Automatic stacking method and system based on unmanned forklift

Abstract

The application discloses an automatic stacking method and system based on an unmanned forklift, wherein the automatic stacking method based on the unmanned forklift comprises the following steps: obtaining a stacking area of a warehouse, dividing the stacking area into a plurality of storage grids, and forming a database according to storage states and position data of the storage grids; obtaining a target storage grid in an empty state according to the database; sending stacking task data to the unmanned forklift, so that the unmanned forklift transports materials to the target storage grid; and stacking the materials to the target storage grid by the unmanned forklift. The application records the storage states of the target storage grids through the database, so that it can be clearly known whether the target storage grid in a blind area of a field of view is stacked with materials, the problem that the empty space of stacking is easily misjudged is solved, the use of manpower and material resources is reduced, and the stacking efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of logistics, and particularly relates to an automatic stacking method and system based on an unmanned forklift. BACKGROUND

[0002] In modern warehousing, stacking operations are very common in order to improve space utilization. In unmanned forklift operations, unmanned driving and automatic stacking constitute a complete unmanned operation process, so how to realize automatic stacking (especially high stacking) is one of the key technologies to realize warehouse unmanned.

[0003] In actual application scenarios, especially in the field of bulk commodities, the maximum stacking height can reach 8-9 meters. At the high position of each column of stacks, due to the visual blind area, it is not possible to accurately determine whether there is a space at the high position of the stack, and the problem of misjudgment of the space of the stack often exists. Often, after the forklift raises the materials, it is found that the top of the stack has already been stacked with materials, resulting in waste of manpower and material resources and low stacking efficiency. SUMMARY

[0004] The main purpose of the present application is to provide an automatic stacking method and system based on an unmanned forklift, which aims to solve the problem of misjudgment of the space of the stack, which leads to low stacking efficiency, in the case of high stacking of the existing stacking method.

[0005] To achieve the above purpose, the present application provides an automatic stacking method based on an unmanned forklift, comprising the following steps:

[0006] Obtaining a stacking area of a warehouse, dividing the stacking area into a plurality of storage grids, and forming a database according to the storage state and position data of each storage grid, wherein the storage state of the storage grid includes a stacking state and an empty state;

[0007] Obtaining a target storage grid in an empty state according to the database;

[0008] Sending stacking task data to the unmanned forklift to make the unmanned forklift transport materials to the target storage grid;

[0009] The unmanned forklift stacks the materials to the target storage grid.

[0010] Preferably, the step of obtaining a stacking area of a warehouse, dividing the stacking area into a plurality of storage grids, and forming a database according to the storage state and position data of each storage grid comprises:

[0011] Obtaining a palletizing area of ​​the warehouse, dividing the palletizing area into a plurality of storage grid columns arranged in a horizontal array, each storage grid column including multiple storage grids stacked in a vertical direction, wherein each storage grid has spatial coordinates consisting of horizontal position data and vertical position data;

[0012] The database is formed according to the placement status of each placement grid and the spatial coordinates.

[0013] Preferably, before the step of sending the stacking task data to the unmanned forklift so that the unmanned forklift transports the materials to the target storage grid, the step further includes:

[0014] Monitoring each of the storage grids through a roadside module and obtaining the storage status of the target storage grid;

[0015] If the target storage grid is in a stacked state, the storage state of the target storage grid is sent to the database for updating, and the process returns to the step of obtaining a target storage grid in an empty state according to the database until the target storage grid is in an empty state.

[0016] If the target storage grid is in an empty state, the step of sending the stacking task data to the unmanned forklift is continued to be executed so that the unmanned forklift transports the materials to the target storage grid.

[0017] Preferably, before the step of stacking the materials on the target storage grid by the unmanned forklift, the step includes:

[0018] The unmanned forklift sequentially scans all storage grids in the storage grid column where the target storage grid is located from bottom to top;

[0019] defining the storage grid that is scanned for the first time and is in an empty state as the target storage grid, and sending the storage state of each scanned storage grid to the database for updating;

[0020] If all the scanned storage grids are in a stacking state, the storage state of each scanned storage grid is sent to the database for updating, and the process returns to the step of obtaining a target storage grid in an empty state according to the database.

