the single-layer stacking height and the sum of the compression deformation of each stacking layer, wherein the current number of stacks is equal to the current number of stacking layers during layer-by-layer stacking.
9. A palletizing control device for palletizing and positioning control of corrugated paper packages, applied to a palletizing machine, characterized in that, The palletizing control device (400) includes: The positioning position determination module (402) is used to determine, for each palletizing, a first positioning position corresponding to the current palletizing according to the palletizing positioning position determination method according to any one of claims 1-5; The palletizing control module (404) is used to control the palletizing unit to move to the determined first positioning position.
10. An electronic device, comprising: The processor, the communication interface, the memory, and the bus are connected, and the processor, the communication interface, and the memory communicate with each other via the bus. The memory is used to store at least one executable instruction that causes the processor to perform an operation corresponding to the palletizing positioning method as described in any one of claims 1 to 5, or to perform an operation corresponding to the palletizing control method as described in claim 6 or 7.
11. A computer-readable storage medium storing computer instructions that, when executed by a processor, cause the processor to perform the palletizing positioning method according to any one of claims 1 to 5, or the palletizing control method according to claim 6 or 7.
12. A computer program product comprising computer instructions that instruct a computing device to perform an operation corresponding to the palletizing positioning method as described in any one of claims 1 to 5, or that the computer instructions instruct the computing device to perform an operation corresponding to the palletizing control method as described in claim 6 or 7.