Stacking method and system, terminal and storage medium

Abstract

The invention discloses a stacking method and system, a terminal and a storage medium, and relates to the technical field of logistics storage and transportation, and the method comprises the steps that box size information and tray size information are obtained; based on the box size information, the tray size information and the stacking rule, multiple single-layer stacking schemes are generated; according to the single-layer stacking scheme, the single-layer stacking scheme is evaluated from the aspects of stability and space utilization rate, a stability evaluation result and a space utilization rate evaluation result are obtained, and a comprehensive evaluation result is obtained based on the stability evaluation result and the space utilization rate evaluation result; based on the comprehensive evaluation result, an optimal single-layer stacking scheme is selected from the multiple single-layer stacking schemes; and based on the optimal single-layer stacking scheme, a multi-layer stacking scheme for carrying out multi-layer stacking on the boxes is generated. The problems existing in a traditional manual stacking mode are solved, the storage and transportation efficiency is improved, and the cost is correspondingly reduced.

Description

Technical Field

[0001] The present application relates to the technical field of logistics, warehousing and transportation, and in particular to a palletizing method, system, terminal and storage medium. Background Art

[0002] In the logistics and warehousing industry, the stacking of boxes is not only a basic link in the storage and transportation of goods, but also a key factor that directly affects the efficiency of logistics and transportation. Traditional stacking methods often rely on manual judgment and experience, and simply stack them according to the size of the box and the size of the pallet. Although this operation method can meet basic storage needs to a certain extent, it has many shortcomings.

[0003] First, due to the lack of systematic evaluation, the traditional palletizing method easily leads to the overall structure of the palletized boxes being unstable and prone to collapse. This will not only cause damage to the goods, but also increase the safety risks of the staff, bringing great inconvenience to warehouse management, especially in some occasions that require long-term storage or transportation, the stability of palletizing is even more important; secondly, the traditional palletizing method also has obvious deficiencies in the use of pallet space. Since it is simply stacked according to the size of the box, it is often unable to fully utilize the space of the pallet, resulting in a large amount of gaps and waste on the pallet, thereby reducing the transportation efficiency and storage costs of the box. Summary of the invention

[0004] In order to solve one or more of the above technical problems, the present application provides a palletizing method, system, terminal and storage medium.

[0005] In a first aspect, the present application provides a palletizing method, which adopts the following technical solution: the palletizing method comprises: Get box size information and pallet size information; Based on the box size information, the pallet size information and the palletizing rules, a plurality of single-layer palletizing schemes are generated; wherein the palletizing rules include horizontal stacking of boxes, vertical stacking of boxes and mixed horizontal and vertical stacking of boxes; For the single-layer palletizing scheme, the single-layer palletizing scheme is evaluated from the aspect of stability to obtain a stability evaluation result; the single-layer palletizing scheme is evaluated from the aspect of space utilization to obtain a space utilization evaluation result, and based on the stability evaluation result and the space utilization evaluation result, a comprehensive evaluation result is obtained; Based on the comprehensive evaluation result, selecting the optimal single-layer palletizing scheme from the multiple single-layer palletizing schemes; Based on the optimal single-layer palletizing solution, a multi-layer palletizing solution for stacking boxes in multiple layers is generated.

[0006] By adopting the above technical scheme, firstly, a variety of single-layer palletizing schemes are generated according to the size of the box and the size of the pallet. Then, each single-layer palletizing scheme is evaluated from the two aspects of stability and space utilization, and the comprehensive evaluation result is determined; finally, the optimal single-layer palletizing scheme is selected according to the comprehensive evaluation result, and a multi-layer palletizing scheme is generated on this basis. Through systematic evaluation and judgment, the stability of palletizing and the space utilization of pallets are comprehensively considered, the problems existing in the traditional manual palletizing method are solved, the efficiency of warehousing and transportation is improved, and the warehousing and transportation costs are reduced.

