A method for controlling the stacking of a board package

Abstract

The present application relates to the technical field of package stacking, and particularly relates to a plate package stacking control method. The control method calculates the optimal solution of the stacking order and position of each package in the stacking process to obtain the best stacking type of the package, effectively improves the resource utilization, reduces the cost, maximally reduces the gap, reduces the space waste, reduces the manual intervention, reduces the manual fatigue, operation errors and other factors, and greatly improves the production efficiency.

Description

Technical Field

[0001] This invention relates to the field of package stacking technology, and more particularly to a method for controlling the stacking of sheet metal packages. Background Technology

[0002] In the production process, it is often necessary to stack multiple packages. Currently, most companies use manual stacking to stack packages. However, when manually moving packages onto pallets, people often rely on subjective experience to stack them, which can lead to unstable stacking or large gaps between packages in the length, width, and height directions. This method of operation is inefficient and easily wastes space resources. Summary of the Invention

[0003] Therefore, the purpose of this invention is to provide a control method that can plan the stacking order and position of packages according to the package size, load-bearing capacity and other information, so as to solve the problems of space waste or unstable stacking caused by manual stacking of packages.

[0004] The technical solution adopted by this invention to solve its technical problem is: a method for controlling the stacking of sheet metal packages, characterized by comprising the following steps:

[0005] S1. Information acquisition: Obtain the size information of the package and store it in a dataset;

[0006] S2. Data preprocessing: Calculate the priority of packages based on their volume, height, width, and length in the package size information, and sort the package dataset according to the priority results. Packages with the highest priority are selected first.

[0007] S3. Simulate the stacking pattern of goods based on the package dimensions, and calculate the optimal stacking pattern of the packages using a depth-first search algorithm. The steps for calculating the optimal stacking pattern of the packages include:

[0008] S31. Calculate the optimal package combination along the length direction;

[0009] S32. Calculate the optimal package combination in the width direction for the optimal package combination in each length direction.

[0010] The step of calculating the optimal package combination in the length direction includes sub-steps S311 to S316:

[0011] S311. Grouping and defining the search space: In the package data processed in step S2, the packages are divided into different groups according to the set height difference, and each group constitutes a search space.

[0012] S312. Define the state. In the search space, each state includes a set of packages and the length of the current combination. The initial state is an empty set with a length of 0.

[0013] S313. Using the depth-first search algorithm, starting from the initial state, search each search space sequentially;

[0014] S314. In each search step, according to the priority rule, select the next package to be added to the combination from the current search space and update the current state;

[0015] S315. Evaluate the current state, calculate the difference between the length of the current combination and the first set value, and use this evaluation value as the fitness of the selected package.

[0016] S316. During the search process, the package combination with the highest fitness is recorded as the best solution in the length direction;

[0017] The step of calculating the optimal package combination in the width direction for each length direction includes sub-steps S321 to S325:

[0018] S321. Grouping: Define the search space. Based on the set height difference, divide the package assembly into different groups according to height. Each group constitutes a search space. The search space includes the package assembly in the length direction.

[0019] S322. Using the depth-first search algorithm, starting from the initial state, search each search space sequentially;

[0020] S323. In each search step, select the next package combination to be added to the combination from the current search space and update the current state;

[0021] S324. Evaluate the current state, calculate the difference between the width of the current combination and the second set value, and use this evaluation value as the fitness of the selected package combination.

[0022] S325. During the search process, the package combination with the highest fitness is recorded as the best solution in the width direction;

[0023] S4. Establish a rectangular coordinate system using the corner points on both sides along the width of the pallet, and place the first package at the starting point of any coordinate system.

[0024] S5. Output the optimal stacking configuration for the goods, execute the stacking, and transmit the calculated stacking scheme to the robot system, whereby the robot stacks the goods according to the path plan.

[0025] The present invention further describes that the set height difference is 15 mm.

[0026] The present invention further describes that dividing the packages into different groups according to height means grouping the packages in descending order of height.

[0027] The present invention is further described in that the first set value is the length of the tray, and the length of the tray is 2400 mm.

[0028] The present invention further describes that the second set value is the width of the tray, and the width of the tray is 1200 mm.

[0029] The present invention further describes that the priority rule includes prioritizing the selection of packages with similar volume, height, and width to the target package and having the highest priority for combination.

