Template-based adaptive stack type generation method, system and equipment and storage medium

Abstract

The invention relates to a template-based self-adaptive stack type generation method, system and device and a storage medium, a preset stack type layout template and to-be-stacked material information are obtained, and relative position information and stack type information of each material in the stack type layout template are calculated; according to the information of the to-be-stacked materials, the relative position information and the stack type information, the to-be-stacked materials and the stack type layout template are matched, so that the to-be-stacked materials are arranged according to the stack type layout template, and a single-layer stack type is obtained; the multiple single-layer stack types are stacked according to a preset merging rule, and an overall stacking stack type is generated; and a preset material gap is obtained, arrangement of the materials in the overall stacking type is adjusted according to the preset material gap, and an actual stacking type is generated. Through template matching and automatic calculation, new stack types can be generated for materials of different sizes in a short time, repeated programming and debugging are not needed, and the time cost is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of material palletizing, and in particular to a template-based adaptive pallet type generation method, system, device and storage medium. Background Art

[0002] With the continuous development of science and technology and industry, robot-related applications are becoming increasingly mature. Palletizing robots have played a vital role in all walks of life, especially in enhancing production efficiency, greatly reducing labor costs and improving actual efficiency.

[0003] Currently, achieving highly automated production means operating automated palletizing robots requires relatively high technical skills from the operators. Every time the material size or pallet type changes, the program must be rewritten and debugged, placing high demands on the operator's technical skills. Furthermore, even for highly similar pallet types, changes in the size of the palletized material often require operators to reprogram the palletizing equipment's control program and repeatedly debug it to accommodate the new material. This not only significantly wastes the operators' time, but the repetitive programming and debugging process also prolongs production preparation time, impacting the overall efficiency of palletizing operations and management. Summary of the Invention

[0004] The embodiments of the present application provide a template-based adaptive pallet type generation method, system, device and storage medium to at least solve the problem in the related art that when the size of the palletized material changes, repeated programming and debugging are required, resulting in a long palletizing production preparation time.

[0005] In a first aspect, an embodiment of the present application provides a template-based adaptive stacking type generation method, comprising:

[0006] Obtaining a preset pallet layout template and information about materials to be palletized, and calculating relative position information and pallet shape information of each material in the pallet layout template; wherein the pallet layout template is generated according to the shape of the materials to be palletized;

[0007] Matching the materials to be palletized with the pallet layout template according to the information of the materials to be palletized, the relative position information, and the pallet type information, so that the materials to be palletized are arranged according to the pallet layout template to obtain a single-layer pallet type;

[0008] Stack multiple single-layer pallets according to the preset merging rules to generate an overall palletizing pallet;

[0009] A preset material gap is obtained, and the arrangement of the materials in the overall palletizing pattern is adjusted according to the preset material gap to generate an actual palletizing pattern.

[0010] In one embodiment, calculating the relative position information and stack type information of each material in the stack type layout template includes:

[0011] Traversing and analyzing the stack layout template according to a preset reference position to obtain the template's stack information, the stack information including template material size, template material direction, and template pallet size;

[0012] The relative position information of the material in the stacking layout template is calculated according to the template material size, the template pallet size and the preset reference position, wherein the preset reference position is the center or corner of the pallet.

[0013] In one embodiment, the stacking information includes the template material size, template pallet size and template material direction in the stacking layout template, and the information of the material to be palletized includes the size of the material to be palletized and the size of the pallet to be palletized;

[0014] The matching process of the material to be palletized with the pallet type layout template according to the information of the material to be palletized, the relative position information and the pallet type information includes:

[0015] According to the size of the material to be palletized, the size of the pallet to be palletized and the direction of the template material, the size of the template material and the size of the template pallet in the pallet layout template are adjusted to obtain an initial single-layer pallet;

[0016] Traversing the materials in the initial single-layer stack in a preset order, determining a moving direction according to the relative position information, and translating the materials to be stacked according to the moving direction;

[0017] During the translation process, the overlapping area between the materials in the initial single-layer stack is calculated, and when the overlapping area is greater than or equal to zero, the translation operation is stopped.

