Hidden machine interface (HMI)-based stack type planning system

Abstract

The invention provides an HMI-based stack type planning system, which comprises a processing unit, a display unit, a first receiving unit and an input unit, and is characterized in that a stack type planning interface comprises a stack type list; the first receiving unit receives trigger indication information for the stack type list and jumps to a new stack type interface, and the input unit inputs material parameter information and tray parameter information in the new stack type interface and sets the stack type layer number, the stacking type and the bar code orientation to generate a reference stack type; the generated reference stack type is displayed in the manual stack type planning area; and the processing unit determines a reference stack type as a target stack type according to selection indication information of a user or a preset priority, and stores the reference stack type. Therefore, stack type planning of various different materials and different trays can be carried out through the HMI, the stack type planning capability is greatly improved by combining 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 stacking planning system based on HMI. 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 stack types are mostly based on relatively simple stack type planning methods. When it comes to materials of large quantity and various shapes, operators still need to perform manual arrangement planning on site. The planned stack types are 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 stacking planning system based on HMI.

[0005] In a first aspect, an embodiment of the present application provides a stack type planning system based on an HMI, comprising: a processing unit, a display unit, a first receiving unit, and an input unit, wherein the processing unit is loaded with simulation software for displaying the entire process of stack type planning through the display unit, and when the display unit displays a stack type planning interface displayed in the HMI, the stack type planning interface includes a stack type list;

[0006] The first receiving unit is used to receive trigger indication information for the pallet type list and jump to a new pallet type interface, wherein the new pallet type interface includes: a pallet type layer number, a pallet type, and a barcode orientation setting area and a manual pallet type planning area;

[0007] The input unit is used to import or manually input material parameter information and pallet parameter information in the new pallet type interface, and to set the number of pallet layers, palletizing type and barcode orientation to generate at least one reference pallet type, and to display the generated reference pallet type in the manual pallet type planning area;

[0008] The processing unit is used to determine a reference stack type as a target stack type according to the user's selection indication information or a preset priority, and save it.

[0009] Optionally, the pallet type planning interface further includes a pallet list and a material list, and the system further includes:

[0010] A second receiving unit is used to receive trigger indication information for the material list, jump to a new material option box, and edit material parameters; the new material option box contains a plurality of material parameter information, and the material parameter information includes: material name, barcode quantity, material length, material width, material height, material weight, and material picture;

[0011] A third receiving unit is used to receive trigger indication information for the pallet list, jump to a new pallet option box, and edit pallet parameter information in the new pallet option box; the pallet parameter information includes: pallet name, pallet type, pallet length, pallet width, pallet height, pallet weight, maximum load weight, and maximum load height;

[0012] The newly added pallet type interface also includes: a pallet parameter display area, a material parameter display area, a reference pallet type corresponding parameter display area, and a material information editing area;

[0013] The pallet name, pallet type, pallet length, pallet width, pallet height, pallet weight, maximum load weight and maximum load height of the current pallet are displayed in the pallet parameter display area;

[0014] The material parameter display area displays the material name, barcode quantity, material length, material width, material height, material weight, and material picture of the material in the current stack;

[0015] The parameter display area corresponding to the reference pallet type displays the number of materials, the number of stacking layers, the loading height, and the utilization rate of the pallet surface contained in the current pallet type;

[0016] The manual stack planning is divided into a 2D display window and a 3D display window. The top view of the stack is displayed in the 2D display window, and the stereoscopic view of the stack is displayed in the 3D display window.

[0017] Optionally, the material parameter information can be edited by: automatic import, or manual input;

[0018] The editing methods of pallet parameter information include: automatic import or manual input;

[0019] The processing unit is further used to set the empty throw height of each layer of the stack type in the new stack type interface before confirming the generation of at least one reference stack type, and the empty throw height is related to the robot type, material size, and material category.

[0020] Optionally, the method further includes: a list switching unit, wherein the list switching unit is specifically configured to:

[0021] Switch to the material list, display all or part of the added material parameter information in the material list, and / or select and delete materials in the material list;

[0022] Switch to the pallet list, display all or part of the added pallet parameter information in the pallet list, and / or select and delete the pallet in the pallet list.

