CN117236524A - Bulk cargo code container distribution method - Google Patents
Bulk cargo code container distribution method Download PDFInfo
- Publication number
- CN117236524A CN117236524A CN202311498336.0A CN202311498336A CN117236524A CN 117236524 A CN117236524 A CN 117236524A CN 202311498336 A CN202311498336 A CN 202311498336A CN 117236524 A CN117236524 A CN 117236524A
- Authority
- CN
- China
- Prior art keywords
- container
- area
- bulk cargo
- stacked
- containers
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000005259 measurement Methods 0.000 claims abstract description 4
- 238000004590 computer program Methods 0.000 claims description 11
- 238000004364 calculation method Methods 0.000 claims description 6
- 238000010586 diagram Methods 0.000 claims description 4
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Landscapes
- Stacking Of Articles And Auxiliary Devices (AREA)
Abstract
The application relates to a bulk cargo code into container distribution method, which specifically comprises the following steps: s1: acquiring the internal dimensions of a container, namely length a, width B and height c, acquiring the space score in the container, and classifying the container into two areas, namely an area A and an area B; s2: the container is conveyed to one side of the container through the conveying belt, and simultaneously, the size measurement is carried out on the container through the three-dimensional surface profile measuring instrument on the conveying belt, so that the size length a of the container X is obtained X Width b X High c X A numerical value; s3, performing S3; by identifying the container and the size of the container, the automatic identification, reading and judging that the coming container should be swungThe goods stacking device is placed at a position and used for prompting workers, so that the workers can conveniently stack goods, and the workers only need to stack the container at the appointed position according to the prompt; therefore, the stacking and stacking of the containers can be fully performed, the internal space of the container can be utilized to the maximum extent, and the problem that the internal space of the container cannot be fully utilized is avoided.
Description
Technical Field
The application relates to the technical field of container distribution, in particular to a bulk cargo code container distribution method.
Background
The container is a container body for stacking cargoes and is used for logistics transportation;
in the prior art, most of containers are coded into the containers by manual operation robots or are carried into the containers, and because the containers of different cargoes are different in size, workers just code the containers into the containers by experience when coding the containers, so that the containers can be placed in disorder, the containers cannot be fully stacked, the internal space of the containers cannot be utilized to the maximum extent, and the problem that the internal space of the containers cannot be fully utilized exists.
Disclosure of Invention
Aiming at the technical problem that the prior container internal space can not be utilized to the maximum extent, the application provides a bulk cargo code into container distribution method.
The technical scheme adopted by the application is as follows: the bulk cargo code container distributing method includes the following steps:
s1: acquiring the internal dimensions of a container, namely length a, width B and height c, acquiring the space score in the container, and classifying the container into two areas, namely an area A and an area B;
s2: the container is conveyed to one side of the container through the conveying belt, and simultaneously, the size measurement is carried out on the container through the three-dimensional surface profile measuring instrument on the conveying belt, so that the size length a of the container X is obtained X Width b X High c X A numerical value;
s3: placing the container X in the area A of the container according to the obtained internal size of the container and the size of the container, and then obtaining the distance D between the top of the container X and the top of the container X ；
S4: the container Y is conveyed to one side of the container by a conveyor belt, and the size length a of the container Y is obtained Y Width b Y High c Y A numerical value;
s5: the top area of the placed container X is calculated, namely: s is S X =(a x *b x ) Calculate the bottom area of cargo box Y, namely: s is S Y =(a Y *b Y )；
S6: distance D X And c Y If the numerical value of (C) is D X Greater than c Y Then area a in the containerCan satisfy the placement in space height, and then calculate the area ratio K 1 ，K 1 =（S X /S Y ）；
The values of K are then compared: if it is K 1 More than or equal to 0.5, can be stored, and then the container Y is stacked on the container X; if it is K 1 If the stacking space area is smaller and unstable, placing the container Y in the area A in the container in parallel with the container X;
s7: when the container Z is placed, the size length a of the container Z is obtained in accordance with the steps Z Width b Z High c Z Numerical value, calculate S Z ，S Z =(a Z *b Z ) Calculate K 2 ，K 2 =（S Y /S Z ) Then pass through K 2 The value determines whether the container Z can be placed on the container Y.
