Hybrid palletization planning method, system, device, and medium

Abstract

The mixed stacking planning method, system, device and medium provided by the embodiments of the present disclosure comprise: in response to receiving an order task submitted by a target object, determining a bill of materials and target pallet information according to the order task; obtaining a mixed stacking algorithm library structure corresponding to the pallet type information, wherein the mixed stacking algorithm library structure comprises a plurality of stacking type types, a stacking mode of each stacking type type, and a safety score corresponding to each stacking type type; determining, according to the bill of materials, pallet size information and the mixed stacking algorithm library structure, a stacking type type of each layer of the pallet, material identification information and a target placement coordinate of a material corresponding to each material identification information. The stability and efficiency of the generated mixed stacking are improved.

Description

Technical Field

[0001] This invention relates to the field of industrial robot technology and related technical fields, specifically to a hybrid palletizing planning method, system, device, and medium. Background Technology

[0002] Palletizing is a crucial link in industrial production and logistics warehousing, and its efficiency directly affects the overall supply chain's turnover capacity. With the development of e-commerce, new retail, and intelligent manufacturing, scenarios where multiple different types, sizes, and materials of mixed materials (such as cartons, plastic crates, barrels, and bagged goods) need to be stacked on the same pallet are becoming increasingly common.

[0003] Traditional palletizing methods mainly rely on manual palletizing or dedicated automated palletizing lines designed for single materials, which suffer from low efficiency, poor stability, and inability to adapt to mixed incoming materials. In recent years, vision-guided robotic palletizing systems have made significant progress, but they focus on picking up and placing single materials, without addressing pallet layout planning and gripping sequence optimization when multiple materials are mixed on the same pallet. Furthermore, their end effectors have limited functionality and cannot flexibly switch between gripping and adsorption.

[0004] Given the problems with existing technologies, there is an urgent need for a hybrid palletizing planning method. Summary of the Invention

[0005] The embodiments described herein provide a hybrid palletizing planning method, system, device, and medium that improves the stability and efficiency of the generated hybrid pallets.

[0006] Firstly, based on the content of this disclosure, a hybrid palletizing planning method is provided, including: In response to receiving an order task submitted by the target object, a bill of materials and target pallet information are determined based on the order task, wherein the bill of materials includes at least material identification information, size information and weight information, and the target pallet information includes pallet type information and pallet size information; Obtain the hybrid stacking algorithm library structure corresponding to the pallet type information, wherein the hybrid stacking algorithm library structure includes multiple stacking types, stacking methods for each stacking type, and security scores corresponding to each stacking type; Based on the bill of materials, the pallet size information, and the hybrid stacking algorithm library structure, the stacking type, material identification information, and target placement coordinates of the material corresponding to each material identification information of each pallet layer are determined.

[0007] In some embodiments of this disclosure, determining the stacking type, material identification information, and target placement coordinates of the material corresponding to each material identification information for each layer of the pallet based on the bill of materials, the pallet size information, and the hybrid stacking algorithm library structure includes: Based on the size and weight information of each material included in the bill of materials, determine the priority order of each material included in the bill of materials; Based on the pallet size information, the size information of each material included in the bill of materials, the priority order of each material included in the bill of materials, and the structure of the hybrid stacking algorithm library, the stacking type, material identification information, and target placement coordinates of each material corresponding to each material identification information of the pallet are determined sequentially.

[0008] In some embodiments of this disclosure, determining the priority order of the materials included in the bill of materials based on their size and weight information includes: Based on the size information of each material included in the bill of materials, determine the stability score of each material included in the bill of materials; Based on the weight information of each material included in the bill of materials, determine the hierarchical priority score of each material included in the bill of materials; Based on the stability score and the hierarchical priority score, the priority order of each material included in the bill of materials is determined.

[0009] In some embodiments of this disclosure, the step of determining the stacking type, material identification information, and target placement coordinates of each material corresponding to each material identification information for each layer of the pallet sequentially based on the pallet size information, the size information of each material included in the bill of materials, the priority order of each material included in the bill of materials, and the hybrid stacking algorithm library structure includes: Based on the pallet size information, the size information of each material included in the bill of materials, the priority order of each material included in the bill of materials, and the stacking method of each stack type, determine the first material to be stacked on the first layer under each stack type; The space utilization rate of each stack type is determined based on the first material placed on the first layer under each stack type. Based on the space utilization rate and safety score of each stack type, determine the target stack type of the first layer, the target material identification information corresponding to the first target material under the target stack type, and the target placement coordinates of each first target material; Based on the size information of the first target material in the first layer, the target stack type, the size information of each material in the bill of materials other than the first target material, the priority order of each material in the bill of materials other than the first target material, and the stacking method of each stack type, the second material to be stacked in the second layer under each stack type is determined.

