Collaborative palletizing equipment palletizing method

Abstract

The present invention provides a palletizing method for a collaborative palletizing device, comprising: obtaining the palletizing position information of a target palletizing area, constructing a palletizing three-dimensional model space of the target palletizing area according to the palletizing position information; obtaining the material information to be palletized, and determining the placement order of the palletizing materials by using a genetic algorithm according to the material information; placing multiple palletizing materials into a distribution window, determining the placement consumption of each palletizing material according to the palletizing three-dimensional model space and the placement order, and determining the allocation result of each distribution window according to the placement consumption; when each distribution window completes the palletizing process, the palletizing three-dimensional model space is updated, and the allocation and palletizing processes are cyclically executed until the palletizing three-dimensional model space is completely filled. The beneficial effects of the present invention are: improving the palletizing efficiency of different materials and reducing the palletizing energy consumption of collaborative palletizing equipment.

Description

Technical Field

[0001] The present invention relates to the field of palletizing technology, and in particular to a palletizing method of collaborative palletizing equipment. Background Art

[0002] As logistics becomes more and more developed, collaborative palletizing equipment needs to palletize a large number of different types of materials, so multiple collaborative palletizing equipment (robots) are required to palletize in a cooperative manner.

[0003] However, when palletizing different materials (such as express boxes of different sizes), it is necessary to manually set the parameters and workflow of the collaborative palletizing equipment according to different materials. Multiple collaborative palletizing devices cannot be dynamically adjusted according to the material type, palletizing position and multiple collaborative palletizing devices during collaborative palletizing, resulting in low palletizing efficiency and inaccurate palletizing. Summary of the invention

[0004] Aiming to solve at least one of the technical problems existing in the prior art, the present invention provides a palletizing method of collaborative palletizing equipment, which improves the palletizing efficiency of different materials and reduces the palletizing energy consumption of the collaborative palletizing equipment.

[0005] One aspect of the present invention provides a collaborative palletizing device palletizing method, comprising:

[0006] Obtaining the palletizing position information of the target palletizing area, and constructing the palletizing three-dimensional model space of the target palletizing area according to the palletizing position information;

[0007] Obtaining information of materials to be palletized, and determining the order of placing the palletized materials using a genetic algorithm according to the material information;

[0008] Put a plurality of palletizing materials into an allocation window, determine the placement consumption of each palletizing material according to the palletizing three-dimensional model space and the placement order, and determine the allocation result of each allocation window according to the placement consumption;

[0009] When each allocation window completes the palletizing process, the palletizing three-dimensional model space is updated, and the allocation and palletizing processes are executed cyclically until the palletizing three-dimensional model space is completely filled.

[0010] According to the collaborative palletizing device palletizing method, the palletizing position information of the target palletizing area is obtained, and the palletizing three-dimensional model space of the target palletizing area is constructed according to the palletizing position information, including:

[0011] The horizontal bottom coordinates of the stacking position are determined by the laser radar sensor and the identification points, and the stacking three-dimensional model space is constructed according to the horizontal bottom coordinates and the preset height, wherein the preset height is the maximum allowable stacking height of the target stacking area, and the initial coordinates of the horizontal bottom coordinates are determined by the identification points.

[0012] According to the collaborative palletizing device palletizing method, the information of the materials to be palletized is obtained, and the order of placing the palletized materials is determined by using a genetic algorithm according to the material information, including:

[0013] The image data of the stacked materials transmitted by the conveyor belt are collected by a camera device, the image data are processed by a recognition model to obtain label information, and the material information is obtained according to the label information;

[0014] According to the material information, a genetic algorithm is used to classify the palletizing materials to obtain the palletizing material classification results, wherein the palletizing material classification results are used to represent the order of placing them into the target palletizing area.

