Automatic stock layout and stack shape generation method and device for robot stacking and storage medium

Abstract

The invention discloses a robot stacking automatic stock layout and stack shape generation method and device and a storage medium, and relates to the technical field of stacking. The method comprises the steps that if the size difference of goods to be placed is within a preset difference range, a top edge queue is obtained; sequentially obtaining first top edges in the top edge queue according to a preset sequence; according to the size of the to-be-placed goods and the size of the to-be-placed tray, whether the goods can be placed on the first top edge or not is judged; if the target goods can be placed, placing the target goods according to the target placing scheme; when the top edge queue is empty, the placing position is adjusted according to the overall gravity center of the placed goods, and a stock layout result is obtained. According to the stacking device, waste of storage space can be reduced in the stacking process.

Description

Technical Field

[0001] This application relates to the technical field of palletizing, and particularly to a method, device, and storage medium for automatic pattern arrangement and stack shape generation in robotic palletizing. Background Art

[0002] Palletizing refers to the operation process of stacking goods on pallets, shelves, or other storage spaces according to certain rules and sequences, with the aim of achieving efficient storage, transportation, and sorting of goods.

[0003] In the common palletizing process, common pattern arrangement and stack shape types, such as matrix arrangement, staggered arrangement, and well-shaped arrangement, are preset in the program. According to the size (length, width, height), weight of the goods, and the size information of the pallet, the most similar preset pattern arrangement and stack shape type are automatically matched to obtain the placement position of the goods on the pallet. However, due to the limited preset pattern arrangement and stack shape types, it is impossible to generate the optimal pattern arrangement and stack shape for each combination of goods and pallet sizes. This results in the space on the pallet not being fully utilized, causing space waste.

[0004] The above content is only used to assist in understanding the technical solution of this application, and does not represent an admission that the above content is prior art. Summary of the Invention

[0005] The main purpose of this application is to provide a method, device, and storage medium for automatic pattern arrangement and stack shape generation in robotic palletizing, aiming to solve the technical problem of how to improve space utilization rate during the palletizing process.

[0006] To achieve the above object, this application proposes a method for automatic pattern arrangement and stack shape generation in robotic palletizing, and the method for automatic pattern arrangement and stack shape generation in robotic palletizing includes:

[0007] If the size difference of the goods to be placed is within a preset difference range, obtain the top edge queue;

[0008] Obtain the first top edge in the top edge queue in sequence according to a preset order;

[0009] According to the size of the goods to be placed and the size of the pallet to be placed, determine whether the goods can be placed on the first top edge;

[0010] If it can be placed, place the target goods according to the target placement plan;

[0011] When the top edge queue is empty, adjust the placement position according to the overall center of gravity of the placed goods to obtain the pattern arrangement result.

[0012] In one embodiment, before the step of if the size difference of the goods to be placed is within a preset difference range, obtain the top edge queue, it further includes:

[0013] Taking the lower left corner vertex of the tray to be placed as the center, establish a coordinate system;

[0014] Taking the side of the tray to be placed along the horizontal axis as the initial top side, establish the top side queue according to the initial top side.

[0015] In one embodiment, the step of obtaining the top side queue if the size differences of the goods to be placed are within a preset difference range includes:

[0016] Obtain the size of the goods to be placed, and determine the size standard deviation according to the size of the goods to be placed;

[0017] Determine the coefficient of variation according to the size standard deviation;

[0018] If all the coefficients of variation are less than a preset size threshold, confirm that the size differences are within the difference range, and obtain the top side queue.

[0019] In one embodiment, after the step of judging whether the goods can be placed on the first top side according to the size of the goods to be placed and the size of the tray to be placed, the following steps are further included:

[0020] If any side length of the goods to be placed is greater than the side length of the first top side, or the sum of the other side length of the goods to be placed and the side length of the adjacent side of the first top side is greater than the size of the tray to be placed, confirm that placement cannot be performed;

[0021] Obtain the second top side adjacent to the first top side in the top side queue, merge the first top side and the second top side, and store them in the top side queue.

[0022] In one embodiment, the step of placing the target goods according to the target placement plan if placement is possible includes:

[0023] If it is confirmed that placement is possible, make the lower left corner vertex of the target goods coincide with the endpoint of the first top side, place the target goods, and obtain the first placement plan;

[0024] Rotate the target goods, swap the length and width of the target goods, and obtain the second placement plan;

[0025] Determine the target placement plan according to the space waste score and the top side height score of the first placement plan, and the space waste score and the top side height score of the second placement plan;

[0026] Place the target goods according to the target placement plan;

[0027] Create the top edge according to the placement result, and update the top edge queue according to the creation result.

