Intelligent control method and device for multi-pick and mixed stacking, computer device and storage medium

Abstract

The application discloses an intelligent control method and device for multi-warehouse and mixed stacking, computer equipment and a storage medium. The method comprises the following steps: receiving an outbound order and analyzing the same to generate system state snapshot information; planning the outbound sequence and stacking position of goods according to the system state snapshot information and a preset heuristic rule, and generating a stacking task allocation scheme; controlling a shuttle vehicle to take the goods out of the warehouse according to the planned sequence and transport the goods to the designated position according to the stacking task allocation scheme; transporting an empty pallet to the position and lifting the empty pallet to the stacking height according to the stacking task allocation scheme; stacking the goods on the empty pallet according to the stacking task allocation scheme; and after the stacking is completed, wrapping and packaging the pallet, and transporting the packaged pallet to the target position. The method of the application can improve the overall work efficiency, intelligent degree and collaborative performance of the warehouse logistics system.

Description

Technical Field

[0001] This invention relates to the field of multi-pass warehouse and mixed palletizing technology, and more specifically to intelligent control methods, devices, computer equipment and storage media for multi-pass warehouse and mixed palletizing. Background Technology

[0002] In the warehousing and logistics sector, with the continuous growth of market demand and the increasing demands for logistics efficiency, the innovation and development of warehousing technology has become a focus of industry attention. Multi-level shuttle warehouses (hereinafter referred to as "multi-level warehouses," whose core operating unit is called a "multi-level warehouse unit," including racking, shuttle cars, and outbound platforms) are widely used for storing various types of goods as an efficient warehousing solution due to their significant advantages. Through the efficient coordination of multi-level racking and shuttle cars, multi-level warehouses achieve dense storage and rapid inbound and outbound operations, featuring high space utilization, high storage density, and high inbound and outbound efficiency, effectively meeting the needs of large-scale warehousing.

[0003] However, in practical applications, there is a significant lack of coordination between multi-pass warehouses and mixed palletizing, severely impacting the efficiency and intelligence level of the entire warehousing and logistics system. Mixed palletizing is a crucial step in warehousing and logistics (the core equipment combination performing this step is called a "mixed palletizing unit," including palletizing robots, empty pallet buffering mechanisms, and wrapping mechanisms). It involves stacking items of different types, sizes, weights, and shapes onto pallets according to certain rules to improve the convenience and safety of transportation. Although mixed palletizing is vital for logistics transportation, current technologies lack effective integration and coordination between multi-pass warehouses and mixed palletizing, mainly due to the following problems:

[0004] The issue of independence between multi-pass warehousing and mixed palletizing: Currently, multi-pass warehousing and mixed palletizing are two completely independent processes. Multi-pass warehousing only releases goods based on order information, then transfers them to the palletizing area manually or via conveyor equipment. This separate operational model easily leads to delays and errors during the transfer of goods between the two processes, increasing logistics and time costs. Manual transfer is not only inefficient but also prone to damage to goods and loss of information, thus significantly reducing the overall operational efficiency of the warehousing and logistics system.

[0005] The lack of intelligence in mixed palletizing: Currently, mixed palletizing mainly relies on manual planning, resulting in a low level of intelligence. Manual pallet planning is not only inefficient but also susceptible to human factors, leading to unstable pallet configurations and low space utilization. Unstable pallets may collapse during transport, causing damage and delays; low space utilization wastes valuable storage space, increasing warehousing costs. Furthermore, manual planning struggles to handle complex variations in product types and dimensions, hindering efficient palletizing optimization.

[0006] Lack of inter-system information exchange: There is a lack of effective information exchange mechanisms between the multi-pass warehouse and the hybrid palletizing system. Due to the lack of information sharing, the hybrid palletizing system cannot adjust the outbound order of the multi-pass warehouse in a timely manner according to actual palletizing needs. This prevents the entire warehousing and logistics system from achieving dynamic optimization, resulting in slow response to emergencies and an inability to flexibly handle order changes and emergency cargo allocation. The lack of information exchange prevents the multi-pass warehouse and hybrid palletizing system from working collaboratively, failing to fully leverage their respective advantages, and limiting the overall performance of the entire warehousing and logistics system.

[0007] In summary, the existing technologies suffer from problems such as independence, insufficient intelligence, and lack of information interaction in multi-pass storage and mixed palletizing processes, which seriously affect the efficiency and intelligence level of warehousing and logistics systems. Therefore, there is an urgent need for an innovative technology that can solve these problems to achieve efficient collaborative operations between multi-pass storage and mixed palletizing, thereby improving the intelligence level and overall performance of warehousing and logistics systems. Summary of the Invention

[0008] The purpose of this invention is to overcome the shortcomings of the prior art and provide an intelligent control method, device, computer equipment and storage medium for multi-pass warehouses and mixed palletizing.

[0009] To achieve the above objectives, the present invention adopts the following technical solution:

[0010] Intelligent control methods for multi-pass warehouses and mixed palletizing include:

[0011] Receive and parse shipping orders to generate system status snapshot information;

[0012] Based on system status snapshot information and preset heuristic rules, the outbound sequence and palletizing location of goods are planned, and a palletizing task allocation scheme is generated.

[0013] According to the palletizing task allocation plan, control the shuttle car to take the goods out of the warehouse in the planned order and transport the goods to the designated location;

[0014] According to the palletizing task allocation plan, empty pallets are delivered to their designated locations and then raised to the palletizing height.

[0015] Stack the goods onto empty pallets according to the palletizing task allocation plan;

[0016] After palletizing, the pallets are wrapped with film and then transported to the target location.

[0017] The present invention also provides an intelligent control device for multi-pass warehouses and mixed palletizing, comprising:

[0018] The receiving, parsing, and generation unit is used to receive and parse shipping orders to generate system status snapshot information;

[0019] The planning and generation unit is used to plan the outbound sequence and palletizing position of goods based on system status snapshot information and preset heuristic rules, and generate a palletizing task allocation scheme.

[0020] The control and conveying unit is used to control the shuttle car to take goods out of the warehouse in the planned order and transport the goods to the designated location according to the palletizing task allocation plan;

[0021] The conveying and lifting unit is used to convey empty pallets to the designated location and lift them to the palletizing height according to the palletizing task allocation plan.

[0022] The stacking unit is used to stack goods onto empty pallets according to the palletizing task allocation scheme.

[0023] The packing and conveying unit is used to wrap the pallets after palletizing and then transport the wrapped pallets to the target location.

[0024] The present invention also provides a computer device, the computer device including a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the above-described method.

[0025] The present invention also provides a storage medium storing a computer program that, when executed by a processor, implements the above-described method.

