Automatic cargo stacking and packaging method and system, electronic equipment and storage medium

Abstract

The invention relates to the technical field of logistics, and provides an automatic goods stacking and packaging method and system, electronic equipment and a storage medium, and the method comprises the steps that a virtual stacking scheme is generated according to goods three-dimensional digital models of multiple to-be-stacked goods and a target packaging stack type three-dimensional digital model; according to the actual cargo state of each to-be-stacked cargo on the conveying line and the virtual stacking scheme, a real object stacking scheme is generated; and according to the material object stacking scheme, the to-be-stacked goods are stacked and packaged. According to the automatic cargo stacking and packaging method, the cargo space layout can be optimized in the virtual environment, the cargo space layout is further converted into the execution instruction used for guiding actual cargo stacking operation, full-process automation from virtual planning to physical execution is achieved, stacking of standardized cargos can be efficiently processed, and the stacking efficiency of the cargos can be improved. And the stacking requirements of various scattered cargoes with different boundary dimensions can be flexibly met, mixed stacking of the scattered cargoes is achieved, and the universality and the overall automation level of the stacking scene are remarkably improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of logistics, and in particular to a cargo automatic stacking and packing method and system, an electronic device and a storage medium. BACKGROUND

[0002] Cargo stacking refers to the operation of stacking cargo on a carrier according to certain rules, with the purpose of improving the utilization rate of warehouse space, facilitating handling and management.

[0003] In the field of air cargo transportation, there are various types of cargo. Due to the uncertainty of the shape and size of the cargo, manual stacking and packing are currently used, and there is no application of automatic recognition and stacking.

[0004] In the field of logistics and warehousing, automatic devices such as manipulators are used to stack single standard cargo on nearby locations. Therefore, in the field of automatic stacking solutions, it is currently impossible to realize the identification and organization of scattered cargo, and it mainly targets single cargo. Under the condition of a preset program, the stacking is carried out without discrimination according to the predetermined layer layout and number of layers, and there is no intelligent algorithm.

[0005] Therefore, the existing technology cannot realize automatic stacking and packing of scattered cargo. SUMMARY

[0006] The present application provides a cargo automatic stacking and packing method and system, an electronic device and a storage medium to solve the problem that the existing technology cannot realize automatic stacking and packing of scattered cargo.

[0007] In a first aspect, the present application provides a cargo automatic stacking and packing method, comprising: generating a virtual stacking scheme according to a cargo three-dimensional digital model corresponding to each of a plurality of cargo to be stacked and a target packing stack three-dimensional digital model; the virtual stacking scheme is used to define a cargo spatial arrangement combination conforming to the target packing stack three-dimensional digital model; generating a physical stacking scheme according to the actual cargo state of each of the cargo to be stacked on the conveying line and the virtual stacking scheme; the physical stacking scheme is used to define an execution instruction for the actual stacking operation of each of the cargo to be stacked according to the cargo spatial arrangement combination; stacking and packing each of the cargo to be stacked according to the physical stacking scheme.

[0008] In one embodiment, before generating the virtual stacking scheme, further comprising: respectively acquiring physical attribute information of a plurality of scattered cargo; the physical attribute information at least includes at least one of shape and size information, weight information, state information and packaging form information; According to the physical attribute information, a three-dimensional digital model of each of the bulk goods is constructed.

[0009] In one embodiment, the generating of the virtual stacking scheme according to the three-dimensional digital models of the goods corresponding to the plurality of goods to be stacked and the three-dimensional digital model of the target packing stack type comprises: According to the three-dimensional digital models of the goods corresponding to the plurality of goods to be stacked, a spatial arrangement combination of the goods conforming to the three-dimensional digital model of the target packing stack type is determined. According to the spatial arrangement combination of the goods, a stacking strategy of each of the three-dimensional digital models of the goods is determined; the stacking strategy comprises at least one of a combination form, a stacking sequence, a stacking position, and a direction of the goods. According to the stacking strategy of each of the three-dimensional digital models of the goods, a virtual stacking scheme is generated.

[0010] In one embodiment, the generating of the real stacking scheme according to the actual goods state of each of the goods to be stacked on the conveying line and the virtual stacking scheme comprises: According to the actual goods state of each of the goods to be stacked on the conveying line and the virtual stacking scheme, the stacking sequence and the placement direction of each of the goods to be stacked are adjusted. According to the actual goods state of each of the adjusted goods to be stacked on the conveying line and the virtual stacking scheme, an execution instruction sequence is generated; the execution instruction sequence is used to control the stacking equipment to perform actual stacking operation on each of the adjusted goods to be stacked layer by layer according to the spatial arrangement combination of the goods. According to the execution instruction sequence, a layer-by-layer real stacking scheme is generated.

[0011] In one embodiment, the stacking and packing of each of the goods to be stacked according to the real stacking scheme comprises: According to the real stacking scheme of the first layer, a target stacking equipment is controlled to stack the adjusted goods to be stacked required for stacking of the first layer; the target stacking equipment is a stacking equipment adapted to the physical attribute information of the adjusted goods to be stacked. After the stacking of the goods of the first layer is completed, the stack type formed by the first layer is fixed. A new layer to be stacked is updated as the first layer, and the step of controlling the target stacking equipment to stack the adjusted goods to be stacked required for stacking of the first layer according to the real stacking scheme of the first layer is iteratively executed until the stacking of the goods of the last layer is completed, so that a complete stack body obtained by completing the stacking and packing is obtained.

[0012] In one embodiment, the stack type formed by each layer is fixed by the following method: forming a height difference of the semi-layer goods between the completed goods layer and the solidifying device by lowering the completed goods layer or raising the solidifying device; solidifying the semi-layer goods forming the height difference.

[0013] In one embodiment, after completing the palletizing and solidifying of the previous layer of goods and before starting the palletizing of the new layer of goods, further comprising: if the target palletizing type of the new layer of goods to be palletized is a variable cross-section palletizing type, adjusting the palletizing shape size by adjusting the shaping fence according to the variable cross-section size of the target palletizing type; the shaping fence is used to control the palletizing boundary according to the target packing palletizing type.