[0028] In one embodiment, the method further includes:

[0029] If the size difference is not within the difference range, obtain the corner point queue;

[0030] Obtain the corner points in the corner point queue in a preset order, and determine whether the goods can be placed in the target subspace corresponding to the corner points according to the goods size;

[0031] If it can be placed, place the goods at the corner point;

[0032] When the corner point queue is empty, adjust the placement position according to the overall center of gravity of the placed goods to obtain the stack shape.

[0033] In one embodiment, before the step of if the size difference is not within the difference range, obtain the corner point queue, it further includes:

[0034] Obtain the space to be placed, divide the space to be placed to obtain a plurality of first subspaces;

[0035] Obtain the corner vertices of any corner of each of the first subspaces, and generate the corner point queue according to the corner vertices.

[0036] In one embodiment, after the step of if it can be placed, place the goods at the corner point, it further includes:

[0037] Divide the target subspace again to obtain second subspaces;

[0038] Store the corner vertices of the second subspaces into the corner point queue.

[0039] In addition, to achieve the above object, the present application also proposes a robot palletizing automatic layout and stack shape generation device, the device includes: a memory, a processor, and a computer program stored on the memory and executable on the processor, the computer program is configured to implement the steps of the robot palletizing automatic layout and stack shape generation method as described above.

[0040] In addition, to achieve the above object, the present application also proposes a storage medium, the storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium, and when the computer program is executed by a processor, it implements the steps of the robot palletizing automatic layout and stack shape generation method as described above.

[0041] The present application provides a method for automatic nesting and pallet pattern generation of robot palletizing. When palletizing goods with little difference in size, it is sequentially determined whether goods can be placed at different positions available for placing goods in the top edge queue. If goods can be placed at a certain position, the goods are placed according to the target placement plan. When the top edge queue is empty and there is no placement space, the placement position is adjusted according to the overall center of gravity of the placed goods. By dynamically checking and adjusting the placement position of the goods, without relying on fixed nesting or pallet pattern types, it can more flexibly adapt to goods of different sizes and weights and pallets of different shapes. It solves the problem that the pallet space cannot be fully utilized due to limited pre-set nesting and pallet pattern types. It realizes more fully utilization of space and reduces space waste. By considering the overall center of gravity of the placed goods, the space utilization and the stability of the goods are optimized. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings herein are incorporated into the specification and form a part of the specification, showing embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application.

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0044] Figure 1 It is a schematic flowchart provided for Embodiment 1 of the method for automatic nesting and pallet pattern generation of robot palletizing in the present application;

[0045] Figure 2 It is a schematic flowchart provided for Embodiment 2 of the method for automatic nesting and pallet pattern generation of robot palletizing in the present application;

[0046] Figure 3 It is a schematic diagram of top edge merging provided for the method for automatic nesting and pallet pattern generation of robot palletizing in the present application;

[0047] Figure 4 It is a schematic flowchart provided for Embodiment 3 of the method for automatic nesting and pallet pattern generation of robot palletizing in the present application;

[0048] Figure 5 It is a schematic diagram of top edge creation provided for the method for automatic nesting and pallet pattern generation of robot palletizing in the present application;

[0049] Figure 6 It is a schematic flowchart provided for Embodiment 4 of the method for automatic nesting and pallet pattern generation of robot palletizing in the present application;

[0050] Figure 7A three-dimensional schematic diagram of space segmentation provided for the automatic nesting and stack shape generation method of robot palletizing in this application;

[0051] Figure 8 A two-dimensional schematic diagram of space segmentation provided for the automatic nesting and stack shape generation method of robot palletizing in this application;

[0052] Figure 9 A structural schematic diagram of the hardware operating environment involved in the automatic nesting and stack shape generation method of robot palletizing in the embodiment of this application.

[0053] The implementation, functional features and advantages of this application will be further described in conjunction with embodiments with reference to the accompanying drawings. Detailed implementation manners

[0054] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of this application and are not used to limit this application.

[0055] In order to better understand the technical solutions of this application, the following will be described in detail in conjunction with the drawings of the specification and specific implementation manners.

[0056] The main solution of the embodiment of this application is: if the size difference of the goods to be placed is within a preset difference range, obtain the top edge queue; sequentially obtain the first top edge in the top edge queue according to a preset order; according to the size of the goods to be placed and the size of the pallet to be placed, judge whether the goods can be placed on the first top edge; if it can be placed, place the target goods according to the target placement plan; when the top edge queue is empty, adjust the placement position according to the overall center of gravity of the placed goods to obtain the nesting result.

