Method, system, device and storage medium for planning palletizing and unpalletizing sequence based on pallet type

Abstract

The present application relates to a method, system, device and storage medium for planning a palletizing and depalletizing sequence based on a pallet type, wherein the method comprises: obtaining pallet type information, and constructing and maintaining a material map according to the pallet type information; traversing each material from a plurality of preset directions, and counting the in-degree sum of each material, wherein the in-degree sum is the sum of the number of materials blocked by the material in all preset directions; preliminarily sorting the in-degree sums of all materials from small to large to obtain an initial palletizing and depalletizing sequence; obtaining a preset coordinate sorting rule, and performing a secondary sorting on the initial palletizing and depalletizing sequence according to the preset coordinate sorting rule and the coordinates of the material to obtain a palletizing and depalletizing sequence; removing the material corresponding to the first in-degree sum in the palletizing and depalletizing sequence from the material map, and placing it in a result queue; recalculating the in-degree information of the remaining materials until all materials are processed to obtain a final result queue.

Description

Technical Field

[0001] The present application relates to the field of palletizing and unpalletizing control, and in particular to a palletizing and unpalletizing sequence planning method, system, device and storage medium based on pallet type. Background Art

[0002] With the advancement of industrial intelligence, robot operation has gradually replaced manual operation to reduce labor demand. Especially in the field of logistics and warehousing, robots can perform depalletizing and palletizing operations according to set programs. Depalletizing and palletizing operations include depalletizing and palletizing: depalletizing refers to unloading the box from the stacking container, while palletizing refers to placing the box into a container such as a pallet or cage truck.

[0003] Although robot technology has made some progress in the field of palletizing, there are still some technical difficulties in practical application. For example, the positional relationship between goods is complex, and there may be certain errors in the stacking process, which may cause the robot to press the box or collide when performing palletizing operations, causing deformation, damage or reduced operation efficiency of the goods. Therefore, the reasonable planning of the palletizing sequence of the box has become a problem that needs to be solved in current technology. Summary of the invention

[0004] The embodiments of the present application provide a method, system, device and storage medium for planning the stacking and unstacking sequence based on the pallet type, so as to at least solve the problem in the related art that the box is damaged due to an unreasonable stacking and unstacking sequence.

[0005] In a first aspect, an embodiment of the present application provides a method for planning a palletizing and stacking sequence based on a pallet type, comprising:

[0006] Step A. Obtaining stack type information, and constructing and maintaining a material map based on the stack type information, wherein the material map includes a plurality of grids, each grid being used to record the material type at the current location and its relationship with surrounding materials;

[0007] Step B. traverse each material from multiple preset directions, and count the in-degree sum of each material, where the in-degree sum is the number of directions in which the material is blocked;

[0008] Step C. Preliminarily sort the in-degree sums of all materials from small to large to obtain the initial depalletizing and stacking sequence;

[0009] Step D. obtaining a preset coordinate sorting rule, and performing secondary sorting on the initial depalletizing sequence according to the preset coordinate sorting rule and the coordinates of the material to obtain a depalletizing sequence;

[0010] Step E. removing the material corresponding to the first-ranked entry degree in the depalletizing sequence from the material map and placing it in the result queue;

[0011] Step F. Recalculate the in-degree information of the remaining materials and repeat steps B to F until all materials are processed to obtain the final result queue.

[0012] In one embodiment, the stack type information includes the stacking positions and material sizes of all materials, wherein the step of constructing and maintaining a material map according to the stack type information includes:

[0013] Constructing a two-dimensional material map having the same size as the stack, wherein the two-dimensional material map is composed of a plurality of grids;

[0014] The material corresponding to each grid in the two-dimensional material map is marked according to the stacking position and the material size to obtain the material map.

