Robot with batch stack type planning function

Abstract

The invention provides a robot with a batch stack type planning function, which comprises a sensing unit, a processing unit, a human-computer interface, an input unit, a robot body and a driving unit, and is characterized in that the sensing unit comprises a plurality of cameras arranged at different angles, and is used for collecting working environment images and determining a stacking area, a material position and a material stacking position; simulation software is loaded in the processing unit, the processing unit is used for determining various data required by batch stack type planning according to the trigger indication information input by the input unit, and the processing unit automatically performs stack type planning according to the data to obtain N reference stack types; and the robot body executes a stacking task according to the planned stack type under the control of the driving unit. Therefore, batch stack type planning of various different materials and different trays can be carried out, the stack type planning capability is greatly improved in combination with a stack type planning algorithm and an artificial auxiliary planning mode, the planning efficiency is high, and the method is suitable for scenes with a large number of materials and various materials and high in reliability.

Description

Technical Field

[0001] The present invention relates to intelligent manufacturing and high-end manufacturing, and in particular to a robot capable of batch stacking planning. Background Art

[0002] With the development of industrial automation technology, the automatic handling and stacking of materials by palletizing robots is becoming more and more popular in material and warehousing scenarios.

[0003] At present, the applied pallet types are mostly based on relatively simple pallet type planning methods. For example, a single planning is carried out for each type of material according to user needs. Each planning needs to consider the parameters of the pallet and the material. Especially when it comes to materials of large quantity and various shapes, the planned pallet type cannot be directly called for use. The operator still needs to manually arrange and plan on site. The planned pallet type is single, the planning efficiency is low, and the reliability is poor. Summary of the invention

[0004] In view of the defects in the prior art, an object of the present invention is to provide a robot capable of batch stacking planning.

[0005] In a first aspect, an embodiment of the present application provides a robot with batch pallet type planning, comprising: a perception unit, a processing unit, a human-machine interface, an input unit, a robot body, and a drive unit, wherein the perception unit comprises cameras arranged at multiple different angles, and the cameras are used to collect images of the working environment, determine the palletizing area, the location of the material, and the location where the material is stacked; the processing unit is loaded with simulation software, and the simulation software is used to determine various data required for batch pallet type planning according to the trigger indication information input by the input unit, so as to complete the batch pallet type planning; the robot body performs the palletizing task according to the planned pallet type under the control of the drive unit; wherein:

[0006] The human-machine interface is used to display a pallet type planning interface, which includes: a pallet type list, a pallet list, and a material list;

[0007] The input unit is used to receive trigger indication information for the stack type list, and select a batch stack type planning control to jump to a batch stack type planning option box; the batch stack type planning option box includes: a batch import material control;

[0008] The input unit is further used to receive trigger indication information for the batch material import control, and import N types of material parameters, where N is a natural number greater than 1;

[0009] The processing unit is used to automatically perform pallet type planning according to the parameter information, number of layers, palletizing type, and batch imported material parameters of the pallet to obtain N reference pallet types.

[0010] Optionally, the batch pallet type planning option box further includes: a pallet selection control,

[0011] The input unit is further used to receive trigger indication information for the tray selection control;

[0012] The processing unit is further used to determine the parameter information of the pallet according to the trigger indication information of the pallet selection control, and the parameter information of the pallet includes: pallet length, pallet width, pallet height, maximum load height of the pallet, and maximum load weight of the pallet.

[0013] Optionally, the human-machine interface is also used for:

[0014] The parameters corresponding to the planned N reference stack types are displayed in the stack type list; the parameters corresponding to the N reference stack types include: stack type length, stack type width, stack type height, stack type weight, and the number of materials in each layer.

[0015] Optionally, the input unit is further used to receive trigger indication information for the stack type list;

[0016] The processing unit is further configured to perform the following operations according to the trigger indication information of the stack type list:

[0017] Select to view or delete any one or more reference stack types in the stack type list.

