A warehouse logistics stacking method, device and readable storage medium

Abstract

The application discloses a warehouse logistics stacking method and device and a readable storage medium, and is used for improving space utilization. The method comprises the following steps: obtaining a first set containing the horizontal axis size of each box, a second set containing the vertical axis size of each box and a third set containing the vertical axis size of each box based on the size data of each box in the horizontal axis, vertical axis and vertical axis directions of the tray; dividing the size data in the first set, the second set and the third set according to the first threshold value, the second threshold value and the third threshold value, respectively, to obtain the subsets of the first set, the second set and the third set; determining a target box group according to the subsets of the first set, the second set and the third set, wherein the plurality of boxes contained in the target box group are the boxes contained in any subset of the first set, the second set and the third set; aggregating the boxes in the target box group to obtain a corresponding target aggregated box; and stacking the target aggregated box.

Description

Technical Field

[0001] This application relates to the field of logistics automation technology, and in particular to a warehousing logistics palletizing method, equipment, and readable storage medium. Background Technology

[0002] In existing pallet palletizing technology, boxes are generally stacked from bottom to top. Typically, boxes with the largest base area are placed on the pallet first, followed by boxes with a smaller base area, and this process is repeated until no more boxes can be placed on the remaining space, completing the bottom layer stack. Then, using the top surface of the stacked bottom boxes as the placement surface, boxes with similar or smaller base areas are placed on top of them to form the upper layer stack.

[0003] However, in the existing technology, after the bottom layer is completed, the upper surface of the bottom layer box is used as a limit. When the height of the bottom layer boxes is inconsistent, the upper surface composed of several bottom layer boxes will be uneven. The higher the layer is stacked, the greater the gap between the upper layer boxes will be, which will result in extremely low space utilization on the upper layer of the pallet. Summary of the Invention

[0004] To address the aforementioned technical problems, this application provides a warehousing and logistics palletizing method, equipment, and readable storage medium to improve space utilization.

[0005] The first aspect of this application provides a warehousing and logistics palletizing method, including:

[0006] Based on the dimensional data of each box in the horizontal, vertical, and longitudinal directions of the pallet, a first set, a second set, and a third set are obtained. The first set contains the horizontal axis dimensions of each box in the horizontal direction, the second set contains the longitudinal axis dimensions of each box in the longitudinal direction, and the third set contains the vertical axis dimensions of each box in the vertical direction. The horizontal axis and the longitudinal axis are perpendicular to each other in the horizontal direction of the pallet, and the vertical axis is perpendicular to the horizontal axis and the longitudinal axis in the spatial direction.

[0007] Based on the preset first threshold, second threshold, and third threshold, the size data in the first set, the second set, and the third set are divided to obtain subsets of the first set, the second set, and the third set, respectively.

[0008] A target box group is determined based on a subset of the first set, a subset of the second set, and a subset of the third set. The target box group contains multiple boxes that are included in any subset of the first set, any subset of the second set, and any subset of the third set.

[0009] The boxes in the target box group are aggregated to obtain the corresponding target aggregated box;

[0010] The target aggregate boxes are stacked.

[0011] In one specific implementation, determining the target box group based on subsets of the first set, subsets of the second set, and subsets of the third set includes:

[0012] A subset of the first set is determined as the current subset of the first set, a subset of the second set is determined as the current subset of the second set, and a subset of the third set is determined as the current subset of the third set;

[0013] In response to the operation of determining the current subset of the first set, a minimum subset corresponding to the first set is determined, wherein the minimum subset corresponding to the first set is the current subset with the smallest average size among the current subsets of the first set; in response to the operation of determining the current subset of the second set, a minimum subset corresponding to the second set is determined, wherein the minimum subset corresponding to the second set is the current subset with the smallest average size among the current subsets of the second set; in response to the operation of determining the current subset of the third set, a minimum subset corresponding to the third set is determined, wherein the minimum subset corresponding to the third set is the current subset with the smallest average size among the current subsets of the third set;

[0014] In response to the update operation of the minimum subset corresponding to the first set or the minimum subset corresponding to the second set, the initial box group determination step is executed;

[0015] If the first matching degree meets the preset first matching condition, then an initial box group is determined. The first matching degree is the matching degree between the minimum subset corresponding to the first set and the minimum subset corresponding to the second set. The boxes included in the initial box group are the boxes included in the intersection of the minimum subset corresponding to the first set and the minimum subset corresponding to the second set.

[0016] In response to the update operation of the initial box group or the minimum subset corresponding to the third set, the step of determining the target box group is executed;

[0017] If the second matching degree meets the preset second matching condition, then the target box group is determined. The second matching degree is the matching degree between the boxes contained in the smallest subset corresponding to the third set and the boxes contained in the initial box group. The boxes contained in the target box group are the boxes contained in the intersection of the smallest subset corresponding to the third set and the initial box group.

[0018] In one specific implementation, the method further includes:

[0019] If the first matching degree does not meet the first matching condition, then adjust the first threshold and / or the second threshold to obtain a new subset of the first set and / or a new subset of the second set;

[0020] If the first threshold is adjusted, the new subset of the first set is determined as the current subset of the first set;

[0021] If the second threshold is adjusted, the new subset of the second set is determined as the current subset of the second set.

[0022] In one specific implementation, the method further includes:

[0023] If the second matching degree does not meet the second matching condition, then the first threshold, the second threshold and / or the third threshold are adjusted to obtain a new subset of the first set, a new subset of the second set and / or a new subset of the third set;

[0024] If the first threshold is adjusted, the new subset of the first set is determined as the current subset of the first set;

[0025] If the second threshold is adjusted, the new subset of the second set is determined as the current subset of the second set;

[0026] If the third threshold is adjusted, the new subset of the third set is determined as the current subset of the third set.

[0027] In one specific implementation, the method further includes:

[0028] The boxes contained in the smallest subset corresponding to the first set and the boxes contained in the smallest subset corresponding to the second set are determined as the first box;

[0029] If the proportion of the number of the first box to the total number of the boxes exceeds a first preset threshold, then the first matching degree is determined to meet the first matching condition.

[0030] The boxes contained in the smallest subset corresponding to the third set and the boxes contained in the initial box group are determined as the second box;

[0031] If the proportion of the number of the second box to the total number of the boxes exceeds the second preset threshold, then the second matching degree is determined to meet the second matching condition.

[0032] In one specific implementation, the step of aggregating the boxes in the target box group to obtain the target aggregated box includes:

[0033] From the various possible placement methods of the boxes in the target box group on the pallet, determine the target placement method that minimizes the three-axis gap difference after the boxes in the target box group are aggregated. The three-axis gap difference is the sum of the horizontal axis gap difference, the vertical axis gap difference, and the vertical gap difference of the boxes in the target box group after aggregation. The horizontal axis gap difference is the difference between the horizontal axis dimension of the boxes in the target box group after aggregation and the horizontal axis dimension of the pallet. The vertical axis gap difference is the difference between the vertical axis dimension of the boxes in the target box group after aggregation and the vertical axis dimension of the pallet.