[0015] According to the collaborative palletizing device palletizing method, a plurality of palletizing materials are placed in an allocation window, the placement consumption of each palletizing material is determined according to the palletizing three-dimensional model space and the placement sequence, and the allocation result of each allocation window is determined according to the placement consumption, including:

[0016] Using the conveyor belt between the camera device and the first cooperative palletizing material equipment as the allocation window, all material information and palletizing material classification results in the allocation window are obtained;

[0017] The horizontal bottom surface is divided into virtual grids, and the virtual grid area of ​​palletizing of each collaborative palletizing device on the horizontal surface is determined according to the working range of the gripper of the collaborative palletizing device and the origin of the user coordinate system;

[0018] Obtain the distance between the collaborative palletizing devices, and calculate the placement consumption of the palletizing material from the calibrated grabbing point of the first collaborative palletizing device to the placement of the palletizing material by each collaborative palletizing device in the palletizing virtual grid area according to the distance and placement priority;

[0019] The minimum placement consumption is selected from the placement consumptions, and an allocation result is determined according to the minimum placement consumption, wherein the allocation result is used to characterize the placement order of the stacked materials in each allocation window and the cooperative stacking equipment used when they are transported.

[0020] According to the collaborative palletizing device palletizing method, the palletizing materials are classified according to the material information to obtain the palletizing material classification results, including:

[0021] Obtain material information, including material weight, material type, material volume and stacking limit;

[0022] The classification results of palletized materials are determined based on genetic algorithms.

[0023] According to the collaborative palletizing method, the placement consumption of the palletizing material from the calibrated grabbing point of the first collaborative palletizing device to the placement of the palletizing material by each collaborative palletizing device to the palletizing virtual grid area is calculated according to the spacing and placement priority, including:

[0024] Obtain a set of spatial transport distances from the collaborative palletizing calibration point to the palletizing virtual grid area, and obtain a set of movement distances of the palletizing material passing through each palletizing collaborative device;

[0025] According to the spatial handling distance set, moving distance set and placement priority, the objective function is constructed as follows:

[0026]

[0027] in, For placement consumption, is the space transport distance, is the moving distance, To prioritize, The weights corresponding to the space handling distance, moving distance and placement priority, Determined through historical data;

[0028] The time limit and the lowest placement position of the stacked materials are used as the constraints of the objective function, and dynamic programming is used to determine the placement consumption.

[0029] According to the collaborative palletizing device palletizing method, when each allocation window completes the palletizing process, the palletizing three-dimensional model space is updated, and the allocation and palletizing processes are executed cyclically, including:

[0030] The radar information of the palletizing process completed in the previous allocation window is collected by the laser radar sensor, the palletizing three-dimensional model space of the target palletizing area is updated according to the radar information, and the allocation and palletizing process are cyclically executed according to the updated palletizing three-dimensional model space.

[0031] According to the collaborative palletizing device palletizing method, the method further comprises:

[0032] The placement position of each palletized material is monitored when it is placed, and when the stacking position of any palletized material matches the allocation result, the palletizing three-dimensional space model is updated and an alarm is issued.

[0033] According to the collaborative palletizing device palletizing method, the method further comprises:

[0034] Updating the palletizing three-dimensional model space through a control center;

[0035] When each collaborative palletizing device completes the allocation window palletizing process, data synchronization is performed through a wireless network with multiple collaborative palletizing devices.

[0036] The beneficial effects of the present invention are as follows: the materials can be accurately placed by adopting the method of stacking three-dimensional model space, virtual grid and radar positioning, thereby improving the stacking accuracy and stacking efficiency; the objective function is adopted with time limit and minimum placement position as constraints, and the (minimum) placement consumption during transportation as the goal, so that each material can be placed with the lowest consumption, thereby reducing the energy consumption of collaborative stacking equipment during stacking; and the efficiency and stability of the entire stacking are guaranteed by dynamically adjusting and monitoring multiple collaborative stacking equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 4 is a system structure block diagram of the collaborative palletizing equipment according to an embodiment of the present invention.

[0038] Figure 2 It is a schematic flow chart of a palletizing method of a collaborative palletizing device according to an embodiment of the present invention.

[0039] Figure 3 It is a schematic diagram of the placement sequence flow of an embodiment of the present invention.