[0010] In some embodiments of this disclosure, determining the target stack type of the first layer, the target material identification information corresponding to the first target material under the target stack type, and the target placement coordinates of each first target material based on the space utilization rate and safety score of each stack type includes: Based on the space utilization rate and safety score of each stack type, the target score for each stack type is determined. Based on the target scores of each stack type, the target stack type for the first layer is determined; Based on the first target material stacked on the first layer under the target stack type and the target stacking method of the target stack type, the target placement coordinates of each first target material are determined.

[0011] In some embodiments of this disclosure, the method further includes: The material grabbing order is determined based on the material identification information included in each layer of the pallet; The robot's trajectory is determined based on the material grabbing order and the robot's position information.

[0012] In some embodiments of this disclosure, before determining the robot's motion trajectory based on the material grasping order and the robot's position information, the method further includes: Based on the material identification information, size information, and weight information, the gripping method is determined, wherein the gripping method includes clamping method, suction method, and a combination of clamping and suction method.

[0013] Secondly, according to the present disclosure, a hybrid palletizing planning system is provided, comprising: a robot body, a hybrid end effector, a vision recognition module, and a central controller, wherein the central controller is communicatively connected to the robot body, the hybrid end effector, and the vision recognition module respectively; The hybrid end effector is mounted on the end of the robot body, and the hybrid end effector integrates an adaptive gripper and a vacuum suction cup matrix; The visual recognition module includes a fixed 3D camera installed above or to the side of the material receiving area and a hand-eye camera installed on the robot's wrist or hybrid end effector. The central controller includes: The order task response module is used to respond to receiving an order task submitted by a target object, and to determine the bill of materials and target pallet information based on the order task. The bill of materials includes at least material identification information, size information and weight information, and the target pallet information includes pallet type information and pallet size information. The pallet type data acquisition module is used to acquire the hybrid pallet type algorithm library structure corresponding to the pallet type information, wherein the hybrid pallet type algorithm library structure includes multiple pallet type types, stacking methods for each pallet type type, and security scores corresponding to each pallet type type; The palletizing method determination module is used to determine the palletizing type, material identification information, and target placement coordinates of each material for each layer of the pallet based on the bill of materials, the pallet size information, and the hybrid palletizing algorithm library structure.

[0014] Thirdly, according to this disclosure, a computer device is provided, comprising: One or more processors; Storage device for storing one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the method as described in any of the first aspects.

[0015] Fourthly, according to this disclosure, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the methods described in any of the first aspects.

[0016] The hybrid palletizing planning method provided in this disclosure first responds to receiving an order task submitted by a target object, and determines the bill of materials and target pallet information based on the order task; then, it obtains the hybrid palletizing algorithm library structure corresponding to the pallet type information; finally, based on the bill of materials, pallet size information, and hybrid palletizing algorithm library structure, it determines the palletizing type, material identification information, and target placement coordinates of the material corresponding to each material identification information for each layer of the pallet. By constructing hybrid palletizing algorithm library structures corresponding to different pallet type information, and ensuring that the safety score corresponding to the same palletizing type is different in the hybrid palletizing algorithm library structures corresponding to different pallet type information, a foundation is laid for subsequently determining the palletizing type of mixed materials in each layer; secondly, in the process of determining the palletizing type of each layer, it is not only related to the safety score of each palletizing type, but also to the size information and weight information of the material, further ensuring the stability and safety of the finally determined material palletizing.

[0017] The above description is merely an overview of the technical solutions of the embodiments of this application. In order to better understand the technical means of the embodiments of this application and to implement them in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the embodiments of this application more obvious and understandable, specific implementation methods of this application are described below. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings of the embodiments will be briefly described below. It should be understood that the drawings described below only relate to some embodiments of this disclosure and are not intended to limit this disclosure, wherein: Figure 1 This is a flowchart illustrating a hybrid palletizing planning method provided in an embodiment of this disclosure; Figure 2 This is a schematic diagram of the structure of the central controller of a hybrid palletizing planning system provided in an embodiment of this disclosure; Figure 3 This is a schematic diagram of the structure of a computer device provided in an embodiment of this disclosure.

[0019] In the accompanying diagram, markers with the same last two digits correspond to the same elements. It should be noted that the elements in the diagram are schematic and not drawn to scale. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the technical solutions of the embodiments of this disclosure 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 this disclosure. All other embodiments obtained by those skilled in the art based on the described embodiments of this disclosure without creative effort are also within the scope of protection of this disclosure.

[0021] Unless otherwise defined, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which this subject matter pertains. It will be further understood that terms such as those defined in commonly used dictionaries shall be interpreted as having the meaning consistent with their meaning in the context of the specification and in the relevant art, and shall not be interpreted in an idealized or overly formal form unless otherwise explicitly defined herein. As used herein, the statement of “connecting” or “coupling” two or more parts together shall mean that these parts are directly joined together or joined through one or more intermediate components.

