Full cache hybrid palletizing method, system, control device, and storage medium

Abstract

The application discloses a complete cache mixed stacking method, system, control device and storage medium, relates to the field of logistics storage, and is used for realizing mixed stacking under the premise of reducing the volume of a temporary storage. The method comprises the following steps: acquiring attribute information of an article, wherein the attribute information comprises the size and weight of the article; conveying and storing the article to a shelf; repeating the above steps until the total volume of all the articles stored in the shelf is greater than or equal to a set volume; calculating a stacking sequence of each article to be pre-stacked to a same tray; and taking each article out of the shelf and placing the articles on the tray in sequence. The technical scheme has the advantages that the stacking sequence is reasonably set, the attribute information of each article can be fully considered in the stacking process, the stacking efficiency is higher, the shape of the stack is more optimal, the stability is better, and the space utilization rate is higher.

Description

Technical Field

[0001] This invention relates to the field of logistics warehousing, and specifically to a fully cached hybrid palletizing method, system, control device, and storage medium. Background Technology

[0002] In logistics warehousing, unordered mixed carton palletizing robots are widely used. A key challenge in logistics warehousing automation is how to automatically and efficiently palletize and store items of various sizes and specifications that arrive out of order, saving manpower while improving logistics turnover efficiency.

[0003] The inventors discovered that existing technologies suffer from at least the following problems: the palletizing sequence directly affects the quality of the pallet; defective pallets are prone to collapse, causing inconvenience and trouble for subsequent production. In related technologies, it is difficult to determine the palletizing sequence, making problems highly likely to occur during the palletizing process. Summary of the Invention

[0004] This invention proposes a fully cached hybrid palletizing method, system, control device, and storage medium to rationally determine the palletizing order and achieve hybrid palletizing.

[0005] This invention provides a fully cached hybrid palletizing method, comprising the following steps:

[0006] Obtain the attribute information of the item, including the item's volume and weight;

[0007] The items are transported and stored on the shelves;

[0008] Repeat the above steps until the total volume of all items stored on the shelf is greater than or equal to the set volume;

[0009] Calculate the stacking order of the items to be pre-stacked onto the same pallet based on their volume and weight.

[0010] Each item is removed from the shelf and placed sequentially on the tray.

[0011] In some embodiments, the fully cached hybrid palletizing method further includes the following steps:

[0012] When the items placed on the tray reach a set height, all items on the tray are wrapped with film to fix the stack shape.

[0013] In some embodiments, the volume of an item is obtained by taking a picture of the item with a camera to obtain the dimensions of the item and calculating the volume of the item.

[0014] In some embodiments, the weight of an article is obtained by using a weight detection element.

[0015] In some embodiments, the step of removing each item from the shelf and placing it on the tray specifically includes:

[0016] The item is removed from the shelf using a transplanting assembly;

[0017] The removed item is placed on the loading platform using the transplanting assembly.

[0018] A robotic arm is used to move the item located on the loading platform to a pallet; wherein the pallet is located at the wrapping station of the wrapping machine.

[0019] In some embodiments, prior to conveying and storing the items on the shelf, the following steps are also included:

[0020] Based on the attribute information of the item, calculate the target storage location of the item on the shelf.

[0021] In some embodiments, the total volume of items stored on the shelf is calculated using the following steps:

[0022] The volume of each item stored on the shelf is calculated in real time.

[0023] The volumes of all items already stored on the shelf are added together to obtain the total volume of all items stored on the shelf.

[0024] In some embodiments, the order in which the items are removed from the shelf is the same as the stacking order.

[0025] In some embodiments, the volume is defined as the storage capacity of a tray.

[0026] This invention also provides a fully buffered hybrid palletizing system, comprising:

[0027] A conveyor mechanism, configured to transport goods;

[0028] Shelves are arranged near the conveyor mechanism;

[0029] A transplanting assembly is arranged near the shelf to move the items from the conveyor mechanism to the shelf for storage;

[0030] A tray, configured to hold the various items to be stacked; and

[0031] A robotic arm is configured to move the items stored on the shelf to the pallet for palletizing based on a palletizing order calculated from the volume of each item stored on the shelf.