[0030] The present invention further describes that the optimal solution in the length direction includes the total length of the current package combination and the specific package combination method.

[0031] The present invention further describes that the division of the package assembly into different groups according to height is based on the maximum height of the packages in the package assembly and grouped from high to low.

[0032] The present invention further describes that the optimal solution in the width direction includes the width of the current package combination and the combination method between the already combined packages.

[0033] The beneficial effects of this invention are: This invention proposes a method for controlling the stacking of sheet metal packages to obtain the optimal solution for the stacking order and position of each package during the stacking process, which effectively improves resource utilization, reduces costs, minimizes gaps, reduces space waste, reduces manual intervention, reduces factors such as human fatigue and operational errors, and greatly improves production efficiency. Attached Figure Description

[0034] Figure 1 This is a flowchart of the packet stacking control method provided in the embodiments of the present invention;

[0035] Figure 2 This is a flowchart of a method for determining the optimal package combination along the length direction;

[0036] Figure 3 This is a flowchart of a method for determining the optimal package combination in the width direction for the optimal package combination in each length direction;

[0037] Figure 4 This is a schematic diagram of the optimal stacking configuration according to an embodiment of the present invention. Detailed Implementation

[0038] To make the technical problems solved by the present invention, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention. Furthermore, it should be noted that, for ease of description, only the parts related to the present invention are shown in the accompanying drawings, not all of them.

[0039] Figure 1 A flowchart of a sheet metal packaging stacking method according to an embodiment of the present invention is shown, as follows: Figure 1 As shown, the method includes the following steps:

[0040] S1. Information Acquisition: Obtain the size information of the package and store it in a dataset. The size information of the package may include the volume, length, width, height and other information of the package.

[0041] S2. Data Preprocessing: To ensure efficient planning of packages on the pallet, and considering that packages with high load-bearing capacity should be placed at the bottom during stacking, packages with the largest volume, height, width, and length should be prioritized for combination and stacking. The priority of each package is calculated based on its volume, height, width, and length information, and the package dataset is sorted according to the priority results, with the highest priority package being selected first.

[0042] Specifically, packages are first sorted from largest to smallest based on their volume in the package size information. Then, packages with the same volume are sorted from highest to lowest height. Next, packages with the same volume and height are sorted from widest to narrowest width. Finally, packages with the same volume, height, and width are sorted from longest to shortest length to determine the order of package assembly.

[0043] S3. Simulate the stacking pattern of goods based on the package dimensions, and calculate the optimal stacking pattern of the packages using a depth-first search algorithm. The steps for calculating the optimal stacking pattern of the packages include:

[0044] S31. Calculate the optimal package combination along the length direction.

[0045] S32. Based on the calculation of the optimal package combination in the length direction, calculate the optimal package combination in the width direction for each optimal package combination in the length direction.

[0046] The step of calculating the optimal package combination in the length direction includes sub-steps S311 to S316:

[0047] S311. Grouping and defining the search space: In the package data processed in step S2, the packages are divided into different groups according to the height difference, which is 15 mm, in descending order of height. Each group constitutes a search space.

[0048] S312. Define states. In the search space, each state includes a set of packages and the length of the current combination. The initial state is an empty set with a length of 0.

[0049] S313. Using a depth-first search algorithm, starting from the initial state, search each search space sequentially. In each search space, starting from a starting node, continuously visit adjacent nodes along a path until there are no unvisited adjacent nodes. Then backtrack to the previous node and continue to visit other adjacent nodes until all nodes have been visited, in order to obtain the optimal combination of packets in the length direction.

[0050] S314. In each search step, in order to minimize the gaps between packages during the stacking process, packages with the closest volume, height and width to the target package should be selected for combination. In addition, in order to ensure that the package with the best load-bearing capacity is placed at the bottom of the pallet, the package with the highest priority should be selected for combination first, and the next package to be added to the combination should be selected from the current search space, and the current state should be updated.

[0051] S315. Evaluate the current state. Evaluation criteria may include the stability of the assembly and the degree to which set values ​​are met. Calculate the difference between the length of the current assembly and a first set value, where the first set value is the length of the pallet (2400 mm), and use this evaluation value as the suitability of the selected package.

