Stacking method for panel furniture processing production line

Abstract

The present invention relates to the field of data processing, and the present invention relates to a stacking method for a panel furniture processing production line. The current processing layer data of the stacking process is initialized. During the stacking process, based on the size and center of gravity data of the panel, the effective placement space of the current processing layer is evaluated, and a suitable panel is selected for placement. After each placement of the panel, the center of gravity data of the current processing layer and the entire stack is calculated and updated to ensure the stability and safety of the stacking. Finally, the system completes all stacking operations by setting stacking cutoff conditions. The present invention optimizes the stacking process of panel furniture through an intelligent stacking method, combined with data analysis and robotic automation technology, improves space utilization, ensures the stability and safety of the stacking, and ultimately achieves an efficient and stable production process.

Description

Technical Field

[0001] The invention relates to the field of data processing, and in particular to a stacking method for a panel furniture processing production line. Background Art

[0002] Stacking operation is an indispensable part of the panel furniture processing production line. By stacking the processed panels in an orderly manner in the temporary storage area, the floor space can be reduced, space utilization can be improved, and packaging and storage costs can be reduced. Robotic automated stacking plays an important role in industrial and warehouse management. Using robots to move panels in the temporary storage area to the stacking area can greatly improve operational efficiency and consistency, ensure stacking quality, and thus improve overall production efficiency. Multiple problems may be encountered during the stacking process, such as unstable stacking due to different sizes of panels, unstable stacking due to center of gravity offset, and stacking height and weight exceeding the limit. These problems not only affect the stability and safety of the stacking, but may also cause the panels to tilt or collapse during transportation and storage.

[0003] Existing technical means usually adopt fixed stacking modes or simple stacking algorithms, which fail to fully consider the dynamic changes of the size, center of gravity and stacking area of ​​the panels. For example, the Chinese patent application document with publication number CN115973638A discloses a stacking method for smoke cages, which uses a visual sensor to take an image of the top of the smoke cage from above, and extracts features from the key edges of the top of the smoke cage to achieve recognition and stacking of the smoke cage. However, this method has some technical defects, such as the inability to adjust the stacking strategy in real time, resulting in insufficient flexibility in stacking operations, inability to adapt to the stacking requirements of panels of different specifications, and difficulty in ensuring stacking stability and safety. Summary of the invention

[0004] In view of the above-mentioned problem that it is difficult to ensure the stability and safety of stacking, the present invention proposes a stacking method for a panel furniture processing production line, including: obtaining the area, thickness and mass of each to-be-stacked panel in the temporary storage area; obtaining the length, width, height limit and weight limit of the stacking area; in response to the presence of a panel in the temporary storage area whose area is within a first set range, placing it in the center as the first layer of stacking; the center placement means that the plane center of gravity of the panel after placement coincides with the plane geometric center of the stacking area; the plane center of gravity is the plane component of the sum of the centroids of the panels already placed in all stacking areas; for any layer other than the first layer, if no panel has been placed on the current layer, in response to the presence of a panel in the temporary storage area whose area is within the first set range, placing it in the center and then performing the next stacking on the next layer; in response to the presence of a panel in the temporary storage area whose area is within the second set range, placing it on the left. , and ensure that the plane center of gravity of all placed plates is within the second range, and perform the next stacking on the current layer; if a plate has been placed on the current layer, in response to the presence of a plate with an area within the third set range in the temporary storage area, place it on the right, and ensure that the plane center of gravity of all placed plates is within the first range, and perform the next stacking on the next layer; in response to the presence of a plate with an area within the second set range in the temporary storage area, place it on the right, and ensure that the plane center of gravity of all placed plates is within the second range, and perform the next stacking on the current layer; if two plates have been placed on the current layer, in response to the presence of a plate with an area within the fourth set range in the temporary storage area, place it in the center, and ensure that the plane center of gravity of all placed plates is within the first range, and perform the next stacking on the next layer; set the stacking cut-off condition, and complete the stacking operation of the entire plate pile when the cut-off condition is met.