[0022] The term "embodiment" as used herein means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of the phrase "embodiment" in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0023] In this article, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists, A and B exist simultaneously, or B exists. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0024] Furthermore, in all embodiments of this disclosure, terms such as “first” and “second” are used only to distinguish one component (or part of a component) from another component (or another part of a component).

[0025] In the description of this application, unless otherwise stated, "multiple" means two or more (including two), and similarly, "multiple groups" means two or more (including two groups).

[0026] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0027] Based on the problems existing in the prior art, this disclosure provides a hybrid palletizing planning method. Figure 1 This is a flowchart illustrating a hybrid palletizing planning method provided in an embodiment of this disclosure, as shown below. Figure 1 As shown, the hybrid palletizing planning method includes: S110. In response to receiving an order task submitted by the target object, determine the bill of materials and target pallet information based on the order task.

[0028] The bill of materials includes at least material identification information, size information, and weight information, while the target pallet information includes pallet type information and pallet size information.

[0029] The hybrid palletizing planning method provided in this embodiment is applied to a hybrid palletizing robot system. The hybrid palletizing robot system includes: a robot body and a hybrid end effector, which are installed at the end of the robot body through a standardized flange interface or a quick-change device. The hybrid end effector integrates: an adaptive gripper for gripping regular or irregular rigid items, and a vacuum suction cup matrix composed of multiple independently controllable suction cups, and equipped with an adaptive floating structure for picking up items with flat surfaces. The adaptive gripper and the vacuum suction cup matrix can work independently or collaboratively. The vision recognition module includes: a fixed 3D camera installed above or to the side of the material receiving area, and a hand-eye camera installed on the wrist of the robot body or on the hybrid end effector.

[0030] In the hybrid palletizing planning method provided in this embodiment, after receiving the order task submitted by the target object, the bill of materials and the target pallet information selected by the target object are first determined according to the order task. The bill of materials includes at least material identification information, size information and weight information. The material identification information is used to uniquely identify a type of material. The size information includes length, width and height. The pallet type information includes wooden pallets, plastic pallets and paper pallets, etc. The pallet size information includes pallet length and width, or pallet radius.

[0031] S120. Obtain the hybrid stacking algorithm library structure corresponding to the pallet type information.

[0032] The hybrid stacking algorithm library structure includes multiple stacking types, stacking methods for each stacking type, and security scores corresponding to each stacking type.

[0033] Specifically, the stacking types in the hybrid stacking algorithm library include aligned, staggered, rotating, cross-staggered, and windmill stacking. The aligned stacking type is stacked in neat rows. The staggered stacking type is stacked with odd-numbered rows of boxes alternating with even-numbered rows. The rotating stacking type is stacked around the center. The cross-staggered stacking type is stacked with odd-numbered layers of boxes facing 0° and even-numbered layers facing 90°. The windmill stacking type is stacked with each subsequent box rotated 90° around the center compared to the previous box.

[0034] Specifically, the security scores for each stack type in the hybrid stacking algorithm library structure corresponding to different pallet types are not completely the same. For example, for the same stack type (such as staggered stacking), the security score is 0.90 on a wooden pallet, 0.85 on a plastic mesh pallet due to reduced friction, and 0.80 on a paper pallet.

[0035] S130. Based on the bill of materials, pallet size information, and mixed stacking algorithm library structure, determine the stacking type, material identification information, and target placement coordinates of the material corresponding to each layer of the pallet.

[0036] In a specific implementation, based on the bill of materials, pallet size information, and the hybrid stacking algorithm library structure, the stacking type, material identification information, and target placement coordinates of the material corresponding to each material identification information for each layer of the pallet are determined. This includes: determining the priority order of each material in the bill of materials based on the size and weight information of each material in the bill of materials; and sequentially determining the stacking type, material identification information, and target placement coordinates of the material corresponding to each material identification information for each layer of the pallet based on the pallet size information, the size information of each material in the bill of materials, the priority order of each material in the bill of materials, and the hybrid stacking algorithm library structure.

[0037] After determining the bill of materials and target pallet information in step S110 and obtaining the hybrid stacking algorithm library structure corresponding to the pallet type information in step S120, the priority order of each material in the bill of materials is first determined according to the size and weight information of each material in the bill of materials.

[0038] As a specific implementation method, the priority ranking of each material in the bill of materials is determined based on the size and weight information of each material in the bill of materials, including: determining the stability score of each material in the bill of materials based on the size information of each material in the bill of materials; determining the hierarchical priority score of each material in the bill of materials based on the weight information of each material in the bill of materials; and determining the priority ranking of each material in the bill of materials based on the stability score and the hierarchical priority score.