[0014] In a second aspect, the present application further provides an automatic goods palletizing and packing system, comprising: a palletizing scheme generation module, configured to generate a virtual palletizing scheme according to a plurality of three-dimensional digital models of goods to be palletized and a three-dimensional digital model of a target packing palletizing type; the virtual palletizing scheme is used to define a spatial arrangement combination of the goods conforming to the three-dimensional digital model of the target packing palletizing type; generate a real palletizing scheme according to the actual goods state of each of the goods to be palletized on the conveying line and the virtual palletizing scheme; the real palletizing scheme is used to define an execution instruction for actually palletizing each of the goods to be palletized according to the spatial arrangement combination of the goods; a palletizing and packing module, configured to palletize and pack each of the goods to be palletized according to the real palletizing scheme.

[0015] In a third aspect, the present application provides an electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor executes the program to implement the steps of the automatic goods palletizing and packing method according to any one of the above.

[0016] In a fourth aspect, the present application further provides a non-transitory computer readable storage medium, wherein the non-transitory computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement the steps of the automatic goods palletizing and packing method according to any one of the above.

[0017] The application provides a goods automatic stacking and packing method, system, electronic equipment and storage medium, based on a goods three-dimensional digital model and a target packing and stacking type three-dimensional digital model, the goods space layout can be optimized in a virtual environment, a virtual stacking scheme is generated, and further, on the basis of the virtual stacking scheme, the real stacking environment and the actual goods state are considered, the execution instruction for guiding the actual goods stacking operation is converted, the physical stacking scheme is generated, the whole process automation from virtual planning to physical execution is realized, the limitation of the traditional automatic stacking which is only applicable to single standard goods is broken, the stacking of standardized goods can be efficiently handled, the stacking demand of various different shapes and sizes of scattered goods can be flexibly adapted, the mixed stacking of scattered goods is realized, and the generality and overall automation level of the stacking scene are significantly improved. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the application or prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0019] Figure 1 is one of the flowcharts of the goods automatic stacking and packing method provided by the application.

[0020] Figure 2 is the second flowchart of the goods automatic stacking and packing method provided by the application.

[0021] Figure 3 is the top view structural schematic diagram of the automatic stacking and packing system provided by the application.

[0022] Figure 4 is the module structural schematic diagram of the goods automatic stacking and packing system provided by the application.

[0023] Figure 5 is the structural schematic diagram of the electronic equipment provided by the application. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solutions and advantages of the application more clear, the technical solutions in the application will be clearly and completely described below in combination with the drawings in the application. Obviously, the described embodiments are some embodiments of the application, not all embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor belong to the protection scope of the application.

[0025] The terms "first", "second", and the like in the present application are used to distinguish similar objects, and are not used to describe a particular order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein.

[0026] The present application is described below in conjunction with Figures 1-5 The provided goods automatic stacking and packing method, system, electronic device and storage medium of the present application are described.

[0027] The goods automatic stacking and packing method provided by the embodiments of the present application is realized based on a goods automatic stacking and packing system, therefore, the embodiments of the present application take the goods automatic stacking and packing system as the execution subject, and specifically describe the goods automatic stacking and packing method.

[0028] In conjunction with Figures 1-3 , Figure 1 is one of the flowcharts of the goods automatic stacking and packing method provided by the present application, Figure 2 is another flowchart of the goods automatic stacking and packing method provided by the present application, Figure 3 is a top view structural schematic diagram of the automatic stacking and packing system provided by the present application.

[0029] It should be noted that, Figure 3 The structure of the automatic stacking and packing system in the present application is only one setting mode of the goods automatic stacking and packing method, and the structure of the actual automatic stacking and packing system can be adjusted according to the actual situation, Figure 3 which is only one structural example provided for the following clear description of the method.

[0030] As Figure 1 shown, the goods automatic stacking and packing method comprises the following steps: Step 101, generating a virtual stacking scheme according to the goods three-dimensional digital models corresponding to a plurality of to-be-stacked goods respectively and a target packing stack three-dimensional digital model; Step 102, generating a real stacking scheme according to the actual goods state of each of the to-be-stacked goods on the conveying line and the virtual stacking scheme; Step 103, stacking and packing each of the to-be-stacked goods according to the real stacking scheme.

[0031] Specifically, the goods recognition module is configured with a multi-modal sensing unit, and utilizes multi-sensor fusion technology to realize automatic and high-precision collection of multi-dimensional physical attribute information of scattered goods, and is a multi-dimensional physical attribute information comprehensive recognition all-in-one machine, without manual measurement of multi-dimensional physical attributes of scattered goods, solving the problems of low efficiency, large error and strong subjectivity of material state judgment in traditional manual measurement.

[0032] The multi-dimensional physical attribute information of the bulk cargo is acquired by the cargo identification module, and a three-dimensional digital model of the cargo containing the multi-dimensional physical attribute information is constructed by using digital twin technology. The three-dimensional digital model of the cargo is stored in a three-dimensional digital model library, providing a high-precision digital carrier for subsequent generation of a virtual stacking scheme. According to the circulation attribute of the cargo, the same type of cargo may appear repeatedly in the same shipping location. The multi-dimensional physical attribute information of the cargo can be stored in the three-dimensional digital model library for repeated use when the three-dimensional digital model of the cargo is constructed for the first time. Subsequently, the corresponding three-dimensional digital model of the cargo can be matched in the three-dimensional digital model library by identifying the cargo, which greatly improves the process efficiency. If the three-dimensional digital model is identified in real time by the cargo identification module and reconstructed one by one, a high-performance processor cluster needs to be deployed, and the hardware cost is much higher than that of the scheme of constructing and calling the three-dimensional digital model for the first time. It is difficult to realize lightweight deployment on the edge. If the cargo is not matched with the corresponding three-dimensional digital model in the three-dimensional digital model library during the actual identification process, it means that it is a new cargo that appears for the first time in the shipping location. The multi-dimensional physical attribute information of the cargo can be acquired in real time by the cargo identification model, and a three-dimensional digital model of the cargo containing the multi-dimensional physical attribute information can be constructed by using spatial geometry and digital twin technology. The three-dimensional digital model of the cargo is stored in the three-dimensional digital model library, and subsequent reconstruction is not required.

[0033] In the process of realizing automatic cargo stacking and packaging, the target packaging stack type is determined according to the carrier regulations, the cargo characteristics of the cargo to be stacked, the transportation specifications, and the safety requirements, etc. The core goal is to stack and package the cargo to be stacked into the target packaging stack type, to generate a stacking scheme and perform a stacking and packaging operation. In an embodiment, in the field of air transportation, the type of cargo transported by air on the same day needs to be known, and the space limitations and safety factors in air transportation are considered comprehensively to select the target packaging stack type from a plurality of preset container stack types.

