Dynamic stacking method and device, storage medium and electronic equipment

Abstract

The invention discloses a dynamic stacking method and device, a storage medium and electronic equipment, and the method comprises the steps that a stacking container model and a to-be-stacked box model are constructed based on a stacking request; traversing the to-be-stacked box body models, updating the available space point queue when traversing each target box body model, and judging whether the available space points in the queue are feasible or not one by one until the feasible available space points are obtained to serve as target space points; the target box body model is placed in the stacking container model, the target direction vertex of the bottom face of the target box body model is made to be overlapped with the target space point, and then traversal continues; and after traversal is completed, a stacking scheme is output. The stacking scheme can be automatically adjusted and optimized to maximize the space utilization rate on the basis of the actual sizes of the box bodies and the containers, manual intervention and reprogramming requirements are reduced, the flexibility and automation level of a production line are greatly improved, human errors are reduced, and the production efficiency and safety are improved.

Description

Technical Field

[0001] The present application belongs to the technical field of automated palletizing, and specifically relates to a dynamic palletizing method, device, storage medium and electronic equipment. Background Art

[0002] Automated palletizing can significantly improve palletizing efficiency and container space utilization, and is widely used in the logistics and warehousing industries. However, the current palletizing software performs palletizing based on preset rules, which makes it difficult to adapt to different types of products and diverse palletizing needs. It has a low level of intelligence and cannot perform adaptive optimization based on actual conditions. When the product specifications, size, shape or packaging form of the production line changes, more manual adjustments and reprogramming are required, affecting the continuity and efficiency of production. Especially in the palletizing scenario of medicine boxes, there are many types of medicine boxes of different sizes, and the existing palletizing software cannot meet the needs.

[0003] In addition, the existing industrial palletizing software is customized based on proprietary technology and closed systems, with high maintenance and upgrade costs, and it is difficult to achieve seamless integration with other industrial systems (such as MES, ERP, WMS, etc.), and it is difficult to form a closed-loop intelligent manufacturing system. At the same time, the existing industrial palletizing software has a complex interface and operation logic, lacks in-depth analysis and visualization of palletizing process data, and cannot monitor and optimize key indicators such as operating efficiency, energy consumption, and equipment wear in real time. Summary of the invention

[0004] The purpose of this application is to provide a dynamic palletizing method, device, storage medium and electronic device to solve the technical problems that the existing industrial palletizing software is difficult to adapt to different types of products and diversified palletizing requirements, has a low level of intelligence, and cannot perform adaptive optimization according to actual conditions.

[0005] In order to achieve the above-mentioned object, the first aspect of the present application provides a dynamic palletizing method, comprising:

[0006] Based on the palletizing request, construct a palletizing container model and a box model to be palletized, wherein the palletizing request includes the size of the palletizing container and the size of the box to be palletized;

[0007] Traversing the box model to be palletized, updating the available space point queue each time a target box model is traversed, and judging whether the available space points in the queue are feasible one by one, until a feasible available space point is obtained as the target space point, wherein the available space point includes vertices in a vertex set that can contact the target direction vertex of the bottom surface of the box model to be palletized, and the vertex set is composed of the bottom surface vertices of the palletizing container model and the surface vertices of the palletized box model;

[0008] Placing the target box model in the palletizing container model, and making the target direction vertex of the bottom surface of the target box model overlap with the target space point, and then continuing the traversal;

[0009] After the traversal is completed, the stacking plan of the boxes to be stacked in the stacking container is output.

[0010] In one or more embodiments, the step of constructing a palletizing container model and a box model to be palletized based on the palletizing request includes:

[0011] The point of the bottom surface vertex of the palletizing container that can contact the target direction vertex of the bottom surface of the box model to be palletized is taken as the origin, and each side of the palletizing container is made parallel to the X-axis, the Y-axis or the Z-axis, respectively, to construct a three-dimensional model to obtain a palletizing container model;

[0012] Safety thresholds are added to the length, width and height of the box to be stacked respectively, and then substituted into the three-dimensional model to construct a model of the box to be stacked with each side parallel to the X-axis, the Y-axis or the Z-axis.

[0013] In one or more embodiments, each time a target box model is traversed, the step of updating the available space point queue includes:

[0014] The available space points occupied by the last palletized box model are deleted from the available space point queue, and available space points among the surface vertices of the last palletized box model that can contact the target direction vertices of the bottom surface of the box to be palletized are added.