[0039] Specifically, the process of determining the stability score of each material in the bill of materials (BOM) based on its dimensional information (length, width, and height) includes the following steps: First, based on the dimensional information of each material in the BOM, determine its aspect ratio, base area, and center of gravity. Then, search the database for the corresponding score for each aspect ratio, base area, and center of gravity (the database stores the scores for different aspect ratios, base areas, and center of gravity). Finally, determine the stability score of each material in the BOM based on the weighted values ​​corresponding to the aspect ratio, base area, and center of gravity, as well as the scores corresponding to these values. The weighted values ​​for the aspect ratio, base area, and center of gravity can be pre-set values.

[0040] Specifically, the process of determining the hierarchical priority score of each material in the bill of materials based on the weight information of each material includes the following steps: First, based on the weight information of each material in the bill of materials, sort the materials in descending order of weight. Based on the sorted materials, determine the hierarchical priority score of each material in the bill of materials. It can be understood that the heavier the material, the higher the hierarchical priority score, and the lighter the material, the lower the hierarchical priority score.

[0041] After determining the stability score and hierarchical priority score of each material included in the bill of materials, the priority score of each material included in the bill of materials is determined based on the stability score and hierarchical priority score of each material included in the bill of materials.

[0042] Specifically, the priority score of each material included in the bill of materials is calculated based on the weight values ​​corresponding to the stability score and the hierarchical priority score.

[0043] After determining the priority score of each material included in the bill of materials, the materials in the bill of materials are sorted to obtain the priority ranking of each material included in the bill of materials.

[0044] After obtaining the priority order of each material in the bill of materials, based on the pallet size information, the size information of each material in the bill of materials, the priority order of each material in the bill of materials, and the structure of the mixed stacking algorithm library, the stacking type, material identification information, and target placement coordinates of each material identification information for each layer of the pallet are determined sequentially. This includes: determining the first material to be stacked on the first layer under each stacking type based on the pallet size information, the size information of each material in the bill of materials, the priority order of each material in the bill of materials, and the stacking method of each stacking type; and determining the first material to be stacked on the first layer under each stacking type based on the material to be stacked on the first layer. First, determine the space utilization rate of each stack type; based on the space utilization rate and safety score of each stack type, determine the target stack type of the first layer, the target material identification information corresponding to the first target material under the target stack type, and the target placement coordinates of each first target material; based on the size information of the first target material of the first layer and the target stack type, the size information of each material in the bill of materials other than the first target material, the priority order of each material in the bill of materials other than the first target material, and the stacking method of each stack type, determine the second material to be stacked on the second layer under each stack type.

[0045] Specifically, based on the space utilization rate and safety score of each stack type, the target stack type of the first layer, the target material identification information corresponding to the first target material under the target stack type, and the target placement coordinates of each first target material are determined. This includes: determining the target score of each stack type based on the space utilization rate and safety score of each stack type; determining the target stack type of the first layer based on the target score of each stack type; and determining the target placement coordinates of each first target material based on the first target material stacked on the first layer under the target stack type and the target stacking method of the target stack type.

[0046] First, based on the pallet size information, the size information of each material included in the bill of materials, and the priority order of each material included in the bill of materials, determine the first material to be stacked on the first layer under each stack type. Then, based on the pallet size information and the bottom area of ​​the first material stacked on the first layer under each stack type, determine the space utilization rate for each stack type.

[0047] It should be noted that, since the stacking methods are different for each type of stack, the first material placed on the first layer is different for each type of stack, and the space utilization rate is also different for each type of stack.

[0048] Furthermore, the hybrid stacking algorithm library structure in step S120 has already defined the security score corresponding to each stacking type. Therefore, after determining the space utilization rate of each stacking type in the first layer, the target score of each stacking type in the first layer can be determined based on the space utilization rate of each stacking type in the first layer and the security score corresponding to each stacking type. The stacking type corresponding to the highest target score is then selected as the target stacking type in the first layer.

[0049] After determining the target stack type of the first layer, the target stacking method of the target stack type can be used to determine the first target material to be stacked on the first layer and the target placement coordinates of each first target material. Then, after determining the first target material of the first layer, it is necessary to determine the second target material of the second layer.

[0050] Specifically, based on the size information and target stack type of the first target material in the first layer, the size information of each material in the bill of materials other than the first target material, the priority order of each material in the bill of materials other than the first target material, and the stacking method of each stack type, the second material to be stacked in the second layer under each stack type is determined. The process of determining the second target material to be stacked in the second layer is the same as the process of determining the first target material to be stacked in the first layer. This embodiment of the present disclosure will not describe this in detail. This process continues until the placement coordinates of all materials in the bill of materials are determined.