[0040] Figure 4 It is a schematic diagram of the allocation process of the allocation window according to an embodiment of the present invention.

[0041] Figure 5 Schematic diagram of virtual grid division according to an embodiment of the present invention.

[0042] Figure 6 It is a schematic diagram of the placement consumption analysis process of an embodiment of the present invention. DETAILED DESCRIPTION

[0043] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. In this subsequent description, the continuous numbering of the method steps is for the convenience of review and understanding. In combination with the overall technical solution of the present invention and the logical relationship between the various steps, adjusting the implementation order between the steps will not affect the technical effect achieved by the technical solution of the present invention. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0044] refer to Figure 1 , Figure 1It is a system structure block diagram of the collaborative palletizing equipment of an embodiment of the present invention, which includes a conveyor belt arranged around the target palletizing area, and 4 collaborative palletizing equipment are fixed on the conveyor belt. The palletizing materials enter along the material entrance, wherein the material entrance is provided with a camera device or a shooting device for detecting the material information of the palletizing materials; the palletizing materials are added to the allocation window after identification, and then the allocation results are sent to multiple collaborative palletizing equipment through the control center until the target palletizing area is completed.

[0045] In some embodiments, the control center is respectively connected to multiple collaborative palletizing devices, shooting devices, and lidar sensors (not shown) to collect data from these devices to create and update the palletizing three-dimensional model space and synchronize the communication between each collaborative palletizing device.

[0046] In some embodiments, a plurality of cooperative palletizing devices are respectively provided with collision sensors for performing avoidance processing when palletizing materials are placed simultaneously.

[0047] Among them, the stacked materials are usually regular columns, and there are markings representing material information on the boxes of the stacked materials, such as labels or printing issues, and the volume difference between the stacked materials does not exceed 30%.

[0048] refer to Figure 2 , Figure 2 1 is a schematic flow chart of a collaborative palletizing method according to an embodiment of the present invention. It includes but is not limited to steps S100 to S400:

[0049] S100, obtaining the palletizing position information of the target palletizing area, and constructing the palletizing three-dimensional model space of the target palletizing area according to the palletizing position information.

[0050] In some embodiments, the horizontal bottom coordinates of the stacking position are determined by a laser radar sensor and identification points, and a three-dimensional stacking model space is constructed based on the horizontal bottom coordinates and a preset height, wherein the preset height is the maximum allowable stacking height of the target stacking area, and the initial coordinates of the horizontal bottom coordinates are determined by the identification points.

[0051] In some implementations, when the placement of the stacked materials in the distribution window is processed for the first time, the horizontal bottom coordinates at this time are the coordinates of the top of the stacked materials. It can be understood that there are multiple new coordinates of the top of the stacked materials.

[0052] In some embodiments, in combination Figure 1, wherein a plurality of LiDAR sensors (not shown) are arranged in the target palletizing area for determining the three-dimensional model space of the palletizing and for monitoring the height of the palletizing materials in the target palletizing area, wherein the horizontal bottom coordinates are determined by presetting four sensor devices on the ground that can be sensed by the LiDAR sensor; wherein the maximum allowable stacking height of the preset height can be set and can also be determined according to the highest palletizing position of the collaborative palletizing equipment.

[0053] In some embodiments, the lidar sensor may be a lidar LiDAR, which provides accurate three-dimensional modeling of the environment.

[0054] S200, obtaining information of materials to be palletized, and determining the placement order of the palletized materials using a genetic algorithm according to the material information.

[0055] In some embodiments, reference Figure 3 The schematic diagram of the placement sequence process shown includes but is not limited to steps S210 to S220:

[0056] S210, collecting image data of the stacked materials transmitted by the conveyor belt through a camera device, processing the image data using a recognition model to obtain label information, and obtaining material information based on the label information;

[0057] S220, classifying the palletizing materials using a genetic algorithm according to the material information to obtain a palletizing material classification result, wherein the palletizing material classification result is used to represent the order of placing the palletizing materials into the target palletizing area.

