Stacking method, stacking equipment and computer readable storage medium

Abstract

The invention discloses a stacking method, stacking equipment and a computer readable storage medium, and the stacking method comprises the steps that all connected domains on a tray are obtained, the total heights of box bodies placed in the connected domains are equal everywhere, and the total heights of the box bodies placed in every two adjacent connected domains are not equal; obtaining the target size of the target box body, and determining at least one placement area, where the target box body can be placed, on the tray from all the connected domains according to the target size of the target box body; for each placement area, the corresponding cost value of the placement area is determined at least according to the distance between the placement area and the robot; determining a target area from the at least one placeable area according to the cost value corresponding to each placeable area; and the robot is controlled to place the target box on the target area of the tray. According to the stacking method, the stacking difficulty of the robot can be reduced, and the stacking efficiency of the robot is improved.

Description

Technical Field

[0001] The present application relates to the technical field of palletizing, and in particular to a palletizing method, a palletizing device, and a computer-readable storage medium. Background Art

[0002] In the logistics and warehousing scenarios, there is a large demand for robots for palletizing disordered and mixed boxes. However, usually, the sizes and specifications of the boxes are different, and the robot often cannot pre-see all the boxes that will come on the conveyor belt. The incoming boxes are uncertain. Therefore, the robot cannot perform a global optimal plan for the entire box sequence, ultimately affecting the palletizing efficiency and the palletizing effect. Summary of the Invention

[0003] The present application provides a palletizing method, a palletizing device, and a computer-readable storage medium, which can reduce the difficulty of robot palletizing and improve the efficiency of robot palletizing.

[0004] In the first aspect of the embodiments of the present application, a palletizing method is provided. The method includes: Obtain all connected regions on the pallet, where the total height of the boxes placed in the connected regions is equal everywhere, and the total height of the boxes placed in two adjacent connected regions is not equal; Obtain the target size of the target box, and determine at least one placeable region on the pallet for placing the target box from all the connected regions according to the target size of the target box; For each of the placeable regions, determine the cost value corresponding to the placeable region at least according to the distance between the placeable region and the robot; Determine a target region from the at least one placeable region according to the cost value corresponding to each of the placeable regions; Control the robot to place the target box on the target region of the pallet.

[0005] Wherein, the method further includes: Update the storage table according to the stacking height of the boxes on the pallet, where the storage table stores the positions of the connected regions on the pallet and the information of each connected region, and subsequently read the information of each connected region on the pallet from the storage table.

[0006] Wherein, the step of determining the cost value corresponding to the placeable region at least according to the distance between the placeable region and the robot includes: Obtain the coordinates of the placeable region in the pallet coordinate system of the pallet; Determine the cost value of the placeable region according to the coordinates of the placeable region.

[0007] Wherein, the origin of the pallet coordinate system is the corner point of the pallet that is farthest from the robot; The step of determining the cost value of the placeable area according to the coordinates of the placeable area includes: Calculate the cost value of the placeable area according to the following formula:

[0008] Wherein, is the cost value of the placeable area, is the component in the X direction of the coordinates of the placeable area in the pallet coordinate system, is the component in the Y direction of the coordinates of the placeable area in the pallet coordinate system, is the component in the Z direction of the coordinates of the placeable area in the pallet coordinate system, , , are preset coefficients.

[0009] Wherein, the step of determining at least one placeable area on the pallet for placing the target box from all the connected regions according to the target size of the target box includes: In response to the length of the connected region being greater than or equal to the length in the target size and the width of the connected region being greater than or equal to the width in the target size, determine the connected region as the placeable area.

[0010] Wherein, the farther the distance between the placeable area and the robot, the smaller the cost value corresponding to the placeable area; The step of determining the target area from the at least one placeable area according to the cost value corresponding to each placeable area includes: Determine the placeable area corresponding to the minimum cost value as the target area.

[0011] Wherein, before determining the cost value corresponding to each placeable area at least according to the distance between the placeable area and the robot for each placeable area, it further includes: In response to the number of placeable areas being one, control the robot to place the target box on the placeable area of the pallet; In response to the number of placeable areas being more than two, execute the step of determining the cost value corresponding to each placeable area at least according to the distance between the placeable area and the robot for each placeable area.