[0057] Palletizing refers to the operation process of stacking goods on pallets, shelves or other storage spaces according to certain rules and orders, with the aim of realizing the efficient storage, transportation and sorting of goods.

[0058] In the common palletizing process, common nesting and stack shape types, such as matrix arrangement, staggered arrangement, well-shaped arrangement, etc., are preset in the program. According to the size (length, width, height), weight of the goods and the size information of the pallet, the closest preset nesting and stack shape type is automatically matched to obtain the placement position of the goods on the pallet. However, due to the limited preset nesting and stack shape types, it is impossible to generate the optimal nesting and stack shape for each combination of goods and pallet sizes. As a result, the space on the pallet cannot be fully utilized, causing space waste.

[0059] To solve the above problems, the present application provides a method for automatic nesting and stack shape generation in robot palletizing. When palletizing goods with little size difference, it is sequentially determined whether goods can be placed at different positions available for placing goods in the top edge queue. If goods can be placed at a certain position, the goods are placed according to the target placement plan. When the top edge queue is empty and there is no placement space, the placement position is adjusted according to the overall center of gravity of the placed goods. By dynamically checking and adjusting the placement position of the goods, without relying on fixed nesting or stack shape types, it can more flexibly adapt to goods of different sizes and weights and pallets of different shapes. It realizes more fully utilization of space, reduces space waste, reduces waste of storage space, and saves storage costs. It solves the problem that the pallet space cannot be fully utilized due to limited preset nesting and stack shape types. By considering the overall center of gravity of the placed goods, the space utilization and goods stability are optimized.

[0060] It should be noted that the execution subject of this embodiment can be a computing service device with network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device, a device, etc. that can implement the above functions. Hereinafter, taking the robot palletizing automatic nesting and stack shape generation device as an example, this embodiment and the following embodiments will be described.

[0061] Based on this, the embodiment of the present application provides a method for automatic nesting and stack shape generation in robot palletizing. Refer to Figure 1 , Figure 1 It is the flow diagram of the first embodiment of the method for automatic nesting and stack shape generation in robot palletizing of the present application.

[0062] In this embodiment, the method for automatic nesting and stack shape generation in robot palletizing is applied to a robot palletizing automatic nesting and stack shape generation device. The method includes steps S100 to S500:

[0063] Step S100, if the size difference of the goods to be placed is within a preset difference range, obtain the top edge queue.

[0064] In this embodiment, the size of the goods to be placed input by the user is obtained. If the goods sizes are similar, the placement method of the goods is planned in a plane, the nesting of each layer is carried out to determine the layout of the items in each layer, and finally the placement layouts of each layer are combined to obtain a complete stack shape.

[0065] Before step S100 in this embodiment, the following steps are further included:

[0066] Taking the lower left corner vertex of the pallet to be placed as the center, establish a coordinate system;

[0067] Take the side of the tray to be placed along the horizontal axis as the initial top edge, and establish the top edge queue according to the initial top edge.

[0068] In this embodiment, with the lower left corner vertex of the tray to be placed as the center, two adjacent sides are used as the X and Y axes to establish a coordinate system. Denote the length of the tray along the X axis as Tx and the length along the Y axis as Ty. Create a top edge queue and initialize the top edge S. When there is no placed cargo in the tray, the length of the tray along the X axis is the length of the top edge, and the coordinates of the top edge endpoint are (0, 0). After placing the cargo in the tray, take the side of the cargo along the X axis as the top edge, and the length along the X axis as the length of the top edge, create a new top edge and put it into the top edge queue. In the top edge queue, each top board is associated with its corresponding top edge length.

[0069] In a feasible implementation manner, determine the difference degree of the cargo sizes according to the coefficient of variation of the cargo sizes, which specifically includes the following steps:

[0070] Obtain the size of the cargo to be placed, and determine the size standard deviation according to the size of the cargo to be placed.

[0071] Determine the coefficient of variation according to the size standard deviation.

[0072] If all the coefficients of variation are less than the preset size threshold, confirm that the size difference is within the difference range, and obtain the top edge queue.

[0073] In this implementation manner, obtain the size of the cargo to be placed from user input or from the database, and store the cargo size. Calculate the average values of length, width, and height of all different types according to the stored cargo size information. Obtain the length standard deviation, width standard deviation, and height standard deviation according to the average values. Finally, take the ratio of the standard deviation to the average value as the coefficient of variation. If the length coefficient of variation, width coefficient of variation, and height coefficient of variation are all less than the preset size threshold, it is considered that the sizes of the cargoes to be placed are similar; if there is any coefficient of variation greater than or equal to the preset size threshold, it is considered that the size difference is large.