[0058] Among them, the material information includes material weight, material type, material volume and stacking limit. Genetic algorithm or annealing algorithm is used to determine the classification result of palletizing materials. The process of genetic algorithm is as follows:

[0059] Encode the placement order of each material into a chromosome;

[0060] Generate an initial population, including randomly generating a set of chromosomes to represent different order of item placement;

[0061] A fitness function is used to evaluate the quality of each solution based on material weight, material type (fragile, non-squeezable), material volume, and stacking restrictions;

[0062] After the evaluation is completed, excellent individuals are selected according to fitness for reproduction and crossover or mutation operations are performed, wherein the crossover operation includes selecting two parent chromosomes and generating new individuals (offspring) through the crossover operation; wherein a part of the offspring chromosome is randomly changed (such as the weight of the material, which is selected from the identified palletized materials) to increase diversity;

[0063] The newly generated population replaces the original population. After reaching the preset number of iterations, the chromosome with the highest fitness is obtained, that is, the optimal order of item placement.

[0064] In some embodiments, any one of the items is used as a condition for the order in which items are placed, but a single item of material information is likely to cause inaccurate placement.

[0065] S300, placing a plurality of palletizing materials into an allocation window, determining the placement consumption of each palletizing material according to the palletizing three-dimensional model space and the placement sequence, and determining the allocation result of each allocation window according to the placement consumption.

[0066] In some embodiments, reference Figure 4 The allocation process diagram of the allocation window shown in FIG. includes S310 to S330:

[0067] S310, dividing the horizontal bottom surface into virtual grids, and determining the palletizing virtual grid area of ​​each collaborative palletizing device on the horizontal surface according to the working range of the gripper of the collaborative palletizing device and the origin of the user coordinate system.

[0068] In some embodiments, a simple partitioning scheme such as Figure 5 As shown in the virtual grid division schematic diagram, the four quadrants under the coordinate system are all palletizing virtual grid areas corresponding to the four collaborative palletizing devices, which are used for the corresponding collaborative palletizing devices to carry the corresponding palletizing materials.

[0069] It can be understood that the size of the virtual grid can be set, and at the same time, the number of grids occupied by a palletizing material is limited to the palletizing virtual grid area.

[0070] In some embodiments, the gripper working range refers to the maximum allowable palletizing distance of the collaborative palletizing device, wherein the origin of the user coordinate system refers to the central coordinate system of the collaborative palletizing device fixed on the conveyor belt processing, which can be measured in advance.

[0071] S320, obtaining the distance between the collaborative palletizing devices, and calculating the placement consumption of the palletizing material from the calibrated grabbing point of the first collaborative palletizing device to the placement of the palletizing material by each collaborative palletizing device to the palletizing virtual grid area according to the distance and placement priority.

[0072] In some embodiments, reference Figure 6 The schematic diagram of the placement consumption analysis process shown includes but is not limited to steps S321 to S323:

[0073] S321, obtaining a set of spatial transport distances from the collaborative palletizing calibration point to the palletizing virtual grid area, and obtaining a set of movement distances of the palletizing materials passing through each palletizing collaborative device;

[0074] S322, based on the spatial transport distance set, the moving distance set and the placement priority, construct the objective function as follows:

[0075]

[0076] in, For placement consumption, is the space transport distance, is the moving distance, To prioritize, The weights corresponding to the space handling distance, moving distance and placement priority, Determined through historical data;

[0077] S323, taking the time limit of stacking materials and the minimum placement position as the objective function constraints, dynamic programming is used to determine the placement consumption.

[0078] In some embodiments, the dynamic programming method uses a transfer equation to perform sequential transfer calculations on the same stacked material at different locations, and the transfer calculation results are obtained to determine the minimum consumption.

[0079] S330, selecting the minimum placement consumption from the placement consumption, and determining the allocation result according to the minimum placement consumption, wherein the allocation result is used to characterize the placement order of the stacking materials in each allocation window and the cooperative stacking equipment used when being transported.