[0018] In one embodiment, the merging rules include:

[0019] If the stacking arrangement of multiple single-layer stacks is the same, the single-layer stacks with an even number of layers are rotated according to the preset rotation angle;

[0020] If the stacking arrangements of multiple single-layer stacks are different, calculate the first contact area between the material and the pallet in the single-layer stack, and sort the values ​​of the first contact area in order from large to small, and stack the corresponding single-layer stacks in sequence according to the sorting results.

[0021] In one embodiment, during the process of stacking a plurality of single-layer stacks according to a preset merging rule, the method further comprises:

[0022] The second contact area between two single-layer stacks is calculated, and if the second contact area is less than a preset threshold, a collapse risk warning information is output.

[0023] In an embodiment, the method further comprises:

[0024] An actual pallet size and a preset pallet edge gap are acquired, and the actual palletizing stack is adjusted according to the actual pallet size and the preset pallet edge gap, so that the distance between the material and the pallet edge is not less than the preset pallet edge gap.

[0025] In an embodiment, the generation process of the stack layout template comprises:

[0026] According to the shape of the material to be palletized, a stack layout template is generated by a visual drawing software, and the stack layout template comprises position information, size information and palletizing direction of each palletized material.

[0027] In a second aspect, the embodiments of the present application provide a template-based adaptive stack generation system, which realizes the template-based adaptive stack generation method of any one of the above embodiments when running, and comprises:

[0028] A template generation module acquires a preset stack layout template and material information to be palletized, and calculates relative position information and stack information of each material in the stack layout template; wherein the stack layout template is generated according to the shape of the material to be palletized;

[0029] A stack generation module matches the material to be palletized with the stack layout template according to the material information to be palletized, the relative position information and the stack information, so that the material to be palletized is arranged according to the stack layout template, and a single-layer stack is obtained.

[0030] A stack merging module stacks a plurality of single-layer stacks according to a preset merging rule to generate an overall palletizing stack.

[0031] A stack optimization module acquires a preset material gap, adjusts the arrangement of the material in the overall palletizing stack according to the preset material gap, and generates an actual palletizing stack.

[0032] In a third aspect, the embodiments of the present application provide a computer device, which comprises a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor realizes the template-based adaptive stack generation method of the first aspect when executing the computer program.

[0033] In a fourth aspect, the embodiments of the present application provide a computer readable storage medium, which stores a computer program. The computer program is executed by a processor to implement the template-based adaptive stacking type generation method according to the first aspect.

[0034] The template-based adaptive stacking type generation method, system, device and storage medium provided by the embodiments of the present application have at least the following technical effects:

[0035] The present application can generate new stacking types for materials of different sizes in a short time through template matching and automatic calculation, without the need to reprogram or debug, thereby reducing the time cost. Through template design, adaptive algorithm and intelligent optimization, efficient, flexible and stable stacking type generation is achieved, and the problem of repeated programming and debugging when the size of the stacked material changes in the traditional stacking technology, resulting in long preparation time for stacking production, is solved.

[0036] The details of one or more embodiments of the present application are presented in the following drawings and description to make other features, objects and advantages of the present application more clear and easy to understand. BRIEF DESCRIPTION OF DRAWINGS

[0037] The drawings described herein are intended to provide further understanding of the present application, and form a part of the present application. The illustrative embodiments of the present application and their description serve to explain the present application, and do not constitute an improper limitation on the present application. In the drawings:

[0038] Figure 1 is a flowchart of the template-based adaptive stacking type generation method according to an embodiment of the present application;

[0039] Figure 2 is a schematic diagram of a stacking type layout template according to an embodiment of the present application;

[0040] Figure 3 is a schematic diagram of an actual stacking type according to an embodiment of the present application;

[0041] Figure 4 is a structural block diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solutions and advantages of the present application more clear and easy to understand, the present application is described and explained below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, and do not limit the present application. Based on the embodiments provided by the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of the present application.

