Stacking method, device, control equipment and storage medium

Abstract

The present disclosure discloses a stacking method, device, control equipment and storage medium, the method comprising: obtaining the current steel plate stacking type information of the pallet, the first steel plate specification of the current steel plate to be stacked and the stacking result of the previous steel plate; the current steel plate stacking type information is generated before stacking the previous steel plate according to the previous steel plate stacking type information and the second steel plate specification of the previous steel plate; generating a stacking plan according to the current steel plate stacking type information, the first steel plate specification and the stacking result; controlling the actuator to implement the stacking action according to the stacking plan. The stacking method of the present disclosure can generate a corresponding stacking plan according to different stacking results of the previous steel plate, and the stacking position of the current steel plate can be determined regardless of whether the previous steel plate is placed in the planning area, and the stacking position of the current steel plate will not be invalid, thereby improving the stacking efficiency.

Description

Technical Field

[0001] The present disclosure relates to the field of intelligent machine technology, and in particular to a stacking method, device, control equipment and storage medium. Background Art

[0002] With the continuous development of automation technology, steel plate sorting and palletizing are currently mainly carried out in an automated manner. The staff manually sets the pallet type through the control equipment, pre-divides the pallet into stacking positions, and then controls the actuator to stack the steel plates in the planned area of ​​the pallet.

[0003] However, due to errors in cutting, the actual specifications of the steel plate may be different from those calculated by the algorithm, which may result in the steel plate being unable to be placed in the planned area. If the current steel plate cannot be placed in the planned area, the placement of the next steel plate will be invalid, resulting in errors in the stacking process and reduced stacking efficiency.

[0004] Therefore, the current steel plate stacking method will cause errors in the stacking process and the stacking efficiency is low. Summary of the invention

[0005] The stacking method, device, control equipment and storage medium provided by the present disclosure are used to solve the problem that the current steel plate stacking method may cause errors in the stacking process, resulting in low stacking efficiency.

[0006] In a first aspect, the present disclosure provides a stacking method, comprising:

[0007] Obtaining the current steel plate stacking type information of the pallet, the first steel plate specification of the current steel plate to be stacked, and the stacking result of the previous steel plate; the current steel plate stacking type information is generated before stacking the previous steel plate according to the previous steel plate stacking type information and the second steel plate specification of the previous steel plate;

[0008] Generate a stacking plan according to the current steel plate stacking type information, the first steel plate specification and the stacking result;

[0009] The execution mechanism is controlled to implement the stacking action according to the stacking plan.

[0010] In a possible implementation, generating a stacking plan according to the current steel plate stacking type information, the first steel plate specification and the stacking result includes:

[0011] If the stacking result is that the previous steel plate is successfully stacked, a stacking plan is generated according to the current steel plate stack type information and the first steel plate specification;

[0012] If the stacking result is that the stacking of the previous steel plate fails, determining the stacking type information of the previous steel plate according to the current steel plate stacking type information;

[0013] A stacking plan is generated according to the previous steel plate stack type information and the first steel plate specification.

[0014] In a possible implementation, the previous steel plate stacking type information includes the third steel plate specification of the stacked steel plates;

[0015] The generating a stacking plan according to the previous steel plate stacking type information and the first steel plate specification includes:

[0016] Determine whether there is a stacked reference steel plate; the stacked reference steel plate is a stacked steel plate with no stacked steel plate on the upper surface, and the specification of the third steel plate corresponding to the stacked steel plate is the same as the specification of the first steel plate;

[0017] If it is determined that there is a stacked reference steel plate, determining the upper surface area of ​​the stacked reference steel plate;

[0018] Determine the upper surface area as the stacking position of the current steel plate;

[0019] A corresponding stacking plan is generated according to the stacking positions.

[0020] In a possible implementation, if it is determined that there is no stacked reference steel plate, the method further includes:

[0021] Determine the initial plane in the pallet according to the last steel plate stacking information; the initial plane is used to stack the steel plates; the initial plane includes: the unstacked area on the upper surface of the stacked steel plates and the unstacked area on the upper surface of the pallet;

[0022] A stacking plan is generated according to the initial plane and the first steel plate specification.

[0023] In a possible implementation, there are multiple initial planes;

[0024] The generating of the stacking plan according to the initial plane and the first steel plate specification includes:

[0025] Determine a target plane on which the current steel plate can be stacked from each of the initial planes;

[0026] Determining a corresponding target stacking position from the target plane according to the first steel plate specification;

[0027] A corresponding stacking plan is generated according to the target stacking position.

[0028] In a possible implementation, determining the corresponding target stacking position from the target plane according to the first steel plate specification includes:

[0029] generating at least one preliminary stacking position from the target plane according to the first steel plate specification;

[0030] In the case where the number of the preliminary stacking positions is more than one,

[0031] The target stacking positions are screened according to the position information of each of the initially selected stacking positions.

[0032] In a possible implementation, the target plane is a polygonal plane;

[0033] The step of screening the target stacking position according to the position information of each of the preliminary stacking positions includes:

[0034] Determine the screening conditions corresponding to the preliminary stacking positions; the screening conditions include: a first distance between each of the preliminary stacking positions and each corner in the target plane, a second distance between each of the preliminary stacking positions and a boundary in the target plane, and a non-overlapping length between a boundary of each of the preliminary stacking positions and a boundary of the target plane;

[0035] The preliminary stacking positions are screened according to the screening conditions to determine the target stacking position.

[0036] In a possible implementation, screening the preliminary selected stacking positions according to the screening condition to determine the target stacking position includes:

[0037] Determine a first shortest distance among the first distances corresponding to the preliminary stacking positions;

[0038] Determine the second shortest distance among the second distances corresponding to the preliminary stacking positions;

[0039] Performing weighted processing on the first shortest distance, the second shortest distance and the non-overlapping length corresponding to each of the preliminary stacking positions to generate a corresponding stacking score;

[0040] The preliminary stacking position corresponding to the highest stacking score is selected as the target stacking position.

[0041] In a possible implementation, the target plane is a polygonal plane;

[0042] The step of screening the target stacking position according to the position information of each of the preliminary stacking positions includes:

[0043] Determine a first distance between each of the preliminary stacking positions and each corner in the target plane;

[0044] Determine a first shortest distance among the first distances corresponding to the preliminary stacking positions;

[0045] Determine the number of reselected stacking positions; the reselected stacking positions are the initial stacking positions corresponding to the minimum values ​​of the first shortest distances;

[0046] If the number of the reselected stacking positions is greater than one, screening each of the reselected stacking positions to determine a corresponding target stacking position;

[0047] If the number of the reselected stacking positions is equal to one, the reselected stacking positions are determined as target stacking positions.

