Palletizing method, palletizing device and computer readable storage medium

Abstract

The present application discloses a palletizing method, a palletizing device, and a computer-readable storage medium. The palletizing method includes: obtaining all connected domains on a pallet, wherein the total height of boxes placed in the connected domains is equal everywhere, and the total height of boxes placed in two adjacent connected domains is unequal; obtaining a target size of a target box, and determining at least one placeable area on the pallet where the target box can be placed based on the target size of the target box from all connected domains; for each placeable area, determining a cost value corresponding to the placeable area based on at least the distance between the placeable area and a robot; determining a target area from at least one placeable area based on the cost value corresponding to each placeable area; and controlling the robot to place the target box on the target area of ​​the pallet. The palletizing method of the present application can reduce the difficulty of robot palletizing and improve the efficiency of robot palletizing.

Description

Technical Field

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

[0002] In logistics and warehousing scenarios, there is a huge demand for robots that can palletize disordered mixed boxes. However, boxes usually come in different sizes and specifications, and robots often cannot foresee all the boxes coming onto the conveyor belt. The incoming boxes are uncertain, so the robots cannot perform global optimal planning for the entire box sequence, which ultimately affects palletizing efficiency and 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] A first aspect of an embodiment of the present application provides a palletizing method, the method comprising:

[0005] 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;

[0006] Obtaining a target size of a target box, and determining, based on the target size of the target box, at least one placement area on the pallet where the target box can be placed from all the connected domains;

[0007] For each of the droppable areas, determining a cost value corresponding to the droppable area based at least on a distance between the droppable area and the robot;

[0008] determining a target area from the at least one droppable area according to the cost value corresponding to each droppable area;

[0009] The robot is controlled to place the target box on the target area of ​​the pallet.

[0010] The method further comprises:

[0011] A storage table is updated according to the stacking height of the boxes on the pallet, wherein the storage table stores the position of each connected domain on the pallet and information of each connected domain, and the information of each connected domain on the pallet is subsequently read from the storage table.

[0012] The step of determining the cost value corresponding to the placeable area based at least on the distance between the placeable area and the robot comprises:

[0013] Obtaining the coordinates of the droppable area in the pallet coordinate system of the pallet;

[0014] The cost value of the droppable area is determined according to the coordinates of the droppable area.

[0015] The origin of the pallet coordinate system is the corner point of the pallet farthest from the robot;

[0016] The step of determining the cost value of the droppable area according to the coordinates of the droppable area includes:

[0017] The cost value of the droppable area is calculated according to the following formula:

[0018]

[0019] in, is the cost value of the droppable area, is the component of the coordinate of the placeable area in the X direction in the pallet coordinate system, is the Y-direction component of the coordinates of the placeable area in the pallet coordinate system, is the component of the coordinates of the placeable area in the Z direction in the pallet coordinate system, 、 、 is the preset coefficient.

[0020] The step of determining at least one placement 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 includes:

[0021] 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.

[0022] The farther the distance between the droppable area and the robot is, the smaller the cost value corresponding to the droppable area is.

[0023] The step of determining a target area from the at least one droppable area according to the cost value corresponding to each droppable area includes:

[0024] The droppable area corresponding to the minimum cost value is determined as the target area.

[0025] Before determining the cost value corresponding to each of the placeable areas based at least on the distance between the placeable area and the robot, the method further includes:

[0026] In response to the number of the available placement areas being one, controlling the robot to place the target box on the available placement area of ​​the pallet;

[0027] In response to the number of the placeable areas being two or more, 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.

[0028] A second aspect of an embodiment of the present application provides a palletizing device, the palletizing device comprising:

[0029] A first acquisition module is configured to acquire all connected domains on the pallet, wherein the total height of boxes placed in the connected domains is the same everywhere, and the total heights of boxes placed in two adjacent connected domains are not equal;

[0030] a second acquisition module, connected to the first acquisition module, configured to acquire a target size of a target box, and determine, based on the target size of the target box, at least one placement area on the pallet where the target box can be placed from all the connected domains;

[0031] a cost value module and the second acquisition module, configured to determine, for each of the droppable areas, a cost value corresponding to the droppable area based at least on a distance between the droppable area and the robot;

[0032] 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;

[0033] 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.