[0007] In a specific implementation scheme, the single-layer palletizing scheme is evaluated from the aspect of stability to obtain a stability evaluation result, which specifically includes: Establishing a coordinate system, determining the center of gravity coordinates, support point coordinates and center coordinates of each box in the single-layer palletizing scheme; evaluating the degree of center of gravity deviation based on the center of gravity coordinates of each box and the center coordinates of the pallet, and obtaining a center of gravity deviation degree evaluation result of the single-layer palletizing scheme; Based on the coordinates of the support points of each box and the center coordinates of the pallet, the concentration of the support points of each box around the center of the pallet is evaluated to obtain a support point distribution concentration evaluation result of the single-layer palletizing solution; Based on the gravity center deviation degree evaluation result and the support point distribution concentration degree evaluation result, a stability evaluation result is obtained.

[0008] By adopting the above technical solution, the evaluation results of the degree of deviation of the center of gravity and the evaluation results of the degree of concentration of the support point distribution are used as two important parameters for evaluating the stability of the single-layer palletizing solution, thereby improving the accuracy of the stability evaluation results.

[0009] In a specific implementation scheme, based on the stability evaluation result and the space utilization evaluation result, a comprehensive evaluation result is obtained, which specifically includes: Comprehensive evaluation results Among them, E1 is the stability evaluation result, b is the influence coefficient, β1 is the weight coefficient corresponding to the stability evaluation result; E2 is the space utilization evaluation result, β2 is the weight coefficient corresponding to the space utilization evaluation result.

[0010] By adopting the above technical solution and combining it with the actual application situation, the influence of the stability evaluation result on the comprehensive evaluation result is exponential. As the stability evaluation result is larger, it is more unfavorable for subsequent transportation and storage; while the space utilization evaluation result has a linear influence on the comprehensive evaluation result.

[0011] In a specific possible implementation scheme, based on the optimal single-layer palletizing scheme, a multi-layer palletizing scheme for stacking boxes in multiple layers is generated, which specifically includes: Based on the evaluation result of the center of gravity deviation degree of the optimal single-layer palletizing solution, an inter-layer palletizing solution is generated; The inter-layer stacking scheme is characterized by: when the boxes are stacked in multiple layers by adopting the optimal single-layer stacking scheme, both the odd-numbered layers and the even-numbered layers adopt the optimal single-layer stacking scheme, or the odd-numbered layers adopt the optimal single-layer stacking scheme and the even-numbered layers adopt the stacking scheme after the optimal single-layer stacking scheme is rotated 180°; A multi-layer palletizing solution is generated based on the optimal single-layer palletizing solution and the inter-layer palletizing solution.

[0012] By adopting the above technical solution, after determining the optimal single-layer stacking solution for boxes, the inter-layer stacking solution is further designed to further improve the stability of box stacking.

[0013] In a specific possible implementation scheme, based on the center of gravity coordinates of each box and the center coordinates of the pallet, the degree of center of gravity deviation is evaluated to obtain the center of gravity deviation degree evaluation result of the single-layer palletizing scheme, specifically including: Based on the centroid coordinates of each box, calculate the centroid coordinates corresponding to the single-layer palletizing solution; Among them, the center of gravity coordinates G corresponding to the single-layer palletizing solution is G = (x a ,y a , z a ); n is the total number of boxes in the single-layer palletizing scheme; m i is the mass of the i-th box, (x i ,y i , z i ) is the coordinate of the center of gravity of the i-th box; Based on the center of gravity coordinates corresponding to the single-layer palletizing scheme and the center coordinates of the pallet, a center of gravity deviation degree evaluation result is obtained; wherein the center of gravity deviation degree evaluation result (x c ,y c , z c ) is the center coordinate of the pallet.

[0014] By adopting the above technical solution, the center of gravity coordinates of the single-layer palletizing solution as a whole are first calculated based on the center of gravity coordinates of each box; then, the center of gravity deviation degree evaluation result is obtained based on the center of gravity coordinates corresponding to the single-layer palletizing solution and the center coordinates of the pallet.