[0015] In one embodiment, traversing each material from multiple preset directions and counting the in-degree sum of each material includes:

[0016] Select any preset direction to traverse the materials in the material map, and analyze the relative relationship between any material and other materials;

[0017] Determine whether the current material is blocked by other materials in the preset direction. If so, the penetration value of the current material in the preset direction is recorded as 1; if not, it is recorded as 0;

[0018] After traversing in one direction, change the preset direction and traverse again to obtain the penetration values ​​of all materials in all preset directions;

[0019] Sum up the penetration values ​​of each material in all preset directions to obtain the total penetration of each material.

[0020] In one embodiment, traversing each material from multiple preset directions and counting the in-degree sum of each material further includes:

[0021] If the entry value of a material is less than 2, its entry value is assigned as 2.

[0022] In one embodiment, the preset coordinate sorting rule includes up-down direction priority, left-right direction priority, first diagonal direction priority or second diagonal direction priority.

[0023] In one embodiment, the initial depalletizing sequence is secondary sorted according to the preset coordinate sorting rule and the coordinates of the material to obtain the depalletizing sequence, including:

[0024] When the preset coordinate sorting rule is to prioritize the up and down directions, the materials are sorted according to their coordinates (x, y). If the y values ​​are different, they are sorted again according to the size of the y values; if the y values ​​are the same, they are sorted again according to the size of the x values;

[0025] When the preset coordinate sorting rule is to prioritize the left and right directions, sort the materials according to their coordinates (x, y). If the x values ​​are different, sort them again according to the size of the x values; if the x values ​​are the same, sort them again according to the size of the y values.

[0026] When the preset coordinate sorting rule is to give priority to the first diagonal direction, the values ​​of xy and x+y are calculated according to the coordinates. If the values ​​of xy are different, a secondary sorting is performed according to the size of the values ​​of xy; if the values ​​of xy are the same, a secondary sorting is performed according to the size of the values ​​of x+y;

[0027] When the preset coordinate sorting rule gives priority to the second diagonal direction, the values ​​of x+y and xy are calculated according to the coordinates. If the values ​​of x+y are different, secondary sorting is performed according to the size of the values ​​of x+y; if the values ​​of x+y are the same, secondary sorting is performed according to the size of the values ​​of xy.

[0028] In one embodiment, the method further comprises:

[0029] For the depalletizing operation, controlling the depalletizing equipment to remove the materials in sequence according to the order in the final result queue;

[0030] For the palletizing operation, the final result queue is reversed to obtain a reverse result queue, and the palletizing equipment is controlled to stack the materials in sequence according to the order in the reverse result queue.

[0031] In a second aspect, an embodiment of the present application provides a depalletizing system, comprising a depalletizing device or a palletizing device, wherein the depalletizing device or the palletizing device performs a depalletizing operation or a palletizing operation according to the depalletizing sequence planning method based on the pallet type described in any of the above embodiments.

[0032] In a third aspect, an embodiment of the present application provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the method for planning the stacking and unstacking sequence based on the pallet type as described in the first aspect above is implemented.

[0033] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method for planning the stacking and unstacking sequence based on the pallet type as described in the first aspect above.

[0034] The method, system, device and storage medium for planning the stacking and unstacking sequence based on the pallet type provided in the embodiments of the present application have at least the following technical effects.

[0035] Through the relationship between materials, the most suitable material for placement / removal is calculated. After the operation, the optimal and safest placement / removal sequence of the complete materials is re-calculated in each round of iteration. The stacking direction can be freely selected and is not limited to the diagonal direction.

[0036] Details of one or more embodiments of the present application are set forth in the following drawings and description to make other features, objects, and advantages of the present application more readily apparent. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0038] Figure 1 is a flow chart of a method for planning a palletizing and stacking sequence based on pallet type in one embodiment of the present application;

[0039] Figure 2 This is a depalletizing effect diagram of a depalletizing and stacking sequence planning method based on a pallet type in one embodiment of the present application;

[0040] Figure 3 It is a structural block diagram of an electronic device in one embodiment of the present application. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is described and illustrated below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. Based on the embodiments provided in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application.