[0026] The advantages of this invention compared to existing technologies are as follows: By receiving shipping orders and parsing and generating system status snapshot information, the outbound sequence and palletizing position of goods can be accurately planned, and a palletizing task allocation scheme can be generated. This process tightly connects the outbound operation of multi-warehouse operations with the mixed palletizing process, avoiding manual transfer and waiting time between the two stages, achieving seamless connection from outbound to palletizing, and greatly improving overall work efficiency. Furthermore, based on system status snapshot information and preset heuristic rules, the outbound sequence and palletizing position of goods can be intelligently planned. This intelligent planning method can rationally arrange the outbound sequence and palletizing position of goods according to factors such as type, size, and weight, avoiding the arbitrariness and irrationality of manual planning, further improving the efficiency of outbound and palletizing. Furthermore, based on the palletizing task allocation scheme, the system can automatically control shuttle vehicles to dispatch goods out of the warehouse in a planned order and transport them to designated locations. Simultaneously, according to the palletizing task allocation scheme, empty pallets are delivered to their designated positions and raised to the palletizing height before goods are stacked onto them. This entire process is fully automated, requiring no manual intervention, significantly improving the intelligence level of mixed palletizing. Moreover, by organically integrating multi-pass warehouses and mixed palletizing, the system achieves collaborative work between the two. This collaborative work mode fully leverages the advantages of both multi-pass warehouses and mixed palletizing, enabling the entire warehousing and logistics system to operate efficiently and stably. After palletizing, the system can also automatically wrap and pack the pallets and transport the packed pallets to the target location, further improving the entire logistics process and enhancing the overall performance of the system.

[0027] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0028] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a schematic diagram illustrating an application scenario of the intelligent control method for multi-pass warehouses and mixed palletizing provided in an embodiment of the present invention.

[0030] Figure 2 This is a flowchart illustrating the intelligent control method for multi-pass warehouses and mixed palletizing provided in an embodiment of the present invention.

[0031] Figure 3 A schematic block diagram of an intelligent control device for multi-pass warehouses and mixed palletizing provided in an embodiment of the present invention;

[0032] Figure 4 A schematic block diagram of a computer device provided for an embodiment of the present invention. Detailed Implementation

[0033] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0034] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0035] It should also be further understood that the term "and / or" as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0036] Please see Figure 1 and Figure 2 , Figure 1 This is a schematic diagram illustrating an application scenario of the intelligent control method for multi-pass warehouses and mixed palletizing provided in an embodiment of the present invention. Figure 2 This is a schematic flowchart illustrating an intelligent control method for multi-pass warehouses and mixed palletizing provided in an embodiment of the present invention. This intelligent control method for multi-pass warehouses and mixed palletizing is applied to a server, which interacts with a terminal. It effectively solves the problems of independence, insufficient intelligence, and lack of information interaction in the existing technology regarding multi-pass warehouses and mixed palletizing processes, improving the overall working efficiency, intelligence level, and collaborative performance of the warehousing and logistics system. It has significant technological innovation and practical application value.

[0037] Figure 2 This is a flowchart illustrating the intelligent control method for multi-pass warehouses and mixed palletizing provided in an embodiment of the present invention. Figure 2 As shown, the method includes the following steps S110 to S160.

[0038] S110: Receive and parse the shipping order to generate system status snapshot information;

[0039] Specifically, the system receives shipping orders through a warehouse management system (WMS), which includes information such as the type, specifications, quantity, and outbound priority of the goods. The WMS transmits the order data to the warehouse control system (WCS), where the WCS parses the orders and extracts key information. At the same time, it collects the status information of each device in the system, including the storage location of goods in the multi-pass warehouse, the operating status of shuttles, the task progress of palletizing robots, and the inventory status of empty pallets. After summarizing, a system status snapshot is generated.

[0040] In other words, generating system status snapshot information provides a real-time and accurate data foundation for subsequent task planning, ensuring the scientific validity and feasibility of task allocation schemes. Furthermore, by parsing orders and collecting equipment status data, the system can quickly understand current task requirements and resource status, providing a basis for decision-making in subsequent intelligent scheduling and task allocation, thus improving the overall intelligence level of the system. Simultaneously, automated order parsing and snapshot information generation reduce errors from manual operation and information transmission, improving the system's response speed and reliability.

[0041] In one embodiment, receiving and parsing a shipping order to generate system state snapshot information includes:

[0042] Receive shipping orders, extract the types, quantities, dimensions, and weights of goods from the orders, and generate order information;

[0043] Specifically, the system receives shipping orders from customers or upper-level logistics systems through a Warehouse Management System (WMS). These orders are typically transmitted electronically and contain detailed information about the goods. The WMS performs initial verification of the received orders to ensure the order format is correct and the data is complete, and then stores the order data in the system database. The WMS then extracts key information from the orders, including the type of goods (such as product code or name), quantity, dimensions (length, width, height), and weight. The extracted data is organized into structured order information for subsequent processing. For example, order information might be stored as a table where each row represents a type of goods, and columns represent attributes such as type, quantity, dimensions, and weight.

[0044] In other words, the automated order receiving and verification mechanism ensures that the received order data is in the correct format and complete, reducing subsequent processing problems caused by missing or incorrect data. Furthermore, the system can quickly extract key information from orders and generate structured order information tables, reducing the time and workload of manual order processing.

[0045] The system analyzes order information and combines it with real-time operational data from multi-pass warehouse units and hybrid palletizing units to generate system status snapshot information.

[0046] Specifically, the Warehouse Control System (WCS) obtains parsed order information from the Warehouse Management System (WMS). The WCS further analyzes this order information to determine the storage location, outbound priority, and palletizing requirements for each type of goods. Based on the order information, the WCS calculates the complexity and priority of outbound tasks, providing a basis for subsequent task allocation. For example, the system may prioritize urgent orders or bulky goods.

[0047] WCS simultaneously collects real-time operational data from both multi-pass warehouse units and hybrid palletizing units. This data includes:

[0048] Multi-channel warehouse unit: current storage location of goods, operating status of shuttle vehicles (such as location, speed, load), occupancy status of inbound and outbound platforms, etc.;

[0049] Hybrid palletizing unit: task progress of palletizing robot, inventory of empty pallets, status of wrapping mechanism, operation of conveyor line, etc.

[0050] WCS integrates the parsed order information with real-time operational data to generate system status snapshot information. The snapshot information includes: the current status of each device in the system (such as whether the shuttle is idle, whether the palletizing robot is performing a task), the storage location of the goods and the estimated outbound time, the available quantity and location of empty pallets, and the priority and estimated completion time of the palletizing task.

[0051] Snapshot information is stored in system memory in the form of a data structure, providing real-time and accurate data support for subsequent task planning and scheduling.

