A palletizing method, system, terminal and storage medium

Abstract

The application discloses a palletizing method, a palletizing system, a terminal and a storage medium, and relates to the technical field of logistics warehousing and transportation. The method comprises the following steps: acquiring box size information and pallet size information; generating a plurality of single-layer palletizing schemes based on the box size information, the pallet size information and palletizing rules; evaluating the single-layer palletizing schemes from the aspects of stability and space utilization, respectively, to obtain stability evaluation results and space utilization evaluation results, and obtaining comprehensive evaluation results based on the stability evaluation results and the space utilization evaluation results; selecting an optimal single-layer palletizing scheme from the plurality of single-layer palletizing schemes based on the comprehensive evaluation results; and generating a multi-layer palletizing scheme for multi-layer stacking of boxes based on the optimal single-layer palletizing scheme. The application solves the problems existing in the traditional manual palletizing mode, improves the efficiency of warehousing and transportation, and correspondingly reduces the cost.

Description

Technical Field

[0001] This application relates to the field of logistics warehousing and transportation technology, and in particular to a palletizing method, system, terminal and storage medium. Background Technology

[0002] In the logistics and warehousing industry, box stacking is not only a fundamental step in the storage and transportation of goods, but also a key factor directly affecting logistics efficiency. Traditional stacking methods often rely on manual judgment and experience, simply stacking boxes according to their dimensions and pallet sizes. While this approach can meet basic storage needs to some extent, it has many shortcomings.

[0003] First, due to a lack of systematic evaluation, traditional palletizing methods often result in unstable overall box structures after palletizing, making them prone to collapse. This not only damages goods but also increases safety risks for workers and causes significant inconvenience to warehouse management, especially in situations requiring long-term storage or transportation where pallet stability is crucial. Second, traditional palletizing methods also have significant shortcomings in utilizing pallet space. Because they simply stack boxes according to size, they often fail to fully utilize pallet space, resulting in numerous gaps and waste on the pallets, thereby reducing box transportation efficiency and warehousing costs. Summary of the Invention

[0004] To address one or more of the aforementioned technical problems, this application provides a palletizing method, system, terminal, and storage medium.

[0005] Firstly, this application provides a palletizing method, employing the following technical solution: The palletizing method includes: Obtain box size information and pallet size information; Based on the box size information, the pallet size information, and the stacking rules, multiple single-layer stacking schemes are generated; wherein, the stacking 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 stability of the single-layer palletizing scheme is evaluated to obtain a stability evaluation result; the space utilization of the single-layer palletizing scheme is evaluated to obtain a space utilization evaluation result; and a comprehensive evaluation result is obtained based on the stability evaluation result and the space utilization evaluation result. Based on the comprehensive evaluation results, the optimal single-layer palletizing scheme is selected from the various single-layer palletizing schemes. Based on the optimal single-layer palletizing scheme, a multi-layer palletizing scheme is generated that stacks boxes in multiple layers.

[0006] By adopting the above technical solution, multiple single-layer palletizing schemes are first generated based on the dimensions of the boxes and pallets. Then, each single-layer palletizing scheme is evaluated from the perspectives of stability and space utilization, and a comprehensive evaluation result is determined. Finally, the optimal single-layer palletizing scheme is selected based on the comprehensive evaluation result, and multi-layer palletizing schemes are generated on this basis. Through systematic evaluation and judgment, and by comprehensively considering the stability of palletizing and the space utilization of pallets, the problems existing in traditional manual palletizing methods are solved, the efficiency of warehousing and transportation is improved, and the warehousing and transportation costs are reduced.

[0007] In a specific feasible implementation, the single-layer palletizing scheme is evaluated in terms of stability to obtain stability evaluation results, specifically including: Establish a coordinate system to determine the center of gravity coordinates, support point coordinates, and center coordinates of the pallet for each box in the single-layer palletizing scheme; based on the center of gravity coordinates of each box and the center coordinates of the pallet, evaluate the degree of center of gravity deviation to obtain the evaluation result of the degree of center of gravity deviation 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 degree of concentration of the support points of each box around the center of the pallet is evaluated, and the evaluation result of the degree of concentration of the support point distribution of the single-layer palletizing scheme is obtained. Based on the assessment results of the degree of deviation of the center of gravity and the assessment results of the degree of concentration of the support points, the stability assessment results are obtained.

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

[0009] In a specific feasible implementation, a comprehensive evaluation result is obtained based on the stability assessment result and the space utilization rate assessment result, specifically including: Comprehensive evaluation results Wherein, E1 is the stability assessment result, b is the influence coefficient, β1 is the weight coefficient corresponding to the stability assessment result; E2 is the space utilization assessment result, β2 is the weight coefficient corresponding to the space utilization assessment result.