[0015] In one or more embodiments, the step of determining whether the available space point in the queue is feasible includes:

[0016] When determining whether the target direction vertex of the bottom surface of the target box model overlaps with the target available space point, whether the following conditions are simultaneously met: the target box model does not exceed the boundary of the palletized container model, the target box model does not collide with the palletized box model, and the bottom surface of the target box model is supported;

[0017] If both conditions are met at the same time, the target available space point is feasible.

[0018] In one or more embodiments, the target direction is the lower left, and the step of determining whether the target box model exceeds the boundary of the palletizing container model includes:

[0019] Determine whether the target available space point satisfies the following formulas: 0≤x≤Ll, 0≤y≤Ww, 0≤z≤Hh, where L, W, and H are the length, width, and height of the palletizing container model, respectively; l, w, and h are the length, width, and height of the target box model, respectively; and x, y, and z are the coordinates of the target available space point;

[0020] If all are met, the target box model does not exceed the boundary of the palletizing container model; and / or,

[0021] The step of determining whether the target box model collides with the palletized box model comprises:

[0022] Determine whether the target box model overlaps with any palletized box model on the X, Y, and Z axes;

[0023] If not, the target box model does not collide with the palletized box model; and / or,

[0024] The step of determining whether the bottom surface of the target box model is supported comprises:

[0025] Determine whether all the bottom surface vertices of the target box model fall within the bottom surface range of the palletized container model or the top surface range of the palletized box model;

[0026] If so, the bottom surface of the target box model is supported.

[0027] In one or more embodiments, if none of the available space points in the queue is feasible, the method further includes:

[0028] The target box model is rotated 90°, and the available space points in the queue are re-determined one by one whether they are feasible;

[0029] If all available space points in the queue are not feasible, the target box model is abandoned and the traversal continues.

[0030] In one or more embodiments, the step of determining whether the available space points in the queue are feasible one by one is specifically to select the available space points one by one in a priority order for feasibility determination, and the priority order includes:

[0031] The priority of the available space points located on the bottom of the palletized container model is higher than the available space points located on the side of the last palletized box model;

[0032] The priority of the available space points located on the side of the last palletized box model is higher than the available space points located on the side of other palletized box models on the same layer;

[0033] The priority of available space points located on the side of the palletized box model is greater than the priority of available space points located on the top surface of the palletized box model;

[0034] The available space points on the top surface of the palletized box model are prioritized according to the distance from the available space points on the bottom surface of the palletized container model, and the closer the distance, the greater the priority.

[0035] In one or more embodiments, the step of traversing the box models to be palletized is specifically to traverse the box models to be palletized in sequence in a direction of gradually decreasing volume based on the size of the box models to be palletized.

[0036] In order to achieve the above-mentioned object, the second aspect of the present application provides a dynamic palletizing device, comprising:

[0037] A model building module, used to build a palletizing container model and a box model to be palletized based on a palletizing request, wherein the palletizing request includes the size of the palletizing container and the size of the box to be palletized;

[0038] A traversal judgment module is used to traverse the box model to be stacked, and each time a target box model is traversed, the available space point queue is updated, and the available space points in the queue are judged one by one whether they are feasible, until a feasible available space point is obtained as the target space point, wherein the available space point includes vertices in a vertex set that can contact the target direction vertex of the bottom surface of the box model to be stacked, and the vertex set is composed of the bottom surface vertices of the stacking container model and the surface vertices of the stacked box model;

[0039] A palletizing module, used for placing the target box model in the palletizing container model, and making the target direction vertex of the bottom surface of the target box model overlap with the target space point, and the side of the target box model parallel to the corresponding side of the palletizing container model, and then continuing the traversal;

[0040] The output module is used to output the stacking plan of the boxes to be stacked in the stacking container after the traversal is completed.

[0041] In order to achieve the above-mentioned purpose, the third aspect of the present application provides an electronic device, including:

[0042] at least one processor; and

[0043] A memory storing instructions, which, when executed by the at least one processor, enables the at least one processor to execute the dynamic palletizing method as described in any one of the above embodiments.