[0042] Obviously, the drawings described below are only some examples or embodiments of the present application. For ordinary technicians in this field, the present application can also be applied to other similar scenarios based on these drawings without creative work. In addition, it can also be understood that although the efforts made in this development process may be complicated and lengthy, for ordinary technicians in this field related to the content disclosed in this application, some changes in design, manufacturing or production based on the technical content disclosed in this application are just conventional technical means, and should not be understood as insufficient content disclosed in this application.

[0043] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those of ordinary skill in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0044] Unless otherwise defined, the technical terms or scientific terms involved in this application should be understood by people with ordinary skills in the technical field to which this application belongs. The words "one", "a", "a", "the" and the like involved in this application do not indicate a quantity limitation, and may indicate the singular or plural. The terms "include", "comprise", "have" and any of their variations involved in this application are intended to cover non-exclusive inclusions; for example, a process, method, system, product or device that includes a series of steps or modules (units) is not limited to the listed steps or units, but may also include steps or units that are not listed, or may also include other steps or units inherent to these processes, methods, products or devices. The words "connect", "connected", "coupled" and the like involved in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The "multiple" involved in this application refers to two or more. "And / or" describes the association relationship of associated objects, indicating that there may be three relationships, for example, "A and / or B" can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the objects before and after are in an "or" relationship. The terms "first", "second", "third", etc. involved in this application are only used to distinguish similar objects and do not represent a specific ordering of the objects.

[0045] The existing depalletizing and stacking scheme is limited to the depalletizing and stacking process of only one product size, and cannot be applied to mixed-code products; moreover, the depalletizing direction of the current depalletizing and stacking scheme is fixed and lacks flexibility, further narrowing the application scenarios of robot depalletizing and stacking. The present application proposes a more stable and more general calculation method to determine the order, which is suitable for palletizing and depalletizing at the same time, and can also prioritize depalletizing and stacking in any direction. Based on the above situation, the embodiments of the present application provide a depalletizing and stacking sequence planning method, system, device and storage medium based on the pallet type.

[0046] In a first aspect, the present application provides a method for planning the sequence of stacking and unstacking based on the type of stacking. Figure 1 is a flow chart of the method, such as Figure 1 As shown, the method of the present application is implemented by the following steps.

[0047] Step S1. Obtain the stack type information, and construct and maintain the material map based on the stack type information, where each grid is used to record the material type at the current location and its relationship with the surrounding materials. Specifically, the stack type information includes the stacking position and material size of all materials. When constructing and maintaining the material map, first construct a two-dimensional material map of the same size as the stack type, and the two-dimensional material map is composed of multiple grids; then mark the material corresponding to each grid in the two-dimensional material map according to the stacking position and material size to obtain the material map.

[0048] Step S2. Traverse each material from multiple preset directions, and count the total in-degree of each material, where the total in-degree is the number of directions in which the material is blocked. Specifically, select any preset direction to traverse the materials in the material map, and analyze the relative relationship between any material and other materials; determine whether the current material is blocked by other materials in the preset direction. If so, record the in-degree value of the current material in the preset direction as 1, if not, record it as 0; after traversing in one direction, change the preset direction and traverse again to obtain the in-degree values ​​of all materials in all preset directions; sum the in-degree values ​​of each material in all preset directions to obtain the total in-degree of each material. Preferably, if the total in-degree of a material is less than 2, assign its total in-degree to 2.

[0049] Specifically refer to Figure 2 Figure a in Figure 2 It is the calculation result of the total entry of a certain type of stack material. Each blue box in the figure represents a material, and the number in the box is the value of the total entry. Taking Figure a as an example, the material in the upper left corner is blocked by materials in the lower and right directions, so its total entry is 2.

[0050] Step S3. Preliminarily sort the in-degree sum of all materials from small to large to obtain the initial depalletizing sequence. The smaller the in-degree sum, the fewer directions the current material is blocked, that is, this application performs preliminary sorting in the order of the number of blocked directions of the materials from small to large. In this sorting, for materials with the same in-degree sum, they are first placed in the same rank of the sequence, and the accurate order can be obtained after subsequent secondary sorting.