[0034] A third aspect of an embodiment of the present application provides a palletizing device, which 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. The processor implements the steps in the above method by executing the program data in the memory.

[0035] A fourth aspect of an embodiment of the present application provides a computer-readable storage medium, wherein 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.

[0036] The beneficial effect is as follows: the present application first obtains all available areas on the pallet that can accommodate the target box from all connected domains, then determines the cost value corresponding to each available area based at least on the distance between the available area and the robot, and finally selects the available area that is most suitable for accommodating the target box based on the cost value corresponding to each available area, and determines the available area as the target area, and finally controls the robot to place the target box on the target area of ​​the pallet. Through the solution of the present application, regardless of the size of the incoming target box, the target box can be stacked without the user having to manually select the stacking rules, which can reduce the difficulty of robot stacking and improve the efficiency of robot stacking. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present application. Those skilled in the art can also derive other drawings based on these drawings without inventive work, among which:

[0038] Figure 1 This is a schematic diagram of the robot palletizing in this application;

[0039] Figure 2 This is a schematic flow chart of an embodiment of the palletizing method of the present application;

[0040] Figure 3 It is a schematic diagram of the structure of the connected domain on the pallet of this application;

[0041] Figure 4 This is a structural diagram of an embodiment of the palletizing equipment of the present application;

[0042] Figure 5 It is a structural schematic diagram of another embodiment of the palletizing equipment of the present application;

[0043] Figure 6 It is a structural diagram of an embodiment of a computer-readable storage medium of the present application. DETAILED DESCRIPTION

[0044] The following will be combined with the accompanying drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0045] It should be noted that the terms "first" and "second" in this application are only used for descriptive purposes and should not be understood as indicating or suggesting relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. 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 may optionally include steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products or devices.

[0046] Before introducing the solution of this application, the basic knowledge of robot palletizing is introduced:

[0047] See Figure 1 The pallet 10 is a platform for storing boxes, and serves as a medium for converting static boxes into dynamic boxes. 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.

[0048] 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, it is first 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 one embodiment of the present application, the pallet coordinate system is established with the corner point of the pallet 10 farthest from the robot 20 as the origin. Figure 1 The pallet coordinate system shown (wherein the corner point of the pallet 10 farthest from the robot 20 may specifically refer to the corner point of the pallet 10 carrying area for carrying boxes farthest from the robot 20), and all components of the coordinates of any point on the carrying surface of the pallet 10 in the pallet coordinate system are positive numbers. Figure 1 In the figure, the pallet coordinate system is denoted as T, and the base coordinate system of the robot 20 is denoted as B. Of course, in other embodiments, the pallet coordinate system can also be established with the corner point of the pallet 10 closest to the robot 20 as the origin. In short, this application does not limit the specific rules for establishing the pallet coordinate system.

[0049] See Figure 2 , Figure 2 1 is a flow chart of an embodiment of the palletizing method of the present application, the method comprising:

[0050] S110: Acquire all connected domains on the pallet, wherein the total heights of boxes placed in the connected domains are equal everywhere, and the total heights of boxes placed in two adjacent connected domains are not equal.

[0051] The palletizing method of the present application may be performed by a palletizing device that controls the movement of the robot. The palletizing device may be a robot control cabinet or other palletizing devices such as a computer, and no limitation is imposed here.

[0052] Specifically, the definition of a connected domain on a pallet refers to a connected area composed of the surfaces of boxes with the same height on the pallet. Specifically, the total height of the boxes placed on the pallet in the same connected domain is equal everywhere, while the total height of the boxes placed on the pallet in two adjacent connected domains is not equal. That is to say, the upper surface of the top box in a connected domain is on the same horizontal plane, and the upper surfaces of the top boxes in two adjacent connected domains are not on the same horizontal plane.

[0053] For ease of understanding, Figure 3 To illustrate with an example: Figure 3 In the example, the pallet includes 5 connected domains. Assume that the total height of the boxes in connected domain 1 is H1, the total height of the boxes in connected domain 2 is H2, the total height of the boxes in connected domain 3 is H3, the total height of the boxes in connected domain 4 is H4, and the total height of the boxes in connected domain 5 is H5. Among them, H1, H2, and H4 are not equal, H3 and H1 can be equal or different, and H5 and H1 can be equal or different.

