Online mixed stacking method, device and equipment

Abstract

The invention provides an online mixed stacking method, device and equipment, and the method comprises the steps: determining a free space of a stacked box body on a bearing object, and determining a plurality of reference placement positions of a target box body based on the free space; for each reference placement position, determining a target matching degree corresponding to the reference placement position based on box body attribute information of a target box body, box body attribute information of reference stacked box bodies around the reference placement position and a relative attribute between the target box body and the reference placement position; the target matching degree corresponding to the reference placement position represents the matching degree of the target box body and the reference placement position; and based on the target matching degree corresponding to each reference placement position, a target placement position is selected from the multiple reference placement positions, and the robot is controlled to stack the target box on the bearing object based on the target placement position. According to the scheme, automatic and efficient online mixed stacking is achieved, the stack type stability is improved, the stack type plot ratio is increased, and the stacking efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of palletizing technology, and in particular to an online mixed palletizing method, device and equipment. Background Art

[0002] In logistics and warehousing scenarios, palletizing is an important application with a large number of application requirements. In the palletizing process, mixed coding (i.e., mixed palletizing) is to palletize (stack) boxes of different sizes one by one on a carrier (such as a pallet or tray, etc.). Mixed coding can include online mixing and offline mixing. Online mixing refers to the palletizing process in which the palletizing order cannot be known in advance and the palletizing position is planned in real time according to the box situation. Offline mixing refers to the palletizing process in which the palletizing order is known in advance and the palletizing position is planned in advance according to the box situation. For boxes of various sizes in the palletizing order, how to achieve online mixed coding for these boxes, that is, how to achieve automatic and efficient online mixed coding, there is no effective implementation method in the relevant technology. Summary of the invention

[0003] The present application provides an online mixed palletizing method, the method comprising: for a target box to be palletized on a carrier, determining the free space of the palletized boxes on the carrier, and determining multiple reference placement positions of the target box based on the free space; for each reference placement position, determining the target matching degree corresponding to the reference placement position based on the box attribute information of the target box, the box attribute information of the reference palletized boxes around the reference placement position, and the relative attributes between the target box and the reference placement position; wherein the target matching degree corresponding to the reference placement position indicates the matching degree between the target box and the reference placement position; based on the target matching degree corresponding to each reference placement position, selecting a target placement position from the multiple reference placement positions, and controlling a robot to palletize the target box on the carrier based on the target placement position.

[0004] The present application provides an online mixed palletizing device, the device comprising: a determination module, for determining, for a target box to be palletized on a carrier, an empty space of a palletized box on the carrier, and determining a plurality of reference placement positions of the target box based on the empty space; a processing module, for determining, for each reference placement position, a target matching degree corresponding to the reference placement position based on box attribute information of the target box, box attribute information of reference palletized boxes around the reference placement position, and relative attributes between the target box and the reference placement position; wherein the target matching degree indicates the degree of matching between the target box and the reference placement position; a placement module, for selecting a target placement position from the plurality of reference placement positions based on the target matching degree corresponding to each reference placement position, and controlling a robot to palletize the target box on the carrier based on the target placement position.

[0005] The present application provides a control device, comprising: a processor and a machine-readable storage medium, wherein the machine-readable storage medium stores machine-executable instructions that can be executed by the processor; the processor is used to execute the machine-executable instructions to implement the online mixed palletizing method of the above example of the present application.

[0006] The present application provides a control system for online mixed palletizing, the control system comprising a control device and a robot; wherein the control device is used to execute the online mixed palletizing method of the above example to obtain a target placement position corresponding to a target box; the control device is also used to send a scheduling instruction for the target box to the robot, the scheduling instruction including the target placement position; the robot is used to obtain the target placement position from the scheduling instruction after receiving the scheduling instruction, and palletize the target box onto the carrier based on the target placement position.

[0007] The present application provides a machine-readable storage medium, wherein the machine-readable storage medium stores machine-executable instructions that can be executed by a processor; wherein the processor is used to execute the machine-executable instructions to implement the online mixed palletizing method of the above example of the present application.

[0008] The present application provides a computer program product, including a computer program. When the computer program is executed by a processor, the online mixed palletizing method of the above example of the present application is implemented.

[0009] It can be seen from the above technical scheme that in the embodiment of the present application, when it is necessary to stack the target boxes on the carrier (that is, the boxes of various sizes and specifications in the palletizing order are taken as the target boxes in turn), the free space of the stacked boxes on the carrier is determined, and multiple reference placement positions of the target boxes are determined based on the free space. Based on the attribute information of the target box and the attribute information of the stacked boxes around each reference placement position, the target placement position is selected from the multiple reference placement positions, and the robot is controlled to stack the target box on the carrier based on the target placement position, thereby realizing automatic and efficient online mixing of boxes of various sizes and specifications, saving manpower while improving logistics turnover efficiency. It can improve the stability of the stacking type, improve the volume ratio of the stacking type, improve the stacking efficiency, and improve production efficiency. Improve the safety, practicality and stability during actual mixed-code palletizing. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a schematic flow chart of an online mixed palletizing method in one embodiment of the present application;

[0011] Figure 2 It is a schematic flow chart of an online mixed palletizing method in one embodiment of the present application;

[0012] Figure 3A is a schematic diagram of a three-dimensional space update in one embodiment of the present application;

[0013] Figure 3B and Figure 3C is a schematic diagram of multiple placement positions in one embodiment of the present application;

[0014] Figure 4A is a schematic diagram of a false support and a non-false support in one embodiment of the present application;

[0015] Figure 4B It is a schematic diagram of the support areas corresponding to the four corner supports in one embodiment of the present application;

[0016] Figure 4C is a schematic diagram of the support areas corresponding to the two corner supports in one embodiment of the present application;

[0017] Figure 4D is a schematic diagram of the stack height difference in one embodiment of the present application;

[0018] Figure 5A and Figure 5B is a schematic diagram of type matching in one implementation of the present application;

[0019] Figure 5C is a schematic diagram of a space boundary in one embodiment of the present application;

[0020] Figure 6 It is a schematic flow chart of an online mixed palletizing method in one embodiment of the present application;

[0021] Figure 7 It is a structural schematic diagram of an online mixed palletizing device in one embodiment of the present application;

[0022] Figure 8 It is a hardware structure diagram of a control device in one embodiment of the present application. DETAILED DESCRIPTION

[0023] In the embodiment of the present application, an online mixed palletizing method is proposed, which can be applied to control equipment, see Figure 1 FIG. 1 is a schematic diagram of the process of the online mixed palletizing method, which may include:

[0024] Step 101: for a target box to be palletized on a carrier, determine the free space of the palletized boxes on the carrier, and determine multiple reference placement positions of the target box based on the free space.

[0025] Step 102: for each reference placement position, determine the target matching degree corresponding to the reference placement position based on the box attribute information of the target box, the box attribute information of the reference stacked boxes around the reference placement position, and the relative attributes between the target box and the reference placement position; wherein the target matching degree corresponding to the reference placement position represents the degree of matching between the target box and the reference placement position.

[0026] For example, the relative attribute between the target box and the reference placement position is used to reflect the degree of spatial matching between the target box and the reference placement position. The better the degree of spatial matching reflected by the relative attribute, the better the fit between the target box and the reference placement position.

[0027] For example, the relative attribute between the target box and the reference placement position may include the bottom height, and the meaning of the bottom height can be found in the subsequent embodiments. Optionally, in addition to the bottom height, the relative attribute between the target box and the reference placement position may also include similarity, and the meaning of the similarity can be found in the subsequent embodiments. Optionally, in addition to the bottom height, the relative attribute between the target box and the reference placement position may also include the remaining space area, and the meaning of the remaining space area can be found in the subsequent embodiments.

[0028] Step 103 : based on the target matching degree corresponding to each reference placement position, a target placement position is selected from a plurality of reference placement positions, and the robot is controlled to palletize the target box onto the load based on the target placement position.

[0029] Exemplarily, determining multiple reference placement positions of the target box based on the free space may include but is not limited to: determining multiple placement positions of the target box in the free space; wherein the target box may be aligned with multiple corners of the free space to obtain multiple placement positions, and after rotating the target box by 90 degrees in the plane, the target box may be aligned with multiple corners of the free space to obtain multiple placement positions. For example, rotating the target box by 90 degrees in the plane means rotating the target box by 90 degrees around a point in the plane, and this point is called the rotation center. The rotation center may be any position point of the target box, such as a vertex of the target box as the rotation center.

[0030] For each placement position, if the placement position satisfies the configured constraint conditions, the placement position is determined as the reference placement position of the target box; or, if the placement position does not satisfy the configured constraint conditions, the placement position is prohibited from being determined as the reference placement position of the target box.

[0031] Exemplarily, the constraint condition may include but is not limited to at least one of the following: size constraint condition, support area constraint condition, height difference constraint condition, and load-bearing constraint condition. If, when the target box is at the placement position, the target box does not exceed the maximum allowable length range of the load, the target box does not exceed the maximum allowable width range of the load, and the target box does not exceed the maximum allowable height range of the load, then the placement position satisfies the size constraint condition.

[0032] For example, the maximum allowable length range of a load refers to the outward expansion length threshold in the length direction of the load (that is, the outward expansion length threshold in both directions of the length). For loads without borders on all sides, such as pallets, the length threshold can be greater than 0. For loads with borders on all sides, such as material boxes, the length threshold can be equal to 0, and the range after the outward expansion length threshold is the maximum allowable length range. On this basis, if the target box is in this placement position, it can be determined whether the target box exceeds the maximum allowable length range of the load. For example, if the load expands 5cm in the length direction and the target box is in this placement position, the target box is within the outward expansion range of 5cm, then it does not exceed the maximum allowable length range. When the target box is outside the outward expansion range of 5cm, it exceeds the maximum allowable length range.