[0051] Step S4. Obtain a preset coordinate sorting rule, and perform secondary sorting on the initial depalletizing sequence according to the preset coordinate sorting rule and the coordinates of the material to obtain a depalletizing sequence. In this embodiment, the preset coordinate sorting rule includes up and down direction priority, left and right direction priority, first diagonal direction priority, or second diagonal direction priority.

[0052] Specifically, the initial depalletizing sequence is secondary sorted according to the preset coordinate sorting rule and the coordinates of the material to obtain the depalletizing sequence, including:

[0053] When the preset coordinate sorting rule is to prioritize the up and down directions, the materials are sorted according to their coordinates (x, y). If the y values ​​are different, they are sorted again according to the size of the y values; if the y values ​​are the same, they are sorted again according to the size of the x values;

[0054] When the preset coordinate sorting rule is to prioritize the left and right directions, sort the materials according to their coordinates (x, y). If the x values ​​are different, sort them again according to the size of the x values; if the x values ​​are the same, sort them again according to the size of the y values.

[0055] When the preset coordinate sorting rule is to give priority to the first diagonal direction, the values ​​of xy and x+y are calculated according to the coordinates. If the values ​​of xy are different, a secondary sorting is performed according to the size of the values ​​of xy; if the values ​​of xy are the same, a secondary sorting is performed according to the size of the values ​​of x+y;

[0056] When the preset coordinate sorting rule gives priority to the second diagonal direction, the values ​​of x+y and xy are calculated according to the coordinates. If the values ​​of x+y are different, secondary sorting is performed according to the size of the values ​​of x+y; if the values ​​of x+y are the same, secondary sorting is performed according to the size of the values ​​of xy.

[0057] Specifically, in the embodiment of the present application, after obtaining the stack type information (such as Figure 2 a), a coordinate system is constructed according to the stack type, so that the coordinate position of each material can be determined. For example, in this embodiment, the coordinate system is constructed with the lower left corner of the stack type as the origin, the up and down direction is the y axis, and the left and right direction is the x axis. Therefore, when the preset coordinate sorting rule is to give priority to the up and down direction, that is, the depalletizing is performed starting from the up and down direction.

[0058] Step S5. Remove the material corresponding to the first entry-degree combination in the depalletizing sequence from the material map and put it into the result queue.

[0059] Step S6. Recalculate the entry degree information of the remaining materials and repeat steps B to F until all materials are processed to obtain the final result queue.

[0060] Finally, for the depalletizing operation, the depalletizing device is controlled to remove the materials in the order of the final result queue; for the palletizing operation, the final result queue is reversed to obtain a reverse result queue, and the palletizing device is controlled to stack the materials in the order of the reverse result queue. Figure 2 , Figure 2This is a depalletizing effect diagram of the depalletizing sequence planning method of the present application. The order of material removal is shown by the arrows in the figure. This depalletizing sequence can ensure that other materials are not touched to avoid collision.

[0061] In summary, the stacking and unstacking sequence planning method based on the pallet type provided in the embodiment of the present application obtains the stacking and unstacking sequence by analyzing the relationship between materials, so that the pallet type is in a safe state during stacking / unstacking, and when placing or grabbing new materials, materials that can be safely placed can be selected for placement, and a more stable and more universal solution route can be obtained; it can also adapt to the solution of placing materials of various sizes. In addition, the calculation process of the method of the present application is simple and fast, achieving the effect of saving time and cost.

[0062] In a preferred embodiment, the detailed implementation process of the palletizing and unpalletizing sequence planning method based on pallet type provided in the present application is described as follows.