[0023] Optionally, the processing unit is specifically configured to:

[0024] The greater the total number of materials in the reference stack type, the higher the corresponding priority, and the reference stack type with the highest priority is used as the target stack type; or,

[0025] Different weights are set for the total number of materials, stacking height, and total load-bearing weight in the reference stack type, and the priority order is comprehensively determined, and the reference stack type with the highest priority is taken as the target stack type.

[0026] Optionally, the method further includes: a query unit and a jump unit, wherein the query unit is used to perform any of the following operations:

[0027] By entering the material screening conditions, query the material from the material list;

[0028] By entering the filter conditions of the pallet, query the pallet from the pallet list;

[0029] By entering the filtering conditions of the stack type, query the stack type from the stack type list;

[0030] The jump unit is used to execute jump browsing of multiple reference stack types according to jump instruction information input by the user in the new stack type interface.

[0031] Optionally, it further includes: a manual modification unit for performing any one or more of the following operations in the manual stacking planning area of ​​the newly added stacking interface:

[0032] Shift the position of one or more materials;

[0033] Rotate the position of one or more materials;

[0034] Align the position of one or more materials.

[0035] Optionally, the manual modification stacking unit is further used to:

[0036] Modify the material of any layer of the reference stack or the target stack, wherein the modification includes: adding, deleting, and moving the material;

[0037] If the current layer being modified is an odd-numbered layer, the corresponding modification result will be applied to all odd-numbered layers of the stack through shortcut keys;

[0038] Select any even-numbered layer and rotate it 180 degrees according to the modification result of the odd-numbered layer, so that the material position of the even-numbered layer is symmetrical with the material position of the odd-numbered layer;

[0039] Use shortcut keys to apply the modification results corresponding to the even-numbered layers to all the even-numbered layers of the stack.

[0040] Optionally, it further includes: a sending unit, which is used to send the generated target pallet type or the found target pallet type to a back-end system, so that the back-end system controls at least one robot to perform the palletizing task.

[0041] In a second aspect, an embodiment of the present application provides a robot, comprising: a robot body, a drive system, and a robotic arm, wherein: a processor in the robot body, or a computer remotely connected to the robot body, is loaded with a stacking type planning system based on HMI as described in any one of the first aspects, for implementing stacking type planning and obtaining a target stacking type;

[0042] The driving system is used to control the robot arm to perform the palletizing task according to the palletizing rules corresponding to the target pallet type.

[0043] Compared with the prior art, the present invention has the following beneficial effects:

[0044] In this application, in the pallet type planning interface including the pallet type list, the number of pallet type layers, the pallet type, the barcode orientation setting area and the manual pallet type planning area, material parameter information and pallet parameter information are imported or manually input, and the number of pallet type layers, the pallet type and the barcode orientation are set to generate at least one reference pallet type, and the generated reference pallet type is displayed in the manual pallet type planning area; according to the user's selection indication information or the preset priority, a reference pallet type is determined as the target pallet type and saved. Therefore, the pallet type planning of various different materials and pallets can be carried out through HMI, and the combination of the pallet type planning algorithm and the 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

[0045] 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:

[0046] Figure 1 A schematic diagram of the structure of a stack type planning system based on HMI provided in an embodiment of the present application;

[0047] Figure 2 A schematic diagram of the interface of the material list provided in the embodiment of the present application;

[0048] Figure 3 A schematic diagram of the interface of the tray list provided in the embodiment of the present application;

[0049] Figure 4 A schematic diagram of the interface of the stack type list provided in the embodiment of the present application;

[0050] Figure 5 Schematic diagram of the newly added stack interface provided in the embodiment of the present application Figure 1 ;

[0051] Figure 6 Schematic diagram of the newly added stack interface provided in the embodiment of the present application Figure 2 ;

[0052] Figure 7 Schematic diagram of the newly added stack interface provided in the embodiment of the present application Figure 3 ;

[0053] Figure 8 A schematic diagram of the structure of another HMI-based stacking planning system provided in an embodiment of the present application;

[0054] Fig. 9 A schematic diagram of the structure of another HMI-based stacking planning system provided in an embodiment of the present application;