[0033] For example, the maximum allowable width range of the load refers to the width threshold in the width direction of the load (i.e., the width threshold in both directions of the width). The maximum allowable height range of the load refers to the height threshold in the height direction of the load (i.e., the height threshold above the height). In addition, if the ratio of the bottom support area to the bottom area of ​​the target box is greater than the ratio threshold when the target box is in the placement position, then the placement position satisfies the support area constraint; the bottom support area can be the overlapping area of ​​the bottom of the target box and the upper surface of the first stacked box.

[0034] For example, the first palletized box is the first non-falsely supported palletized box on the lower side of the target box. If all corners of the palletized box are support angles (in this case, the palletized box is fully supported by the adjacent palletized box on the lower side of the palletized box), the palletized box is regarded as a non-falsely supported palletized box, and the support angle represents the angle in contact with the adjacent palletized box on the lower side of the palletized box. Or, if the palletized box is supported by a load, the palletized box is regarded as a non-falsely supported palletized box. For example, when the palletized box is a rectangular parallelepiped, the palletized box has 4 corners. For each corner, if the corner is in contact with the adjacent palletized box on the lower side of the palletized box, the corner is regarded as a support angle.

[0035] In addition, if the stack height difference is less than the height difference threshold when the target box is in the placement position, the placement position satisfies the height difference constraint condition; the stack height difference can be the difference between the highest height and the lowest height of the upper surface of the stacked boxes, and the highest height can be the height between the upper surface of the target box and the load when in the placement position.

[0036] In addition, if the weight of the target box is not greater than the target load-bearing value corresponding to each stacked box below the target box when the target box is at the placement position, then the placement position satisfies the load-bearing constraint condition. For each stacked box, the target load-bearing value corresponding to the stacked box is the difference between the maximum load-bearing value of the stacked box (i.e., the actual load-bearing value, used to indicate the total weight value that the stacked box can be placed) and the weight value of each box placed on the stacked box.

[0037] Exemplarily, for the support area constraint condition, the ratio threshold is determined based on the number of support angles between the target box and the palletized boxes adjacent to the lower side of the target box. The greater the number of support angles, the smaller the ratio threshold. "Adjacent" in this embodiment means contact, that is, the target box is in contact with the palletized boxes adjacent to the lower side. In addition, the support angle represents the angle at which the target box contacts the palletized boxes.

[0038] Exemplarily, the relative attribute between the target box and the reference placement position may include a bottom height, and the bottom height is the height difference between the bottom of the target box and the load when the target box is at the reference placement position. Based on this, based on the box attribute information of the target box, the box attribute information of the reference palletized boxes around the reference placement position, and the relative attribute between the target box and the reference placement position, the target matching degree corresponding to the reference placement position is determined, which may include but is not limited to: determining a first score value based on the bottom height; determining a second score value based on the box attribute information of the target box and the box attribute information of the reference palletized boxes; determining a first matching degree corresponding to the reference placement position based on the first score value and the second score value; wherein, if the bottom height is larger, the first score value is smaller; if the box attribute information of the target box is the same as the box attribute information of the reference palletized box, the second score value may be a first value, otherwise, the second score value may be a second value, and the second value is less than the first value; the box attribute information may include box length, box width, and box height.

[0039] Selecting a target placement position from multiple reference placement positions based on the target matching degree corresponding to each reference placement position may include but is not limited to: if the target matching degree includes a first matching degree, the reference placement position with the largest first matching degree may be used as the target placement position.

[0040] Exemplarily, based on the target matching degree corresponding to each reference placement position, selecting a target placement position from multiple reference placement positions may include but is not limited to: if the target matching degree includes the second matching degree, and there are M reference placement positions with the largest first matching degree, where M may be a positive integer greater than 1, then based on the second matching degrees corresponding to the M reference placement positions, the reference placement position with the largest second matching degree may be used as the target placement position. Wherein: the process of determining the second matching degree corresponding to the reference placement position may include but is not limited to: determining the second matching degree corresponding to the reference placement position based on at least two of the third score value corresponding to the adjacent area, the fourth score value corresponding to the similarity, the fifth score value corresponding to the remaining space area, and the sixth score value corresponding to the height matching value.

[0041] The adjacent area is the lateral overlapping area of ​​the target box and the reference palletized box; the third fractional value corresponding to the adjacent area is determined based on the ratio of the adjacent area to the target box area.

[0042] The similarity is the average of the length similarity and the width similarity. The length similarity is determined based on the length of the target box and the length of the reference placement position, and the width similarity is determined based on the width of the target box and the width of the reference placement position. The greater the similarity, the greater the fourth score value.

[0043] The remaining space area is the remaining space area in the free space where the reference placement position is located except for the target box; if the remaining space area is larger, the fifth score value is larger.

[0044] The height matching value is the difference between the upper surface height of the target box and the upper surface height of the reference stacked box; if the height matching value is less than the threshold, the sixth score value is the third value; if the height matching value is not less than the threshold, the sixth score value is the fourth value, and the fourth value is less than the third value.

[0045] Exemplarily, based on the target matching degree corresponding to each reference placement position, selecting a target placement position from multiple reference placement positions may include but is not limited to: if the target matching degree includes a third matching degree, if there are M reference placement positions with the largest first matching degree, and there are N reference placement positions with the largest second matching degree among the M reference placement positions, and N is a positive integer greater than 1, then based on the third matching degree corresponding to the N reference placement positions, the reference placement position with the largest third matching degree is used as the target placement position. Wherein: the process of determining the third matching degree corresponding to the reference placement position may include but is not limited to: determining the third matching degree corresponding to the reference placement position based on the edge matching value between the target box and the reference stacked box; the edge matching value is the sum of the first matching value, the second matching value, the third matching value and the fourth matching value.

[0046] Among them, if the target box and the reference palletized box have the same starting point in the length direction, and the length of the line connecting the center points in the width direction meets the length constraint, then the first matching value is the fifth value, otherwise, the first matching value is the sixth value; if the target box and the reference palletized box have the same end point in the length direction, and the length of the line connecting the center points in the width direction meets the length constraint, then the second matching value is the fifth value, otherwise, the second matching value is the sixth value; if the target box and the reference palletized box have the same starting point in the width direction, and the length of the line connecting the center points in the length direction meets the length constraint, then the third matching value is the fifth value, otherwise, the third matching value is the sixth value; if the target box and the reference palletized box have the same end point in the width direction, and the length of the line connecting the center points in the length direction meets the length constraint, then the fourth matching value is the fifth value, otherwise, the fourth matching value is the sixth value; wherein the sixth value is less than the fifth value.

[0047] It can be seen from the above technical scheme that in the embodiment of the present application, when it is necessary to stack the target boxes on the carrier (that is, the boxes of various sizes and specifications in the palletizing order are taken as the target boxes in turn), the free space of the stacked boxes on the carrier is determined, and multiple reference placement positions of the target boxes are determined based on the free space. Based on the attribute information of the target box and the attribute information of the stacked boxes around each reference placement position, the target placement position is selected from the multiple reference placement positions, and the robot is controlled to stack the target box on the carrier based on the target placement position, thereby realizing automatic and efficient online mixing of boxes of various sizes and specifications, saving manpower while improving logistics turnover efficiency. It can improve the stability of the stacking type, improve the volume ratio of the stacking type, improve the stacking efficiency, and improve production efficiency. Improve the safety, practicality and stability during actual mixed-code palletizing.

[0048] The technical solution of the embodiment of the present application is described below in conjunction with specific application scenarios.

[0049] In logistics warehousing scenarios, mixed coding (i.e., mixed palletizing) is the process of stacking boxes of different sizes one by one on a carrier (such as a pallet or tray, etc.). Mixed coding includes online mixing and offline mixing. Online mixing refers to the process of planning the stacking position in real time according to the box conditions without knowing the stacking order in advance. For boxes of various sizes in a palletizing order, how to achieve online mixing of these boxes, that is, how to achieve automatic and efficient online mixing, there is no effective implementation method in the relevant technology.

[0050] In view of the above findings, an online mixed palletizing method is proposed in an embodiment of the present application, which can realize automatic and efficient online mixed palletizing of boxes of various sizes and specifications, thereby improving the stability of the pallet shape.

[0051] An online mixed palletizing method is proposed in an embodiment of the present application, which can be applied to a control device. The control device can be a control device of a robot (such as a robot for realizing a palletizing function), which is used to control the robot to palletize a target box onto a carrier, or it can be other devices, without limitation.

[0052] See also Figure 2 FIG. 1 is a schematic diagram of the process of the online mixed palletizing method, which may include:

[0053] Step 201: Determine the target box to be stacked on the load.

[0054] For example, a palletizing order may be obtained, which may include information of multiple boxes (such as a unique identification of the box, the size of the box, etc., and there is no restriction on the information of the box). The size of different boxes (such as length, width, and height, etc.) may be the same or different. For each box in the palletizing order, the box needs to be palletized on the carrier. For the convenience of distinction, the box that needs to be palletized on the carrier is called the target box. Since the palletizing process of each target box is the same, for the convenience of description, the palletizing process of a target box is taken as an example.

[0055] Step 202: for a target box to be palletized on a carrier, determine the free space of the palletized boxes on the carrier, and the free space can be used as the usable space of the target box.

[0056] For example, after the target box a1 is stacked on the carrier, the target box a1 is used as the already stacked box a1 on the carrier, and the free space of the already stacked box a1 (i.e., the available space around the occupied space of the already stacked box a1) can be determined based on the occupied space of the already stacked box a1, and the free space of the already stacked box a1 is used as the available space of the target box a2, that is, the target placement position of the target box a2 is determined based on the free space of the already stacked box a1, and the target box a2 is stacked on the carrier based on the target placement position. After the target box a2 is stacked on the carrier, the target box a2 is used as the already stacked box a2 on the carrier, and the free space of the already stacked box a3 can be determined based on the occupied space of the already stacked box a2 (i.e., the target placement position of the target box a2), and then the target box a3 is stacked on the carrier, and so on.