[0051] The hybrid palletizing planning method provided in this disclosure first responds to receiving an order task submitted by a target object, and determines the bill of materials and target pallet information based on the order task; then, it obtains the hybrid palletizing algorithm library structure corresponding to the pallet type information; finally, based on the bill of materials, pallet size information, and hybrid palletizing algorithm library structure, it determines the palletizing type, material identification information, and target placement coordinates of the material corresponding to each material identification information for each layer of the pallet. By constructing hybrid palletizing algorithm library structures corresponding to different pallet type information, and ensuring that the safety score corresponding to the same palletizing type is different in the hybrid palletizing algorithm library structures corresponding to different pallet type information, a foundation is laid for subsequently determining the palletizing type of mixed materials in each layer; secondly, in the process of determining the palletizing type of each layer, it is not only related to the safety score of each palletizing type, but also to the size information and weight information of the material, further ensuring the stability and safety of the finally determined material palletizing.

[0052] Based on the above embodiments, the hybrid palletizing planning method provided in this disclosure further includes: The material picking order is determined based on the material identification information included in each layer of the pallet; the robot's movement trajectory is determined based on the material picking order and the robot's position information.

[0053] Since the material arrival process is random, after determining the stack type, material identification information, and target placement coordinates of each material identification information for each pallet layer, it is also necessary to plan the robot's motion trajectory according to the material arrival sequence.

[0054] Furthermore, after the robot picks up materials according to the planned path, it places the materials in the planned positions under the guidance of a hand-eye camera. After placement, the hand-eye camera scans the current stacking status, and if a deviation is detected, position compensation adjustments are made in subsequent stacking. In addition, the robot calculates the center of gravity position of the current stack type in real time and compares it with a preset threshold. If the threshold is exceeded, an early warning message is issued.

[0055] Dynamic position compensation is achieved by scanning after placement using a hand-eye camera, and a stability score is calculated based on material size, which significantly improves the stability and efficiency of mixed palletizing.

[0056] Based on the above embodiments, the hybrid palletizing planning method provided in this disclosure further includes the following steps before performing the step of determining the robot's motion trajectory based on the material picking order and the robot's position information: Based on the material identification information, size information, and weight information, the gripping method is determined, which includes clamping method, suction method, and a combination of clamping and suction methods.

[0057] Specifically, by setting a vision recognition module at the end of the robot's hybrid actuator, the robot obtains material identification information based on the vision recognition module and automatically decides whether to use a gripper-only method, a suction cup-only method, or a combination of gripping and suction. In the combination of gripping and suction, the control sequence is either to first use the suction cup to adsorb and position the material, and then use the gripper to hold and transport it, or to first use the gripper to grasp the material and then use the suction cup to assist in stabilization. The parameters of the gripper's clamping force and the suction cup's vacuum degree are determined based on the material's weight and size information.

[0058] Specifically, the hybrid actuator includes an adaptive gripper and a vacuum suction cup matrix. The adaptive gripper achieves variable spacing and flexible clamping through a planetary gear differential mechanism. Its structure includes a single drive motor, a sun gear, a first planetary gear, a second planetary gear, and a planet carrier. The sun gear is driven by the motor and simultaneously meshes with the first and second planetary gears. The first and second planetary gears mesh with the left and right finger racks, respectively. The planet carrier connects the first and second planetary gears. When one finger contacts the object first, the planetary gear on that side stops rotating. The driving force forces the planet carrier to rotate and drive the other finger to continue moving until both fingers contact the object, achieving automatic centering and clamping. Each suction cup in the vacuum suction cup matrix is ​​controlled by an independent solenoid valve, and the air path of each suction cup is controlled by an independent solenoid valve. Multiple suction cups are mounted on an adaptive floating structure, which is connected to the hybrid end effector body through springs or air bladders. This allows the suction cup plates to adaptively adjust within a certain angle and distance range, ensuring parallel contact with the material surface. Based on the surface contour information of the material output by the vision recognition module, the suction cup group corresponding to the area covering the material is selectively activated.

[0059] For example, when the surface flatness score of the material is ≥0.8 and the weight is ≤10kg, the suction mode is preferred; when the material is an irregular basket, the clamping mode is used; when the material is fragile and needs to be precisely positioned, the clamping and suction combined mode is used. The sequence is as follows: first, the suction cup is used to adsorb and position the material (vacuum degree -50kPa), and then the clamping claw is used to clamp it with a force of 20N. The vacuum degree is monitored in real time during the handling process. When placing the material, the clamping claw is released first, and the vacuum is cut off and air is blown out after a delay of 0.2s.