[0012] The second aspect of the embodiments of the present application provides a palletizing device, and the palletizing device includes: A first acquisition module, configured to acquire all connected regions on the tray, where the total height of the boxes placed in the connected regions is equal everywhere, and the total height of the boxes placed in two adjacent connected regions is not equal; A second acquisition module, connected to the first acquisition module, configured to acquire the target size of the target box, and determine at least one placeable region on the tray for placing the target box from all the connected regions according to the target size of the target box; A cost value module, connected to the second acquisition module, configured to determine, for each of the placeable regions, a cost value corresponding to the placeable region at least according to the distance between the placeable region and the robot; A determination module, connected to the cost value module, configured to determine a target region from the at least one placeable region according to the cost value corresponding to each of the placeable regions; A control module, connected to the determination module, configured to control the robot to place the target box on the target region of the tray.

[0013] In a third aspect of the embodiments of the present application, a palletizing device is provided. The palletizing device includes a processor, a memory, and a communication circuit. The processor is respectively coupled to the memory and the communication circuit. Program data is stored in the memory. The processor executes the program data in the memory to implement the steps in the above method.

[0014] In a fourth aspect of the embodiments of the present application, a computer-readable storage medium is provided. The computer-readable storage medium stores a computer program, and the computer program can be executed by a processor to implement the steps in the above method.

[0015] The beneficial effects are as follows: First, the present application acquires all placeable regions on the tray that can place the target box from all the connected regions of the tray, then determines the cost value corresponding to each placeable region at least according to the distance between the placeable region and the robot, and finally selects the most suitable placeable region for placing the target box according to the cost value corresponding to each placeable region, and determines the placeable region as the target region, and finally controls the robot to place the target box on the target region of the tray. Through the solution of the present application, regardless of the size of the target box of the incoming material, the stacking of the target box can be realized, and there is no need for the user to manually select the stacking rule, which can reduce the difficulty of robot palletizing and improve the efficiency of robot palletizing. Description of the Drawings

[0016] To more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the accompanying drawings required for the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can also be obtained based on these drawings, where: Figure 1 is a schematic diagram of the robot palletizing in the present application; Figure 2 is a schematic flowchart of an implementation manner of the palletizing method in the present application; Figure 3 is a schematic diagram of the structure of the connected region on the pallet in the present application; Figure 4 is a schematic diagram of the structure of an implementation manner of the palletizing device in the present application; Figure 5 is a schematic diagram of the structure of another implementation manner of the palletizing device in the present application; Figure 6 is a schematic diagram of the structure of an implementation manner of the computer-readable storage medium in the present application. Detailed implementation manners

[0017] The following will clearly and completely describe the technical solutions in the embodiments of the present application in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, rather than all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0018] It should be noted that the terms "first" and "second" in the present application are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present application, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically defined. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products, or devices.

[0019] Before introducing the solutions of the present application, the basic knowledge of robot palletizing will be introduced first: Refer to Figure 1, the pallet 10 is a platform for storing boxes, a medium for transforming a static box into a dynamic box. The robot 20 has a large load capacity. It uses a suction cup assembly fixed at the end of the robot to grab the incoming boxes on the conveyor belt and neatly stack the boxes on the pallet 10 according to certain placement rules.

[0020] During the palletizing process of the robot 20, in order to ensure that the end of the robot 20 can accurately place the box on the surface of the pallet 10, first, it is necessary to establish a pallet coordinate system based on the pallet 10 and calibrate the spatial transformation relationship between the pallet coordinate system and the base coordinate system of the robot 20. In an embodiment of the present application, taking a corner point of the pallet 10 farthest from the robot 20 as the origin, a pallet coordinate system as shown in Figure 1 is established (where a corner point of the pallet 10 farthest from the robot 20 specifically refers to a corner point of the bearing area of the pallet 10 for bearing boxes that is farthest from the robot 20), and all components of the coordinates of any point on the bearing surface of the pallet 10 in this pallet coordinate system are positive. Among them, Figure 1 the pallet coordinate system is denoted as T, and the base coordinate system of the robot 20 is marked as B. Of course, in other embodiments, a pallet coordinate system can also be established with a corner point of the pallet 10 closest to the robot 20 as the origin. All in all, the present application does not limit the specific rules for establishing the pallet coordinate system.