[0048] In a possible implementation, screening the reselected stacking positions to determine the corresponding target stacking positions includes:

[0049] Determine a second distance between each of the reselected stacking positions and a boundary in the target plane;

[0050] Determine a second shortest distance among the second distances corresponding to the reselected stacking positions;

[0051] Determine the number of three selected stacking positions; the three selected stacking positions are the re-selected stacking positions corresponding to the minimum values ​​of the second shortest distances;

[0052] If the number of the three selected stacking positions is greater than one, screening each of the three selected stacking positions to determine a corresponding target stacking position;

[0053] If the number of the three selected stacking positions is equal to one, the three selected stacking positions are determined as target stacking positions.

[0054] In a possible implementation, screening each of the three selected stacking positions to determine a corresponding target stacking position includes:

[0055] Determining the non-overlapping length between the boundary of each of the three selected stacking positions and the boundary of the target plane;

[0056] The three selected stacking positions corresponding to the shortest non-overlapping length are determined as the target stacking positions.

[0057] In a second aspect, the present disclosure provides a stacking device, comprising:

[0058] An acquisition module is used to acquire the current steel plate stacking type information of the pallet, the first steel plate specification of the current steel plate to be stacked, and the stacking result of the previous steel plate; the current steel plate stacking type information is generated before the previous steel plate is stacked according to the previous steel plate stacking type information and the second steel plate specification of the previous steel plate;

[0059] A generating module, configured to generate a stacking plan according to the current steel plate stacking type information, the first steel plate specification and the stacking result;

[0060] The control module is used to control the execution mechanism to implement the stacking action according to the stacking plan.

[0061] In a possible implementation, the generating module is specifically used for:

[0062] If the stacking result is that the previous steel plate stacking is successful, a stacking plan is generated based on the current steel plate stacking type information and the first steel plate specification; if the stacking result is that the previous steel plate stacking fails, the previous steel plate stacking type information is determined based on the current steel plate stacking type information; a stacking plan is generated based on the previous steel plate stacking type information and the first steel plate specification.

[0063] In a possible implementation, the previous steel plate stacking type information includes the third steel plate specification of the stacked steel plates;

[0064] When the generating module generates a stacking plan according to the previous steel plate stacking type information and the first steel plate specification, it is specifically used to:

[0065] Determine whether there is a stacked reference steel plate; the stacked reference steel plate is a stacked steel plate with no stacked steel plates on the upper surface, and the third steel plate specification corresponding to the stacked steel plate is the same as the first steel plate specification; if it is determined that there is a stacked reference steel plate, determine the upper surface area of ​​the stacked reference steel plate; determine the upper surface area as the stacking position of the current steel plate; and generate a corresponding stacking plan according to the stacking position.

[0066] In a possible implementation, if it is determined that there is no stacking reference steel plate, the generating module is further used to:

[0067] An initial plane in the pallet is determined according to the previous steel plate stacking information; the initial plane is used for stacking steel plates; the initial plane includes: unstacked areas on the upper surface of the stacked steel plates and unstacked areas on the upper surface of the pallet; a stacking plan is generated according to the initial plane and the first steel plate specification.

[0068] In a possible implementation, there are multiple initial planes;

[0069] When the generating module generates the stacking plan according to the initial plane and the first steel plate specification, it is specifically used to:

[0070] Determine a target plane on which the current steel plate can be stacked from each of the initial planes; determine a corresponding target stacking position from the target plane according to the first steel plate specification; and generate a corresponding stacking plan according to the target stacking position.

[0071] In a possible implementation, when the generating module determines the corresponding target stacking position from the target plane according to the first steel plate specification, it is specifically used to:

[0072] At least one preliminary stacking position is generated from the target plane according to the first steel plate specification; when the number of the preliminary stacking positions is more than one, the target stacking position is screened according to the position information of each of the preliminary stacking positions.

[0073] In a possible implementation, the target plane is a polygonal plane;

[0074] When the generating module selects the target stacking position according to the position information of each of the preliminary stacking positions, it is specifically used to:

[0075] Determine the screening conditions corresponding to the preliminary stacking positions; the screening conditions include: a first distance between each of the preliminary stacking positions and each corner in the target plane, a second distance between each of the preliminary stacking positions and a boundary in the target plane, and a non-overlapping length between a boundary of each of the preliminary stacking positions and a boundary of the target plane; screen each of the preliminary stacking positions according to the screening conditions to determine the target stacking position.

[0076] In a possible implementation, when the generating module screens the preliminary selected stacking positions according to the screening condition to determine the target stacking position, it is specifically configured to:

[0077] Determine the first shortest distance among the first distances corresponding to each of the preliminary stacking positions; determine the second shortest distance among the second distances corresponding to each of the preliminary stacking positions; perform weighted processing on the first shortest distance, the second shortest distance and the non-overlapping length corresponding to each of the preliminary stacking positions to generate a corresponding stacking score; and select the preliminary stacking position corresponding to the highest stacking score as the target stacking position.

[0078] In a possible implementation, the target plane is a polygonal plane;

[0079] When the generating module selects the target stacking position according to the position information of each of the preliminary stacking positions, it is specifically used to:

[0080] Determine a first distance between each of the preliminary stacking positions and each corner in the target plane; determine a first shortest distance among the first distances corresponding to each of the preliminary stacking positions; determine the number of reselected stacking positions; the reselected stacking positions are the preliminary stacking positions corresponding to the minimum values ​​of the first shortest distances; if the number of the reselected stacking positions is greater than one, screen each of the reselected stacking positions to determine a corresponding target stacking position; if the number of the reselected stacking positions is equal to one, determine the reselected stacking position as the target stacking position.

[0081] In a possible implementation, when the generating module screens the reselected stacking positions to determine the corresponding target stacking positions, it is specifically configured to:

[0082] Determine a second distance between each of the re-selected stacking positions and the boundary in the target plane; determine a second shortest distance among the second distances corresponding to each of the re-selected stacking positions; determine the number of three-selected stacking positions; the three-selected stacking positions are the re-selected stacking positions corresponding to the minimum values ​​of the second shortest distances; if the number of the three-selected stacking positions is greater than one, screen each of the three-selected stacking positions to determine a corresponding target stacking position; if the number of the three-selected stacking positions is equal to one, determine the three-selected stacking positions as the target stacking positions.

[0083] In a possible implementation, when the generating module screens the three selected stacking positions to determine the corresponding target stacking position, it is specifically used to:

[0084] Determine the non-overlapping length between the boundary of each of the three selected stacking positions and the boundary of the target plane; and determine the three selected stacking position corresponding to the shortest non-overlapping length as the target stacking position.