[0044] In order to achieve the above-mentioned purpose, the fourth aspect of the present application provides a machine-readable storage medium storing executable instructions, which, when executed, enable the machine to execute the dynamic palletizing method as described in any of the above-mentioned embodiments.

[0045] Different from the prior art, the beneficial effects of this application are:

[0046] This application can achieve dynamic palletizing based on the actual size of boxes and containers to maximize space utilization. Regardless of how the size and shape of the product changes, the algorithm can automatically adjust and optimize the palletizing plan, thereby reducing the need for manual intervention and reprogramming, greatly improving the flexibility of the production line, improving the level of automation, reducing human errors, and improving production efficiency and safety;

[0047] This application can realize the dynamic display of palletizing solutions, so that operators and managers can quickly understand the current situation and optimization suggestions, help quickly identify potential problems, and improve overall operational efficiency;

[0048] The operator of the present application only needs to input the parameters of the box and container, which can reduce the complex dependence on the user interface, so that the operator only needs to simply input basic parameters or select several modes, which reduces the skill requirements for the operator and reduces training costs and time;

[0049] The method of the present application can be generated based on Python, which is easy to maintain and update. Version updates and functional enhancements can be performed without affecting production, thereby reducing maintenance costs. It can also be designed to be seamlessly integrated with any system (such as MES, ERP, WMS, etc.), and can achieve real-time data exchange and information flow, which helps to form a closed-loop intelligent manufacturing system and achieve more efficient production management and resource allocation. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0051] Figure 1 It is a schematic diagram of a process of an implementation method of the dynamic palletizing method of the present application;

[0052] Figure 2 is a schematic diagram of the palletizing solution of the present application;

[0053] Figure 3 It is a structural schematic diagram of an embodiment of the dynamic palletizing device of the present application;

[0054] Figure 4 It is a schematic structural diagram of an embodiment of an electronic device of the present application. DETAILED DESCRIPTION

[0055] In order to enable those skilled in the art to better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work should fall within the scope of protection of the present application.

[0056] At present, industrial palletizing software can only perform palletizing based on preset rules. It is difficult to adapt to different types of products and diverse palletizing needs. The level of intelligence is low and it is unable to perform adaptive optimization according to actual conditions. When the product specifications, sizes, shapes or packaging forms of the production line change, more manual adjustments and reprogramming are required, which affects the continuity and efficiency of production. In the case of medicine box palletizing, the existing industrial palletizing software is not competent, which affects the continuity and efficiency of production.

[0057] In order to solve the above problems, the applicant has developed a new type of dynamic palletizing method, which can perform adaptive palletizing adjustments based on the size of the boxes to be palletized, has a high level of intelligence, maximizes space utilization, and can output visual palletizing results.

[0058] Specifically, see Figure 1 , Figure 1 It is a flow chart of an implementation method of the dynamic palletizing method of the present application.

[0059] like Figure 1 As shown, the method includes:

[0060] S100: Based on the palletizing request, construct a palletizing container model and a box model to be palletized.

[0061] The palletizing request includes the size of the palletizing container and the size of the box to be palletized.

[0062] Specifically, first, the user can upload the size of the stacking container and the size of the box to be stacked through the client, where the stacking container can be a pallet or a container with only the top surface open, and the box to be stacked can be a cube or a rectangular block, etc., which can be set based on the actual scenario.

[0063] Based on the acquired dimensions of the palletizing container and the dimensions of the box to be palletized, a three-dimensional model can be constructed to obtain a palletizing container model and a box to be palletized model.

[0064] Specifically, the steps of building a model may include:

[0065] The point of the bottom surface vertex of the palletizing container that can contact the target direction vertex of the bottom surface of the box model to be palletized is taken as the origin, and each side of the palletizing container is made parallel to the X-axis, Y-axis or Z-axis respectively, and a three-dimensional model is constructed to obtain a palletizing container model;

[0066] Safety thresholds are added to the length, width and height of the box to be palletized, and then substituted into the three-dimensional model to construct a model of the box to be palletized with each side parallel to the X-axis, Y-axis or Z-axis.

[0067] The target direction vertex is the palletizing starting point preset by the system. For example, the target direction may be the lower left. In this case, the lower left vertex of the bottom surface of the palletizing container may be used as the origin (0, 0, 0) to obtain the palletizing container model.