[0052] In other words, parsing order information and combining it with real-time operational data provides a basis for intelligent scheduling decisions. The system can dynamically adjust task allocation schemes based on information such as the type, quantity, size, and weight of goods, combined with the current equipment status. Furthermore, system status snapshot information provides a basis for optimized resource allocation. By understanding equipment status and task requirements in real time, the system can rationally schedule the operation of shuttles, palletizing robots, and conveying equipment, reducing equipment idle time and conflicts.

[0053] S120. Based on the system status snapshot information and preset heuristic rules, plan the outbound sequence and palletizing position of goods, and generate a palletizing task allocation scheme.

[0054] Specifically, the system plans the outbound sequence and palletizing position of goods based on preset heuristic rules and system state snapshot information. Heuristic rules include weight priority, size matching, stability considerations, and space optimization. Based on the planning results, WCS generates a detailed palletizing task allocation scheme, including the outbound sequence, palletizing position, and corresponding shuttle and palletizing robot tasks for each item.

[0055] In other words, heuristic rules are used to optimize palletizing positions, improving pallet space utilization and reducing warehouse space waste. Furthermore, the palletizing sequence is planned according to the principle of "heavy at the bottom, light at the top; large at the bottom, small at the top," ensuring stable stacking and preventing goods from tipping over during transport, thus improving cargo safety. Simultaneously, the system automatically generates palletizing task allocation schemes, reducing the time and errors of manual planning and improving the efficiency and accuracy of task allocation.

[0056] In one embodiment, the step of planning the outbound sequence and palletizing position of goods based on system state snapshot information and preset heuristic rules, and generating a palletizing task allocation scheme, includes:

[0057] Based on the system status snapshot information, determine the current storage location of the goods and the information of the goods to be shipped out, so as to generate detailed goods information;

[0058] Specifically, the Warehouse Control System (WCS) extracts storage location information for each item in the current multi-pass warehouse from system status snapshots, including the shelf level and location number. Simultaneously, it retrieves detailed information about items awaiting shipment from the snapshots, such as item type, quantity, dimensions, and weight. The WCS integrates this information to generate a detailed goods list. This list records the storage location, quantity, dimensions, weight, and shipment priority for each item awaiting shipment. For example, the list might include fields such as item number, item type, storage location (shelf level, location), quantity, dimensions (length, width, height), weight, and shipment priority.

[0059] In other words, by integrating the storage locations and outbound goods information from system status snapshots, detailed goods information is generated, ensuring data accuracy and completeness. Furthermore, the generated goods information provides clear input data for subsequent task planning, reducing data search and processing time.

[0060] Based on preset heuristic rules, the order of goods leaving the warehouse is planned;

[0061] Specifically, the pre-defined heuristic rules include, but are not limited to:

[0062] Weight priority: Heavier goods are shipped out first and placed at the bottom of the pallet to ensure stable stacking;

[0063] Size priority: Goods with larger bottom areas are shipped out first to provide stable support for goods above them;

[0064] Prioritize fragile items: Fragile goods should be shipped out last and placed on the top layer of pallets to prevent them from being crushed;

[0065] Urgent orders are prioritized: Goods in urgent orders are processed first, based on their urgency.

[0066] Based on the aforementioned heuristic rules and combined with the detailed information of the goods, WCS sorts all goods awaiting shipment. For example, it first sorts by weight, with heavier goods listed first; if the weights are the same, it sorts by base area; if the base areas are also the same, it considers factors such as fragility. The sorting results generate an outbound sequence table, recording the outbound order of each type of goods.

[0067] In other words, by using heuristic rules to sort goods, it ensures that heavy and large-base items are prioritized for outbound processing, reducing adjustment time during palletizing. Furthermore, heavy items are prioritized for outbound processing and placed at the bottom of the pallet to ensure stack stability and reduce the risk of goods tipping over during transport.

[0068] Based on the cargo details, plan the stacking position of the cargo on the pallet;

[0069] Specifically, WCS plans the specific stacking position of each item on the pallet based on the cargo details, combined with the pallet's size and shape. Heuristic rules are used for stacking position planning, for example:

[0070] Layered filling rule: Fill the current layer first, then start stacking the next layer to avoid excessive gaps in a single layer;

[0071] Minimum Gap Priority Rule: Prioritize placing goods into gaps that best match their own dimensions to reduce wasted space;

[0072] Center of gravity rule: Try to place the goods in the center of the pallet to maintain the balance of the stack;

[0073] Edge alignment rule: Align the edges of goods with the edges of the pallet as much as possible to reduce skewing.

[0074] WCS records the palletizing location information of each item in the palletizing location table, including the item number, coordinates (X, Y, Z) on the pallet, rotation angle, and other information.

[0075] In other words, heuristic rules are used to optimize the stacking position of goods on pallets, reducing gaps and improving pallet space utilization. In addition, rules such as centering the center of gravity and aligning the edges ensure that goods are evenly distributed on pallets and maintain stack balance.

[0076] Based on the order of goods leaving the warehouse, the palletizing position, and the task allocation information of the palletizing robot, a palletizing task allocation scheme is generated.

[0077] Specifically, WCS integrates the outbound order and palletizing position information of goods with the task allocation information of the palletizing robots. The task allocation information includes the palletizing robot's ID, current task status, and task priority. Based on the number of palletizing robots and the current task progress, tasks are rationally allocated to each robot. WCS generates a detailed palletizing task allocation scheme, which records information such as the outbound order, palletizing position, corresponding palletizing robot ID, task start time, and task end time for each item. For example, the task allocation scheme might include the following fields: item ID, outbound order, palletizing position (X, Y, Z coordinates), palletizing robot ID, task start time, and task end time.

[0078] In other words, by integrating the outbound order and palletizing position of goods with the task allocation information of the palletizing robot, a detailed palletizing task allocation scheme is generated, ensuring the scientific and rational nature of task allocation. Furthermore, this systematic task allocation scheme reduces manual intervention and improves the system's automation and intelligence levels.

[0079] S130. According to the palletizing task allocation plan, control the shuttle car to take the goods out of the warehouse in the planned order and transport the goods to the designated location;

[0080] Specifically, the WCS sends instructions to the shuttle control system based on the palletizing task allocation scheme, designating the shuttle to retrieve goods from specific locations in the multi-pass warehouse and exit the warehouse in the planned sequence. After exiting the warehouse, the goods are transported to designated locations in the mixed palletizing unit via conveyor connection units (such as roller conveyors or chain conveyors). During the conveying process, the conveying equipment automatically adjusts the conveying path and speed according to the instructions from the WCS.

[0081] In other words, it enables seamless connection between goods leaving the multi-channel warehouse and the palletizing area, reducing the time from outbound to palletizing. At the same time, through systematic task allocation and path planning, it reduces the idle time of shuttle vehicles and conveying equipment, improving equipment utilization and overall operational efficiency.