[0085] In a third aspect, the present disclosure provides a control device, including: a processor and a memory;

[0086] The memory stores computer-executable instructions;

[0087] The processor is used to execute the computer-executable instructions stored in the memory to implement the stacking method provided by the first aspect or any possible implementation manner of the first aspect.

[0088] In a fourth aspect, the present disclosure provides a computer-readable storage medium, wherein the computer-readable medium stores computer execution instructions, and when the computer execution instructions are executed by a processor, they are used to implement the stacking method provided by the first aspect or any possible implementation method of the first aspect.

[0089] In a fifth aspect, the present disclosure provides a chip, comprising:

[0090] Processor and memory;

[0091] The memory stores a computer program;

[0092] When the processor executes the computer program stored in the memory, the stacking method provided by the first aspect or any possible implementation manner of the first aspect is implemented.

[0093] In a sixth aspect, the present disclosure provides a computer program product, including a computer program, which, when executed by a processor, implements the stacking method provided by the above-mentioned first aspect or any possible implementation manner of the first aspect.

[0094] The present disclosure provides a stacking method, device, control equipment and storage medium, the method comprising: obtaining the current steel plate stacking type information of the pallet, the first steel plate specification of the current steel plate to be stacked and the stacking result of the previous steel plate; the current steel plate stacking type information is generated before stacking the previous steel plate according to the previous steel plate stacking type information and the second steel plate specification of the previous steel plate; generating a stacking plan according to the current steel plate stacking type information, the first steel plate specification and the stacking result; and controlling the actuator to implement the stacking action according to the stacking plan. The stacking method of the present disclosure can generate a corresponding stacking plan according to different stacking results of the previous steel plate, and the stacking position of the current steel plate can be determined regardless of whether the previous steel plate is placed in the planning area, and the stacking position of the current steel plate will not be invalid, thereby improving the stacking efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0095] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0096] Figure 1 An example diagram of an application scenario provided for an embodiment of the present disclosure;

[0097] Figure 2 This is a schematic diagram of the stacking method provided by the present disclosure. Figure 1 ;

[0098] Figure 3 This is a schematic diagram of the stacking method provided by the present disclosure. Figure 2 ;

[0099] Figure 4 This is a schematic diagram of the stacking method provided by the present disclosure. Figure 3 ;

[0100] Figure 5 This is a schematic diagram of the stacking method provided by the present disclosure. Figure 4 ;

[0101] Figure 6A schematic diagram of an initial plane and a target plane of the stacking method provided by the present disclosure;

[0102] Figure 7 This is a schematic diagram of the stacking method provided by the present disclosure. Figure 5 ;

[0103] Figure 8 A schematic diagram of the initial stacking position of the stacking method provided by the present disclosure;

[0104] Fig. 9 A schematic diagram of screening conditions for the initial selection of stacking positions of the stacking method provided in the present disclosure;

[0105] Fig.10 is a structural schematic diagram of the stacking device provided by the present disclosure;

[0106] Fig.11 It is a schematic diagram of the internal structure of the control device provided by the present disclosure.

[0107] The above drawings show clear embodiments of the present disclosure, which will be described in more detail below. These drawings and text descriptions are not intended to limit the scope of the present disclosure in any way, but to illustrate the concepts of the present disclosure to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0108] In order to enable those skilled in the art to better understand the scheme of the present disclosure, the technical scheme in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in the field without creative work should fall within the scope of protection of the present disclosure.

[0109] It should be noted that the terms "first", "second", etc. in the specification, claims, and drawings of the present disclosure are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or intelligent device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or intelligent devices.

[0110] In order to clearly understand the technical solution of the present invention, the solution of the prior art is first introduced in detail.

[0111] When stacking steel plates, if the control device calculates the position of the steel plate on the pallet through an algorithm, the steel plate can theoretically be placed at the designated position. However, in actual applications, due to errors during cutting, the actual specifications of the steel plate after cutting may change significantly, resulting in the actual specifications being different from the specifications calculated by the algorithm, affecting the stacking of the steel plates, and even causing the steel plates to be unable to be stacked at the designated position. Since the algorithm calculates the position of the next steel plate based on the premise that the previous steel plate has been placed, if the previous steel plate has not been placed, the placement position of the next steel plate will be invalid, causing errors in the stacking process and reducing stacking efficiency.

[0112] Therefore, in order to solve the problem of low stacking efficiency in the above method, the inventors have discovered through research that the steel plate stacking information of the pallet can be updated based on whether the previous steel plate was successfully stacked, so that the placement position of the next steel plate can be adjusted accordingly according to the stacking result of the previous steel plate, thereby solving the problem of errors in the stacking process caused by failure of the placement position of the next steel plate.

[0113] Specifically, the current steel plate stacking information of the pallet, the first steel plate specification of the current steel plate to be stacked, and the stacking result of the previous steel plate are obtained. The current steel plate stacking information is generated before the previous steel plate is stacked according to the previous steel plate stacking information and the second steel plate specification of the previous steel plate. A stacking plan is generated according to the current steel plate stacking information, the first steel plate specification, and the stacking result. The actuator is controlled to perform the stacking action according to the stacking plan. Therefore, regardless of whether the previous steel plate is placed in the planned area, the stacking position of the current steel plate can be determined, which solves the stacking process error problem caused by the current steel plate stacking method and improves the stacking efficiency.

[0114] Based on the above creative findings, the inventors proposed the technical solution of the present disclosure.

[0115] Figure 1 This is an example diagram of an application scenario provided by the embodiment of the present disclosure. Figure 1 As shown, the application scenario includes a control device 1, a tray 2 and an actuator 3. The plane of the tray 2 is exemplified as a rectangular plane, and the plane of the tray 2 can be a circle, other polygons, etc. There are stacked steel plates 21 in the tray 2, which are exemplified as long rectangles in the figure. The shape of the stacked steel plates can be set according to actual needs, such as polygons, circles, etc. The actuator 3 has grabbed the current steel plate 31 to be stacked, which is shown as a long rectangle in the figure.

[0116] The control device 1 can obtain relevant information from the actuator 3, such as the first steel plate specification of the current steel plate 31, the stacking result of the previous steel plate, etc. The first steel plate specification may include information such as the size and model of the steel plate. The current steel plate stacking information is generated before the previous steel plate is stacked, based on the previous steel plate stacking information and the second steel plate specification of the previous steel plate, and can be obtained after data processing by the control device 1.