[0005] Furthermore, the first setting range is specifically: ,in The experience value range is 75%~85%. is the length of the stacking area, is the width of the stacking area.

[0006] Furthermore, the second setting range is specifically: ( ,in The experience value range is 25%~35%. The experience value range is 75%~85%. is the effective placement space of the current layer; the effective placement space is the remaining space in the current layer except the space occupied by the placed panels and the minimum spacing between panels.

[0007] Furthermore, the third setting range is specifically: ( , The effective placement space for the current layer.

[0008] Furthermore, the fourth setting range is specifically: ( , The effective placement space for the current layer.

[0009] Furthermore, the first range is specifically: ,in The experience value range is 5%~10%. is the length of the stacking area, is the width of the stacking area.

[0010] Furthermore, the second range is specifically: ,in The experience value range is 25%~35%.

[0011] Furthermore, a stacking cutoff condition is set, and the stacking operation of the entire panel pile is completed when the cutoff condition is reached, which also includes: after each placement of a panel, calculating the weight and the maximum height of all stacked panels, and completing the stacking in response to the weight and being greater than the weight limit; completing the stacking in response to the maximum height being greater than the height limit.

[0012] The technical effects of the present invention are:

[0013] The present invention optimizes the stacking process of panel furniture through an intelligent stacking method combined with data analysis and robot automation technology, improves space utilization, ensures the stability and safety of stacking, and ultimately achieves an efficient and stable production process. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] By reading the following detailed description with reference to the accompanying drawings, the above and other objects, features and advantages of the exemplary embodiments of the present invention will become readily understood. In the accompanying drawings, several embodiments of the present invention are shown in an exemplary and non-limiting manner, and the same or corresponding reference numerals represent the same or corresponding parts, wherein:

[0015] Figure 1 is a flowchart schematically showing a stacking method for a panel furniture processing production line according to an embodiment of the present invention;

[0016] Figure 2 is a schematic grayscale image of a temporary storage area in an embodiment of the present invention;

[0017] Figure 3 is a flowchart schematically illustrating steps S2 and S4 of an embodiment of the present invention;

[0018] Figure 4 is a flowchart schematically showing a program in which the current processing layer in an embodiment of the present invention is not the first layer;

[0019] Figure 5It schematically shows a perspective structural diagram of a plate stack and a spatial coordinate system of a stacking area in an embodiment of the present invention. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0021] The specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0022] Example of stacking method for panel furniture processing production line:

[0023] like Figure 1 As shown, the stacking method for the panel furniture processing production line of the present invention includes:

[0024] S1. Obtain a data set of panels to be stacked; obtain stacking area parameters.

[0025] After a series of processing operations such as cutting, edge banding, and drilling, a standard board can be obtained into several furniture boards. Through the assembly line operation method, a large number of standard boards are processed into furniture and stacked in the temporary storage area, such as Figure 2 As shown, the furniture panels in the temporary storage area are stacked by grabbing with a robot gripper to reduce floor space, improve space utilization and reduce packaging and storage costs. The panels mentioned later in the present invention specifically refer to furniture panels, not standard panels, and the rest will not be explained one by one.

[0026] Robotic automated stacking plays a significant role in industrial and warehouse management. First, it greatly improves operational efficiency and consistency, can work continuously and ensure the quality of stacking, thereby improving overall production efficiency. Secondly, by reducing dependence on manual labor, it reduces labor costs and the incidence of work-related accidents, protecting the health and safety of workers; at the same time, robots can complete a variety of stacking tasks through programming, adapting to panels of different sizes and materials to meet production needs; finally, robotic automated stacking meets the requirements of sustainable development, can reduce energy consumption and carbon emissions, optimize resource utilization, and reduce waste.