[0043] It is apparent that the drawings in the following description merely show some examples or embodiments of the present application, and for those skilled in the art, the present application can be applied to other similar situations without creative efforts based on these drawings. In addition, it can be understood that although the efforts made in this development process can be complex and lengthy, some design, manufacture or production changes based on the technical content disclosed in the present application are only routine technical means for those skilled in the art related to the content disclosed in the present application, and should not be understood as insufficient disclosure of the content disclosed in the present application.

[0044] In the present application, the phrase "embodiments" means that the specific features, structures or characteristics described in connection with the embodiments can be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it independent or alternative to other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described in the present application can be combined with other embodiments without conflict.

[0045] Unless otherwise defined, the technical terms or scientific terms involved in the present application should be understood as the usual meaning understood by those skilled in the art in the technical field to which the present application belongs. The terms "one", "a", "an", "the" and the like similar words involved in the present application do not represent quantity limitation, but can represent singular or plural. The terms "include", "contain", "have" and any variations thereof involved in the present application are intended to cover non-exclusive inclusion; for example, a process, method, system, product or device including a series of steps or modules (units) is not limited to the listed steps or units, but can also include steps or units not listed, or can also include other steps or units inherent to the process, method, product or device. The terms "connected", "connected", "coupled" and the like similar words involved in the present application are not limited to physical or mechanical connection, but can include electrical connection, whether direct or indirect. The term "multiple" in the present application means two or more. The association between the associated objects is described by the term "and / or", which means that there can be three relationships, for example, "A and / or B" can mean that A exists alone, A and B exist together, and B exists alone. The character " / " generally represents an "or" relationship between the associated objects. The terms "first", "second", "third" and the like involved in the present application are merely to distinguish similar objects, and do not represent a specific order for the objects.

[0046] In the first aspect, the embodiments of the present application provide a template-based adaptive pile type generation method, and the specific implementation process is referred to Figure 1 , Figure 1is a flowchart of the adaptive stack type generation method of the embodiment, which is mainly realized through the following steps.

[0047] In step S1, a preset stack layout template, information of materials to be stacked, and relative position information and stack type information of each material in the stack layout template are obtained. The stack layout template is generated according to the shape of the materials to be stacked. Specifically, the shape of the materials to be stacked is taken as a basis, such as a rectangle, a square, a circle, etc. A rectangle can also be subdivided according to its length-width ratio. Then, a stack layout template is generated by a visual drawing software. The stack layout template contains position information, size information and stacking direction of each material to be stacked.

[0048] Specifically, the stack layout template is analyzed according to a preset reference position to obtain stack type information of the template, which includes template material size, template material direction and template pallet size. The relative position information of the materials in the stack layout template is calculated according to the template material size, the template pallet size and the preset reference position. Generally, the center or a corner of the pallet is taken as the preset reference position. Then, a coordinate system is established based on the preset reference position. The size of the materials and the pallet in the template is calculated according to the coordinate system.

[0049] More specifically, in order to quickly and easily draw the required stack type, a visual layout dragging software can be used to efficiently generate a template stack type by dragging a model. The template stack type carries the position information of each material to be stacked, and the preset length-width-height size and the stacking material direction angle. Then, the relative position information between the materials to be stacked is automatically obtained, as shown in the accompanying drawings. Figure 2 The position information of the embodiment can be automatically calculated by the layout dragging software without manual calculation. In addition, preset means that the size and angle are set in advance. Since there can be N sizes of actual materials, the actual stack type is equivalent to replacing the preset size with the actual size in the actual production process. In the embodiment, the calculation process of the relative position information is based on the pallet center. The visual layout dragging software automatically calculates the position of the center of the material to be stacked, which is equivalent to the center of the pallet.