[0015] In a specific possible implementation scheme, based on the support point coordinates of each box and the center coordinates of the pallet, the concentration of the support points of each box around the center of the pallet is evaluated to obtain the support point distribution concentration evaluation result of the single-layer palletizing scheme, specifically including: Evaluation results of the support point distribution concentration of the single-layer palletizing solution Wherein, n is the total number of boxes in the single-layer palletizing solution, and p is the number of box support points; d jk is the distance between the kth support point of the jth box and the center point of the pallet, (x c ,y c , z c ) is the center coordinate of the tray, (x jk ,y jk , z jk ) is the coordinate of the kth support point of the jth box;

[0016] In a specific implementation scheme, based on the center of gravity deviation degree evaluation result and the support point distribution concentration degree evaluation result, a stability evaluation result is obtained, which specifically includes: Stability Assessment Results Wherein, α is the weight coefficient of the center of gravity deviation evaluation result, D ref is the standard value of the center of gravity deviation evaluation result; 1-α is the weight coefficient of the support point distribution concentration evaluation result, σ ref It is the standard value of the support point distribution concentration evaluation result.

[0017] In a second aspect, the present application provides a palletizing system, applying the palletizing method in the first aspect or any one of the embodiments of the first aspect. Specifically, the palletizing system includes an information acquisition module, a single-layer palletizing solution generation module, a solution evaluation module, an optimal solution selection module, and a multi-layer palletizing solution generation module; The information acquisition module is used to acquire box size information and pallet size information; The single-layer palletizing scheme generating module is used to generate multiple single-layer palletizing schemes based on the box size information, the pallet size information and the palletizing rules; wherein the palletizing rules include horizontal stacking of boxes, vertical stacking of boxes and mixed horizontal and vertical stacking of boxes; The scheme evaluation module is used to evaluate the single-layer palletizing scheme from the aspect of stability to obtain a stability evaluation result; evaluate the single-layer palletizing scheme from the aspect of space utilization to obtain a space utilization evaluation result, and obtain a comprehensive evaluation result based on the stability evaluation result and the space utilization evaluation result; the optimal scheme selection module is used to select the optimal single-layer palletizing scheme from the multiple single-layer palletizing schemes based on the comprehensive evaluation result; The multi-layer palletizing solution generating module is used to generate a multi-layer palletizing solution for stacking boxes in multiple layers based on the optimal single-layer palletizing solution.

[0018] In a third aspect, the present application provides a terminal, comprising: a processor, a memory and a communication bus; the communication bus is used to realize connection and communication between the processor and the memory, and the processor is used to execute one or more programs stored in the memory to realize the palletizing method as described in the first aspect or any one of the possible implementation schemes of the first aspect.

[0019] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores instructions, and when the instructions are executed, the palletizing method as described in the first aspect or any possible implementation scheme of the first aspect is executed.

[0020] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages: First, a variety of single-layer palletizing schemes are generated according to the size of the box and the size of the pallet. Then, each single-layer palletizing scheme is evaluated from the aspects of stability and space utilization, and the comprehensive evaluation result is determined. Finally, the optimal single-layer palletizing scheme is selected according to the comprehensive evaluation result, and a multi-layer palletizing scheme is generated on this basis. Through systematic evaluation and judgment, the stability of palletizing and the space utilization of pallets are comprehensively considered, which solves the problems existing in the traditional manual palletizing method, improves the efficiency of warehousing and transportation, and reduces the cost of warehousing and transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the overall process of the palletizing method in the embodiment of the present application; Figure 2 It is a schematic diagram of a single-layer palletizing solution and a palletizing solution after rotating 180° in an embodiment of the present application. DETAILED DESCRIPTION

[0022] In order to enable technicians in this field to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the drawings in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments.