[0080] In some embodiments, radar information of palletizing processing completed in the previous allocation window is collected by a laser radar sensor, the palletizing three-dimensional model space of the target palletizing area is updated according to the radar information, and the allocation and palletizing processing are cyclically performed according to the updated palletizing three-dimensional model space.

[0081] In some embodiments, the respective results indicate that four cooperative palletizing devices correspond to the palletizing materials to be palletized, and when the palletizing materials pass through the corresponding cooperative palletizing devices, the palletizing process is performed.

[0082] S400, when each allocation window completes the palletizing process, the palletizing three-dimensional model space is updated, and the allocation and palletizing processes are executed cyclically until the palletizing three-dimensional model space is completely filled.

[0083] The placement of each palletized material is monitored. When the stacking position of any palletized material matches the allocation result, the palletizing three-dimensional space model is updated and an alarm is issued.

[0084] Exemplarily, when the stacked materials fall during placement, an alarm is issued. If the stacking is not performed according to the predetermined stacking allocation, re-planning is performed. It can be understood that re-planning is a recalculation of the placement consumption of the current allocation window, and the recalculation is mainly affected by placement errors.

[0085] An embodiment of the present invention further provides an electronic device, the electronic device comprising a processor and a memory;

[0086] The memory stores a program;

[0087] The processor executes the program to execute the aforementioned collaborative palletizing method; the electronic device has the function of carrying and running the collaborative palletizing software system provided by the embodiment of the present invention, for example, a personal computer, a minicomputer, a main frame, a workstation, a network or distributed computing environment, a separate or integrated computer platform, or communicates with a charged particle tool or other imaging device, etc.

[0088] An embodiment of the present invention further provides a computer-readable storage medium, wherein the storage medium stores a program, and the program is executed by a processor to implement the collaborative palletizing device palletizing method as described above.

[0089] In some selectable embodiments, the function / operation mentioned in the block diagram may not occur in the order mentioned in the operation diagram. For example, depending on the function / operation involved, the two boxes shown in succession can actually be executed substantially simultaneously or the boxes can sometimes be executed in reverse order. In addition, the embodiment presented and described in the flow chart of the present invention is provided by way of example, for the purpose of providing a more comprehensive understanding of technology. The disclosed method is not limited to the operation and logic flow presented herein. Selectable embodiments are expected, wherein the order of various operations is changed and the sub-operation of a part for which is described as a larger operation is performed independently.

[0090] The embodiment of the present invention also discloses a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device can read the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the aforementioned collaborative palletizing method.

[0091] In addition, although the present invention is described in the context of functional modules, it should be understood that, unless otherwise specified, one or more of the functions and / or features described may be integrated into a single physical device and / or software module, or one or more functions and / or features may be implemented in separate physical devices or software modules. It is also understood that a detailed discussion of the actual implementation of each module is unnecessary for understanding the present invention. More specifically, in view of the properties, functions, and internal relationships of the various functional modules in the device disclosed herein, the actual implementation of the module will be understood within the conventional skills of the engineer. Therefore, those skilled in the art can implement the present invention set forth in the claims without excessive experimentation using ordinary techniques. It is also understood that the specific concepts disclosed are merely illustrative and are not intended to limit the scope of the present invention, which is determined by the full scope of the appended claims and their equivalents.

[0092] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc., which can store program codes.

[0093] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in conjunction with such instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in conjunction with such instruction execution systems, devices or apparatuses.

[0094] More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be a paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering or, if necessary, processing in another suitable manner, and then stored in a computer memory.