[0050] In step S2, the materials to be stacked are matched with the stack layout template according to the information of the materials to be stacked, the relative position information and the stack type information, so that the materials to be stacked are arranged according to the stack layout template to obtain a single-layer stack type.

[0051] Specifically, in the embodiment, the pile type information includes template material size, template pallet size and template material direction in the pile type layout template, and the to-be-piled material information includes to-be-piled material size and to-be-piled pallet size. In the matching process, the template material size and the template pallet size in the pile type layout template are adjusted in size according to the to-be-piled material size, the to-be-piled pallet size and the template material direction, to obtain an initial single-layer pile type; the materials in the initial single-layer pile type are traversed in a preset order, a moving direction is determined according to the relative position information, and the to-be-piled materials are translated according to the moving direction; in the process of translation, an overlapping area between each material in the initial single-layer pile type is calculated, and the translation operation is stopped when the overlapping area is greater than or equal to zero.

[0052] In a preferred embodiment, the pallet length, width and height size and the piled material length, width and height size data inputted from outside are matched into the template pile type, so that the template is adaptively adjusted according to the inputted size. Then, each piled material is traversed in order from top to bottom and from left to right according to the template pile type, the absolute positions of the piled materials adjacent to the four sides are calculated according to the relative position information obtained in the first step based on the position of the piled material being traversed, each traversed or adjusted piled material is marked, the marked piled material is not adjusted in absolute position, and the pile type arrangement of the single-layer pile type can be obtained through the above steps.

[0053] Specifically, in the process of matching the template pile type, the pallet size in the template is directly modified according to the inputted size data, that is, the length and the width are directly modified; similarly, the material size is controlled to keep the center point position unchanged, and then the values of the material corresponding edges are modified according to the actual input data, so that the matching of the template pile type is completed. In the process of calculating the absolute positions of the piled materials adjacent to the four sides, since the template may have an overlapping condition after matching, the pallet center is taken as a basic point, if the actual piled size is greater than the preset size, the piled material center point moves outward, that is, translates along the direction from the pallet center point to the piled material center point; otherwise, moves inward. For example, the specific moving mode is as follows:

[0054] X-axis moving value = (actual material length on the X-axis minus preset material length on the X-axis) ÷ 2

[0055] Y-axis moving value = (actual material length on the Y-axis minus preset material length on the Y-axis) ÷ 2.

[0056] If the actual stack type required by the user has multiple layers of materials, the stack arrangement of the remaining layers can be obtained in two ways: if the stack arrangement of each layer is the same except for the different orientation angles, the entire single-layer stack type described above can be rotated by setting the rotation angle to obtain the required stack arrangement of the remaining layers; if the stack arrangement of the remaining layers is not the same, steps S1 and S2 can be repeated to generate single-layer stacks with different material sizes or different arrangement conditions.

[0057] In step S3, the plurality of single-layer stacks are stacked according to the preset merging rule to generate an overall palletizing stack type.

[0058] In this embodiment, the merging rule includes: if the stack arrangement of the plurality of single-layer stacks is the same, the even-numbered single-layer stacks are rotated according to the preset rotation angle, and the first contact area of the material and the pallet in the single-layer stack is calculated. Figure 3 If the stack arrangement of the plurality of single-layer stacks is different, the first contact area of the material and the pallet in the single-layer stack is calculated, and the values of the first contact area are sorted in descending order, and the corresponding single-layer stacks are stacked in sequence according to the sorting result.

[0059] In another embodiment, the palletizing stack type can be determined in advance to have N layers, and the stack type of each layer is also preset. For example, in the case where the layout of each layer is different, a stack layout is drawn for each layer, where the first layer uses A layout, the second layer uses B layout, and so on. The merging is directly and simply stacked.