[0068] In order to avoid collision problems caused by box size errors during palletizing, a virtual border can be set for the box to be palletized when building the model, that is, safety thresholds are added to its length, width and height respectively, so as to obtain a model of the box to be palletized that is slightly larger than the box to be palletized.

[0069] S200, traversing the box models to be palletized, updating the available space point queue each time a target box model is traversed, and determining whether the available space points in the queue are feasible one by one, until a feasible available space point is obtained as the target space point.

[0070] The available space points include vertices in the vertex set that can contact the target direction vertices of the bottom surface of the box model to be palletized, and the vertex set is composed of the bottom surface vertices of the palletized container model and the surface vertices of the palletized box model.

[0071] In order to achieve palletizing control, the concept of available space points is introduced in this application. Available space points refer to the positions where the vertices of the bottom surface target direction of the box model to be palletized can be placed when palletizing. That is, each available space point represents a position where the box to be palletized can be placed. By judging one by one whether the available space points in the available space point queue can be placed on the box to be palletized, the palletizing of the boxes can be finally achieved.

[0072] Exemplarily, the target direction can be defined as the lower left corner. Before palletizing begins, there is only one available space point in the queue, namely, the vertex (0, 0, 0) at the lower left corner of the bottom surface of the palletizing container model. When a box model is completed, the coordinates of the lower left corner of its bottom surface are set to (x, y, z) and the dimensions are l, w, h. At this time, the box model provides new available space points, namely, the top vertex (x, y, z+h) and the side vertices (x+l, y, z) and (x, y+w, z).

[0073] In one embodiment, in order to improve space utilization, priority rules may be defined for boxes to be palletized, and models of boxes to be palletized may be traversed based on the priority rules.

[0074] Specifically, priority can be sorted based on the size of the box models to be stacked. The larger the volume of the box model to be stacked, the higher the priority. The box models to be stacked are traversed in order along the direction of gradually decreasing volume, so as to give priority to stacking boxes with larger volumes.

[0075] Each time a target box model is traversed, the available space point queue may be updated first. Specifically, in one embodiment, the method for updating the available space point queue may include:

[0076] The available space points occupied by the last palletized box model are deleted from the available space point queue, and the available space points among the surface vertices of the last palletized box model that can contact the target direction vertices of the bottom surface of the box to be palletized are added.

[0077] After the queue is updated, it is possible to determine whether the available space points in the queue are feasible, that is, whether the target box model can be placed at the available space points, until an available space point that can place the target box model is found, and the available space point can be used as the target space point.

[0078] Specifically, a method for determining whether an available space point is feasible may be to perform boundary detection, collision detection, and drop detection on it.

[0079] That is, when the target box model is placed at the available space point and the target direction vertex of the bottom surface of the target box model overlaps with the target available space point, it is determined whether the target box model will exceed the boundary of the palletizing container model, whether it will collide with the palletized box model, and whether the bottom surface of the target box model will be supported.

[0080] If all of them are satisfied, then the available space point can be considered feasible; otherwise, if not all of them are satisfied, then the available space point is not feasible.

[0081] Specifically, in one embodiment, when the target direction is the lower left, the step of determining whether the target box model exceeds the boundary of the palletizing container model may include:

[0082] Determine whether the target available space point satisfies the following formulas: 0≤x≤Ll, 0≤y≤Ww, 0≤z≤Hh, where L, W, H are the length, width, and height of the palletizing container model, l, w, and h are the length, width, and height of the target box model, and x, y, and z are the coordinates of the target available space point;

[0083] If all are met, the target box model does not exceed the boundary of the palletizing container model.

[0084] It can be understood that when the target direction is other directions, such as the upper right, lower right, etc., the above formula can also be adjusted based on actual needs to perform boundary detection.

[0085] In one embodiment, the step of determining whether the target box model collides with the palletized box model includes:

[0086] Determine whether the target box model overlaps with any palletized box model on the X, Y, and Z axes;

[0087] If not, the target box model does not collide with the palletized box model.

[0088] It can be understood that, in space, when the target box model and the palletized box model overlap in three axes, there is a collision between the two models; if there is an overlap in only one or two axes, the two models do not collide.