[0034] A plurality of cargo to be stacked is placed in disorder on a conveying line. Generally, these cargo to be stacked are of multiple sizes and multiple packaging forms, and are not limited to a single standard form. Of course, this embodiment can also satisfy the stacking and packaging of single standard cargo. This embodiment is described by taking the cargo to be stacked of multiple sizes and multiple packaging forms as an example.

[0035] After the plurality of to-be-piled goods are placed on the conveying line, the physical attribute information of each to-be-piled good is identified through the good identification module. According to the physical attribute information of each to-be-piled good, a model matching is first performed in the good three-dimensional digital model library, and a model that does not match needs to be reconstructed, so as to obtain the corresponding good three-dimensional digital model of each to-be-piled good. The embodiment aims to automatically combine the scattered to-be-piled goods into a single group of piled products according to the target packaging and piling type standard, which is stable in structure and in line with parameters. The number of goods in each group of piled products needs to meet the upper limit of the capacity and weight of the target packaging and piling type, therefore, all to-be-piled goods are divided into a group with a single target packaging and piling type, a corresponding piling scheme is generated and piling and packaging are performed. The embodiment takes a group of to-be-piled goods meeting a single packaging and piling type as an example to describe the subsequent piling scheme generation and good piling and packaging process.

[0036] According to the corresponding good three-dimensional digital model of each to-be-piled good, the fusion method of spatial structure and position information and appearance information is analyzed through a neural network model, on the basis of which the position relationship of the spatial arrangement combination of goods meeting the requirements of the three-dimensional digital model of the target packaging and piling type is constructed, a virtual piling scheme is generated, and the position of each to-be-piled good in the target packaging and piling type is accurately calculated and optimized to achieve the best stacking effect and safety.

[0037] Through the intelligent circulating sorting module, all to-be-piled goods are identified, and their actual positions are bound to the corresponding good three-dimensional digital model in the model library. According to the virtual piling scheme, the stacking order and placement direction of each to-be-piled good are adjusted.

[0038] When the actual piling operation is performed, various factors in the real environment need to be considered on the basis of the virtual piling scheme. According to the actual good state of each to-be-piled good on the conveying line and the virtual piling scheme, an execution instruction for the actual piling operation of the to-be-piled goods according to the spatial arrangement combination of goods is constructed, and a physical piling scheme is generated.

[0039] Further, according to the physical piling scheme, the to-be-piled goods are sequentially piled and packaged. This process is strictly performed according to the piling specifications and steps set in the physical piling scheme, so as to accurately place and fix each to-be-piled good, thereby achieving efficient and safe piling effect.

[0040] The application provides a cargo automatic stacking and packing method. Based on a three-dimensional digital model of the cargo and a three-dimensional digital model of a target packing and stacking type, the cargo space layout is optimized in a virtual environment by using a space geometry technology, a virtual stacking scheme is generated, and further, based on the virtual stacking scheme, the real stacking environment and the actual cargo state are considered to convert into execution instructions for guiding the actual cargo stacking operation, a physical stacking scheme is generated, the whole process automation from virtual planning to physical execution is realized, the limitation of traditional automatic stacking which is only applicable to single standard cargo is broken, the stacking of standardized cargo can be efficiently handled, the stacking demand of various different shapes and sizes of scattered cargo can be flexibly adapted, the mixed stacking of scattered cargo is realized, and the universality and overall automation level of the stacking scene are significantly improved.

[0041] In some embodiments, before generating the virtual stacking scheme, the method further comprises: Physical attribute information of the plurality of scattered cargos is respectively acquired; the physical attribute information at least includes at least one of shape size information, weight information, state information and packaging form information; According to the physical attribute information, a three-dimensional digital model of each scattered cargo is constructed.

[0042] Specifically, each scattered cargo is identified by a cargo identification module to obtain multi-dimensional physical attribute information of each scattered cargo. The multi-dimensional physical attribute information includes, for example, shape size information, weight information, state information and packaging form information of the scattered cargo.

[0043] Optionally, the shape size information needs to measure the length, width and height of the whole package (including protruding structures such as handles); the weight information needs to measure the weight and analyze the weight distribution state (uniform / eccentric); the state information clearly indicates the shape type of the packaged goods (box / bag / barrel, regular shape or irregular shape); the packaging form information needs to identify the packaging material (hard / soft), strength (pressure resistance / puncture resistance) and surface friction coefficient, etc.

[0044] For each piece of loose cargo, the physical attribute information is standardized, and a three-dimensional digital model of the cargo containing shape size information, weight information, physical state information and packaging form information is constructed according to the standardized physical attribute information. Optionally, according to the characteristics of the cargo, an appropriate modeling method is selected, and a regular geometric body can use parameterized modeling, and the modeling software can automatically generate a standard model using basic size (length, width and height) parameters. This modeling method is efficient and suitable for large quantities of standard cargo. The modeling of complex heterogeneous parts requires more complex technical means. First, the point cloud data of the object surface is obtained through visual or laser, radar and other 3D scanners, a three-dimensional contour model is constructed based on the point cloud data, and an approximate polygonal geometry is obtained by using the filling method. Although this process takes a long time, it can accurately restore the true shape of the object and optimize the calculation model. After modeling, verification is required, and the key dimensions of the model are compared with the measured data of the actual object, and the error is controlled within the allowable range. For cargo with different characteristics, appropriate modeling methods are used to ensure modeling efficiency and ensure model accuracy.

[0045] According to the physical attribute information of the loose cargo, the corresponding cargo three-dimensional digital model is constructed, which can provide data support for subsequent virtual planning and intelligent decision-making, effectively improve the feasibility and efficiency of the stacking scheme, and realize automatic stacking and packaging.

[0046] In some embodiments, based on step 101, the virtual stacking scheme is generated according to the cargo three-dimensional digital model corresponding to each of the plurality of cargo to be stacked and the target packaging stacking type three-dimensional model, comprising: According to the cargo three-dimensional digital model corresponding to each of the plurality of cargo to be stacked, determine the spatial arrangement combination of the cargo conforming to the target packaging stacking type three-dimensional digital model; According to the spatial arrangement combination of the cargo, determine the stacking strategy of each cargo three-dimensional digital model; the stacking strategy includes at least one of the cargo distribution and combination form, stacking order, stacking position and cargo direction of a single target packaging stacking type; According to the stacking strategy of each cargo three-dimensional digital model, a virtual stacking scheme is generated.