[0060] In a preferred embodiment, in the process of stacking the plurality of single-layer stacks according to the preset merging rule, the second contact area between the two single-layer stacks also needs to be calculated. If the second contact area is less than a preset threshold, a collapse risk warning information is output. If there is a collapse risk, the stack type of the upper layer is rotated around the center of the pallet according to a preset rotation angle, and the second contact area between the two layers is recalculated until the second contact area is not less than the preset threshold. If the preset angle has a collapse risk, the stack type of the upper layer can be replaced, or the material can no longer be stacked upward.

[0061] In step S4, a preset material gap is obtained, and the arrangement of the material in the overall palletizing stack type is adjusted according to the preset material gap to generate an actual palletizing stack type. In this embodiment, the spacing between the palletizing materials is adjusted according to the space size of the pallet to optimize the overall arrangement and finally obtain the overall stack type of the actual palletizing material. Alternatively, the space size of the single-layer stack type can be optimized and adjusted first, and then merged. The specific sequence can be determined according to the actual situation.

[0062] Preferably, the position of the entire stack type pre-pallet can also be optimized, specifically, the actual pallet size and the preset pallet edge gap are obtained, and the actual stack type is adjusted according to the actual pallet size and the preset pallet edge gap, so that the distance between the material and the pallet edge is not less than the preset pallet edge gap.

[0063] Further, if the overall stack type of the next batch of materials remains unchanged, only the size of the stacked materials changes, after directly modifying the length, width and height data of the stacked materials, step S2 is executed, and the overall stack type is adaptively calculated again.

[0064] The template-based adaptive stack type generation method of the present application has the following advantages:

[0065] 1. Improving planning efficiency, shortening planning time, reducing workload, quickly calculating the stacking scheme, improving overall stacking efficiency, and enabling the stacking robot to be put into production faster;

[0066] 2. Reducing implementation difficulty, without complex programming and repeated debugging, and by visualizing the layout software and simple data input, the required stack type is adaptively generated, the technical requirements for the operator are low, and the implementation threshold is reduced;

[0067] 3. Improving space utilization and stability, optimizing stack type arrangement, reasonably planning the position of the stacked materials, reducing gaps, and improving pallet space utilization; at the same time, the spacing of the stacked materials is optimized to ensure the stability of the stack type, reduce the risk of collapse, and ensure the stacking quality and efficiency;

[0068] 4. Enhancing the flexibility of stack type planning, based on the stack type template, adaptively adjusting the stack type according to the change of the material size, meeting different production needs, without the need for re-design and debugging, and quickly adapting to production changes;

[0069] 5. Ensuring the safety of stacking, by calculating the contact area of the upper and lower layers, and issuing an alarm for the stack type with a too small contact area, prompting the operator to adjust in time, avoiding the collapse of the stack type, and ensuring production safety.

[0070] In a second aspect, the embodiments of the present application provide a template-based adaptive stack type generation system, which realizes the template-based adaptive stack type generation method of any one of the above embodiments when running.

[0071] Specifically, the system of the present embodiment comprises:

[0072] A template generation module obtains a preset stack type layout template, information of materials to be stacked, and calculates relative position information and stack type information of each material in the stack type layout template; wherein the stack type layout template is generated according to the shape of the materials to be stacked;

[0073] The pile type generation module matches the material to be stacked with the pile type layout template according to the material information to be stacked, the relative position information and the pile type information, so that the material to be stacked is arranged according to the pile type layout template, and a single-layer pile type is obtained.

[0074] The pile type merging module stacks a plurality of single-layer pile types according to a preset merging rule, and generates an overall stacking pile type.

[0075] The pile type optimization module obtains a preset material gap, adjusts the arrangement of the material in the overall stacking pile type according to the preset material gap, and generates an actual stacking pile type.

[0076] It should be noted that the template-based adaptive pile type generation system device provided in the embodiment is used to implement the above method embodiments, and the description has been made and will not be repeated. As used above, the terms "module", "unit", "sub-unit" and the like can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the above embodiment is preferably implemented in software, hardware or a combination of software and hardware can also be implemented and conceived.

[0077] In a third aspect, the embodiments of the present application provide an electronic device. As shown in FIG. 4, the electronic device can include a processor 11 and a memory 12 storing computer program instructions.