[0032] In some embodiments, the fully cached hybrid palletizing system further includes:

[0033] A wrapping machine, wherein the pallet is placed at the wrapping station of the wrapping machine, and the wrapping machine is configured to wrap the items on the pallet to fix the stack shape.

[0034] In some embodiments, the fully cached hybrid palletizing system further includes:

[0035] A loading platform is installed between the transfer assembly and the pallet; a robotic arm is installed near the loading platform to move the item located on the loading platform to the pallet for loading.

[0036] In some embodiments, the number of the shelves, the transplanting components, and the pallets is at least two, and the shelves, the transplanting components, and the pallets are arranged in a one-to-one correspondence.

[0037] In some embodiments, the conveying mechanism employs one of the following mechanisms: a conveyor belt or rollers.

[0038] In some embodiments, the fully cached hybrid palletizing system further includes:

[0039] The mounting bracket is located upstream of the shelf and adjacent to the conveying mechanism;

[0040] A size detection element, mounted on the mounting bracket and positioned above the conveying mechanism, is used to obtain the volume of an article located on the conveying mechanism; and

[0041] A weight detection element is installed on the conveying mechanism to obtain weight information of the items located on the conveying mechanism.

[0042] This invention also provides a fully buffered hybrid palletizing control device, comprising:

[0043] Memory; and

[0044] A processor coupled to the memory is configured to execute a fully cached hybrid palletizing method as provided by any of the technical solutions of the present invention, based on instructions stored in the memory.

[0045] This invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the fully cached hybrid palletizing method provided by any of the inventive solutions.

[0046] The fully cached mixed palletizing method provided by the above technical solution is aimed at mixed palletizing where the types of items are diverse and their sizes vary. The technical solution provided in this invention rationally sets the palletizing initiation timing, employing a method of simultaneous temporary storage and calculation. Palletizing is initiated when the total volume of the temporarily stored items is greater than or equal to a set volume, such as the volume of a complete pallet. Before palletizing, the palletizing order of each item is calculated, and the temporarily stored items are retrieved in sequence and then transported one by one to the pallet for palletizing. This method of simultaneous temporary storage and palletizing fully calculates the attribute information of each item during the palletizing process, resulting in higher palletizing efficiency, a better pallet shape, and better stability, ultimately achieving higher utilization of the container storing the entire pallet. Attached Figure Description

[0047] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0048] Figure 1 This is a top view of a fully cached hybrid palletizing system provided in an embodiment of the present invention.

[0049] Figure 2 A three-dimensional structural diagram of the shelf and conveying mechanism of the fully buffered hybrid palletizing system provided in an embodiment of the present invention.

[0050] Figure 3 This is a front view structural diagram of the shelf and conveyor mechanism of the fully buffered hybrid palletizing system provided in an embodiment of the present invention.

[0051] Figure 4 A partial three-dimensional structural diagram of the transfer component of the fully cached hybrid palletizing system provided in an embodiment of the present invention.

[0052] Figure 5 A schematic diagram showing the relative positions of the wrapping machine, loading platform, and robotic arm in a fully buffered hybrid palletizing system provided in an embodiment of the present invention.

[0053] Figure 6 This is a top view schematic diagram of a fully cached hybrid palletizing system provided in another embodiment of the present invention.

[0054] Figure 7 This is a schematic diagram of a fully cached hybrid palletizing method provided in another embodiment of the present invention.

[0055] Figure 8 A schematic diagram of the palletizing process of a fully cached hybrid palletizing method provided in another embodiment of the present invention.

[0056] Figure label:

[0057] 1. Conveying mechanism; 2. Shelf; 3. Mounting bracket; 4. Dimension detection element; 5. Weight detection element; 6. Transplanting assembly; 7. Pallet; 8. Wrapping machine; 9. Loading platform; 10. Robotic arm; 11. Item; 61. Loading mechanism; 62. Lifting platform; 621. Fork; 622. Shift fork. Detailed Implementation

[0058] The following is combined Figures 1 to 8 The technical solutions provided by this invention will be described in more detail below. The descriptions of exemplary embodiments are merely illustrative and are in no way intended to limit this disclosure or its application or use. This disclosure can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided to make this disclosure thorough and complete, and to fully express the scope of this disclosure to those skilled in the art. It should be noted that, unless otherwise specifically stated, the relative arrangement of components and steps, the composition of materials, numerical expressions, and values ​​set forth in these embodiments should be interpreted as merely exemplary and not as limiting.