[0117] In this embodiment, the control device 1 can generate a stacking plan based on the current steel plate stack type information, the first steel plate specification and the stacking result. For example, if the stacking result is that the stacking of the previous steel plate failed, the current steel plate stack type information is processed, the stacking position information of the previous steel plate is removed, and the stacking plan is generated in combination with the first steel plate specification, so that the current steel plate 31 will not be affected by the stacking result of the previous steel plate stacking failure. If the stacking result is that the stacking of the previous steel plate is successful, the stacking plan of the current steel plate 31 can be generated based on the current steel plate stack type information and the first steel plate specification. In the stacking plan, the stacking position of the current steel plate 31 is more important. When determining the stacking position, the space utilization rate can be used as the main reference factor to increase the number of steel plates stacked on the pallet, or the stacking efficiency can be used as the main reference factor. For example, steel plates of the same specification are only stacked in the same steel plate stack type, thereby improving the stacking efficiency. After generating the stacking plan, the control device 1 controls the actuator 3 to implement the stacking action.

[0118] The embodiments of the present invention are described below in conjunction with the accompanying drawings.

[0119] Figure 2 This is a schematic diagram of the stacking method provided by the present disclosure. Figure 1 .like Figure 2 As shown, the execution subject of this embodiment is a stacking device, which can be integrated in a control device to generate a stacking plan corresponding to the steel plate and control the execution mechanism to implement the stacking action. The method includes:

[0120] S101, obtaining the current steel plate stacking information of the pallet, the first steel plate specification of the current steel plate to be stacked, and the stacking result of the previous steel plate. The current steel plate stacking information is generated before stacking the previous steel plate according to the previous steel plate stacking information and the second steel plate specification of the previous steel plate.

[0121] The steel plate stacking type information of the pallet, such as the current steel plate stacking type information and the previous steel plate stacking type information, can reflect the stacking situation of the steel plates on the pallet. The steel plate stacking type information includes the stacking quantity of steel plates on the pallet, the stacking position of the steel plates, the steel plate specifications, the remaining space on the pallet and other information. Before stacking the current steel plate, it is necessary to determine the stacking situation of the steel plates on the pallet. Since the current steel plate stacking type information is generated before stacking the previous steel plate, according to the previous steel plate stacking type information and the second steel plate specifications of the previous steel plate, if the previous steel plate fails to be stacked, the relevant information of the previous steel plate contained in the current steel plate stacking type information, such as the stacking position, will affect the stacking plan generated for the current steel plate, which may cause the current steel plate to fail to be stacked. Therefore, the current steel plate stacking type information needs to be processed accordingly in combination with the stacking result of the previous steel plate to eliminate adverse effects.

[0122] S102, generating a stacking plan according to the current steel plate stack type information, the first steel plate specification and the stacking result.

[0123] In this embodiment, if the stacking of the previous steel plate fails, the relevant information of the previous steel plate included in the stacking type information of the current steel plate, such as the stacking position, steel plate specifications, etc., can be removed, so as to generate a stacking plan corresponding to the current steel plate based on the stacking type information of the previous steel plate and the first steel plate specifications, thereby avoiding the problem of invalid stacking position of the current steel plate. At the same time, the stacking type information of the previous steel plate is saved as the current steel plate stacking type information, providing a basis for generating a stacking plan for the next steel plate. If the stacking of the previous steel plate is successful, a stacking plan can be directly generated based on the current steel plate stacking type information and the first steel plate specifications.

[0124] S103, controlling the execution mechanism to implement the stacking action according to the stacking plan.

[0125] In this embodiment, the stacking plan can be directly sent to the actuator so that the actuator implements stacking according to the stacking plan, or the stacking position of the current steel plate in the stacking plan can be determined and the stacking position can be sent to the actuator so that the actuator implements the stacking action according to the stacking position.

[0126] At the same time, based on the stacking method provided in the previous embodiment of the present invention, the solution of the present invention can be further refined. Figure 3 As shown, Figure 3 This is a schematic diagram of the stacking method provided by the present disclosure. Figure 2 .

[0127] S201, obtaining the current steel plate stacking type information of the pallet, the first steel plate specification of the current steel plate to be stacked, and the stacking result of the previous steel plate.

[0128] In this embodiment, the implementation of S201 is similar to the implementation of S101 in the previous embodiment of the present invention, and will not be described in detail here.

[0129] S202: If the stacking result is that the previous steel plate is successfully stacked, a stacking plan is generated according to the current steel plate stack type information and the first steel plate specification.

[0130] The first steel plate specification includes information such as steel plate size and steel plate model.

[0131] S203. If the stacking result is that the stacking of the previous steel plate fails, the stacking type information of the previous steel plate is determined according to the current steel plate stacking type information.

[0132] In this embodiment, the difference between the current steel plate stacking type information and the previous steel plate stacking type information is that the current steel plate stacking type information includes relevant information of the previous steel plate, such as stacking position, steel plate specifications, etc., while the previous steel plate stacking type information does not include relevant information of the previous steel plate.

[0133] In this embodiment, the previous steel plate stacking type information can be obtained directly by clearing the relevant information of the previous steel plate in the current steel plate stacking type information. The steel plate stacking type information can also be stored in a preset database each time the corresponding steel plate stacking type information is generated in a backup manner, so that the previous steel plate stacking type information can be obtained from the preset database according to the current steel plate stacking type information. If the stacking result of the previous steel plate is stacking failure, the previous steel plate stacking type information can also be saved in the preset database as the steel plate stacking type information corresponding to the current steel plate when the steel plate stacking type information corresponding to the current steel plate is saved.

[0134] S204: Generate a stacking plan according to the previous steel plate stack type information and the first steel plate specification.

[0135] After determining the stacking type information of the previous steel plate, the stacking type information of the previous steel plate corresponds to the current steel plate, and a stacking plan is generated based on the stacking type information of the previous steel plate and the first steel plate specification.

[0136] Exemplarily, the steel plate stacking type information a is the previous steel plate stacking type information, and the steel plate stacking type information b is the current steel plate stacking type information. Since the stacking result of the previous steel plate is a stacking failure, the current steel plate still needs to generate a stacking plan based on the steel plate stacking type information a and the first steel plate specification. After the stacking plan is generated, the steel plate stacking type information a is updated based on the stacking plan to generate the steel plate stacking type information corresponding to the next steel plate to be stacked.

[0137] At the same time, the previous steel plate stacking information includes the third steel plate specification of the stacked steel plates, then Figure 4 As shown, S204 can be further specifically as follows:

[0138] S2041, determine whether there is a stacked reference steel plate; wherein the stacked reference steel plate is a stacked steel plate with no stacked steel plate on the upper surface, and the third steel plate specification corresponding to the stacked steel plate is the same as the first steel plate specification. If yes, execute S2042, otherwise execute S2045.