[0063] First, obtain the stacking information and stacking direction, wherein the stacking information includes the stacking position, size, and rotation direction of all items in the stack. For depalletizing, it is necessary to know the information of the current material to be depalletized, and for palletizing, it is necessary to know the material information of the stacking plan. In this application, for both depalletizing and palletizing, the information is essentially the same, including the length and width information of the material, and the coordinate information. The following information is common and no distinction is made between the two.

[0064] Second, maintain the material map. Specifically, first create a two-dimensional material map to record the material information of each grid. Each grid in the map represents the location of a material, and records the material type on the grid and its relationship with the surrounding materials.

[0065] Third, traverse the direction, traverse each material from the left, right, top, and bottom directions, and take one of the directions (for example, from left to right) as an example to check the relative position relationship between the current material and the subsequent material. If there is another material behind the current material, the entry degree of the subsequent material in this direction is marked as 1, indicating that it has a constraint condition in this direction. If the entry degree of the subsequent material in the opposite direction (that is, from right to left) is also 1, it means that it and the current material are constrained in both directions. At this time, the entry degree of the material in the other two directions (that is, up and down) is also marked as 1 to form a complete constraint.

[0066] Fourth, multiple traversals, according to the above strategy, traverse the materials from four directions respectively. After completing four traversals, the in-degree information of all materials in four directions will be collected and updated.

[0067] The in-degree information reflects the positional relationship and constraints of each material relative to other materials, and is used for subsequent sorting and depalletizing operations.

[0068] Fifth, sort by in-degree sum. The in-degrees of all materials in four directions are summed up to form the in-degree sum of each material. Specifically, if the in-degree sum of a material is less than 2, its in-degree sum is considered to be 2 to ensure that the minimum constraint is considered when sorting. Preliminary sorting is performed based on the in-degree sum. Materials with small in-degree sum are processed first, indicating that these materials are less hindered or constrained by other materials.

[0069] Sixth, coordinate sorting, on the basis of following the in-degree sorting, secondary sorting is performed according to the coordinates of the materials. You can choose the following sorting methods according to your needs:

[0070] Up and down direction priority: Sort by the material coordinates (x, y), giving priority to the size of the y value; if the y values ​​are the same, further consider the x value.

[0071] Left-right priority: Sort by the material's coordinates (x, y), giving priority to the size of the x value; if the x values ​​are the same, further consider the y value.

[0072] Diagonal direction is preferred:

[0073] Main diagonal priority: Sort by the main diagonal (x - y) of the coordinates (x, y), that is, give priority to the value of x- y; if the x - y values ​​are the same, further consider the value of x + y.

[0074] Secondary diagonal priority: Sort by the secondary diagonal (x + y) of the coordinates (x, y), that is, give priority to the value of x + y; if the x + y values ​​are the same, further consider the value of x - y.

[0075] Seventh, material processing, after sorting, take out the first sorted material, remove it from the material map, and put it into the result queue. Then, recalculate the in-degree information of the remaining materials, repeat the above process, and perform the next iteration until all materials are processed.

[0076] Eighth, result output: for depalletizing operation, materials are directly taken out from the result queue in order and processed in sequence. For palletizing operation, the result queue is reversed, and the order at this time is the best palletizing order.

[0077] Through the above steps, the algorithm of this embodiment can not only sort according to the degree of material entry information, but also flexibly select different coordinate sorting methods, including diagonal sorting methods, to meet different needs and scenarios. In addition, this application not only reduces material processing time by optimizing the depalletizing sequence, but also reduces material loss, thereby saving manpower and resource costs; and can adapt to different material layouts and process conditions, improve production flexibility, thereby achieving the effects of improving efficiency, reducing costs and flexible adaptation.

[0078] In a second aspect, an embodiment of the present application provides a depalletizing and palletizing system, including a depalletizing device or a palletizing device, wherein the depalletizing device or the palletizing device performs a depalletizing operation or a palletizing operation according to the depalletizing and palletizing sequence planning method based on the pallet type described in any of the above embodiments. Preferably, the depalletizing device or the palletizing device of this embodiment can be a mechanical arm or a robot dedicated to depalletizing or palletizing.