[0059] The terms “first,” “second,” and similar words used in this disclosure do not indicate any order, quantity, or importance, but are merely used to distinguish different parts. Words such as “including” or “contains” mean that the element preceding the word covers the element listed after the word, and do not exclude the possibility of covering other elements as well.

[0060] In this disclosure, when a specific device is described as being located between a first device and a second device, an intermediary device may or may not be present between the specific device and the first or second device. When a specific device is described as being connected to other devices, the specific device may be directly connected to the other devices without an intermediary device, or it may be not directly connected to the other devices but have an intermediary device.

[0061] All terms used in this disclosure (including technical or scientific terms) have the same meaning as understood by one of ordinary skill in the art to which this disclosure pertains, unless otherwise specifically defined. It should also be understood that terms defined in a general dictionary, such as a dictionary, should be interpreted as having a meaning consistent with their meaning in the context of the relevant art, and not as having an idealized or highly formalized meaning, unless expressly defined herein.

[0062] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, they should be considered part of the specification.

[0063] The dimensions of the various parts shown in the accompanying drawings are not drawn to actual scale. Common structural elements or elements of the same kind are given the same reference numerals in the various drawings, and repeated descriptions of them are omitted where appropriate.

[0064] The inventors discovered through research that the core of how to stack items of various sizes that arrive out of order is to solve the BinPacking Problem (BPP), which involves planning the placement of each carton in the container to maximize the space utilization of the container.

[0065] Further research by the inventors revealed that humans can quickly make decisions based on the shape and size of a few upcoming items, without needing or being able to perform global planning for the entire item sequence. This packing problem, which only sees a portion of the item sequence, is called the Online Packing Problem (Online BPP). The palletizing task on a logistics conveyor is described as an Online BPP problem. Therefore, solving this problem is of great significance for developing truly practical fully buffered hybrid palletizing systems and realizing intelligent palletizing.

[0066] In the Online BPP problem, the robot can only observe the size information of the k upcoming items (i.e., the k look-ahead items), which is described as a BPP-k problem. For items arriving in sequence, the robot must immediately plan and place them, without allowing adjustments to items already in place, while simultaneously considering obstacle avoidance and placement stability. The ultimate goal is to maximize container space utilization. The complexity of the Online BPP problem is determined by factors such as item specifications, container size, the distribution of the item sequence, and the number of look-ahead items. Due to limited information about only a portion of the item sequence, previous combinatorial optimization methods are insufficient. Therefore, this invention provides the following solution, which improves palletizing stability and container space utilization while minimizing shelf volume.

[0067] To provide a detailed introduction to the fully cached hybrid palletizing method provided in this embodiment of the invention, a fully cached hybrid palletizing system is first introduced. The fully cached hybrid palletizing system is used to execute the fully cached hybrid palletizing method.

[0068] See Figure 1 , Figure 1This is a top-down view of a fully buffered hybrid palletizing system provided in an embodiment of the present invention. The embodiment also provides a fully buffered hybrid palletizing system, including a conveyor mechanism 1, a shelf 2, a transfer assembly 6, a pallet 7, and a robotic arm 10. The conveyor mechanism 1 is configured to convey items 11. The shelf 2 is arranged near the conveyor mechanism 1. The transfer assembly 6 is arranged near the shelf 2 to move items 11 from the conveyor mechanism 1 to the shelf 2 for storage. The pallet 7 is configured to hold the items 11 to be stacked. The robotic arm 10 is configured to move the items 11 stored on the shelf 2 to the pallet 7 for stacking based on a stacking order calculated according to the volume of each item 11 stored on the shelf 2.

[0069] See Figure 1 The conveying mechanism 1 is located outside the shelf 2. The conveying mechanism 1 can be implemented using various methods such as conveyor rollers or conveyor belts. The length of the conveying mechanism 1 can be freely set, and the required length, transport direction, and width can be configured according to actual scenario requirements. In some embodiments, the conveying mechanism 1 can also be configured to be inclined, i.e., one end of the conveying mechanism 1 is higher than the other end. Optionally, the conveying mechanism 1 can also be configured as a telescopic structure to provide flexibility and better meet the usage needs of different scenarios. Setting up the conveying mechanism 1 can reduce the movement range of the transplanting component 6.