[0089] In one embodiment, the box to be palletized may be a medicine box. Due to the particularity of the medicine, the four vertices of its bottom surface must be supported. Therefore, the step of determining whether the bottom surface of the target box model is supported includes:

[0090] Determine whether all the bottom vertices of the target box model fall within the bottom range of the palletized container model or the top range of the palletized box model;

[0091] If yes, the bottom surface of the target box model is supported.

[0092] It is understandable that in other embodiments, other methods can also be used to determine whether the bottom surface of the target box model is supported. For example, when the box to be stacked is not a medicine box, its support requirements are slightly lower, and it can be determined whether at least three vertices of the bottom surface of the target box model are supported, or it can be determined whether at least two vertices of the bottom surface of the target box model are supported, and the supported area is greater than 70%, and so on. It can be adjusted based on actual working conditions.

[0093] In one embodiment, the boxes to be stacked may be medicine boxes. Due to the particularity of medicines, the medicine boxes must be stacked with the front side facing upwards. When the available space points in the queue in the above process are not feasible, the steps further include:

[0094] S200', rotating the target box model by 90 degrees, and re-judging one by one whether the available space points in the queue are feasible.

[0095] If all available space points in the queue are not feasible, it also includes:

[0096] S300', abandon the target box model and continue traversal.

[0097] It is understandable that due to the restriction that medicine boxes must be stacked face up, during actual stacking, the medicine boxes can be placed horizontally or vertically. When all available space points do not meet the conditions during the first judgment process, the direction can be adjusted and tried again. If all available space points still do not meet the conditions, the target box model can be discarded and the next box model to be stacked can be traversed.

[0098] If a feasible available space point is found after adjusting the swing direction, the available space point can be used as the target space point.

[0099] In order to optimize the stacking position of the boxes and improve the space utilization, the available space points are prioritized in this application, that is, when judging whether the available space points in the queue are feasible one by one, the available space points are selected one by one in the order of priority for feasibility judgment.

[0100] In one embodiment, the order of priority includes:

[0101] The priority of the available space points located on the bottom of the palletized container model is higher than the available space points located on the side of the last palletized box model;

[0102] The priority of the available space points located on the side of the last palletized box model is higher than the available space points located on the side of other palletized box models on the same layer;

[0103] The priority of available space points located on the side of the palletized box model is greater than the priority of available space points located on the top surface of the palletized box model;

[0104] The available space points on the top surface of the palletized box model are prioritized according to the distance from the available space points on the bottom surface of the palletized container model, and the closer the distance, the greater the priority.

[0105] It can be understood that the available space point with the highest priority is the available space point located at the bottom of the stacking container model. This available space point is occupied first and is generally occupied when the first box is stacked; the second highest priority is the available space point located on the side of the last stacked box model, and the third highest priority is the available space point located on the side of other stacked box models on the same layer, which helps to stack boxes layer by layer and helps to improve the space utilization of each layer.

[0106] The fourth highest priority is the available space point on the top surface of the stacked box model. When there is no space for stacking boxes on the previous stacked box layer, the boxes start to be stacked on a new layer. At this time, the available space points on the top surface of the stacked box model can be prioritized according to the distance from the available space points on the bottom surface of the stacked container model, and stacking is prioritized from the available space points in the Z-axis direction located at the origin, thereby significantly improving space utilization. For example, when the target direction is the lower left, and there is no space on the first layer to stack boxes, boxes are stacked from the lower left corner of the second layer. The available space point at the lower left corner of the top surface of the stacked box located at the lower left corner of the first layer has the highest priority.

[0107] S300, placing the target box model in the palletizing container model, and making the target direction vertex of the bottom surface of the target box model overlap with the target space point, and then continuing the traversal.

[0108] Based on the above steps, the target space point is obtained, so the subsequent stacking operation can be carried out; the target box model can be placed in the stacking container model, and the target direction vertex of the bottom surface of the target box model overlaps with the target space point, and the side of the target box model is parallel to the corresponding side of the stacking container model. At this time, the stacking of the target box model is completed, and the next box to be stacked can be traversed.

[0109] S400: After the traversal is completed, the palletizing plan for the boxes to be palletized in the palletizing container is output.

[0110] After all models of boxes to be palletized are traversed, the palletizing scheme of the boxes to be palletized in the palletizing container is obtained, and dynamic palletizing is realized.

[0111] In one embodiment, the palletizing solution may be displayed based on a three-dimensional visualization tool, for example, the palletizing solution may be displayed through Matplotlib to achieve a visualized display of the palletizing results.

[0112] See also Figure 2 , Figure 2 It is a schematic diagram of the stacking solution of this application, such as Figure 2 As shown, the method of the present application can realize dynamic display of palletizing solutions, so that operators and managers can quickly understand the current situation and optimization suggestions; the visualization capability can also help quickly identify potential problems and improve overall operational efficiency.

[0113] The dynamic palletizing method of the present application can achieve dynamic palletizing based on the actual size of boxes and containers to maximize space utilization. Regardless of how the size and shape of the product changes, the algorithm can automatically adjust and optimize the palletizing plan, thereby reducing the need for manual intervention and reprogramming, greatly improving the flexibility of the production line, improving the level of automation, reducing human errors, and improving production efficiency and safety.

[0114] In addition, in the dynamic palletizing method of the present application, the operator only needs to input the box and container parameters, which can reduce the complex dependence on the user interface, so that the operator only needs to simply input basic parameters or select several modes, and the algorithm can automatically generate the best solution and visualization results. This can reduce the skill requirements for operators and reduce training costs and time.

[0115] The dynamic palletizing method of the present application can be generated based on Python, which can be maintained and updated relatively easily. Python has extensive community support and a large number of open source libraries, and can perform version updates and functional enhancements without affecting production, thereby reducing maintenance costs. It can also be designed to be seamlessly integrated with any system (such as MES, ERP, WMS, etc.), and can achieve real-time data exchange and information circulation, which helps to form a closed-loop intelligent manufacturing system and achieve more efficient production management and resource allocation.

[0116] This application also provides a dynamic palletizing device, see Figure 3 , Figure 3 It is a structural schematic diagram of an implementation method of the dynamic palletizing device of the present application.

[0117] like Figure 3 As shown, the dynamic palletizing device includes a model building module 21 , a traversal judgment module 22 , a palletizing module 23 and an output module 24 .

[0118] The model building module 21 is used to build a palletizing container model and a box model to be palletized based on a palletizing request, wherein the palletizing request includes the size of the palletizing container and the size of the box to be palletized;

[0119] The traversal judgment module 22 is used to traverse the box model to be stacked. Each time a target box model is traversed, the queue of available space points is updated, and the available space points in the queue are judged one by one whether they are feasible, until a feasible available space point is obtained as the target space point, and the available space point includes the vertices in the vertex set that can contact the target direction vertex of the bottom surface of the box model to be stacked, and the vertex set is composed of the bottom surface vertices of the stacking container model and the surface vertices of the stacked box model;

[0120] The palletizing module 23 is used to place the target box model in the palletizing container model, and make the target direction vertex of the bottom surface of the target box model overlap with the target space point, and then continue to traverse;

[0121] The output module 24 is used to output the palletizing plan of the boxes to be palletized in the palletizing container after the traversal is completed.

[0122] As above Figure 1 to Figure 2, a dynamic palletizing method according to an embodiment of this specification is described. The details mentioned in the above description of the method embodiment are also applicable to the dynamic palletizing device of the embodiment of this specification. The above dynamic palletizing device can be implemented by hardware, or by software, or a combination of hardware and software.

[0123] The present application also provides an electronic device, see Figure 4 , Figure 4 Schematic diagram of the structure of an electronic device of the present application. Figure 4 As shown, the electronic device 30 may include at least one processor 31, a memory 32 (e.g., a non-volatile memory), a memory 33, and a communication interface 34, and the at least one processor 31, the memory 32, the memory 33, and the communication interface 34 are connected together via a bus 35. At least one processor 31 executes at least one computer-readable instruction stored or encoded in the memory 32.

[0124] It should be understood that the computer executable instructions stored in the memory 32, when executed, cause at least one processor 31 to perform the above combined operations in various embodiments of the present specification. Figure 1-Figure 3 Describes the various operations and functions.

[0125] In the embodiments of the present specification, the electronic device 30 may include, but is not limited to, personal computers, server computers, workstations, desktop computers, laptop computers, notebook computers, mobile electronic devices, smart phones, tablet computers, cellular phones, personal digital assistants (PDAs), handheld devices, messaging devices, wearable electronic devices, consumer electronic devices, and the like.