S8: in this way, a plurality of containers are distributed and placed in the container respectively, and after the area A is filled, the area B is filled and placed.
Further, in step S7, there are the following two cases:
in case one, if in step S6, the container Y is stacked on the container X, and then the distance D between the container Y and the top inside the container is calculated Y The method comprises the steps of carrying out a first treatment on the surface of the Then, distance D Y And c Z If the numerical value of (C) is D Y Greater than c Z The space height of the area A in the container can be satisfied, and then the area ratio K is calculated 2 Then pass through K 2 Value judging whether the container Z can be placed on the container Y;
wherein if it is K 2 Less than 0.5, when the container Z cannot be placed on the container Y, the free area S on the container X can be calculated x free space ={（a x ）*（b x -b Y ) Then calculate the area ratio K again 3 =（S x free space /S Z ) Then K is taken up 3 Comparing the numerical values, and judging whether the spare area on the container X can be stored or not; if it is K 3 If the weight of the container Z is less than 0.5, the container Z cannot be stacked and stored, and the container Z is directly placed in the area A in parallel；
In the second case, if in step S6, the container Y is not stacked on the container X, but is directly placed on the ground in the area a, and when parallel to the container Y, only K is calculated 2 And K 4 If the number of the containers is smaller than 0.5, the containers Z can not be stacked and stored, and the containers Z can be directly placed in the area A in parallel;
wherein K is 4 =（S X /S Z ）；
Further, the container may be handled into the container by a handling robot or manually.
Further, the area calculation of the container is not limited to the top surface or the bottom surface, and when the area calculation is performed on the container to be stacked in the step S6 and the step S7, the areas of other surfaces of the container can be calculated, and if the areas of other surfaces meet the stacking requirement, the container can be stacked and placed after being turned over.
Further, storage location information for each cargo box is recorded.
Further, the volume ratio of the region a to the region B is: 1:1, 1:2, 1:3 or 2:1, 3:1.
Further, the container inner dimension and the container dimension are cm.
Further, the method further comprises the step S9 of sequentially marking each placed goods according to Arabic numerals, and generating a two-dimensional or three-dimensional placement model diagram after loading is completed.
Further, a computer readable storage medium has stored thereon a computer program, wherein the computer program when executed by a processor realizes the steps of a bulk code into container allocation method.
Further, a computer device comprising a memory and a processor, on which memory a computer program is stored which can be run on the processor, said processor, when executing the computer program, realizes the steps of a method for bulk cargo code into containers.
The beneficial effects of the application are as follows: compared with the prior art, the automatic goods stacking device has the advantages that the sizes of the containers and the goods boxes are identified, then the positions of the arriving goods boxes are automatically identified, read and judged, workers are prompted, goods stacking is convenient for the workers, and the workers only need to code the goods boxes into the appointed positions according to the prompt; therefore, the stacking and stacking of the containers can be fully performed, the internal space of the container can be utilized to the maximum extent, and the problem that the internal space of the container cannot be fully utilized is avoided.
Drawings
FIG. 1 is a flow chart of the present application;
FIG. 2 is a schematic view of the structure of the container of the present application;
FIG. 3 is a diagram illustrating the stacking construction of a cargo box in one embodiment;
FIG. 4 is a diagram of a cargo box stack in accordance with the first embodiment;
Detailed Description
The following description of the embodiments of the present application will clearly and completely describe the technical solutions of the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
In order to solve the problems in the background technology, the application provides the following technical scheme: a bulk cargo code into container distribution method.