[0139] In this embodiment, it is determined whether there is a stacking reference steel plate according to the last steel plate stack type information and the first steel plate specification. In practical applications, if steel plates of the same steel plate specification are stacked in the same stack, subsequent operations such as grabbing steel plates from the pallet and transferring steel plates can directly select the corresponding steel plates according to the stack type, thereby improving the efficiency of steel plate selection and thus improving the operation efficiency. At the same time, by stacking steel plates of the same steel plate specification in the same stack, the stacking space on the pallet can be saved. Therefore, in this embodiment, it is first determined whether there is a stacking reference steel plate, and the corresponding steps are executed according to the judgment result.

[0140] S2042, determine the upper surface area of ​​the stacked reference steel plate.

[0141] S2043, determining the upper surface area as the stacking position of the current steel plate.

[0142] S2044: Generate a corresponding stacking plan according to the stacking positions.

[0143] Since the third steel plate specification of the stacked reference steel plate is the same as the first steel plate specification of the current steel plate, the upper surface area of ​​the stacked reference steel plate can be directly determined as the stacking position of the current steel plate, and the actuator only needs to align and stack the current steel plate to the upper surface area of ​​the stacked reference steel plate.

[0144] S2045, determining an initial plane in the pallet according to the last steel plate stacking information. The initial plane is used to stack the steel plates. The initial plane includes: an unstacked area on the upper surface of the stacked steel plates and an unstacked area on the upper surface of the pallet.

[0145] In the absence of stacked reference steel plates, the steel plate specifications of the stacked steel plates that are not stacked on the upper surface are different from the first steel plate specifications of the current steel plate. The unstacked area on the upper surface of the stacked steel plates can be the entire upper surface area of ​​the stacked steel plates or a part of the upper surface area according to the actual stacking situation. The upper surface of the pallet is gradually occupied by steel plates, and there may be unstacked areas. The above areas constitute the initial plane.

[0146] S2046, generating a stacking plan according to the initial plane and the first steel plate specification.

[0147] After the initial plane is determined, a stacking plan can be generated in combination with the first steel plate specification. For example, if there are multiple initial planes, the initial planes can be further screened to determine the stacking position of the current steel plate. A corresponding stacking plan is generated according to the stacking position.

[0148] S205, controlling the execution mechanism to implement the stacking action according to the stacking plan.

[0149] In this embodiment, the implementation of S205 is similar to the implementation of S103 in the previous embodiment of the present invention, and will not be described in detail here.

[0150] like Figure 5 As shown, Figure 5 This is a schematic diagram of the stacking method provided by the present disclosure. Figure 4 This embodiment mainly further refines the step of generating a stacking plan according to the initial plane and the first steel plate specification in S2046. In this embodiment, there are multiple initial planes, and the method of this embodiment includes the following steps:

[0151] S301, determining a target plane on which the current steel plate can be stacked from each initial plane.

[0152] In this embodiment, the initial plane may include a plane where the current steel plate cannot be stacked, for example, Figure 6 As shown in the figure, the initial plane includes the unstacked area on the upper surface of the pallet and the upper surface area of ​​the two steel plates. It can be concluded from the figure that the current steel plate cannot be stacked on the upper surface area of ​​the lowest steel plate in the pallet. The current steel plate can be stacked on the unstacked area on the upper surface of the pallet and the upper surface area of ​​the highest steel plate in the pallet. Therefore, the target plane is the unstacked area on the upper surface of the pallet and the upper surface area of ​​the highest steel plate in the pallet, which are shown in the figure as dotted lines.

[0153] The initial plane can be divided according to the height. For example, steel plate stacks A and steel plate stacks B of the same height can be counted as one initial plane if the distance between steel plate stacks A and steel plate stacks B is less than a preset threshold. Steel plate stacks A and steel plate stacks C of the same height are not counted as the same initial plane if the distance between steel plate stacks A and steel plate stacks C is greater than or equal to the preset threshold. At the same time, steel plate stacks A and steel plate stacks D of different heights are two different initial planes. Dividing the initial plane according to height can improve the applicability of steel plate stacking. For example, if a steel plate to be stacked is large in size and the sizes of the stacked steel plates are smaller than the steel plate to be stacked, if only the upper surface area of ​​a steel plate stack is considered as the initial plane, the steel plate to be stacked cannot be stacked. However, if the initial plane is considered according to the height, there may be an initial plane on which the steel plate can be stacked.

[0154] S302: Determine a corresponding target stacking position from the target plane according to the first steel plate specification.

[0155] Since the target plane does not completely match the current steel plate, for example Figure 6 The unstacked area on the upper surface of the middle pallet is relatively large and larger than the current steel plate size. It is necessary to further determine the stacking position of the current steel plate from the target plane.

[0156] In this embodiment, Figure 7As shown, S302 may be further specifically as follows:

[0157] S3021. Generate at least one preliminary stacking position from the target plane according to the first steel plate specification.

[0158] S3022: When the number of the primary stacking positions is more than one.

[0159] S3023. Filter the target stacking positions according to the position information of each of the preliminary selected stacking positions.

[0160] In this embodiment, the initial stacking position can be one or more. If the initial stacking position is one, the initial stacking position is directly determined as the stacking position of the current steel plate. If there are more than one initial stacking position, Figure 8 As shown, further screening is required. Figure 8 As shown, the target plane is exemplarily displayed using a rectangular plane, and three preliminary stacking positions are generated in the target plane, namely preliminary stacking position A, preliminary stacking position B, and preliminary stacking position C. The three preliminary stacking positions have different position information and different positions in the target plane. Preliminary stacking position A is closer to the upper left corner of the target plane, and preliminary stacking position B is closer to the upper right corner of the target plane. The distance between preliminary stacking position B and the lower left corner and the lower right corner of the target plane is the same. Preliminary stacking position A, preliminary stacking position B, and preliminary stacking position C can be further screened according to actual needs.

[0161] The following is an exemplary description of the screening method of this embodiment:

[0162] In the screening method of this embodiment, the target plane is a polygonal plane, and the polygonal plane may be a square plane, a rectangular plane, a trapezoidal plane, or the like.

[0163] The screening method 1 of this embodiment is as follows:

[0164] Determine the screening conditions corresponding to the preliminary stacking positions. The screening conditions include: a first distance between each preliminary stacking position and each corner in the target plane, a second distance between each preliminary stacking position and a boundary in the target plane, and a non-overlapping length between the boundary of each preliminary stacking position and the boundary of the target plane.

[0165] The preliminary stacking locations are screened according to the screening conditions to determine the target stacking location.

[0166] In this embodiment, the first distance between the preliminary stacking position and each corner in the target plane can be obtained by calculating the distance between the center of the preliminary stacking position and each corner of the target plane. The second distance between the preliminary stacking position and the boundary in the target plane can be obtained by calculating the distance from the center of the preliminary stacking position to the boundary in the target plane.