[0034] Based on the target placement method, the boxes in the target box group are aggregated to obtain the target aggregated box.

[0035] In one specific implementation, determining the target placement method that minimizes the triaxial gap difference after the boxes in the target box group are aggregated, from among multiple placement methods that can be adopted on the pallet, includes:

[0036] By aggregating the boxes in the target box group using different placement methods, alternative aggregation boxes corresponding to the target box group under different placement methods are obtained;

[0037] The candidate horizontal axis dimension of each candidate aggregation box is determined according to the first set, the candidate vertical axis dimension of each candidate aggregation box is determined according to the second set, and the candidate vertical axis dimension of each candidate aggregation box is determined according to the third set.

[0038] Determine the horizontal axis gap difference, vertical axis gap difference, and triaxial gap difference of each candidate polymerization box;

[0039] The placement method of the candidate polymer box corresponding to the smallest triaxial gap difference is determined as the target placement method.

[0040] In one specific implementation, determining the target placement method that minimizes the triaxial gap difference after the boxes in the target box group are aggregated, from among multiple placement methods that can be adopted on the pallet, includes:

[0041] The target placement method that minimizes the triaxial gap difference after the boxes in the target box group are aggregated is solved by using a preset optimization model.

[0042] A second aspect of this application provides a warehousing and logistics palletizing device, comprising:

[0043] The partitioning unit is used to obtain a first set, a second set, and a third set based on the dimensional data of each box in the horizontal, vertical, and longitudinal directions of the pallet. The first set contains the horizontal axis dimensions of each box in the horizontal direction, the second set contains the longitudinal axis dimensions of each box in the longitudinal direction, and the third set contains the vertical axis dimensions of each box in the vertical direction. The horizontal axis and the longitudinal axis are perpendicular to each other in the horizontal direction of the pallet, and the vertical axis is perpendicular to the horizontal axis and the longitudinal axis in the spatial direction.

[0044] The partitioning unit is further configured to partition the size data in the first set, the second set, and the third set according to a preset first threshold, a second threshold, and a third threshold, respectively, to obtain a subset of the first set, a subset of the second set, and a subset of the third set.

[0045] The determining unit is configured to determine a target box group based on a subset of the first set, a subset of the second set, and a subset of the third set, wherein the target box group contains multiple boxes that are included in any subset of the first set, any subset of the second set, and any subset of the third set.

[0046] The aggregation unit is used to aggregate the boxes in the target box group to obtain the corresponding target aggregated box;

[0047] The stacking unit is used to stack the target aggregate box.

[0048] In one specific implementation, the determining unit is specifically used to determine a subset of the first set as the current subset of the first set, a subset of the second set as the current subset of the second set, and a subset of the third set as the current subset of the third set;

[0049] In response to the operation of determining the current subset of the first set, a minimum subset corresponding to the first set is determined, wherein the minimum subset corresponding to the first set is the current subset with the smallest average size among the current subsets of the first set; in response to the operation of determining the current subset of the second set, a minimum subset corresponding to the second set is determined, wherein the minimum subset corresponding to the second set is the current subset with the smallest average size among the current subsets of the second set; in response to the operation of determining the current subset of the third set, a minimum subset corresponding to the third set is determined, wherein the minimum subset corresponding to the third set is the current subset with the smallest average size among the current subsets of the third set;

[0050] In response to the update operation of the minimum subset corresponding to the first set or the minimum subset corresponding to the second set, the initial box group determination step is executed;

[0051] If the first matching degree meets the preset first matching condition, then an initial box group is determined. The first matching degree is the matching degree between the minimum subset corresponding to the first set and the minimum subset corresponding to the second set. The boxes included in the initial box group are the boxes included in the intersection of the minimum subset corresponding to the first set and the minimum subset corresponding to the second set.

[0052] In response to the update operation of the initial box group or the minimum subset corresponding to the third set, the step of determining the target box group is executed;

[0053] If the second matching degree meets the preset second matching condition, then the target box group is determined. The second matching degree is the matching degree between the boxes contained in the smallest subset corresponding to the third set and the boxes contained in the initial box group. The boxes contained in the target box group are the boxes contained in the intersection of the smallest subset corresponding to the third set and the initial box group.

[0054] In one specific implementation, the partitioning unit is further configured to adjust the first threshold and / or the second threshold to obtain a new subset of the first set and / or a new subset of the second set if the first matching degree does not meet the first matching condition;

[0055] The determining unit is further configured to determine the new subset of the first set as the current subset of the first set if the first threshold is adjusted.

[0056] The determining unit is further configured to determine the new subset of the second set as the current subset of the second set if the second threshold is adjusted.

[0057] In one specific implementation, the partitioning unit is further configured to adjust the first threshold, the second threshold, and / or the third threshold to obtain a new subset of the first set, a new subset of the second set, and / or a new subset of the third set if the second matching degree does not meet the second matching condition;

[0058] The determining unit is further configured to determine the new subset of the first set as the current subset of the first set if the first threshold is adjusted.

[0059] The determining unit is further configured to determine the new subset of the second set as the current subset of the second set if the second threshold is adjusted.

[0060] The determining unit is further configured to determine the new subset of the third set as the current subset of the third set if the third threshold is adjusted.

[0061] In one specific implementation, the determining unit is further configured to determine the boxes contained in the smallest subset corresponding to the first set and the boxes contained in the smallest subset corresponding to the second set as the first box;

[0062] The determining unit is further configured to determine that the first matching degree satisfies the first matching condition if the proportion of the number of the first box to the number of the boxes exceeds a first preset threshold.

[0063] The determining unit is further configured to determine the boxes contained in the smallest subset corresponding to the third set and the boxes contained in the initial box group as the second box;

[0064] The determining unit is further configured to determine that the second matching degree satisfies the second matching condition if the proportion of the number of the second box to the number of the boxes exceeds a second preset threshold.

[0065] In one specific implementation, the aggregation unit is specifically used to determine, from a variety of possible placement methods for the boxes in the target box group on the pallet, a target placement method that minimizes the three-axis gap difference after aggregation of the boxes in the target box group. The three-axis gap difference is the sum of the horizontal axis gap difference, the vertical axis gap difference, and the longitudinal axis gap difference after aggregation of the boxes in the target box group. The horizontal axis gap difference is the difference between the horizontal axis dimension of the aggregated boxes in the target box group and the horizontal axis dimension of the pallet. The vertical axis gap difference is the difference between the longitudinal axis dimension of the aggregated boxes in the target box group and the longitudinal axis dimension of the pallet. The longitudinal axis gap difference is the difference between the vertical axis dimension of the aggregated boxes in the target box group and the longitudinal axis dimension of the pallet.

[0066] Based on the target placement method, the boxes in the target box group are aggregated to obtain the target aggregated box.