Example 1
In this embodiment, the method specifically includes the following steps:
s1: acquiring the internal dimensions of a container, namely length a, width B and height c, acquiring the space score in the container, and classifying the container into two areas, namely an area A and an area B;
s2: the container is conveyed to one side of the container through the conveying belt, and simultaneously, the size measurement is carried out on the container through the three-dimensional surface profile measuring instrument on the conveying belt, so that the size length a of the container X is obtained X Width b X High c X A numerical value; wherein, the three-dimensional surface profile measuring instrument is an existing product and can measureDimensional information of the product, such as a primus three-dimensional surface profilometer GMS-S322;
s3: placing the container X in the area A of the container according to the obtained internal size of the container and the size of the container, and then obtaining the distance D between the top of the container X and the top of the container X ；
S4: the container Y is conveyed to one side of the container by a conveyor belt, and the size length a of the container Y is obtained Y Width b Y High c Y A numerical value;
s5: the top area of the placed container X is calculated, namely: s is S X =(a x *b x ) Calculate the bottom area of cargo box Y, namely: s is S Y =(a Y *b Y )；
S6: distance D X And c Y If the numerical value of (C) is D X Greater than c Y The space height of the area A in the container can be satisfied, and then the area ratio K is calculated 1 ，K 1 =（S X /S Y ）；
The values of K are then compared: if it is K 1 More than or equal to 0.5, can be stored, and then the container Y is stacked on the container X; if it is K 1 If the stacking space area is smaller and unstable, placing the container Y in the area A in the container in parallel with the container X;
s7: when the container Z is placed, the size length a of the container Z is obtained in accordance with the steps Z Width b Z High c Z Numerical value, calculate S Z ，S Z =(a Z *b Z ) Calculate K 2 ，K 2 =（S Y /S Z ) Then pass through K 2 The value determines whether the container Z can be placed on the container Y.
S8: in this way, a plurality of containers are distributed and placed in the container respectively, and after the area A is filled, the area B is filled and placed.
Step S9: and labeling each placed goods sequentially according to Arabic numerals, and generating a two-dimensional or three-dimensional placement model after loading is completed, wherein the produced three-dimensional model or two-dimensional model is displayed through a display screen of computer equipment, the two-dimensional model is a cross-sectional view or a perspective view of a container, and the three-dimensional model is of a three-dimensional structure, so that the position of each container can be accurately known.
The containers are of cuboid structures;
one example is:
if the internal dimensions of the container are respectively: a=500 cm, b=200 cm, c=200 cm;
the dimensions of the container X are: a, a X =50cm，b X =20cm，c X =20 cm, so S X =(a x *b x )=1000cm 2 ；
The dimensions of the cargo box Y are: a, a Y =40cm，b Y =10cm，c Y =10 cm, so S Y =(a Y *b Y )=400cm 2 ；
The dimensions of the cargo box Z are: a, a Z =60cm，b Z =20cm，c Z =20 cm, so S Z =(a Z *b Z )=1200cm 2 ；
Therefore, K 1 =（S X /S Y ）=1000/400=2.5；
So that when the container X is placed in the container, the container Y can be stacked on top of the container X.
In particular, in practice, in step S7, the following two cases exist:
in the first case,
If in step S6, the container Y is stacked on the container X, and then the distance D between the container Y and the top of the container is calculated Y (referring to one example, when a container Y is placed on a container X, D Y =470 cm, so height satisfies the placement of container Z);
then, distance D Y And c Z If the numerical value of (C) is D Y Greater than c Z The space height of the area A in the container can be satisfied, and then the area ratio K is calculated 2 Then pass through K 2 Value judging whether the container Z can be placed on the container Y;
reference is made to the use of size information illustrating one type:K 2 =（S Y /S Z ) The values of 0.33 less than 0.5,0.5 calculated when containers Z are stacked, with at least half of the area of the upper container Z in contact with the bottom container Y, =400/1200=0.33; due to K 2 =0.33, then it is impossible to place the cargo Z on the cargo Y, there is instability;
of course, it can also refer to whether the placement is realized or not when the other surface of the cargo Z is in contact with the cargo Y;
such as: after the container Z is turned over and erected, the side surface of the container Z contacts with the top of the container Y to be placed, S Z side =（b Z *c Z ）=400cm 2 。
The side area ratio at this time is: k (K) 2 side surfaces =S Y /S Z side =400/400=1, so K 2 side surfaces And is more than or equal to 0.5, so that the container Z can be stacked after being turned over and erected.