[0082] In one embodiment, controlling the shuttle to dispatch goods out of the warehouse in a planned order and transport them to a designated location according to the palletizing task allocation scheme includes:

[0083] According to the palletizing task allocation scheme, the outbound tasks are assigned to the corresponding shuttle cars;

[0084] Specifically, the warehouse control system (WCS) extracts the outbound sequence and storage location information for each item from the palletizing task allocation scheme. Based on the storage location of the item, the WCS determines the shuttle responsible for that task. For example, if the item is stored on the third floor, the WCS assigns the task to the shuttle responsible for the third floor. The WCS generates specific outbound task instructions, including the item's storage location (shelf level, location number), target outbound station number, and task priority.

[0085] The WCS sends outbound task instructions to the corresponding shuttle control system via a communication interface (such as industrial Ethernet or fieldbus). The shuttle control system receives the task instructions, stores them in a task queue, and waits for execution.

[0086] In other words, through the palletizing task allocation scheme, WCS can accurately assign outbound tasks to the most suitable shuttle, ensuring efficient and accurate task execution. Furthermore, rational task allocation avoids idle shuttle waiting, improving shuttle utilization.

[0087] Control the shuttle car to retrieve goods from the designated storage location and transport the goods to the outbound platform;

[0088] Specifically, the shuttle control system drives the shuttle to the designated storage location according to task instructions. The shuttle moves along the rack track via its driving mechanism (such as a servo motor) to reach the target storage location. After arriving at the designated storage location, its gripping mechanism (such as a clamp-type gripper) is activated to grab the goods. The gripping mechanism uses sensors (such as position sensors and pressure sensors) to ensure that the goods are correctly grabbed. After grabbing the goods, the shuttle travels to the outbound platform according to the planned path. During the journey, the shuttle monitors its own position and operating status in real time through sensors and the control system to ensure smooth operation.

[0089] After the shuttle arrives at the outbound platform, its gripping mechanism places the goods in the designated location on the platform. The outbound platform uses sensors to detect whether the goods are correctly placed and sends a confirmation signal to the shuttle's control system. Upon receiving the confirmation signal, the shuttle completes its task and returns to standby mode, awaiting the next task instruction.

[0090] In other words, the shuttle car quickly and accurately retrieves goods from designated locations according to a planned route and transports them to the outbound platform, reducing the time goods spend in the warehouse. Furthermore, the shuttle car uses sensors and a control system to monitor its operational status in real time, ensuring smooth operation and reducing the risk of damage to goods due to equipment malfunctions or unstable operation.

[0091] The control station transfers goods to the roller conveyor, which then transports the goods along the conveyor line to the designated location.

[0092] Specifically, after receiving goods, the outbound platform activates a conveyor system (such as a hoist or conveyor belt) to lift the goods from the platform to a position where they dock with the roller conveyor. The outbound platform's conveyor system and the roller conveyor achieve seamless docking through sensors and a control system, ensuring a smooth handover of goods. The goods are placed at the starting position of the roller conveyor.

[0093] The roller conveyor starts according to WCS instructions, transporting goods along the conveyor line to designated locations. The conveyor line may consist of multiple roller conveyor sections, with lifting and transfer devices used to redirect and change the path of the goods. Sensors arranged along the conveyor line monitor the position and status of the goods in real time, ensuring that the goods arrive at the designated location smoothly according to the planned path. For example, goods may need to undergo secondary sorting or turning operations to adapt to subsequent palletizing stations.

[0094] In other words, the seamless connection between the outbound platform and the roller conveyor ensures a smooth handover of goods and reduces the risk of damage during transportation. Furthermore, the roller conveyor, based on WCS instructions, uses sensors and a control system to precisely transport goods, ensuring they arrive at their designated locations smoothly along the planned path.

[0095] S140. According to the palletizing task allocation plan, deliver the empty pallet to the designated location and lift the empty pallet to the palletizing height.

[0096] Specifically, the WCS retrieves empty pallets from the empty pallet buffer mechanism based on the palletizing task requirements. The empty pallets are then transported to the palletizing elevator via a conveyor line. The elevator lifts the empty pallets to a position matching the operating height of the palletizing robot, ready for palletizing operations.

[0097] In other words, it enables automated delivery and lifting of empty pallets, reducing the workload of manual pallet handling and improving operational efficiency. Simultaneously, by ensuring that empty pallets are precisely lifted to the palletizing height, it provides a stable working platform for the palletizing robot, improving the stability and accuracy of palletizing operations. Furthermore, the automatic replenishment and lifting of empty pallets is synchronized with the delivery of goods, optimizing the entire palletizing process and reducing waiting time.

[0098] In one embodiment, the step of delivering the empty pallet to its designated position and lifting it to the palletizing height according to the palletizing task allocation scheme includes:

[0099] According to the palletizing task allocation plan, retrieve empty pallet groups from the pallet storage area;

[0100] Specifically, the warehouse control system (WCS) determines the required number and specifications of empty pallets based on the palletizing task allocation scheme, and generates a task instruction to retrieve empty pallet groups from the pallet storage area. The task instruction includes information such as the location of the pallet storage area, the required number of empty pallets, and the target buffer station number.

[0101] The WCS (Wastewater Control System) sends task instructions to the control system (such as a stacker crane or conveyor system) of the pallet storage area via a communication interface (such as Industrial Ethernet or Fieldbus). Upon receiving the task instructions, the control system of the pallet storage area activates the corresponding equipment (such as a stacker crane or conveyor belt). According to the task instructions, the stacker crane or conveyor belt in the pallet storage area retrieves a group of empty pallets (typically a stack of multiple pallets) from the designated location. The stacker crane, using its lifting mechanism and gripping device, removes the empty pallet group from the storage rack and places it on the conveyor belt. The conveyor belt then starts, transporting the empty pallet group to the location where it docks with the empty pallet buffer station.

[0102] In other words, the WCS (Wafer Control System) precisely retrieves the required number of empty pallet groups from the pallet storage area based on task instructions, avoiding situations of excess or shortage. Furthermore, automated equipment (such as stacker cranes and conveyors) executes tasks automatically according to instructions, reducing manual operation.

[0103] Transport the empty pallet group to the empty pallet buffer station;

[0104] Specifically, the WCS plans the optimal transport path for empty pallet groups from the pallet storage area to the empty pallet buffer station based on the system layout and current equipment status. The transport path may include multiple conveyor belt segments and steering mechanisms to ensure the empty pallet groups reach the buffer station smoothly. The conveyor belt starts according to the planned path, transporting the empty pallet groups along the conveyor line to the empty pallet buffer station. Sensors arranged along the conveyor line monitor the position and status of the empty pallet groups in real time to ensure a smooth and uninterrupted transport process. When the empty pallet group arrives at the buffer station, the sensors detect its arrival and send an acknowledgment signal to the WCS.