[0047] Specifically, based on the three-dimensional model of the target stacking type, the spatial geometric technology is used to deeply analyze the spatial structure information and appearance information through the graphic algorithm, the spatial structure information includes, for example, the stacking type boundary coordinates, the spatial layering of each layer, the bearing distribution threshold, etc., and the appearance information includes, for example, the weight gradient constraint of "heavy not pressing light", the size adaptation principle of "large not pressing small", the structure stability principle of "weak not bearing hard", the safety protection requirement of "easy damage on top", etc. The spatial structure information and appearance information are fused and transformed into calculable parameterized conditions to construct a fusion decision model.

[0048] Further, based on the three-dimensional digital model of each to-be-piled cargo, multi-dimensional space arrangement and combination optimization is performed under the constraint of the fusion decision model, size conflict schemes are excluded through a collision detection algorithm, and an optimization algorithm is used to iteratively screen feasible arrangements that meet the weight gradient (e.g., the average weight of the bottom layer is greater than 1.5 times the average weight of the middle layer), the size level (e.g., large cargos occupy important areas of the bottom layer), the stability of stacking (e.g., hard packages and compression-resistant cargos are preferentially stacked at the bottom), and the protection of fragile goods (e.g., glass products are only allowed to be placed independently on the top layer), and the optimal cargo combination is determined in combination with the space utilization rate of the target packing and stacking type and the loading target.

[0049] Further, according to the screened space arrangement and combination result, the stacking strategy of each three-dimensional digital model of the cargo is determined, the cargo allocation and combination form of a single target packing and stacking type, the stacking order, position, and direction of each three-dimensional digital model of the cargo are determined, and a virtual stacking scheme with structural stability and regular compliance is formed.

[0050] In an embodiment, it is assumed that a virtual stacking scheme of a target packing and stacking type (120 cm x 100 cm x 150 cm) needs to be generated for to-be-piled cargos including 5 cartons (30 cm x 20 cm x 15 cm, 8 kg) and 3 wooden boxes (40 cm x 30 cm x 25 cm, 15 kg): first, the rules of "heavy does not press light, large does not press small, weak does not support hard, and fragile on top" are converted into parameter constraints (bottom layer bearing capacity ≤ 300 kg, large cargos occupy the center area of the bottom layer) through a graphical algorithm, and then space arrangement and combination calculation is performed based on the three-dimensional digital model of the cargo - the 3 wooden boxes (large and heavy cargos) are preferentially arranged in a 2 x 1 matrix in the center of the bottom layer, and the 5 cartons are arranged in a 3 x 2 staggered manner around the wooden boxes and on the upper layer, and finally a virtual stacking scheme including the cargo combination method, stacking order, and stacking position of each to-be-piled cargo is generated.

[0051] The embodiment of the present application realizes intelligent optimization of space arrangement and combination and accurate generation of stacking strategies by deeply coupling the three-dimensional digital model of the cargo with the target stacking type, which not only ensures that the cargo stacking strictly complies with the appearance rules of "heavy does not press light, large does not press small, weak does not support hard, and fragile on top", but also maximizes the space utilization rate of the target stacking type, thereby providing an executable stacking and packing scheme for an automated stacking equipment.

[0052] In some embodiments, based on step 102, the generation of a real stacking scheme according to the actual cargo state of each to-be-piled cargo on the conveying line and the virtual stacking scheme includes: adjusting the stacking order and placement direction of each to-be-piled cargo according to the actual cargo state of each to-be-piled cargo on the conveying line and the virtual stacking scheme; According to the actual cargo state of each adjusted to-be-stacked cargo on the conveying line and the virtual stacking scheme, an execution instruction sequence is generated; the execution instruction sequence is used to control the stacking equipment to perform actual stacking operation on each adjusted to-be-stacked cargo layer by layer according to the spatial arrangement combination of the cargo; According to the execution instruction sequence, a layer-by-layer physical stacking scheme is generated.

[0053] Specifically, each to-be-stacked cargo is identified and reviewed one by one by the intelligent circulating sorting module, the actual state data of each to-be-stacked cargo is collected by the conveying line sensor, including the shape size, weight, spatial orientation, logistics information and whether there is packaging damage, etc., and is dynamically compared with the cargo three-dimensional digital model parameters in the virtual stacking scheme, if the review is correct, the actual position of the reviewed to-be-stacked cargo is bound to the cargo three-dimensional digital model, and the stacking order and placement direction of each to-be-stacked cargo are adjusted according to the virtual stacking scheme.

[0054] If there is deviation, the stacking order and / or placement direction of the to-be-stacked cargo are adaptively adjusted. For example, if the packaging of a cargo with a certain logistics number is a paper box and is actually a soft bag, or the initial orientation of the cargo on the conveying line does not meet the requirement of "vertical" in the virtual stacking scheme, the adaptive adjustment of the stacking order and placement direction is automatically triggered. In some cases, it may be necessary to re-plan the spatial arrangement combination of the cargo to ensure that the cargo can be accurately placed in the predetermined position during the actual stacking process.

[0055] When the actual stacking operation is performed, considering various factors in the real environment, the actual cargo state of each adjusted to-be-stacked cargo on the conveying line and the operation characteristics of the stacking equipment, etc., an accurate execution instruction sequence is constructed, and each execution instruction is used to guide the layer-by-layer stacking operation process. Therefore, the execution instruction sequence can guide the stacking equipment to complete the entire stacking operation process layer by layer, and a layer-by-layer physical stacking scheme can be generated according to the execution instruction sequence. Under the guidance of the layer-by-layer physical stacking scheme, the stacking equipment can efficiently and accurately stack the to-be-stacked cargo into the target packing stack type, thereby realizing automatic and intelligent stacking and packing operation.

[0056] The embodiment of the present application realizes closed-loop optimization from virtual planning to physical execution by dynamically adjusting the stacking order and placement direction of the to-be-stacked cargo, generating accurate execution instruction sequence combined with the virtual scheme, and then realizes layer-by-layer efficient operation of the stacking equipment on the cargo spatial arrangement, significantly improves the flexibility, accuracy and automation level of the stacking process, effectively adapts to the changes of the cargo state in actual production, and optimizes the overall stacking efficiency, space utilization and loading accuracy.