[0070] See Figure 2 and Figure 3 , Figure 3 The main focus is on the relative positions of shelf 2 and conveyor mechanism 1. Shelf 2 is a three-dimensional shelving unit used to store items 11, including multiple storage levels. Items 11 can specifically include goods, merchandise, boxes, and other stackable structures. The height of each level can be the same or different. Shelf 2 is an open shelving unit; besides the support plates supporting the items 11, no other barriers are required. This structure is very compact and allows for convenient storage and retrieval of items 11. Shelf 2 is a customized product, with its structure specifically designed according to the size, weight, and other characteristics of the items 11 to be stored.

[0071] Shelf 2 has multiple storage locations, each capable of holding one or more items 11. The storage volume occupied by each item 11 is calculated based on its attribute information, allowing the storage location of each item 11 on shelf 2 to be dynamically determined according to its size, maximizing the buffer capacity. Specifically, while keeping the total volume of each shelf and each compartment constant, the required storage space for each item 11 is calculated based on its attribute information. Then, following the calculation logic of maximizing the filling of each compartment's volume, and combining the attribute information of each item 11, the number of items 11 that should be stored in each compartment and the specific location of each item 11 within the compartment are calculated, such as whether item 11 is located on the upper layer, lower layer, upper left corner, or lower right corner of the compartment.

[0072] To interface with the conveyor mechanism 1, the shelf 2 may include a roller conveyor for connecting conveyor rollers, through which the item 11 is received from the conveyor mechanism 1. The weight and size information of the item 11 can be obtained either before the item 11 is conveyed to the roller conveyor of the shelf 2, or after the roller conveyor receives the item 11. Figure 1 In some of the embodiments shown, the fully cached hybrid palletizing system uses size detection element 4 to obtain the size information of item 11 and weight detection element 5 to obtain the weight information of item 11.

[0073] In some embodiments, the fully cached hybrid palletizing system further includes a mounting bracket 3, a size detection element 4, and a weight detection element 5. The mounting bracket 3 is located upstream of the shelf 2 and adjacent to the conveyor mechanism 1. The size detection element 4 is mounted on the mounting bracket 3 and positioned above the conveyor mechanism 1 to obtain size information of the item 11 located on the conveyor mechanism 1, thereby obtaining the volume of the item 11. The weight detection element 5 is mounted on the conveyor mechanism 1 to obtain weight information of the item 11 located on the conveyor mechanism 1.

[0074] See Figure 2 The size detection element 4 specifically employs a vision camera, which is mounted on a mounting bracket 3. The mounting bracket 3 includes a vertical pole and a horizontal bar mounted at the top of the vertical pole. The total height of the mounting bracket 3 is higher than the height of the conveying mechanism 1. The vision camera is located at the top of the mounting bracket 3, specifically in the middle of the horizontal bar. The vision camera takes a downward-looking image of the item 11 on the conveying mechanism 1. Based on the image of the item 11, its size information can be calculated.

[0075] The weight detection element 5 is specifically a load cell. The load cell is installed on the conveyor mechanism 1 or on the roller conveyor of the shelf 2. When the item 11 passes through the weight detection element 5, it is automatically weighed without stopping the item 11, thus making the conveying of the item 11 to the shelf 2 more efficient.

[0076] See also Figure 2 and Figure 3 The transfer assembly 6 is used to transport items 11 to the shelf 2 for storage and to remove items 11 from the shelf 2 when stacking is required. The transfer assembly 6 can achieve compound motion, that is, it can realize the horizontal movement of items 11. Figure 2 The direction indicated by arrow S1 can also be used to lift or lower item 11. Figure 2 The direction indicated by arrow S2 in the diagram. This structure of the transplanting component 6 allows the shelf 2 to move in two directions.

[0077] See Figure 4 , Figure 4 This is a partial three-dimensional structural diagram of the transplanting assembly 6. The transplanting assembly 6 includes a supporting mechanism 61 and a lifting platform 62. The lifting platform 62 is movably mounted on the supporting mechanism 61. A screw mechanism, chain, slide rail, or other mechanism can be used to drive the lifting platform 62 to move horizontally and vertically relative to the supporting mechanism 61. The lifting platform 62 includes forks 621 and shift forks 622. The forks 621 are constructed to be retractable. The forks 621 are arranged in pairs with adjustable spacing to accommodate items 11 of different sizes. Each end of the forks 621 is equipped with a shift fork 622, which can be retracted and lowered. Through the cooperation of the forks 621 and shift forks 622, the item 11 is pushed out of the lifting platform 62 and pulled onto the lifting platform 62.