[0105] In other words, sensors and a control system ensure that empty pallet assemblies are transported smoothly along the planned path, reducing delays and malfunctions during transport. Furthermore, sensors monitor the position and status of the empty pallet assemblies in real time, ensuring the accuracy of the transport process and promptly sending positioning signals back to the WCS.

[0106] Remove a single empty pallet from the pallet group and place it onto the palletizing elevator;

[0107] Specifically, the pallet separation device (such as a forklift structure or lifting platform) at the empty pallet buffer station is activated, separating individual empty pallets one by one from the pallet group. The separation device uses sensors to detect the height and position of the pallet group, ensuring that only one empty pallet is removed at a time. The separated individual empty pallet is moved by the pallet separation device to the designated position on the palletizing elevator. Once the palletizing elevator's sensors detect that the empty pallet has arrived, it prepares for the next lifting operation.

[0108] In other words, the pallet separator can precisely separate empty pallets one by one from a pallet group and place them in designated positions on the palletizing elevator. Furthermore, automated separation and placement operations reduce manual intervention and ensure operational continuity.

[0109] The control palletizing elevator lifts the empty pallet to the palletizing height.

[0110] Specifically, the WCS generates a task instruction to lift the empty pallet to the palletizing height based on the palletizing task allocation scheme. The task instruction includes information such as lifting height, lifting speed, and target position. Upon receiving the task instruction, the palletizing elevator activates its lifting mechanism (such as a ball screw or hydraulic lifting device). The elevator lifts the empty pallet from the buffer position to a position matching the palletizing robot's operating height according to the task instruction. During the lifting process, sensors monitor the pallet's position and lifting status in real time to ensure a smooth and accurate lifting process. When the empty pallet reaches the designated height, the sensor detects its position and sends a confirmation signal to the WCS, completing the empty pallet transport and lifting task.

[0111] In other words, the palletizing lifter raises the empty pallet to a position matching the operating height of the palletizing robot according to the task instructions. Sensors monitor the lifting status in real time to ensure a smooth and accurate lifting process. Furthermore, the lifting of the empty pallet is closely coordinated with the task of the palletizing robot, ensuring the smoothness of the entire palletizing operation.

[0112] S150. Stack the goods onto empty pallets according to the palletizing task allocation plan.

[0113] Specifically, the palletizing robot, based on the task allocation plan issued by WCS, picks up goods from the conveyor line and obtains the real-time position and size information of the goods through a vision recognition module. After adjusting its gripping action, it accurately places the goods on an empty pallet according to the planned palletizing coordinates. The vision recognition module monitors the process in real time to ensure accurate placement of the goods and controls the gap between layers to ≤5mm.

[0114] In other words, the combination of robots and vision recognition modules enables precise positioning and stacking of goods, improving palletizing speed. Simultaneously, real-time monitoring and fine-tuning by the vision recognition module ensures accurate placement of goods, controlling interlayer gaps to ≤5mm, improving stack stability, and reducing the risk of damage during transportation.

[0115] In one embodiment, stacking goods onto empty pallets according to a palletizing task allocation scheme includes:

[0116] The palletizing robot picks up goods according to the palletizing task allocation plan;

[0117] Specifically, the palletizing robot control system receives the palletizing task allocation plan from the warehouse control system (WCS), which includes information such as the gripping sequence, location, and target placement location of the goods. The robot control system breaks down the task into specific gripping and placement action instructions. According to the task instructions, the palletizing robot moves to the designated gripping position. The robot adjusts its posture through joint movements (such as six-axis motion) to ensure that the gripping tool (such as a gripper or suction cup) can accurately reach above the goods. After reaching the gripping position, the robot's gripping tool activates, adjusting the gripping force and method according to the type and size of the goods. For example, a gripper may be used for heavier goods, while a suction cup may be used for lighter goods. After the gripping tool confirms that the goods have been firmly gripped through sensors (such as pressure sensors or vacuum sensors), the robot lifts the goods, preparing for the next placement operation.

[0118] In other words, the palletizing robot accurately grasps goods according to the task allocation plan, reducing human intervention and operation time. In addition, the robot ensures the accuracy of the grasping action through joint movement and sensor feedback.

[0119] The visual recognition module acquires the size, shape, and location information of the goods and feeds this information back to the palletizing robot;

[0120] Specifically, the vision recognition module (such as an industrial 3D camera and image processor) is activated simultaneously with the robot's grasping of the goods, capturing and recognizing them. The camera captures images of the goods from multiple angles, and the image processor analyzes the images to extract the goods' size, shape, and position information. The vision recognition module then feeds back the extracted goods information to the palletizing robot control system in real time via a communication interface (such as Ethernet). The robot control system receives and parses this information for subsequent adjustments to the grasping posture and calibration of the palletizing position.

[0121] In other words, the visual recognition module acquires the size, shape, and location information of the goods in real time and feeds it back to the robot. Furthermore, the high-precision image processing capabilities of the visual recognition module ensure the accuracy of the goods information.

[0122] Based on feedback from the visual recognition module, the palletizing robot adjusts its gripping posture and places the goods into the designated position on the empty pallet.

[0123] Specifically, the palletizing robot adjusts its gripping posture based on the size and shape information of the goods fed back by the vision recognition module. For example, if the goods are irregularly shaped, the robot may need to adjust the angle or position of the grippers to ensure that the goods can be firmly gripped without damage. The robot adjusts its gripping posture in real time through its joint movements and sensor feedback to ensure that the goods remain stable during the gripping process. Based on the task allocation plan and feedback information from the vision recognition module, the palletizing robot moves the goods to the designated stacking position on the empty pallet. The robot places the goods on the pallet using its end effector (such as a gripper or suction cup), and simultaneously adjusts the placement position and angle of the goods based on the position information provided by the vision recognition module to ensure that the goods are stacked in the planned order and position.

[0124] In other words, the robot dynamically adjusts its grasping posture based on feedback from the visual recognition module to ensure that goods are firmly grasped without damage. Furthermore, based on the location information provided by the visual recognition module, the robot accurately places the goods into designated positions on the empty pallet.

[0125] Repeat the above process until all goods are stacked on the pallet in the planned order and location.

[0126] Specifically, the palletizing robot sequentially picks up and places goods according to the palletizing task allocation plan. After each picking and placing operation is completed, the robot control system updates the task progress and adjusts subsequent operations based on feedback from the vision recognition module. The vision recognition module continuously monitors the position and orientation of the goods during each operation to ensure the accuracy of each placing operation. Once all goods are placed on the pallet in the planned order and position, the palletizing robot control system sends a task completion signal to the WCS (Wastewater Control System). After the WCS confirms the task completion, it initiates subsequent wrapping and conveying operations to complete the entire palletizing process.