[0167] The non-overlapping length between the boundary of the preliminary stacking position and the boundary of the target plane refers to the boundary length where the boundary of the preliminary stacking position and the boundary of the target plane do not intersect. Figure 8 As shown, the non-overlapping length of the preliminary stacking position A is the sum of the lengths of the four boundaries. Since one boundary of the preliminary stacking position C overlaps with the boundary of the target plane, the non-overlapping length is the sum of the length of one length and two widths.

[0168] For example, according to the above screening conditions Figure 8 When selecting the three preliminary stacking positions, you can select the preliminary stacking position that is closer to the boundary, that is, select preliminary stacking position C as the target stacking position, or you can select the preliminary stacking position that is closer to the target plane angle, that is, select preliminary stacking position A as the target stacking position.

[0169] The three screening conditions can also be weighted to determine the preliminary stacking location with the highest comprehensive score as the target stacking location. The weighted screening method is as follows:

[0170] Determine the first shortest distance among the first distances corresponding to the preliminary stacking positions.

[0171] The second shortest distance among the second distances corresponding to the preliminary stacking positions is determined.

[0172] The first shortest distance, the second shortest distance and the non-overlapping length corresponding to each preliminary stacking position are weighted to generate a corresponding stacking score.

[0173] The preliminary stacking position corresponding to the highest stacking score is selected as the target stacking position.

[0174] The first shortest distance is the shortest distance among the first distances. Similarly, the second shortest distance is the shortest distance among the second distances.

[0175] For the first shortest distance and the second shortest distance, such as Fig. 9 As shown, the preliminary selected stacking position A is used for exemplary description. For the preliminary selected stacking position A, among the four first distances corresponding to the preliminary selected stacking position A, the first distance to the upper left corner of the target plane is the shortest distance, that is, the first shortest distance. Among the four second distances corresponding to the preliminary selected stacking position A, the second distance to the upper boundary of the target plane is the shortest distance, that is, the second shortest distance.

[0176] The weighting of this embodiment can be set according to actual needs. For example, if the first shortest distance is considered to be more important, a higher weight can be set for the first shortest distance.

[0177] The second screening method of this embodiment adopts the principle of making the target stacking position close to the corner of the target plane first, so as to save more space for placing other types of steel plates. First, screening is performed according to the first shortest distance in the first distance corresponding to the preliminary stacking position, as follows:

[0178] Determine the first distance between each preliminary stacking position and each corner in the target plane.

[0179] Determine the first shortest distance among the first distances corresponding to the preliminary stacking positions.

[0180] The number of reselected stacking positions is determined. The reselected stacking positions are the initial stacking positions corresponding to the minimum values ​​of the first shortest distances.

[0181] If the number of the reselected stacking positions is greater than one, each of the reselected stacking positions is screened to determine a corresponding target stacking position.

[0182] If the number of the reselected stacking positions is equal to one, the reselected stacking position is determined as the target stacking position.

[0183] The first distance and the first shortest distance in the second screening method are the same as those in the first screening method, and will not be described in detail here.

[0184] Exemplarily, assuming that the number of preliminary stacking positions is 4, namely preliminary stacking position a, preliminary stacking position b, preliminary stacking position c, and preliminary stacking position d, the first shortest distances of preliminary stacking position a and preliminary stacking position b are both 1 unit distance, and the first shortest distances of preliminary stacking position c and preliminary stacking position d are both 2 unit distances, then preliminary stacking position a and preliminary stacking position b are re-selected stacking positions, and the number of re-selected stacking positions is greater than one, further screening can be performed, or one of the preliminary stacking positions can be randomly selected as the target stacking position.

[0185] If further screening is performed, the specific steps are as follows:

[0186] A second distance between each reselected stacking position and the boundary in the target plane is determined.

[0187] The second shortest distance among the second distances corresponding to the reselected stacking positions is determined.

[0188] The number of three selected stacking positions is determined. The three selected stacking positions are the re-selected stacking positions corresponding to the minimum values ​​of the second shortest distances.

[0189] If the number of the three-selected stacking positions is greater than one, each of the three-selected stacking positions is screened to determine a corresponding target stacking position.

[0190] If the number of the three-selected stacking positions is equal to one, the three-selected stacking positions are determined as the target stacking positions.

[0191] The second distance and the second shortest distance in the second screening method are the same as those in the first screening method, and will not be described in detail here.

[0192] Exemplarily, assuming that the number of reselected stacking positions is 4, namely reselected stacking position a, reselected stacking position b, reselected stacking position c, and reselected stacking position d, the second shortest distances of reselected stacking position a and reselected stacking position c are both 1 unit distance, and the first shortest distances of reselected stacking position b and reselected stacking position d are both 2 unit distances, then reselected stacking position a and reselected stacking position c are three-selected stacking positions, and the number of three-selected stacking positions is greater than one, further screening can be performed, or one of the reselected stacking positions can be randomly selected as the target stacking position.

[0193] If further screening is performed, the details are as follows:

[0194] Determine the non-overlap length between the boundary of each of the three selected stacking positions and the boundary of the target plane.

[0195] The three selected stacking positions corresponding to the shortest non-overlapping length are determined as the target stacking positions.

[0196] The non-overlapping length in the second screening method is the same as that in the first screening method, and will not be described in detail here.

[0197] After three screenings, there will generally not be multiple three-selection stacking positions corresponding to the shortest non-overlapping length. If there are still multiple three-selection stacking positions, it means that the selection of these three-selection stacking positions has no effect on compactness, and one of the three-selection stacking positions can be randomly selected as the target stacking position.

[0198] S303: Generate a corresponding stacking plan according to the target stacking position.

[0199] After determining the target stacking position, the stacking path, stacking time and other contents in the stacking plan can be determined according to the target stacking position.

[0200] Fig.10 Schematic diagram of the stacking device provided by the present invention. Fig.10 As shown, the stacking device 400 may be located in the control device, and the stacking device 400 includes:

[0201] The acquisition module 401 is used to acquire the current steel plate stacking information of the pallet, the first steel plate specification of the current steel plate to be stacked, and the stacking result of the previous steel plate. The current steel plate stacking information is generated before stacking the previous steel plate according to the previous steel plate stacking information and the second steel plate specification of the previous steel plate.

[0202] The generation module 402 is used to generate a stacking plan according to the current steel plate stacking type information, the first steel plate specification and the stacking result.

[0203] The control module 403 is used to control the execution mechanism to perform the stacking action according to the stacking plan.

[0204] Fig.10 The provided stacking device can execute the aforementioned corresponding method embodiments, and its implementation principles and technical effects are similar, which will not be repeated here.