[0078] See Figure 5 , Figure 5 The diagram primarily illustrates the relative positions of the wrapping machine 8, the loading platform 9, and the robotic arm 10. The transfer assembly 6 is located between the shelf 2 and the loading platform 9. When the volume of the items 11 stored on the shelf 2 reaches a set volume, specifically, for example, the volume of a whole stack, the palletizing operation begins. This method not only minimizes the temporary storage space on the shelf 2, significantly reducing its size, but also achieves equipment miniaturization and reduces equipment costs. At this point, calculations have determined which items 11 need to be removed from the shelf 2, and the stacking order of each item 11 is determined based on its attribute information. Based on this information, the transfer assembly 6 removes the items 11 sequentially according to the stacking order and places them on the loading platform 9. The loading platform 9 is an intermediate transition station. The loading platform 9 includes support legs and a support base mounted on the support legs. The loading platform 9 is installed between the transfer assembly 6 and the pallet 7. The robotic arm 10 is installed near the loading platform 9. The items 11 placed on the support platform are taken away one by one by the robotic arm in the order of stacking and then placed on the pallet 7.

[0079] Since the technical solution of this invention is mixed palletizing, the sizes and heights of the individual items 11 vary. To make the stack more stable, a method of wrapping film while stacking can be used to fix the stack shape, improve the stability of the stacking process, and reduce the probability of stack collapse. Therefore, in some embodiments, the fully buffered mixed palletizing system also includes a wrapping machine 8. The pallet 7 is placed at the wrapping station of the wrapping machine 8, and the wrapping machine 8 is configured to wrap film around the items 11 on the pallet 7 to fix the stack shape. The wrapping machine 8 can adopt an existing structure, and its function is to wrap one or more layers of fixing film around the outside of the stack. The fixing film increases the tightness between the individual items 11 in the stack, making the stack more stable and less prone to tipping over.

[0080] See Figure 6 In other embodiments, the number of shelves 2, transplanting components 6 and pallets 7 is at least two, and the shelves 2, transplanting components 6 and pallets 7 are arranged in a one-to-one correspondence. Figure 6 Taking two of each of the following as an example: shelf 2, transplanting component 6, and pallet 7.

[0081] See Figure 6 In this embodiment, the loading platform 9 may not be required. The position between the two shelves 2 is the gripping position C of the robotic arm 10. Both transfer components 6 pick up items 11 from position A and place them inside the shelf 2. During palletizing, the transfer component 6 takes the items 11 out of the shelf 2 and places them at position B, while the conveyor line delivers the items 11 to the gripping position C to begin palletizing.

[0082] The fully buffered hybrid palletizing system provided by the above technical solution can be flexibly configured according to factors such as the size of the item 11, the layout space, and the working cycle flow. Here, two transfer components are set up, increasing the number of palletizing stations of the robotic arm 10 from one to multiple. The buffer storage area is divided into left and right parts. The two transfer components 6 enable faster storage and supply of the item 11 and improve the efficiency of the robotic arm 10. The two shelves 2 also increase the buffer storage capacity.

[0083] See Figure 7 This invention provides a fully cached hybrid palletizing method, comprising the following steps:

[0084] Step S100: Obtain the attribute information of item 11. The attribute information includes the volume and weight of item 11.

[0085] The conveyor mechanism 1 continuously transports items 11 to the shelf 2 for storage. Before storage on the shelf 2, the attribute information of items 11 is obtained, including their size and weight. After storage on the shelf 2, the attribute information of each item 11 also includes its storage location. The storage location of items 11 of different sizes is calculated and determined.

[0086] The volume of item 11 can be obtained by taking a picture of item 11 with a camera to obtain the dimensions of item 11; the volume of item 11 can be calculated based on the dimensions.

[0087] The weight of item 11 is obtained using the following method: the weight of item 11 is obtained using the weight detection element 5.