[0067] In one specific implementation, the aggregation unit is specifically used to aggregate the boxes in the target box group using different placement methods to obtain the candidate aggregated boxes corresponding to the target box group under different placement methods;

[0068] The candidate horizontal axis dimension of each candidate aggregation box is determined according to the first set, the candidate vertical axis dimension of each candidate aggregation box is determined according to the second set, and the candidate vertical axis dimension of each candidate aggregation box is determined according to the third set.

[0069] Determine the horizontal axis gap difference, vertical axis gap difference, and triaxial gap difference of each candidate polymerization box;

[0070] The placement method of the candidate polymer box corresponding to the smallest triaxial gap difference is determined as the target placement method.

[0071] In one specific implementation, the aggregation unit is specifically used to solve for the target placement method that minimizes the triaxial gap difference after the aggregation of the boxes in the target box group through a preset optimization model.

[0072] A third aspect of this application provides a warehousing and logistics palletizing device, comprising:

[0073] Central processing unit, memory, input / output interfaces, wired or wireless network interfaces, and power supply;

[0074] The memory is either a short-term storage memory or a persistent storage memory;

[0075] The central processing unit is configured to communicate with the memory and execute instructions in the memory to perform the first aspect and any of the alternative methods of the first aspect.

[0076] A fourth aspect of this application provides a computer-readable storage medium including instructions that, when executed on a computer, cause the computer to perform any of the first aspect and any of the alternative methods of the first aspect.

[0077] As can be seen from the above technical solutions, the embodiments of this application have the following advantages:

[0078] In this application, the dimensions of each box to be stacked along the horizontal, vertical, and axial axes of the pallet are first determined to include a first set of horizontal axis dimensions, a second set of vertical axis dimensions, and a third set of axial axis dimensions. The dimensional data in these sets are then divided into subsets. Based on these subsets, target box groups are determined, resulting in aggregated boxes with small dimensional differences in all directions of the spatial direct coordinate system formed by the horizontal, vertical, and axial axes. These aggregated boxes are then stacked. By considering the stacking of boxes from three dimensions, and by aggregating boxes with similar dimensions into new boxes before stacking them, space waste is minimized, the effective volume of the pallet is maximized, and box stacking efficiency is improved. Attached Figure Description

[0079] To more clearly illustrate the technical solutions in this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0080] Figure 1 This is a schematic diagram of an existing warehousing and logistics palletizing method in this application;

[0081] Figure 2 This is a flowchart illustrating the palletizing method in this application;

[0082] Figure 3 This is a schematic diagram illustrating the effect of the warehousing and logistics palletizing method in this application;

[0083] Figure 4 This is another flowchart illustrating the warehousing and logistics palletizing method in this application;

[0084] Figure 5 This is a structural schematic diagram of the warehousing and logistics palletizing device in this application;

[0085] Figure 6 This is a structural schematic diagram of the warehousing and logistics palletizing equipment in this application. Detailed Implementation

[0086] This application provides a warehousing and logistics palletizing method, equipment, and readable storage medium to improve space utilization.

[0087] Palletizing is a crucial step in warehousing, as the quality of palletizing directly impacts the utilization rate of warehouse space.

[0088] Existing container palletizing technologies result in a smaller base area for upper-level containers and increased gaps between them, leading to extremely low space utilization and poor palletizing stability, making them prone to wobbling. Therefore, this application provides a warehousing and logistics palletizing method to solve these problems.

[0089] The following is a brief description of the warehousing and logistics palletizing method (or palletizing method) in this application:

[0090] Please see Figure 2 This method can be applied to smart devices such as computers, mobile phones, and tablets; specific applications are not limited here. The method includes:

[0091] 201. Based on the dimensional data of each box in the horizontal, vertical and longitudinal directions of the pallet, the first set, the second set and the third set are obtained.

[0092] In this embodiment, images of the box can be captured from multiple angles using a camera, and then OpenCV can be used to measure the size of the objects in the images to obtain the dimensions of the box on the horizontal, vertical, and axial axes. The boxes (to be stacked) are then classified according to their obtained dimensions on the horizontal, vertical, and axial axes. The purpose is to aggregate boxes with small size differences in various directions of the spatial coordinate system. The first set contains the horizontal axis dimensions of each box, the second set contains the vertical axis dimensions of each box, and the third set contains the vertical axis dimensions of each box. The horizontal and vertical axes are perpendicular to each other in the horizontal direction of the pallet, and the vertical axis is perpendicular to both the horizontal and vertical axes in space. Furthermore, the term "pallet" in this application refers not only to the item on which the boxes are placed during actual transportation but also to the space available for placing the boxes; this is not limited here.

[0093] It should be noted that the horizontal, vertical, and axial axes described in this application constitute the aforementioned spatial (Cartesian) coordinate system. All dimensional data related to the coordinate axes (whose names contain dimensional data for any coordinate axis) referred to in this application refer to the dimensions of a single box, aggregated box, or pallet in different coordinate axis directions within this spatial coordinate system. These dimensional data include, but are not limited to, individual dimensions, sum of dimensions, average dimensions, and gap differences. Furthermore, the boxes included in any set refer to the boxes corresponding to each dimensional data point within that set, which will not be elaborated upon further below.

[0094] Specifically, if there are 6 boxes to be stacked, A, B, C, D, E, and F, and box A has a length of 6 meters on the horizontal axis, 4 meters on the vertical axis, and 1 meter on the vertical axis, denoted as A = (6, 4, 1), and B, C, D, E, and F have the following dimensions: B = (3, 5, 1), C = (3, 5, 1), D = (4, 4, 2), E = (8, 5, 5), and F = (2, 5, 1.5), then based on the dimensions of each box on the horizontal, vertical, and vertical axes, we obtain the first set X = (6, 3, 3, 4, 8, 2), the second set Y = (4, 5, 5, 4, 5, 5), and the third set Z = (1, 1, 1, 2, 5, 1.5). Next, if we take the horizontal axis as the X-axis, the vertical axis as the Y-axis, and the vertical axis as the Z-axis, then the dimensions of box N can be denoted as (X... N Y N Z N ), X N Let Y be the horizontal axis dimension of box N. N Z is the longitudinal dimension of box N. N Let X be the vertical axis dimension of box N. Then, the dimension of box A can be denoted as (X... A Y A Z A ), where X N =6, Y N =4, Z N=1. Similarly, B, C, D, E, and F can be denoted as: (X B Y B Z B ), (X) C Y C Z C ), (X) D Y D Z D ), (X) E Y E Z E ), (X) F Y F Z F ).

[0095] 202. Based on the preset first threshold, second threshold, and third threshold, the size data in the first set, second set, and third set are divided to obtain subsets of the first set, subsets of the second set, and subsets of the third set.