[0010] By adopting the above technical solutions and considering the actual application, the impact of the stability assessment results on the overall assessment results is exponential. The higher the stability assessment result, the more unfavorable it is for subsequent transportation and storage. However, the space utilization assessment results have a linear impact on the overall assessment results.

[0011] In a specific feasible implementation, based on the optimal single-layer palletizing scheme, a multi-layer palletizing scheme for stacking boxes in multiple layers is generated, specifically including: Based on the evaluation results of the center of gravity deviation of the optimal single-layer palletizing scheme, an inter-layer palletizing scheme is generated; The interlayer stacking scheme is characterized as follows: when the boxes are stacked in multiple layers using the optimal single-layer stacking scheme, both odd-numbered and even-numbered layers use the optimal single-layer stacking scheme, or odd-numbered layers use the optimal single-layer stacking scheme and even-numbered layers use the stacking scheme after rotating the optimal single-layer stacking scheme by 180°. Based on the optimal single-layer palletizing scheme and the inter-layer palletizing scheme, a multi-layer palletizing scheme is generated.

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

[0013] In a specific feasible implementation, 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 scheme, specifically including: Based on the center-of-gravity coordinates of each box, calculate the center-of-gravity coordinates corresponding to the single-layer stacking scheme; Among them, the centroid coordinates G = (x) of the single-layer palletizing scheme a y a , z a ); n is the total number of boxes in the single-layer stacking scheme; m i Let x be the mass of the i-th box, (x) i y i , z i Let be the coordinates of the centroid 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 assessment result is obtained; wherein, the center-of-gravity deviation assessment result... (x c y c , z c () represents the center coordinates of the tray.

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

[0015] In a specific feasible implementation, based on the coordinates of the support points of each box and the center coordinates of the pallet, the degree of 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 support point distribution of the single-layer palletizing scheme, specifically including: Evaluation results of the concentration of support point distribution in single-layer palletizing scheme Where n is the total number of boxes in the single-layer stacking scheme, and p is the number of box support points; d jk Let be the distance between the k-th support point of the j-th box and the center point of the tray. (x c y c , z c (x) represents the center coordinates of the tray. jk y jk , z jk () represents the coordinates of the k-th support point of the j-th box;

[0016] In a specific feasible implementation, a stability assessment result is obtained based on the assessment results of the center of gravity deviation and the concentration of support point distribution, specifically including: Stability assessment results Where α is the weighting coefficient of the assessment result of the degree of deviation of the center of gravity, and D ref The standard value for assessing the degree of deviation of the center of gravity; 1-α is the weighting coefficient for assessing the degree of concentration of the support point distribution, σ ref The standard value for assessing the concentration of support point distribution.

[0017] Secondly, this application provides a palletizing system that applies the palletizing method described in the first aspect or any of the feasible implementations of the first aspect. Specifically, the palletizing system includes an information acquisition module, a single-layer palletizing scheme generation module, a scheme evaluation module, an optimal scheme selection module, and a multi-layer palletizing scheme generation module; The information acquisition module is used to acquire box size information and pallet size information; The single-layer palletizing scheme generation 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 perspective of stability, and obtain a stability evaluation result; evaluate the single-layer palletizing scheme from the perspective of space utilization, and 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 scheme generation module is used to generate a multi-layer palletizing scheme that stacks boxes in multiple layers based on the optimal single-layer palletizing scheme.

[0018] Thirdly, this application provides a terminal, including: 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 implement the palletizing method as described in the first aspect or any of the possible implementations of the first aspect.

[0019] Fourthly, this application provides a computer-readable storage medium storing instructions that, when executed, perform the palletizing method as described in the first aspect or any of the possible embodiments of the first aspect.

[0020] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages: First, based on the dimensions of the boxes and pallets, multiple single-layer palletizing schemes are generated. Then, each single-layer palletizing scheme is evaluated from the perspectives of stability and space utilization, and a comprehensive evaluation result is determined. Finally, the optimal single-layer palletizing scheme is selected based on the comprehensive evaluation result, and multi-layer palletizing schemes are generated on this basis. Through systematic evaluation and judgment, taking into account both the stability of palletizing and the space utilization of pallets, the problems existing in traditional manual palletizing methods are solved, improving the efficiency of warehousing and transportation and reducing warehousing and transportation costs. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall process of the palletizing method in the embodiments of this application; Figure 2 This is a schematic diagram of a single-layer palletizing scheme and a palletizing scheme after rotating 180° in the embodiments of this application. Detailed Implementation

[0022] To enable those skilled in the art 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 with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0023] In the description of the embodiments of this application, the words "for example" or "for instance" are used to indicate examples, illustrations, or explanations. Any embodiment or design that is described as "for example" or "for instance" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design options. Rather, the use of the words "for example" or "for instance" is intended to present the relevant concepts in a specific manner.