What needs to be explained more is:
two examples are:
if the internal dimensions of the container are respectively: a=500 cm, b=200 cm, c=200 cm;
the dimensions of the container X are: a, a X =50cm，b X =20cm，c X =20 cm, so S X =(a x *b x )=1000cm 2 ；
The dimensions of the cargo box Y are: a, a Y =40cm，b Y =10cm，c Y =10 cm, so S Y =(a Y *b Y )=400cm 2 ；
The dimensions of the cargo box Z are: a, a Z =45cm，b Z =20cm，c Z =10 cm, so S Z =(a Z *b Z )=900cm 2 ；
Therefore, K 1 =（S X /S Y ）=1000/400=2.5；
So that the number of the parts to be processed,
in practice, the containers Z are not the same in size, so if K 2 Less than 0.5, when the container Z cannot be placed on the container Y, the free area S on the container X can be calculated x free space ={（a x ）*（b x -b Y ) Then calculate the area ratio K again 3 =（S x free space /S Z ) Then K is taken up 3 Comparing the numerical values, and judging whether the spare area on the container X can be stored or not; if it is K 3 If the weight of the container Z is less than 0.5, the container Z cannot be stacked and stored, and the container Z is directly placed in the area A in parallel;
therefore, K 2 =（S Y /S Z ) =400/900=0.44, so the container Z cannot be placed directly on the container Y;
at this time calculate, S x free space ={（a x ）*（b x -b Y ）}={（50）*（20-10）}=500；
K 3 =（S x free space /S Z ) =500/900=0.55, so K 3 Greater than 0.5, can be placed over the free area of the cargo box X.
In the second case,
The same principle as above:
if in step S6, the pallet Y is not stacked on the pallet X (i.e., K 1 < 0.5) is directly placed on the ground in the area A, and when the ground is parallel to the container Y, only K is calculated 2 And K 4 Whether the container Z is larger than 0.5 or not, if the container Z is larger than 0.5, the container Z can be stored on the container X or the container Y;
in addition, if the size of the container Z is smaller than 0.5, the container Z cannot be stacked and stored, and the container Z is directly placed in the area A in parallel; wherein K is 4 =（S X /S Z ）；
Therefore, when there are various options for storage, the storage position can also be displayed through the display screen of the computer device so as to enable a worker to select which position to store.
To sum up, the following description is provided:
in the present embodiment, it is, of course, specifically explained that the container is in a rectangular parallelepiped structure in practice, so the calculation of the area of the container is not limited to the top surface or the bottom surface;
further description is as follows: because when the area calculation is performed on the containers to be stacked in the step S6 and the step S7, the areas of other surfaces of the containers can be calculated, and because the rectangular container has six surfaces, if one surface meets the placement, the container can be placed after being turned over, similar to the operation principle of the russian square game, the turning adjustment can be performed, and if the areas of the other surfaces meet the stacking requirement, the container can be stacked after being turned over.
In this embodiment, the containers may be carried into the containers by a carrying robot or by a person, and the storage position information of each container is recorded, where the volume ratio of the area a to the area B is: 1:1, 1:2, 1:3 or 2:1, 3:1, the container inner dimension and the container dimension are cm.
Example two
A computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor realizes the steps of a method for bulk cargo code into container allocation.
Example III
A computer device comprising a memory and a processor, on which memory a computer program is stored which can be run on the processor, said processor, when executing the computer program, carrying out the steps of a method for bulk cargo code into containers.