[0021] Preferably, the step of stacking the materials to the target storage grid by the unmanned forklift includes:

[0022] Calculating a target height of the target storage grid according to the vertical position data of the target storage grid;

[0023] The unmanned forklift raises the material to the target height, and acquires the positional relationship between the material and the target storage grid through the position sensor of the unmanned forklift;

[0024] Adjust the material according to the positional relationship to align the material with the target storage grid, and stack the material on the target storage grid to complete the stacking.

[0025] Preferably, the step of sending the stacking task data to the unmanned forklift to make the unmanned forklift transport the material to the target storage grid comprises:

[0026] Generating an optimal path according to the position of the unmanned forklift and the horizontal position data of the target storage grid;

[0027] Sending the spatial coordinates of the target storage grid and the optimal path to the unmanned forklift to make the unmanned forklift transport the material to the target storage grid according to the spatial coordinates and the optimal path.

[0028] Preferably, the step of acquiring the target storage grid in the empty state from the database comprises:

[0029] Acquiring all the storage grid columns in the empty state in the database as a group of alternative storage grid columns;

[0030] According to the arrangement relationship of each of the storage grid columns in the group of alternative storage grid columns, acquiring all the storage grid columns located closest to the center of the stacking area;

[0031] Selecting the lowest one of the storage grid columns in the empty state in one of the storage grid columns as the target storage grid.

[0032] Preferably, the step of the unmanned forklift stacking the material to the target storage grid further comprises:

[0033] Updating the storage state of the target storage grid in the database to the stacking state;

[0034] Returning to perform the step of acquiring the target storage grid in the empty state from the database until all the material stacking is completed.

[0035] Preferably, the number of stacking areas is multiple, and multiple stacking areas are arranged in an array, a lane for the movement of the unmanned forklift is formed between any two adjacent stacking areas, the material includes multiple different types, and multiple different types of the material are respectively stacked in different stacking areas.

[0036] The application further provides an automatic stacking system based on unmanned forklifts, which is applied to the automatic stacking method based on unmanned forklifts.

[0037] A cloud scheduling system is used for storing the database and analyzing and obtaining the target storage grid;

[0038] An unmanned forklift is in communication connection with the cloud scheduling system, and is used for transporting materials to the target storage grid and completing stacking, and a laser radar is arranged on the unmanned forklift, and the laser radar is used for detecting the storage state of the target storage grid.

[0039] A roadside module is in communication connection with the cloud scheduling system, and is used for monitoring the storage state of all the storage grids.

[0040] In the technical scheme of the application, the stacking area of the warehouse is divided into multiple storage grids, the storage grids are distributed along the horizontal direction and the vertical direction, the position data (including the horizontal position and the vertical height) of each storage grid is summarized, the storage state of each storage grid is recorded, and a database is formed, the target storage grid in the empty state is obtained according to the database, and the unmanned forklift is controlled to transport the materials to the target storage grid according to the position data of the target storage grid to perform stacking. The application records the storage state of each target storage grid by setting a database, so that even the target storage grid in the blind area can clearly know whether the materials are stacked thereon, the problem of misjudgment of the stacking empty position is solved, the use of manpower and material resources is reduced, and the stacking efficiency is improved. BRIEF DESCRIPTION OF DRAWINGS

[0041] In order to more clearly illustrate the technical scheme in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only show some embodiments of the application, and for those skilled in the art, other drawings can also be obtained according to the structures shown in the drawings without creative labor.

[0042] Figure 1 The flowchart of the automatic stacking method based on unmanned forklifts of an embodiment of the application is shown in the figure.

[0043] Figure 2 The flowchart of step S100 of the automatic stacking method based on unmanned forklifts of an embodiment of the application is shown in the figure.

[0044] Figure 3 The flowchart of step S200 of the automatic stacking method based on unmanned forklifts of an embodiment of the application is shown in the figure.

[0045] Figure 4 Figure 1 is a flow chart of the step S300 of the automatic stacking method based on unmanned forklifts according to an embodiment of the present application;

[0046] Figure 5 Figure 2 is a flow chart of the step S400 of the automatic stacking method based on unmanned forklifts according to an embodiment of the present application.

[0047] The purposes, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0048] The technical solutions in the embodiments will be clearly and completely described with reference to the accompanying drawings in the embodiments. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0049] It should be noted that all the directional indications (such as up, down, left, right, front, back, etc.) in the embodiments are only used to explain the relative position relationship, movement condition, etc. between the components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications also change accordingly.