[0057] Obviously, when it is necessary to stack a target box on the carrier, the free space of the previous target box (which has been a stacked box on the carrier) (i.e., the available space around the occupied space of the stacked box) can be determined, and the free space can be used as the usable space of the target box.

[0058] For example, after a target box is palletized on a load, the target box is used as a palletized box on the load, and the occupied space of the palletized box needs to be determined. Figure 3A Item 1 is a palletized box on the carrier. The palletized box Item 1 can be converted into a cuboid by using the spatial description method. The occupied area of ​​the cuboid (i.e. Figure 3A The red area in the figure is the space occupied by the palletized box Item1. Regarding the cuboid of the palletized box Item1, the cuboid is determined based on the size specifications of the palletized box Item1 (such as length, width and height, etc.), that is, the length of the palletized box Item1 is used as the length of the cuboid, the width of the palletized box Item1 is used as the width of the cuboid, and the height of the palletized box Item1 is used as the height of the cuboid.

[0059] After the palletized box Item1 is palletized onto the load, the initial space is determined based on the space occupied by the palletized box Item1, that is, the palletized box Item1 can generate 5 initial spaces. In summary, each time a palletized box is filled into the space, multiple new initial spaces that can be placed can be generated.

[0060] See also Figure 3A As shown, there is an initial space EMS1 on the left side of the space occupied by the palletized box Item1, an initial space EMS2 on the right side of the space occupied by the palletized box Item1, an initial space EMS3 on the upper side of the space occupied by the palletized box Item1, an initial space EMS4 on the back side of the space occupied by the palletized box Item1, and an initial space EMS5 on the front side of the space occupied by the palletized box Item1 (in Figure 3A (not shown in the figure), it is obvious that the stacked box Item1 can generate 5 initial spaces.

[0061] For each initial space, if the initial space meets the filtering condition, the initial space is filtered, that is, the initial space is not used as free space. Alternatively, if the initial space does not meet the filtering condition, the initial space is retained, that is, the initial space is used as free space, that is, as the usable space for the next target box. Obviously, based on the filtering of the initial space, the palletized box Item1 generates at most five free spaces.

[0062] For each initial space, if the distance between the initial space and the adjacent occupied space (i.e., the space occupied by the palletized boxes) is less than a threshold value (which can be configured based on experience), or if the distance between the initial space and the adjacent occupied space is a negative value, it means that the initial space cannot carry the target box. Therefore, the initial space meets the filtering condition and can be filtered. On the contrary, if the distance between the initial space and the adjacent occupied space is not less than the threshold value, and the distance between the initial space and the adjacent occupied space is not a negative value, the initial space does not meet the filtering condition and can be retained.

[0063] In addition, in the above free space generation method, each space overlaps, which may result in duplicate spaces after multiple iterations. It is also necessary to judge the duplicate spaces, remove the duplicate spaces, and improve the calculation efficiency. Based on this, for each initial space, it is also necessary to judge whether the initial space is a duplicate space. If so, the initial space meets the filtering condition and can be filtered.

[0064] Step 203: for each free space, determine multiple placement positions of the target box in the free space.

[0065] Exemplarily, after determining the free space (such as one or more free spaces) of the stacked boxes on the load, for each free space, align the target box with multiple corners of the free space to obtain multiple placement positions. Rotate the plane of the target box by a first angle (the first angle may be 90 degrees or other angles, such as 85 degrees, etc., which is not limited to this, and 90 degrees is taken as an example), and after rotating the plane of the target box by 90 degrees, align the target box with multiple corners of the free space to obtain multiple placement positions.

[0066] For example, see Figure 3B As shown, it is a schematic diagram of multiple placement positions. The target box can be aligned with the upper left corner of the free space to obtain a placement position, the target box can be aligned with the upper right corner of the free space to obtain a placement position, the target box can be aligned with the lower left corner of the free space to obtain a placement position, and the target box can be aligned with the lower right corner of the free space to obtain a placement position. Then, the plane of the target box can also be rotated 90 degrees. After the plane of the target box is rotated 90 degrees, see Figure 3C As shown, it is a schematic diagram of multiple placement positions. The target box can be aligned with the upper left corner of the free space to obtain a placement position, the target box can be aligned with the upper right corner of the free space to obtain a placement position, the target box can be aligned with the lower left corner of the free space to obtain a placement position, and the target box can be aligned with the lower right corner of the free space to obtain a placement position.

[0067] In summary, for each free space, eight placement positions of the target box in the free space can be determined. Assuming that there are five free spaces, 40 placement positions corresponding to the target box can be obtained.

[0068] Step 204: Select multiple reference placement positions of the target box from the multiple placement positions corresponding to the target box. For example, for each placement position, if the placement position satisfies the configured constraint condition, the placement position is determined as the reference placement position of the target box; or, if the placement position does not satisfy the configured constraint condition, the placement position is prohibited from being determined as the reference placement position of the target box.

[0069] For example, after obtaining 40 placement positions corresponding to the target box, for each placement position, determine whether the placement position meets the constraint condition. If so, the placement position is determined as the reference placement position of the target box. If not, the placement position is not determined as the reference placement position of the target box. After performing the above processing on each placement position, multiple reference placement positions of the target box can be obtained.

[0070] In a possible implementation, the constraint condition may include but is not limited to at least one of the following: size constraint condition, support area constraint condition, height difference constraint condition, and load-bearing constraint condition. For example, if the constraint condition includes size constraint condition, support area constraint condition, height difference constraint condition, and load-bearing constraint condition, then if the placement position satisfies the size constraint condition, support area constraint condition, height difference constraint condition, and load-bearing constraint condition at the same time, the placement position is determined as the reference placement position of the target box. If the placement position does not satisfy at least one of the size constraint condition, support area constraint condition, height difference constraint condition, and load-bearing constraint condition, the placement position is not determined as the reference placement position of the target box.

[0071] Case 1: Size constraint condition. The size constraint condition is used to indicate whether the target box can be placed in the current placement position, that is, whether the current placement position can accommodate the size of the target box.

[0072] For size constraints, taking into account the visual recognition error relationship in actual use, size tolerance and height tolerance are introduced to make the palletizing process closer to actual needs. That is, two variables are introduced, namely, allowing the size of the load to exceed the size and allowing the stack to be over-height, so as to expand the possible placement positions and improve the stack volume ratio.

[0073] Allowing the load size to exceed the size tolerance may be a size tolerance, which may include a length threshold and a width threshold, where the length threshold is configured based on experience, and the width threshold is configured based on experience. Allowing the stack type to exceed the height size may be a height tolerance, which may include a height threshold, where the height threshold is configured based on experience.

[0074] On this basis, for each placement position, if the target box does not exceed the maximum allowable length range of the load (the length threshold in the length direction of the load), the target box does not exceed the maximum allowable width range of the load (the width threshold in the width direction of the load), and the target box does not exceed the maximum allowable height range of the load (the height threshold in the height direction of the load) when the target box is in the placement position, then the placement position meets the size constraint. Otherwise, if at least one of the target box exceeds the maximum allowable length range of the load, the target box exceeds the maximum allowable width range of the load, and the target box exceeds the maximum allowable height range of the load is true, then the placement position does not meet the size constraint.

[0075] The maximum allowable length range may be the sum of the length range of the load and the length threshold. The length range of the load represents the length area inside the load, while the length threshold represents the length area outside the load. For loads without borders such as pallets, the length threshold may be greater than 0, and for loads with borders such as boxes, the length threshold may be equal to 0. In this way, the target box may be allowed to exceed the length range of the load. The maximum allowable width range may be the sum of the width range of the load and the width threshold. The width range of the load represents the width area inside the load, while the width threshold represents the width area outside the load. In this way, the target box may be allowed to exceed the width range of the load. The maximum allowable height range may be the sum of the height range of the load and the height threshold. The height range of the load represents the height area inside the load, while the height threshold represents the height area outside the load. In this way, the target box may be allowed to exceed the height range of the load.

[0076] Case 2: Support area constraint condition. The support area constraint condition is used to indicate whether the bottom support meets the requirements when the target box is placed in the current placement position, that is, whether the bottom surface can support the target box.

[0077] Exemplarily, for each placement position, if the ratio of the bottom support area to the bottom area of ​​the target box is greater than a ratio threshold when the target box is at the placement position, then the placement position satisfies the support area constraint; if the ratio of the bottom support area to the bottom area of ​​the target box is not greater than the ratio threshold when the target box is at the placement position, then the placement position does not satisfy the support area constraint.

[0078] In order to determine whether the placement position meets the support area constraint condition, the bottom support area, the bottom area of ​​the target box, and the ratio threshold are involved. The bottom area of ​​the target box is the area of ​​the lower surface of the target box, and there is no restriction on this. The bottom support area and the ratio threshold are explained below.

[0079] Exemplarily, for the bottom support area, the bottom support area may be the overlapping area of ​​the bottom (lower surface) of the target box and the upper surface of the first palletized box. The first palletized box may be a palletized box adjacent to the target box on the lower side of the target box. Alternatively, the first palletized box is the first non-falsely supported palletized box on the lower side of the target box. For example, for a palletized box without false support, if the palletized box is fully supported by the adjacent palletized box on the lower side of the palletized box, or if the palletized box is supported by a load, the palletized box is regarded as a non-falsely supported palletized box. Wherein, if all the corners of the palletized box are support angles, and the support angle represents the angle in contact with the adjacent palletized box on the lower side of the palletized box, the palletized box is fully supported by the adjacent palletized box on the lower side.