[0018] Optionally, it also includes a correction unit and a storage unit,

[0019] The correction unit is used to manually modify any one or more reference pallet types in the pallet type list, and the manual modification includes: adding or deleting the number of layers of the reference pallet type, dragging the material stacking position, modifying the pallet size, modifying the pallet type, and modifying the material parameters;

[0020] The storage unit is used to store the manually modified stacking shape.

[0021] Optionally, the batch stacking type planning option box further includes: a layer number selection control;

[0022] The input unit is further used to receive trigger indication information for the layer number selection control;

[0023] The processing unit is further used to determine the number of layers of each stack type according to the trigger indication information of the layer number selection control.

[0024] Optionally, the batch pallet type planning option box further includes: a pallet type selection control;

[0025] The input unit is further used to receive trigger indication information for the palletizing type selection control;

[0026] The processing unit is further used to determine the palletizing type of each pallet type according to the trigger indication information of the palletizing type selection control, and the palletizing types include: a circular type, a barcode facing outward type, and a compact type.

[0027] Optionally, it includes: a communication unit for establishing a remote connection with the field operation robot, distributing the planned N reference stack types to the host computer or processor of the field operation robot, so that the field operation robot performs the palletizing task according to the planned stack types.

[0028] Optionally, it includes: a database unit, which is used to store parameter information, number of layers, palletizing type, material parameters, and corresponding M reference pallet types, and record the number of times each reference pallet type is used, where M is a natural number greater than or equal to 1;

[0029] When the number M is greater than 1, the processing unit will prioritize the stack types according to the number of times they are used when automatically planning the stack types, and will give priority to displaying the stack types that are used the most times.

[0030] Optionally, any one or more of the processing unit, the sensing unit, the human-machine interface, and the input unit are combined with the robot body into an integral structure; or,

[0031] Any one or more of the processing unit, the sensing unit, the human-machine interface, and the input unit are connected to the robot body by remote communication;

[0032] The robot body comprises: at least one end effector. After determining the position of the material, the drive unit controls the end effector to grab the material and place the material at a designated position according to the batch planned stack type.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] In this application, by displaying the pallet type planning interface in the HMI, receiving the trigger indication information for the pallet type list, and selecting the batch pallet type planning control, jumping to the batch pallet type planning option box; receiving the trigger indication information for the batch material import control, importing N types of material parameters, and automatically performing pallet type planning according to the pallet parameter information, number of layers, pallet type, and batch imported material parameters, N reference pallets are obtained. Therefore, batch pallet type planning of a variety of different materials and different pallets can be performed through the HMI, and the combination of the two methods of pallet type planning algorithm and manual auxiliary planning greatly improves the ability of pallet type planning, with high planning efficiency, suitable for scenes with large quantities and diverse materials, and strong reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings in the following descriptions are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without creative work. By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, purposes and advantages of the present invention will become more obvious:

[0036] Figure 1 This is a schematic diagram of the structure of a robot with batch stacking planning in the first embodiment of the present application;

[0037] Figure 2 Schematic diagram of the batch stacking type planning interface based on HMI provided in the embodiment of the present application Figure 1 ;

[0038] Figure 3 Schematic diagram of the batch stacking type planning interface based on HMI provided in the embodiment of the present application Figure 2 ;

[0039] Figure 4 A schematic diagram of the architecture of a robot with batch stacking planning provided in an embodiment of the present application Figure 1 ;

[0040] Figure 5 Schematic diagram of another robot with batch stacking planning provided in an embodiment of the present application Figure 2 ;

[0041] Figure 6 A schematic diagram of the architecture of another robot with batch stacking planning provided in an embodiment of the present application Figure 3 ;

[0042] Figure 7 A schematic diagram of the architecture of another robot with batch stacking planning provided in an embodiment of the present application Figure 4 . DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0044] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there can be a central component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there can be a central component at the same time.

[0045] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0046] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present invention and the above-mentioned drawings 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 interchanged where appropriate, so that the embodiments of the present invention described herein, for example, 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 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 devices.