[0050] In addition, the descriptions such as "first", "second" and the like in the present application are only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically limited.

[0051] In the present application, unless otherwise specifically defined and limited, the terms "connection", "fixation" and the like should be understood in a broad sense, for example, "fixation" can be fixed connection, or detachable connection, or integral; can be mechanical connection, or electrical connection; can be direct connection, or indirect connection through intermediate medium; can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise specifically limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0052] In addition, the technical solutions among various embodiments of the present application can be combined with each other, but the combination of the technical solutions should be considered not to exist and not within the protection scope of the present application on the basis that the combination of the technical solutions can be realized by the ordinary skilled in the art, and when the combination of the technical solutions appears contradictory or cannot be realized.

[0053] The present application provides an automatic stacking method based on unmanned forklifts.

[0054] Referring to Figure 1 The automatic stacking method based on unmanned forklifts of the present embodiment comprises the following steps:

[0055] S100: Obtain a stacking area of a warehouse, divide the stacking area into multiple storage grids, and form a database according to the storage state and position data of each storage grid, wherein the storage state of the storage grid includes a stacking state and an empty state;

[0056] It can be understood that the stacking area is a three-dimensional space, so each storage grid is distributed not only in the horizontal direction but also in the vertical direction. When there is material in the storage grid, it is in the stacking state, and when there is no material in the storage grid, it is in the empty state;

[0057] S200: Obtain a target storage grid in the empty state according to the database;

[0058] There are multiple storage grids in the empty state, and the required storage grid is selected as the target storage grid according to the requirement;

[0059] S300: Send stacking task data to the unmanned forklift to make the unmanned forklift transport the material to the target storage grid;

[0060] The stacking task data includes the position data of the target storage grid, and the unmanned forklift moves to the target storage grid according to the position data;

[0061] S400: The unmanned forklift stacks the material to the target storage grid.

[0062] The unmanned forklift raises the material according to the height of the target storage grid and stacks it to the target storage grid, completing the stacking.

[0063] In the technical scheme of the present application, the stacking area of the warehouse is divided into a plurality of storage grids, the storage grids are distributed along the horizontal direction and the vertical direction, the position data (including the horizontal position and the vertical height) of each storage grid is collected, the storage state of each storage grid is recorded, and a database is formed, the target storage grid in the empty state is obtained according to the database, and the material is transported to the target storage grid by the error forklift according to the position data of the target storage grid to be stacked. The present application records the storage state of each target storage grid by setting a database, so that even the target storage grid in the blind area can clearly know whether the material is stacked on it, solves the problem of easy misjudgment of the stacking empty position, reduces the use of manpower and material resources, and improves the stacking efficiency.

[0064] Please refer to Figure 2 In an embodiment, step S100 comprises:

[0065] S110: obtaining a stacking area of a warehouse, dividing the stacking area into a plurality of storage grid columns arranged in an array along a horizontal direction, each of the storage grid columns comprising a plurality of storage grids arranged in a stack along a vertical direction, wherein each of the storage grids has a spatial coordinate composed of horizontal position data and vertical position data;

[0066] S120: forming the database according to the storage state of each storage grid and the spatial coordinate.

[0067] The stacking area is divided into a plurality of storage grid columns, the storage grid columns are arranged in an array along the horizontal direction, and each of the storage grid columns comprises a plurality of storage grids along the vertical direction. It can be understood that the center of the stacking area can be taken as the coordinate origin, the horizontal direction as the X-axis and the Y-axis, and the vertical direction as the Z-axis. The horizontal position data of each storage grid is the X-axis data and the Y-axis data, and the vertical position data is the Z-axis data. The X, Y and Z axis data together form the spatial coordinate of the storage grid. Dividing the stacking area into a plurality of storage grids and forming a database according to the accurate position data of the storage grids can improve the accuracy of the record of the stacking area, so as to quickly and accurately determine the position of the storage grid in the empty state and send it to the unmanned forklift, thereby improving the stacking efficiency.