[0021] Refer to Figure 2 , Figure 2 which is a schematic flow chart of an embodiment of the palletizing method of the present application. The method includes: S110: Obtain all connected regions on the pallet. Among them, the total height of the boxes placed in the connected region is equal everywhere, and the total height of the boxes placed in adjacent two connected regions is not equal.

[0022] Among them, the palletizing method of the present application can be executed by a palletizing device that controls the movement of the robot. The palletizing device can be a robot control cabinet or other palletizing devices such as a computer, which is not limited here.

[0023] Specifically, the definition of the connected region on the pallet refers to the connected region composed of the surfaces of the boxes with the same height on the pallet. Specifically, the total height of the boxes placed on the pallet in the same connected region is equal everywhere, while the total height of the boxes placed on the pallet in adjacent two connected regions is not equal. That is to say, the upper surfaces of the uppermost boxes in the connected region are on the same horizontal plane, and the upper surfaces of the uppermost boxes in adjacent two connected regions are not on the same horizontal plane.

[0024] For the sake of easy understanding, an example in combination with Figure 3 is used for illustration: In Figure 3In the example, the tray includes 5 connected regions. Assume that the total height of the boxes in connected region 1 is H1, the total height of the boxes in connected region 2 is H2, the total height of the boxes in connected region 3 is H3, the total height of the boxes in connected region 4 is H4, and the total height of the boxes in connected region 5 is H5. Among them, H1, H2, and H4 are not equal, and H3 may be equal to H1 or not, and H5 may be equal to H1 or not.

[0025] Among them, obtaining all the connected regions on the tray means: obtaining parameters such as the position of each connected region on the tray, the size of each connected region (the size of the connected region refers to the length and width of the connected region), and the total height of the boxes in each connected region.

[0026] It can be understood that each time the robot stacks a box on the tray, the connected regions on the tray will be updated.

[0027] S120: Obtain the target size of the target box, and based on the target size of the target box, determine at least one placeable area on the tray for placing the target box from all the connected regions.

[0028] Specifically, the target box is the box that the robot will place on the tray next, and the target size of the target box includes the length, width, and height of the target box. Among them, the target size of the target box can be obtained by means of image recognition, that is, by shooting the target box with a camera and then performing recognition processing on the image to obtain the target size of the target box, or the target size of the target box can also be obtained by other sensors. In short, this application does not specifically limit the method of obtaining the target size of the target box.

[0029] After obtaining the target size of the target box, based on this target size, determine all the connected regions on the tray that can place the target box, and define the determined connected regions as placeable areas.

[0030] In one embodiment, step S120 specifically includes: S121: In response to the length of the connected region being greater than or equal to the length in the target size and the width of the connected region being greater than or equal to the width in the target size, determine the connected region as a placeable area.

[0031] Specifically, in order to prevent the target box from falling off after being placed on the tray, it is required that the upper surface of the box under the target box is sufficient to support the target box. Therefore, only the connected regions with a size larger than the target size can place the target box, that is, only when the connected region satisfies: the length is greater than the length of the target box and the width is greater than the width of the target box, can this connected region become a placeable area for placing the target box.

[0032] In another embodiment, step S120 specifically includes: S122: Determine the placeable area as the connected region in response to that the length of the connected region is greater than or equal to the length in the target size, the width of the connected region is greater than or equal to the width in the target size, and the difference between the area of the connected region and the bottom area of the target box is less than the difference threshold. This setting can avoid waste caused by placing the target box with an overly large connected region.

[0033] Among them, the number of placeable areas determined in step S120 may be one, may be multiple, or may be zero. When the number of determined placeable areas is zero, it means that the target box cannot be placed on the current tray. At this time, the robot can be controlled to move to the next tray, and steps S110 to S150 are executed for the next tray, or an alarm prompt can be given. When the number of placeable areas is one, it means that there is only one connected region on the current tray that can place the target box. Then, the robot is controlled to directly place the target box on this placeable area, and steps S130 to S150 do not need to be executed. That is to say, in response to the number of placeable areas being one, control the robot to place the target box on the placeable area of the tray; in response to the number of placeable areas being more than two, execute the subsequent steps S130 - S150.