[0023] In the description of the embodiments of the present application, words such as "for example" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "for example" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "for example" or "for example" is intended to present related concepts in a specific way.

[0024] In the description of the embodiments of the present application, the term "plurality" means two or more than two. The terms "include", "comprises", "has" and their variations all mean "including but not limited to", unless otherwise specifically emphasized.

[0025] The present application embodiment provides a palletizing method, such as Figure 1 As shown, steps S1-S5 are included: S1, obtain box size information and pallet size information.

[0026] For example, if the box is a rectangular box, the box size information includes length, width and height. For a pallet, if the pallet is square, the pallet size includes the length of each side; if the pallet is round, the pallet size includes radius, area, etc. This application does not make specific limitations on this.

[0027] S2, generating a plurality of single-layer palletizing schemes based on the box size information, the pallet size information and the palletizing rules; wherein the palletizing rules include horizontal stacking of boxes, vertical stacking of boxes and mixed horizontal and vertical stacking of boxes.

[0028] It should be noted that the single-layer stacking scheme is the scheme corresponding to stacking the boxes in one layer. In this step, the generation of multiple single-layer stacking schemes can be done by manual layout or by inputting stacking rules into a computer to automatically generate single-layer stacking schemes, which is not specifically limited in this application.

[0029] S3, for the single-layer palletizing scheme, evaluating the single-layer palletizing scheme from the aspect of stability to obtain a stability evaluation result; evaluating the single-layer palletizing scheme from the aspect of space utilization to obtain a space utilization evaluation result, and obtaining a comprehensive evaluation result based on the stability evaluation result and the space utilization evaluation result.

[0030] In a possible implementation, in step S3, the single-layer palletizing scheme is evaluated from the aspect of stability to obtain a stability evaluation result, which specifically includes the following steps A1-A4: A1, establish a coordinate system to determine the coordinates of the center of gravity, the support point coordinates and the center coordinates of the pallet of each box in the single-layer palletizing solution.

[0031] Preferably, a three-dimensional coordinate system can be established with the center point of the tray as the coordinate origin.

[0032] For the center of gravity and support points of the box, technicians in this field can make specific settings based on the shape of the box, the type of items in the box, etc. For example, the geometric center of the box can be selected as the center of gravity, and the support points can be determined based on the contact surface between the bottom of the box and the pallet. For example, if the contact surface is a regular polygon, then each vertex of the polygon can be selected as the support points.

[0033] A2, based on the center of gravity coordinates of each box and the center coordinates of the pallet, the degree of center of gravity deviation is evaluated to obtain the center of gravity deviation evaluation result of the single-layer palletizing solution.

[0034] In a possible implementation, step A2 specifically includes the following steps A21-A22: A21, based on the centroid coordinates of each box, calculating the centroid coordinates corresponding to the single-layer palletizing solution; Among them, the center of gravity coordinate G corresponding to the single-layer stacking solution is G=(x a ,y a , z a ); n is the total number of boxes in the single-layer palletizing scheme; m i is the mass of the i-th box, (x i ,y i , z i ) are the coordinates of the center of gravity of the ith box; i = 1, 2, 3, ... n.

[0035] A22, based on the center of gravity coordinates corresponding to the single-layer palletizing solution and the center coordinates of the pallet, obtaining a center of gravity deviation degree evaluation result; Among them, the center of gravity deviation evaluation results (x c ,y c , z c ) is the center coordinate of the pallet.

[0036] Therefore, in steps A21-A22, the center of gravity coordinates of the single-layer palletizing solution as a whole are first calculated based on the center of gravity coordinates of each box; then, the center of gravity deviation degree evaluation result is obtained based on the center of gravity coordinates corresponding to the single-layer palletizing solution and the center coordinates of the pallet.

[0037] It can be understood that the smaller the center of gravity deviation evaluation result D is, the closer the center of gravity corresponding to the single-layer palletizing solution is to the center of the pallet, and the better the stability is.

[0038] A3, based on the support point coordinates of each box and the center coordinates of the pallet, evaluate the concentration of the support points of each box around the center of the pallet, and obtain the support point distribution concentration evaluation result of the single-layer palletizing solution.

[0039] In a possible implementation manner, step A3 specifically includes: Evaluation results of support point distribution concentration Wherein, p is the number of supporting points of the box, and n is the total number of boxes in the single-layer palletizing solution; d jk is the distance between the kth support point of the jth box and the center point of the pallet, (x c ,y c , z c ) is the center coordinate of the tray, (x jk ,y jk , z jk ) are the coordinates of the kth support point of the jth box; j = 1, 2, 3, ... n, k = 1, 2, 3, ... p; d avg is the average distance between the support points of all boxes and the center point of the pallet in the single-layer palletizing solution, that is, d jk The mean value of

[0040] It can be understood that the above scheme is calculated based on the standard deviation, σ d The smaller it is, the more concentrated the supporting points of each box are in the center of the pallet, and the better the stability is. d The larger it is, the less conducive it is to stability during subsequent transportation.

[0041] A4, obtaining a stability evaluation result based on the evaluation result of the center of gravity deviation degree and the evaluation result of the support point distribution concentration degree.

[0042] In a possible implementation, step A4 specifically includes: Stability Assessment Results Wherein, α is the weight coefficient of the center of gravity deviation evaluation result, D ref is the standard value of the center of gravity deviation evaluation result; 1-α is the weight coefficient of the support point distribution concentration evaluation result, σ ref is the standard value of the support point distribution concentration evaluation result. This step obtains a more accurate stability evaluation result through normalization and weighting.

[0043] Therefore, the evaluation results of the degree of deviation of the center of gravity and the degree of concentration of the support point distribution are used as two important parameters for evaluating the stability of the single-layer palletizing solution, which improves the accuracy of the stability evaluation results.

[0044] In a possible implementation manner, step S3, evaluating the single-layer palletizing scheme from the perspective of space utilization to obtain a space utilization evaluation result, specifically includes: Space utilization evaluation results Where S is the sum of the contact areas between each box and the pallet in the single-layer palletizing scheme, S ref is the standard value of the contact area. For example, S ref Can be set to the area of ​​the tray.

[0045] It is understandable that when stacking, the larger the contact area S between the box and the pallet, the greater the space utilization.

[0046] In a possible implementation manner, step S3, based on the stability evaluation result and the space utilization evaluation result, obtains a comprehensive evaluation result, which specifically includes: Comprehensive evaluation results Among them, E1 is the stability evaluation result, b is the influence coefficient, β1 is the weight coefficient corresponding to the stability evaluation result; E2 is the space utilization evaluation result, β2 is the weight coefficient corresponding to the space utilization evaluation result.

[0047] It should be noted that the larger the center of gravity deviation evaluation result D is, the farther the center of gravity corresponding to the single-layer palletizing solution is from the center of the pallet, and the worse the stability is; and the support point distribution concentration evaluation result σ d The larger the value, the less concentrated the supporting points of each box are in the center of the pallet, and the worse the stability is. In other words, the larger the stability evaluation result E1 is, the worse the stability is. Therefore, when β1 is taken, it can be set to a negative value.

[0048] In this embodiment, for the calculation model of the comprehensive evaluation results, combined with the actual application situation, the influence of the stability evaluation results on the comprehensive evaluation results is exponential. The larger the stability evaluation results are, the more unfavorable it is for subsequent transportation and storage; while the space utilization evaluation results have a linear influence on the comprehensive evaluation results.

[0049] S4, based on the comprehensive evaluation result, selecting the optimal single-layer palletizing solution from the multiple single-layer palletizing solutions.

[0050] S5, based on the optimal single-layer palletizing solution, generating a multi-layer palletizing solution for stacking the boxes in multiple layers.

[0051] In a possible implementation, step S5, based on the optimal single-layer palletizing solution, generates a multi-layer palletizing solution for stacking boxes in multiple layers, specifically including the following steps S51-S52: S51, generating an inter-layer palletizing solution based on the gravity center deviation degree evaluation result corresponding to the optimal single-layer palletizing solution; The inter-layer stacking scheme is characterized in that: when boxes are stacked in multiple layers using the optimal single-layer stacking scheme, both odd-numbered layers and even-numbered layers use the optimal single-layer stacking scheme, or the odd-numbered layers use the optimal single-layer stacking scheme and the even-numbered layers use the stacking scheme rotated 180° from the optimal single-layer stacking scheme, that is, a wraparound stacking scheme.

[0052] Specifically, in step S51, when the gravity center deviation evaluation result exceeds the preset threshold, it means that the gravity center corresponding to the single-layer palletizing solution is far away from the center of the pallet. In order to improve the stability of the boxes when they are stacked in multiple layers, the corresponding inter-layer palletizing solution is: the odd-numbered layers adopt the optimal single-layer palletizing solution, and the even-numbered layers adopt the palletizing solution after the optimal single-layer palletizing solution is rotated 180°. When the gravity center deviation evaluation result does not exceed the preset threshold, it means that the gravity center corresponding to the single-layer palletizing solution is closer to the center of the pallet, and the optimal single-layer palletizing solution can be adopted for both odd-numbered layers and even-numbered layers.

[0053] For ease of understanding, Figure 2 As shown, several single-layer palletizing solutions and corresponding palletizing solutions after rotating 180° are shown.

[0054] S52: Generate a multi-layer palletizing solution based on the optimal single-layer palletizing solution and the inter-layer palletizing solution.

[0055] Therefore, through steps S51-S52, after determining the optimal single-layer stacking solution for the boxes, the inter-layer stacking solution is further designed to further improve the stability of box stacking.

[0056] Steps S1-S5, first generate a variety of single-layer palletizing solutions based on the size of the box and the size of the pallet, then evaluate each single-layer palletizing solution from the two aspects of stability and space utilization, and determine the comprehensive evaluation results; finally, select the optimal single-layer palletizing solution based on the comprehensive evaluation results, and generate a multi-layer palletizing solution on this basis. This application solves the problems existing in traditional manual palletizing methods through systematic evaluation and judgment, comprehensively considers the stability of palletizing and the space utilization of pallets, improves the efficiency of warehousing and transportation, and reduces warehousing and transportation costs. When the size of the box is consistent, each single-layer palletizing solution can be evaluated more accurately and efficiently, which is widely applicable to application scenarios with a small number of categories and a large amount of a single category.

[0057] In a possible implementation, after step S5, generating a multi-layer palletizing scheme for stacking boxes in multiple layers, steps S6-S7 are also included: S6, after the boxes are palletized on the pallet based on the multi-layer palletizing scheme, detecting the degree of inclination of the boxes on the pallet during transportation.

[0058] S7, based on the degree of inclination, reselecting the optimal single-layer stacking solution from the multiple single-layer stacking solutions.

[0059] Specifically, when the degree of inclination is relatively large, based on the comprehensive evaluation results corresponding to the single-layer palletizing schemes, the optimal single-layer palletizing scheme is reselected from the multiple single-layer palletizing schemes.

[0060] Through steps S6-S7, during the actual transportation process, it is further determined whether the current palletizing scheme is stable through testing. If it is unstable, the optimal single-layer palletizing scheme is reselected to facilitate the next palletizing and transportation.

[0061] The present application embodiment provides a palletizing system, which applies the palletizing method described in the above embodiment. Specifically, the palletizing system includes an information acquisition module, a single-layer palletizing solution generation module, a solution evaluation module, an optimal solution selection module, and a multi-layer palletizing solution generation module; The information acquisition module is used to acquire box size information and pallet size information; The single-layer palletizing scheme generating module is used to generate multiple single-layer palletizing schemes based on the box size information, the pallet size information and the palletizing rules; wherein the palletizing rules include horizontal stacking of boxes, vertical stacking of boxes and mixed horizontal and vertical stacking of boxes; The scheme evaluation module is used to evaluate the single-layer palletizing scheme from the aspect of stability to obtain a stability evaluation result; evaluate the single-layer palletizing scheme from the aspect of space utilization to obtain a space utilization evaluation result, and obtain a comprehensive evaluation result based on the stability evaluation result and the space utilization evaluation result; the optimal scheme selection module is used to select the optimal single-layer palletizing scheme from the multiple single-layer palletizing schemes based on the comprehensive evaluation result; The multi-layer palletizing solution generating module is used to generate a multi-layer palletizing solution for stacking boxes in multiple layers based on the optimal single-layer palletizing solution.

[0062] An embodiment of the present application provides a terminal, including: a processor, a memory, and a communication bus; the communication bus is used to realize connection and communication between the processor and the memory, and the processor is used to execute one or more programs stored in the memory to realize the palletizing method described in the above embodiment or any possible implementation manner.

[0063] An embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores instructions. When the instructions are executed, the palletizing method described in the above embodiment or any possible implementation manner is executed.

[0064] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A palletizing method, characterized in that: include: Get box size information and pallet size information; Based on the box size information, the pallet size information and the palletizing rules, a plurality of single-layer palletizing schemes are generated; wherein the palletizing rules include horizontal stacking of boxes, vertical stacking of boxes and mixed horizontal and vertical stacking of boxes; For the single-layer palletizing scheme, the single-layer palletizing scheme is evaluated from the aspect of stability to obtain a stability evaluation result; the single-layer palletizing scheme is evaluated from the aspect of space utilization to obtain a space utilization evaluation result, and based on the stability evaluation result and the space utilization evaluation result, a comprehensive evaluation result is obtained; Based on the comprehensive evaluation result, selecting the optimal single-layer palletizing scheme from the multiple single-layer palletizing schemes; Based on the optimal single-layer palletizing solution, a multi-layer palletizing solution for stacking boxes in multiple layers is generated.

2. The palletizing method according to claim 1, characterized in that: The single-layer palletizing scheme is evaluated from the aspect of stability, and the stability evaluation results are obtained, including: Establishing a coordinate system, determining the center of gravity coordinates, support point coordinates and center coordinates of each box in the single-layer palletizing scheme; evaluating the degree of center of gravity deviation based on the center of gravity coordinates of each box and the center coordinates of the pallet, and obtaining a center of gravity deviation degree evaluation result of the single-layer palletizing scheme; Based on the coordinates of the support points of each box and the center coordinates of the pallet, the concentration of the support points of each box around the center of the pallet is evaluated to obtain a support point distribution concentration evaluation result of the single-layer palletizing solution; Based on the gravity center deviation degree evaluation result and the support point distribution concentration degree evaluation result, a stability evaluation result is obtained.

3. The palletizing method according to claim 1, characterized in that: Based on the stability evaluation result and the space utilization evaluation result, a comprehensive evaluation result is obtained, which specifically includes: Comprehensive evaluation results Among them, E1 is the stability evaluation result, b is the influence coefficient, β1 is the weight coefficient corresponding to the stability evaluation result; E2 is the space utilization evaluation result, β2 is the weight coefficient corresponding to the space utilization evaluation result.

4. The palletizing method according to claim 2, characterized in that: Based on the optimal single-layer palletizing solution, a multi-layer palletizing solution for stacking the boxes in multiple layers is generated, specifically including: Based on the gravity center deviation evaluation result of the optimal single-layer palletizing solution, an inter-layer palletizing solution is generated; The inter-layer stacking scheme is characterized by: when the boxes are stacked in multiple layers by adopting the optimal single-layer stacking scheme, both the odd-numbered layers and the even-numbered layers adopt the optimal single-layer stacking scheme, or the odd-numbered layers adopt the optimal single-layer stacking scheme and the even-numbered layers adopt the stacking scheme after the optimal single-layer stacking scheme is rotated 180°; A multi-layer palletizing solution is generated based on the optimal single-layer palletizing solution and the inter-layer palletizing solution.

