Palletizing control device, system and method and storage medium
View Patent ↗The present disclosure relates to a palletizing control device, system, method and storage medium, and relates to the technical field of logistics. A palletizing control device includes: a prestage position generation module configured to generate a prestage position of an article to be palletized by respectively shifting a placement position of the article to be palletized along a horizontal palletizing direction by a horizontal offset corresponding to the article to be palletized and along a vertical palletizing direction by a vertical offset corresponding to the article to be palletized; and a path generation module configured to generate movement path information representing a straight path from the prestage position of the article to be palletized to the placement position of the article to be palletized.
1. A palletizing control method, comprising:
generating a pre-stage position of an article to be palletized by respectively shifting a placement position of the article to be palletized along a horizontal palletizing direction by a horizontal offset corresponding to the article to be palletized and along a vertical palletizing direction by a vertical offset corresponding to the article to be palletized; and
generating movement path information representing a straight path from the pre-stage position of the article to be palletized to the placement position of the article to be palletized.
2. The control method of claim 1 , wherein the control method comprises:
determining an adjacent placement position according to a determined placement position and a size of an article to be palletized placed on the determined placement position in a layer of a palletizing place in sequence until an edge of the article to be palletized placed on the adjacent placement position exceeds an edge of a pallet.
3. The control method of claim 1 , wherein the horizontal offset comprises a first horizontal offset representing an offset in a lateral palletizing direction in a horizontal plane and a second horizontal offset representing an offset in a longitudinal palletizing direction in the horizontal plane.
4. The control method of claim 3 , wherein,
the first horizontal offset is a product of a length of the article to be palletized in the lateral palletizing direction and a preset lateral ratio; or
the second horizontal offset is a product of a length of the article to be palletized in the longitudinal palletizing direction and a preset longitudinal ratio.
5. The control method of claim 1 , wherein the vertical offset is negatively related to a vertical distance from the placement position to a horizontal plane where a pallet for palletizing the article to be palletized is located.
6. The control method of claim 1 , wherein, the generating movement path information representing a straight path from the pre-stage position of the article to be palletized to the placement position of the article to be palletized comprises:
generating movement path information for a plurality of articles to be palletized, comprising information on a movement path from a starting position to a pre-stage position of an article to be palletized or information on a movement path from a placement position of an article to be palletized to a starting position of another article to be palletized.
7. A palletizing control device, comprising:
a memory; and
a processor coupled to the memory, the processor configured to execute a palletizing control method for performing instructions comprising:
generating a pre-stage position of an article to be palletized by respectively shifting a placement position of the article to be palletized along a horizontal palletizing direction by a horizontal offset corresponding to the article to be palletized and along a vertical palletizing direction by a vertical offset corresponding to the article to be palletized; and
generating movement path information representing a straight path from the pre-stage position of the article to be palletized to the placement position of the article to be palletized.
8. A palletizing control system, comprising:
the palletizing control device of claim 7 ; and
a robot controller configured to instruct a robot to palletize articles according to the movement path information generated by the palletizing control device.
9. The palletizing control device of claim 7 , wherein the instructions comprise:
determining an adjacent placement position according to a determined placement position and a size of an article to be palletized placed on the determined placement position in a layer of a palletizing place in sequence until an edge of the article to be palletized placed on the adjacent placement position exceeds an edge of a pallet.
10. The palletizing control device of claim 7 , wherein the horizontal offset comprises a first horizontal offset representing an offset in a lateral palletizing direction in a horizontal plane and a second horizontal offset representing an offset in a longitudinal palletizing direction in the horizontal plane.
11. The palletizing control device of claim 10 , wherein,
the first horizontal offset is a product of a length of the article to be palletized in the lateral palletizing direction and a preset lateral ratio; or
the second horizontal offset is a product of a length of the article to be palletized in the longitudinal palletizing direction and a preset longitudinal ratio.
12. The palletizing control device of claim 7 , wherein the vertical offset is negatively related to a vertical distance from the placement position to a horizontal plane where a pallet for palletizing the article to be palletized is located.
13. The palletizing control device of claim 7 , wherein, the generating movement path information representing a straight path from the pre-stage position of the article to be palletized to the placement position of the article to be palletized comprises:
generating movement path information for a plurality of articles to be palletized, comprising information on a movement path from a starting position to a pre-stage position of an article to be palletized or information on a movement path from a placement position of an article to be palletized to a starting position of another article to be palletized.
14. A non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the palletizing control method for performing instructions comprising:
generating a pre-stage position of an article to be palletized by respectively shifting a placement position of the article to be palletized along a horizontal palletizing direction by a horizontal offset corresponding to the article to be palletized and along a vertical palletizing direction by a vertical offset corresponding to the article to be palletized; and
generating movement path information representing a straight path from the pre-stage position of the article to be palletized to the placement position of the article to be palletized.
15. The non-transitory computer readable storage medium of claim 14 , wherein the instructions comprise:
determining an adjacent placement position according to a determined placement position and a size of an article to be palletized placed on the determined placement position in a layer of a palletizing place in sequence until an edge of the article to be palletized placed on the adjacent placement position exceeds an edge of a pallet.
16. The non-transitory computer readable storage medium of claim 14 , wherein the horizontal offset comprises a first horizontal offset representing an offset in a lateral palletizing direction in a horizontal plane and a second horizontal offset representing an offset in a longitudinal palletizing direction in the horizontal plane.
17. The non-transitory computer readable storage medium of claim 16 , wherein,
the first horizontal offset is a product of a length of the article to be palletized in the lateral palletizing direction and a preset lateral ratio; or
the second horizontal offset is a product of a length of the article to be palletized in the longitudinal palletizing direction and a preset longitudinal ratio.
18. The non-transitory computer readable storage medium of claim 14 , wherein the vertical offset is negatively related to a vertical distance from the placement position to a horizontal plane where a pallet for palletizing the article to be palletized is located.
19. The non-transitory computer readable storage medium of claim 14 , wherein, the generating movement path information representing a straight path from the pre-stage position of the article to be palletized to the placement position of the article to be palletized comprises:
generating movement path information for a plurality of articles to be palletized, comprising information on a movement path from a starting position to a pre-stage position of an article to be palletized or information on a movement path from a placement position of an article to be palletized to a starting position of another article to be palletized.