[0060] Based on the above embodiments, this disclosure also provides a hybrid palletizing planning system, which includes: a robot body, a hybrid end effector, a vision recognition module, and a central controller. The central controller is communicatively connected to the robot body, the hybrid end effector, and the vision recognition module. The hybrid end effector is installed at the end of the robot body and integrates an adaptive gripper and a vacuum suction cup matrix. The vision recognition module includes a fixed 3D camera installed above or to the side of the material receiving area and a hand-eye camera installed on the wrist of the robot body or the hybrid end effector. Figure 2This is a schematic diagram of the structure of the central controller of a hybrid palletizing planning system provided in an embodiment of this disclosure, as shown below. Figure 2 As shown, the central controller in the hybrid palletizing planning system includes: The order task response module 210 is used to respond to receiving an order task submitted by a target object, and to determine a bill of materials and target pallet information based on the order task, wherein the bill of materials includes at least material identification information, size information and weight information, and the target pallet information includes pallet type information and pallet size information; The pallet type data acquisition module 220 is used to acquire the hybrid pallet type algorithm library structure corresponding to the pallet type information, wherein the hybrid pallet type algorithm library structure includes multiple pallet type types, stacking methods of each pallet type type, and security scores corresponding to each pallet type type; The palletizing method determination module 230 is used to determine the pallet type, material identification information, and target placement coordinates of each material for each layer of the pallet based on the bill of materials, the pallet size information, and the mixed pallet type algorithm library structure.

[0061] The hybrid palletizing planning system provided in this disclosure first responds to receiving an order task submitted by a target object, and determines the bill of materials and target pallet information based on the order task; then, it obtains the hybrid palletizing algorithm library structure corresponding to the pallet type information; finally, based on the bill of materials, pallet size information, and hybrid palletizing algorithm library structure, it determines the palletizing type, material identification information, and target placement coordinates of the material corresponding to each material identification information for each layer of the pallet. By constructing hybrid palletizing algorithm library structures corresponding to different pallet type information, and ensuring that the safety score corresponding to the same palletizing type is different in the hybrid palletizing algorithm library structures corresponding to different pallet type information, a foundation is laid for subsequently determining the palletizing type of mixed materials in each layer; secondly, in the process of determining the palletizing type of each layer, it is not only related to the safety score of each palletizing type, but also to the size information and weight information of the material, further ensuring the stability and safety of the finally determined material palletizing.

[0062] In some embodiments of this disclosure, determining the stacking type, material identification information, and target placement coordinates of the material corresponding to each material identification information for each layer of the pallet based on the bill of materials, the pallet size information, and the hybrid stacking algorithm library structure includes: Based on the size and weight information of each material included in the bill of materials, determine the priority order of each material included in the bill of materials; Based on the pallet size information, the size information of each material included in the bill of materials, the priority order of each material included in the bill of materials, and the structure of the hybrid stacking algorithm library, the stacking type, material identification information, and target placement coordinates of each material corresponding to each material identification information of the pallet are determined sequentially.

[0063] In some embodiments of this disclosure, determining the priority order of the materials included in the bill of materials based on their size and weight information includes: Based on the size information of each material included in the bill of materials, determine the stability score of each material included in the bill of materials; Based on the weight information of each material included in the bill of materials, determine the hierarchical priority score of each material included in the bill of materials; Based on the stability score and the hierarchical priority score, the priority order of each material included in the bill of materials is determined.

[0064] In some embodiments of this disclosure, the step of determining the stacking type, material identification information, and target placement coordinates of each material corresponding to each material identification information for each layer of the pallet sequentially based on the pallet size information, the size information of each material included in the bill of materials, the priority order of each material included in the bill of materials, and the hybrid stacking algorithm library structure includes: Based on the pallet size information, the size information of each material included in the bill of materials, the priority order of each material included in the bill of materials, and the stacking method of each stack type, determine the first material to be stacked on the first layer under each stack type; The space utilization rate of each stack type is determined based on the first material placed on the first layer under each stack type. Based on the space utilization rate and safety score of each stack type, determine the target stack type of the first layer, the target material identification information corresponding to the first target material under the target stack type, and the target placement coordinates of each first target material; Based on the size information of the first target material in the first layer, the target stack type, the size information of each material in the bill of materials other than the first target material, the priority order of each material in the bill of materials other than the first target material, and the stacking method of each stack type, the second material to be stacked in the second layer under each stack type is determined.

[0065] In some embodiments of this disclosure, determining the target stack type of the first layer, the target material identification information corresponding to the first target material under the target stack type, and the target placement coordinates of each first target material based on the space utilization rate and safety score of each stack type includes: Based on the space utilization rate and safety score of each stack type, the target score for each stack type is determined. Based on the target scores of each stack type, the target stack type for the first layer is determined; Based on the first target material stacked on the first layer under the target stack type and the target stacking method of the target stack type, the target placement coordinates of each first target material are determined.