[0024] In the description of the embodiments of this application, the term "multiple" means two or more. The terms "comprising," "including," "having," and variations thereof all mean "including but not limited to," unless otherwise specifically emphasized.

[0025] This application 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 cuboid 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 circular, the pallet size includes radius, area, etc. This application does not impose specific limitations on this.

[0027] S2, based on the box size information, the pallet size information, and the stacking rules, generate multiple single-layer stacking schemes; wherein, the stacking 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 palletizing scheme refers to the scheme where boxes are stacked in only one layer. In this step, generating multiple single-layer palletizing schemes can be done manually or by inputting the palletizing rules into a computer to automatically generate the single-layer palletizing scheme. This application does not impose any specific limitations on this comparison.

[0029] S3. For the single-layer palletizing scheme, evaluate the single-layer palletizing scheme in terms of stability and obtain a stability evaluation result; evaluate the single-layer palletizing scheme in terms of space utilization and obtain a space utilization evaluation result; and obtain a comprehensive evaluation result based on the stability evaluation result and the space utilization evaluation result.

[0030] In one possible implementation, step S3 involves evaluating the single-layer palletizing scheme in terms of stability to obtain a stability evaluation result, specifically including the following steps A1-A4: A1. Establish a coordinate system and determine the center of gravity coordinates, support point coordinates, and center coordinates of the pallet for each box in the single-layer stacking scheme.

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

[0032] The center of gravity and support points of the box can be specifically set according to the shape of the box, the type of items inside 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 surface of the bottom of the box that contacts the tray. 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 evaluation result of the center-of-gravity deviation of the single-layer palletizing scheme.

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

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

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

[0037] Understandably, the smaller the center of gravity deviation assessment result D, the closer the center of gravity of the single-layer palletizing scheme is to the center of the pallet, and the better the stability.

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

[0039] In one possible implementation, step A3 specifically includes: Assessment results of the concentration of support point distribution Where p is the number of support points for the box, and n is the total number of boxes in the single-layer stacking scheme; d jk Let be the distance between the k-th support point of the j-th box and the center point of the tray. (x c y c , z c (x) represents the center coordinates of the tray. jk y jk , z jk Let be the coordinates of the k-th support point of the j-th box; j = 1, 2, 3, ..., n, k = 1, 2, 3, ..., p; d avg In the single-layer palletizing scheme, d is the average distance between the support points of all boxes and the center point of the pallet. jk The mean, i.e.

[0040] Understandably, the above calculation is based on the standard deviation, σ d The smaller the σ value, the more concentrated the support points of each box are around the center of the pallet, resulting in better stability; conversely, a larger σ value indicates better stability. d The larger the size, the less stable it is during subsequent transportation.

[0041] A4. Based on the assessment results of the degree of deviation of the center of gravity and the assessment results of the degree of concentration of the support points, the stability assessment results are obtained.

[0042] In one possible implementation, step A4 specifically includes: Stability assessment results Where α is the weighting coefficient of the assessment result of the degree of deviation of the center of gravity, and D ref The standard value for assessing the degree of deviation of the center of gravity; 1-α is the weighting coefficient for assessing the degree of concentration of the support point distribution, σ ref This represents the standard value for assessing the concentration of support point distribution. This step, through normalization and weighting, yields a more accurate stability assessment result.

[0043] Therefore, using the assessment results of the degree of center of gravity deviation and the degree of concentration of support point distribution as two important parameters for evaluating the stability of a single-layer palletizing scheme improves the accuracy of the stability assessment results.

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

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

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

[0047] It should be noted that the larger the center of gravity deviation assessment result D, the further the center of gravity of the single-layer palletizing scheme is from the center of the pallet, and the worse the stability; and the support point distribution concentration assessment result σ d The larger the value of β1, the less concentrated the support points of the boxes are on the center of the pallet, and the worse the stability. In other words, the larger the stability assessment result E1, the worse the stability. Therefore, β1 can be set to a negative value.

[0048] In this embodiment, the calculation model for the comprehensive evaluation result, combined with the actual application situation, shows that the impact of the stability evaluation result on the comprehensive evaluation result is exponential. The larger the stability evaluation result, the more unfavorable it is for subsequent transportation and storage. However, the space utilization evaluation result has a linear impact on the comprehensive evaluation result.