[0047] The following specific embodiments are used to describe in detail the technical solution of the present invention and how the technical solution of the present application solves the above technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

[0048] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0049] Figure 1 Schematic diagram of the structure of the robot with batch stacking planning in the first embodiment of the present application. Figure 1 As shown, the robot in this embodiment may include: a sensing unit 104, a processing unit 105, a human-machine interface, an input unit, a robot body 101, and a driving unit 102. The sensing unit 104 includes cameras set at multiple different angles, and the cameras are used to collect images of the working environment, determine the stacking area, the location of the material, and the location where the material is stacked. The processing unit 105 is loaded with simulation software, and the simulation software is used to determine various data required for batch stacking type planning according to the trigger indication information input by the input unit to complete the batch stacking type planning; the robot body 101 performs the stacking task according to the planned stacking type under the control of the driving unit 102.

[0050] Exemplarily, the human-machine interface and the processing unit 105 are integrated into a human-machine interface for displaying a pallet type planning interface, which includes: a pallet type list, a pallet list, and a material list; an input unit for receiving trigger indication information for the pallet type list, and selecting a batch pallet type planning control to jump to a batch pallet type planning option box; the batch pallet type planning option box includes: a batch import material control; the input unit is also used to receive trigger indication information for a batch import material control, and import N types of material parameters, where N is a natural number greater than 1; the processing unit 105 is used to automatically perform pallet type planning according to the pallet parameter information, the number of layers, the palletizing type, and the batch imported material parameters to obtain N reference pallets.

[0051] In one embodiment, any one or more of the processing unit, the sensing unit, the human-machine interface, and the input unit are combined with the robot body into an integral structure.

[0052] In another embodiment, any one or more of the processing unit, the sensing unit, the human-machine interface, and the input unit are connected to the robot body by remote communication.

[0053] Combination Figure 1 The processing unit 105 is connected to the processor and the sensing unit 104 in the robot body 101 through a wireless network or a wired communication. The robot body 101 includes: at least one end effector 103. After determining the material position in the real environment, the driving unit 102 controls the end effector 103 to grab the material 107, and places the material on a designated pallet 106 according to the batch planning stack type.

[0054] Figure 2 Schematic diagram of the batch stacking type planning interface based on HMI provided in the embodiment of the present application Figure 1 ,like Figure 2As shown, a batch palletizing planning function is developed through a human-machine interface (HMI). The number of pallets and the type of pallet (for example, length, width, height, and maximum load weight) can be set in the batch palletizing planning option box. It should be noted that the materials for palletizing planning are not limited to boxes. In this embodiment, taking boxes as an example, you can directly download the carton list template, or batch import the parameters of the boxes in a table form, such as the length, width, height, and weight of the boxes. Then, the pallet type and the box parameters are combined to automatically plan the pallet type, where the planned parameters include: the number of layers of each pallet, the palletizing type (default palletizing type, round-shaped palletizing type, etc.). In addition, you can also plan whether to consider the orientation of the barcode when palletizing.

[0055] Figure 3 Schematic diagram of the batch stacking type planning interface based on HMI provided in the embodiment of the present application Figure 2 ,like Figure 3 As shown in the figure, after completing batch pallet planning or before automatic planning, you can click on the pallet list to view the planned pallets. In the pallet list, the serial number, pallet name, pallet length, width, height, weight, number of layers, number of each layer, number of whole pallets, pallet picture, etc. are displayed in columns. You can click View to display the pallet picture in the pallet list, and display the entire pallet in three-dimensional or two-dimensional form.

[0056] In this embodiment, batch pallet planning of a variety of different materials and different pallets is performed through HMI, combining the pallet planning algorithm and manual assisted planning, which greatly improves the pallet planning capability and has high planning efficiency. It is suitable for scenarios with large quantities and diverse materials and has strong reliability.

[0057] Figure 4 A schematic diagram of the architecture of a robot with batch stacking planning provided in an embodiment of the present application Figure 1 ,like Figure 4As shown, the robot 400 with batch pallet type planning in this embodiment may include: a sensing unit 410, a processing unit 420, a human-machine interface 430, an input unit 440, a robot body 450, and a drive unit 460. The sensing unit 410 includes cameras 411 set at multiple different angles, and the cameras are used to collect images of the working environment and determine the palletizing area, the location of the materials, and the location where the materials are stacked; the processing unit 420 is loaded with simulation software 421, and the simulation software is used to determine various data required for batch pallet type planning according to the trigger indication information input by the input unit to complete the batch pallet type planning; the robot body 450 performs the palletizing task according to the planned pallet type under the control of the drive unit 460. Among them, the human-machine interface 430 is used to display the pallet type planning interface in the HMI, and the pallet type planning interface includes: a pallet type list, a pallet list, and a material list; the input unit 440 is used to receive trigger indication information for the pallet type list, and select the batch pallet type planning control to jump to the batch pallet type planning option box; wherein the batch pallet type planning option box includes: a batch import material control; the input unit 440 is used to receive trigger indication information for the batch import material control, and import N types of material parameters, N is a natural number greater than 1; the processing unit 420 is used to automatically perform pallet type planning according to the parameter information of the pallet, the number of layers, the stacking type, and the batch imported material parameters to obtain N reference pallets.

[0058] In this embodiment, the pallet type planning interface includes: a pallet type list, a pallet list, a material list, etc. The pallet type list is mainly used to display various information of the planned pallet type, such as the parameter information of the pallet, the information of the material, etc. For details, please refer to Figure 3 The pallet list shows in detail the different types of pallets that have been placed. When planning, you can directly select the pallet from the pallet list to avoid manual input every time. The material list generally records the size and weight of the material. Different materials correspond to different pallets and the planning results are different.

[0059] In this embodiment, when the user clicks the batch pallet type planning control on the pallet type list on the pallet type planning interface, the user can directly jump to the batch pallet type planning option box to import or edit the planned parameters in the batch pallet type planning option box.

[0060] Exemplarily, the batch pallet planning option box may include: a batch material import control for batch importing materials.

[0061] Exemplarily, the batch pallet type planning option box also includes: a pallet selection control. Before automatically performing pallet type planning, the input unit 440 receives trigger indication information for the pallet selection control; the processing unit 420 determines the parameter information of the pallet according to the trigger indication information of the pallet selection control. The parameter information of the pallet includes: pallet length, pallet width, pallet height, maximum pallet load height, and maximum pallet load weight.

[0062] Exemplarily, the batch pallet type planning option box also includes: a layer number selection control; before automatically performing the pallet type planning, the input unit 440 receives trigger indication information for the layer number selection control; the processing unit 420 determines the number of layers of each pallet type according to the trigger indication information of the layer number selection control.

[0063] Exemplarily, the batch palletizing planning option box also includes: a palletizing type selection control; before automatically performing palletizing planning, the input unit 440 receives trigger indication information for the palletizing type selection control; the processing unit 420 determines the palletizing type of each pallet type according to the trigger indication information of the palletizing type selection control, and the palletizing types include: a U-shaped type, a barcode facing outward type, and a compact type.

[0064] Exemplarily, the human-machine interface 430 is also used to display the parameters corresponding to the planned N reference stacks in the stack list; wherein the parameters corresponding to the N reference stacks include: stack length, stack width, stack height, stack weight, and the quantity of materials in each layer.

[0065] Exemplarily, the input unit 440 is further used to receive trigger indication information for the stack type list; the processing unit 420 is further used to perform the following operations according to the trigger indication information of the stack type list:

[0066] Select to view or delete any one or more reference stack types in the stack type list.

[0067] In this embodiment, you can directly select and view any generated reference stack type in the stack type list. For details, see Figure 3 As shown, when the view control is clicked, the reference stack type is displayed in a two-dimensional or three-dimensional manner in a newly popped-up view interface. Optionally, any one or more reference stack types can be deleted from the stack type list.

[0068] In this embodiment, after determining the parameter information of the pallet, the number of layers, the type of stacking, and the parameters of the materials imported in batches, the planning of N stacking types is completed at the same time to obtain N reference stacking types. The reason why it is defined as a reference stacking type here is that in specific applications, the batch-planned stacking type can also be manually adjusted.

[0069] In this embodiment, by displaying the pallet type planning interface in the HMI, receiving the trigger indication information for the pallet type list, and selecting the batch pallet type planning control, jumping to the batch pallet type planning option box; receiving the trigger indication information for the batch material import control, importing N types of material parameters, and automatically performing pallet type planning according to the parameter information, number of layers, pallet type, and batch imported material parameters of the pallet, and obtaining N reference pallets. Therefore, batch pallet type planning of various different materials and pallets can be performed through the HMI, and the combination of the pallet type planning algorithm and manual auxiliary planning greatly improves the ability of pallet type planning, with high planning efficiency, suitable for scenes with large quantities and diverse materials, and strong reliability.

[0070] Figure 5 Schematic diagram of another robot with batch stacking planning provided in an embodiment of the present application Figure 2 ,like Figure 5 As shown, in Figure 4 On the basis of what is shown, the robot 400 with batch pallet type planning in this embodiment may further include: a correction unit 470 and a storage unit 480, the correction unit 470 is used to manually modify any one or more reference pallet types in the pallet type list, the manual modification includes: adding or deleting the number of layers of the reference pallet type, dragging the material stacking position, modifying the pallet size, modifying the pallet type, and modifying the material parameters; the storage unit 480 is used to save the manually modified pallet type.

[0071] In this embodiment, after completing the automatic batch pallet type planning, any one or more reference pallet types can be manually modified, such as modifying the number of layers of the reference pallet type, the material stacking position, the pallet type, the pallet parameters, etc., and then saving the modified data to replace the original reference pallet type. In this way, manual planning can be combined with batch pallet type planning, making the pallet type planning more flexible and applicable to more complex and changeable planning scenarios.

[0072] Figure 6 A schematic diagram of the architecture of another robot with batch stacking planning provided in an embodiment of the present application Figure 3 ,like Figure 6 As shown, in Figure 5 On the basis of what is shown, the robot 400 with batch pallet type planning in this embodiment may further include: a communication unit 490, the communication unit 490 is used to establish a remote connection with the on-site operation robot, and distribute the planned N reference pallet types to the host computer or processor of the on-site operation robot, so that the on-site operation robot performs the palletizing task according to the planned pallet types.

[0073] In this embodiment, batch stacking planning can be performed in the central control through remote communication, and then the planning results can be sent to each robot, thereby reducing the requirements on the computing power of the executing robot end. Remote stacking planning for a variety of different robots and robots in different locations can be realized with high planning efficiency.

[0074] Figure 7 A schematic diagram of the architecture of another robot with batch stacking planning provided in an embodiment of the present application Figure 4 ,like Figure 7 As shown, in Figure 6 On the basis of what is shown, the robot 400 with batch pallet type planning in this embodiment may further include: a database unit 4100, the database unit 4100 is used to store parameter information, number of layers, palletizing type, material parameters, and corresponding M reference pallet types, and record the number of times various reference pallet types are used, where M is a natural number greater than or equal to 1; when the number M is greater than 1, the processing unit 310, when automatically performing pallet type planning, prioritizes them according to the number of times they are used, and preferentially displays the pallet types that are used the most times.

[0075] In this embodiment, the database unit can be used to associate and store the massive data in the stack type planning process, thereby reducing the amount of calculation for batch planning. When multiple reference stack types appear, priority recommendations can be made based on the number of times they are used, thereby improving the accuracy of planning.

[0076] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the embodiments can be referred to each other. The above description of the disclosed embodiments enables professionals and technicians in this field to implement or use the present invention. Various modifications to these embodiments will be obvious to professionals and technicians in this field, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown in this article, but will comply with the widest range consistent with the principles and novel features disclosed herein.

[0077] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art may make various modifications or variations within the scope of the claims, which do not affect the essence of the present invention.

Claims

1. A robot capable of batch stacking planning, characterized in that: include: A sensing unit, a processing unit, a human-machine interface, an input unit, a robot body, and a driving unit. The sensing unit includes cameras arranged at multiple different angles, and the cameras are used to collect images of the working environment, determine the palletizing area, the location of the materials, and the location where the materials are stacked; the processing unit is loaded with simulation software, and the simulation software is used to determine various data required for batch palletizing planning according to the trigger indication information input by the input unit, so as to complete the batch palletizing planning; the robot body performs the palletizing task according to the planned palletizing type under the control of the driving unit; wherein: The human-machine interface is used to display a pallet type planning interface, which includes: a pallet type list, a pallet list, and a material list; The input unit is used to receive trigger indication information for the stack type list, and select a batch stack type planning control to jump to a batch stack type planning option box; the batch stack type planning option box includes: a batch import material control; The input unit is further used to receive trigger indication information for the batch material import control, and import N types of material parameters, where N is a natural number greater than 1; The processing unit is used to automatically perform pallet type planning according to the parameter information, number of layers, palletizing type, and batch imported material parameters of the pallet to obtain N reference pallet types.

2. The robot with batch stacking planning according to claim 1, characterized in that: The batch pallet type planning option box also includes: a pallet selection control, The input unit is further used to receive trigger indication information for the tray selection control; The processing unit is further used to determine the parameter information of the pallet according to the trigger indication information of the pallet selection control, and the parameter information of the pallet includes: pallet length, pallet width, pallet height, maximum load height of the pallet, and maximum load weight of the pallet.

3. The robot with batch stacking planning according to claim 1, characterized in that: The human-machine interface is also used for: The parameters corresponding to the planned N reference stack types are displayed in the stack type list; the parameters corresponding to the N reference stack types include: stack type length, stack type width, stack type height, stack type weight, and the number of materials in each layer.

4. The robot with batch stacking planning according to claim 1, characterized in that: The input unit is further used to receive trigger indication information for the stack type list; The processing unit is further configured to perform the following operations according to the trigger indication information of the stack type list: Select to view or delete any one or more reference stack types in the stack type list.

5. The robot with batch stacking planning according to claim 1, characterized in that: It also includes a correction unit and a storage unit, The correction unit is used to manually modify any one or more reference pallet types in the pallet type list, and the manual modification includes: adding or deleting the number of layers of the reference pallet type, dragging the material stacking position, modifying the pallet size, modifying the pallet type, and modifying the material parameters; The storage unit is used to store the manually modified stacking shape.

6. The robot with batch stacking planning according to claims 1-5, characterized in that: The batch stacking type planning option box also includes: a layer number selection control; The input unit is further used to receive trigger indication information for the layer number selection control; The processing unit is further used to determine the number of layers of each stack type according to the trigger indication information of the layer number selection control.

7. The robot with batch stacking planning according to any one of claims 1 to 5, characterized in that: The batch pallet type planning option box also includes: a pallet type selection control; The input unit is further used to receive trigger indication information for the palletizing type selection control; The processing unit is further used to determine the palletizing type of each pallet type according to the trigger indication information of the palletizing type selection control, and the palletizing types include: a circular type, a barcode facing outward type, and a compact type.

8. The robot with batch stacking planning according to any one of claims 1 to 5, characterized in that: include: The communication unit is used to establish a remote connection with the field operation robot and distribute the planned N reference stacking types to the host computer or processor of the field operation robot so that the field operation robot performs the palletizing task according to the planned stacking types.

9. The robot with batch stacking planning according to any one of claims 1 to 5, characterized in that: include: A database unit, used to store parameter information, number of layers, palletizing type, material parameters, and corresponding M reference pallet types, and record the number of times each reference pallet type is used, where M is a natural number greater than or equal to 1; When the number M is greater than 1, the processing unit will prioritize the stack types according to the number of times they are used when automatically planning the stack types, and will give priority to displaying the stack types that are used the most times.

10. The robot capable of batch stacking planning according to any one of claims 1 to 5, characterized in that: Any one or more of the processing unit, the sensing unit, the human-machine interface, and the input unit are combined with the robot body to form an integral structure; or, Any one or more of the processing unit, the sensing unit, the human-machine interface, and the input unit are connected to the robot body by remote communication; The robot body comprises: at least one end effector. After determining the position of the material, the drive unit controls the end effector to grab the material and place the material at a designated position according to the batch planned stack type.

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