Title:
TRAY SPACE PLANNING METHOD, PALLETIZING METHOD AND APPARATUSES THEREOF, AND ELECTRONIC DEVICE
Document Type and Number:
WIPO Patent Application WO/2021/243924
Kind Code:
A1
Abstract:
A tray space planning method, a palletizing method and apparatuses thereof. According to the space planning method and apparatus, iterative segmentation is carried out on a model image of a tray space in multiple cycles, a cycle process having the largest number of segmentation results is determined as an optimal plan, and the utilization rate of the tray space is improved in a situation that the size of a filling material for filling the tray does not match the size of the tray by integral multiples. A palletizing method and apparatus based on the related space planning method, on the basis that the utilization rate of the tray is improved, comprises: determining an approaching area of palletizing according to an optimal planning result; and after the filling material enters the approaching area, determining an approaching path according to a segmented area where the filling material enters and the approaching area. On the basis that palletizing is carried out at the highest space utilization rate, it is guaranteed that the filling materials approach each other in the shortest path, and collision between the current filling material and other filling materials is avoided, so that the safety of filling materials in a filling material palletizing process and the safety of a robot palletizing operation process are guaranteed, and the degree of intelligence of robot industrial operations is improved.
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Inventors:
ZHU XINV (CN)
ZHANG ZHIWEI (CN)
DING YOUSHUANG (CN)
SHAO TIANLAN (CN)
LI XI (CN)
DUAN WENJIE (CN)
ZHANG JING (CN)
WANG ZHENG (CN)
ZHANG ZHIMING (CN)
ZHANG ZHIWEI (CN)
DING YOUSHUANG (CN)
SHAO TIANLAN (CN)
LI XI (CN)
DUAN WENJIE (CN)
ZHANG JING (CN)
WANG ZHENG (CN)
ZHANG ZHIMING (CN)
Application Number:
PCT/CN2020/122216
Publication Date:
December 09, 2021
Filing Date:
October 20, 2020
Export Citation:
Assignee:
MECH MIND ROBOTICS TECH LTD (CN)
International Classes:
B65G57/16
Domestic Patent References:
| WO2014205475A1 | 2014-12-31 |
Foreign References:
| CN107479581A | 2017-12-15 | |||
| CN110732601A | 2020-01-31 | |||
| CN110422521A | 2019-11-08 | |||
| CN108401424A | 2018-08-14 | |||
| CN109940590A | 2019-06-28 |
Attorney, Agent or Firm:
TSINGYIHUA INTELLECTUAL PROPERTY LLC (CN)
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