[0054] The meaning of obtaining all connected domains on the pallet is to obtain parameters such as the position of each connected domain on the pallet, the size of each connected domain (the size of the connected domain refers to the length and width of the connected domain), and the total height of the boxes in each connected domain.

[0055] It is understandable that each time the robot places a box on the pallet, the connected domain on the pallet will be updated.

[0056] S120: Obtain a target size of the target box, and determine at least one placeable area on the pallet where the target box can be placed from all connected domains based on the target size of the target box.

[0057] Specifically, the target box is the box that the robot will next place on the pallet, and the target dimensions of the target box include the length, width, and height of the target box. The target dimensions of the target box can be obtained through image recognition, i.e., by photographing the target box with a camera and then performing recognition processing on the image to obtain the target dimensions of the target box. Alternatively, the target dimensions of the target box can be obtained through other sensors. In summary, this application does not impose any specific restrictions on the method for obtaining the target dimensions of the target box.

[0058] After obtaining the target size of the target box, all connected domains on the pallet that can accommodate the target box are determined based on the target size, and the determined connected domains are defined as placement areas.

[0059] In one embodiment, step S120 specifically includes:

[0060] S121: 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, determining the connected domain as a droppable area.

[0061] Specifically, in order to prevent the target box from falling off after being placed on the pallet, the upper surface of the box below the target box is required to be sufficient to support the target box. Therefore, only a connected domain with a size larger than the target size can place the target box, that is, only a connected domain that meets the following requirements: the length is greater than the length of the target box and the width is greater than the width of the target box, can become a placeable area for the target box.

[0062] In another embodiment, step S120 specifically includes:

[0063] S122: In response to the connected domain length being greater than or equal to the target size length, the connected domain width being greater than or equal to the target size width, and the difference between the connected domain area and the bottom area of ​​the target box being less than a difference threshold, the connected domain is determined as a placeable area. This setting can avoid waste caused by using an overly large connected domain to place the target box.

[0064] Among them, the number of available areas determined in step S120 may be one, multiple, or zero. When the number of available areas determined is zero, it means that the target box cannot be placed on the current pallet. At this time, the robot can be controlled to move to the next pallet, and steps S110 to S150 can be executed for the next pallet, or an alarm can be issued. When the number of available areas is one, it means that there is only one connected domain on the pallet where the target box can be placed. The robot is controlled to directly place the target box on the available area without executing steps S130 to S150. That is, in response to the number of available areas being one, the robot is controlled to place the target box on the available area of ​​the pallet; in response to the number of available areas being two or more, subsequent steps S130-S150 are executed.

[0065] S130: For each placeable area, determine a cost value corresponding to the placeable area based at least on the distance between the placeable area and the robot.

[0066] Specifically, considering that the farther the placeable area is from the robot, the lower the probability of interfering with the robot after the target box is placed in the placeable area, the cost value corresponding to the placeable area can be determined at least based on the distance between the placeable area and the robot.

[0067] In one embodiment, step S130 specifically includes:

[0068] S131: Obtain the coordinates of the droppable area in the pallet coordinate system of the pallet.

[0069] S132: Determine the cost of the droppable area based on the coordinates of the droppable area.

[0070] Specifically, the coordinates of the droppable area may refer to the coordinates of the center point of the droppable area in the pallet coordinate system, or the coordinates of a vertex of the droppable area in the pallet coordinate system, or the coordinates of a preset target point in the droppable area in the pallet coordinate system.

[0071] The coordinates of the placeable area in the pallet coordinate system indicate the position of the placeable area in the pallet and also indicate the distance between the placeable area and the robot. Therefore, the cost of the placeable area can be determined based on the coordinates of the placeable area.

[0072] In one embodiment, the pallet coordinate system is established according to the following rules:

[0073] See Figure 1 , take the corner point of the pallet 10 farthest from the robot 20 as the origin to establish Figure 1 The pallet coordinate system shown (wherein the corner point of the pallet 10 farthest from the robot 20 specifically refers to the corner point of the pallet 10 used to carry the box that is farthest from the robot 20), and all components of the coordinates of any point on the carrying surface of the pallet 10 in the pallet coordinate system are positive numbers.