[0078] Specifically, the processor 11 described above can include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or can be configured as one or more integrated circuits that implement the embodiments of the present application.

[0079] Among them, the memory 12 may include a large-capacity memory for data or instructions. By way of example and not limitation, the memory 12 may include a hard disk drive (HDD), a floppy disk drive, a solid-state drive (SSD), a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive, or a combination of two or more of these. Where appropriate, the memory 12 may include a removable or non-removable (or fixed) medium. Where appropriate, the memory 12 may be inside or outside the data processing device. In a specific embodiment, the memory 12 is a non-volatile memory. In a specific embodiment, the memory 12 includes a read-only memory (ROM) and a random access memory (RAM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically alterable ROM (EAROM) or a flash memory (FLASH), or a combination of two or more of these. Under appropriate circumstances, the RAM can be a static random access memory (SRAM) or a dynamic random access memory (DRAM), where the DRAM can be a fast page mode dynamic random access memory (FPMDRAM), an extended data output dynamic random access memory (EDODRAM), a synchronous dynamic random access memory (SDRAM), etc.

[0080] The memory 12 can be used to store or buffer various data files required for processing and / or communication, and possible computer program instructions executed by the processor 11.

[0081] The processor 11 reads and executes the computer program instructions stored in the memory 12 to implement any of the template-based adaptive pile type generation methods in the above embodiments.

[0082] In an embodiment, the electronic device can further include a communication interface 13 and a bus 10. As shown in FIG. 4, the processor 11, the memory 12, and the communication interface 13 are connected through the bus 10 and complete communication with each other.

[0083] The communication interface 13 is used to realize the communication between various modules, devices, units and / or equipment in the embodiments of the present application. The communication interface 13 can also realize data communication with other components, such as external devices, image / data acquisition devices, databases, external storage, image / data processing workstations, etc.

[0084] Bus 10 includes hardware, software, or both, to couple components of the electronic device to each other and / or to other devices. The bus 10 includes, for example, but not limited to, at least one of a data bus, an address bus, a control bus, an expansion bus, a local bus, and the like. By way of example, and not limitation, bus 10 can include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an InfiniBand (IB) interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, and the like. Bus 10 can include one or more buses according to appropriate standards, where appropriate. Although the example embodiments described and illustrated herein relate to a particular bus, the example embodiments contemplate any appropriate bus or interconnect.

[0085] In a fourth aspect, the example embodiments provide a computer readable storage medium, having stored thereon a program, wherein the program is executed by a processor to implement the template-based adaptive pile type generation method according to the first aspect.

[0086] In some example embodiments, the computer readable storage medium can include, but is not limited to, portable discs, hard disks, random access memories, read-only memories, erasable programmable read-only memories, optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0087] In possible implementation manners, the present application can also be implemented in the form of a program product, which comprises program codes for causing terminal equipment to perform steps of implementing the template-based adaptive pile type generation method provided by the first aspect when the program product is run on the terminal equipment.

[0088] The program code for executing the present application can be written in any combination of one or more programming languages, and can be executed entirely on the user equipment, partly on the user equipment, as a stand-alone software package, partly on the user equipment and partly on a remote device, or entirely on a remote device.

[0089] The technical features of the above-described embodiments can be combined in any manner. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described, but it should be understood that any combination of the technical features is within the scope of the present disclosure as long as there is no contradiction.

[0090] The above-described embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the patent scope of the present application. It should be pointed out that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present application, and these are all within the protection scope of the present application. Therefore, the patent protection scope of the present application should be subject to the appended claims.