[0057] In some embodiments, based on step 105, the goods to be stacked are stacked and packaged according to the physical stacking scheme, including: According to the physical stacking scheme of the first layer, the target stacking device is controlled to stack the adjusted goods to be stacked required for the first layer stacking; the target stacking device is a stacking device adapted to the physical attribute information of the adjusted goods to be stacked; After the first layer of goods is stacked, the first layer of goods is solidified; The new layer of goods to be stacked is updated to the first layer, and the step of controlling the target stacking device to stack the adjusted goods to be stacked required for the first layer stacking according to the physical stacking scheme of the first layer is iteratively performed until the last layer of goods is stacked, and a complete stack body is obtained.

[0058] Specifically, the intelligent circulating sorting module has adjusted the stacking order and placement direction of each goods to be stacked according to the requirements of the stacking order and placement direction of each goods to be stacked in the virtual stacking scheme, and further needs to transport the adjusted goods to be stacked to the stacking temporary position for grasping and stacking operation of the stacking device.

[0059] At the same time, the target goods carrier is transported to the stacking and packaging position with lifting function by the goods carrier transportation module. The goods carrier usually includes a pallet and a container, the pallet is usually used for planar loading of goods, and the container may have a more complex structure to adapt to goods of different shapes and sizes. Both the pallet and the container are container tools in logistics transportation, used for loading goods. Therefore, the goods to be stacked on the stacking temporary position need to be grasped and placed on the target goods carrier by the stacking device, and fixed to facilitate subsequent logistics transportation and storage.

[0060] Further, according to the physical stacking scheme layer by layer, all the goods to be stacked on the stacking temporary position are stacked layer by layer, and after each layer of stacking is completed, the goods on the current stacking layer are solidified.

[0061] Specifically, in the first layer stacking process, after the adjusted goods to be stacked are transported to the stacking temporary position, the physical attribute information of the goods to be stacked is rechecked by the multi-modal sensor on the stacking temporary position, such as the shape size information, weight information, state information and packaging form information of the goods to be stacked, and the target stacking device is selected according to the physical attribute information. Through the cooperation of multiple stacking devices, the grasping of goods of various forms, sizes and weights can be realized, and the stacking device can accurately grasp the goods to be stacked, thereby improving the accuracy and efficiency of stacking.

[0062] In an embodiment, the palletizing device can adopt multiple types of lifting claws, and the system can quickly switch the dedicated lifting claws to adapt to the physical characteristics of different goods to be palletized. For example, for regular cubic goods (such as standard cartons), a suction cup and / or a clamping lifting claw is adopted, and the uniformly distributed suction cups can ensure smooth grabbing in a non-damaging state; for cylindrical goods (such as barrel materials), an arc-shaped hoop type lifting claw is selected, and the curved clamping jaws lined with non-slip rubber can closely fit the outer contour of the goods; for goods prone to deformation (such as bagged materials), a self-adaptive suction cup type lifting claw is provided, and flexible wrapping grabbing is achieved through air pressure adjustment. Each type of lifting claw is connected to the palletizing mechanism through a standardized interface, or multiple sets of lifting claws are deployed in the palletizing device to cooperate with palletizing, and the visual recognition system is used to realize automatic and quick switching during the palletizing process, so that both stability and high efficiency can be achieved in the mixed goods palletizing scenario.

[0063] Once the target palletizing device is selected, it will grab the goods to be palletized that are adapted to it from the palletizing temporary storage position according to the preset palletizing path and strategy, and accurately place them on the designated position on the target goods carrier. During this process, the palletizing device also monitors and adjusts its motion parameters in real time to ensure the stability and safety of the palletizing process.

[0064] Under the constraint of the shaping fence, after the first layer of goods is palletized, the solidifying device solidifies the formed stack of the first layer.

[0065] The system automatically records the current palletizing state and prepares for the next layer of palletizing operation.

[0066] According to the above palletizing and packaging process, the goods are palletized and packaged layer by layer until the last layer of goods is palletized and packaged, and a complete stack of palletized and packaged goods is obtained.

[0067] In the embodiments of the present application, the target palletizing device is dynamically selected by matching the physical properties of the goods, which can accurately and efficiently grab and place the goods to be palletized on the designated position of the target goods carrier. Further, the combination of layer-by-layer solidification and stacking logic realizes accurate stacking and structural stability from the bottom layer to the top layer, effectively ensures the adaptability of goods with different physical characteristics, significantly improves the overall stability and stacking accuracy of the stack, reduces the damage and overturning risk of the goods, and further improves the reliability and efficiency of palletizing and packaging through device adaptation optimization and layer-by-layer solidification mechanism.

[0068] In some embodiments, according to the above content, the formed stack of each layer is solidified by the following method: A height difference of a half layer of goods is formed between the completed layer of goods and the solidifying device by lowering the completed layer of goods or raising the solidifying device; The half layer of goods forming the height difference is solidified.

[0069] In an optional embodiment, the shaping of the stack formed by each layer is fixed, comprising: lowering the stack formed by each layer by half the height of the goods; fixing the lowered half of the goods.

[0070] In another optional embodiment, the shaping of the stack formed by each layer is fixed, comprising: keeping the height of the stack formed by each layer unchanged, and shaping the surrounding to rise by half the height of the goods; fixing the half of the goods exposed after the shaping of the surrounding.

[0071] Specifically, in the process of fixing the first layer of the stack, after the first layer of goods is stacked, the lifting platform of the stacking and packaging position is lowered by half the height of the goods. During the lowering process, the vertical position of the shaping and surrounding device remains unchanged to keep the surrounding of the goods, so as to ensure that the goods will not be dislocated or tilted during the lowering process. Alternatively, the height of the stack formed by the first layer is kept unchanged, and the shaping and surrounding is raised by half the height of the goods. In this process, the shaping and surrounding can also keep the shaping of the goods stable. Optionally, the half height of the goods is half the height of the highest goods, or half the average height of all the goods in the first layer, and does not exceed the height of the lowest goods in the first layer.

[0072] After the lifting platform is lowered by half the height of the goods, the half of the goods is exposed, or after the shaping and surrounding is raised by half the height of the goods, the half of the goods is exposed. At this time, the fixing device is called to fix and tighten the exposed half of the goods. Optionally, the fixing device comprises a bundling device and a film winding device. The bundling device is an automatic device for horizontally or vertically bundling the stacked goods by using a packaging belt (such as a PP belt, a steel belt, etc.), which mainly uses the tightening force of the packaging belt to tighten and fix the goods. The film winding device is an automatic device for spirally or circularly winding the stacked goods by using a mechanical arm or a rotating disc to drive a winding film, which is mainly used for fixing the stack structure by using the tension of the film to prevent the goods from being dislocated or scattered during storage and transportation.