[0066] In some embodiments of this disclosure, the method further includes: The material grabbing order is determined based on the material identification information included in each layer of the pallet; The robot's trajectory is determined based on the material grabbing order and the robot's position information.

[0067] In some embodiments of this disclosure, before determining the robot's motion trajectory based on the material grasping order and the robot's position information, the method further includes: Based on the material identification information, size information, and weight information, the gripping method is determined, wherein the gripping method includes clamping method, suction method, and a combination of clamping and suction method.

[0068] This application also provides a computer device, please refer to 3 for details. Figure 3 This is a basic structural block diagram of the computer device in this embodiment.

[0069] The computer device includes a memory 510 and a processor 520 that are interconnected via a system bus. It should be noted that only a computer device with components 510-520 is shown in the figure; however, it should be understood that it is not required to implement all the shown components, and more or fewer components may be implemented alternatively. Those skilled in the art will understand that the computer device described herein is a device capable of automatically performing numerical calculations and / or information processing according to pre-set or stored instructions, and its hardware includes, but is not limited to, microprocessors, application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), digital signal processors (DSPs), embedded devices, etc.

[0070] Computer devices can include desktop computers, laptops, handheld computers, and cloud servers. These devices allow for human-computer interaction with users through keyboards, mice, remote controls, touchpads, or voice-activated devices.

[0071] The memory 510 includes at least one type of readable storage medium, including non-volatile memory or volatile memory, such as flash memory, hard disk, multimedia card, card-type memory (e.g., SD or DX memory), random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, magnetic disk, optical disk, etc. RAM may include static RAM or dynamic RAM. In some embodiments, the memory 510 may be an internal storage unit of a computer device, such as the hard disk or memory of the computer device. In other embodiments, the memory 510 may also be an external storage device of the computer device, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, or flash card equipped on the computer device. Of course, the memory 510 may include both internal storage units and external storage devices of the computer device. In this embodiment, the memory 510 is typically used to store the operating system and various application software installed on the computer device, such as the program code of the method described above. In addition, the memory 510 may also be used to temporarily store various types of data that have been output or will be output.

[0072] The processor 520 is typically used to perform the overall operation of a computer device. In this embodiment, the memory 510 is used to store program code or instructions, including computer operation instructions. The processor 520 is used to execute the program code or instructions stored in the memory 510 or to process data, such as program code that runs the methods described above.

[0073] In this article, the bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. This bus system can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not mean that there is only one bus or one type of bus.

[0074] Another embodiment of this application also provides a computer-readable medium, which may be a computer-readable signal medium or a computer-readable medium. A processor in a computer reads computer-readable program code stored in the computer-readable medium, enabling the processor to execute the functional actions specified in each step or combination of steps in the above method; and to generate means for implementing the functional actions specified in each block or combination of blocks in the block diagram.

[0075] Computer-readable media include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared memory or semiconductor systems, devices or apparatuses, or any suitable combination thereof, wherein the memory is used to store program code or instructions, the program code including computer operation instructions, and the processor is used to execute the program code or instructions of the above-described methods stored in the memory.

[0076] The definitions of memory and processor can be found in the description of the foregoing computer device embodiments, and will not be repeated here.

[0077] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0078] In the various embodiments of this application, the functional units or modules 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. The integrated unit can be implemented in hardware or as a software functional unit.

[0079] 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 computer-readable storage medium. Based on this understanding, the technical solution of this application, 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, server, or network device, etc.) or processor to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0080] Unless otherwise expressly indicated by the context, the singular form of words used herein and in the appended claims includes the plural form, and vice versa. Thus, when referring to the singular, the plural form of the corresponding term is generally included. Similarly, the terms “comprising” and “including” shall be interpreted as including rather than exclusively. Likewise, the terms “including” and “or” shall be interpreted as including unless such interpretation is expressly prohibited herein. Where the term “example” is used herein, particularly when it follows a set of terms, the “example” is merely exemplary and illustrative and should not be considered exclusive or extensive.

[0081] Further aspects and scope of adaptation become apparent from the description provided herein. It should be understood that various aspects of this application may be implemented individually or in combination with one or more other aspects. It should also be understood that the descriptions and specific embodiments herein are for illustrative purposes only and are not intended to limit the scope of this application.

[0082] Several embodiments of this disclosure have been described in detail above. However, it is obvious that those skilled in the art can make various modifications and variations to the embodiments of this disclosure without departing from the spirit and scope of this disclosure. The scope of protection of this disclosure is defined by the appended claims.