[0126] According to one embodiment, a program product such as a machine-readable medium is provided. The machine-readable medium may have instructions (i.e., the above-mentioned elements implemented in the form of software), which, when executed by a machine, causes the machine to perform the above-mentioned combination of various embodiments of this specification. Figure 1-Figure 4 Specifically, a system or device equipped with a readable storage medium may be provided, on which a software program code implementing the functions of any of the above-mentioned embodiments is stored, and a computer or processor of the system or device reads and executes the instructions stored in the readable storage medium.

[0127] In this case, the program code itself read from the machine-readable medium can realize the function of any one of the above embodiments, and thus the machine-readable code and the machine-readable storage medium storing the machine-readable code constitute part of this specification.

[0128] Examples of readable storage media include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD-RW), magnetic tapes, non-volatile memory cards, and ROMs. Alternatively, the program code may be downloaded from a server computer or a cloud via a communication network.

[0129] Those skilled in the art should understand that the various embodiments disclosed above can be modified and altered in various ways without departing from the essence of the invention. Therefore, the protection scope of this specification should be defined by the appended claims.

[0130] It should be noted that not all steps and units in the above-mentioned processes and system structure diagrams are necessary, and some steps or units can be ignored according to actual needs. The execution order of each step is not fixed and can be determined as needed. The device structure described in the above-mentioned embodiments can be a physical structure or a logical structure, that is, some units may be implemented by the same physical client, or some units may be implemented by multiple physical clients, or some components in multiple independent devices may be implemented together.

[0131] In the above embodiments, the hardware unit or module can be realized by mechanical or electrical means. For example, a hardware unit, module or processor can include permanent dedicated circuit or logic (such as special processor, FPGA or ASIC) to complete the corresponding operation. The hardware unit or processor can also include programmable logic or circuit (such as general-purpose processor or other programmable processor), which can be temporarily set by software to complete the corresponding operation. Specific implementation (mechanical method or dedicated permanent circuit or temporary circuit) can be determined based on cost and time consideration.

[0132] The specific embodiments described above in conjunction with the accompanying drawings describe exemplary embodiments, but do not represent all embodiments that can be implemented or fall within the scope of protection of the claims. The term "exemplary" used throughout this specification means "used as an example, instance or illustration" and does not mean "preferred" or "having advantages" over other embodiments. For the purpose of providing an understanding of the described technology, the specific embodiments include specific details. However, these technologies can be implemented without these specific details. In some instances, in order to avoid making the concepts of the described embodiments difficult to understand, well-known structures and devices are shown in block diagram form.

[0133] The above description of the present disclosure is provided to enable any person of ordinary skill in the art to implement or use the present disclosure. Various modifications to the present disclosure will be apparent to those of ordinary skill in the art, and the general principles corresponding to the present disclosure may be applied to other variations without departing from the scope of protection of the present disclosure. Therefore, the present disclosure is not limited to the examples and designs described herein, but is consistent with the widest range of principles and novel features disclosed herein.

Claims

1. A dynamic palletizing method, characterized in that: include: Based on the palletizing request, construct a palletizing container model and a box model to be palletized, wherein the palletizing request includes the size of the palletizing container and the size of the box to be palletized; Traversing the box model to be palletized, updating the available space point queue each time a target box model is traversed, and judging whether the available space points in the queue are feasible one by one, until a feasible available space point is obtained as the target space point, wherein the available space point includes vertices in a vertex set that can contact the target direction vertex of the bottom surface of the box model to be palletized, and the vertex set is composed of the bottom surface vertices of the palletizing container model and the surface vertices of the palletized box model; Placing the target box model in the palletizing container model, and making the target direction vertex of the bottom surface of the target box model overlap with the target space point, and then continuing the traversal; After the traversal is completed, the stacking plan of the boxes to be stacked in the stacking container is output.

2. The dynamic palletizing method according to claim 1, characterized in that: The steps of constructing a palletizing container model and a box model to be palletized based on the palletizing request include: The point of the bottom surface vertex of the palletizing container that can contact the target direction vertex of the bottom surface of the box model to be palletized is taken as the origin, and each side of the palletizing container is made parallel to the X-axis, the Y-axis or the Z-axis, respectively, to construct a three-dimensional model to obtain a palletizing container model; Safety thresholds are added to the length, width and height of the box to be stacked respectively, and then substituted into the three-dimensional model to construct a model of the box to be stacked with each side parallel to the X-axis, the Y-axis or the Z-axis.