[0027] When the panels enter the temporary storage area, you can scan the QR code on the panel to trace the information and obtain its relevant data. Scan the QR code of each panel entering the temporary storage area to obtain the data of all panels to be stacked, and store them according to the size of the panels when they are placed in the temporary storage area. The panel data obtained by scanning the QR code includes a lot of redundant information. Only the data related to the stacking of panels is saved here, including: panel length , Panel width , Plate thickness , Panel quality These plate data will be used as the basic data for subsequent stacking operations to determine the stacking order and position of the plates. Then the relevant parameters of the stacking area are obtained, including: the length of the stacking area , width of the stacking area , height limit of stacking area , Weight limit of stacking area , Minimum spacing of panels within the stacking area .

[0028] S2, initialize the current processing layer data; evaluate the effective placement space and center of gravity data of the current processing layer based on the current processing layer as the first layer; select the appropriate panel in the temporary storage area for placement and update the current processing layer data. Figure 3 The content of S2 is shown in the dashed box.

[0029] S201, initializing current processing layer data.

[0030] When stacking, the panels need to be laid out layer by layer from the bottom up. However, due to different customer requirements, the sizes of the panels are also different. Therefore, when laying out each layer, it is necessary to consider the space factor of the stacking area and the stability factor of the panel stack. From these two aspects, the situation of each layer can be analyzed to improve space utilization and stability. Figure 5 As shown, Represents the first layer of the plate stack; When the distribution and placement of the panels on the layer are determined, this layer is taken as the current processing layer and recorded as ;So as well as It indicates the adjacent layers of the current processing layer; Indicates the top layer of the plate stack. It should be noted that Unspecified specific layer, available when analyzing the first layer , correspondingly, when analyzing the highest level, we have .

[0031] Initialize the current processing layer data, including: the layer number of the current processing layer , the stacked panel information of the current processing layer , the effective placement space of the current processing layer , the center of gravity data of the current processing layer .

[0032] S202, evaluating the effective placement space and center of gravity data of the current processing layer being the first layer.

[0033] Determine the initial placement space, when , the current processing layer is the first layer, then the effective placement space (i.e. placement space) of this layer is not restricted by other layers, it is only limited by the length and width of the stacking area, then: ; and because the current processing layer is the first layer, there is no plate below it, and the initial center of gravity data is .

[0034] S203, selecting a suitable panel in the temporary storage area for placement and updating the current processing layer data.

[0035] When the processing layer is the first layer, a larger plate should be selected as the bottom plate and placed in the center to improve the stability of the subsequent layers. Here, the larger plate refers to the area of of panels, where empirical values ​​are taken , the implementer can adjust it according to the actual situation, and the above-mentioned square brackets [ ] indicate the range including the upper and lower limits, and the square brackets appearing in the rest of the present invention will not be explained; the above-mentioned center placement means that the plane center of gravity of the plate should be at the plane geometric center of the stacking area; secondly, if there are no plates meeting the above requirements in the temporary storage area, it is necessary to wait for new plates to be stored in the temporary storage area until there are plates that meet the requirements and then stacking can be carried out to ensure the overall stability of the plate stack.

[0036] To ensure the stability of the final panel stack, the robot needs to calculate the center of gravity of the panel stack after each stacking operation to prevent the panels from falling or collapsing due to unstable center of gravity during the stacking process or the movement of the panel stack. Since this layer is the first layer, after the first plate is placed, its center of gravity data is the plane center of gravity coordinates of the plate in the spatial coordinate system of the stacking area. The spatial coordinate system of the stacking area is as follows: Figure 5 The coordinate system is shown in the figure, so the centroid data of this layer is the plane geometric center of the stacking area, that is, After processing the first layer, since the stacking of this layer is completed, the data of the current processing layer is updated. .

[0037] In the case where the current processing layer is not the first layer, the analysis process involved is relatively complicated and will not be described in step S2. The specific analysis is shown in step S3.