[0074] In a feasible implementation manner, a standard size can also be set in advance. Divide the length, width, and height of the cargo to be placed by the corresponding standard size values to obtain relative sizes. If the relative sizes of all the cargoes are within the preset threshold range, it is considered that the sizes of the cargoes are similar.

[0075] Step S200, sequentially obtain the first top edge in the top edge queue according to the preset order.

[0076] Step S300, judge whether the cargo can be placed on the first top edge according to the size of the cargo to be placed and the size of the tray to be placed.

[0077] In this embodiment, before obtaining the top edge from the top-edge queue, the top edges in the top-edge queue are sorted. The smaller the Y coordinate of the left endpoint of the top edge, the more forward the sorting; if the Y coordinates are the same, the smaller the X coordinate, the more forward the sorting. When extracting the top edge from the top-edge queue, the first top edge S is extracted in sequence according to the arrangement order of the top edges in the top-edge queue. 0 , the left endpoint of the top edge is (x 0 , y 0 ), and the length of the top edge is denoted as S l0 . For each obtained first top edge, according to the size of the goods to be placed and the size of the tray, check whether the length and width of the goods to be placed can find a suitable placement position on the top edge to determine whether there is enough space on the top edge to place the goods. If the length of any side of the goods is not greater than the length S l0 of the first top edge, and the sum of the length of the other side of the goods and y 0 is not greater than the length of the tray, the goods can be placed on S0, otherwise they cannot be placed.

[0078] Step S400, if it can be placed, place the target goods according to the target placement plan.

[0079] In this embodiment, if it can be placed, the placement position selection process is executed to determine a suitable position as the target placement plan. The target placement plan can be determined according to indicators such as the space loss rate, height value difference, center of gravity offset degree, and goods access efficiency caused after placing the target goods. After placing the goods according to the target plan, record the placement position, and store the placement position information according to the unique identifier (such as barcode, RFID tag, etc.) of the target goods. Additional goods attribute information such as goods weight, batch number, production date, etc. can also be added. Repeat the above steps of extracting the first top edge, judging whether the goods can be placed on the first top edge, and placing the goods according to the judgment result until the top-edge queue is empty.

[0080] Step S500, when the top-edge queue is empty, adjust the placement position according to the overall center of gravity of the placed goods to obtain the nesting result.

[0081] In this embodiment, when the top edge queue is empty, it indicates that there is no remaining space to place goods. At this time, obtain the overall center of gravity of all the placed goods, and adjust the placement position of the goods in front of the overall center adjustment point to obtain the final nesting result. When calculating the overall center of gravity, for each piece of goods, record its weight and the coordinates of the center of gravity, multiply the weight of each piece of goods by the coordinates of its center of gravity to obtain a vector representing the contribution of this piece of goods to the overall center of gravity. Add up the contributions of all the goods to obtain a total contribution vector. Finally, divide the total contribution vector by the total weight to obtain the coordinates of the overall center of gravity. According to the principle of being centered and slightly lower, determine the ideal center of gravity position based on the size and shape of the pallet or shelf, compare the calculated overall center of gravity coordinates with the ideal center of gravity coordinates. If the difference between the overall center of gravity coordinates and the ideal center of gravity coordinates exceeds the preset difference range, adjust the placement position of the placed goods to make the overall center coordinates approach the ideal center of gravity coordinates. After adjusting the placement position, record the final placement position and stacking method of the goods.

[0082] In this embodiment, through the nesting process, the stack shape of the goods to be placed is split into separate layers, simplifying the three-dimensional problem into a two-dimensional problem. In each layer, according to the attributes such as the size and shape of the goods, plan the placement of the goods in the plane. After completing the nesting of each layer, combine the layers in a preset order to obtain a complete stack shape. When the goods sizes are similar, the nesting generation process can quickly find the best placement method, with a fast generation speed, reducing the algorithm complexity and calculation amount.

[0083] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar content as the above-mentioned embodiment one can be referred to the above introduction and will not be elaborated hereinafter. On this basis, please refer to Figure 2 , after step S300, steps A100 to A200 may further be included:

[0084] Step A100, if any side length of the goods to be placed is greater than the length of the first top edge, or the sum of the other side length of the goods to be placed and the length of the adjacent side of the first top edge is greater than the size of the pallet to be placed, it is confirmed that placement cannot be performed;

[0085] Step A200, obtain the second top edge closest to the first top edge in the top edge queue, merge the first top edge and the second top edge, and store them in the top edge queue.