[0080] For example, see Figure 4A As shown, it is a schematic diagram of false support and non-false support, and the upper box (i.e., the target box) is recorded as box b1, the middle box (i.e., the stacked box adjacent to the target box on the lower side of the target box) is recorded as box b2, and the lower box (i.e., the stacked box not adjacent to the target box on the lower side of the target box) is recorded as box b3. On this basis, if the first stacked box is the stacked box adjacent to the target box on the lower side of the target box, i.e., box b2, then the bottom support area can be the overlapping area of ​​the lower surface of box b1 and the upper surface of box b2. Alternatively, if the first stacked box is the first non-falsely supported stacked box on the lower side of the target box, i.e., box b3, then the bottom support area can be the overlapping area of ​​the lower surface of box b1 and the upper surface of box b3.

[0081] For example, since box b2 is not fully supported by box b3 adjacent to box b2 below (i.e., the two corners on the right side of box b2 are not in contact with box b3 and are not supporting corners), box b2 is a falsely supported palletized box, i.e., not the first palletized box. Since box b3 is supported by the load, box b3 is a non-falsely supported palletized box, and box b3 can be regarded as the first palletized box.

[0082] For example, box b3 is used as the first palletized box instead of box b2 because: since the bottom surface support ratio of box b3 to box b2 is 80%, and the bottom surface support ratio of box b2 to box b1 is 80%, the bottom surface support ratio of box b3 to box b1 is much less than 80%. If box b1 is placed on top of box b2, the stability of the stacking type will be poor. In order to solve this problem, the first non-falsely supported palletized box on the lower side of the target box is used as the first palletized box, and the overlapping area of ​​the lower surface of the target box and the upper surface of the first palletized box is calculated, and the overlapping area is used as the bottom surface support area to decide the placement position of the target box.

[0083] To sum up, when calculating the actual bottom support area of ​​box b1 (i.e., bottom support area), the intersection area of ​​the support space between the lower surface of box b1 and the upper surface of box b3 is calculated, while the intersection area of ​​the support space between the lower surface of box b1 and the upper surface of box b2 is not calculated.

[0084] Exemplarily, for the ratio threshold, the ratio threshold may be configured based on experience, or the ratio threshold may be determined based on the number of support angles between the target box and the adjacent stacked boxes on the lower side of the target box. For example, when the number of support angles is greater, the ratio threshold is smaller; conversely, when the number of support angles is smaller, the ratio threshold is larger. For example, if the number of support angles is 4, the ratio threshold is threshold 1, and if the number of support angles is 2, the ratio threshold is threshold 2, and threshold 1 is less than threshold 2. For example, considering the actual situation, the minimum support area ratio allowed is different under different numbers of support angles, so different ratio thresholds can be determined based on different numbers of support angles.

[0085] See also Figure 4B As shown in the figure, it is a schematic diagram of the support area corresponding to the four corner supports. For the placement of the yellow box, the four corners of the yellow box are all above the other boxes and are supported. Figure 4C As shown in the figure, it is a schematic diagram of the support area corresponding to the two corner supports. For the placement of the yellow box, the two corners of the yellow box are above the other boxes. Obviously, Figure 4B The bottom support is more solid, allowing for less bottom support area. Based on the above principle, the ratio threshold can be determined based on the number of support angles between the target box and the adjacent stacked boxes under the target box, that is, the more the number of support angles, the smaller the ratio threshold.

[0086] Case 3: Height difference constraint. The height difference constraint is used to indicate that when the target box is placed at the current placement position, it should not cause too large a height difference in the stack, that is, the height difference in the stack needs to be less than the height difference threshold. The height difference constraint, that is, the height difference restriction of the stack, can solve the efficiency problem of palletizing planning. For example, if the height difference of the stack is not restricted, it may be necessary to cross the high stack when stacking the low stack in the subsequent process, thereby increasing the difficulty of path planning during the palletizing process and reducing the efficiency of palletizing planning.

[0087] Exemplarily, for each placement position, if the stack height difference is less than a height difference threshold (which can be configured based on experience) when the target box is at the placement position, then the placement position satisfies the height difference constraint condition. If the stack height difference is not less than the height difference threshold, then the placement position does not satisfy the height difference constraint condition.

[0088] Exemplarily, the stack height difference may be the difference between the highest height and the lowest height of the upper surface of the stacked boxes, and the highest height may be the height between the upper surface of the target box and the load when in the placement position.

[0089] For the highest height, when the target box is in this placement position, the height between the upper surface of the target box and the load can be known, and this height can be used as the highest height. For the lowest height of the upper surface of the palletized boxes, the palletized boxes with exposed surfaces can be found from all the palletized boxes, and the height of the upper surface of each palletized box with exposed surface can be determined. Then, the minimum value is selected from these heights, and this minimum value is used as the lowest height of the upper surface of the palletized boxes. After obtaining the highest height and the lowest height of the upper surface of the palletized boxes, the difference between the two can be used as the pallet height difference.

[0090] For each palletized box, if the coverage ratio of the upper surface of the palletized box (i.e., the ratio of the upper surface covered area to the total upper surface area) is less than a threshold value (which can be configured based on experience, such as 50%), then the palletized box is a palletized box with exposed surface. If the coverage ratio of the upper surface of the palletized box is not less than the threshold value, then the palletized box is not a palletized box with exposed surface.

[0091] See also Figure 4D As shown in the figure, it is a schematic diagram of the height difference of the stacking type. The brown box is the target box, and the blue box is the palletized box with exposed surface. The height between the upper surface of the target box and the load is the highest height, and the height of the upper surface of the palletized box with exposed surface is the lowest height. The difference between the highest height and the lowest height is taken as the height difference of the stacking type. If the height difference of the stacking type is less than the height difference threshold, the placement position satisfies the height difference constraint condition. If the height difference of the stacking type is not less than the height difference threshold, the placement position does not satisfy the height difference constraint condition.

[0092] Case 4: Load-bearing constraint condition. This load-bearing constraint condition is used to indicate that the target box needs to meet attribute requirements (such as load-bearing requirements). That is, when the target box has a load-bearing requirement, the target box cannot exceed the load-bearing value.

[0093] For each placement position, if the weight of the target box is not greater than the target load-bearing value of each stacked box below the target box when the target box is at the placement position, then the placement position meets the load-bearing constraint condition. If the weight of the target box is greater than the target load-bearing value of any stacked box below the target box when the target box is at the placement position, then the placement position does not meet the load-bearing constraint condition.

[0094] For each stacked box, the target load-bearing value corresponding to the stacked box is the difference between the maximum load-bearing value of the stacked box and the weight values ​​of the boxes placed on the stacked box.

[0095] For example, see Figure 4A As shown, the upper box (i.e., the target box) is recorded as box b1, the middle box is recorded as box b2, and the lower box is recorded as box b3. On this basis, since box b2 only carries box b1, the load-bearing value corresponding to box b2 is the maximum load-bearing value of box b2, and the load-bearing value corresponding to box b3 is the difference between the maximum load-bearing value of box b3 and the weight value of box b2. If the weight value of box b1 is not greater than the load-bearing value corresponding to box b2, and the weight value of box b1 is not greater than the load-bearing value corresponding to box b3, then the current placement position meets the load-bearing constraint condition.

[0096] If the weight value of box b1 is greater than the corresponding load-bearing value of box b2, and / or the weight value of box b1 is greater than the corresponding load-bearing value of box b3, the current placement position does not meet the load-bearing constraint condition.

[0097] Step 205: After obtaining a plurality of reference placement positions of the target box, for each reference placement position, determine a first score value corresponding to the reference placement position based on the bottom height corresponding to the reference placement position.

[0098] Exemplarily, for the bottom height corresponding to the reference placement position, the bottom height is the height difference between the bottom (i.e., the lower surface) of the target box and the load when the target box is at the reference placement position. Obviously, when the target box is at the reference placement position, the bottom height corresponding to the reference placement position can be known.

[0099] After obtaining the bottom height corresponding to the reference placement position, the first score value can be determined based on the bottom height. For example, if the bottom height is larger, the first score value is smaller, and if the bottom height is smaller, the first score value is larger. That is, the larger the bottom height, the smaller the possibility of the reference placement position being the target placement position, and the reference placement position with a large bottom height should not be used as the target placement position.

[0100] The functional relationship (or mapping curve) between the bottom surface height and the first score value may be pre-configured. After obtaining the bottom surface height corresponding to the reference placement position, the bottom surface height may be substituted into the functional relationship to obtain the first score value corresponding to the bottom surface height. The functional relationship may be configured based on experience, and there is no restriction on the functional relationship, as long as it satisfies the requirement that "the larger the bottom surface height, the smaller the first score value".

[0101] Exemplarily, the bottom surface height can represent the relative attribute between the target box and the reference placement position. Obviously, when the first score value corresponding to the reference placement position is determined based on the bottom surface height corresponding to the reference placement position, the first score value is determined based on the relative attribute between the target box and the reference placement position.

[0102] Step 206: For each reference placement position, determine a second score value corresponding to the reference placement position based on the box attribute information of the target box and the box attribute information of reference palletized boxes around the reference placement position (the palletized boxes around the reference placement position are referred to as reference palletized boxes).

[0103] Exemplarily, the box attribute information of the target box may include at least one of the box length, box width and box height of the target box, and the box attribute information of the reference palletized box may include at least one of the box length, box width and box height of the reference palletized box.

[0104] For example, if the case attribute information of the target case includes the case length of the target case, then the case attribute information of the referenced palletized case includes the case length of the referenced palletized case. If the case attribute information of the target case includes the case width of the target case, then the case attribute information of the referenced palletized case includes the case width of the referenced palletized case. If the case attribute information of the target case includes the case height of the target case, then the case attribute information of the referenced palletized case includes the case height of the referenced palletized case.