[0096] In this embodiment, after obtaining three sets, the data in the three sets is divided to obtain boxes with similar dimensions on the horizontal, vertical, and axial axes. Typically, boxes with significantly different dimensions grouped together can lead to space wastage. Therefore, a threshold is used to divide the size data in the sets to obtain boxes with similar dimensions on different axes. Continuing with the first set in the example above, to ensure that the subsets after this set are divided contain numbers with similar dimensions, a threshold L can be set as needed. X For example, in this example, the threshold L is set. X The expression is 1. If the absolute value of the difference between any two values ​​in the set is less than or equal to L, then L is a valid expression. X This indicates that the two values ​​represent similar horizontal dimensions of the boxes, and thus belong to a new subset. By iterating through all the data in the first set using this method, we can obtain three subsets X1, X2, and X3 of the first set, namely X1={X... B X C X D X F}、X2={X A} and X3={X E That is, boxes B, C, D, and F form one subset, box A forms another subset, and box E forms yet another subset. The subsets of the second and third sets are calculated using the same method. For example, a threshold L is set for the second set. y Given 2, we obtain a subset of the second set: Y1 = {Y} A Y B Y C Y D YE Y F Set the threshold for the third set (i.e., the third threshold) L. Z The value is 0.5, resulting in a subset of the third set: Z1 = {Z A Z B Z C Z F}、Z2={Z D} and Z3={Z E}

[0097] 203. Determine the target box group based on subsets of the first set, subsets of the second set, and subsets of the third set.

[0098] In this embodiment, the target box group includes multiple boxes that are contained in any subset of the first set, any subset of the second set, and any subset of the third set. That is, if the intersection of any subset of the first set, any subset of the second set, and any subset of the third set contains more than or equal to 2 elements, then the boxes contained in the intersection of these three sets constitute a target box group. The purpose of this step is to determine all possible target box groups based on the subsets of the first set, the second set, and the third set.

[0099] Specifically, in the example above, each subset of the first set and each subset of the second set are matched to find the intersection of each subset of the first set and each subset of the second set. This allows us to determine whether the edges of the new subsets in both the horizontal and vertical directions belong to the same box. For example, the intersection of X1 and Y1 is denoted as X1Y1, and X1Y1 contains boxes B, C, D, and F. Then, each subset of the third set is matched with the intersection of the first and second sets. For example, the intersection of subset Z1 of the third set with X1Y1 (i.e., the intersection of X1, Y1, and Z1) is denoted as X1Y1Z1. X1Y1Z1 specifically includes boxes B, C, and F. Therefore, boxes B, C, and F constitute a target box group.

[0100] 204. Aggregate the boxes in each target box group to obtain the corresponding target aggregated box.

[0101] In this embodiment, after determining the target box group, all boxes contained in the target box group are aggregated (i.e., aggregated within each target box group). For example, taking a target box group as an example, boxes B, C, and F in the target box group obtained in the above example are aggregated to obtain a new aggregated box with a horizontal axis dimension of 8, a vertical axis dimension of 5, and a vertical axis dimension of 1.5, denoted as the new box G = (8, 5, 1.5). In addition, after the step of determining the target box group, boxes A, D, and E are not assigned to any target box group, that is, boxes A, D, and E cannot participate in the intra-group aggregation of any target box group. Therefore, there are 4 boxes left, namely boxes A, D, E, and G, i.e., boxes A = (6, 4, 1), D = (4, 4, 2), E = (8, 5, 5), and G = (8, 5, 1.5).

[0102] 205. Stack the aggregate boxes.

[0103] In this embodiment, if each box in step 201 is assigned to any target box group, then step 204 can obtain the target aggregate box corresponding to each target box group, and each target aggregate box consists of at least two boxes from step 201. In other words, each box in step 201, after the processing of steps 201 to 204, becomes at least one target aggregate box. If there is only one target aggregate box, then stacking the target aggregate box directly using the existing stacking method completes the stacking; if there are multiple target aggregate boxes, then each target aggregate box can be stacked using the existing stacking method to complete the stacking.

[0104] In reality, not all boxes (to be stacked) are usually assigned to the target box group. As shown in the embodiment of step 204, after processing, boxes A, B, C, D, E, and F are processed to obtain only one target aggregated box G, which is obtained by aggregating boxes B, C, and F. That is, after the processing of steps 201 to 204, this step requires stacking four boxes, namely boxes A, D, E, and G. In this case, existing stacking methods can be used to stack boxes A, D, E, and G.

[0105] Furthermore, taking the four boxes that need to be stacked in this step as boxes A, D, E, and G as an example, if the size of the aggregated box G is close to that of any of the boxes to be aggregated (boxes A, D, and E), such as the horizontal and vertical dimensions between box G and box E being close, then the stacking method of this application can be used to continue to aggregate these four boxes until there are no more boxes that can be aggregated, and then the remaining boxes and each aggregated box are stacked.

[0106] For example, the newly aggregated box G and the remaining boxes A, D, and E from the example above are aggregated again using the same method. First, the dimensions of boxes A, D, E, and G along the horizontal, vertical, and center axes of the tray are determined, resulting in a new first set, a new second set, and a new third set. The threshold L is then re-evaluated. X Set as Threshold L Y Set as and threshold L Z Set as The new thresholds are respectively =0、 =0、 =3.5. Based on the new threshold, the subsets of the first set, the second set, and the third set are re-divided, resulting in the following new subset of the first set. ={X A}、 {X D}、 {X E X G}, the second set of new subsets {Y A Y D}、 {Y E Y G}, the third set of new subsets {Z A}、 {Z D Z E Z G} , , The intersection of the three subsets can be used as a new target box group, containing boxes G and E, which are aggregated into a new box H = (8, 5, 6.5). Finally, the aggregated new box H and the remaining boxes A and D are stacked.

[0107] In this embodiment, firstly, based on the dimensions of each box to be stacked along the horizontal, vertical, and axial axes of the pallet, a first set, a second set, and a third set including the horizontal axis dimensions of each box are determined. The dimensional data in the first, second, and third sets are then divided into subsets of the first, second, and third sets. Based on these subsets, target box groups are determined, resulting in boxes with small dimensional differences in all directions of the spatial direct coordinate system formed by the horizontal, vertical, and axial axes. These aggregated boxes are then stacked according to these aggregated boxes. Figure 3It is evident that by considering the stacking of boxes from three dimensions, and by aggregating boxes with similar dimensions into new boxes, and then stacking the aggregated boxes and the remaining boxes, the space wastage rate is minimized, the effective volume of the pallet is utilized to the maximum extent, and the box stacking efficiency is improved.

[0108] Please see Figure 4 The aforementioned step 203 can be specifically implemented through the following steps 401 to 406:

[0109] 401. Determine the subset of the first set as the current subset of the first set, determine the subset of the second set as the current subset of the second set, and determine the subset of the third set as the current subset of the third set.