Although embodiments of the present application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the application, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. A bulk cargo code into container distribution method, which is characterized in that: the method specifically comprises the following steps:
s1: acquiring the internal dimensions of a container, namely length a, width B and height c, acquiring the space score in the container, and classifying the container into two areas, namely an area A and an area B;
s2: the container is conveyed to one side of the container through the conveying belt, and simultaneously, the size measurement is carried out on the container through the three-dimensional surface profile measuring instrument on the conveying belt, so that the size length a of the container X is obtained X Width b X High and highc X A numerical value;
s3: placing the container X in the area A of the container according to the obtained internal size of the container and the size of the container, and then obtaining the distance D between the top of the container X and the top of the container X ；
S4: the container Y is conveyed to one side of the container by a conveyor belt, and the size length a of the container Y is obtained Y Width b Y High c Y A numerical value;
s5: the top area of the placed container X is calculated, namely: s is S X =(a x *b x ) Calculate the bottom area of cargo box Y, namely: s is S Y =(a Y *b Y )；
S6: distance D X And c Y If the numerical value of (C) is D X Greater than c Y The space height of the area A in the container can be satisfied, and then the area ratio K is calculated 1 ，K 1 =（S X /S Y ）；
The values of K are then compared: if it is K 1 More than or equal to 0.5, can be stored, and then the container Y is stacked on the container X; if it is K 1 If the stacking space area is smaller and unstable, placing the container Y in the area A in the container in parallel with the container X;
s7: when the container Z is placed, the size length a of the container Z is obtained in accordance with the steps Z Width b Z High c Z Numerical value, calculate S Z ，S Z =(a Z *b Z ) Calculate K 2 ，K 2 =（S Y /S Z ) Then pass through K 2 Value judging whether the container Z can be placed on the container Y;
s8: in this way, a plurality of containers are distributed and placed in the container respectively, and after the area A is filled, the area B is filled and placed.
2. A bulk cargo code into container dispensing method in accordance with claim 1, wherein:
in step S7, there are two cases:
in case one, if in step S6, the container Y is stacked on the container X, and then the distance D between the container Y and the top inside the container is calculated Y The method comprises the steps of carrying out a first treatment on the surface of the Then, distance D Y And c Z If the numerical value of (C) is D Y Greater than c Z The space height of the area A in the container can be satisfied, and then the area ratio K is calculated 2 Then pass through K 2 Value judging whether the container Z can be placed on the container Y;
wherein if it is K 2 Less than 0.5, when the container Z cannot be placed on the container Y, the free area S on the container X can be calculated x free space ={（a x ）*（b x -b Y ) Then calculate the area ratio K again 3 =（S x free space /S Z ) Then K is taken up 3 Comparing the numerical values, and judging whether the spare area on the container X can be stored or not; if it is K 3 If the weight of the container Z is less than 0.5, the container Z cannot be stacked and stored, and the container Z is directly placed in the area A in parallel;
in the second case, if in step S6, the container Y is not stacked on the container X, but is directly placed on the ground in the area a, and when parallel to the container Y, only K is calculated 2 And K 4 If the number of the containers is smaller than 0.5, the containers Z can not be stacked and stored, and the containers Z can be directly placed in the area A in parallel;
wherein K is 4 =（S X /S Z ）。
3. A bulk cargo code into container dispensing method in accordance with claim 2, wherein: the container may be handled into the container by a handling robot or manually.
4. A bulk cargo code into container dispensing method as defined in claim 3, wherein: the area calculation of the container is not limited to the top surface or the bottom surface, and when the area calculation is performed on the container to be stacked in the step S6 and the step S7, the areas of other surfaces of the container can be calculated, and if the areas of other surfaces meet the stacking requirement, the container can be stacked and placed after being turned over.
5. A bulk cargo code into container dispensing method in accordance with claim 4 wherein: the storage location information for each container is recorded.
6. A bulk cargo code into container dispensing method in accordance with claim 5 wherein: the volume ratio of the region A to the region B is: 1:1, 1:2, 1:3 or 2:1, 3:1.
7. A bulk cargo code into container dispensing method in accordance with claim 6, wherein: the container inner dimension and the container dimension are cm.
8. A bulk cargo code into container dispensing method in accordance with claim 7 wherein:
and S9, marking each placed goods sequentially according to Arabic numerals, and generating a two-dimensional or three-dimensional placement model diagram after loading is completed.
9. A computer-readable storage medium, characterized by: on which a computer program is stored which, when being executed by a processor, implements the steps of a method for dispensing bulk cargo into containers according to any of claims 1-8.