[0105] Exemplarily, if the box attribute information of the target box is the same as the box attribute information of the reference stacked box, then the second score value corresponding to the reference placement position may be the first value; if the box attribute information of the target box is different from the box attribute information of the reference stacked box, then the second score value corresponding to the reference placement position may be the second value, and the second value may be smaller than the first value.

[0106] For example, the first value can be configured based on experience, such as the first value can be 1, 0.9, 0.8, etc., and the second value can be configured based on experience, such as the second value can be 0, 0.1, 0.2, etc.

[0107] Exemplarily, the process of determining the second score value based on the box attribute information may also be referred to as a type matching process, where type matching is to determine the size matching relationship between the target box and the reference palletized box.

[0108] See also Figure 5A As shown, it is a schematic diagram of type matching, with the yellow box as the target box and the blue box as the reference palletized box. The box attribute information of the target box includes the box length and box width of the target box, and the box attribute information of the reference palletized box includes the box length and box width of the reference palletized box. If the box length of the target box is the same as the box length of the reference palletized box, and the box width of the target box is the same as the box width of the reference palletized box, then the second score value is the first value. If the box length of the target box is different from the box length of the reference palletized box, and / or the box width of the target box is different from the box width of the reference palletized box, then the second score value is the second value.

[0109] See also Figure 5B As shown, it is a schematic diagram of type matching, with the yellow box as the target box and the blue box as the reference palletized box. The box attribute information of the target box includes the box height and box width of the target box, and the box attribute information of the reference palletized box includes the box height and box width of the reference palletized box. If the box height of the target box is the same as the box height of the reference palletized box, and the box width of the target box is the same as the box width of the reference palletized box, then the second score value is the first value. If the box height of the target box is different from the box height of the reference palletized box, and / or the box width of the target box is different from the box width of the reference palletized box, then the second score value is the second value.

[0110] Step 207: for each reference placement position, determine the first matching degree corresponding to the reference placement position based on the first score value and the second score value corresponding to the reference placement position, wherein the first matching degree corresponding to the reference placement position represents the matching degree between the target box and the reference placement position. Obviously, the greater the first matching degree, the better the matching degree between the target box and the reference placement position.

[0111] The first score value and the second score value may be weighted to obtain the first matching degree corresponding to the reference placement position. For example, the first matching degree corresponding to the reference placement position may be determined using the following formula: T1=S1*W1+S2*W2. T1 represents the first matching degree, S1 represents the first score value, S2 represents the second score value, W1 represents the weighting coefficient of the first score value, W2 represents the weighting coefficient of the second score value, and W1 and W2 may be arbitrarily configured, W1 is greater than W2, W1 is equal to W2, or W1 is less than W2.

[0112] Step 208: Based on the first matching degree corresponding to each reference placement position, if there is a reference placement position with the largest first matching degree, the reference placement position with the largest first matching degree is used as the target placement position, and the robot is controlled to stack the target box onto the carrier based on the target placement position.

[0113] Exemplarily, after obtaining the target placement position, a robot (such as a palletizing robot) can be controlled to palletize the target box onto the carrier based on the target placement position, that is, to palletize the target box to the target placement position of the carrier. In this embodiment, there is no restriction on the palletizing process of this robot.

[0114] Step 209, based on the first matching degree corresponding to each reference placement position, if there are M reference placement positions with the largest first matching degree, M is a positive integer greater than 1, for each reference placement position among the M reference placement positions, determine at least two of the third score value corresponding to the adjacent area, the fourth score value corresponding to the similarity, the fifth score value corresponding to the remaining space area, and the sixth score value corresponding to the height matching value.

[0115] For example, the third score value and the fourth score value may be determined. The third score value and the fifth score value may be determined. The third score value, the fourth score value, and the fifth score value may be determined, and so on, without limitation. As long as at least two of the third score value, the fourth score value, the fifth score value, and the sixth score value are determined, the determination of the third score value, the fourth score value, the fifth score value, and the sixth score value may be taken as an example.

[0116] Case 1: Determine the third fractional value corresponding to the adjacent area.

[0117] For example, the adjacent area is the lateral overlap area of ​​the target box and the reference palletized box; the third fractional value corresponding to the adjacent area is determined based on the ratio of the adjacent area to the target box area.

[0118] Exemplarily, for each reference placement position among the M reference placement positions, the reference palletized boxes around the reference placement position can be obtained, and when the target box is at the reference placement position, the lateral overlap area between the target box and the reference palletized box is determined. The lateral overlap area between the target box and the reference palletized box can be used as the adjacent area. For example, the target box has four sides (such as the front side, the rear side, the left side, and the right side). If the front side of the target box contacts the reference palletized box, the lateral overlap area between the front side of the target box and the reference palletized box (i.e., the contact area between the front side of the target box and the reference palletized box) is obtained. If the front side of the target box contacts the reference palletized box, the lateral overlap area between the front side of the target box and the reference palletized box is 0. If the rear side of the target box contacts the reference palletized box, the overlapping area between the rear side of the target box and the side of the reference palletized box is obtained; if the left side of the target box contacts the reference palletized box, the overlapping area between the left side of the target box and the side of the reference palletized box is obtained; if the right side of the target box contacts the reference palletized box, the overlapping area between the right side of the target box and the side of the reference palletized box is obtained.

[0119] The adjacent area includes the overlapping area between the front side of the target box and the side of the reference stacked box (front overlapping area), the overlapping area between the rear side of the target box and the side of the reference stacked box (rear overlapping area), the overlapping area between the left side of the target box and the side of the reference stacked box (left overlapping area), and the overlapping area between the right side of the target box and the side of the reference stacked box (right overlapping area).

[0120] If the ratio of the front overlapping area to the total area of ​​the front side of the target box is greater than the threshold, the score value corresponding to the front side is the seventh value; if the ratio of the front overlapping area to the total area of ​​the front side of the target box is not greater than the threshold, the score value corresponding to the front side is the eighth value. If the ratio of the rear overlapping area to the total area of ​​the rear side of the target box is greater than the threshold, the score value corresponding to the rear side is the seventh value; if the ratio of the rear overlapping area to the total area of ​​the rear side of the target box is not greater than the threshold, the score value corresponding to the rear side is the eighth value. If the ratio of the left overlapping area to the total area of ​​the left side of the target box is greater than the threshold, the score value corresponding to the left side is the seventh value; if the ratio of the left overlapping area to the total area of ​​the left side of the target box is not greater than the threshold, the score value corresponding to the left side is the eighth value. If the ratio of the right overlapping area to the total area of ​​the right side of the target box is greater than the threshold, the score value corresponding to the right side is the seventh value; if the ratio of the right overlapping area to the total area of ​​the right side of the target box is not greater than the threshold, the score value corresponding to the right side is the eighth value.

[0121] The seventh value and the eighth value can be configured based on experience, and the eighth value is smaller than the seventh value. For example, the seventh value can be 0.25, 0.24, 0.26, etc., and the eighth value can be 0, 0.01, 0.02, etc.

[0122] The third score value corresponding to the adjacent area can be the sum of the score values ​​corresponding to the front side, the score value corresponding to the rear side, the score value corresponding to the left side and the score value corresponding to the right side. Obviously, if the seventh value is 0.25, then if the target box has reference palletized boxes in effective contact with it in the four directions, that is, the score values ​​in the four directions are all the seventh values, then the third score value corresponding to the adjacent area can be 1.

[0123] Case 2: Determine the fourth score value corresponding to the similarity.

[0124] For example, similarity can represent the relative attributes between the target box and the reference placement position. Obviously, when the fourth score value corresponding to the reference placement position is determined based on the similarity corresponding to the reference placement position, the fourth score value is determined based on the relative attributes between the target box and the reference placement position.

[0125] For example, the similarity may be the average of the length similarity and the width similarity (or the similarity may be obtained by performing a weighted operation on the length similarity and the width similarity).

[0126] The length similarity may be determined based on the length of the target box and the length of the reference placement position, and the width similarity may be determined based on the width of the target box and the width of the reference placement position.

[0127] Exemplarily, for each of the M reference placement positions, a length similarity is determined based on the length of the target box and the length of the reference placement position to measure the similarity between the length of the target box and the length of the reference placement position. For example, the length similarity is determined using the following formula:

[0128]

[0129] In the above formula, sim may represent the length similarity, pkg_length may represent the length of the target box, and ept_length may represent the length of the reference placement position. Of course, the above formula is only an example.

[0130] The width similarity is determined based on the width of the target box and the width of the reference placement position, and is used to measure the similarity between the width of the target box and the width of the reference placement position. The width similarity is determined in a similar manner to the above formula, whereby the length of the target box is replaced by the width of the target box and the length of the reference placement position is replaced by the width of the reference placement position, which will not be repeated in this embodiment.

[0131] For example, after obtaining the length similarity and the width similarity, the average of the length similarity and the width similarity can be determined, and this average represents the similarity of the reference placement position, and then the fourth score value corresponding to the similarity is determined. For example, the fourth score value is proportional to the similarity. The greater the similarity, the greater the fourth score value. There is no limitation on this determination method, as long as the above relationship is satisfied.

[0132] Case 3: The fifth fractional value corresponding to the remaining space area.

[0133] For example, the remaining space area can represent the relative attributes between the target box and the reference placement position. When the fifth score value corresponding to the reference placement position is determined based on the remaining space area corresponding to the reference placement position, the fifth score value is determined based on the relative attributes between the target box and the reference placement position.

[0134] Exemplarily, for each of the M reference placement positions, the remaining space area is the remaining space area in the free space where the reference placement position is located except for the target box. The remaining space area may also be referred to as the remaining space size. The remaining space area is the area size of the new free space generated in the free space where the reference placement position is located after the target box is placed at the reference placement position.