[0049] S4. Based on the comprehensive evaluation results, select the optimal single-layer palletizing scheme from the various single-layer palletizing schemes.

[0050] S5. Based on the optimal single-layer palletizing scheme, generate a multi-layer palletizing scheme that stacks boxes in multiple layers.

[0051] In one possible implementation, step S5, based on the optimal single-layer palletizing scheme, generates a multi-layer palletizing scheme for stacking boxes in multiple layers, specifically including the following steps S51-S52: S51, Based on the evaluation result of the center of gravity deviation corresponding to the optimal single-layer palletizing scheme, generate an inter-layer palletizing scheme; The interlayer stacking scheme is characterized as follows: when stacking boxes in multiple layers using the optimal single-layer stacking scheme, both odd-numbered and even-numbered layers use the optimal single-layer stacking scheme, or odd-numbered layers use the optimal single-layer stacking scheme and even-numbered layers use the optimal single-layer stacking scheme rotated by 180°, which is a wraparound stacking scheme.

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

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

[0054] S52, Based on the optimal single-layer palletizing scheme and the inter-layer palletizing scheme, generate a multi-layer palletizing scheme.

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

[0056] Steps S1-S5 first generate multiple single-layer palletizing schemes based on the dimensions of the boxes and pallets. Then, each scheme is evaluated in terms of stability and space utilization, and a comprehensive evaluation result is determined. Finally, the optimal single-layer palletizing scheme is selected based on the comprehensive evaluation result, and multi-layer palletizing schemes are generated accordingly. This application, through systematic evaluation and judgment, comprehensively considers the stability of palletizing and the space utilization of pallets, solving the problems existing in traditional manual palletizing methods, improving warehousing and transportation efficiency, and reducing warehousing and transportation costs. When the box dimensions are consistent, single-layer palletizing schemes can be evaluated more accurately and efficiently, making it widely applicable to application scenarios with few product categories and large quantities of each category.

[0057] In one possible implementation, after step S5, which generates a multi-layer stacking scheme for stacking boxes in multiple layers, the method further includes steps S6-S7: S6. After stacking the boxes on the pallet based on the multi-layer stacking scheme, detect the degree of tilt of the boxes on the pallet during transportation.

[0058] S7. Based on the tilt degree, select the optimal single-layer palletizing scheme from the multiple single-layer palletizing schemes.

[0059] Specifically, when the tilt is large, the optimal single-layer palletizing scheme is selected again from the multiple single-layer palletizing schemes based on the comprehensive evaluation results of each single-layer palletizing scheme.

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

[0061] This application provides a palletizing system that applies the palletizing method described in the above embodiments. Specifically, the palletizing system includes an information acquisition module, a single-layer palletizing scheme generation module, a scheme evaluation module, an optimal scheme selection module, and a multi-layer palletizing scheme generation module; The information acquisition module is used to acquire box size information and pallet size information; The single-layer palletizing scheme generation 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 perspective of stability, and obtain a stability evaluation result; evaluate the single-layer palletizing scheme from the perspective of space utilization, and 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 scheme generation module is used to generate a multi-layer palletizing scheme that stacks boxes in multiple layers based on the optimal single-layer palletizing scheme.

[0062] This application provides a terminal, including: 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 implement the palletizing method as described in the above embodiments or any possible implementation.

[0063] This application provides a computer-readable storage medium storing instructions that, when executed, perform the palletizing method as described in the above embodiments or any possible implementation.