Claims

1. A template-based adaptive stacking type generation method, characterized in that: include: Obtaining a preset pallet layout template and information about materials to be palletized, and calculating relative position information and pallet shape information of each material in the pallet layout template; wherein the pallet layout template is generated based on the shape of the materials to be palletized; Matching the materials to be palletized with the pallet layout template according to the information of the materials to be palletized, the relative position information, and the pallet type information, so that the materials to be palletized are arranged according to the pallet layout template to obtain a single-layer pallet type; Stack multiple single-layer pallets according to the preset merging rules to generate an overall palletizing pallet; A preset material gap is obtained, and the arrangement of the materials in the overall palletizing pattern is adjusted according to the preset material gap to generate an actual palletizing pattern.

2. The method according to claim 1, characterized in that The calculating of the relative position information and the stack type information of each material in the stack type layout template includes: Traversing and analyzing the stack layout template according to a preset reference position to obtain the template's stack information, the stack information including template material size, template material direction, and template pallet size; The relative position information of the material in the stacking layout template is calculated according to the template material size, the template pallet size and the preset reference position, wherein the preset reference position is the center or corner of the pallet.

3. The method according to claim 1, characterized in that The stacking information includes the template material size, template pallet size and template material direction in the stacking layout template, and the information of the material to be stacked includes the size of the material to be stacked and the size of the pallet to be stacked; The matching process of the material to be palletized with the pallet type layout template according to the information of the material to be palletized, the relative position information and the pallet type information includes: According to the size of the material to be palletized, the size of the pallet to be palletized and the direction of the template material, the size of the template material and the size of the template pallet in the pallet layout template are adjusted to obtain an initial single-layer pallet; Traversing the materials in the initial single-layer stack in a preset order, determining a moving direction according to the relative position information, and translating the materials to be stacked according to the moving direction; During the translation process, the overlapping area between the materials in the initial single-layer stack is calculated, and when the overlapping area is greater than or equal to zero, the translation operation is stopped.

4. The method according to claim 1, wherein The merging rules include: If the stacking arrangement of multiple single-layer stacks is the same, the single-layer stacks with an even number of layers are rotated according to the preset rotation angle; If the stacking arrangements of multiple single-layer stacks are different, calculate the first contact area between the material and the pallet in the single-layer stack, and sort the values ​​of the first contact area in order from large to small, and stack the corresponding single-layer stacks in sequence according to the sorting results.

5. The method according to claim 4, characterized in that In the process of stacking multiple single-layer stacks according to a preset merging rule, the method further includes: The second contact area between the two single-layer stacks is calculated, and if the second contact area is smaller than a preset threshold, a collapse risk warning message is output.

6. The method according to claim 1, characterized in that The method further comprises: The actual pallet size and the preset pallet edge gap are obtained, and the actual palletizing type is optimized and adjusted according to the actual pallet size and the preset pallet edge gap so that the distance between the material and the pallet edge is not less than the preset pallet edge gap.

7. The method according to claim 1, characterized in that The generation process of the stack layout template includes: Based on the shape of the materials to be palletized, a pallet layout template is generated by visual drawing software. The pallet layout template contains the position information, size information and palletizing direction of each palletized material.

8. A template-based adaptive stacking generation system, characterized in that: When the system is running, the template-based adaptive stacking type generation method according to any one of claims 1 to 7 is implemented, and the system includes: A template generation module obtains a preset pallet layout template and information about materials to be palletized, and calculates the relative position information and pallet shape information of each material in the pallet layout template; wherein the pallet layout template is generated based on the shape of the materials to be palletized; a pallet type generating module, which matches the material to be palletized with the pallet type layout template according to the information of the material to be palletized, the relative position information and the pallet type information, so that the material to be palletized is arranged according to the pallet type layout template to obtain a single-layer pallet type; The pallet merging module stacks multiple single-layer pallets according to preset merging rules to generate an overall palletizing pattern; The palletizing optimization module obtains the preset material gaps, adjusts the arrangement of the materials in the overall palletizing pattern according to the preset material gaps, and generates an actual palletizing pattern.

9. An electronic device, characterized in that: The invention comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the template-based adaptive stacking type generation method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the template-based adaptive stacking type generation method according to any one of claims 1 to 7 is implemented.

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