[0079] In a third aspect, an embodiment of the present application provides an electronic device, Figure 3 FIG. 1 is a block diagram of an electronic device according to an exemplary embodiment. Figure 3 As shown, the electronic device may include a processor 11 and a memory 12 storing computer program instructions.

[0080] Specifically, the processor 11 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0081] Among them, the memory 12 may include a large-capacity memory for data or instructions. By way of example and not limitation, the memory 12 may include a hard disk drive (HDD), a floppy disk drive, a solid-state drive (SSD), a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive, or a combination of two or more of these. Where appropriate, the memory 12 may include a removable or non-removable (or fixed) medium. Where appropriate, the memory 12 may be inside or outside the data processing device. In a specific embodiment, the memory 12 is a non-volatile memory. In a specific embodiment, the memory 12 includes a read-only memory (ROM) and a random access memory (RAM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically alterable ROM (EAROM) or a flash memory (FLASH), or a combination of two or more of these. Under appropriate circumstances, the RAM can be a static random access memory (SRAM) or a dynamic random access memory (DRAM), wherein the DRAM can be a fast page mode dynamic random access memory (FPMDRAM), an extended data output dynamic random access memory (EDODRAM), a synchronous dynamic random access memory (SDRAM), etc.

[0082] The memory 12 may be used to store or cache various data files that need to be processed and / or used for communication, as well as possible computer program instructions executed by the processor 11 .

[0083] The processor 11 reads and executes computer program instructions stored in the memory 12 to implement any one of the pallet type-based depalletizing and stacking sequence planning methods in the above embodiments.

[0084] In one embodiment, the electronic device may further include a communication interface 13 and a bus 10. Figure 3 As shown, the processor 11, the memory 12, and the communication interface 13 are connected via a bus 10 and communicate with each other.

[0085] The communication interface 13 is used to realize the communication between the modules, devices, units and / or equipment in the embodiment of the present application. The communication port 13 can also realize data communication with other components such as: external devices, image / data acquisition equipment, databases, external storage and image / data processing workstations.

[0086] The bus 10 includes hardware, software or both, and couples the components of the electronic device to each other. The bus 10 includes but is not limited to at least one of the following: a data bus, an address bus, a control bus, an expansion bus, and a local bus. By way of example and not limitation, bus 10 may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VLB) bus, or other suitable buses or a combination of two or more of these. Where appropriate, bus 10 may include one or more buses. Although embodiments of the present application describe and illustrate a particular bus, the present application contemplates any suitable bus or interconnect.

[0087] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a program stored thereon, and when the program is executed by a processor, the method for planning the palletizing and depalletizing sequence based on the pallet type provided in the first aspect is implemented.

[0088] The readable storage medium may include but is not limited to: a portable disk, a hard disk, a random access memory, a read-only memory, an erasable programmable read-only memory, an optical storage device, a magnetic storage device or any suitable combination of the above.

[0089] In a possible implementation, the present invention can also be implemented in the form of a program product, which includes a program code. When the program product is run on a terminal device, the program code is used to enable the terminal device to execute the steps of the pallet type-based depalletizing and stacking sequence planning method provided in the first aspect.

[0090] The program code for executing the present invention may be written in any combination of one or more programming languages, and may be executed entirely on a user device, partially on a user device, as an independent software package, partially on a user device and partially on a remote device, or entirely on a remote device.

[0091] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0092] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A method for planning the sequence of stacking and unstacking based on the type of stacking, characterized in that: include: Step A. Obtaining stack type information, and constructing and maintaining a material map based on the stack type information, where each grid is used to record the material type at the current location and its relationship with surrounding materials; Step B. traverse each material from multiple preset directions, and count the in-degree sum of each material, where the in-degree sum is the number of directions in which the material is blocked; Step C. Preliminarily sort the in-degree sums of all materials from small to large to obtain the initial depalletizing and stacking sequence; Step D. obtaining a preset coordinate sorting rule, and performing secondary sorting on the initial depalletizing sequence according to the preset coordinate sorting rule and the coordinates of the material to obtain a depalletizing sequence; Step E. removing the material corresponding to the first-ranked entry degree in the depalletizing sequence from the material map and placing it in the result queue; Step F. Recalculate the in-degree information of the remaining materials and repeat steps B to F until all materials are processed to obtain the final result queue.