[0073] In an embodiment, the formed goods are reinforced by a film wrapping device: first, the rotating support of the film wrapping device performs circumferential movement around the exposed goods stack, while the wrapping tension is precisely controlled to enable the film to wrap the goods in layers with constant tension; for bagged goods prone to scattering, a cross-wrapping strategy is adopted, with each layer of film overlapping at a preset angle, forming a mesh reinforcement structure; if the goods have sharp corners (such as metal parts), a corner guard strip is automatically installed before wrapping to prevent film damage. Through the constant tension wrapping and cross-reinforcement process, the overall integrity and displacement resistance of the stack are effectively improved, especially for bagged or irregularly shaped goods prone to scattering. After solidification, the film tightness can be verified to ensure that the displacement resistance meets the subsequent stacking requirements, and the solidification of the current half-layer of goods lays a stable foundation for the upper layer stacking.

[0074] According to the above stack solidification process, the stack is solidified layer by layer until the last half-layer of goods is solidified, obtaining a complete stack after stacking and packaging.

[0075] The embodiment of the present application provides an optimal operating space for the solidification equipment by exposing the height of the formed goods, enabling the solidification equipment to tightly wrap the goods without interference from the upper layer stacking. This solidification process not only ensures the stability of the bottom layer stack, but also creates a flat reference surface for subsequent interlayer stacking, effectively reducing the risk of overall stack deviation or collapse caused by unstable bottom layers, improving the structural safety and stacking accuracy of the stacking process, and significantly improving the reliability and efficiency of stacking and packaging.

[0076] In some embodiments, according to the above, after completing the solidification of the previous layer of goods stacking and before starting the new layer of goods stacking, the following steps are further included: If the target stack of the new layer to be stacked is a variable cross-section stack, the stacking size is adjusted by adjusting the shaping barrier according to the variable cross-section size of the target stack; the shaping barrier is used to control the stacking boundary according to the target packaging stack.

[0077] Specifically, after the target goods carrier is transported to the stacking and packaging position with lifting function, a shaping barrier device is called according to the size of the target goods carrier. The shaping barrier device quickly and accurately forms a stable stacking weir according to the size requirements of the target goods carrier. The main function of the shaping barrier device is to effectively control the boundary position during the stacking process according to the pre-set target packaging stack requirements, to ensure the stability and safety of the goods to be stacked during the subsequent stacking and packaging process.

[0078] After the completion of the previous layer of stacking and fixing, and before starting a new layer of goods stacking, the cross-sectional profile of the target stack type to be formed by the new layer is detected, and it is checked whether the target stack type to be formed by the new layer is a set variable cross-section stack type. The variable cross-section stack type refers to a stacking structure in which the horizontal cross-sectional size or shape of the stack changes along the height direction during stacking, rather than the traditional constant cross-section rectangular stack type.

[0079] If the target stack type to be formed by the new layer is a variable cross-section stack type, the shaping containment device flexibly adjusts the position and shape of the shaping containment according to the variable cross-section size, to accurately shape and adjust the stack type boundary, for example, by stretching or moving part of the containment, to finely shape and adjust the stack type boundary, thereby ensuring that the shape and size of the stack type meet the expected standard requirements.

[0080] In an embodiment, after the completion of the previous layer of stacking and fixing, if a rectangular stack structure of a specified size is to be formed, the shaping containment device calculates the distance that needs to be adjusted according to the variable cross-section size, and controls the shaping containment on one side to move according to the distance that needs to be adjusted, to reduce the distance between the shaping containments on both sides, to define the four boundaries of the new layer of goods stacking.

[0081] The embodiments of the present application realize the specific space boundary shaping mode through the horizontally movable and stretchable shaping containment device, which can significantly improve the accuracy and efficiency of goods stacking, especially when dealing with complex and variable stack type requirements, with high automation and intelligence.

[0082] The completed stack body that has completed stacking and packaging is subjected to acceptance by a double verification plate module. The double verification plate module includes a grating door and a profiling door structure, which is responsible for detecting the size and shape of the stack body, to ensure that the stack body meets the preset standards in terms of width, height and depth. The profiling door simulates the shape of the stack body, and further verifies the integrity and accuracy of the stack body through force sensors and angle sensors. When the grating door detects that the size and shape of the stack body are consistent with the preset standards, or the grating door detects that the size and shape of the stack body are inconsistent with the preset standards at individual points, but the stack body does not exceed the range of the force sensor and angle sensor when passing through the profiling door, it is determined that the stack body is qualified and can enter the next process. If the grating door and the profiling door find abnormal deviations during the acceptance process, the system will automatically alarm and flow to the manual inspection channel, so that the operator can check and adjust in time to ensure the quality of each stack body. The design of such a double verification plate module greatly improves the efficiency, accuracy and reliability of the verification plate of the goods stacking and packaging.

[0083] After the completed stack body passes through the double verification plate module and is successfully accepted, the completed stack body is conveyed to a loading module, and the stack body is further processed by the loading module, including necessary preparation work such as net covering and fixing before leaving the warehouse.

[0084] After the above processing steps, the complete stack can be smoothly out of the warehouse, and the whole stacking work is successfully completed. This series of processes not only ensures the stacking quality and accuracy, but also greatly improves the efficiency of the warehouse, making the whole stacking operation system more efficient and reliable.

[0085] The present application has high automation and intelligence, is fully unmanned, and is digitalized, and fills the blank of mixed stacking of multi-form goods shaping and fixing. The method can also be applied to other stacking scenarios, such as metal roll stacking yards, automatic stacking of gravity energy storage blocks, and fields such as wharfs, highway and railway freight stations, and open-air yards.

[0086] The structure module of the goods automatic stacking and packing system provided by the present application will be described below. The goods automatic stacking and packing system described below can be correspondingly referred to the goods automatic stacking and packing method described above.

[0087] Reference Figure 4 , Figure 4 is a schematic diagram of the module structure of the goods automatic stacking and packing system provided by the present application.

[0088] As shown in Figure 4 , the goods automatic stacking and packing system comprises: a stacking scheme generation module 410, configured to generate a virtual stacking scheme according to a plurality of goods three-dimensional digital models corresponding to a plurality of goods to be stacked and a target packing stack three-dimensional digital model; the virtual stacking scheme is used to define a goods spatial arrangement combination conforming to the target packing stack three-dimensional digital model; generate a real stacking scheme according to the actual goods state of each of the goods to be stacked on the conveying line and the virtual stacking scheme; the real stacking scheme is used to define an execution instruction for actual stacking operation of each of the goods to be stacked according to the goods spatial arrangement combination; a stacking and packing module 420, configured to stack and pack each of the goods to be stacked according to the real stacking scheme.

[0089] The goods automatic stacking and packing system provided by the present application can optimize the goods spatial layout in a virtual environment based on the goods three-dimensional digital model and the target packing stack three-dimensional digital model, generate a virtual stacking scheme, further consider the real stacking environment and the actual goods state on the basis of the virtual stacking scheme, and convert the execution instruction for guiding the actual goods stacking operation to generate a real stacking scheme, realize the whole-process automation from virtual planning to physical execution, break through the limitation of traditional automatic stacking only applicable to single standard goods, efficiently handle the stacking of standardized goods, flexibly adapt to the stacking needs of various different shapes and sizes of scattered goods, realize the mixed stacking of scattered goods, and significantly improve the universality and overall automation level of the stacking scene.

[0090] Further, the goods automatic stacking and packing system is also used for: respectively acquiring a plurality of physical attribute information of the scattered goods; the physical attribute information at least includes at least one of shape size information, weight information, state information and packaging type; According to each of the physical attribute information, a three-dimensional digital model of the goods is constructed.

[0091] Further, the stacking scheme generation module 410 is also used for: According to the three-dimensional digital model of the goods corresponding to each of the plurality of goods to be stacked, a goods spatial arrangement combination conforming to the target packing stack three-dimensional digital model is determined; According to the goods spatial arrangement combination, a stacking strategy of each of the three-dimensional digital model of the goods is determined; the stacking strategy includes at least one of goods combination form, stacking sequence, stacking position and goods direction; According to the stacking strategy of each of the three-dimensional digital model of the goods, a virtual stacking scheme is generated.

[0092] Further, the stacking scheme generation module 410 is also used for: According to the actual goods state of each of the goods to be stacked on the conveying line and the virtual stacking scheme, the stacking sequence and the placement direction of each of the goods to be stacked are adjusted; According to the actual goods state of each of the adjusted goods to be stacked on the conveying line and the virtual stacking scheme, an execution instruction sequence is generated; the execution instruction sequence is used to control the stacking equipment to perform actual stacking operation on each of the adjusted goods to be stacked layer by layer according to the goods spatial arrangement combination; According to the execution instruction sequence, a layer-by-layer physical stacking scheme is generated.

[0093] Further, the stacking and packing module 420 is also used for: According to the first layer physical stacking scheme, the target stacking equipment is controlled to stack the adjusted goods to be stacked required for the first layer stacking; the target stacking equipment is a stacking equipment adapted to the physical attribute information of the adjusted goods to be stacked; After the first layer goods stacking is completed, the stack formed by the first layer is solidified; The new layer of goods to be stacked is updated to the first layer, and the step of controlling the target stacking equipment to stack the adjusted goods to be stacked required for the first layer stacking according to the first layer physical stacking scheme is iteratively executed until the last layer of goods is stacked, and a complete stack body is obtained after the stacking and packing are completed.

[0094] Further, the stacking and packing module 420 is also used for: forming a height difference of the semi-layer goods between the completed goods layer and the solidifying device by lowering the completed goods layer or raising the solidifying device; solidifying the semi-layer goods forming the height difference.

[0095] Further, the stacking and packing module 420 is further used for: if the target stacking type of the new layer of goods to be stacked is a variable cross-section stacking type, adjusting the stacking shape size by adjusting the shaping fence according to the variable cross-section size of the target stacking type; the shaping fence is used to control the stacking boundary according to the target packing stacking type.

[0096] It should be noted that the automatic goods stacking and packing system provided by the present application can execute the automatic goods stacking and packing method described in any of the above embodiments during specific operation, and the present embodiment will not be described here.

[0097] Figure 5 is a structural schematic diagram of an electronic device provided by the present application, as shown in Figure 5 The electronic device can include a processor 510, a communications interface 520, a memory 530 and a communications bus 540, wherein the processor 510, the communications interface 520 and the memory 530 complete mutual communication through the communications bus 540. The processor 510 can call the logic instructions in the memory 530 to execute the automatic goods stacking and packing method, which includes: generating a virtual stacking scheme according to a plurality of goods three-dimensional digital models corresponding to a plurality of goods to be stacked and a target packing stacking three-dimensional digital model; the virtual stacking scheme is used to define a goods space arrangement combination conforming to the target packing stacking three-dimensional digital model; generating a real stacking scheme according to the actual goods state of each of the goods to be stacked on the conveying line and the virtual stacking scheme; the real stacking scheme is used to define an execution instruction of actual stacking operation of each of the goods to be stacked according to the goods space arrangement combination; and stacking and packing each of the goods to be stacked according to the real stacking scheme.

[0098] Further, the logic instructions in the memory 530 described above can be implemented in the form of software functional units and sold or used as independent products, and can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the parts that contribute to the prior art or parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0099] In another aspect, the present application also provides a computer program product, which comprises a computer program stored on a non-transitory computer readable storage medium, and the computer program comprises program instructions, when the program instructions are executed by a computer, the computer can execute the cargo automatic stacking and packaging method provided by the above-mentioned embodiments, and the method comprises: generating a virtual stacking scheme according to a plurality of cargo three-dimensional digital models corresponding to a plurality of to-be-stacked cargos and a target packaging stacking type three-dimensional digital model; the virtual stacking scheme is used to define a cargo spatial arrangement combination conforming to the target packaging stacking type three-dimensional digital model; generating a real stacking scheme according to an actual cargo state of each of the to-be-stacked cargos on a conveying line and the virtual stacking scheme; the real stacking scheme is used to define an execution instruction for performing actual stacking operation on each of the to-be-stacked cargos according to the cargo spatial arrangement combination; and stacking and packaging each of the to-be-stacked cargos according to the real stacking scheme.