[0135] For example, after the target box is placed at the reference placement position, the free space at the reference placement position will generate space boundaries, such as the left boundary, right boundary, top boundary and bottom boundary, see Figure 5CThe figure shows a schematic diagram of the space boundary. The red rectangular area is the location of the target box. The size of the free space where the reference placement position is located is x_len and y_len. The four boundaries of the target box can be xs, xe, ys and ye. Figure 5C The shaded area in the figure is the remaining space area, which can be calculated as: (xs-min_x)×y_len, (max_x-xe)×y_len, (ys-min_y)×x_len and (max_y-ye)×x_len.

[0136] After obtaining the above four areas, for each area, if the area is greater than the threshold, it means that the area can be used to place a new box and needs to be retained. If the area is not greater than the threshold, it means that the area cannot be used to place a new box and needs to be filtered. On this basis, the sum of the remaining areas after filtering is the remaining space area corresponding to the reference placement position. Then, determine the fifth score value corresponding to the remaining space area. For example, the fifth score value is proportional to the remaining space area. If the remaining space area is larger, the fifth score value is larger. There is no restriction on this determination method, as long as the above relationship is met.

[0137] Case 4: The sixth score value corresponding to the height matching value.

[0138] Exemplarily, for each of the M reference placement positions, the reference stacked boxes around the reference placement position can be known, and when the target box is at the reference placement position, the difference between the upper surface height of the target box and the upper surface height of the reference stacked boxes can be determined, and the difference is the height matching value, so that the height difference is measured by the height matching value whether it is within the height tolerance.

[0139] Exemplarily, after obtaining the height matching value, if the height matching value is less than the threshold, it means that the height difference of the reference placement position is within the height tolerance, therefore, the sixth score value can be the third value; if the height matching value is not less than the threshold, it means that the height difference of the reference placement position is not within the height tolerance, therefore, the sixth score value can be the fourth value, and the fourth value can be less than the third value.

[0140] For example, the third value can be configured based on experience, such as the third value can be 1, 0.9, 0.8, etc., and the fourth value can be configured based on experience, such as the fourth value can be 0, 0.1, 0.2, etc.

[0141] Step 210: For each reference placement position among the M reference placement positions, determine a second matching degree corresponding to the reference placement position based on the third score value, the fourth score value, the fifth score value, and the sixth score value corresponding to the reference placement position, wherein the second matching degree indicates the matching degree between the target box and the reference placement position. The larger the second matching degree, the better the matching degree between the target box and the reference placement position.

[0142] Exemplarily, the third score value, the fourth score value, the fifth score value, and the sixth score value may be weighted to obtain the second matching degree corresponding to the reference placement position. For example, the second matching degree may be determined by the following formula: T2 = S3*W3+S4*W4+S5*W5+S6*W6. T2 represents the second matching degree, S3 represents the third score value, S4 represents the fourth score value, S5 represents the fifth score value, S6 represents the sixth score value, W3 represents the weighting coefficient of the third score value, W4 represents the weighting coefficient of the fourth score value, W5 represents the weighting coefficient of the fifth score value, and W6 represents the weighting coefficient of the sixth score value.

[0143] Step 211: Based on the second matching degree corresponding to each reference placement position, if there is a reference placement position with the largest second matching degree, the reference placement position with the largest second matching degree is used as the target placement position, and the target box is palletized on the load based on the target placement position. For example, a robot (such as a palletizing robot) can be controlled to palletize the target box to the target placement position of the load.

[0144] Step 212: Based on the second matching degree corresponding to each reference placement position, if there are N reference placement positions with the largest second matching degree, where N is a positive integer greater than 1, for each of the N reference placement positions, determine the edge matching value of the target box and the reference palletized boxes around the reference placement position, where the edge matching value is the sum of the first matching value, the second matching value, the third matching value, and the fourth matching value. For example, the edge matching value may also be referred to as an edge matching parameter, which is used to measure the edge alignment of the target box with the reference palletized box when the target box is at the reference placement position.

[0145] Exemplarily, for the first matching value, if the starting points in the length direction of the target box and the reference stacked box are the same, and the length of the line connecting the center points of the target box and the reference stacked box in the width direction satisfies the length constraint (such as the length of the line connecting the center points is equal to the average value of the width of the target box and the width of the reference stacked box), then the first matching value can be the fifth value; otherwise, if the starting points in the length direction are different, and / or the length of the line connecting the center points does not satisfy the length constraint, then the first matching value can be the sixth value.

[0146] For example, the center point line is the line between the center point of the target box in the width direction and the center point of the reference palletized box in the width direction. The center point line length is the length of the center point line.

[0147] Exemplarily, for the second matching value, if the target box and the reference palletized box have the same end point in the length direction, and the length of the center point line in the width direction of the target box and the reference palletized box satisfies the length constraint (such as the length of the center point line is equal to the average of the width of the target box and the width of the reference palletized box), then the second matching value can be the fifth value; otherwise, if the end points in the length direction are different, and / or the length of the center point line does not satisfy the length constraint, then the second matching value can be the sixth value.

[0148] Exemplarily, for the third matching value, if the starting points in the width direction of the target box and the reference stacked box are the same, and the length of the line connecting the center points of the target box and the reference stacked box in the length direction satisfies the length constraint (such as the length of the line connecting the center points is equal to the average of the length of the target box and the length of the reference stacked box), then the third matching value can be the fifth value; otherwise, if the starting points in the width direction are different, and / or the length of the line connecting the center points does not satisfy the length constraint, then the third matching value can be the sixth value.

[0149] For example, the center point line is the line between the center point of the target box in the length direction and the center point of the reference palletized box in the length direction. The center point line length is the length of the center point line.

[0150] Exemplarily, for the fourth matching value, if the end points of the target box and the reference palletized box in the width direction are the same, and the length of the line connecting the center points of the target box and the reference palletized box in the length direction satisfies the length constraint (such as the length of the line connecting the center points is equal to the average of the length of the target box and the length of the reference palletized box), then the fourth matching value can be the fifth value; otherwise, if the end points in the width direction are different, and / or the length of the line connecting the center points does not satisfy the length constraint, then the fourth matching value can be the sixth value.

[0151] Exemplarily, the sixth value is smaller than the fifth value, and the fifth value and the sixth value can be configured based on experience, such as the fifth value can be 1, 0.9, 0.8, etc., and the sixth value can be 0, 0.1, 0.2, etc.

[0152] After the first matching value, the second matching value, the third matching value and the fourth matching value are obtained, the sum of the first matching value, the second matching value, the third matching value and the fourth matching value may be used as the edge matching value.

[0153] Step 213: for each of the N reference placement positions, determine the third matching degree corresponding to the reference placement position based on the edge matching value corresponding to the reference placement position, where the third matching degree indicates the matching degree between the target box and the reference placement position. The greater the third matching degree, the better the matching degree between the target box and the reference placement position. For example, the edge matching value can be used as the third matching degree, or the edge matching value can be converted to obtain the third matching degree, and there is no limitation on this.

[0154] Step 214: based on the third matching degree corresponding to each reference placement position, if there is a reference placement position with the largest third matching degree, the reference placement position with the largest third matching degree is used as the target placement position, and the robot is controlled to stack the target box onto the load based on the target placement position.

[0155] Alternatively, if there are multiple reference placement positions with the largest third matching degree, a reference placement position is randomly selected from the multiple reference placement positions with the largest third matching degree, the randomly selected reference placement position is used as the target placement position, and the robot is controlled to stack the target box onto the carrier based on the target placement position.

[0156] In one possible implementation, after obtaining multiple reference placement positions of the target box (step 204), for each reference placement position, the first matching degree, the second matching degree, and the third matching degree corresponding to the reference placement position can be determined (the determination method is not repeated here), and then, the first matching degree, the second matching degree, and the third matching degree can be weighted to obtain the total matching degree corresponding to the reference placement position. In this way, the reference placement position with the largest total matching degree can be used as the target placement position.

[0157] When performing weighted calculations, the weighted coefficients of each matching degree can be configured based on experience, and there is no restriction on the weighted coefficients of each matching degree. For example, the weighted coefficient of the first matching degree can be greater than the weighted coefficient of the second matching degree, and the weighted coefficient of the second matching degree can be greater than the weighted coefficient of the third matching degree.

[0158] As can be seen from the above technical solutions, in the embodiments of the present application, automatic and efficient online mixing of boxes of various sizes and specifications is achieved, which saves manpower while improving logistics turnover efficiency. It is possible to improve the stability of the stacking type, improve the volume ratio of the stacking type, improve the stacking efficiency, and improve production efficiency. Improve the safety, practicality and stability during actual mixed-code palletizing. For the fields of smart logistics, robot palletizing, etc., mixed palletizing of boxes of multiple sizes is achieved, and the optimal mixed-code placement position is determined based on the space generation and placement scheme. By introducing dimensional errors, actual support processing, and relative height difference judgment of the stacking type, the stability of the stacking type is improved on the basis of improving the volume ratio of the stacking type. By considering the actual application scenarios and visual recognition errors, the stacking type is made to have strong stability and high practicality, avoiding poor actual palletizing effects due to recognition errors, and avoiding the occurrence of stacking types that cannot be used in actual production. The height difference of the stacking type is used to solve the problems of unstable stacking type and poor plannability.

[0159] In the embodiment of the present application, an online mixed palletizing method is proposed, see Figure 6 As shown, the method includes:

[0160] Step 601, initialization process. During the initialization process, information of the target box (such as attribute information), information of free space (free space is space allowed to be used by the target box) and tolerance parameters can be obtained. The tolerance parameters include configuration information related to online mixed palletizing, such as thresholds related to constraints, thresholds related to the first matching degree, thresholds related to the second matching degree, and thresholds related to the third matching degree.

[0161] Step 602, traverse each free space in turn, and determine whether the number of the free space currently traversed is greater than the number of free spaces. If not, execute step 603, and if so, execute step 608.

[0162] For example, if there are 5 free spaces for the target box, the first free space traversed is numbered 1, which is not greater than the number of free spaces, so step 603 is executed. Similarly, the sixth free space traversed is numbered 6, which is greater than the number of free spaces, so step 608 is executed.

[0163] Step 603 , placeability determination process. In the placeability determination process, multiple placement positions (eg, 8 placement positions) of the target box in the free space may be determined. For this process, see step 203 .

[0164] Step 604, whether it can be placed or not. In the process of whether it can be placed or not, it is necessary to determine whether each placement position can place the target box. If so, the placement position can be used as a reference placement position. If not, the placement position is not used as a reference placement position. For this process, see step 204.

[0165] Step 605: Matching degree calculation process: In the matching degree calculation process, the matching degree of the reference placement position needs to be calculated, such as the first matching degree, the second matching degree, and the third matching degree.

[0166] Step 606: Determine whether the matching degree of the reference placement position is better than the optimal matching degree. For example, if the matching degree of the reference placement position is greater than the optimal matching degree, it means that the matching degree of the reference placement position is better than the optimal matching degree, and execute step 607. If the matching degree of the reference placement position is not greater than the optimal matching degree, it means that the reference placement position is not better than the optimal matching degree, then traverse the next free space, increase the number of the free space by 1, return to step 602, and determine whether the number of the free space is greater than the number of free spaces.

[0167] Step 607: Update the optimal match, that is, take the match of the reference placement position as the optimal match. After updating the optimal match, the next free space can be traversed, the number of the free space is increased by 1, and then return to step 602 to determine whether the number of the free space is greater than the number of free spaces.

[0168] Step 608: Calculate the target placement position according to the optimal matching degree (take the reference placement position with the best optimal matching degree as the target placement position), and control the robot to stack the target box onto the load based on the target placement position.

[0169] Step 609: After the target box is palletized onto the load, the free space may be updated.

[0170] Based on the same application concept as the above method, an online mixed palletizing device is proposed in the embodiment of the present application, see Figure 7 FIG. 1 is a schematic diagram of the structure of the device, and the device may include:

[0171] The determination module 71 is used to determine the free space of the palletized boxes on the carrier for the target box to be palletized on the carrier, and determine multiple reference placement positions of the target box based on the free space; the processing module 72 is used to determine the target matching degree corresponding to each reference placement position based on the box attribute information of the target box, the box attribute information of the reference palletized boxes around the reference placement position, and the relative attributes between the target box and the reference placement position; wherein the target matching degree indicates the degree of matching between the target box and the reference placement position; the placement module 73 is used to select a target placement position from the multiple reference placement positions based on the target matching degree corresponding to each reference placement position, and control the robot to palletize the target box on the carrier based on the target placement position.

[0172] Exemplarily, when the determination module 71 determines multiple reference placement positions of the target box based on the free space, it is specifically used to: determine multiple placement positions of the target box in the free space; wherein, the target box is aligned with multiple corners of the free space to obtain multiple placement positions, and after the target box is rotated 90 degrees in a plane, the target box is aligned with multiple corners of the free space to obtain multiple placement positions; for each placement position, if the placement position satisfies the configured constraints, the placement position is determined as the reference placement position of the target box; or, if the placement position does not satisfy the configured constraints, it is prohibited to determine the placement position as the reference placement position of the target box.

[0173] Exemplarily, the constraint condition includes at least one of the following: a size constraint condition, a support area constraint condition, a height difference constraint condition, and a load-bearing constraint condition; wherein, if, when the target box is at the placement position, the target box does not exceed the maximum allowable length range of the load, the target box does not exceed the maximum allowable width range of the load, and the target box does not exceed the maximum allowable height range of the load, then the placement position satisfies the size constraint condition;

[0174] If, when the target box is at the placement position, the ratio of the bottom support area to the bottom area of ​​the target box is greater than a ratio threshold, then the placement position satisfies the support area constraint condition; the bottom support area is the overlapping area of ​​the bottom of the target box and the upper surface of the first stacked box; wherein the first stacked box is the first non-falsely supported stacked box on the lower side of the target box; if all corners of the stacked box are support angles, and the support angle represents the angle of contact with the stacked box adjacent to the lower side of the stacked box, then the stacked box is regarded as a non-falsely supported stacked box, or, if the stacked box is supported by a load, then the stacked box is regarded as a non-falsely supported stacked box;

[0175] If the stack height difference is less than the height difference threshold when the target box is at the placement position, the placement position satisfies the height difference constraint condition; the stack height difference is the difference between the highest height and the lowest height of the upper surface of the stacked boxes, and the highest height is the height between the upper surface of the target box and the load when it is at the placement position;

[0176] If, when the target box is at the placement position, the weight value of the target box is not greater than the target load-bearing value corresponding to each stacked box under the target box, then the placement position satisfies the load-bearing constraint condition; wherein, for each stacked box, the target load-bearing value corresponding to the stacked box is the difference between the maximum load-bearing value of the stacked box and the weight values ​​of each box placed on the stacked box.

[0177] Exemplarily, the ratio threshold is determined based on the number of support angles between the target box and the adjacent stacked boxes at the lower side of the target box. When the number of support angles is greater, the ratio threshold is smaller.

[0178] Exemplarily, the relative attribute between the target box and the reference placement position includes a bottom surface height, and the bottom surface height is the height difference between the bottom of the target box and the load when the target box is at the reference placement position; the processing module 72 determines the target matching degree corresponding to the reference placement position based on the box attribute information of the target box, the box attribute information of the reference stacked boxes around the reference placement position, and the relative attribute between the target box and the reference placement position, and is specifically used to: determine a first score value based on the bottom surface height; determine a second score value based on the box attribute information of the target box and the box attribute information of the reference stacked boxes; determine a second score value based on the first score value and the second score value The score value determines the first matching degree corresponding to the reference placement position; wherein, the larger the bottom surface height is, the smaller the first score value is; if the box attribute information of the target box is the same as the box attribute information of the reference stacked box, the second score value is the first value, otherwise, the second score value is the second value, and the second value is less than the first value; the box attribute information includes the box length, the box width and the box height; the placement module 73 is specifically used to select the target placement position from multiple reference placement positions based on the target matching degree corresponding to each reference placement position: if the target matching degree includes the first matching degree, the reference placement position with the largest first matching degree is used as the target placement position.

[0179] Exemplarily, the placement module 73 is specifically used to select a target placement position from multiple reference placement positions based on the target matching degree corresponding to each reference placement position: if the target matching degree includes a second matching degree, and there are M reference placement positions with the largest first matching degree, where M is a positive integer greater than 1, then based on the second matching degrees corresponding to the M reference placement positions, the reference placement position with the largest second matching degree is used as the target placement position; the process of determining the second matching degree corresponding to the reference placement position includes: determining the second matching degree corresponding to the reference placement position based on at least two of a third score value corresponding to an adjacent area, a fourth score value corresponding to a similarity, a fifth score value corresponding to a remaining space area, and a sixth score value corresponding to a height matching value; the adjacent area is a lateral overlapping area between the target box and the reference stacked box; the adjacent area corresponds to The third score value is determined based on the ratio of the adjacent area to the target box area; the similarity is the average of the length similarity and the width similarity, the length similarity is determined based on the length of the target box and the length of the reference placement position, and the width similarity is determined based on the width of the target box and the width of the reference placement position; the larger the similarity, the larger the fourth score value; the remaining space area is the remaining space area in the free space where the reference placement position is located except the target box; the larger the remaining space area, the larger the fifth score value; the height matching value is the difference between the upper surface height of the target box and the upper surface height of the reference stacked box; if the height matching value is less than the threshold, the sixth score value is the third value, and if the height matching value is not less than the threshold, the sixth score value is the fourth value, and the fourth value is less than the third value.

[0180] Exemplarily, the placement module 73 is specifically used to select a target placement position from the multiple reference placement positions based on the target matching degree corresponding to each reference placement position: if the target matching degree includes a third matching degree, if there are M reference placement positions with the largest first matching degree, and there are N reference placement positions with the largest second matching degree among the M reference placement positions, and N is a positive integer greater than 1, then based on the third matching degree corresponding to the N reference placement positions, the reference placement position with the largest third matching degree is used as the target placement position; wherein: the process of determining the third matching degree corresponding to the reference placement position includes: determining the third matching degree corresponding to the reference placement position based on the edge matching value between the target box and the reference stacked box; the edge matching value is the sum of the first matching value, the second matching value, the third matching value and the fourth matching value; if the length direction of the target box is the same as that of the reference stacked box If the starting points of the target box and the reference palletized box are the same and the length of the line connecting the center points in the width direction satisfies the length constraint, the first matching value is the fifth value, otherwise, the first matching value is the sixth value; if the target box and the reference palletized box have the same starting points in the width direction and the length of the line connecting the center points in the width direction satisfies the length constraint, the second matching value is the fifth value, otherwise, the second matching value is the sixth value; if the target box and the reference palletized box have the same starting points in the width direction and the length of the line connecting the center points in the length direction satisfies the length constraint, the third matching value is the fifth value, otherwise, the third matching value is the sixth value; if the target box and the reference palletized box have the same end points in the width direction and the length of the line connecting the center points in the length direction satisfies the length constraint, the fourth matching value is the fifth value, otherwise, the fourth matching value is the sixth value; wherein the sixth value is less than the fifth value.

[0181] Based on the same application concept as the above method, a control device is proposed in the embodiment of the present application, see Figure 8 As shown, the control device includes: a processor 81 and a machine-readable storage medium 82, wherein the machine-readable storage medium 82 stores machine-executable instructions that can be executed by the processor 81; the processor 81 is used to execute the machine-executable instructions to implement the online mixed palletizing method disclosed in the above example of this application.