[0034] S130: For each placeable area, determine the cost value corresponding to the placeable area at least according to the distance between the placeable area and the robot.

[0035] Specifically, considering that the farther the placeable area is from the robot, the lower the probability of interfering with the robot after placing the target box in this placeable area. Therefore, the cost value corresponding to the placeable area can be determined at least according to the distance between the placeable area and the robot.

[0036] In an embodiment, step S130 specifically includes: S131: Obtain the coordinates of the placeable area in the tray coordinate system of the tray.

[0037] S132: Determine the cost value of the placeable area according to the coordinates of the placeable area.

[0038] Specifically, the coordinates of the placeable area can refer to the coordinates of the center point of the placeable area in the tray coordinate system, can also refer to the coordinates of a certain vertex of the placeable area in the tray coordinate system, or can also refer to the coordinates of a preset target point in the placeable area in the tray coordinate system.

[0039] The coordinates of the placeable area in the tray coordinate system indicate the position of the placeable area in the tray and can also indicate the distance between this placeable area and the robot. Therefore, the cost value of the placeable area can be determined according to the coordinates of the placeable area.

[0040] In one embodiment, a tray coordinate system is established according to the following rules: Refer to Figure 1 , and establish a tray coordinate system as shown in Figure 1 with the corner point of the tray 10 farthest from the robot 20 as the origin (where the corner point of the tray 10 farthest from the robot 20 specifically refers to the corner point of the loading area of the tray 10 for loading the box that is farthest from the robot 20), and all components of the coordinates of any point on the loading surface of the tray 10 in this tray coordinate system are positive numbers.

[0041] In one embodiment, when the tray coordinate system is established according to the above rules, step S132 specifically includes: S1321: Calculate the cost value of the placeable area according to the following formula:

[0042] where, is the cost value of the placeable area, is the component in the X direction of the coordinates of the placeable area in the tray coordinate system, is the component in the Y direction of the coordinates of the placeable area in the tray coordinate system, is the component in the Z direction of the coordinates of the placeable area in the tray coordinate system, , , are preset coefficients.

[0043] where, , , are pre-set coefficients and can be set according to actual requirements.

[0044] The above function for calculating the placeable area is a heuristic function.

[0045] In other embodiments, other formulas can also be used to calculate the cost value of the placeable area. For example, the cost value of the placeable area can be calculated using the following formula:

[0046] It should be noted that in other embodiments, the cost value of the placeable area can be determined by combining the distance between the placeable area and the robot and the total height of the boxes in the placeable area. Specifically, during the palletizing process, in addition to considering the distance between the placeable area and the robot, it is also necessary to stack the boxes layer by layer to avoid instability caused by the boxes falling off due to the stacking height in a certain area of the pallet being much higher than that in other areas. Therefore, in addition to considering the distance between the placeable area and the robot, the total height of the boxes in the placeable area also needs to be considered. Thus, the cost value of the placeable area can be determined by combining these two parameters. For example, a weighted sum processing is performed on the distance between the placeable area and the robot and the total height of the boxes in the placeable area to obtain the cost value corresponding to the placeable area.

[0047] S140: Determine the target area from at least one placeable area according to the cost value corresponding to each placeable area.

[0048] Specifically, according to the cost value corresponding to each placeable area, select the placeable area that is most suitable for placing the target box from all the placeable areas, and determine this placeable area as the target area. Among them, all the placeable areas can be sorted according to the cost value corresponding to each placeable area, and finally, the target area is determined according to the sorting result.

[0049] In one embodiment, the farther the distance between the placeable area and the robot, the smaller the cost value corresponding to the placeable area. Then step S140 specifically includes: S141: Determine the placeable area with the smallest corresponding cost value as the target area.

[0050] Specifically, through step S141, the placeable area farthest from the robot can be determined as the target area (this target distance is also the placeable area closest to the origin of the pallet coordinate system). Considering that the closer the box is to the robot, the higher the probability of the box interfering with the robot, therefore, determining the placeable area with the smallest corresponding cost value as the target area can avoid collisions between the robot and the boxes during the palletizing process.

[0051] In other embodiments, the farther the distance between the placeable area and the robot, the larger the cost value corresponding to the placeable area. Then step S140 specifically includes: S142: Determine the placeable area with the largest corresponding cost value as the target area.