[0088] In some embodiments, after step S100 and before step S200, the following step is further included: calculating the target storage location of item 11 on shelf 2 based on the attribute information of item 11. The target storage location of each item 11 is calculated. Depending on the size, weight, and other information of item 11, multiple items 11 can be stored in the same compartment of shelf 2. After each item 11 is stored, its target storage location is recorded and stored to facilitate the smooth retrieval of item 11 during subsequent palletizing.

[0089] Step S200: Transport and store item 11 to shelf 2. The conveyor mechanism 1 transports item 11 to the roller conveyor of shelf 2, and then the transfer assembly 6 removes item 11 from the roller conveyor and transports item 11 to the target storage location information according to the calculated target storage location information.

[0090] Step S300: Repeat the above steps until the total volume of all items 11 stored on the shelf 2 is greater than or equal to the set volume. The set volume is, for example, the storage capacity of one pallet 7. Setting the set volume to the storage capacity of one pallet 7 allows for stacking when the stack is full. Setting the set volume to less than the storage capacity of one pallet 7 allows for stacking when the stack is not full, such as stacking half a pallet 7 at a time.

[0091] In step S300 above, the total volume of all items 11 stored on shelf 2 is calculated as follows: the volume of each item 11 stored on shelf 2 is calculated in real time; the volumes of all items 11 already stored on shelf 2 are added together to obtain the total volume of all items 11 stored on shelf 2. When the calculated total volume of items 11 is greater than or equal to the volume required for a full stack, palletizing can be started.

[0092] Step S400: Calculate the stacking order of each item 11 to be pre-stacked on the same pallet 7 based on the volume and weight of the item 11. The stacking order of each item 11 is the same as the picking order of each item 11. Heavier and larger items 11 are placed at the bottom.

[0093] There are multiple sources for the volume and weight information of item 11. Corresponding size detection element 4 and weight detection element 5 can be set to obtain the size and weight information of item 11 in real time during the transportation of item 11; or the size detection element 4 and weight detection element 5 can be detected in advance, and the detected information can be carried with item 11 or stored in the identification information of item 11 in advance.

[0094] Step S500: Remove each item 11 from the shelf 2 and place them sequentially on the pallet 7. Items 11 are removed from the shelf 2 in the order of stacking and then placed sequentially on the loading platform 9. The robotic arm 10 will then remove items 11 sequentially from the loading platform 9 and place them on the pallet 7 for stacking, thus beginning the stacking process.

[0095] The above step S500 may specifically include the following steps:

[0096] S510. Use the transfer assembly 6 to remove item 11 from shelf 2. The order in which the transfer assembly 6 removes item 11 is the same as the determined stacking order. Items 11 that are stacked first are removed from shelf 2 first, and items 11 that are stacked later are removed from shelf 2 later.

[0097] S520. The removed item 11 is placed on the loading platform 9 using the transfer component 6. The size of the loading platform 9 can be set to be relatively small, enough to accommodate one or two items 11.

[0098] S530, The robotic arm 10 moves the item 11 located on the loading platform 9 to the pallet 7. The pallet 7 is located at the wrapping station of the wrapping machine 8.

[0099] The items 11 in the pallet 7 are wrapped with film on the outer periphery by the wrapping machine 8 to fix the stack shape, so that the items 11 are not easy to tip over or fall off during the stacking process.

[0100] In some embodiments, the fully cached hybrid palletizing method further includes step S600: when the items 11 placed on the pallet 7 are stacked to a set height, all items 11 on the pallet 7 are wrapped with film to fix the stack shape.

[0101] The height is set to, for example, 1 / 4 to 1 / 3 of the total stack height. Taking 1 / 4 as an example, when the total height of the stacked items 11 reaches 1 / 4 of the total stack height, the fixing film is wrapped around the outer perimeter of the stack. Therefore, a stack needs to be wrapped at 1 / 4 height, 1 / 2 height, 3 / 4 height, and the highest point.

[0102] Mixed palletizing can easily lead to poor stability. To improve pallet stability, edge wrapping with variable-length palletizing film can effectively enhance the stability of the palletizing process. During palletizing, the start and stop heights for wrapping are determined based on the overall size distribution of the items 11 and the real-time height of the pallet. If the items 11 are large and relatively stable, wrapping begins at a slightly higher pallet height, and the wrapping frequency is also relatively low. If the items 11 are small and less stable, wrapping begins at a slightly lower pallet height, and the wrapping frequency is correspondingly higher. After palletizing is completed, the wrapping machine 8 automatically cuts the film, the palletized pallet 7 is automatically transported away, and empty pallets 7 are replenished.

[0103] The above technical solution employs a palletizing control logic that calculates the optimal palletizing logic for a stack of items 11 once the total volume of the items 11 temporarily stored on shelf 2 meets the requirements for a full stack. This effectively reduces the volume of shelf 2, the required storage space, the footprint, and investment costs, achieving stacking using the mini-AS / RS shelf 2. The mini-AS / RS shelf 2 has a small footprint and low investment cost. The palletizing process is calculated, effectively considering the attribute information of each item 11 during stacking, resulting in better volumetric efficiency and stability even with mixed stacking. The order in which the robotic arm 10 supplies boxes affects the stack shape. Randomly sized and arbitrarily shaped items 11 are stacked directly according to their arrival order without algorithm sorting, leading to poor stack stability and volumetric efficiency. Volumetric efficiency refers to the ratio of the total volume of items 11 in a stack to the volume of the container. A higher ratio indicates higher space utilization and a more optimal stack shape. Conversely, the smaller the ratio, the lower the space utilization rate of the container.

[0104] This invention also provides a fully cached hybrid palletizing control apparatus, including a memory and a processor coupled to the memory. The processor is configured to execute the fully cached hybrid palletizing method provided by any of the technical solutions of this invention based on instructions stored in the memory.

[0105] During the product caching process on shelf 2, the processor continuously calculates and records the total volume of items 11 on shelf 2. When the system calculates that the total volume meets the requirements for a complete stack, it notifies the workstation that palletizing can begin. The lifting platform 62 mounted on the transfer assembly 6 begins to retrieve goods from shelf 2 and place them on the loading platform 9 for palletizing by the robotic arm 10. While the transfer assembly 6 is being removed from shelf 2, the conveyor mechanism 1 does not stop receiving goods. Simultaneously with the robotic arm 10 palletizing, the inventory and shipment of the transfer assembly 6 are rationally arranged according to system control.

[0106] Memory may include, for example, system memory, fixed non-volatile storage media, etc. System memory may store, for example, the operating system, application programs, boot loader, and other programs.

[0107] This invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the fully cached hybrid palletizing method provided by any of the technical solutions of this invention.

[0108] The processors described herein may include general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general-purpose processor may be a microprocessor, but in alternatives, it may be any conventional processor, controller, microcontroller, or state machine. The processor may also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors cooperating with a DSP core, or any other such configuration.

[0109] Storage media can be any available medium that can be accessed by a computer. By way of example and not limitation, such computer-readable media may include RAM, ROM, EEPROM, CD-ROM or other optical disc storage, disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. Any connection is also properly referred to as computer-readable media. For example, if software is transmitted from a website, server, or other remote source using coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwave, then such coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of media. As used herein, disk and disc include compact discs (CDs), laser discs, optical discs, digital multi-purpose discs (DVDs), floppy disks, and Blu-ray discs, where disks typically reproduce data magnetically, and discs reproduce data optically using lasers. Combinations of the above should also be included within the scope of computer-readable media.

[0110] Those skilled in the art will understand that the method embodiments of this disclosure can be provided as a method, system, or computer program product. Therefore, this disclosure can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this disclosure can take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0111] This disclosure is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0112] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0113] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0114] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of this invention. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0115] In the description of this invention, each technical feature may be combined with other technical features where feasible.

[0116] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. However, these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A fully buffered hybrid palletizing method, characterized in that, Includes the following steps: Obtain the attribute information of the item (11), the attribute information including the volume and weight of the item (11); The item (11) is transported and stored on the shelf (2); Repeat the above steps until the total volume of all items (11) stored on the shelf (2) is greater than or equal to the set volume; wherein the set volume is the storage capacity of a pallet (7), or the set volume is less than the storage capacity of a pallet (7); Based on the volume and weight of the item (11), calculate the stacking order of each item (11) to be pre-stacked on the same pallet (7); wherein the order in which each item (11) is taken out from the shelf (2) is the same as the stacking order; Take each of the items (11) from the shelf (2) and place them in the tray (7) in sequence.