[0074] In one embodiment, when the pallet coordinate system is established according to the above rules, step S132 specifically includes:

[0075] S1321: Calculate the cost of the available area according to the following formula:

[0076]

[0077] in, is the cost value of the removable area, is the X-direction component of the coordinates of the placeable area in the pallet coordinate system, is the Y-direction component of the coordinates of the placeable area in the pallet coordinate system, is the component of the coordinates of the placeable area in the Z direction in the pallet coordinate system, 、 、 is the preset coefficient.

[0078] in, 、 、 It is a preset coefficient and can be set according to actual needs.

[0079] The above function for calculating the droppable area is a heuristic function.

[0080] In other implementations, other formulas may be used to calculate the cost of the placeable area. For example, the following formula may be used to calculate the cost of the placeable area:

[0081]

[0082] 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 according to the layer height to avoid instability caused by the boxes falling off due to the stacking layer height of a certain area of ​​the pallet being much higher than that of 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 must also be considered. Therefore, the cost value of the placeable area can be determined by combining these two parameters. For example, the distance between the placeable area and the robot and the total height of the boxes in the placeable area are weighted and summed to obtain the cost value corresponding to the placeable area.

[0083] S140: Determine a target area from at least one droppable area according to the cost value corresponding to each droppable area.

[0084] Specifically, based on the cost value corresponding to each available area, the available area that is most suitable for the target cabinet is selected from all available areas and is determined as the target area. All available areas can be sorted based on the cost value corresponding to each available area, and the target area is ultimately determined based on the sorting results.

[0085] In one embodiment, the farther the distance between the drop zone and the robot is, the smaller the cost value corresponding to the drop zone is. Step S140 specifically includes:

[0086] S141: Determine the placeable area with the minimum corresponding cost as the target area.

[0087] Specifically, after step S141, the placement area farthest from the robot can be determined as the target area (the target distance is also the placement 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, the placement area with the smallest corresponding cost value is determined as the target area, which can avoid collisions between the robot and the box during the stacking process.

[0088] In other embodiments, the farther the distance between the droppable area and the robot is, the greater the cost value corresponding to the droppable area is. Then step S140 specifically includes: S142: determining the droppable area with the largest corresponding cost value as the target area.

[0089] S150: Control the robot to place the target box on the target area of ​​the pallet.

[0090] After determining the target area, the robot is controlled 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, steps S110-S150 are performed again for the new box.

[0091] In one embodiment, after step S150, the method further includes:

[0092] S160: updating a storage table according to the stacking height of the boxes on the pallet, wherein the storage table stores the position of each connected domain on the pallet and information of each connected domain, and subsequently reading the information of each connected domain on the pallet from the storage table.

[0093] Specifically, after the robot places the target box on the pallet, it updates each connected domain on the pallet in the storage table based on the heights of all the boxes on the pallet. Information about each connected domain includes its location, dimensions (length and height), and the height of the boxes stacked within it. A one-to-one mapping relationship is established in the storage table: connected domain location, connected domain dimensions, and the total height of the boxes stacked within it. Subsequently, when step S110 is executed again, all connected domains on the pallet can be directly retrieved from the storage table.

[0094] As can be seen from the above content, the present application first obtains all available areas on the pallet that can hold the target box from all connected domains, then determines the cost value corresponding to each available area based on at least the distance between the available area and the robot, and finally selects the available area that is most suitable for holding the target box based on the cost value corresponding to each available area, and determines the available area as the target area, and finally controls the robot to place the target box on the target area of ​​the pallet. Through the solution of the present application, regardless of the size of the incoming target box, the target box can be stacked without the user having to manually select the stacking rules, which can reduce the difficulty of robot stacking and improve the efficiency of robot stacking.

[0095] See Figure 4 , Figure 4 2 is a schematic diagram of the structure of one embodiment of the palletizing device of the present application. The palletizing device 200 includes a processor 210, a memory 220, and a communication circuit 230. The processor 210 is coupled to the memory 220 and the communication circuit 230, respectively. The memory 220 stores program data. The processor 210 executes the program data in the memory 220 to implement the steps of any of the above-mentioned embodiments. The detailed steps can be found in the above-mentioned embodiments and will not be repeated here.