[0182] Based on the same application concept as the above method, an online mixed palletizing control system is proposed in an embodiment of the present application, the control system includes a control device and a robot; wherein the control device is used to execute the online mixed palletizing method disclosed in the above example to obtain a target placement position corresponding to a target box; the control device is also used to send a scheduling instruction for the target box to the robot, the scheduling instruction including the target placement position;

[0183] The robot is used to obtain the target placement position from the scheduling instruction after receiving the scheduling instruction, and stack the target box on the carrier based on the target placement position.

[0184] Based on the same application concept as the above method, an embodiment of the present application further provides a machine-readable storage medium, on which a number of computer instructions are stored. When the computer instructions are executed by a processor, the online mixed palletizing method disclosed in the above example of the present application can be implemented.

[0185] The above-mentioned machine-readable storage medium may be any electronic, magnetic, optical or other physical storage device, which may contain or store information, such as executable instructions, data, etc. For example, the machine-readable storage medium may be: RAM (Radom Access Memory), volatile memory, non-volatile memory, flash memory, storage drive (such as hard disk drive), solid state drive, any type of storage disk (such as CD, DVD, etc.), or similar storage medium, or a combination thereof.

[0186] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the embodiments of the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0187] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. An online mixed palletizing method, characterized in that: The method comprises: For a target box to be palletized on a carrier, determine an empty space of palletized boxes on the carrier, and determine a plurality of reference placement positions of the target box based on the empty space; For each reference placement position, based on the box attribute information of the target box, the box attribute information of the reference palletized boxes around the reference placement position, and the relative attributes between the target box and the reference placement position, determine the target matching degree corresponding to the reference placement position; wherein the target matching degree corresponding to the reference placement position indicates the matching degree between the target box and the reference placement position; Based on the target matching degree corresponding to each reference placement position, a target placement position is selected from the multiple reference placement positions, and the robot is controlled to palletize the target box onto the carrier based on the target placement position.

2. The method according to claim 1, characterized in that The step of determining a plurality of reference placement positions of the target box based on the free space includes: Determine a plurality of placement positions of the target box in the free space; wherein the target box is aligned with a plurality of corners of the free space to obtain a plurality of placement positions, and after the target box is rotated 90 degrees in a plane, the target box is aligned with a plurality of corners of the free space to obtain a plurality of placement positions; For each placement position, if the placement position satisfies the configured constraint conditions, the placement position is determined as the reference placement position of the target box; or, if the placement position does not satisfy the configured constraint conditions, the placement position is prohibited from being determined as the reference placement position of the target box.

3. The method according to claim 2, characterized in that The constraint conditions include at least one of the following: size constraint conditions, support area constraint conditions, height difference constraint conditions, and load-bearing constraint conditions; Wherein, if the target box is at the placement position, the target box does not exceed the maximum allowable length range of the load, the target box does not exceed the maximum allowable width range of the load, and the target box does not exceed the maximum allowable height range of the load, then the placement position meets the size constraint condition; If, when the target box is at the placement position, the ratio of the bottom support area to the bottom area of ​​the target box is greater than a ratio threshold, then the placement position satisfies the support area constraint condition; the bottom support area is the overlapping area of ​​the bottom of the target box and the upper surface of the first stacked box; wherein the first stacked box is the first non-falsely supported stacked box on the lower side of the target box; if all corners of the stacked box are support angles, and the support angle represents the angle of contact with the stacked box adjacent to the lower side of the stacked box, then the stacked box is regarded as a non-falsely supported stacked box, or, if the stacked box is supported by a load, then the stacked box is regarded as a non-falsely supported stacked box; If the stack height difference is less than the height difference threshold when the target box is at the placement position, the placement position satisfies the height difference constraint condition; the stack height difference is the difference between the highest height and the lowest height of the upper surface of the stacked boxes, and the highest height is the height between the upper surface of the target box and the load when it is at the placement position; If, when the target box is at the placement position, the weight value of the target box is not greater than the target load-bearing value corresponding to each stacked box under the target box, then the placement position satisfies the load-bearing constraint condition; wherein, for each stacked box, the target load-bearing value corresponding to the stacked box is the difference between the maximum load-bearing value of the stacked box and the weight values ​​of each box placed on the stacked box.

4. The method according to claim 3, characterized in that With respect to the support area constraint condition, the ratio threshold is determined based on the number of support angles between the target box and the adjacent stacked boxes at the lower side of the target box. When the number of support angles is greater, the ratio threshold is smaller.

5. The method according to claim 1, characterized in that The relative attribute between the target box and the reference placement position includes a bottom height, where the bottom height is the height difference between the bottom of the target box and the load when the target box is at the reference placement position; The determining the target matching degree corresponding to the reference placement position based on the box attribute information of the target box, the box attribute information of the reference palletized boxes around the reference placement position, and the relative attributes between the target box and the reference placement position includes: Determine a first score value based on the bottom surface height; determine a second score value based on the box attribute information of the target box and the box attribute information of the reference stacked box; determine a first matching degree corresponding to the reference placement position based on the first score value and the second score value; Wherein, if the bottom height is larger, the first score value is smaller; if the box attribute information of the target box is the same as the box attribute information of the reference palletized box, the second score value is the first value, otherwise, the second score value is the second value, and the second value is smaller than the first value; the box attribute information includes box length, box width and box height; The selecting a target placement position from the multiple reference placement positions based on the target matching degree corresponding to each reference placement position includes: if the target matching degree includes a first matching degree, taking the reference placement position with the largest first matching degree as the target placement position.

6. The method according to claim 5, characterized in that The selecting a target placement position from the plurality of reference placement positions based on the target matching degree corresponding to each reference placement position comprises: If the target matching degree includes a second matching degree, and there are M reference placement positions with the largest first matching degree, where M is a positive integer greater than 1, then based on the second matching degrees corresponding to the M reference placement positions, the reference placement position with the largest second matching degree is used as the target placement position; wherein: The process of determining the second matching degree corresponding to the reference placement position includes: determining the second matching degree corresponding to the reference placement position based on at least two of a third score value corresponding to the adjacent area, a fourth score value corresponding to the similarity, a fifth score value corresponding to the remaining space area, and a sixth score value corresponding to the height matching value; The adjacent area is the lateral overlapping area between the target box and the reference palletized box; the third fractional value corresponding to the adjacent area is determined based on the ratio of the adjacent area to the target box area; The similarity is the average of the length similarity and the width similarity, the length similarity is determined based on the length of the target box and the length of the reference placement position, and the width similarity is determined based on the width of the target box and the width of the reference placement position; the greater the similarity, the greater the fourth score value; The remaining space area is the remaining space area in the free space where the reference placement position is located except for the target box; if the remaining space area is larger, the fifth score value is larger; The height matching value is the difference between the upper surface height of the target box and the upper surface height of the reference stacked box; if the height matching value is less than the threshold, the sixth score value is the third value; if the height matching value is not less than the threshold, the sixth score value is the fourth value, and the fourth value is less than the third value.

7. The method according to claim 6, characterized in that The selecting a target placement position from the plurality of reference placement positions based on the target matching degree corresponding to each reference placement position comprises: If the target matching degree includes a third matching degree, if there are M reference placement positions with the largest first matching degree, and among the M reference placement positions there are N reference placement positions with the largest second matching degree, where N is a positive integer greater than 1, then based on the third matching degrees corresponding to the N reference placement positions, the reference placement position with the largest third matching degree is used as the target placement position; wherein: The process of determining the third matching degree corresponding to the reference placement position includes: determining the third matching degree corresponding to the reference placement position based on the edge matching value between the target box and the reference palletized box; the edge matching value is the sum of the first matching value, the second matching value, the third matching value and the fourth matching value; If the target box and the reference palletized box have the same starting point in the length direction, and the length of the line connecting the center points in the width direction meets the length constraint, the first matching value is the fifth value, otherwise, the first matching value is the sixth value; if the target box and the reference palletized box have the same end point in the length direction, and the length of the line connecting the center points in the width direction meets the length constraint, the second matching value is the fifth value, otherwise, the second matching value is the sixth value; if the target box and the reference palletized box have the same starting point in the width direction, and the length of the line connecting the center points in the length direction meets the length constraint, the third matching value is the fifth value, otherwise, the third matching value is the sixth value; if the target box and the reference palletized box have the same end point in the width direction, and the length of the line connecting the center points in the length direction meets the length constraint, the fourth matching value is the fifth value, otherwise, the fourth matching value is the sixth value; Among them, the sixth value is smaller than the fifth value.

8. An online mixed palletizing device, characterized in that: The device comprises: A determination module, for determining, for a target box to be palletized on a carrier, an empty space of palletized boxes on the carrier, and determining a plurality of reference placement positions of the target box based on the empty space; A processing module is used to determine, for each reference placement position, a target matching degree corresponding to the reference placement position based on the box attribute information of the target box, the box attribute information of the reference palletized boxes around the reference placement position, and the relative attributes between the target box and the reference placement position; wherein the target matching degree indicates the matching degree between the target box and the reference placement position; The placement module is used to select a target placement position from the multiple reference placement positions based on the target matching degree corresponding to each reference placement position, and control the robot to stack the target box on the carrier based on the target placement position.

9. A control device, characterized in that: include: a processor and a machine-readable storage medium storing machine-executable instructions executable by the processor; The processor is used to execute machine executable instructions to implement the method described in any one of claims 1-7.

10. An online mixed palletizing control system, characterized in that: The control system includes a control device and a robot; wherein the control device is used to execute the method according to any one of claims 1 to 7 to obtain a target placement position corresponding to a target box; the control device is further used to send a scheduling instruction for the target box to the robot, wherein the scheduling instruction includes the target placement position; The robot is used to obtain the target placement position from the scheduling instruction after receiving the scheduling instruction, and stack the target box on the carrier based on the target placement position.

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