[0052] S150: Control the robot to place the target box on the target area of the pallet.

[0053] After determining the target area, control the robot to place the target box on the target area of the pallet, thereby completing the palletizing of the target box. When a new box comes, for the new box, steps S110 - S150 are executed again.

[0054] In one embodiment, after step S150, the following steps are further included: S160: Update the storage table according to the stacking height of the boxes on the tray, where the storage table stores the positions of each connected region on the tray and the information of each connected region, and subsequently read the information of each connected region on the tray from the storage table.

[0055] Specifically, after the robot places the target box on the tray, update each connected region on the tray in the storage table according to the heights of all the boxes on the tray. The information of each connected region includes the position, size (length and height) of the connected region, and the height of the boxes stacked on the connected region, etc. A one-to-one mapping relationship of connected region position - connected region size - total height of the boxes stacked in the connected region can be formed in the storage table. Subsequently, when step S110 is executed again, all the connected regions on the tray can be directly obtained from the storage table.

[0056] It can be seen from the above that in this application, first, all the available areas for placing the target box are obtained from all the connected regions of the tray, then the cost value corresponding to each available area is determined at least according to the distance between the available area and the robot, and finally, according to the cost value corresponding to each available area, the most suitable available area for placing the target box is selected, and this available area is determined as the target area, and finally, the robot is controlled to place the target box on the target area of the tray. Through the solution of this application, regardless of the size of the incoming target box, the stacking of the target box can be realized, and there is no need for the user to manually select the stacking rule, which can reduce the difficulty of robot palletizing and improve the efficiency of robot palletizing.

[0057] Refer to Figure 4 , Figure 4 FIG. is a schematic structural diagram of one embodiment of the palletizing device of this application. The palletizing device 200 includes a processor 210, a memory 220, and a communication circuit 230. The processor 210 is respectively coupled to the memory 220 and the communication circuit 230. Program data is stored in the memory 220, and the processor 210 realizes the steps in the method of any one of the above embodiments by executing the program data in the memory 220. For the detailed steps, reference can be made to the above embodiments and will not be elaborated here.

[0058] Among them, the palletizing device 200 can be any device with algorithm processing capabilities such as a computer, a robot control cabinet, etc., and is not limited here.

[0059] Refer to Figure 5 , Figure 5 FIG. is a schematic structural diagram of another embodiment of the palletizing device of this application. The palletizing device 300 includes a first acquisition module 310, a second acquisition module 320, a cost value module 330, a determination module 340, and a control module 350.

[0060] The first acquisition module 310 is configured to acquire all the connected regions on the pallet, where the total height of the boxes placed in the connected regions is equal everywhere, and the total height of the boxes placed in two adjacent connected regions is not equal.

[0061] The second acquisition module 320 is connected to the first acquisition module 310 and is configured to acquire the target size of the target box, and determine at least one placement area on the pallet for placing the target box from all the connected regions according to the target size of the target box.

[0062] The cost value module 330 is connected to the second acquisition module 320 and is configured to determine the cost value corresponding to each placement area at least according to the distance between the placement area and the robot.

[0063] The determination module 340 is connected to the cost value module 330 and is configured to determine the target area from at least one placement area according to the cost value corresponding to each placement area.

[0064] The control module 350 is connected to the determination module 340 and is configured to control the robot to place the target box on the target area of the pallet.

[0065] Wherein, when the palletizing device 300 is working, the first acquisition module 310, the second acquisition module 320, the cost value module 330, the determination module 340 and the control module 350 cooperate with each other to implement the palletizing method in any one of the above embodiments. For the detailed method steps, reference can be made to the relevant content above and will not be elaborated here.

[0066] Wherein, the palletizing device 300 can be any device with algorithm processing capabilities such as a computer, a robot control cabinet, etc., which is not limited here.

[0067] Refer to Figure 6 , Figure 6 FIG. is a schematic structural diagram of an embodiment of the computer-readable storage medium of the present application. The computer-readable storage medium 400 stores a computer program 410, and the computer program 410 can be executed by a processor to implement the steps in any one of the above methods.

[0068] Wherein, the computer-readable storage medium 400 can specifically be a device such as a USB flash drive, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disc that can store the computer program 410, or it can also be a server storing the computer program 410. The server can send the stored computer program 410 to other devices for running, or it can also run the stored computer program 410 by itself.