[0096] The palletizing equipment 200 may be any device with algorithm processing capabilities, such as a computer, a robot control cabinet, etc., and is not limited here.

[0097] See Figure 5 , Figure 5 3 is a schematic structural diagram of another embodiment of the palletizing device of the present 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 .

[0098] The first acquisition module 310 is used to acquire all connected domains on the pallet, wherein the total height of boxes placed in the connected domains is equal everywhere, and the total height of boxes placed in two adjacent connected domains is not equal.

[0099] The second acquisition module 320 is connected to the first acquisition module 310 and is used to acquire the target size of the target box and determine at least one placeable area on the pallet where the target box can be placed from all connected domains according to the target size of the target box.

[0100] The cost value module 330 and the second acquisition module 320 are configured to determine, for each placeable area, a cost value corresponding to the placeable area based at least on the distance between the placeable area and the robot.

[0101] The determination module 340 is connected to the cost value module 330 and is configured to determine a target area from at least one droppable area according to the cost value corresponding to each droppable area.

[0102] The control module 350 is connected to the determination module 340 and is used to control the robot to place the target box on the target area of ​​the pallet.

[0103] Among them, 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 of the above-mentioned embodiments. The detailed method steps can be found in the above-mentioned related content and will not be repeated here.

[0104] The palletizing equipment 300 may be any device with algorithm processing capabilities, such as a computer, a robot control cabinet, etc., and is not limited here.

[0105] See Figure 6 , Figure 6 The computer-readable storage medium 400 stores a computer program 410, which can be executed by a processor to implement the steps of any of the above methods.

[0106] The computer-readable storage medium 400 may specifically be a device that can store the computer program 410, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, or may be a server that stores the computer program 410. The server may send the stored computer program 410 to other devices for execution, or may also execute the stored computer program 410 itself.

[0107] The above description is merely an embodiment of the present application and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in 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; Obtaining a target size of a target box, and determining, based on the target size of the target box, at least one placement area on the pallet where the target box can be placed from all the connected domains; For each of the droppable areas, determining a cost value corresponding to the droppable area based at least on a distance between the droppable area and the robot; determining a target area from the at least one droppable area according to the cost value corresponding to each droppable area; Controlling the robot to place the target box on the target area of ​​the pallet; The method further comprises: updating a storage table according to the stacking height of the boxes on the pallet, wherein the storage table stores the position of each connected domain on the pallet and information of each connected domain, and subsequently reading the information of each connected domain on the pallet from the storage table; The step of determining the cost value corresponding to the placeable area based at least on 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; Determining the cost value of the droppable area according to the coordinates of the droppable area; 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 includes: 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 coordinate of the placeable area in the X direction in the pallet coordinate system, is the Y-direction component of the coordinates of the placeable area in the pallet coordinate system, is the component of the coordinates of the placeable area in the Z direction in the pallet coordinate system, 、 、 is the preset coefficient; Before determining the cost value corresponding to each of the placeable areas based at least on the distance between the placeable area and the robot, the method further includes: In response to the number of the available placement areas being one, controlling the robot to place the target box on the available placement area of ​​the pallet; In response to the number of the placeable areas being two or more, 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.

2. The method according to claim 1, characterized in that The step of determining at least one placement 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.

3. 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 includes: The droppable area corresponding to the minimum cost value is determined as the target area.

4. A palletizing device, characterized in that: The palletizing equipment includes: A first acquisition module is configured to acquire all connected domains on the pallet, wherein the total height of boxes placed in the connected domains is the same everywhere, and the total heights of boxes placed in two adjacent connected domains are not equal; a second acquisition module, connected to the first acquisition module, configured to acquire a target size of a target box, and determine, based on the target size of the target box, at least one placement area on the pallet where the target box can be placed from all the connected domains; a cost value module and the second acquisition module, configured to determine, for each of the droppable areas, a cost value corresponding to the droppable area based at least on 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, connected to the determination module, and configured to control the robot to place the target box on the target area of ​​the pallet; The first acquisition module, the second acquisition module, the cost value module, the determination module and the control module cooperate with each other to implement the steps in the method according to any one of claims 1 to 3.

5. A palletizing device, characterized in that: The palletizing device 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. The processor implements the steps of the method according to any one of claims 1 to 3 by executing the program data in the memory.

6. 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 3.

Images