[0068] In an embodiment, step S300 further comprises:

[0069] S290: monitoring each of the storage grids by a roadside module and obtaining the storage state of the target storage grid;

[0070] The roadside module is installed in the warehouse and is used to detect the storage state of the storage grid in the stacking area,

[0071] S291: If the target storage grid is in the stacking state, the storage state of the target storage grid is sent to the database for updating, and step S200 is returned to be executed until the target storage grid is in the empty state;

[0072] The roadside module detects the state of the target storage grid. If there is material in the target storage grid, the target storage grid is in the stacking state, the state of the target storage grid in the database is modified to the stacking state, and step S200 is returned to be executed to reselect the target storage grid;

[0073] S292: If the target storage grid is in the empty state, step S300 is continued to be executed.

[0074] It can be understood that, due to the complex working environment in the warehouse, the material may be stacked in the storage grid by the operation personnel, and the database is not updated in time. Therefore, after the database determines the target storage grid, the state of the target storage grid is determined again by the roadside module, so as to improve the accuracy of the judgment of the storage state of the target storage grid, avoid the situation that the material cannot be stacked after the unmanned forklift transports the material to the target storage grid, and further improve the stacking efficiency.

[0075] In an embodiment, step S400 includes the following steps before step S400:

[0076] S390: The unmanned forklift scans all the storage grids in the storage grid column where the target storage grid is located from bottom to top in sequence;

[0077] After the unmanned forklift arrives at the horizontal position corresponding to the target storage grid, the storage grids in the storage grid column where the target storage grid is located are scanned from bottom to top in sequence, and each storage grid is scanned one by one;

[0078] S391: The first scanned storage grid in the empty state is defined as the target storage grid, and the storage state of each scanned storage grid is sent to the database for updating;

[0079] Each storage grid is scanned one by one until a storage grid in the empty state is scanned, and the storage grid is marked as the target storage grid. It can be understood that, due to the complex working environment in the warehouse, the material may be stacked in the storage grid or removed from the storage grid by the operation personnel, and the database is not updated in time. At the same time, when the material is stacked too much, there may be a blind area, which causes the roadside module to also fail to update the state of the storage grid. Therefore, before stacking, the storage grids in the storage grid column are scanned from bottom to top in sequence by the unmanned forklift, which can improve the positioning accuracy of the target storage grid, and can also update the storage state of the storage grid during the stacking operation, thereby improving the accuracy of the subsequent stacking operation.

[0080] S392: If all the storage grids scanned are in the stacked state, the storage state of each of the scanned storage grids is sent to the database for updating, and the execution of step S200 is returned.

[0081] If all the storage grids in the column are in the stacked state, the storage state of the column in the database is updated, and the target storage grid is reselected.

[0082] Referring to Figure 5 , further, step S400 includes:

[0083] S410: Calculate the target height of the target storage grid according to the vertical position data of the target storage grid;

[0084] According to the vertical position data of the target storage grid redefined in step S391, the target height is calculated. Understandably, the height of each storage grid is the same, and each column of storage grid columns includes multiple storage grids. The target height can be calculated according to the number of layers of the target storage grid in the column.

[0085] S420: The unmanned forklift raises the material to the target height, and obtains the positional relationship between the material and the target storage grid through the position sensor of the unmanned forklift;

[0086] S430: Adjust the material according to the positional relationship to align the material with the target storage grid, and stack the material on the target storage grid to complete the stacking.

[0087] The unmanned forklift adjusts the direction, angle, distance, etc. of the material through the position sensor to align the material with the target storage grid, so that each material is placed in alignment, preventing uneven force on the material and other situations from occurring, and improving safety.

[0088] Referring to Figure 4 , in an embodiment, step S300 includes:

[0089] S310: Generate an optimal path according to the position of the unmanned forklift and the horizontal position data of the target storage grid;

[0090] S320: Send the spatial coordinates of the target storage grid and the optimal path to the unmanned forklift, so that the unmanned forklift transports the material to the target storage grid according to the spatial coordinates and the optimal path.

[0091] According to the position of the unmanned forklift and the position of the target storage grid, the optimal path is calculated to improve the transportation speed of the unmanned forklift. It should be noted that in specific use scenarios, there may be situations where workers occupy the road and multiple unmanned forklifts run simultaneously. Therefore, the optimal path needs to consider not only the shortest distance but also factors such as the shortest arrival time.