[0110] As described in the foregoing and subsequent embodiments of this application, the palletizing method of this application continuously determines target box groups with similar dimensions, and then obtains the target aggregate box corresponding to the target box group. This process is repeated until no target box group with similar dimensions can be found, at which point the loop ends, and then existing palletizing methods can be used to stack each target aggregate box and the remaining boxes. Therefore, the current subset can change. When it is necessary to re-divide any set into subsets, it is necessary to perform the operation of determining the current subset, and determine each newly divided subset of any set as the current subset of that set, so as to ensure that subsequent processes are executed based on the newly divided subsets.

[0111] Specifically, in this step, each subset obtained from the partitioning of the first set in step 202 will be determined as the current subset of the first set. Similarly, each subset obtained from the partitioning of the second set in step 202 will be determined as the current subset of the second set; and each subset obtained from the partitioning of the third set in step 202 will be determined as the current subset of the third set.

[0112] 402. In response to the operation of determining the current subset of the first set, determine the minimum subset corresponding to the first set, wherein the minimum subset corresponding to the first set is the current subset with the smallest mean size among the current subsets of the first set; in response to the operation of determining the current subset of the second set, determine the minimum subset corresponding to the second set, wherein the minimum subset corresponding to the second set is the current subset with the smallest mean size among the current subsets of the second set; in response to the operation of determining the current subset of the third set, determine the minimum subset corresponding to the third set, wherein the minimum subset corresponding to the third set is the current subset with the smallest mean size among the current subsets of the third set.

[0113] Next, to ensure that the aggregated target box does not exceed the size of the pallet after polymerization, this embodiment of the application can select to start from the current subset with the smallest corresponding size mean, i.e., the smallest subset, to determine the initial box group. Here, the corresponding size mean refers to the average of the sum of each size within the corresponding subset.

[0114] It should be noted that the first set contains only the horizontal axis dimensions of each box, the second set contains only the vertical axis dimensions of each box, and the third set contains only the vertical axis dimensions of each box. Furthermore, subsets of the first set contain only the horizontal axis dimensions of the corresponding boxes, the boxes in the second set contain only the vertical axis dimensions of the corresponding boxes, and the boxes in the third set contain only the vertical axis dimensions of the corresponding boxes.

[0115] In other words, each subset contains only the dimensions of the corresponding boxes along the same axis. Therefore, the mean size of any subset refers to the average of the sum of the dimensions of all the corresponding boxes (meaning the subset includes the boxes whose dimensions are along a certain axis) along that axis. Taking the subset X1 of the first set in the aforementioned embodiment as an example, X1 = {X... B X C X D X F If} = {3, 3, 4, 2}, then the average size of X1 is (3+3+4+2) / 4 = 3.

[0116] 403. In response to the update operation of the minimum subset corresponding to the first set or the minimum subset corresponding to the second set, perform the steps to determine the initial box group.

[0117] In this embodiment, the initial box group is determined based on the minimum subsets of the first set and the second set, and the minimum subsets are determined based on the current subset of each set. Furthermore, as described in step 401 above, the current subset of each set (the first set, the second set, and the third set) can change. In this case, to ensure that each determined initial box group is based on the latest current subset, after the minimum subset of the first set or the second set is updated, the initial box group needs to be re-determined. The update of the minimum subsets of the first set and the second set is implemented following the update operation (or determination operation) of the corresponding current subset.

[0118] For details on determining the method and conditions for the initial housing assembly, please refer to step 404 and related embodiments described below.

[0119] 404. If the first matching degree satisfies the preset first matching condition, then the initial box group is determined. The first matching degree is the matching degree between the minimum subset corresponding to the first set and the minimum subset corresponding to the second set. The boxes included in the initial box group are the boxes included in the intersection of the minimum subset corresponding to the first set and the minimum subset corresponding to the second set.

[0120] The purpose of this application in determining the target box group and obtaining the target aggregated box is to ensure that the closer the sizes of the boxes to be stacked, the higher the space utilization rate. However, when faced with multiple boxes of varying sizes, if larger boxes with similar aggregate sizes are selected, the resulting target aggregated box may differ significantly in size from the remaining smaller boxes. Conversely, if smaller boxes with similar sizes are selected to aggregate first, the resulting target aggregated box may also be close in size to the remaining larger boxes, allowing for secondary aggregation and further improving space utilization. Therefore, this application uses a minimum subset to determine the initial box group.

[0121] In other implementations, if the size difference between the multiple boxes to be stacked is not significant, the largest subset of each set can be used instead of the smallest subset of each set to determine the initial box group and the target box group. The implementation method is similar to the method of determining the smallest subset, and will not be described in detail here.

[0122] 405. In response to the update operation of the minimum subset corresponding to the initial box group or the third set, perform the steps to determine the target box group.

[0123] In this embodiment, the target container group is determined based on the minimum subset of the third set and the initial container group, and the minimum subset is determined based on the current subset of each set. Furthermore, as described in step 401 above, the current subset of each set (the first set, the second set, and the third set) can change. In this case, to ensure that each determined target container group is based on the latest current subset, the target container group needs to be redefined after the initial container group or the minimum subset of the third set is updated. The updates to the initial container group and the minimum subset of the third set are implemented following the update operation (or determination operation) of the corresponding current subset.

[0124] 406. If the second matching degree satisfies the preset second matching condition, then the target box group is determined. The second matching degree is the matching degree between the boxes contained in the smallest subset corresponding to the third set and the boxes contained in the initial box group. The boxes contained in the target box group are the boxes contained in the intersection of the smallest subset corresponding to the third set and the initial box group. That is, the determined target box group (the boxes in it) is the boxes contained in the intersection of any subset of the first set, any subset of the second set, and any subset of the third set.

[0125] This step is similar to step 404, and will not be repeated here.

[0126] It should be noted that the embodiments of this application only describe the method of determining a target box group based on each box. If multiple non-overlapping target box groups can be determined according to the method of this application, then each target box group can be determined according to the method of this application. Among them, multiple non-overlapping target box groups mean that there is no overlap between any two target box groups (containing boxes).

[0127] The target box group determination method provided in this application embodiment can accurately and efficiently filter out possible target box groups by setting matching conditions. Palletizing based on target box groups has higher space utilization and improves palletizing efficiency.

[0128] Steps 404 and 406 above assume that the matching degree meets the matching conditions. In some specific implementations, if the matching degree does not meet the matching conditions, it indicates that the subset obtained by partitioning any set (i.e., the current subset) is inappropriate and needs to be fully partitioned. Re-partitioning the subset involves adjusting the threshold for partitioning the corresponding set (e.g., if the first set is partitioned using the first threshold, the first threshold can be adjusted), and obtaining a new subset based on the new threshold as the current subset of the corresponding set (i.e., performing the update or determining the current subset step). Subsequently, if the current subset of any set is updated, steps 403-406 or 405-406 need to be re-executed, depending on the triggering conditions of steps 403 and 406.

