CN110723555B - Offline mixed stacking method with good stacking stability - Google Patents
Offline mixed stacking method with good stacking stability Download PDFInfo
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- CN110723555B CN110723555B CN201911008782.2A CN201911008782A CN110723555B CN 110723555 B CN110723555 B CN 110723555B CN 201911008782 A CN201911008782 A CN 201911008782A CN 110723555 B CN110723555 B CN 110723555B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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Abstract
The invention discloses an offline mixed stacking method and system with good stacking stability, which specifically comprise the following steps: step one, setting boxes and the number: directly inputting the box type into the input module by a user; step two, generating a composite block; step three, searching the best composite block which can be contained in the residual space; step four, space cutting or transferring; step five, generating a stacking and boxing scheme; and sixthly, outputting the spatial position and the arrangement direction of each box, and the invention relates to the technical field of stacking. According to the off-line mixed stacking method and the off-line mixed stacking system with good stacking stability, the calculation statistics is carried out on the bearing capacity of the product through a set algorithm, when stacking is carried out, the integrity of the product can be effectively guaranteed, the operation quality and the stability of the product are enhanced, off-line work can be simultaneously carried out, equipment is separated from the binding of a network, the work can be carried out independently, and the probability of low operation efficiency of the product caused by unexpected loss is reduced.
Description
Technical Field
The invention relates to the technical field of stacking, in particular to an offline mixing stacking method and system with good stacking stability.
Background
The packaged articles are generally transported to a warehouse from a production line of a workshop for stacking, currently, a hand-push elevator and a forklift are commonly used for stacking, a stacker crane with relatively high automation degree is also used, the hand-push elevator is low in cost, but the labor intensity is high, the stacking speed is low, although the labor intensity of the forklift is reduced and the stacking speed is also improved, a large amount of manual labor is also needed to be matched, so that the intelligent stacking cannot be carried out,
because the demand of loading and stacking exists in multiple scenes, the current loading intelligentization level is low, the loading rate depends on the proficiency of workers, the basic constraint cannot be guaranteed, the stability of loading and stacking is greatly influenced, the existing intelligent stacking loading means is simple and crude, networking is needed for use, once a fault occurs, networking is needed to be immediately eliminated, the dependence on the network is increased, the binding type work is caused, the independent operation of products is not facilitated, the large-area paralysis condition is easy to occur, and therefore the stacking method system still having good stability under the offline condition needs to be developed.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides an offline mixed stacking method and system with good stacking stability, and solves the problems that the existing intelligent stacking loading method is simple and crude, needs to be networked for use, needs to be networked for removal once a fault occurs, has high dependence on the network, causes binding type work, is not beneficial to independent operation of products, and is easy to cause large-area paralysis.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme: an off-line mixed stacking method with good stacking stability specifically comprises the following steps:
step one, setting boxes and the number: a user uses a client to enter the hybrid stacking system through a server, directly inputs box types into the input module, and inputs the specific number of the box types to be input;
step two, generating a composite block: for the box in the step one, a group of boxes of the same type are superposed to form a simple block, and two simple blocks or two complex blocks form a composite block;
step three, searching the best composite block which can be contained in the residual space: putting the blocks generated in the step two into a space, and then generating a residual space, wherein a top grid and a bottom grid are generated for the simple blocks and the complex blocks constructed in the step two through a grid generating unit, and the top grid and the bottom grid of each simple block are the same;
step four, space cutting or transferring: when the space Z is just above the placed block, generating a space X and a space Y according to the values of the residual X-direction space delta X and the residual Y-direction space delta Y, and when space transfer is needed, calculating the bearing strength of each residual space through a bearing strength calculation unit, wherein the bearing strength of the space X and the space Y is the same as that of the original space, and the bearing strength of the space Z is the effective bearing strength of the block, T is the effective bearing strength of the block, and the space Y is the effective bearing strength of the blockhIs the original load-bearing strength of the block,
is the original spaceThe bearing strength of the space X and the bearing strength of the space Y are subtracted from the pressure applied to the block, the bearing strength of the space X and the bearing strength of the space Y are not changed after the space is transferred, the grid of the space Z is the top grid of the block, the grids of the space X and the space Z are inherited from the grid of the original space, if the space X is removed, the space Y extends towards the X direction and occupies a part of the space belonging to the space X, and meanwhile, the part of the grids of the space X are transferred to the space Y;
step five, generating a stacking and boxing scheme: determining an operation mode through a scheme generation module according to the calculation result in the step four;
step six, outputting the spatial position and the arrangement direction of each box: and the control unit receives the operation signal sent out in the step five, and directly controls the manipulator to stack and place in X, Y and Z directions in space.
Preferably, in the second step, the space wasted by one complex block should be less than 4% of the rectangular envelope surface, that is, the space utilization rate of one complex block is at least 96%.
Preferably, in the third step, when the complex blocks, b1 and b2 are set as simple blocks, when b1 and b2 are combined in the X or Y direction, the top grid of the complex block can be obtained by combining the top grids of b1 and b2, the bottom grids are combined in the same manner, when b1 and b2 are combined in the Z direction, the top grid of b2 and the bottom grid of b1 are respectively used as the top grid and the bottom grid of the complex block, and when b1 and b2 are set as the complex blocks, the method of generating the top grid and the bottom grid is the same.
Preferably, the load-bearing strength calculation unit calculates according to a load-bearing algorithm, and the load-bearing algorithm includes: m isiIs the weight of the box,. li×wiIs the area, then the total weight divided by the surface area is the pressure,
height h for boxiThe original load-bearing strength of the box when placed upright.
The invention also discloses an off-line mixed stacking system with good stacking stability, the client is in bidirectional connection with the server, the server is in bidirectional connection with the mixed stacking system, the mixed stacking system is in bidirectional connection with the central processing module, the central processing module is in bidirectional connection with the scheme generation module, the input module, the bearing strength calculation unit, the grid generation unit and the information storage module respectively, and the scheme generation module is in bidirectional connection with the control unit.
Preferably, the bearing strength calculation unit comprises a size transferring module, a counterweight counting module and an integration analysis module, and the output ends of the size transferring module and the counterweight counting module are connected with the input end of the integration analysis module.
Preferably, the grid generating unit includes a transfer module, a deletion module and an analysis and calculation module, and output ends of the transfer module and the deletion module are connected with an input end of the analysis and calculation module.
Preferably, the control unit comprises a signal receiving module, an X-direction control module, a Y-direction control module and a Z-direction control module, and the output end of the signal receiving module is connected with the input ends of the X-direction control module, the Y-direction control module and the Z-direction control module respectively.
(III) advantageous effects
The invention provides an offline mixed stacking method and system with good stacking stability. The method has the following beneficial effects:
(1) the offline mixed stacking method and the offline mixed stacking system with good stacking stability comprise the following steps of: a user uses a client to enter the hybrid stacking system through a server, directly inputs box types into the input module, and inputs the specific number of the box types to be input; step two, generating a composite block: for the box in the step one, a group of boxes of the same type are superposed to form a simple block, and two simple blocks or two complex blocks form a complex block; step three, searching the best composite block which can be contained in the residual space: putting the blocks generated in the step two into the space, then generating a residual space, generating a top grid and a bottom grid for the simple blocks and the complex blocks constructed in the step two by a grid generating unit,and the top and bottom meshes of each simple block are the same; step four, space cutting or transferring: when the space Z is just above the placed block, generating a space X and a space Y according to the values of the residual X-direction space delta X and the residual Y-direction space delta Y, and when space transfer is needed, calculating the bearing strength of each residual space through a bearing strength calculation unit, wherein the bearing strength of the space X and the space Y is the same as that of the original space, and the bearing strength of the space Z is the effective bearing strength of the block, T is the effective bearing strength of the block, and the space Y is the effective bearing strength of the blockhIs the original load-bearing strength of the block,the bearing strength of the original space subtracts the pressure applied to the block, the bearing strength of the space X and the space Y cannot change after the space is transferred, the grid of the space Z is the top grid of the block, the grids of the space X and the space Z are inherited from the grid of the original space, if the space X is removed, the space Y extends towards the X direction and occupies partial space belonging to the space X, and meanwhile, partial grids of the space X are transferred to the space Y; step five, generating a stacking and boxing scheme: determining an operation mode through a scheme generation module according to the calculation result in the step four; step six, outputting the spatial position and the arrangement direction of each box: the control unit receives the operation signal sent in the step five, the manipulator is directly controlled to stack X, Y and Z directions in space and place, calculation statistics is carried out on the bearing capacity of products through a set algorithm, when stacking is carried out, the integrity of the products can be effectively guaranteed, the operation quality and stability of the products are enhanced, meanwhile, offline work can be carried out, equipment is enabled to be separated from a network, work can be carried out independently, and the probability that the condition that the operation efficiency of the products is low due to accidental loss is reduced.
Drawings
FIG. 1 is a schematic flow diagram of the present invention;
FIG. 2 is a schematic block diagram of the system of the present invention;
FIG. 3 is a schematic block diagram of a system for carrying strength calculating unit according to the present invention;
FIG. 4 is a system schematic block diagram of a grid generation unit of the present invention;
FIG. 5 is a system schematic block diagram of the control unit of the present invention;
in the figure, 1-client, 2-server, 3-mixed stacking system, 4-central processing module, 5-scheme generation module, 6-input module, 7-bearing strength calculation unit, 8-grid generation unit, 9-control unit, 10-size transfer module, 11-counterweight statistical module, 12-integration analysis module, 13-transfer module, 14-deletion module, 15-analysis calculation module, 16-signal receiving module, 17-X direction control module, 18-Y direction control module, 19-Z direction control module and 20-information storage module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, an embodiment of the present invention provides a technical solution: an off-line mixed stacking method with good stacking stability specifically comprises the following steps:
step one, setting boxes and the number: a user uses a client 1 to enter a mixing and stacking system 3 through a server 2, directly inputs box types into an input module 6, and inputs the specific number of the box types to be put into;
step two, generating a composite block: for the box in the step one, a group of boxes of the same type are superposed to form a simple block, and two simple blocks or two complex blocks form a complex block;
step three, searching the best composite block which can be contained in the residual space: putting the blocks generated in the step two into a space, and then generating a residual space, wherein a top grid and a bottom grid are generated for the simple blocks and the complex blocks constructed in the step two through a grid generating unit 8, and the top grid and the bottom grid of each simple block are the same;
step four, space cutting or transferring: when the space Z is just above the placed block, the space X and the space Y are generated according to the values of the residual X-direction space delta X and the residual Y-direction space delta Y, when space transfer is needed, the bearing strength of each residual space is calculated through the bearing strength calculating unit 7, the space X and the space Y are the same as the bearing strength of the original space, the bearing strength of the space Z is the effective bearing strength of the block, and T is the effective bearing strength of the blockhIs the original load-bearing strength of the block,
the bearing strength of the original space subtracts the pressure applied to the block, the bearing strength of the space X and the space Y cannot change after the space is transferred, the grid of the space Z is the top grid of the block, the grids of the space X and the space Z are inherited from the grid of the original space, if the space X is removed, the space Y extends towards the X direction and occupies partial space belonging to the space X, and meanwhile, partial grids of the space X are transferred to the space Y;
step five, generating a stacking and boxing scheme: determining an operation mode through the scheme generation module 5 according to the calculation result in the step four;
step six, outputting the spatial position and the arrangement direction of each box: the control unit 9 receives the operation signal sent in the fifth step, the manipulator is directly controlled to stack X, Y and Z directions in space, the bearing capacity of the product is calculated and counted through a set algorithm, when stacking is carried out, the integrity of the product can be effectively guaranteed, the operation quality and stability of the product are enhanced, meanwhile, offline operation can be carried out, the equipment is enabled to be separated from the network, the equipment can independently work, and the probability of low operation efficiency of the product caused by accidental loss is reduced.
In the second step, the space wasted by a complex block is less than 4% of the rectangular envelope surface, namely the space utilization rate of the complex block is at least 96%, and in the third step, when the complex blocks are set as simple blocks by b1 and b2, when b1 and b2 are combined in the X or Y direction, the complex blocks pass through the tops of b1 and b2The grid combination may obtain a top grid of the complex block, the bottom grid is combined in the same way, when b1 and b2 are combined in Z direction, the top grid of b2 and the bottom grid of b1 are respectively used as the top grid and the bottom grid of the complex block, when b1 and b2 are set as the complex block, the method for generating the top grid and the bottom grid is the same, when the grid of space Z is the top grid of this block, the grids of space X and space Z are inherited from the grid of the original space, if space X is removed, space Y will extend to X direction and occupy a part of space belonging to space X, and at the same time, the part of grid of space X will also be transferred to space Y, and the load-bearing strength calculation unit 7 performs calculation according to a load-bearing algorithm, which includes: m isiIs the weight of the box,. li＝wiIs the area, then the total weight divided by the surface area is the pressure,
height h for boxiThe original load-bearing strength of the box when placed upright.