Claims

1. A hybrid palletizing planning method, characterized in that, include: In response to receiving an order task submitted by the target object, a bill of materials and target pallet information are determined based on the order task, wherein the bill of materials includes at least material identification information, size information and weight information, and the target pallet information includes pallet type information and pallet size information; Obtain the hybrid stacking algorithm library structure corresponding to the pallet type information, wherein the hybrid stacking algorithm library structure includes multiple stacking types, stacking methods for each stacking type, and security scores corresponding to each stacking type; Based on the bill of materials, the pallet size information, and the hybrid stacking algorithm library structure, the stacking type, material identification information, and target placement coordinates of the material corresponding to each material identification information of each pallet layer are determined.

2. The method according to claim 1, characterized in that, The step of determining the stacking type, material identification information, and target placement coordinates of each material for each layer of the pallet based on the bill of materials, the pallet size information, and the hybrid stacking algorithm library structure includes: Based on the size and weight information of each material included in the bill of materials, determine the priority order of each material included in the bill of materials; Based on the pallet size information, the size information of each material included in the bill of materials, the priority order of each material included in the bill of materials, and the structure of the hybrid stacking algorithm library, the stacking type, material identification information, and target placement coordinates of each material corresponding to each material identification information of the pallet are determined sequentially.

3. The method according to claim 2, characterized in that, The step of determining the priority order of the materials included in the bill of materials based on their size and weight information includes: Based on the size information of each material included in the bill of materials, determine the stability score of each material included in the bill of materials; Based on the weight information of each material included in the bill of materials, determine the hierarchical priority score of each material included in the bill of materials; Based on the stability score and the hierarchical priority score, the priority order of each material included in the bill of materials is determined.

4. The method according to claim 2, characterized in that, The step of determining the stacking type, material identification information, and target placement coordinates of each material for each layer of the pallet sequentially based on the pallet size information, the size information of each material included in the bill of materials, the priority order of each material included in the bill of materials, and the hybrid stacking algorithm library structure, includes: Based on the pallet size information, the size information of each material included in the bill of materials, the priority order of each material included in the bill of materials, and the stacking method of each stack type, determine the first material to be stacked on the first layer under each stack type; The space utilization rate of each stack type is determined based on the first material placed on the first layer under each stack type. Based on the space utilization rate and safety score of each stack type, determine the target stack type of the first layer, the target material identification information corresponding to the first target material under the target stack type, and the target placement coordinates of each first target material; Based on the size information of the first target material in the first layer, the target stack type, the size information of each material in the bill of materials other than the first target material, the priority order of each material in the bill of materials other than the first target material, and the stacking method of each stack type, the second material to be stacked in the second layer under each stack type is determined.

5. The method according to claim 4, characterized in that, The process of determining the target stack type of the first layer, the target material identification information corresponding to the first target material under the target stack type, and the target placement coordinates of each first target material based on the space utilization rate and safety score of each stack type includes: Based on the space utilization rate and safety score of each stack type, the target score for each stack type is determined. Based on the target scores of each stack type, the target stack type for the first layer is determined; Based on the first target material stacked on the first layer under the target stack type and the target stacking method of the target stack type, the target placement coordinates of each first target material are determined.

6. The method according to claim 1, characterized in that, The method further includes: The material grabbing order is determined based on the material identification information included in each layer of the pallet; The robot's trajectory is determined based on the material grabbing order and the robot's position information.

7. The method according to claim 6, characterized in that, Before determining the robot's motion trajectory based on the material grasping order and the robot's position information, the method further includes: Based on the material identification information, size information, and weight information, the gripping method is determined, wherein the gripping method includes clamping method, suction method, and a combination of clamping and suction method.

8. A hybrid palletizing planning system, characterized in that, include: The robot body, the hybrid end effector, the vision recognition module, and the central controller are communicatively connected to the robot body, the hybrid end effector, and the vision recognition module, respectively. The hybrid end effector is mounted on the end of the robot body, and the hybrid end effector integrates an adaptive gripper and a vacuum suction cup matrix; The visual recognition module includes a fixed 3D camera installed above or to the side of the material receiving area and a hand-eye camera installed on the robot's wrist or hybrid end effector. The central controller includes: The order task response module is used to respond to receiving an order task submitted by a target object, and to determine the bill of materials and target pallet information based on the order task. The bill of materials includes at least material identification information, size information and weight information, and the target pallet information includes pallet type information and pallet size information. The pallet type data acquisition module is used to acquire the hybrid pallet type algorithm library structure corresponding to the pallet type information, wherein the hybrid pallet type algorithm library structure includes multiple pallet type types, stacking methods for each pallet type type, and security scores corresponding to each pallet type type; The palletizing method determination module is used to determine the palletizing type, material identification information, and target placement coordinates of each material for each layer of the pallet based on the bill of materials, the pallet size information, and the hybrid palletizing algorithm library structure.

9. A computer device, characterized in that, include: One or more processors; Storage device for storing one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the method as described in any one of claims 1 to 7.

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