[0129] The thresholds that need to be adjusted when the corresponding matching conditions are not met are as follows: If the first matching degree does not meet the first matching condition, then the first threshold and / or the second threshold are adjusted; if the second matching degree does not meet the second matching condition, then the first threshold, the second threshold, and / or the third threshold are adjusted. Specifically, since the first matching degree is based on the matching of subsets of the first and second sets, if no match is found, it indicates that there is a problem with the subset division of the first and / or second sets, so the first threshold and / or the second threshold need to be adjusted; similarly, the initial box group is determined by matching subsets of the first and second sets, and the second matching degree is based on the matching of the initial box group and the third set. If no match is found, it indicates that there is a problem with the subset division of the first, second, and / or third sets, so the first threshold, the second threshold, and / or the third threshold need to be adjusted.

[0130] In practical applications, it is necessary to ensure that the target box group contains multiple boxes to guarantee that the aggregated target box contributes to improving palletizing efficiency. In other words, to further improve space utilization and palletizing efficiency, this embodiment of the application can limit the number of boxes contained in the target box group. Thus, the first matching degree can be: the proportion of the number of the first box to the total number of boxes (to be palletized), and the first matching condition can be: the proportion of the number of the first box to the total number of boxes (to be palletized) exceeds a preset threshold. Here, the first box refers to the boxes contained in the smallest subset corresponding to the first set and the boxes contained in the smallest subset corresponding to the second set, that is, the intersection of the smallest subset corresponding to the first set and the smallest subset corresponding to the second set.

[0131] Similarly, the second matching degree can be: the proportion of the number of the second box to the total number of boxes (to be stacked), and the second matching condition can be: the proportion of the number of the second box to the total number of boxes (to be stacked) exceeds a preset threshold, where the second box refers to the box contained in the smallest subset corresponding to the first set, the box contained in the smallest subset corresponding to the second set, and the box contained in the smallest subset corresponding to the third set.

[0132] The preset threshold can be 40% or 60%, which can be configured as needed.

[0133] To further improve space utilization, in some implementations, to measure the space utilization of each box in the aggregated target box group under different placement methods, this application embodiment introduces the gap difference in each axis. The smaller the gap difference of the candidate aggregated box in each axis, the higher the space utilization of the aggregated box in that axis. This application embodiment aims to obtain a target aggregated box with a small gap difference in each axis (that is, the target aggregated box with the fullest pallet arrangement), that is, the target aggregated box has a high space utilization in each axis, indicating that the target aggregated box has a high overall utilization rate of the pallet space. The gap difference in any axis is the dimensional difference between the pallet and the candidate aggregated box, that is, the space not occupied by the candidate aggregated box in each axis. Specifically, the gap difference in each axis includes the horizontal axis gap difference, the vertical axis gap difference, and the vertical axial axis gap difference.

[0134] Without considering space utilization and space size (i.e., pallet size), the boxes in the target box group can be arranged in various ways. However, the purpose of this application embodiment is to stack boxes in a limited space and improve space utilization. Therefore, it is necessary to find the target placement method with the highest space utilization among all possible placement methods, and aggregate the boxes in the target box group based on the target placement method to obtain the target aggregated box. Each placement method is used to determine the precise position of each box in the target box group on the pallet.

[0135] Since the gap difference of the candidate polymer box in different axes reflects the space utilization rate of the box in different axes, in order to determine the target polymer box with high space utilization in each axis, this application further introduces a three-axis gap difference. The three-axis gap difference of each candidate polymer box is the sum of the horizontal axis gap difference, the vertical axis gap difference and the vertical axis gap difference of each candidate polymer box. The three-axis gap difference can objectively reflect the overall space utilization rate of the corresponding candidate polymer box in each axis.

[0136] Based on the foregoing embodiments, in some specific implementations, the target placement method is determined by a preset optimization model. The optimization model can be any optimization algorithm. The optimization objective is to minimize the triaxial gap difference, because, according to the embodiments of this application, the space utilization rate is maximized when the triaxial gap difference is minimized.

[0137] In another specific implementation, the target placement method can be determined through the following steps: Aggregate the boxes in the target box group using different placement methods to obtain candidate aggregated boxes corresponding to different placement methods; determine the candidate horizontal axis dimension of each candidate aggregated box based on a first set, determine the candidate vertical axis dimension of each candidate aggregated box based on a second set, and determine the candidate vertical axis dimension of each candidate aggregated box based on a third set; determine the horizontal axis gap difference, vertical axis gap difference, and vertical axis gap difference of each candidate aggregated box, and determine the three-axis gap difference of each candidate aggregated box; determine the placement method of the candidate aggregated box corresponding to the smallest three-axis gap difference as the target placement method.

[0138] It is important to note that the dimensions of each candidate aggregation box along any axis in the spatial coordinate system should not exceed the dimensions of the pallet along the corresponding axis; otherwise, the candidate aggregation box cannot be placed in the pallet. In other words, among all possible placement methods for the boxes in the target box group, only the aggregation box obtained under the corresponding placement method can be placed in the pallet and can participate in subsequent processes as a candidate aggregation box. Specifically, for each candidate aggregation box obtained by aggregation using different placement methods, the candidate aggregation box obtained by any placement method is treated as a whole, and the dimensions of the candidate aggregation box along each axis in the spatial coordinate system are determined, namely, the candidate horizontal axis dimension, the candidate vertical axis dimension, and the candidate vertical axis dimension.

[0139] Specifically, since the placement of different boxes in each candidate aggregation box is fixed, and the size of each box is fixed, the dimensions of different boxes in different axes can be obtained based on the set containing the corresponding axes. Combined with the placement of different boxes in the corresponding candidate aggregation box, the dimensions of the candidate aggregation box in each axis in the spatial coordinate system can be obtained.

[0140] For example, to obtain the horizontal axis dimensions of each box, it can be obtained directly from the first set or a subset thereof; to obtain the vertical axis dimensions of each box, it can be obtained directly from the second set or a subset thereof; and to obtain the vertical axis dimensions of each box, it can be obtained directly from the third set or a subset thereof. Each candidate aggregate box contains the same (to be stacked) boxes, differing only in the arrangement of these (to be stacked) boxes. Therefore, after obtaining the horizontal, vertical, and vertical axis dimensions of the (to be stacked) boxes contained in the candidate aggregate box, it is necessary to determine the candidate horizontal axis dimension, the candidate vertical axis dimension, and the candidate vertical axis dimension of each candidate aggregate box based on their respective arrangement.

[0141] Please see Figure 5 This application provides a warehousing and logistics palletizing device, comprising:

[0142] The partitioning unit 501 is used to obtain a first set, a second set, and a third set based on the dimensional data of each box in the horizontal, vertical, and longitudinal directions of the pallet. The first set contains the horizontal axis dimensions of each box in the horizontal direction, the second set contains the longitudinal axis dimensions of each box in the longitudinal direction, and the third set contains the vertical axis dimensions of each box in the vertical direction. The horizontal and vertical axes are perpendicular to each other in the horizontal direction of the pallet, and the vertical axis is perpendicular to the horizontal and vertical axes in the spatial direction.