[0100] In yet another aspect, the present application also provides a non-transitory computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the cargo automatic stacking and packaging method provided by the above-mentioned embodiments, and the method comprises: generating a virtual stacking scheme according to a plurality of cargo three-dimensional digital models corresponding to a plurality of to-be-stacked cargos and a target packaging stacking type three-dimensional digital model; the virtual stacking scheme is used to define a cargo spatial arrangement combination conforming to the target packaging stacking type three-dimensional digital model; generating a real stacking scheme according to an actual cargo state of each of the to-be-stacked cargos on a conveying line and the virtual stacking scheme; the real stacking scheme is used to define an execution instruction for performing actual stacking operation on each of the to-be-stacked cargos according to the cargo spatial arrangement combination; and stacking and packaging each of the to-be-stacked cargos according to the real stacking scheme.

[0101] The system embodiments described above are merely illustrative, wherein the units described as separate components can or can not be physically separated, and the components displayed as units can or can not be physical units. Part or all of the modules can be selected to achieve the purposes of the embodiments according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0102] Through the description of the above embodiments, those skilled in the art can clearly understand that the embodiments can be realized by means of software and necessary universal hardware platforms, and of course can also be realized by hardware. Based on such understanding, the above technical solutions can be embodied in the form of software products, and the computer software products can be stored in a computer readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and include a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in each embodiment or some parts of the embodiments.

[0103] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. An automated palletizing and packaging method for goods, characterized in that, The automated palletizing and packaging method for goods includes: A virtual palletizing scheme is generated based on the three-dimensional digital models of the goods and the three-dimensional digital model of the target pallet type for each of the goods to be palletized; the virtual palletizing scheme is used to define the spatial arrangement and combination of goods that conforms to the three-dimensional digital model of the target pallet type. Based on the actual cargo status of each cargo to be stacked on the conveyor line and the virtual stacking scheme, a physical stacking scheme is generated; the physical stacking scheme is used to define the execution instructions for the actual stacking operation of each cargo to be stacked according to the cargo space arrangement. According to the physical palletizing scheme, each of the goods to be palletized is palletized and packaged.

2. The automated palletizing and packaging method for goods according to claim 1, characterized in that, Before generating the virtual palletizing scheme, the following is also included: The physical attribute information of multiple loose goods is obtained separately; the physical attribute information includes at least one of the following: external dimensions, weight, physical state, and packaging form. Based on the physical attribute information, construct a three-dimensional digital model of each of the scattered goods.

3. The automated palletizing and packaging method for goods according to claim 1, characterized in that, The step of generating a virtual palletizing scheme based on the three-dimensional digital models of the goods and the three-dimensional digital model of the target pallet type corresponding to the multiple goods to be palletized includes: Based on the three-dimensional digital models of the goods corresponding to multiple goods to be stacked, determine the spatial arrangement and combination of goods that conforms to the target stacking type three-dimensional digital model; Based on the spatial arrangement of the goods, a palletizing strategy for each three-dimensional digital model of the goods is determined; the palletizing strategy includes at least one of the following: goods combination form, stacking order, stacking position, and goods orientation. Based on the palletizing strategy of each of the three-dimensional digital models of the goods, a virtual palletizing scheme is generated.

4. The automated palletizing and packaging method for goods according to claim 3, characterized in that, The step of generating a physical palletizing scheme based on the actual cargo status of each of the goods to be palletized on the conveyor line and the virtual palletizing scheme includes: Based on the actual condition of each item to be palletized on the conveyor line and the virtual palletizing scheme, the stacking order and placement direction of each item to be palletized are adjusted. Based on the actual cargo status of each adjusted cargo to be palletized on the conveyor line and the virtual palletizing scheme, an execution instruction sequence is generated; the execution instruction sequence is used to control the palletizing equipment to perform actual palletizing operations layer by layer according to the cargo space arrangement and combination. Based on the sequence of execution instructions, a layer-by-layer physical palletizing scheme is generated.

5. The automated palletizing and packaging method for goods according to claim 4, characterized in that, The step of palletizing and packaging each of the goods to be palletized according to the physical palletizing scheme includes: Based on the physical palletizing scheme of the first layer, the target palletizing equipment is controlled to palletize the adjusted goods to be palletized for the first layer palletizing; the target palletizing equipment is a palletizing equipment adapted to the physical attribute information of the adjusted goods to be palletized. After the first layer of goods is stacked, the resulting stack shape is fixed. The new layer to be palletized is updated to the first layer. The process is iteratively executed according to the physical palletizing scheme of the first layer. The target palletizing equipment is controlled to palletize the adjusted goods to be palletized for the first layer until the last layer of goods is palletized, resulting in a complete palletized and packaged stack.

6. The automated palletizing and packaging method for goods according to claim 5, characterized in that, Each layer of the stack is fixed in the following way: By lowering the already stacked goods layer or raising the fixing equipment, a height difference of half a layer of goods is created between the already stacked goods layer and the fixing equipment. The half-layer of cargo that forms the height difference is solidified.

7. The automated palletizing and packaging method for goods according to claim 6, characterized in that, After the previous layer of goods has been stacked and secured, and before starting the stacking of a new layer, the process also includes: If the target stack type of the new layer to be stacked is a variable cross-section stack type, the stacking shaping size is adjusted by adjusting the shaping barrier according to the variable cross-section size of the target stack type; the shaping barrier is used to control the stacking boundary according to the target packing stack type.

8. An automated palletizing and packaging system for goods, characterized in that, The automated palletizing and packaging system for goods includes: The palletizing scheme generation module is used to generate a virtual palletizing scheme based on the three-dimensional digital models of the goods and the three-dimensional digital model of the target palletizing type for each of the goods to be palletized. The virtual palletizing scheme is used to define the spatial arrangement and combination of goods that conforms to the three-dimensional digital model of the target palletizing type. Based on the actual state of each of the goods to be palletized on the conveyor line and the virtual palletizing scheme, a physical palletizing scheme is generated. The physical palletizing scheme is used to define the execution instructions for performing the actual palletizing operation on each of the goods to be palletized according to the spatial arrangement and combination of goods. The palletizing and packaging module is used to palletize and package each of the goods to be palletized according to the physical palletizing scheme.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the automated palletizing and packaging method for goods as described in any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium, wherein a computer program is stored on the non-transitory computer-readable storage medium, characterized in that, When the computer program is executed by the processor, it implements the steps of the automated palletizing and packing method for goods as described in any one of claims 1 to 7.

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