3. The dynamic palletizing method according to claim 1, characterized in that: The step of updating the available space point queue each time a target box model is traversed includes: Deleting the available space points occupied by the last palletized box model in the available space point queue, and adding available space points among the surface vertices of the last palletized box model that can contact the target direction vertices of the bottom surface of the box to be palletized; and / or, The step of traversing the box models to be palletized is specifically to traverse the box models to be palletized in sequence in a direction of gradually decreasing volume based on the size of the box models to be palletized.

4. The dynamic palletizing method according to claim 1, characterized in that: The step of determining whether the available space point in the queue is feasible comprises: When determining whether the target direction vertex of the bottom surface of the target box model overlaps with the target available space point, whether the following conditions are simultaneously met: the target box model does not exceed the boundary of the palletized container model, the target box model does not collide with the palletized box model, and the bottom surface of the target box model is supported; If both conditions are met at the same time, the target available space point is feasible.

5. The dynamic palletizing method according to claim 4, characterized in that: The target direction is the lower left, and the step of determining whether the target box model exceeds the boundary of the palletizing container model includes: Determine whether the target available space point satisfies the following formulas: 0≤x≤Ll, 0≤y≤Ww, 0≤z≤Hh, where L, W, and H are the length, width, and height of the palletizing container model, respectively; l, w, and h are the length, width, and height of the target box model, respectively; and x, y, and z are the coordinates of the target available space point; If all are met, the target box model does not exceed the boundary of the palletizing container model; and / or, The step of determining whether the target box model collides with the palletized box model comprises: Determine whether the target box model overlaps with any palletized box model on the X, Y, and Z axes; If not, the target box model does not collide with the palletized box model; and / or, The step of determining whether the bottom surface of the target box model is supported comprises: Determine whether all the bottom surface vertices of the target box model fall within the bottom surface range of the palletized container model or the top surface range of the palletized box model; If so, the bottom surface of the target box model is supported.

6. The dynamic palletizing method according to claim 1, characterized in that: If all available space points in the queue are not feasible, it also includes: The target box model is rotated 90°, and the available space points in the queue are re-determined one by one whether they are feasible; If all available space points in the queue are not feasible, the target box model is abandoned and the traversal continues.

7. The dynamic palletizing method according to claim 1, characterized in that: The step of determining whether the available space points in the queue are feasible one by one is specifically to select the available space points one by one in the order of priority for feasibility determination, and the order of priority includes: The priority of the available space points located on the bottom of the palletized container model is higher than the available space points located on the side of the last palletized box model; The priority of the available space points located on the side of the last palletized box model is higher than the available space points located on the side of other palletized box models on the same layer; The priority of available space points located on the side of the palletized box model is greater than the priority of available space points located on the top surface of the palletized box model; The available space points on the top surface of the palletized box model are prioritized according to the distance from the available space points on the bottom surface of the palletized container model, and the closer the distance, the greater the priority.

8. A dynamic palletizing device, characterized in that: include: A model building module, used to build a palletizing container model and a box model to be palletized based on a palletizing request, wherein the palletizing request includes the size of the palletizing container and the size of the box to be palletized; A traversal judgment module is used to traverse the box model to be stacked, and each time a target box model is traversed, the available space point queue is updated, and the available space points in the queue are judged one by one whether they are feasible, until a feasible available space point is obtained as the target space point, wherein the available space point includes vertices in a vertex set that can contact the target direction vertex of the bottom surface of the box model to be stacked, and the vertex set is composed of the bottom surface vertices of the stacking container model and the surface vertices of the stacked box model; A palletizing module, used for placing the target box model in the palletizing container model, and making the target direction vertex of the bottom surface of the target box model overlap with the target space point, and then continuing the traversal; The output module is used to output the stacking plan of the boxes to be stacked in the stacking container after the traversal is completed.

9. An electronic device, comprising: at least one processor; as well as A memory storing instructions, which, when executed by the at least one processor, enable the at least one processor to execute the dynamic palletizing method according to any one of claims 1 to 7.

10. A machine-readable storage medium storing executable instructions, wherein when the instructions are executed, the machine executes the dynamic palletizing method according to any one of claims 1 to 7.

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