[0127] In other words, the robot repeatedly performs grasping and stacking operations according to the task allocation plan, ensuring that all goods are stacked in the planned order and position. In addition, through real-time feedback from the visual recognition module and dynamic adjustments by the robot, the entire palletizing process achieves efficient and precise automated operation.

[0128] S160. After palletizing, wrap the pallets with film and transport the wrapped pallets to the target location.

[0129] Specifically, after the goods are stacked, the stretch wrapping mechanism is activated. A rotating structure rotates the pallet, and the film holder evenly wraps the stretch film around the surface of the goods, ensuring stability and preventing damage during transport. The wrapped pallet is then transported to its target location, such as the shipping or storage area, via a conveyor line. During transport, the system continues to monitor the pallet's status to ensure smooth operation.

[0130] In other words, stretch wrapping ensures that goods remain stable and undamaged during transportation, improving cargo safety. Furthermore, automation of packing and conveying reduces manual labor, increasing operational efficiency and reliability. Simultaneously, the automatically transported packed pallets to their destination optimizes the logistics process and reduces the time goods spend in warehousing and transportation.

[0131] In one embodiment, the step of wrapping the pallet after palletizing and transporting the wrapped pallet to the target location includes:

[0132] The wrapping and packaging mechanism automatically wraps pallets that have been stacked.

[0133] Specifically, after the palletizing robot completes the stacking of goods, the stretch wrapping mechanism receives a start signal and begins the stretch wrapping operation on the pallet. The pallet is placed on the rotating platform of the stretch wrapping mechanism, which is driven by a motor to rotate the pallet. The film holder structure of the stretch wrapping mechanism loads the stretch film and, through the film feeding structure, evenly wraps the film around the pallet and the surface of the goods. During the stretch wrapping process, the film holder structure automatically adjusts the tension and pre-stretch of the film according to the height and shape of the goods to ensure that the film adheres tightly to the surface of the goods and prevents the goods from loosening during transportation. Sensors monitor the stretch wrapping process in real time to ensure that the number of film layers and the tension meet preset standards. After the stretch wrapping is completed, the sensors detect that the film has evenly covered the surface of the pallet and the goods and send a stretch wrapping completion signal to the control system.

[0134] In other words, automated wrapping ensures that pallets and goods are tightly wrapped, preventing them from loosening or being damaged during transport. Furthermore, automated wrapping reduces the time and labor intensity of manual packaging, thus improving packaging efficiency.

[0135] After wrapping, pack the pallet;

[0136] Specifically, after receiving the wrapping completion signal, the control system initiates the packing operation. The packing mechanism, according to a preset program, packs the wrapped pallet. Packing methods can include heat shrink packaging, tape securing, or other suitable methods, selected based on the type of goods and transportation requirements. The packing mechanism uses mechanical devices (such as a heat shrink oven or tape machine) to pack the pallet. For example, in heat shrink packaging, the pallet enters the heat shrink oven, where hot air shrinks the film, tightly wrapping the goods; in tape securing, the tape machine automatically wraps and secures the film, ensuring a secure package. Sensors monitor the packing process in real time to ensure the packing operation meets preset standards, such as the number of tape layers and the uniformity of heat shrinkage. After packing is complete, the sensors detect that the pallet has been packed as required and send a packing completion signal to the control system.

[0137] In other words, packaging techniques (such as heat shrink packaging or tape securing) further enhance the strength of the packaging, ensuring that the goods will not loosen during transportation. Furthermore, packaging methods can be flexibly selected based on the type of goods and transportation requirements; for example, heat shrink packaging is suitable for fragile items, while tape securing is suitable for general cargo.

[0138] The palletizing elevator is controlled to place the packaged pallets onto the pallet conveyor line, which then transports them to the target location.

[0139] Specifically, after receiving the packing completion signal, the control system starts the palletizing elevator to lift the packed pallet from the wrapping mechanism to the position where it connects with the pallet conveyor line. The palletizing elevator smoothly lifts the pallet using its lifting mechanism (such as a ball screw or hydraulic device) and uses sensors to detect the pallet's position, ensuring that the pallet is accurately placed on the conveyor line.

[0140] The pallet conveyor line starts, transporting the packaged pallets along a preset path to the target location. The conveyor line may include multiple conveyor belts and steering mechanisms to ensure the pallets reach their designated positions smoothly. Sensors arranged along the conveyor line monitor the position and status of the pallets in real time, ensuring a smooth and uninterrupted transport process. When the pallet reaches the target position, the sensors detect its arrival and send an acknowledgment signal to the control system, completing the entire transport process.

[0141] In other words, the packaged pallets are smoothly placed onto the pallet conveyor line via a palletizing elevator, and the conveyor line transports the pallets to their target locations. Furthermore, sensors monitor the position and status of the pallets in real time to ensure the smoothness and accuracy of the conveying process and promptly send positioning signals back to the control system.

[0142] The aforementioned intelligent control method for multi-pass warehouses and mixed palletizing receives shipping orders and parses them to generate system status snapshot information. This allows for precise planning of the outbound sequence and palletizing location of goods, and generates a palletizing task allocation scheme. This process seamlessly integrates the outbound operation of multi-pass warehouses with the mixed palletizing process, avoiding manual transfer and waiting time between the two stages. It achieves a seamless connection between outbound and palletizing, significantly improving overall work efficiency. Furthermore, based on system status snapshot information and preset heuristic rules, the method intelligently plans the outbound sequence and palletizing location of goods. This intelligent planning approach rationally arranges the outbound sequence and palletizing location based on factors such as the type, size, and weight of the goods, avoiding the arbitrariness and irrationality of manual planning, further improving the efficiency of outbound and palletizing. Furthermore, based on the palletizing task allocation scheme, the system can automatically control shuttle vehicles to dispatch goods out of the warehouse in a planned order and transport them to designated locations. Simultaneously, according to the palletizing task allocation scheme, empty pallets are delivered to their designated positions and raised to the palletizing height before goods are stacked onto them. This entire process is fully automated, requiring no manual intervention, significantly improving the intelligence level of mixed palletizing. Moreover, by organically integrating multi-pass warehouses and mixed palletizing, the system achieves collaborative work between the two. This collaborative work mode fully leverages the advantages of both multi-pass warehouses and mixed palletizing, enabling the entire warehousing and logistics system to operate efficiently and stably. After palletizing, the system can also automatically wrap and pack the pallets and transport the packed pallets to the target location, further improving the entire logistics process and enhancing the overall performance of the system.