[0038] S3: Based on the fact that the current processing layer is not the first layer, the effective placement space and center of gravity data of the current processing layer are evaluated; a suitable panel is selected in the temporary storage area for placement and the current processing layer data is updated. Figure 4 As shown in the content.

[0039] S301, evaluating the effective placement space and center of gravity data of the current processing layer which is not the first layer and has empty information of stacked panels; selecting panels for placement based on the effective placement space and center of gravity data and updating the current processing layer data.

[0040] When the current processing layer is not the first layer, that is, . The current processing layer needs to be considered Information about stacked panels Is it empty? , it means that the current processing layer has not yet stacked panels. At this time, the maximum value of the effective placement space of this layer (i.e., the placement space) is the same as the initial placement space. Also need to consider The position information of all placed panels in The extreme values ​​of the plane coordinates of all placed panels in the stacking area space coordinate system are , , , ; Then the current processing layer The effective placement space base value is ,in Take the empirical value of 110%, which means that when stacking panels on the current processing layer, it can exceed 10% of the area occupied by all the panels placed on the lower layer. The implementer can adjust it according to the actual situation. When the effective placement space of the current processing layer ,when When the effective placement space of the current processing layer .

[0041] when and , since the current processing layer has not yet placed a panel, its center of gravity data is the center of gravity data of the next layer of this layer, that is, It should be noted that for any layer where the panels have been placed , its center of gravity data is determined by the center of gravity of all the stacked panels, e.g. Layer and the layers below it have Piece of board, remember The plane coordinates of the center of gravity of the plate in the space coordinate system of the stacking area are: The center of gravity of each plate is the geometric center of its plane. The calculation process of the center of gravity of the plate will not be repeated here. The center of gravity data The calculation method is:

[0042]

[0043]

[0044] in , Respectively represent the center of gravity data on different coordinate axes , The weight on the board, finally any layer of the board has been placed The center of gravity data is ; Then for the panels that have been placed Layer, its centroid data is .

[0045] In summary, the effective placement space of the current processing layer has been obtained And the center of gravity data , select an area of ​​( of panels, of which The empirical value is 80%, and the implementer can adjust it according to the actual situation; the panels that meet the requirements are placed in the center, and the placement method is the same as in step S203, which will not be repeated here.

[0046] If there are no panels that meet the above requirements in the temporary storage area, the search area is checked to see if it meets the requirements. of panels, of which Take 30% of the experience value, For experience value 80%, here The empirical value of 30% is to ensure that the area of ​​the first plate of the layer cannot be too small to ensure the stability of the upper stacking; if there is no plate with an area of If there are plates in the temporary storage area, wait for new plates to enter the storage area until a plate that meets the above area requirements appears. Since the current processing layer cannot complete the stacking with a large plate, multiple plates need to be placed on this layer. In order to ensure the overall stability of the plate stack, the first plate of this layer is placed from the leftmost end, but the minimum horizontal coordinate of the plate should be greater than 0 and greater than , where the experience value , and They are The maximum and minimum values ​​of the horizontal coordinates of all placed panels in the layer; it means that the left end should be within the stacking area when placed and the left edge can be larger than 10% of the leftmost edge of the lower panel.

[0047] When placing panels, you also need to consider their center of gravity. For the panels that meet the effective placement space, calculate their center of gravity data. At this time, the center of gravity data needs to be obtained based on the center of gravity data of the stacking layer below and the panels that meet the requirements. In an example: Take the current processing layer as the first The stacked board information of the current processing layer is obtained by taking an example. For the above situation, the selected panels that meet the requirements are the stacked panels; information of stacked panels Includes the number of stacked panels in this layer and the coordinates of the center of gravity of the stacked panels. For the above case, the number of stacked panels That is ; Record the first The coordinates of the center of gravity of the plate are , then The centroid data of the layer for:

[0048]

[0049]

[0050] in , Respectively represent The center of gravity data of the layer is in different coordinate axes , The weight on It means the The center of gravity data of the layer is calculated as above for any layer where the panels have been placed. Center of gravity data The calculation method is the same, which will not be repeated here; finally, the center of gravity data of the current processing layer with stacked panels is: .