10. A computer device, characterized by: comprising a memory and a processor, on which memory a computer program is stored which is capable of running on the processor, said processor, when executing the computer program, implementing the steps of a bulk cargo code into container allocation method according to any of claims 1-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311498336.0A CN117236524A (en) | 2023-11-13 | 2023-11-13 | Bulk cargo code container distribution method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311498336.0A CN117236524A (en) | 2023-11-13 | 2023-11-13 | Bulk cargo code container distribution method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117236524A true CN117236524A (en) | 2023-12-15 |
Family
ID=89098613
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311498336.0A Pending CN117236524A (en) | 2023-11-13 | 2023-11-13 | Bulk cargo code container distribution method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117236524A (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2008111257A (en) * | 2008-03-26 | 2009-10-10 | Игорь Вадимович Барсук (RU) | CONTAINER LOADING SYSTEM FOR PIECE LOADS |
| CN114548855A (en) * | 2022-01-12 | 2022-05-27 | 中通云仓科技有限公司 | Automatic boxing method based on reinforcement learning and dynamic search |
| CN114971019A (en) * | 2022-05-26 | 2022-08-30 | 梅卡曼德（北京）机器人科技有限公司 | Pruning-based hybrid stacking planning method and device and computing equipment |
-
2023
- 2023-11-13 CN CN202311498336.0A patent/CN117236524A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2008111257A (en) * | 2008-03-26 | 2009-10-10 | Игорь Вадимович Барсук (RU) | CONTAINER LOADING SYSTEM FOR PIECE LOADS |
| CN114548855A (en) * | 2022-01-12 | 2022-05-27 | 中通云仓科技有限公司 | Automatic boxing method based on reinforcement learning and dynamic search |
| CN114971019A (en) * | 2022-05-26 | 2022-08-30 | 梅卡曼德（北京）机器人科技有限公司 | Pruning-based hybrid stacking planning method and device and computing equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US7266422B1 (en) | Automated palletizing cases having mixed sizes and shapes | |
| CN112009923A (en) | Robotic system for palletizing packages using real-time placement simulation | |
| US9663309B2 (en) | Automated palletization method, system and software | |
| CN112009813A (en) | Robot system with packaging mechanism | |
| CN112009811A (en) | Robotic system for handling out-of-order arriving packages | |
| EA001302B1 (en) | Method for organizing the storage of different units | |
| CN110175404B (en) | Cargo loading adjustment method and device | |
| US11514386B1 (en) | System and method of displaying layout-based instructions using augmented reality | |
| CN111882270B (en) | Online boxing method, terminal and storage medium | |
| CN110077772B (en) | Pallet assembling method and application thereof | |
| WO2017061632A1 (en) | Article loading device having loading logic | |
| US20220402139A1 (en) | Workflow for using learning based approach for placing boxes on pallets | |
| CN111605938B (en) | Robotic system for palletizing packages using real-time placement simulation | |
| CN113525987A (en) | Lightweight logistics cargo sorting and transporting method and device based on Internet of things technology and electronic equipment | |
| CN112288376A (en) | Cargo loading scheme generation method, device and equipment and readable storage medium | |
| CN113632116A (en) | System and method for mapping carton position in pallet and container | |
| CN111498212B (en) | Robotic system for handling out-of-order arriving packages | |
| CN117236524A (en) | Bulk cargo code container distribution method | |
| US20230245036A1 (en) | Optimization of package weight distribution | |
| US20220405439A1 (en) | Physics engine based evaluation of pallet stability | |
| US20220033123A1 (en) | Article package filling method, article packaging method and device, and control system | |
| US20220402708A1 (en) | Collision avoidance based on vision data, geometric data and physics engine evaluation | |
| JP4359108B2 (en) | Picking material stacking instruction system | |
| CN116681151A (en) | Packing optimization method based on combined stacking and lowest horizontal line | |
| US20220044192A1 (en) | Managing automated guidance and validation of stacking items to handling units |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |