CN-122009847-A - Automatic stacking and intelligent stacking method and system for logistics finished products

CN122009847ACN 122009847 ACN122009847 ACN 122009847ACN-122009847-A

Abstract

The application relates to the technical field of automatic logistics storage, and provides an automatic logistics finished product stacking and intelligent stacking method and system. The method comprises the steps of obtaining package basic information of a to-be-stacked sub-package, calling a preset stacking algorithm according to the package basic information to generate a stacking scheme, conveying the to-be-stacked sub-package to an unstacking station, identifying whether the sub-package is a foundation support meeting requirements, removing a top non-combined layer package from the foundation support, directly conveying the foundation support to the stacking station to serve as a stacking base tray, guiding a preset robot to complete unstacking of the sub-packages except the foundation support, collecting actual size information of the unstacked package, updating the stacking scheme, grabbing a target tray by the robot after the warehouse-out positioning is confirmed when the to-be-buffered package forms a combined layer meeting requirements, conveying the target tray to a downstream station after stacking is completed, conveying the empty tray to a recycling station, and achieving automatic stacking and intelligent stacking of logistic finished products.

Inventors

CHEN ZHENGBO
FU MINGTAO
LIU JINGBIN
CHEN LIJUN
Lai Junru

Assignees

广东鑫光智能系统有限公司

Dates

Publication Date: 20260512
Application Date: 20260413

Claims (10)

1. An automatic combining and supporting and intelligent stacking method for a logistics finished product is characterized by comprising the following steps: The method comprises the steps of obtaining package basic information of a to-be-combined sub-support, calling a preset combined support algorithm according to the package basic information to generate a combined support stacking scheme, conveying the to-be-combined sub-support to an unstacking station, identifying whether the sub-support is a foundation support meeting requirements, dismantling a top non-combined layer package of the foundation support, and directly conveying the foundation support to the combined support station to serve as a combined support base tray; The method comprises the steps of guiding a preset robot to finish sub-support unstacking except a base support, collecting actual size information of unstacked packages, updating a support closing and stacking scheme, judging whether the unstacked packages can be directly stacked in layers according to the support closing and stacking scheme, controlling the robot to transfer the packages which can be directly stacked in layers to a target tray of a support closing station, conveying the packages which can not be directly stacked in layers to a horizontal cache warehouse for sequencing and caching, and if the packages to be cached are confirmed to form a combined layer meeting the requirement, positioning the packages to the support closing station after the package is discharged, and grabbing the packages to the target tray by the robot; after the stacking of the combined trays is completed, the target tray is conveyed to a downstream station, and the disassembled tray is conveyed to a recovery station, so that the automatic stacking and intelligent stacking of the logistics finished products are realized.
2. The method of claim 1, wherein the invoking a preset palletizing algorithm according to the package base information to generate a palletizing scheme comprises: A tray combination grouping rule and a stacking constraint rule are preset, wherein the tray combination grouping rule comprises a tray combination grouping rule according to dealer information, delivery route information and receiving customer information, and the stacking constraint rule comprises a limit rule of single tray stacking height, total weight and package quantity; Extracting basic information of the package to be combined with the tray, and judging whether the size and weight information of the package can be obtained from a production process system in advance; if the package information can be obtained in advance, an off-line tray combining algorithm is called, tray combining grouping and stack type planning are completed in advance, and a tray combining and stacking scheme is generated, and if the package information can not be obtained in advance, a real-time tray combining algorithm is called, inventory redundancy of a cache group layer is reserved, and an initial tray combining and stacking scheme is generated.
3. The method according to claim 1, wherein after the stacking, the target tray is conveyed to a downstream station, and the disassembled tray is conveyed to a recovery station, so as to realize automatic stacking and intelligent stacking of the logistics finished products, and the method comprises the following steps: monitoring the stacking progress of the stacking station, and conveying the target tray to a manual post-processing station through a conveying line after detecting that the stacking task of the target tray is completed, so as to complete stacking and auxiliary processing of the top-layer special package; and monitoring the state of the tray of the unstacking station, and conveying the unstacked tray to the stacking station through a conveying line after detecting that all the packages on the tray are unstacked and taken, so as to complete stacking, storage and backflow of the empty tray for standby.
4. The method of claim 1, wherein the delivering the sub-trays to be destacked to the destacking station, identifying whether the sub-trays are satisfactory base trays, comprises: After the sub-holders to be combined are conveyed to the unstacking station through a conveying line, the whole stacking image and package arrangement information of the sub-holders are collected through a preset vision system; And extracting the parameters of the bottom stacking flatness, the package arrangement regularity and the single-support package size consistency of the sub-support according to a pre-stored foundation support judging rule, and judging whether the corresponding sub-support meets the requirement of being a combined foundation support tray or not through parameter comparison.
5. The method of claim 4, wherein said removing the top non-assembled foundation pallet from the foundation pallet directly to the palletizing station as a palletizing foundation pallet, comprising: When the sub-support is judged to be a foundation support meeting the requirements, identifying non-combined layer package pieces of which the top layer of the foundation support does not meet the flat layer stacking requirements according to a combined support stacking scheme; the control robot disassembles the corresponding non-combined layer package, and reserves the bottom layer regular layer structure of the foundation support; after all the non-combined layer package pieces on the top layer are removed, the foundation support is directly conveyed to the stacking station from the unstacking station through the conveying line and used as the foundation support for stacking.
6. The method of claim 1, wherein directing the pre-set robot to complete sub-palletizing comprises: the three-dimensional point cloud data and the color image data of the sub-holders on the unstacking station are collected in real time through a structured light stereoscopic vision system arranged above the unstacking station; Identifying package pose information of the uppermost package of the child support, wherein the package pose information at least comprises corresponding outline, position and pose information so as to identify whether the package is damaged, deviated and stacked abnormally; Planning an unstacking movement path of the robot according to the identified package pose information, guiding the robot to finish accurate unstacking and material taking of single package through the sucker clamp, and triggering a preset abnormal processing flow for the identified abnormal package.
7. The method of claim 6, wherein the collecting the actual dimensional information of the unstacked packs and updating the palletizing scheme comprises: In the process that the robot completes the destacking and taking of the package, the vision system synchronously acquires the actual size information corresponding to the actual length, width and height of the destacking package, and meanwhile, the unique identification information of the package is acquired through the code scanning equipment; After binding the acquired actual size information with the unique identification information, comparing the actual size information of the package with pre-stored package basic information, and if information deviation exists, calling a corresponding closing and supporting algorithm to update a closing and supporting stacking scheme based on the real-time acquired actual size information, and synchronously adjusting the unstacking, buffering and stacking scheduling strategies of the subsequent package.
8. The method of claim 7, wherein the determining whether the unstacked packs can be stacked directly in layers according to the palletizing scheme, for packs that can be stacked directly in layers, controlling the robot to transfer the stacks to the target tray of the palletizing station, comprises: According to the updated stacking scheme, checking whether the package can be matched with the layer to be stacked of the target tray of the current stacking station to form a layer, and checking whether the stacking sequence of the package meets the stacking rule requirement; If the package is judged to be directly stacked, a stacking motion path of the robot is planned, the robot is controlled to directly transfer and stack the package from the unstacking station to the corresponding position of the target tray of the stacking station, and meanwhile, the cushion filling processing is automatically executed on the uneven position after stacking.
9. The method of claim 8, wherein the packs that are not directly stacked in layers are transferred to a horizontal buffer warehouse for sequencing and buffering, and if it is determined that the packs to be buffered form a combined layer meeting requirements, the packs are discharged from the warehouse, positioned and transferred to a palletizing station, and the packs are grabbed and stacked to a target tray by a robot, wherein the method comprises: If the fact that the unstacked packages cannot be stacked in a layer is judged, conveying the packages to a horizontal cache warehouse through a conveying line and a gantry manipulator, distributing corresponding cache goods according to the combined and supported grouping and layer stacking requirements, and finishing warehouse-in cache and order-adjusting management of the packages; And monitoring package information of the same combined support group in the water gentle repository, when detecting that the cache packages in the group can form a complete combined layer meeting the stacking requirement, sequentially discharging packages corresponding to the combined layer according to the stacking sequence through a gantry manipulator, conveying the packages to a robot package taking position of a combined support station through a conveying line, and sequentially grabbing and stacking the packages to the corresponding position of a target tray according to a combined support stacking scheme by the robot.
10. An automatic palletizing and intelligent palletizing system for logistics finished products, which is characterized by being applied to the method as claimed in any one of claims 1 to 9, and comprising the following steps: The information acquisition unit is used for acquiring package basic information of the to-be-combined sub-support, calling a preset combined support algorithm according to the package basic information, and generating a combined support stacking scheme; The control grabbing unit is used for guiding a preset robot to complete sub-support unstacking, collecting actual size information of unstacked package pieces and updating a support unstacking scheme; according to the stacking scheme, judging whether the unstacked package can be directly stacked in layers, controlling a robot to transfer the stacked package to a target tray of a stacking station for the package which can be directly stacked in layers, conveying the package which can not be directly stacked in layers to a horizontal cache warehouse for sequencing and caching, and if the package to be cached is determined to form a combined layer meeting the requirements, positioning the package to be stacked in layers and grabbing the package to the target tray by the robot; And the stacking realization unit is used for conveying the target tray to a downstream station after the stacking of the combined trays is completed, conveying the disassembled tray to a recovery station, and realizing automatic combined tray and intelligent stacking of the logistics finished products.

Description

Automatic stacking and intelligent stacking method and system for logistics finished products Technical Field The application relates to the technical field of logistics automatic storage, in particular to a method and a system for automatically combining and intelligently stacking logistics finished products. Background With the rapid development of the customized household industry, the household finished product has the industrial characteristics of high non-calibrated manufacturing degree, large package size span, large number of packages of single order, and the need of distribution according to the distributor and the transportation route in a combined support stacking operation in the finished product delivery link, and the logistics loading efficiency and the distribution cost are directly determined. At present, the finished product delivery and support closing ring section in the custom-made household industry still adopts a manual operation mode that operators need to manually carry cabinet bodies and door plate type packages with large weight and various specifications, and support closing and stacking are completed according to distribution requirements, so that the labor intensity is extremely high, the operation efficiency is low, the manual operation cannot accurately grasp the weight and volume parameters of the packages, the problems of irregular support closing, overweight and superhigh single support and support crossing and splitting of the packages with customers easily occur, the subsequent logistics loading rate and the distribution efficiency are seriously influenced, and meanwhile, the potential safety hazard of operation is large. Accordingly, a need exists for a method that addresses at least one of the problems described above. Disclosure of Invention The application provides an automatic support closing and intelligent stacking method and system for logistics finished products, and aims to solve the problems that existing automatic stacking related technical schemes have obvious technical defects and cannot adapt to support closing operation requirements of customized household industries. In a first aspect, an embodiment of the present application provides a method for automatically stacking and intelligent stacking of physical distribution finished products, where the method includes: The method comprises the steps of obtaining package basic information of a to-be-combined sub-support, calling a preset combined support algorithm according to the package basic information to generate a combined support stacking scheme, conveying the to-be-combined sub-support to an unstacking station, identifying whether the sub-support is a foundation support meeting requirements, dismantling a top non-combined layer package of the foundation support, and directly conveying the foundation support to the combined support station to serve as a combined support base tray; The method comprises the steps of guiding a preset robot to complete sub-support unstacking, collecting actual size information of unstacked packages and updating a support stacking scheme, judging whether the unstacked packages can be stacked directly in layers according to the support stacking scheme, controlling the robot to transfer the stacked packages which can be stacked directly to a target tray of a support stacking station, conveying the packages which can not be stacked directly to a horizontal buffer warehouse for order adjustment buffer, and if the packages to be buffered are determined to form a combined layer meeting the requirements, discharging the package to the support stacking station, and grabbing the stacked packages to the target tray by the robot; after the stacking of the combined trays is completed, the target tray is conveyed to a downstream station, and the disassembled tray is conveyed to a recovery station, so that the automatic stacking and intelligent stacking of the logistics finished products are realized. In some embodiments, the method comprises the steps of calling a preset closing algorithm according to package basic information to generate a closing stacking scheme, presetting a closing grouping rule and a stacking constraint rule, wherein the closing grouping rule comprises a rule for closing grouping according to dealer information, distribution route information and receiving customer information, the stacking constraint rule comprises a limit rule of single-support stacking height, total weight and package quantity, extracting package basic information of a to-be-closed sub-tray, judging whether package size and weight information can be obtained from a production process system in advance, calling an offline closing algorithm if package information can be obtained in advance, completing closing grouping and stack planning in advance to generate the closing stacking scheme, and calling a real-time closing algorithm if package information cannot be obtained in advance, reserving invento