[0051] If the center of gravity data of the required panels is within the second range determined by the geometric center of the stacking area plane, that is, ,in If the empirical value is 30%, the plate can be placed. The second range is relatively large. This is because when only the first plate on the left is placed on the current processing layer, the right or middle plates have not been placed yet. Therefore, the center of gravity data is relatively biased to the left, but it does not affect the overall stability. Otherwise, other plates that meet the effective placement space are reselected in the temporary storage area, and the center of gravity data after placement is calculated and compared with the range determined by the plane geometric center of the stacking area mentioned above.

[0052] After placing the panels that meet the effective placement space and whose center of gravity data is within the set range, update the current processing layer data. Since only a small panel is placed on the current processing layer, it is necessary to stack it on the current processing layer later. .

[0053] S302, evaluating the effective placement space and center of gravity data when the current processing layer is not the first layer and the information of the stacked panels is not empty; selecting panels for placement based on the effective placement space and center of gravity data and updating the current processing layer data.

[0054] when , it means that the layer has been stacked with panels. For the panel stacking operation, all panels follow the stacking placement rule: left - right - center, and the panels placed at the left and right ends must be larger panels. This rule can ensure the stability when there are multiple panels on the current processing layer. Based on the above placement rules, the following situations may occur:

[0055] Ⅰ. The current processing layer is completed by stacking only two large plates;

[0056] Ⅱ. The current processing layer has two large panels placed at the left and right ends, and the remaining area in the middle can be used to place multiple smaller panels.

[0057] For the current processing layer where the plates have been stacked, you can use the information of the stacked plates to Get the placement position of the stacked panels, that is, the coordinates of the stacked panels. In an example: Assume that the current layer has been placed The space occupied by each panel is It should be noted that the space occupied by each plate is not the area of ​​the plate itself, but also the minimum spacing between plates in the stacking area. , then the board The space occupied is:

[0058]

[0059] in Indicates the plate Length; Indicates the plate Width; Indicates the minimum spacing between panels in the stacking area. When stacking, space utilization is considered. By default, panels are placed close to each other, that is, each panel only considers the minimum spacing of the adjacent panel and does not need to consider multiple adjacent panels. In this way, the space occupied by each panel can be obtained, and the effective placement space of the current processing layer for:

[0060]

[0061] in Indicates the length of the stacking area; Indicates the width of the stacking area; Indicates The space occupied by the panels.

[0062] For and When the center of gravity data based on The centroid data of the layer And the current processing layer Information about stacked panels The acquisition process is the same as that in step S301. The centroid data of the layer The acquisition method is the same and will not be repeated here.

[0063] For the above situation I, that is, the current processing layer is completed by stacking only two large panels, then in the temporary storage area, you can choose an area that meets the requirements. of panels, of which The empirical value is 30%, which means that the area of ​​the plate is large enough to stabilize the upper stacking space. If there is a plate that meets the requirements, place it from the right end, which means that the maximum value of the horizontal coordinate of the plate in the spatial coordinate system of the stacking area should be less than the maximum value of the coordinate of the stacking area, and greater than ,in and They are The maximum and minimum values ​​of the horizontal coordinates of all placed panels in the layer; recalculate the center of gravity data of the current processing layer , here the center of gravity data The acquisition process is the same as that in step S301. The centroid data of the layer The acquisition method is the same; if the center of gravity data is within the first range determined by the plane geometric center of the stacking area, that is, ,in If the empirical value is 10%, then the stacking of this layer is completed. Since the current processing layer has been placed, its center of gravity data should be near the geometric center of the stacking area plane, so the first range is smaller than the second range; update the data of the current processing layer, there is .

[0064] For the above case II, if there is no area that satisfies If the stacking area is larger than 20%, you can select a panel with an area larger than 20% of the stacking area and place it on the right side. The meaning of placing on the right side is the same as above, so I will not repeat it here. The stacking area refers to ; Recalculate the center of gravity data of the current processing layer after placement , here the center of gravity data The acquisition process is the same as the above acquisition method; if the center of gravity data is within the second range determined by the plane geometric center of the stacking area, that is, ,in The experience value is 10%, and the data of the current processing layer is updated. Since the current processing layer has not been stacked yet, there is If there is no plate with an area larger than 20% of the stacking area, wait for new plates to enter the temporary storage area until a plate that meets the above area requirements appears.

[0065] At this time, two large panels are placed at the left and right ends of the current processing layer, and there is still some remaining area in the middle area of ​​the layer. Based on the information of the stacked panels in the current processing layer, You can obtain the information of previously placed panels and recalculate the effective placement space of the current processing layer. And the center of gravity data The calculation process is the same as the calculation method of the effective placement space and center of gravity data of the current processing layer where the panels have been stacked, so it will not be repeated here. Select an effective placement space with an area smaller than the current processing layer in the temporary storage area The panels are placed in the middle area of ​​the current processing layer according to certain rules based on the effective placement space of the current processing layer.

[0066] In one embodiment, a greedy algorithm can be used to obtain the optimal placement position in the current processing layer. The input of the algorithm is the length of all the panels to be stacked in the temporary storage area. ,width And the effective placement space of the current processing layer At the same time, in the algorithm, the moving distance variable of the robot gripper arm can be added as input data, in order to obtain the optimal placement position of the plate that meets the effective placement space when the gripper arm moves the least distance, which can save stacking time and improve resource utilization; the output of the algorithm is the optimal placement position. The above greedy algorithm is a well-known technology and will not be repeated in the present invention. The implementer can also select other optimization algorithms to obtain the optimal placement position of the current processing layer.

[0067] After obtaining the above optimal placement position, calculate the center of gravity data after placing the panel at this position , the calculation process is still the same as the calculation method of the center of gravity data of the current processing layer where the panels have been stacked; if the center of gravity data is within the first range determined by the geometric center of the stacking area plane, that is, ,in If the experience value is 10%, the data of the current processing layer is updated, and it is uncertain whether there is an effective placement space in the temporary storage area that is smaller than the current processing layer. The next stacking operation needs to be done on the current processing layer. ; If there is no valid placement space in the temporary storage area that is smaller than the current processing layer The current layer of the plate is stopped, and the current processing layer data is updated. .

[0068] S4, set the stacking cut-off condition to complete all stacking operations to obtain a complete stack of panels. Figure 3 The content of S2 is shown in the dashed box.

[0069] Set the stacking cut-off condition and obtain the height limit of the stacking area , Weight limit of stacking area , each time the current processing layer is updated After the parameters are calculated, the weight of all stacked panels is summed up and recorded as ; and calculate the height of the current processing layer in the spatial coordinate system of the stacking area as .Will Weight restrictions in the stacking area For comparison, if Then stop the next stacking operation and complete the stacking; Height restrictions with stacking area For comparison, if , after completing the stacking of the current layer, no higher level stacking will be performed, and the stacking is completed.

[0070] After each update of the current processing layer data, if the above cut-off conditions do not appear, the next stacking operation will continue until any of the above cut-off conditions appear, then the stacking will be stopped, and the system operator will be notified to inspect and transfer the plate stack. By setting the stacking cut-off conditions, the stacking operation is stopped when the stacking weight exceeds the limit or the stacking height exceeds the limit, effectively avoiding safety hazards in the stacking process. This method improves the safety and reliability of the stacking operation, and ensures the stability of the stacking and the continuity of production.

[0071] The present invention can maximize the use of effective placement space and avoid space waste through intelligent selection and stacking methods. This is more efficient than the fixed or simple stacking algorithms in the prior art. When each plate is added, the effective placement space is calculated and the center of gravity of each layer is ensured to be within the first range. This method is safer and more reliable than the prior art that does not consider the instability caused by the center of gravity offset. Through intelligent stacking methods and robot automation technology, the stacking process is optimized and production efficiency is improved. This is faster and more efficient than the manual or semi-automatic stacking methods in the prior art.

[0072] In the description of this specification, "plurality" or "several" means at least two, such as two, three or more, etc., unless otherwise clearly and specifically defined.

[0073] Although this specification has shown and described a number of embodiments of the present invention, it will be apparent to those skilled in the art that such embodiments are provided by way of example only. Those skilled in the art will conceive of many modifications, changes and alternatives without departing from the ideas and spirit of the present invention. It should be understood that in the practice of the present invention, various alternatives to the embodiments of the present invention described herein may be employed.

Claims

1. A stacking method for a panel furniture processing production line, characterized in that: The method comprises: Obtain the area, thickness and mass of each plate to be stacked in the temporary storage area; obtain the length, width, height and weight limits of the stacking area; In response to the presence of a plate having an area within a first set range in the temporary storage area, the plate is placed centrally as the first layer of the stack; the central placement means that the plane center of gravity of the plate coincides with the plane geometric center of the stacking area after placement; the plane center of gravity is the plane component of the sum of the centroids of all placed plates in the stacking area; For any layer other than the first layer, if no plate has been placed on the current layer, in response to the presence of a plate with an area within the first set range in the temporary storage area, it is placed in the center and then stacked on the next layer for the next time; in response to the presence of a plate with an area within the second set range in the temporary storage area, it is placed on the left, and the center of gravity of all placed plates is ensured to be within the second range, and then stacked on the current layer for the next time; If a plate has been placed on the current layer, in response to the presence of a plate with an area within the third set range in the temporary storage area, it is placed on the right, and the center of gravity of all placed plates is ensured to be within the first range, and the next stacking is performed on the next layer; in response to the presence of a plate with an area within the second set range in the temporary storage area, it is placed on the right, and the center of gravity of all placed plates is ensured to be within the second range, and the next stacking is performed on the current layer; If two plates have been placed on the current layer, in response to the presence of a plate with an area within the fourth set range in the temporary storage area, place it in the center, and ensure that the center of gravity of all placed plates is within the first range, and perform the next stacking on the next layer; A stacking cut-off condition is set, and when the cut-off condition is reached, the stacking operation of the entire plate stack is completed; the first range is specifically: ,in The experience value range is 5%~10%. is the length of the stacking area, is the width of the stacking area; The second range is specifically: ,in The experience value range is 25%~35%.

2. The stacking method for a panel furniture processing production line according to claim 1, characterized in that: The first setting range is specifically: ,in The experience value range is 75%~85%. is the length of the stacking area, is the width of the stacking area.

3. The stacking method for a panel furniture processing production line according to claim 1, characterized in that: The second setting range is specifically: ,in The experience value range is 25%~35%. The experience value range is 75%~85%. It is the effective placement space of the current layer; The effective placement space is the remaining space in the current layer except the space occupied by the placed panels and the minimum spacing between the panels.

4. The stacking method for a panel furniture processing production line according to claim 3, characterized in that: The third setting range is specifically: , The effective placement space for the current layer.

5. The stacking method for panel furniture processing production line according to claim 3, characterized in that: The fourth setting range is specifically: , The effective placement space for the current layer.

6. The stacking method for a panel furniture processing production line according to claim 1, characterized in that: Set the stacking cut-off condition. When the cut-off condition is reached, the stacking operation of the entire plate pile is completed, including: After each placement of a panel, the weight and the maximum height of all stacked panels are calculated, and in response to the weight being greater than the weight limit, the stacking is completed; In response to the maximum height being greater than the height limit, stacking is completed.

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