[0205] At the same time, the stacking device provided in the present disclosure is further refined on the basis of the stacking device provided in the previous embodiment, as follows:

[0206] In a possible implementation, the generating module 402 is specifically configured to:

[0207] If the stacking result is that the previous steel plate stacking is successful, a stacking plan is generated according to the current steel plate stacking type information and the first steel plate specification. If the stacking result is that the previous steel plate stacking fails, the previous steel plate stacking type information is determined according to the current steel plate stacking type information. A stacking plan is generated according to the previous steel plate stacking type information and the first steel plate specification.

[0208] In a possible implementation, the previous steel plate stacking information includes the third steel plate specification of the stacked steel plates.

[0209] When generating a stacking plan according to the previous steel plate stacking type information and the first steel plate specification, the generating module 402 is specifically used to:

[0210] Determine whether there is a stacking reference steel plate. The stacking reference steel plate is a stacked steel plate with no stacked steel plates on the upper surface, and the third steel plate specification corresponding to the stacked steel plate is the same as the first steel plate specification. If it is determined that there is a stacking reference steel plate, determine the upper surface area of ​​the stacking reference steel plate. Determine the upper surface area as the stacking position of the current steel plate. Generate a corresponding stacking plan based on the stacking position.

[0211] In a possible implementation, if it is determined that there is no stacked reference steel plate, the generating module 402 is further used to:

[0212] The initial plane in the pallet is determined based on the last steel plate stacking information. The initial plane is used to stack the steel plates. The initial plane includes: the unstacked area on the upper surface of the stacked steel plates and the unstacked area on the upper surface of the pallet. A stacking plan is generated based on the initial plane and the first steel plate specification.

[0213] In a possible implementation, there are multiple initial planes.

[0214] When generating a stacking plan according to the initial plane and the first steel plate specification, the generating module 402 is specifically used to:

[0215] Determine a target plane for stacking the current steel plate from each initial plane. Determine a corresponding target stacking position from the target plane according to the first steel plate specification. Generate a corresponding stacking plan according to the target stacking position.

[0216] In a possible implementation, when the generating module 402 determines the corresponding target stacking position from the target plane according to the first steel plate specification, it is specifically used to:

[0217] At least one preliminary stacking position is generated from the target plane according to the first steel plate specification. In the case where there are more than one preliminary stacking position, the target stacking position is selected according to the position information of each preliminary stacking position.

[0218] In a possible implementation manner, the target plane is a polygonal plane.

[0219] When the generating module 402 selects the target stacking position according to the position information of each preliminary stacking position, it is specifically used to:

[0220] Determine the screening conditions corresponding to the preliminary stacking positions. The screening conditions include: the first distance between each preliminary stacking position and each corner in the target plane, the second distance between each preliminary stacking position and the boundary in the target plane, and the non-overlapping length between the boundary of each preliminary stacking position and the boundary of the target plane. Screen each preliminary stacking position according to the screening conditions to determine the target stacking position.

[0221] In a possible implementation, when the generating module 402 screens the preliminary selected stacking positions according to the screening condition to determine the corresponding target stacking position, it is specifically used to:

[0222] Determine the first shortest distance among the first distances corresponding to each preliminary stacking position. Determine the second shortest distance among the second distances corresponding to each preliminary stacking position. Perform weighted processing on the first shortest distance, the second shortest distance, and the non-overlapping length corresponding to each preliminary stacking position to generate a corresponding stacking score. Select the preliminary stacking position corresponding to the highest stacking score as the target stacking position.

[0223] In a possible implementation manner, the target plane is a polygonal plane.

[0224] When the generating module 402 selects the target stacking position according to the position information of each preliminary stacking position, it is specifically used to:

[0225] Determine the first distance between each preliminary stacking position and each corner in the target plane. Determine the first shortest distance among the first distances corresponding to each preliminary stacking position. Determine the number of reselected stacking positions. The reselected stacking position is the preliminary stacking position corresponding to the minimum value among the first shortest distances. If the number of reselected stacking positions is greater than one, screen each reselected stacking position to determine the corresponding target stacking position. If the number of reselected stacking positions is equal to one, determine the reselected stacking position as the target stacking position.

[0226] In a possible implementation, when the generating module 402 screens the reselected stacking positions to determine the corresponding target stacking positions, it is specifically configured to:

[0227] Determine the second distance between each reselected stacking position and the boundary in the target plane. Determine the second shortest distance among the second distances corresponding to each reselected stacking position. Determine the number of three-selected stacking positions. The three-selected stacking position is the reselected stacking position corresponding to the minimum value among the second shortest distances. If the number of three-selected stacking positions is greater than one, screen each three-selected stacking position to determine the corresponding target stacking position. If the number of three-selected stacking positions is equal to one, determine the three-selected stacking position as the target stacking position.

[0228] In a possible implementation, when the generation module 402 screens the three selected stacking positions to determine the corresponding target stacking position, it is specifically used to:

[0229] Determine the non-overlapping length between the boundary of each of the three selected stacking positions and the boundary of the target plane, and determine the three selected stacking position corresponding to the shortest non-overlapping length as the target stacking position.

[0230] The stacking device of this embodiment can execute the aforementioned corresponding method embodiments, and its implementation principles and technical effects are similar, which will not be repeated here.

[0231] Fig.11 A schematic diagram of the internal structure of the control device provided in the present disclosure. Fig.11 As shown, the control device includes: a processor 501 and a memory 502. The memory 502 stores a computer program. The processor 501 executes the computer program stored in the memory to implement the steps of the stacking method in the above method embodiment.

[0232] In the above-mentioned execution mechanism, the processor 501 and the memory 502 are directly or indirectly electrically connected to each other to realize data transmission or interaction. For example, these elements can be electrically connected to each other through one or more communication buses or signal lines, such as through a bus connection. The memory 502 stores computer-executable instructions for implementing the data access control method, including at least one software function module that can be stored in the memory 502 in the form of software or firmware. The processor 501 executes various functional applications and data processing by running the software programs and modules stored in the memory 502.

[0233] The memory 502 may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), etc. Furthermore, the software programs and modules in the memory 502 may also include an operating system, which may include various software components and / or drivers for managing system tasks (such as memory management, storage device control, power management, etc.), and may communicate with various hardware or software components to provide an operating environment for other software components.

[0234] The processor 501 may be an integrated circuit chip having the ability to process signals. The processor 501 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc. The methods, steps, and logic diagrams disclosed in the embodiments of the present disclosure may be implemented or executed. The general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0235] An embodiment of the present disclosure further provides a chip, including: a processor and a memory. The memory stores a computer program, and when the processor executes the computer program stored in the memory, the steps of the stacking method in the above method embodiment are implemented.