[0086] In this implementation, if the length of any side of the goods to be placed is greater than the side length S of the first top edge l0, or if the sum of the length of the other side and y0 is greater than the length of the tray, goods cannot be placed on the first top edge S0. If goods cannot be placed and the top edge queue is not empty, obtain the top edge closest to the first top edge S0 from the top edge queue and merge them. Please refer to Figure 3 , if goods cannot be placed on the top edge S1, obtain the second top edge S2 closest to the first top edge S1 from the top edge queue, merge S1 and S2 to obtain the top edge S3, and put the merged top edge into the top edge queue. The X coordinate of the endpoint of the merged top edge is the minimum value of the X coordinates of the endpoints of the two top edges, the Y coordinate is the maximum value of the Y coordinates of the endpoints of the two top edges, and the side length is the sum of the side lengths of the two top edges.

[0087] Based on the first embodiment of the present application, in the third embodiment of the present application, the same or similar content as in the above-mentioned embodiment one can be referred to the above introduction and will not be elaborated hereinafter. On this basis, please refer to Figure 4 , step S200 may include steps S210 to S250:

[0088] Step S210, if it is confirmed that it can be placed, then coincide the lower left corner vertex of the target goods with the endpoint of the first top edge, and place the target goods to obtain the first placement plan.

[0089] In this embodiment, after confirming that goods can be placed on the first top edge S 0 , the goods that can be placed are used as the target goods. The lower left corner vertex of the target goods is coincided with the left endpoint of the first top edge, and the target goods are placed. This placement method is used as the first placement plan. Calculate the space waste score and the top edge height score of the first placement plan. The waste space score is determined by calculating the size of the remaining unused space in the tray after placing the target goods. The waste space score is used to evaluate the size of the remaining unused space on the tray after placing the goods. The lower the score, the less space is wasted and the higher the placement efficiency. The height balance score is determined by comparing the height difference before and after placing the goods. If the placed goods cause one side of the tray to be too high, the score is reduced. The height balance score is used to evaluate the overall height balance of the tray after placing the goods.

[0090] Optionally, the waste space score = (tray area - target goods area) / tray area * a, where a is a constant less than zero. The larger the wasted space, the lower the score. The height balance score = (tray maximum height - tray average height) / tray average height × b, where b is a coefficient set according to actual needs. The tray maximum height refers to the height of the highest point on the tray after placing the target goods, and the tray average height is the average value of the heights of all trays after placing the goods.

[0091] Step S220: Rotate the target goods to swap the length and width of the target goods, obtaining a second placement plan.

[0092] Step S230: Determine the target placement plan based on the space waste score and top edge height score of the first placement plan, as well as the space waste score and top edge height score of the second placement plan.

[0093] Step S240: Place the target goods according to the target placement plan.

[0094] In this embodiment, the target goods are rotated 90 degrees, and the length and width of the goods are exchanged as the second placement plan. The space waste score and top edge height score are calculated again. The comprehensive score of the two plans is determined based on the space waste score and top edge height score. The comprehensive score = waste space score * weight 1 + height balance score * weight 2, where weight 1 and weight 2 need to be determined according to actual applications, and the sum of weight 1 and weight 2 is 1.

[0095] Step S250: Create a top edge according to the placement result and update the top edge queue according to the creation result.

[0096] Please refer to Figure 5 , after placing the target goods according to the target placement plan, a new top edge is created according to the placement position and put into the top edge queue. The creation rules are as follows: Denote the length of the goods along the X-axis as w and the length along the Y-axis as l. If w is equal to S l0 , then create a top edge with the endpoint coordinates of the top edge S' being (x0, y0 + l) and the side length being S l0 If w is less than S l0 , then create two top edges. The endpoint coordinates of the first top edge S' are (x0, y0 + l) and the side length is w. The endpoint coordinates of the second top edge S'' are (x0 + w, y0) and the side length is S l0 -w.

[0097] In this embodiment, by dynamically updating the top edge queue, the placement method of the goods can be determined according to the size attributes of the goods and the placed situation on the pallet. Compared with the traditional fixed nesting or stacking pattern, the dynamically changing top edge queue can reduce the space waste caused by the mismatch of goods sizes or improper placement positions.

[0098] Based on the first embodiment of the present application, in the fourth embodiment of the present application, the same or similar content as that in the above-mentioned embodiment one can be referred to the above introduction and will not be elaborated hereinafter. On this basis, please refer to Figure 6 , after step S100, steps B100 to B600 may further be included:

[0099] Step B100: Obtain the space to be arranged, and divide the space to be arranged to obtain a plurality of first sub-spaces.