[0095] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0096] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0097] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

[0098] The above is a specific description of the preferred implementation of the present invention, but the present invention is not limited to the described embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A palletizing method using a collaborative palletizing device, characterized in that: include: Obtaining the palletizing position information of the target palletizing area, and constructing the palletizing three-dimensional model space of the target palletizing area according to the palletizing position information, including: determining the horizontal bottom surface coordinates of the palletizing position by a laser radar sensor and an identification point, and constructing the palletizing three-dimensional model space according to the horizontal bottom surface coordinates and a preset height, wherein the preset height is the maximum allowable stacking height of the target palletizing area, and wherein the initial coordinates of the horizontal bottom surface coordinates are determined by the identification point; Obtaining information of materials to be palletized, and determining the order of placing the palletized materials by using a genetic algorithm according to the material information, including: collecting image data of the palletized materials transmitted by a conveyor belt through a camera device, processing the image data by using a recognition model to obtain label information, and obtaining the material information according to the label information; classifying the palletized materials by using a genetic algorithm according to the material information to obtain a classification result of the palletized materials, wherein the classification result of the palletized materials is used to represent the order of placing them in a target palletizing area; Put multiple palletizing materials into an allocation window, determine the placement consumption of each palletizing material according to the palletizing three-dimensional model space and the placement order, and determine the allocation result of each allocation window according to the placement consumption, including: taking the conveyor belt between the camera device and the first collaborative palletizing device as the allocation window, obtaining all material information and palletizing material classification results in the allocation window; dividing the horizontal bottom surface into virtual grids, and determining the palletizing virtual grid area of ​​each collaborative palletizing device on the horizontal plane according to the working range of the hand of the collaborative palletizing device and the origin of the user coordinate system; obtaining the spacing between the collaborative palletizing devices, and calculating the placement consumption of the palletizing material from the calibrated grasping point of the first collaborative palletizing device to the palletizing virtual grid area where each collaborative palletizing device places the palletizing material according to the spacing and placement priority; selecting the minimum placement consumption from the placement consumption, and determining the allocation result according to the minimum placement consumption, wherein the allocation result is used to characterize the placement order of the palletizing materials in each allocation window and the collaborative palletizing device used when being transported; When each allocation window completes the palletizing process, the palletizing three-dimensional model space is updated, and the allocation and palletizing processes are executed cyclically until the palletizing three-dimensional model space is completely filled.

2. The collaborative palletizing equipment palletizing method according to claim 1, characterized in that: The method of classifying the palletized materials according to the material information to obtain the palletized material classification results includes: Obtain material information, including material weight, material type, material volume and stacking limit; The classification results of palletized materials are determined based on genetic algorithms.

3. The collaborative palletizing equipment palletizing method according to claim 1, characterized in that: The calculation of the placement consumption of the palletizing material from the calibrated grabbing point of the first collaborative palletizing device to the placement of the palletizing material by each collaborative palletizing device to the palletizing virtual grid area according to the spacing and placement priority includes: Obtain a set of spatial transport distances from the collaborative palletizing calibration point to the palletizing virtual grid area, and obtain a set of movement distances of the palletizing material passing through each palletizing collaborative device; According to the spatial handling distance set, moving distance set and placement priority, the objective function is constructed as follows: ， Among them, T cost For placement consumption, is the space transport distance, is the moving distance, P is the placement priority, The weights corresponding to the space handling distance, moving distance and placement priority, Determined through historical data; The time limit and the lowest placement position of the stacked materials are used as the constraints of the objective function, and dynamic programming is used to determine the placement consumption.

4. The collaborative palletizing equipment palletizing method according to claim 3, characterized in that: When each allocation window completes the palletizing process, the palletizing three-dimensional model space is updated, and the allocation and palletizing processes are cyclically executed, including: The radar information of the palletizing process completed in the previous allocation window is collected by the laser radar sensor, the palletizing three-dimensional model space of the target palletizing area is updated according to the radar information, and the allocation and palletizing process are cyclically executed according to the updated palletizing three-dimensional model space.

5. The collaborative palletizing equipment palletizing method according to claim 2, characterized in that: The method further comprises: The placement position of each palletized material is monitored when it is placed, and when the stacking position of any palletized material matches the allocation result, the palletizing three-dimensional model space is updated and an alarm is issued.

6. The collaborative palletizing equipment palletizing method according to claim 1, characterized in that: The method further comprises: Updating the palletizing three-dimensional model space through a control center; When each collaborative palletizing device completes the allocation window palletizing process, data synchronization is performed through a wireless network with multiple collaborative palletizing devices.

Images