[0143] The partitioning unit 501 is also used to partition the size data in the first set, the second set, and the third set according to the preset first threshold, the second threshold, and the third threshold, respectively, to obtain subsets of the first set, subsets of the second set, and subsets of the third set;

[0144] The determining unit 502 is used to determine a target box group based on a subset of the first set, a subset of the second set, and a subset of the third set. The multiple boxes included in the target box group are boxes included in any subset of the first set, any subset of the second set, and any subset of the third set.

[0145] Aggregation unit 503 is used to aggregate the boxes in the target box group to obtain the corresponding target aggregated box;

[0146] The stacking unit 504 is used to stack the target aggregate boxes.

[0147] In one specific implementation, the determining unit 502 is specifically used to determine a subset of the first set as the current subset of the first set, a subset of the second set as the current subset of the second set, and a subset of the third set as the current subset of the third set;

[0148] In response to the operation of determining the current subset of the first set, determine the minimum subset corresponding to the first set, which is the current subset with the smallest mean size among the current subsets of the first set; in response to the operation of determining the current subset of the second set, determine the minimum subset corresponding to the second set, which is the current subset with the smallest mean size among the current subsets of the second set; in response to the operation of determining the current subset of the third set, determine the minimum subset corresponding to the third set, which is the current subset with the smallest mean size among the current subsets of the third set.

[0149] In response to the update operation of the minimum subset corresponding to the first set or the minimum subset corresponding to the second set, the initial box group determination step is performed;

[0150] If the first matching degree meets the preset first matching condition, then the initial box group is determined. The first matching degree is the matching degree between the minimum subset corresponding to the first set and the minimum subset corresponding to the second set. The boxes included in the initial box group are the boxes included in the intersection of the minimum subset corresponding to the first set and the minimum subset corresponding to the second set.

[0151] In response to the update operation of the initial box group or the minimum subset corresponding to the third set, the steps for determining the target box group are executed;

[0152] If the second matching degree meets the preset second matching condition, then the target box group is determined. The second matching degree is the matching degree between the boxes contained in the smallest subset corresponding to the third set and the boxes contained in the initial box group. The boxes contained in the target box group are the boxes contained in the intersection of the smallest subset corresponding to the third set and the initial box group.

[0153] In one specific implementation, the partitioning unit 501 is further configured to adjust the first threshold and / or the second threshold to obtain a new subset of the first set and / or a new subset of the second set if the first matching degree does not meet the first matching condition.

[0154] The determining unit 502 is further configured to determine the new subset of the first set as the current subset of the first set if the first threshold is adjusted;

[0155] The determining unit 502 is also used to determine the new subset of the second set as the current subset of the second set if the second threshold is adjusted.

[0156] In one specific implementation, the partitioning unit 501 is further used to adjust the first threshold, the second threshold, and / or the third threshold if the second matching degree does not meet the second matching condition, so as to obtain a new subset of the first set, a new subset of the second set, and / or a new subset of the third set.

[0157] The determining unit 502 is further configured to determine the new subset of the first set as the current subset of the first set if the first threshold is adjusted;

[0158] The determining unit 502 is also used to determine the new subset of the second set as the current subset of the second set if the second threshold is adjusted;

[0159] The determining unit 502 is also used to determine the new subset of the third set as the current subset of the third set if the third threshold is adjusted.

[0160] In one specific implementation, the determining unit 502 is further configured to determine the boxes contained in the smallest subset corresponding to the first set and the boxes contained in the smallest subset corresponding to the second set as the first box;

[0161] The determining unit 502 is further configured to determine that the first matching degree satisfies the first matching condition if the proportion of the number of the first box to the number of all boxes exceeds the first preset threshold.

[0162] The determining unit 502 is also used to determine the boxes contained in the smallest subset corresponding to the third set and the boxes contained in the initial box group as the second box;

[0163] The determining unit 502 is further configured to determine that the second matching degree meets the second matching condition if the proportion of the number of the second box to the number of all boxes exceeds the second preset threshold.

[0164] In one specific implementation, the aggregation unit 503 is specifically used to determine, from the various possible placement methods of the boxes in the target box group on the pallet, the target placement method that minimizes the three-axis gap difference after aggregation of the boxes in the target box group. The three-axis gap difference is the sum of the horizontal axis gap difference, the vertical axis gap difference, and the vertical gap difference after aggregation of the boxes in the target box group. The horizontal axis gap difference is the difference between the horizontal axis dimension of the aggregated boxes in the target box group and the horizontal axis dimension of the pallet. The vertical axis gap difference is the difference between the vertical axis dimension of the aggregated boxes in the target box group and the vertical axis dimension of the pallet. The vertical axis gap difference is the difference between the vertical axis dimension of the aggregated boxes in the target box group and the vertical axis dimension of the pallet.

[0165] Based on the target placement method, aggregate the boxes in the target box group to obtain the target aggregated box.

[0166] In one specific implementation, the aggregation unit 503 is specifically used to aggregate the boxes in the target box group using different placement methods, and obtain the candidate aggregated boxes corresponding to the target box group under different placement methods;

[0167] The candidate horizontal axis dimension of each candidate aggregation box is determined according to the first set, the candidate vertical axis dimension of each candidate aggregation box is determined according to the second set, and the candidate vertical axis dimension of each candidate aggregation box is determined according to the third set.

[0168] Determine the horizontal axis gap difference, vertical axis gap difference, and triaxial gap difference for each candidate polymerization box;

[0169] The placement method of the candidate polymer box corresponding to the smallest triaxial gap difference is determined as the target placement method.

[0170] In one specific implementation, the aggregation unit 503 is specifically used to solve, through a preset optimization model, the target placement method that minimizes the triaxial gap difference after the aggregation of the boxes in the target box group.

[0171] Figure 6 This is a schematic diagram of the structure of a warehousing and logistics palletizing device provided in an embodiment of this application. The warehousing and logistics palletizing device 600 may include one or more central processing units (CPUs) 601 and a memory 605, in which one or more application programs or data are stored.

[0172] The memory 605 can be volatile or persistent storage. The program stored in the memory 605 can include one or more modules, each module including a series of instruction operations on the palletizing equipment. Furthermore, the central processing unit 601 can be configured to communicate with the memory 605 and execute the series of instruction operations in the memory 605 on the palletizing equipment 600.

[0173] The palletizing equipment 600 may also include one or more power supplies 602, one or more wired or wireless network interfaces 603, one or more input / output interfaces 604, and / or one or more operating systems, such as Windows Server™, Mac OS X™, Unix™, Linux™, FreeBSD™, etc.

[0174] The central processing unit 601 can perform the aforementioned... Figures 1 to 5 The specific operations performed by the palletizing equipment in the illustrated embodiment will not be described in detail here.

[0175] It should be noted that although the steps in the flowcharts of the various embodiments are drawn sequentially according to the arrows, unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the various embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages in other steps.

[0176] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0177] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between apparatuses or units through some interfaces, and may be electrical, mechanical, or other forms.

[0178] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0179] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0180] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0181] This application also provides a computer program product containing instructions that, when run on a computer, cause the computer to execute the warehousing and logistics palletizing method described above.

Claims

1. A warehousing and logistics palletizing method, characterized in that, include: Based on the dimensional data of each box in the horizontal, vertical, and longitudinal directions of the pallet, a first set, a second set, and a third set are obtained. The first set contains the horizontal axis dimensions of each box in the horizontal direction, the second set contains the longitudinal axis dimensions of each box in the longitudinal direction, and the third set contains the vertical axis dimensions of each box in the vertical direction. The horizontal axis and the longitudinal axis are perpendicular to each other in the horizontal direction of the pallet, and the vertical axis is perpendicular to the horizontal axis and the longitudinal axis in the spatial direction. Based on the preset first threshold, second threshold, and third threshold, the difference between any two size data within the same set in the first set, the second set, and the third set is calculated, and the size data with a difference less than the corresponding threshold are divided into the same set, so as to obtain the subsets of the first set, the subsets of the second set, and the subsets of the third set. The intersection of the subsets of the first set, the subsets of the second set, and the subsets of the third set is determined as the target box group. The target box group contains multiple boxes that are included in any subset of the first set, any subset of the second set, and any subset of the third set. The boxes in the target box group are aggregated to obtain the corresponding target aggregated box; The target aggregate boxes are stacked.

2. The method according to claim 1, characterized in that, The step of determining the target box group based on subsets of the first set, subsets of the second set, and subsets of the third set includes: A subset of the first set is determined as the current subset of the first set, a subset of the second set is determined as the current subset of the second set, and a subset of the third set is determined as the current subset of the third set; In response to the operation of determining the current subset of the first set, a minimum subset corresponding to the first set is determined, wherein the minimum subset corresponding to the first set is the current subset with the smallest average size among the current subsets of the first set; in response to the operation of determining the current subset of the second set, a minimum subset corresponding to the second set is determined, wherein the minimum subset corresponding to the second set is the current subset with the smallest average size among the current subsets of the second set; in response to the operation of determining the current subset of the third set, a minimum subset corresponding to the third set is determined, wherein the minimum subset corresponding to the third set is the current subset with the smallest average size among the current subsets of the third set; In response to the update operation of the minimum subset corresponding to the first set or the minimum subset corresponding to the second set, the initial box group determination step is executed; If the first matching degree meets the preset first matching condition, then an initial box group is determined. The first matching degree is the matching degree between the minimum subset corresponding to the first set and the minimum subset corresponding to the second set. The boxes included in the initial box group are the boxes included in the intersection of the minimum subset corresponding to the first set and the minimum subset corresponding to the second set. In response to the update operation of the initial box group or the minimum subset corresponding to the third set, the step of determining the target box group is executed; If the second matching degree meets the preset second matching condition, then the target box group is determined. The second matching degree is the matching degree between the boxes contained in the smallest subset corresponding to the third set and the boxes contained in the initial box group. The boxes contained in the target box group are the boxes contained in the intersection of the smallest subset corresponding to the third set and the initial box group.

3. The method according to claim 2, characterized in that, The method further includes: If the first matching degree does not meet the first matching condition, then adjust the first threshold and / or the second threshold to obtain a new subset of the first set and / or a new subset of the second set; If the first threshold is adjusted, the new subset of the first set is determined as the current subset of the first set; If the second threshold is adjusted, the new subset of the second set is determined as the current subset of the second set.

4. The method according to claim 2, characterized in that, The method further includes: If the second matching degree does not meet the second matching condition, then the first threshold, the second threshold and / or the third threshold are adjusted to obtain a new subset of the first set, a new subset of the second set and / or a new subset of the third set; If the first threshold is adjusted, the new subset of the first set is determined as the current subset of the first set; If the second threshold is adjusted, the new subset of the second set is determined as the current subset of the second set; If the third threshold is adjusted, the new subset of the third set is determined as the current subset of the third set.

5. The method according to any one of claims 2-4, characterized in that, The method further includes: The boxes contained in the smallest subset corresponding to the first set and the boxes contained in the smallest subset corresponding to the second set are determined as the first box; If the proportion of the number of the first box to the total number of the boxes exceeds a first preset threshold, then the first matching degree is determined to meet the first matching condition. The boxes contained in the smallest subset corresponding to the third set and the boxes contained in the initial box group are determined as the second box; If the proportion of the number of the second box to the total number of the boxes exceeds the second preset threshold, then the second matching degree is determined to meet the second matching condition.

6. The method according to claim 1, characterized in that, The process of aggregating the boxes in the target box group to obtain the target aggregated box includes: From the various possible placement methods of the boxes in the target box group on the pallet, determine the target placement method that minimizes the three-axis gap difference after the boxes in the target box group are aggregated. The three-axis gap difference is the sum of the horizontal axis gap difference, the vertical axis gap difference, and the vertical gap difference of the boxes in the target box group after aggregation. The horizontal axis gap difference is the difference between the horizontal axis dimension of the boxes in the target box group after aggregation and the horizontal axis dimension of the pallet. The vertical axis gap difference is the difference between the vertical axis dimension of the boxes in the target box group after aggregation and the vertical axis dimension of the pallet. Based on the target placement method, the boxes in the target box group are aggregated to obtain the target aggregated box.

7. The method according to claim 6, characterized in that, The determination of the target placement method that minimizes the triaxial gap difference after the boxes in the target box group are aggregated, from among the various placement methods that the boxes in the target box group can adopt on the pallet, includes: By aggregating the boxes in the target box group using different placement methods, alternative aggregation boxes corresponding to the target box group under different placement methods are obtained; The candidate horizontal axis dimension of each candidate aggregation box is determined according to the first set, the candidate vertical axis dimension of each candidate aggregation box is determined according to the second set, and the candidate vertical axis dimension of each candidate aggregation box is determined according to the third set. Determine the horizontal axis gap difference, vertical axis gap difference, and triaxial gap difference of each candidate polymerization box; The placement method of the candidate polymer box corresponding to the smallest triaxial gap difference is determined as the target placement method.

8. The method according to claim 6, characterized in that, The determination of the target placement method that minimizes the triaxial gap difference after the boxes in the target box group are aggregated, from among the various placement methods that the boxes in the target box group can adopt on the pallet, includes: Using a preset optimization model, the target placement method that minimizes the triaxial gap difference after the boxes in the target box group are assembled is determined.

9. A warehousing and logistics palletizing equipment, characterized in that, include: Central processing unit, memory, input / output interfaces, wired or wireless network interfaces, and power supply; The memory is either a short-term storage memory or a persistent storage memory; The central processing unit is configured to communicate with the memory and execute instructions in the memory to perform the method of any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, Includes instructions that, when executed on a computer, cause the computer to perform the method of any one of claims 1 to 7.

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