[0052] S316. During the search process, the fitness of each package is recorded, and the package combination with the highest fitness is taken as the best solution in the length direction. The best solution in the length direction includes the total length of the current package combination and the specific package combination method.

[0053] The step of calculating the optimal package combination in the width direction for each length direction includes sub-steps S321 to S325:

[0054] S321. Grouping and defining the search space: Based on the set height difference (15 mm), the packages in the package assembly are divided into different groups according to their height from high to low. Each group constitutes a search space, which includes the packages that have been assembled in the length direction.

[0055] S322. Using the depth-first search algorithm, starting from the initial state, search each search space sequentially.

[0056] S323. In each search step, in order to minimize the gaps between packages during stacking, the package combination with the closest volume, height, and width to the target package combination should be selected for combination. In addition, in order to ensure that the package with the best load-bearing capacity is placed at the bottom of the pallet, the package combination with the highest priority should be selected for combination, and the next package combination to be added to the combination should be selected from the current search space, and the current state should be updated.

[0057] S324. Evaluate the current state. In order to make the width of the package assembly closest to the width of the pallet, thereby maximizing the utilization of space resources, the difference between the width of the current assembly and a second set value, the second set value being the width of the pallet, which is 1200 mm, can be calculated, and this evaluation value can be used as the suitability of the selected package assembly.

[0058] S325. During the search process, the package combination with the highest fitness is recorded as the best solution in the width direction. The best solution in the width direction includes the width of the current package combination and the combination method between the combined packages.

[0059] S4. Establish a rectangular coordinate system using the corner points on both sides along the width of the pallet, and place the first package at the starting point of any coordinate system.

[0060] S5. Output the optimal stacking configuration for the goods, execute the stacking, and transmit the calculated stacking scheme to the robot system, whereby the robot stacks the goods according to the path plan.

[0061] Specifically, for example, if the orders contain stacked packages including packages A, B, C, D, E, F, G, and H, the first step is to obtain the size information of these packages, including their volume, height, width, and length. The priority of each package is then calculated using its volume, height, width, and length. Subsequently, the optimal stacking configuration is calculated using a depth-first search algorithm. This calculation includes calculating the optimal package combination along the length direction and the optimal package combination along the width direction for each optimal package combination along the length direction. Assuming the priority order of packages in an order is package A > package B > package C > package D > package E > package F > package G > package H, then package A is selected first, and a depth-first search algorithm is used to calculate its optimal combination in the length direction. The steps for calculating the optimal package combination of package A in the length direction are as follows: First, group the packages and define the search space. Based on a set height difference of 15 mm, the packages are divided into different groups according to their height from high to low. Each group constitutes a search space. Assuming that the height difference between packages A, B, C, D, and E does not exceed 15 mm, then packages A, B, C, D, and E constitute a search space. The second step is to define the states. In the search space, each state includes a set of packages and the length of the current combination. Then, according to a priority rule, the next package to be added to the combination is selected from packages A, B, C, D, and E. The priority rule prioritizes packages with similar volume, height, and width to the target package and has the highest priority for combination. Therefore, package B should be selected first. The current state is then updated and evaluated, and the difference between the current combination and a first set value is calculated, i.e., the distance between the current combination and the pallet length. The package that, when combined with package A, is closest to the pallet length is selected as the optimal package combination for package A in the length direction. This process is repeated for each search space, calculating the optimal combination of all packages in the length direction.Then, based on the optimal package combination in the length direction, the optimal combination in the width direction for each optimal package combination is calculated. The steps are as follows: First, group the packages and define the search space. Assume that after combining the packages in the length direction, we get package combinations AB, CD, EF, and GH, with the priority order being package AB > package CD > package EF > package GH. Then, based on a set height difference of 15 mm, and according to the maximum height of the packages in the package combination, they are divided into different groups from highest to lowest. Each group constitutes a search space. Assuming that the height difference between the packages in package combinations AB, CD, and EF does not exceed 15 mm, then... Item combination AB, package combination CD, and package combination EF constitute a search space. According to the rule of prioritizing the package combination with the highest priority, package combination AB should be selected first. Following this priority rule, the next package combination to be added is selected from AB, CD, and EF. The next package combination must have a volume, height, and length similar to the target package combination and have the highest priority. The current state is updated and evaluated, and the difference between the current combination and a second set value (i.e., the distance between the current combination and the pallet width) is calculated. The package combination that, when combined with package combination AB, is closest to the pallet width is selected as the optimal package combination for package combination AB in the width direction. This process is repeated for each search space, calculating the optimal package combination for all package combinations in the width direction to obtain the optimal stacking configuration for the packages.