[0236] An embodiment of the present disclosure further provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the steps of the stacking method in the above method embodiment.

[0237] An embodiment of the present disclosure further provides a computer program product, including a computer program, which is used to implement the steps of the stacking method in the above method embodiment when executed by a processor.

[0238] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided by the present disclosure can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0239] So far, the technical solutions of the present disclosure have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present disclosure is obviously not limited to these specific embodiments. Without departing from the principles of the present disclosure, those skilled in the art may make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present disclosure.

[0240] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The description and examples are to be considered exemplary only, and the true scope and spirit of the present disclosure are indicated by the claims.

[0241] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A stacking method, characterized in that: include: Obtaining the current steel plate stacking type information of the pallet, the first steel plate specification of the current steel plate to be stacked, and the stacking result of the previous steel plate; the current steel plate stacking type information is generated before stacking the previous steel plate according to the previous steel plate stacking type information and the second steel plate specification of the previous steel plate; If the stacking result is that the previous steel plate is successfully stacked, a stacking plan is generated according to the current steel plate stack type information and the first steel plate specification; If the stacking result is that the stacking of the previous steel plate failed, the previous steel plate stacking type information is determined according to the current steel plate stacking type information, and a stacking plan is generated according to the previous steel plate stacking type information and the first steel plate specification; and the actuator is controlled to implement the stacking action according to the stacking plan.

2. The method according to claim 1, characterized in that The previous steel plate stack type information includes the third steel plate specification of the stacked steel plates; The generating a stacking plan according to the previous steel plate stacking type information and the first steel plate specification includes: Determine whether there is a stacked reference steel plate; the stacked reference steel plate is a stacked steel plate with no stacked steel plate on the upper surface, and the specification of the third steel plate corresponding to the stacked steel plate is the same as the specification of the first steel plate; If it is determined that there is a stacked reference steel plate, determining the upper surface area of ​​the stacked reference steel plate; Determine the upper surface area as the stacking position of the current steel plate; A corresponding stacking plan is generated according to the stacking positions.

3. The method according to claim 2, characterized in that If it is determined that there is no stacked reference steel plate, the method further includes: Determine the initial plane in the pallet according to the last steel plate stacking information; the initial plane is used to stack the steel plates; the initial plane includes: the unstacked area on the upper surface of the stacked steel plates and the unstacked area on the upper surface of the pallet; A stacking plan is generated according to the initial plane and the first steel plate specification.

4. The method according to claim 3, characterized in that: The initial plane is multiple; The generating of the stacking plan according to the initial plane and the first steel plate specification includes: Determine a target plane on which the current steel plate can be stacked from each of the initial planes; Determining a corresponding target stacking position from the target plane according to the first steel plate specification; A corresponding stacking plan is generated according to the target stacking position.

5. The method according to claim 4, characterized in that The step of determining the corresponding target stacking position from the target plane according to the first steel plate specification includes: generating at least one preliminary stacking position from the target plane according to the first steel plate specification; In the case where the number of the preliminary stacking positions is more than one, The target stacking positions are screened according to the position information of each of the initially selected stacking positions.

6. The method according to claim 5, characterized in that The target plane is a polygonal plane; The step of screening the target stacking position according to the position information of each of the preliminary stacking positions includes: Determine the screening conditions corresponding to the preliminary stacking positions; the screening conditions include: a first distance between each of the preliminary stacking positions and each corner in the target plane, a second distance between each of the preliminary stacking positions and a boundary in the target plane, and a non-overlapping length between a boundary of each of the preliminary stacking positions and a boundary of the target plane; The preliminary stacking positions are screened according to the screening conditions to determine the target stacking position.

7. The method according to claim 6, characterized in that The screening of the preliminary selected stacking positions according to the screening condition to determine the target stacking position includes: Determine a first shortest distance among the first distances corresponding to the preliminary stacking positions; Determine the second shortest distance among the second distances corresponding to the preliminary stacking positions; Performing weighted processing on the first shortest distance, the second shortest distance and the non-overlapping length corresponding to each of the preliminary stacking positions to generate a corresponding stacking score; The preliminary stacking position corresponding to the highest stacking score is selected as the target stacking position.

8. The method according to claim 5, characterized in that The target plane is a polygonal plane; The step of screening the target stacking position according to the position information of each of the preliminary stacking positions includes: Determine a first distance between each of the preliminary stacking positions and each corner in the target plane; Determine a first shortest distance among the first distances corresponding to the preliminary stacking positions; Determine the number of reselected stacking positions; the reselected stacking positions are the initial stacking positions corresponding to the minimum values ​​of the first shortest distances; If the number of the reselected stacking positions is greater than one, screening each of the reselected stacking positions to determine a corresponding target stacking position; If the number of the reselected stacking positions is equal to one, the reselected stacking positions are determined as target stacking positions.

9. The method according to claim 8, characterized in that The screening of the reselected stacking positions to determine the corresponding target stacking positions includes: Determine a second distance between each of the reselected stacking positions and a boundary in the target plane; Determine a second shortest distance among the second distances corresponding to the reselected stacking positions; Determine the number of three selected stacking positions; the three selected stacking positions are the re-selected stacking positions corresponding to the minimum values ​​of the second shortest distances; If the number of the three selected stacking positions is greater than one, screening each of the three selected stacking positions to determine a corresponding target stacking position; If the number of the three selected stacking positions is equal to one, the three selected stacking positions are determined as target stacking positions.

10. The method according to claim 9, characterized in that The screening of the three selected stacking positions to determine the corresponding target stacking position includes: Determining the non-overlapping length between the boundary of each of the three selected stacking positions and the boundary of the target plane; The three selected stacking positions corresponding to the shortest non-overlapping length are determined as the target stacking positions.

11. A stacking device, characterized in that: include: An acquisition module is used to acquire the current steel plate stacking type information of the pallet, the first steel plate specification of the current steel plate to be stacked, and the stacking result of the previous steel plate; the current steel plate stacking type information is generated before the previous steel plate is stacked according to the previous steel plate stacking type information and the second steel plate specification of the previous steel plate; A generating module, for generating a stacking plan according to the current steel plate stacking type information and the first steel plate specification if the stacking result is that the previous steel plate stacking is successful; and for generating a stacking plan according to the previous steel plate stacking type information and the first steel plate specification if the stacking result is that the previous steel plate stacking fails; The control module is used to control the execution mechanism to implement the stacking action according to the stacking plan.

12. A control device, characterized in that: include: Processor and memory; The memory stores computer-executable instructions; The processor is used to execute the computer-executable instructions stored in the memory to implement the stacking method according to any one of claims 1 to 10.

13. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, they are used to implement the stacking method according to any one of claims 1 to 10.

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