[0069] The above are only embodiments of the present application, and thus do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present application, or directly or indirectly applied in other related technical fields, shall similarly be included within the patent protection scope of the present application.

Claims

1. A palletizing method, characterized in that: The method comprises: Obtain all connected domains on the pallet, wherein the total height of the boxes placed in the connected domains is equal everywhere, and the total height of the boxes placed in two adjacent connected domains is not equal; Acquire a target size of a target box, and determine at least one placeable area on the pallet where the target box can be placed from all the connected domains according to the target size of the target box; For each of the placeable areas, determining a cost value corresponding to the placeable area at least according to a distance between the placeable area and the robot; Determine a target area from the at least one droppable area according to the cost value corresponding to each droppable area; The robot is controlled to place the target box on the target area of ​​the pallet.

2. The method according to claim 1, characterized in that The method further comprises: According to the stacking height of the boxes on the pallet, a storage table is updated, wherein the storage table stores the positions of each of the connected domains on the pallet and the information of each of the connected domains, and the information of each of the connected domains on the pallet is subsequently read from the storage table.

3. The method according to claim 1, characterized in that The step of determining the cost value corresponding to the placeable area at least according to the distance between the placeable area and the robot comprises: Obtaining the coordinates of the droppable area in the pallet coordinate system of the pallet; The cost value of the droppable area is determined according to the coordinates of the droppable area.

4. The method according to claim 3, characterized in that The origin of the pallet coordinate system is the corner point of the pallet farthest from the robot; The step of determining the cost value of the droppable area according to the coordinates of the droppable area comprises: The cost value of the droppable area is calculated according to the following formula: in, is the cost value of the droppable area, is the component of the coordinates of the droppable area in the X direction in the pallet coordinate system, is the component of the coordinates of the droppable area in the Y direction in the pallet coordinate system, is the component of the coordinates of the droppable area in the pallet coordinate system in the Z direction, , , is the preset coefficient.

5. The method according to claim 1, characterized in that The step of determining at least one placeable area on the pallet where the target box can be placed from all the connected domains according to the target size of the target box comprises: In response to the length of the connected domain being greater than or equal to the length in the target size and the width of the connected domain being greater than or equal to the width in the target size, the connected domain is determined as the droppable area.

6. The method according to claim 1, characterized in that The farther the distance between the droppable area and the robot is, the smaller the cost value corresponding to the droppable area is; The step of determining a target area from the at least one droppable area according to the cost value corresponding to each droppable area comprises: The droppable area corresponding to the minimum cost value is determined as the target area.

7. The method according to claim 1, characterized in that Before determining the cost value corresponding to each of the placeable areas at least according to the distance between the placeable area and the robot, the method further includes: In response to the number of the placeable area being one, controlling the robot to place the target box on the placeable area of ​​the pallet; In response to the number of the placeable areas being more than two, the step of determining, for each of the placeable areas, a cost value corresponding to the placeable area based at least on a distance between the placeable area and the robot is performed.

8. A palletizing device, characterized in that: The palletizing equipment comprises: A first acquisition module is used to acquire all connected domains on the pallet, wherein the total height of the boxes placed in the connected domains is equal everywhere, and the total height of the boxes placed in two adjacent connected domains is not equal; a second acquisition module, connected to the first acquisition module, configured to acquire a target size of a target box, and determine at least one placeable area on the pallet where the target box can be placed from all the connected domains according to the target size of the target box; A cost value module and the second acquisition module, for determining, for each of the droppable areas, a cost value corresponding to the droppable area at least according to a distance between the droppable area and the robot; A determination module, connected to the cost value module, configured to determine a target area from the at least one droppable area according to the cost value corresponding to each droppable area; A control module is connected to the determination module and is used to control the robot to place the target box on the target area of ​​the pallet.

9. A palletizing device, characterized in that: The palletizing equipment includes a processor, a memory and a communication circuit, the processor is coupled to the memory and the communication circuit respectively, the memory stores program data, and the processor implements the steps in the method according to any one of claims 1 to 7 by executing the program data in the memory.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and the computer program can be executed by a processor to implement the steps in the method according to any one of claims 1 to 7.

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