[0100] In this embodiment, if there are many types of goods to be arranged and the size differences are large, then the method of planning the goods arrangement method in a three-dimensional space to generate a stack shape is adopted. First, obtain the sizes of the goods and the arrangement space, and divide the available space into several cuboids. Please refer to Figure 7 , and the division rule is: Use the plane obtained by the intersection of the plane where the surface of the goods that does not coincide with the side surface of the available space intersects with the side surface of the available space as the base surface, and extend it in the X-axis, Y-axis, and Z-axis directions until it coincides with the side surface of the available space. The obtained area is the cuboid after division. Figure 8 Figure 2 shows the division method from a two-dimensional perspective. The blue area represents the space occupied by the goods, the white area represents the remaining available space, and the colored wireframe represents the division result.

[0101] Step B200: Obtain the corner vertices of any corner of each of the first sub-spaces, and generate the corner point queue according to the corner vertices.

[0102] Step B300: If the size difference is not within the difference range, obtain the corner point queue.

[0103] Step B400: Obtain the corner points in the corner point queue in a preset order, and judge whether the goods can be arranged in the target sub-space corresponding to the corner points according to the goods size.

[0104] Step B500: If it can be arranged, arrange the goods at the corner point.

[0105] In this embodiment, after the space is divided, the lower left rear corner vertices of each cuboid (i.e., the first sub-space) are extracted and put into the corner point queue. The corner points in the queue are sorted in the order of YXZ, and the smaller the value, the higher the ranking. Take out the first corner point P0 from the corner point queue, and judge whether the goods can be placed in the sub-space corresponding to the corner point. If the surfaces where any two sides of the goods are located can be contained by the bottom surface of the cuboid and the length of the third side is less than the height of the cuboid, then it can be placed; if the above conditions are not met, it cannot be placed. If it cannot be placed, judge whether the corner point queue is empty, that is, judge whether there is remaining available space. If the queue is not empty, re-extract the corner points, judge whether it can be arranged and perform the steps of placing the goods until the corner point queue is empty.

[0106] Step B600: When the corner point queue is empty, adjust the placement position according to the overall center of gravity of the placed goods to obtain a stack shape.

[0107] In this embodiment, when the corner point queue is empty, it means that no more goods can be placed in the remaining space, that is, the placement space is full. At this time, calculate the overall center of gravity of all the placed goods, and adjust the positions of the goods so that the overall center of gravity is as centered and downward as possible to obtain the final stack shape. The generated stack shape has better stability and avoids problems such as goods tipping over and being damaged.

[0108] Optionally, simulation software can also be used to simulate the stability and load-bearing capacity of the stack shape, and adjust the positions of the goods according to the simulation results. The simulation software can be Demo3D, Flexsim, EasyCargo, etc. After selecting the simulation software, in the simulation software, set the simulation environment according to the actual size and load-bearing capacity of the pallet or shelf. Input parameters such as the weight, size, and shape of the goods, as well as information such as the stacking method and handling path. Create a goods model according to the size and shape of the goods. And create a pallet / shelf model according to the structure and size of the pallet or shelf. In the simulation software, run the simulation model to simulate the stacking process of the goods. Before running the simulation model, set a reasonable position range where the goods should be placed according to the layout of the shelf or pallet. If the position of the goods exceeds the position range, it is regarded as an improper position. Set the maximum stacking height of the goods according to the load-bearing capacity of the shelf or pallet. If the stacking height exceeds this threshold, it is regarded as overstacking. Set the maximum inclination angle when stacking the goods according to the stability and safety requirements of the goods. If the inclination angle exceeds this threshold, it is regarded as excessive inclination. During the process of running the simulation model, obtain parameters such as the position, stacking height, and inclination angle of the goods in real time. Compare the monitored parameters with the set thresholds, and determine the problematic area according to the parameters that exceed the thresholds. For example, if the stacking height of a certain good exceeds the threshold, the area where the good is located is regarded as the overstacking area. Finally, adjust the problematic area according to the simulation results.

[0109] In a feasible implementation manner, after step B500, the following steps are further included:

[0110] Divide the target subspace again to obtain a second subspace;

[0111] Store the corner vertices of the second subspace into the corner point queue.

[0112] In this implementation manner, after meeting the placement conditions and placing the target goods in the target subspace, the target subspace is divided to obtain a second subspace. Since overlap is allowed between the divided cuboids, when the goods are placed in the overlapping area, the placeable spaces of all relevant cuboids need to be divided. After the division is completed, extract and store the lower left corner vertices of the newly divided second subspace, and update the corner point queue.