[0143] Figure 3 This is a schematic block diagram of an intelligent control device 300 for multi-pass warehouses and mixed palletizing, provided in an embodiment of the present invention. Figure 3 As shown, corresponding to the above-described intelligent control method for multi-pass warehouses and mixed palletizing, the present invention also provides an intelligent control device 300 for multi-pass warehouses and mixed palletizing. This intelligent control device 300 includes a unit for executing the above-described intelligent control method for multi-pass warehouses and mixed palletizing, and the device can be configured in a server. Specifically, please refer to... Figure 3 The intelligent control device 300 for multi-pass warehouses and mixed palletizing includes:

[0144] The receiving and parsing generation unit 301 is used to receive and parse the shipping order to generate system status snapshot information;

[0145] The planning and generation unit 302 is used to plan the outbound sequence and palletizing position of goods based on system status snapshot information and preset heuristic rules, and generate a palletizing task allocation scheme.

[0146] The control conveying unit 303 is used to control the shuttle car to take the goods out of the warehouse in the planned order according to the palletizing task allocation plan and transport the goods to the designated location;

[0147] The conveying and lifting unit 304 is used to convey empty pallets to the designated location and lift them to the palletizing height according to the palletizing task allocation scheme.

[0148] The stacking unit 305 is used to stack goods onto empty pallets according to the palletizing task allocation scheme.

[0149] The packing and conveying unit 306 is used to wrap the pallets after palletizing and to transport the wrapped pallets to the target location.

[0150] In one embodiment, the receiving parsing and generating unit 301 includes:

[0151] The receiving and extracting module is used to receive shipping orders and extract data on the type, quantity, size, and weight of goods in the orders to generate order information;

[0152] The parsing and integration module is used to parse order information and combine it with real-time operating data from multi-pass warehouse units and mixed palletizing units to generate system status snapshot information.

[0153] In one embodiment, the planning generation unit 302 includes:

[0154] The determination module is used to determine the current storage location of goods and the information of goods to be shipped out based on the system status snapshot information, so as to generate detailed goods information;

[0155] The first planning module is used to plan the outbound order of goods based on preset heuristic rules;

[0156] The second planning module is used to plan the stacking position of goods on the pallet based on the goods details;

[0157] The generation module is used to generate a palletizing task allocation scheme based on the order of goods leaving the warehouse, the palletizing position, and the task allocation information of the palletizing robot.

[0158] In one embodiment, the control and delivery unit 303 includes:

[0159] The allocation module is used to assign outbound tasks to the corresponding shuttle cars according to the palletizing task allocation scheme.

[0160] The transport module is used to control the shuttle car to retrieve goods from the designated storage location and transport the goods to the outbound platform.

[0161] The handover and conveying module is used to control the handover of goods from the outbound station to the roller conveyor, which then transports the goods along the conveyor line to the designated location.

[0162] In one embodiment, the conveying and lifting unit 304 includes:

[0163] The retrieval module is used to retrieve empty pallet groups from the pallet storage area according to the palletizing task allocation scheme;

[0164] The conveying module is used to transport empty pallet groups to the empty pallet buffer station;

[0165] The removal and placement module is used to remove a single empty pallet from the pallet group and place it onto the palletizing elevator;

[0166] The lifting module is used to control the palletizing lifting machine to lift empty pallets to the palletizing height.

[0167] In one embodiment, the stacking unit 305 includes:

[0168] The gripping module is used by the palletizing robot to grip goods according to the palletizing task allocation scheme.

[0169] The feedback module is used by the visual recognition module to acquire the size, shape, and location information of the goods and feed this information back to the palletizing robot.

[0170] The adjustment module is used by the palletizing robot to adjust its gripping posture based on feedback information from the vision recognition module, and to place the goods in the designated position on the empty pallet.

[0171] The repeat module is used to repeat the above process until all goods are stacked on the pallet in the planned order and location.

[0172] In one embodiment, the packaging and conveying unit 306 includes:

[0173] The wrapping module is used by the wrapping and packaging mechanism to automatically wrap pallets that have been stacked.

[0174] The packaging module is used to package the pallet after the wrapping is completed;

[0175] The placement conveyor module is used to control the palletizing elevator to place the packaged pallets onto the pallet conveyor line, which then transports them to the target location.

[0176] It should be noted that those skilled in the art can clearly understand that the specific implementation process of the intelligent control device 300 and each unit for multi-pass warehouse and mixed palletizing can be referred to the corresponding description in the foregoing method embodiments. For the sake of convenience and brevity, it will not be repeated here.

[0177] The aforementioned intelligent control device 300 for multi-pass warehouses and mixed palletizing can be implemented as a computer program, which can, for example... Figure 4 It runs on the computer device shown.

[0178] Please see Figure 4 , Figure 4 This is a schematic block diagram of a computer device provided in an embodiment of this application. The computer device 500 can be a server, wherein the server can be a standalone server or a server cluster composed of multiple servers.

[0179] See Figure 4 The computer device 500 includes a processor 502, a memory, and a network interface 505 connected via a system bus 501. The memory may include a non-volatile storage medium 503 and internal memory 504.

[0180] The non-volatile storage medium 503 may store an operating system 5031 and a computer program 5032. The computer program 5032 includes program instructions that, when executed, cause the processor 502 to perform an intelligent control method for multi-pass warehouses and mixed palletizing.

[0181] The processor 502 provides computing and control capabilities to support the operation of the entire computer device 500.

[0182] The internal memory 504 provides an environment for the operation of the computer program 5032 in the non-volatile storage medium 503. When the computer program 5032 is executed by the processor 502, the processor 502 can execute an intelligent control method for multi-pass warehouses and mixed palletizing.

[0183] This network interface 505 is used for network communication with other devices. Those skilled in the art will understand that... Figure 4 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device 500 to which the present application is applied. The specific computer device 500 may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0184] The processor 502 is used to run a computer program 5032 stored in the memory to perform the following steps:

[0185] The system receives and parses shipping orders to generate system status snapshot information. Based on the system status snapshot information and preset heuristic rules, it plans the outbound sequence and palletizing position of goods and generates a palletizing task allocation scheme. According to the palletizing task allocation scheme, it controls the shuttle to outbound goods in the planned sequence and transports the goods to the designated location. According to the palletizing task allocation scheme, it transports empty pallets to the designated location and raises them to the palletizing height. According to the palletizing task allocation scheme, it places the goods onto the empty pallets. After palletizing is completed, it wraps the pallets with film and transports the wrapped pallets to the target location.

[0186] It should be understood that in the embodiments of this application, the processor 502 may be a central processing unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0187] It will be understood by those skilled in the art that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program includes program instructions and can be stored in a storage medium, which is a computer-readable storage medium. The program instructions are executed by at least one processor in the computer system to implement the process steps of the embodiments of the above methods.