[0064] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A palletizing method, characterized in that, include: Obtain box size information and pallet size information; Based on the box size information, the pallet size information, and the stacking rules, multiple single-layer stacking schemes are generated; wherein, the stacking 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 stability of the single-layer palletizing scheme is evaluated to obtain a stability evaluation result; the space utilization of the single-layer palletizing scheme is evaluated to obtain a space utilization evaluation result; and a comprehensive evaluation result is obtained based on the stability evaluation result and the space utilization evaluation result. Based on the comprehensive evaluation results, the optimal single-layer palletizing scheme is selected from the various single-layer palletizing schemes. Based on the optimal single-layer palletizing scheme, a multi-layer palletizing scheme is generated that stacks boxes in multiple layers. The stability of the single-layer palletizing scheme was evaluated, and the stability evaluation results were obtained, including: Establish a coordinate system to determine the center of gravity coordinates, support point coordinates, and center coordinates of the pallet for each box in the single-layer palletizing 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, and the evaluation result of the center-of-gravity deviation of the single-layer palletizing scheme is obtained. Based on the coordinates of the support points of each box and the center coordinates of the pallet, the degree of concentration of the support points of each box around the center of the pallet is evaluated, and the evaluation result of the degree of concentration of the support point distribution of the single-layer palletizing scheme is obtained. Based on the assessment results of the degree of deviation of the center of gravity and the assessment results of the degree of concentration of the support points, the stability assessment results are obtained; Based on the optimal single-layer palletizing scheme, a multi-layer palletizing scheme is generated, which involves stacking boxes in multiple layers, specifically including: Based on the evaluation result of the center of gravity deviation of the optimal single-layer palletizing scheme, an inter-layer palletizing scheme is generated, including: when the evaluation result of the center of gravity deviation exceeds a preset threshold, the corresponding inter-layer palletizing scheme is: odd-numbered layers adopt the optimal single-layer palletizing scheme, and even-numbered layers adopt the palletizing scheme after rotating the optimal single-layer palletizing scheme by 180°; when the evaluation result of the center of gravity deviation does not exceed the preset threshold, both odd-numbered and even-numbered layers adopt the optimal single-layer palletizing scheme. Based on the optimal single-layer palletizing scheme and the inter-layer palletizing scheme, a multi-layer palletizing scheme is generated. After generating the multi-layer palletizing scheme for stacking boxes in multiple layers, the method further includes: after stacking the boxes on the pallet based on the multi-layer palletizing scheme, detecting the degree of tilt of the boxes on the pallet during transportation; and based on the degree of tilt, selecting the optimal single-layer palletizing scheme from the multiple single-layer palletizing schemes.

2. The palletizing method according to claim 1, characterized in that, Based on the stability assessment results and the space utilization assessment results, a comprehensive assessment result is obtained, which specifically includes: Comprehensive evaluation results ; in, The result represents the stability assessment, where b is the influence coefficient. The weighting coefficients corresponding to the stability assessment results; As the result of the space utilization assessment, The weighting coefficients corresponding to the space utilization assessment results are as follows.

3. The palletizing method according to claim 1, 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 scheme, specifically including: Based on the center-of-gravity coordinates of each box, calculate the center-of-gravity coordinates corresponding to the single-layer stacking scheme; Among them, the centroid coordinates corresponding to the single-layer palletizing scheme ; ， ， ； n is the total number of boxes in the single-layer stacking scheme; Let the mass of the i-th box be... Let be the coordinates of the centroid 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, the evaluation result of the degree of center of gravity deviation is obtained; Among them, the assessment results of the degree of deviation of the center of gravity ; The coordinates are the center coordinates of the tray.

4. The palletizing method according to claim 3, characterized in that, Based on the coordinates of the support points of each box and the center coordinates of the pallet, the degree of 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 support point distribution of the single-layer palletizing scheme, specifically including: Evaluation results of the concentration of support point distribution in single-layer palletizing scheme ; Where n is the total number of boxes in the single-layer stacking scheme, and p is the number of box support points; Let be the distance between the k-th support point of the j-th box and the center point of the tray. , The center coordinates of the pallet Let K be the coordinates of the k-th support point of the j-th box; 。 5. The palletizing method according to claim 4, characterized in that, Based on the assessment results of the center of gravity deviation and the assessment results of the support point distribution concentration, the stability assessment results are obtained, specifically including: Stability assessment results ; in, The weighting coefficients for the assessment results of the degree of deviation from the center of gravity are as follows: This is the standard value for assessing the degree of deviation from the center of gravity; The weighting coefficients for the assessment results of the concentration of the support point distribution are as follows: The standard value for assessing the concentration of support point distribution.

6. A palletizing system, characterized in that, The system executes the palletizing method as described in any one of claims 1 to 5, and the system includes an information acquisition module, a single-layer palletizing scheme generation module, a scheme evaluation module, an optimal scheme selection module, and a multi-layer palletizing scheme generation module; The information acquisition module is used to acquire box size information and pallet size information; The single-layer palletizing scheme generation 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 perspective of stability, and obtain a stability evaluation result; evaluate the single-layer palletizing scheme from the perspective of space utilization, and 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 solution selection module is used to select the optimal single-layer palletizing scheme from the multiple single-layer palletizing schemes based on the comprehensive evaluation results. The multi-layer palletizing scheme generation module is used to generate a multi-layer palletizing scheme that stacks boxes in multiple layers based on the optimal single-layer palletizing scheme.

7. A terminal, characterized in that, include: A processor, a memory, and a communication bus; the communication bus is used to enable communication between the processor and the memory, and the processor is used to execute one or more programs stored in the memory to implement the palletizing method as described in any one of claims 1-5.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions that, when executed, perform the palletizing method as described in any one of claims 1-5.

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