[0113] In this embodiment, when there are many types of goods and significant differences in their sizes, directly planning the placement method of the goods in three-dimensional space to obtain a stack shape can more flexibly meet the placement requirements of different goods and improve space utilization. Selecting an appropriate generation process according to the size differences of the goods can improve the efficiency and accuracy of goods placement.

[0114] This application provides a robot palletizing automatic nesting and stack shape generation device, including: at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the robot palletizing automatic nesting and stack shape generation method in the first embodiment above.

[0115] Next, refer to Figure 9 , which shows a schematic structural diagram of a robot palletizing automatic nesting and stack shape generation device suitable for implementing the embodiments of this application. The robot palletizing automatic nesting and stack shape generation device in the embodiments of this application may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (portable android devices), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 9 The shown robot palletizing automatic nesting and stack shape generation device is merely an example and should not impose any limitations on the functions and usage scope of the embodiments of this application.

[0116] As Figure 9As shown, the automatic palletizing layout and pallet shape generation device for robots may include a processing device 1001 (such as a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM: Read Only Memory) 1002 or the program loaded from the storage device 1003 into the random access memory (RAM: Random Access Memory) 1004. In the RAM 1004, various programs and data required for the operation of the urban digital twin scenario LOD processing device are also stored. The processing device 1001, the ROM 1002, and the RAM 1004 are connected to each other through a bus 1005. The input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems may be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the automatic palletizing layout and pallet shape generation device for robots to communicate with other devices wirelessly or wiredly to exchange data. Although the figure shows an automatic palletizing layout and pallet shape generation device for robots having various systems, it should be understood that it is not required to implement or have all the shown systems. More or fewer systems may be implemented or had alternatively.

[0117] In particular, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program contains program codes for executing the methods shown in the flowcharts. In such an embodiment, the computer program can be downloaded and installed from the network through the communication device, or installed from the storage device 1003, or installed from the ROM 1002. When the computer program is executed by the processing device 1001, the above functions defined in the methods of the embodiments disclosed in the present application are executed.

[0118] The robot palletizing automatic layout and pallet shape generation device provided by this application adopts the robot palletizing automatic layout and pallet shape generation method in the above-mentioned embodiment, and can solve the technical problem of how to improve the space utilization rate during the palletizing process. Compared with the prior art, the beneficial effects of the robot palletizing automatic layout and pallet shape generation device provided by this application are the same as those of the robot palletizing automatic layout and pallet shape generation method provided by the above-mentioned embodiment, and other technical features in the robot palletizing automatic layout and pallet shape generation device are the same as those disclosed in the method of the previous embodiment, and will not be elaborated here.

[0119] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in a suitable manner in any one or more embodiments or examples.

[0120] As mentioned above, the above are only specific embodiments of this application, but the protection scope of this application is not limited thereto. Any person skilled in the art within the technical scope disclosed in this application can easily think of changes or substitutions, which should all be covered within the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

[0121] This application provides a computer-readable storage medium with computer-readable program instructions (i.e., computer programs) stored thereon, and the computer-readable program instructions are used to execute the robot palletizing automatic layout and pallet shape generation method in the above-mentioned embodiment.

[0122] The computer-readable storage medium provided by the present application may, for example, be a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or components, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM) or flash memory, optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, device, or component. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0123] The above computer-readable storage medium may be included in the robot palletizing automatic nesting and pallet pattern generation device; or may exist separately without being assembled into the robot palletizing automatic nesting and pallet pattern generation device. The above computer-readable storage medium carries one or more programs. When the above one or more programs are executed by the robot palletizing automatic nesting and pallet pattern generation device, the robot palletizing automatic nesting and pallet pattern generation device is caused to: if the size difference of the goods to be placed is within a preset difference range, obtain the top edge queue; sequentially obtain the first top edge in the top edge queue according to a preset order; determine whether the goods can be placed on the first top edge according to the size of the goods to be placed and the size of the pallet to be placed; if it can be placed, place the target goods according to the target placement plan; when the top edge queue is empty, adjust the placement position according to the overall center of gravity of the placed goods to obtain the nesting result.

[0124] Computer program code for performing the operations of this application can be written in one or more programming languages or combinations thereof. The above-mentioned programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, executed as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (for example, by connecting through the Internet using an Internet service provider).

[0125] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of the code, and this module, program segment, or part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than that marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0126] The modules involved in the embodiments described in this application can be implemented in software or in hardware. Among them, the name of the module does not constitute a limitation to the unit itself in some cases.