2. The fully buffered hybrid palletizing method according to claim 1, characterized in that, It also includes the following steps: When the items (11) placed on the tray (7) are stacked to a set height, all items (11) on the tray (7) are wrapped with film to fix the stack shape.

3. The fully buffered hybrid palletizing method according to claim 1, characterized in that, The volume of the item (11) is obtained by taking a picture of the item (11) with a camera to obtain the size of the item (11) and calculating the volume of the item (11).

4. The fully buffered hybrid palletizing method according to claim 1, characterized in that, The weight of the item (11) is obtained by means of the following method: the weight of the item (11) is obtained by means of the weight detection element (5).

5. The fully buffered hybrid palletizing method according to claim 1, characterized in that, The step of removing each item (11) from the shelf (2) and placing it on the tray (7) specifically includes: The item (11) is removed from the shelf (2) using the transplanting assembly (6); The removed item (11) is placed on the loading platform (9) using the transplanting assembly (6). A robotic arm (10) is used to move the item (11) located on the loading platform (9) to the pallet (7); wherein the pallet (7) is located at the wrapping station of the wrapping machine (8).

6. The fully buffered hybrid palletizing method according to claim 1, characterized in that, Before conveying and storing the item (11) onto the shelf (2), the following steps are also included: Based on the attribute information of the item (11), calculate the target storage location of the item (11) on the shelf (2).

7. The fully buffered hybrid palletizing method according to claim 1, characterized in that, The total volume of the items (11) stored on the shelf (2) is calculated using the following steps: The volume of each item (11) stored on the shelf (2) is calculated in real time; The volumes of each item (11) that has been stored on the shelf (2) are added together to obtain the total volume of all items (11) that have been stored on the shelf (2).

8. A fully buffered hybrid palletizing system, characterized in that, For performing the fully cached hybrid palletizing method according to any one of claims 1-7; the fully cached hybrid palletizing system comprises: The conveying mechanism (1) is configured to convey the article (11); Shelf (2) is arranged near the conveyor (1); A transplanting assembly (6) is arranged near the shelf (2) to move the item (11) from the conveyor (1) to the shelf (2) for storage; The tray (7) is configured to hold the various items (11) to be stacked; and The robotic arm (10) is configured to move the items (11) stored on the shelf (2) to the pallet (7) for stacking according to the stacking order calculated based on the volume of each item (11) stored on the shelf (2).

9. The fully buffered hybrid palletizing system according to claim 8, characterized in that, Also includes: A wrapping machine (8) is used to wrap the pallet (7) at the wrapping station of the wrapping machine (8), which is configured to wrap the articles (11) on the pallet (7) to fix the stack shape.

10. The fully buffered hybrid palletizing system according to claim 8, characterized in that, Also includes: A loading platform (9) is installed between the transfer assembly (6) and the pallet (7); a robotic arm (10) is installed near the loading platform (9) to move the item (11) located on the loading platform (9) to the pallet (7) for carrying.

11. The fully buffered hybrid palletizing system according to claim 8, characterized in that, The number of each of the shelf (2), the transplanting component (6) and the pallet (7) is at least two, and the shelf (2), the transplanting component (6) and the pallet (7) are arranged in a one-to-one correspondence.

12. The fully buffered hybrid palletizing system according to claim 8, characterized in that, The conveying mechanism (1) adopts one of the following mechanisms: conveyor belt, roller.

13. The fully buffered hybrid palletizing system according to claim 8, characterized in that, Also includes: The mounting bracket (3) is located upstream of the shelf (2) and adjacent to the conveying mechanism (1); A size detection element (4) is mounted on the mounting bracket (3) and positioned above the conveying mechanism (1) to obtain the volume of the article (11) located on the conveying mechanism (1); and A weight detection element (5) is installed on the conveying mechanism (1) to obtain weight information of the item (11) located on the conveying mechanism (1).

14. A fully buffered hybrid palletizing control device, characterized in that, include: Memory; and A processor coupled to the memory, the processor being configured to execute the fully cached hybrid palletizing method as described in any one of claims 1 to 7 based on instructions stored in the memory.

15. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by a processor, implements the fully cached hybrid palletizing method as described in any one of claims 1 to 7.

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