[0062] This method can calculate the stacking position and order of packages during the stacking of sheet metal packages, and obtain the optimal stacking pattern of packages. It is mainly used to solve the problems of unstable stacking or large gaps between packages that are easily caused during manual stacking, effectively improving stacking efficiency and reducing labor costs.

Claims

1. A method for controlling the stacking of sheet metal packages, characterized in that, Includes the following steps: S1. Information acquisition: Obtain the size information of the package and store it in a dataset; S2. Data preprocessing: Calculate the priority of packages based on their volume, height, width, and length in the package size information, and sort the package dataset according to the priority results. Packages with the highest priority are selected first. S3. Simulate the stacking pattern of goods based on the package dimensions, and calculate the optimal stacking pattern of the packages using a depth-first search algorithm. The steps for calculating the optimal stacking pattern of the packages include: S31. Calculate the optimal package combination along the length direction; S32. Calculate the optimal package combination in the width direction for the optimal package combination in each length direction. The step of calculating the optimal package combination in the length direction includes sub-steps S311~S316: S311. Grouping and defining the search space: In the package data processed in step S2, the packages are divided into different groups according to the set height difference, and each group constitutes a search space. S312. Define the state. In the search space, each state includes a set of packages and the length of the current combination. The initial state is an empty set with a length of 0. S313. Using the depth-first search algorithm, starting from the initial state, search each search space sequentially; S314. In each search step, according to the priority rule, select the next package to be added to the combination from the current search space and update the current state; S315. Evaluate the current state, calculate the difference between the length of the current combination and the first set value, and use this evaluation value as the fitness of the selected package. S316. During the search process, the package combination with the highest fitness is recorded as the best solution in the length direction; The step of calculating the optimal package combination in the width direction for each length direction includes sub-steps S321~S325: S321. Grouping: Define the search space. Based on the set height difference, divide the package assembly into different groups according to height. Each group constitutes a search space. The search space includes the package assembly in the length direction. S322. Using the depth-first search algorithm, starting from the initial state, search each search space sequentially; S323. In each search step, select the next package combination to be added to the combination from the current search space and update the current state; S324. Evaluate the current state, calculate the difference between the width of the current combination and the second set value, and use this evaluation value as the fitness of the selected package combination. S325. During the search process, the package combination with the highest fitness is recorded as the best solution in the width direction; S4. Establish a rectangular coordinate system using the corner points on both sides along the width of the pallet, and place the first package at the starting point of any coordinate system. S5. Output the optimal stacking type of the goods, execute the stacking, and transmit the calculated stacking scheme to the robot system, where the robot stacks the goods according to the path plan. The step of dividing the packages into different groups according to their height means grouping the packages in descending order of height.

2. The method for controlling the stacking of sheet metal packages according to claim 1, characterized in that, The set height difference is 15 millimeters.

3. The method for controlling the stacking of sheet metal packages according to claim 1, characterized in that, The first setting value is the length of the tray, which is 2400 mm.

4. The method for controlling the stacking of sheet metal packages according to claim 1, characterized in that, The second setting value is the width of the tray, which is 1200 mm wide.

5. The method for controlling the stacking of sheet metal packages according to claim 1, characterized in that, The priority rules include prioritizing the selection of packages that are similar in size, height, and width to the target package and have the highest priority for combination.

6. The method for controlling the stacking of sheet metal packages according to claim 1, characterized in that, The optimal solution in the length direction includes the total length of the current package combination and the specific package combination method.

7. The method for controlling the stacking of sheet metal packages according to claim 1, characterized in that, The method of dividing the package assembly into different groups according to height is to group the packages in the package assembly according to the maximum height of the packages in the assembly, from high to low.

8. The method for controlling the stacking of sheet metal packages according to claim 1, characterized in that, The optimal solution in the width direction includes the width of the current package combination and the combination method between the already combined packages.

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