[0127] The readable storage medium provided in this application is a computer-readable storage medium. The computer-readable storage medium stores computer-readable program instructions (i.e., computer programs) for performing the above-mentioned robot palletizing automatic layout and pallet shape generation method, and can solve the technical problem of how to improve the space utilization rate during the palletizing process. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the robot palletizing automatic layout and pallet shape generation method provided in the above embodiments, and will not be elaborated here.

[0128] The above are only some embodiments of the present application, and do not limit the patent scope of the present application. Any equivalent structural transformation made under the technical concept of the present application by using the content of the specification and drawings of the present application, or directly / indirectly applied in other related technical fields, is included in the patent protection scope of the present application.

Claims

1. A method for automatic palletizing and stacking shape generation by robot, characterized in that: The method includes: If the size difference of the goods to be placed is within the preset difference range, the top edge queue is obtained; Obtaining the first top edge in the top edge queue in sequence according to a preset order; Determining whether the goods can be placed on the first top edge according to the size of the goods to be placed and the size of the pallet to be placed; If it can be placed, the target goods are placed according to the target placement plan; When the top queue is empty, the placement position is adjusted according to the overall center of gravity of the placed goods to obtain a sample arrangement result.

2. The method for automatic palletizing and stacking shape generation by robot according to claim 1, characterized in that: Before the step of obtaining the top edge queue if the size difference of the goods to be placed is within the preset difference range, the method further includes: Establish a coordinate system with the lower left corner vertex of the tray to be placed as the center; The edge of the tray to be placed along the horizontal axis direction is used as the initial top edge, and the top edge queue is established according to the initial top edge.

3. The method for automatic palletizing and stacking shape generation by robot according to claim 1, characterized in that: If the size difference of the goods to be placed is within the preset difference range, the step of obtaining the top edge queue includes: Obtaining the size of the goods to be placed, and determining the size standard deviation according to the size of the goods to be placed; determining a coefficient of variation based on the standard deviation of the size; If all of the coefficients of variation are smaller than a preset size threshold, it is confirmed that the size difference is within the difference range, and the top edge queue is obtained.

4. The method for automatic palletizing and stacking shape generation by robot according to claim 1, characterized in that: After the step of determining whether the goods can be placed on the first top edge according to the size of the goods to be placed and the size of the pallet to be placed, the method further includes: If the length of any side of the goods to be placed is greater than the length of the first top side, or the sum of the length of another side of the goods to be placed and the length of the adjacent side of the first top side is greater than the size of the pallet to be placed, it is determined that the goods cannot be placed; A second top edge closest to the first top edge is obtained from the top edge queue, and the first top edge and the second top edge are merged and stored in the top edge queue.

5. The method for automatic palletizing and stacking shape generation by robot according to claim 1, characterized in that: If the target goods can be placed, the steps of placing the target goods according to the target placement plan include: If it is confirmed that the target goods can be placed, the lower left corner vertex of the target goods is overlapped with the end point of the first top edge, and the target goods are placed to obtain a first placement plan; Rotate the target goods, swap the length and width of the target goods, and obtain a second placement plan; Determining the target placement solution according to the space waste score and the top edge height score of the first placement solution and the space waste score and the top edge height score of the second placement solution; Placing the target goods according to the target placement plan; The top edge is created according to the placement result, and the top edge queue is updated according to the creation result.

6. The method for automatic palletizing and stacking shape generation by robot according to claim 1, characterized in that: The method further comprises: If the size difference is not within the difference range, obtaining a corner point queue; Obtaining corner points in the corner point queue in a preset order, and determining whether the goods can be placed in the target subspace corresponding to the corner points according to the size of the goods; If it is possible to place the goods, place the goods at the corner points; When the corner point queue is empty, the placement position is adjusted according to the overall center of gravity of the placed goods to obtain a stack shape.

7. The method for automatic palletizing and stacking shape generation by robot according to claim 6, characterized in that: Before the step of obtaining the corner point queue if the size difference is not within the difference range, the step further includes: Acquire a space to be placed, and divide the space to be placed to obtain a plurality of first subspaces; Obtain the corner vertices of any corners of each of the first subspaces, and generate the corner point queue according to the corner vertices.

8. The method for automatic palletizing and stacking shape generation by robot according to claim 6, characterized in that: After the step of placing the goods at the corner point if they can be placed, the method further includes: Dividing the target subspace again to obtain a second subspace; The corner vertices of the second subspace are stored in the corner point queue.

9. A robot palletizing automatic layout and stacking shape generation device, characterized in that: The device comprises: a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the robot palletizing automatic layout and pallet shape generation method as described in any one of claims 1 to 8.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the robot palletizing automatic layout and stacking shape generation method according to any one of claims 1 to 8 are implemented.

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