5. The palletizing method according to claim 2, characterized in that: Based on the center of gravity coordinates of each box and the center coordinates of the pallet, the degree of center of gravity deviation is evaluated to obtain the evaluation result of the center of gravity deviation of the single-layer palletizing solution, which specifically includes: Based on the centroid coordinates of each box, calculate the centroid coordinates corresponding to the single-layer palletizing solution; Among them, the center of gravity coordinates G corresponding to the single-layer palletizing solution is G = (x a ,y a , z a ); n is the total number of boxes in the single-layer palletizing scheme; m i is the mass of the i-th box, (x i ,y i , z i ) is the coordinate of the center of gravity of the i-th box; Based on the center of gravity coordinates corresponding to the single-layer palletizing scheme and the center coordinates of the pallet, a center of gravity deviation degree evaluation result is obtained; wherein the center of gravity deviation degree evaluation result (x c ,y c , z c ) is the center coordinate of the pallet.

6. The palletizing method according to claim 5, characterized in that: Based on the coordinates of the support points of each box and the center coordinates of the pallet, the concentration of the support points of each box around the center of the pallet is evaluated to obtain the evaluation result of the concentration of the support point distribution of the single-layer palletizing solution, which specifically includes: Evaluation results of the concentration of support point distribution for single-layer palletizing solutions Wherein, n is the total number of boxes in the single-layer palletizing solution, and p is the number of box support points; d jk is the distance between the kth support point of the jth box and the center point of the pallet, (x c ,y c , z c ) is the center coordinate of the tray, (x jk ,y jk , z jk ) is the coordinate of the kth support point of the jth box; 7. The palletizing method according to claim 6, characterized in that: Based on the center of gravity deviation degree evaluation result and the support point distribution concentration degree evaluation result, a stability evaluation result is obtained, which specifically includes: Stability Assessment Results Wherein, α is the weight coefficient of the center of gravity deviation evaluation result, D ref is the standard value of the center of gravity deviation evaluation result; 1-α is the weight coefficient of the support point distribution concentration evaluation result, σ ref It is the standard value of the support point distribution concentration evaluation result.

8. A palletizing system, characterized in that: It includes information acquisition module, single-layer palletizing solution generation module, solution evaluation module, optimal solution selection module and multi-layer palletizing solution generation module; The information acquisition module is used to acquire box size information and pallet size information; The single-layer palletizing scheme generating module is used to generate multiple single-layer palletizing schemes based on the box size information, the pallet size information and the palletizing rules; wherein the palletizing rules include horizontal stacking of boxes, vertical stacking of boxes and mixed horizontal and vertical stacking of boxes; The scheme evaluation module is used to evaluate the single-layer palletizing scheme from the aspect of stability to obtain a stability evaluation result; evaluate the single-layer palletizing scheme from the aspect of space utilization to obtain a space utilization evaluation result, and obtain a comprehensive evaluation result based on the stability evaluation result and the space utilization evaluation result; the optimal scheme selection module is used to select the optimal single-layer palletizing scheme from the multiple single-layer palletizing schemes based on the comprehensive evaluation result; The multi-layer palletizing solution generating module is used to generate a multi-layer palletizing solution for stacking boxes in multiple layers based on the optimal single-layer palletizing solution.

9. A terminal, characterized in that: include: A processor, a memory and a communication bus; the communication bus is used to realize the connection and communication between the processor and the memory, and the processor is used to execute one or more programs stored in the memory to realize the palletizing method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, and when the instructions are executed, the palletizing method according to any one of claims 1 to 7 is executed.

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