[0092] Please refer to Figure 3 , specifically, step S200 includes:

[0093] S210: Obtain all storage grid columns in the database in an empty state as a group of candidate storage grid columns;

[0094] There may be multiple storage grid columns in the stacking area that are in an empty state, and all of them are selected as a group of candidate storage grid columns;

[0095] S220: According to the arrangement relationship of each storage grid column in the group of candidate storage grid columns, obtain all storage grid columns located closest to the center of the stacking area;

[0096] It can be understood that stacking needs to be stacked from inside to outside to avoid the situation where the outer ring of storage grid columns is full and the material cannot be stacked into the empty storage grid in the inner ring. In order to improve the space utilization, it is usually necessary to stack from inside to outside, so the storage grid column closest to the center of the stacking area is preferred. It should be noted that the proximity described here is a relative position, not an absolute position. For example, the center of the stacking area is surrounded by four storage grid columns, but the distances between the four storage grid columns and the center of the stacking area are different. At this time, the storage grid column closest to the center of the stacking area is not the one with the shortest distance, but the four storage grid columns are all the ones closest to the center of the stacking area.

[0097] S230: Select one of the lowest storage grid columns in an empty state as the target storage grid.

[0098] Selecting the lowest storage grid column in an empty state as the target storage grid allows the storage grid in the stacking area to be stacked from inside to outside, improving space utilization.

[0099] Preferably, step S400 further includes:

[0100] S500: Update the storage state of the target storage grid in the database to a stacking state;

[0101] S510: Return to execute step S200 until all the materials are stacked.

[0102] After the stacking is completed, the storage state of the target storage grid in the database is updated to a stacking state, and then a new target storage grid is selected again after the database is updated until all materials are stacked.

[0103] In an embodiment, the number of the stacking areas is multiple, and multiple stacking area arrays are arranged, a lane for moving the unmanned forklift is formed between any two adjacent stacking areas, the materials include multiple different types, and the multiple different types of materials are respectively stacked in different stacking areas. It can be understood that different types and sizes of materials usually need to be stacked in different areas, so the stacking areas are divided into multiple areas, different stacking areas correspond to different types of materials, and gaps are formed between the stacking areas as lanes for the unmanned forklift to move, thereby improving the stacking efficiency.

[0104] The application further provides an automatic stacking system based on an unmanned forklift, which is applied to the automatic stacking method based on the unmanned forklift. The automatic stacking system based on the unmanned forklift comprises a cloud scheduling system, an unmanned forklift and a roadside module. The cloud scheduling system is used for storing a database and analyzing and obtaining a target storage grid. The unmanned forklift is in communication connection with the cloud scheduling system, and is used for transporting materials to the target storage grid and completing stacking. A laser radar is arranged on the unmanned forklift, and is used for detecting the storage state of the target storage grid. The roadside module is in communication connection with the cloud scheduling system, and is used for monitoring the storage state of all storage grids.

[0105] The cloud scheduling system selects a target storage grid according to the database, and then judges the storage state of the target storage grid through the roadside module. If the target storage grid is in a stacking state, the target storage grid is reselected. If the target storage grid is in an empty state, an optimal path is calculated according to the position of the target storage grid and the position of the unmanned forklift, and then the optimal path is sent to the unmanned forklift. The unmanned forklift transports materials to the target storage grid. The unmanned forklift scans the storage grid column where the target storage grid is located from bottom to top in sequence through the laser radar, and scans the storage state of each storage grid until a storage grid in an empty state is scanned. Then, the materials are stacked at the target storage grid. The application records the storage state of each target storage grid through the database, so that even the target storage grid in the blind area can clearly know whether the materials are stacked thereon. The problem of easy misjudgment of the empty position for stacking is solved, the use of manpower and material resources is reduced, and the stacking efficiency is improved. Through the combination of the laser radar and the roadside module, the accuracy of the judgment of the storage state of the target storage grid is further improved, the misjudgment is avoided, and the stacking efficiency is further improved.

[0106] The above merely describes the preferred embodiments of the present application, and is not intended to limit the patent scope of the present application, and any equivalent structure or equivalent process conversion, or direct or indirect application in other related technical fields, which are made by using the content of the present application specification and drawings, are also included in the patent protection scope of the present application.