[0188] Therefore, the present invention also provides a storage medium. This storage medium can be a computer-readable storage medium. The storage medium stores a computer program, wherein when executed by a processor, the computer program causes the processor to perform the following steps:

[0189] The system receives and parses shipping orders to generate system status snapshot information. Based on the system status snapshot information and preset heuristic rules, it plans the outbound sequence and palletizing position of goods and generates a palletizing task allocation scheme. According to the palletizing task allocation scheme, it controls the shuttle to outbound goods in the planned sequence and transports the goods to the designated location. According to the palletizing task allocation scheme, it transports empty pallets to the designated location and raises them to the palletizing height. According to the palletizing task allocation scheme, it places the goods onto the empty pallets. After palletizing is completed, it wraps the pallets with film and transports the wrapped pallets to the target location.

[0190] The storage medium can be any computer-readable storage medium capable of storing program code, such as a USB flash drive, portable hard drive, read-only memory (ROM), magnetic disk, or optical disk.

[0191] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0192] In the several embodiments provided by this invention, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For example, the division of each unit is merely a logical functional division, and there may be other division methods in actual implementation. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed.

[0193] The steps in the method of this invention can be adjusted, merged, or reduced in order according to actual needs. The units in the device of this invention can be merged, divided, or reduced according to actual needs. Furthermore, the functional units in the various embodiments of this invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0194] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, a terminal, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention.

[0195] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. An intelligent control method for multi-pass warehouses and mixed palletizing, characterized in that, include: Receive and parse shipping orders to generate system status snapshot information; Based on system status snapshot information and preset heuristic rules, the outbound sequence and palletizing location of goods are planned, and a palletizing task allocation scheme is generated. According to the palletizing task allocation plan, control the shuttle car to take the goods out of the warehouse in the planned order and transport the goods to the designated location; According to the palletizing task allocation plan, empty pallets are delivered to their designated locations and then raised to the palletizing height. Stack the goods onto empty pallets according to the palletizing task allocation plan; After palletizing is completed, the pallets are wrapped with film and then transported to the target location. The process of receiving and parsing shipping orders to generate system status snapshot information includes: Receive shipping orders, extract the types, quantities, dimensions, and weights of goods from the orders, and generate order information; The system analyzes order information and combines it with real-time operational data from multi-pass warehouse units and hybrid palletizing units to generate system status snapshot information. The process of planning the outbound order and palletizing location of goods based on system status snapshot information and preset heuristic rules, and generating a palletizing task allocation scheme, includes: Based on the system status snapshot information, determine the current storage location of the goods and the information of the goods to be shipped out, so as to generate detailed goods information; Based on preset heuristic rules, the order of goods leaving the warehouse is planned; Based on the cargo details, plan the stacking position of the cargo on the pallet; Based on the order of goods leaving the warehouse, the palletizing position, and the task allocation information of the palletizing robot, a palletizing task allocation scheme is generated.

2. The intelligent control method for multi-pass warehouses and mixed palletizing according to claim 1, characterized in that, The step of controlling the shuttle to take goods out of the warehouse in the planned order and transport them to the designated location according to the palletizing task allocation scheme includes: According to the palletizing task allocation scheme, the outbound tasks are assigned to the corresponding shuttle cars; Control the shuttle car to retrieve goods from the designated storage location and transport the goods to the outbound platform; The control station transfers goods to the roller conveyor, which then transports the goods along the conveyor line to the designated location.

3. The intelligent control method for multi-pass warehouses and mixed palletizing according to claim 1, characterized in that, The step of delivering empty pallets to their designated positions and raising them to the palletizing height according to the palletizing task allocation scheme includes: According to the palletizing task allocation plan, retrieve empty pallet groups from the pallet storage area; Transport the empty pallet group to the empty pallet buffer station; Remove a single empty pallet from the pallet group and place it onto the palletizing elevator; The control palletizing elevator lifts the empty pallet to the palletizing height.

4. The intelligent control method for multi-pass warehouses and mixed palletizing according to claim 1, characterized in that, The step of stacking goods onto empty pallets according to the palletizing task allocation scheme includes: The palletizing robot picks up goods according to the palletizing task allocation plan; The visual recognition module acquires the size, shape, and location information of the goods and feeds this information back to the palletizing robot; Based on feedback from the visual recognition module, the palletizing robot adjusts its gripping posture and places the goods into the designated position on the empty pallet. Repeat the above process until all goods are stacked on the pallet in the planned order and location.

5. The intelligent control method for multi-pass warehouses and mixed palletizing according to claim 1, characterized in that, The process of wrapping and packaging the pallets after palletizing, and then transporting the packaged pallets to the target location, includes: The wrapping and packaging mechanism automatically wraps pallets that have been stacked. After wrapping, pack the pallet; The palletizing elevator is controlled to place the packaged pallets onto the pallet conveyor line, which then transports them to the target location.

6. An intelligent control device for multi-pass warehouses and mixed palletizing, characterized in that, include: The receiving, parsing, and generation unit is used to receive and parse shipping orders to generate system status snapshot information; The planning and generation unit is used to plan the outbound sequence and palletizing position of goods based on system status snapshot information and preset heuristic rules, and generate a palletizing task allocation scheme. The control and conveying unit is used to control the shuttle car to take goods out of the warehouse in the planned order and transport the goods to the designated location according to the palletizing task allocation plan; The conveying and lifting unit is used to convey empty pallets to the designated location and lift them to the palletizing height according to the palletizing task allocation plan. The stacking unit is used to stack goods onto empty pallets according to the palletizing task allocation scheme. The packing and conveying unit is used to wrap the pallets after palletizing and transport the wrapped pallets to the target location. The receiving parsing and generation unit includes: The receiving and extracting module is used to receive shipping orders and extract data on the type, quantity, size, and weight of goods in the orders to generate order information; The parsing and integration module is used to parse order information and combine it with real-time operating data from multi-pass warehouse units and mixed palletizing units to generate system status snapshot information; The planning generation unit includes: The determination module is used to determine the current storage location of goods and the information of goods to be shipped out based on the system status snapshot information, so as to generate detailed goods information; The first planning module is used to plan the outbound order of goods based on preset heuristic rules; The second planning module is used to plan the stacking position of goods on the pallet based on the goods details; The generation module is used to generate a palletizing task allocation scheme based on the order of goods leaving the warehouse, the palletizing position, and the task allocation information of the palletizing robot.

7. A computer device, characterized in that, The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the method as described in any one of claims 1 to 5.

8. A storage medium, characterized in that, The storage medium stores a computer program that, when executed by a processor, implements the method as described in any one of claims 1 to 5.

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