2. The method according to claim 1, characterized in that The stack type information includes the stacking positions and material sizes of all materials, wherein the building and maintaining of the material map according to the stack type information includes: Constructing a two-dimensional material map having the same size as the stack, wherein the two-dimensional material map is composed of a plurality of grids; The material corresponding to each grid in the two-dimensional material map is marked according to the stacking position and the material size to obtain the material map.

3. The method according to claim 1, characterized in that The step of traversing each material from multiple preset directions and counting the number of in-degrees of each material includes: Select any preset direction to traverse the materials in the material map, and analyze the relative relationship between any material and other materials; Determine whether the current material is blocked by other materials in the preset direction. If so, the penetration value of the current material in the preset direction is recorded as 1; if not, it is recorded as 0; After traversing in one direction, change the preset direction and traverse again to obtain the penetration values ​​of all materials in all preset directions; Sum up the penetration values ​​of each material in all preset directions to obtain the total penetration of each material.

4. The method according to claim 3, characterized in that The traversing each material from multiple preset directions and counting the in-degree sum of each material also includes: If the entry value of a material is less than 2, its entry value is assigned as 2.

5. The method according to claim 1, characterized in that: The preset coordinate sorting rule includes up-down direction priority, left-right direction priority, first diagonal direction priority or second diagonal direction priority.

6. The method according to claim 5, characterized in that The secondary sorting of the initial depalletizing sequence according to the preset coordinate sorting rule and the coordinates of the material to obtain the depalletizing sequence comprises: When the preset coordinate sorting rule is to prioritize the up and down directions, the materials are sorted according to their coordinates (x, y). If the y values ​​are different, they are sorted again according to the size of the y values; if the y values ​​are the same, they are sorted again according to the size of the x values; When the preset coordinate sorting rule is to prioritize the left and right directions, sort the materials according to their coordinates (x, y). If the x values ​​are different, sort them again according to the size of the x values; if the x values ​​are the same, sort them again according to the size of the y values. When the preset coordinate sorting rule is to give priority to the first diagonal direction, the values ​​of xy and x+y are calculated according to the coordinates. If the values ​​of xy are different, secondary sorting is performed according to the size of the values ​​of xy; if the values ​​of xy are the same, secondary sorting is performed according to the size of the values ​​of x+y; When the preset coordinate sorting rule gives priority to the second diagonal direction, the values ​​of x+y and xy are calculated according to the coordinates. If the values ​​of x+y are different, secondary sorting is performed according to the size of the values ​​of x+y; if the values ​​of x+y are the same, secondary sorting is performed according to the size of the values ​​of xy.

7. The method according to claim 1, characterized in that The method further comprises: For the depalletizing operation, controlling the depalletizing equipment to remove the materials in sequence according to the order in the final result queue; For the palletizing operation, the final result queue is reversed to obtain a reverse result queue, and the palletizing equipment is controlled to stack the materials in sequence according to the order in the reverse result queue.

8. A palletizing system, characterized in that: It comprises a depalletizing device or a palletizing device, and the depalletizing device or the palletizing device performs a depalletizing operation or a palletizing operation according to the depalletizing and palletizing sequence planning method based on the pallet type as described in any one of claims 1 to 7.

9. An electronic device, characterized in that: The method comprises a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the method for planning the stacking and unstacking sequence based on the pallet type as claimed in any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method for planning the stacking and unstacking sequence based on the pallet type as claimed in any one of claims 1 to 7 is implemented.

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