Referring to fig. 2-5, an offline hybrid palletizing system with good palletizing stability includes a client 1 and a server 2, the server 2 and the hybrid palletizing system 3 are bidirectionally connected, the hybrid palletizing system 3 and a central processing module 4 are bidirectionally connected, the central processing module 4 is an ARM9 series processor, the central processing module 4 is respectively bidirectionally connected with a scheme generating module 5, an input module 6, a bearing strength calculating unit 7, a grid generating unit 8 and an information storage module 20, the scheme generating module 5 is bidirectionally connected with a control unit 9, the bearing strength calculating unit 7 includes a size transferring module 10, a counterweight counting module 11 and an integration analyzing module 12, output ends of the size transferring module 10 and the counterweight counting module 11 are respectively connected with an input end of the integration analyzing module 12, the grid generating unit 8 includes a transferring module 13, a counter weight calculating module 11, The output ends of the transfer module 13 and the deletion module 14 are connected with the input end of the analysis calculation module 15, the control unit 9 comprises a signal receiving module 16, an X-direction control module 17, a Y-direction control module 18 and a Z-direction control module 19, and the output end of the signal receiving module 16 is connected with the input ends of the X-direction control module 17, the Y-direction control module 18 and the Z-direction control module 19 respectively.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation. The use of the phrase "comprising one of the elements does not exclude the presence of other like elements in the process, method, article, or apparatus that comprises the element.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (2)
1. An off-line mixing stacking method with good stacking stability is characterized in that: the method specifically comprises the following steps:
step one, setting boxes and the number: a user enters the mixing and stacking system (3) through the server (2) by using the client (1), directly inputs box types into the input module (6), and inputs the specific number of box types to be put into;
step two, generating a composite block comprising a simple block and a complex block through a client (1): for the box in the step one, a group of boxes of the same type are superposed to form a simple block, and two simple blocks or two complex blocks form a composite block;
step three, searching the best composite block which can be contained in the residual space: putting the blocks generated in the step two into a space, and then generating a residual space, wherein a top grid and a bottom grid are generated for the simple blocks and the complex blocks constructed in the step two through a grid generating unit (8), and the top grid and the bottom grid of each simple block are the same;
step four, space cutting or transferring: when the space Z is just above the placed block, generating a space X and a space Y according to the values of the residual X-direction space delta X and the residual Y-direction space delta Y, and when space transfer is needed, calculating the bearing strength of each residual space through a bearing strength calculation unit (7), wherein the space X and the space Y are the same as the bearing strength of the original space, the bearing strength of the space Z is the effective bearing strength of the block, and T is the effective bearing strength of the blockbIs the original load-bearing strength of the block,
the bearing strength of the original space subtracts the pressure applied to the block, the bearing strength of the space X and the space Y cannot change after the space is transferred, the grid of the space Z is the top grid of the block, the grids of the space X and the space Z are inherited from the grid of the original space, if the space X is removed, the space Y extends towards the X direction and occupies partial space belonging to the space X, and meanwhile, partial grids of the space X are transferred to the space Y;
step five, generating a stacking and boxing scheme: determining an operation mode through a scheme generation module (5) according to a calculation result in the step four;
step six, outputting the spatial position and the arrangement direction of each box: the control unit (9) receives the operation signal sent out in the step five, and directly controls the manipulator to stack X, Y and Z directions in space;
in the third step, for the complex block, b1 and b2 are set as simple blocks, when b1 and b2 are combined in the X or Y direction, the top grid of the complex block can be obtained by the combination of the top grids of b1 and b2, the bottom grids are combined in the same manner, when b1 and b2 are combined in the Z direction, the top grid of b2 and the bottom grid of b1 are respectively used as the top grid and the bottom grid of the complex block, and when b1 and b2 are set as the complex block, the method of generating the top grid and the bottom grid is the same.
2. The off-line hybrid palletizing method with good palletizing stability according to claim 1, wherein the off-line hybrid palletizing method is characterized in that: in the second step, the space wasted by one complex block is less than 4% of the rectangular envelope surface, that is, the space utilization rate of one complex block is at least 96%.
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| CN113895728B (en) * | 2021-09-30 | 2023-03-21 | 合肥辰视机器人科技有限公司 | Greedy palletizing method and device and computer readable storage medium |
| CN115893028A (en) * | 2022-12-30 | 2023-04-04 | 北京远通信德科技有限公司 | Packing control method, system and electronic device |
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