Claims

1. An unmanned forklift truck-based automatic stacking method, characterized by, The method comprises the following steps: acquiring a stacking area of a warehouse, dividing the stacking area into multiple storage grids, and forming a database according to storage states and position data of the storage grids, wherein the storage state of the storage grid includes a stacking state and an empty state; acquiring a target storage grid in an empty state from the database; sending stacking task data to the unmanned forklift to make the unmanned forklift transport materials to the target storage grid; stacking the materials to the target storage grid by the unmanned forklift; The step of acquiring a stacking area of a warehouse, dividing the stacking area into multiple storage grid columns arranged in a horizontal direction, and forming a database according to storage states and position data of the storage grids comprises: acquiring a stacking area of a warehouse, dividing the stacking area into multiple storage grid columns arranged in a horizontal direction, and forming a database according to storage states and position data of the storage grids, wherein each storage grid has a spatial coordinate composed of horizontal position data and vertical position data; forming the database according to the storage state and the spatial coordinate of each storage grid; Before the step of sending stacking task data to the unmanned forklift to make the unmanned forklift transport materials to the target storage grid, the method further comprises: monitoring each storage grid by a roadside module and acquiring the storage state of the target storage grid; if the target storage grid is in a stacking state, sending the storage state of the target storage grid to the database for updating, and returning to perform the step of acquiring a target storage grid in an empty state from the database until the target storage grid is in an empty state; if the target storage grid is in an empty state, continuing to perform the step of sending stacking task data to the unmanned forklift to make the unmanned forklift transport materials to the target storage grid; The step of acquiring a target storage grid in an empty state from the database comprises: acquiring all storage grid columns in an empty state in the database as a group of alternative storage grid columns; acquiring all storage grid columns closest to the center of the stacking area according to the arrangement relationship of each storage grid column in the group of alternative storage grid columns; selecting one of the lowest storage grids in an empty state in each of the storage grid columns as the target storage grid.

2. The unmanned fork truck based automated stacking method of claim 1 wherein, Before the step of stacking the materials to the target storage grid by the unmanned forklift, the method further comprises: sequentially scanning all storage grids of the storage grid column where the target storage grid is located from bottom to top by the unmanned forklift; defining the first scanned storage grid in an empty state as the target storage grid, and sending the storage state of each scanned storage grid to the database for updating; if all scanned storage grids are in a stacking state, sending the storage state of each scanned storage grid to the database for updating, and returning to perform the step of acquiring a target storage grid in an empty state from the database.

3. The unmanned fork truck based automated stacking method of claim 2, wherein, The step of stacking the materials to the target storage grid by the unmanned forklift comprises: calculating a target height of the target storage grid according to vertical position data of the target storage grid; the unmanned forklift raising the material to the target height and acquiring a position relationship between the material and the target storage grid through a position sensor of the unmanned forklift; adjusting the material according to the position relationship to align the material with the target storage grid, and stacking the material on the target storage grid to complete the stacking.

4. The unmanned fork truck based automated stacking method of claim 1 wherein, The step of sending the stacking task data to the unmanned forklift to make the unmanned forklift transport the material to the target storage grid includes: generating an optimal path according to the position of the unmanned forklift and horizontal position data of the target storage grid; sending the spatial coordinates of the target storage grid and the optimal path to the unmanned forklift to make the unmanned forklift transport the material to the target storage grid according to the spatial coordinates and the optimal path.

5. The unmanned fork truck based automated palletizing method of any of claims 1-4, wherein, The step of the unmanned forklift stacking the material to the target storage grid further includes: updating the storage state of the target storage grid in the database to a stacking state; returning to execute the step of acquiring the target storage grid in the empty state from the database until all the materials are stacked.

6. The unmanned fork truck based automated palletizing method of any of claims 1-4, wherein, The number of the stacking areas is multiple, multiple stacking areas are arranged in an array, a lane for moving the unmanned forklift is formed between any two adjacent stacking areas, the materials include multiple different types, and the multiple different types of materials are respectively stacked in different stacking areas.

7. An unmanned forklift truck-based automatic stacking system applied to the unmanned forklift truck-based automatic stacking method according to any one of claims 1 to 6, characterized by, The automatic stacking system based on the unmanned forklift includes: a cloud scheduling system, which is used to store the database and analyze and acquire the target storage grid; an unmanned forklift, which is in communication connection with the cloud scheduling system, is used to transport the material to the target storage grid and complete the stacking, and is provided with a laser radar for detecting the storage state of the target storage grid; a roadside module, which is in communication connection with the cloud scheduling system and is used to monitor the storage state of all the storage grids.

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