[0055] Fig.10 A schematic structural diagram of another HMI-based stack planning system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0056] 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.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] Figure 1 A schematic diagram of a stack type planning system based on HMI is provided in an embodiment of the present application, as shown in FIG. Figure 1As shown, the HMI-based pallet type planning system 100 in this embodiment may include: a processing unit 110, a display unit 120, a first receiving unit 130, and an input unit 140, wherein the processing unit 110 is loaded with simulation software 111 for displaying the entire process of pallet type planning through the display unit 120, and when the display unit 120 displays the pallet type planning interface in the HMI, the pallet type planning interface includes a pallet type list; the first receiving unit 130 is used to receive trigger indication information for the pallet type list and jump to the new pallet type interface, and the new pallet type interface includes: a pallet type layer number, a palletizing type, and a barcode orientation setting area and a manual pallet type planning area; the input unit 140 is used to import or manually input material parameter information and pallet parameter information in the new pallet type interface, and to set the pallet type layer number, the palletizing type, and the barcode orientation to generate at least one reference pallet type, and to display the generated reference pallet type in the manual pallet type planning area; the processing unit 110 is used to determine a reference pallet type as a target pallet type according to the user's selection indication information or a preset priority, and save it.

[0063] Exemplarily, the pallet type planning function is developed through a human machine interface (HMI), and the pallet type planning interface includes: a pallet type list, a pallet list, and a material list. Figure 2 This is a schematic diagram of the interface of the material list provided in the embodiment of the present application. Figure 3 This is a schematic diagram of the interface of the tray list provided in the embodiment of the present application. Figure 4 A schematic diagram of the interface of the stack type list provided in an embodiment of the present application.

[0064] In this embodiment, the newly added pallet type interface includes: the number of pallet layers, the palletizing type and the barcode orientation setting area and the manual pallet type planning area.

[0065] In this embodiment, the priority setting method for selecting the reference stack type may include any of the following methods:

[0066] 1) The greater the total number of materials in the reference stack type, the higher the corresponding priority, and the reference stack type with the highest priority is used as the target stack type;

[0067] 2) Different weights are set for the total number of materials, stacking height, and total load-bearing weight in the reference stack type, and the priority order is comprehensively determined, and the reference stack type with the highest priority is used as the target stack type.

[0068] For example, Figure 5 Schematic diagram of the newly added stack interface provided in the embodiment of the present application Figure 1 , Figure 6 Schematic diagram of the newly added stack interface provided in the embodiment of the present application Figure 2 , Figure 7 Schematic diagram of the newly added stack interface provided in the embodiment of the present application Figure 3 , see Figure 5 to Figure 7 As shown, the newly added pallet type interface includes: pallet parameter display area, material parameter display area, reference pallet type corresponding parameter display area, manual pallet type planning area, and material information editing area. The pallet parameter display area displays the pallet name, pallet type, pallet length, pallet width, pallet height, pallet weight, maximum load weight, and maximum load height of the current pallet. The material parameter display area displays the material name, barcode quantity, material length, material width, material height, material weight, and material picture of the material in the current pallet. The reference pallet type corresponding parameter display area displays the number of materials contained in the current pallet, the number of stacking layers, the loading height, and the utilization rate of the pallet surface. The manual pallet type planning area is divided into a 2D display window and a 3D display window. The 2D display window displays a top view of the pallet, and the 3D display window displays a three-dimensional view of the pallet.

[0069] In this embodiment, the material parameter information and the pallet parameters can be edited by automatic import or manual input.

[0070] In an optional implementation, after completing the material parameter editing, you can switch to the material list, display all or part of the added material parameter information in the material list, and / or select and delete the materials in the material list. This method can display the edited material parameter information in the form of a list, and in the displayed list, you can edit any one or more material parameters, such as deleting, modifying, etc.

[0071] In another optional implementation, it is also possible to switch to the pallet list, display all or part of the added pallet parameter information in the pallet list, and / or select and delete the pallets in the pallet list, so that the pallet parameter information is displayed in the form of a list, and any one or more pallet parameters can be edited in the pallet list.

[0072] In this embodiment, see Figure 5 to Figure 7 As shown in the figure, in the new pallet type interface, enter the pallet name, material name, number of pallet layers, pallet type, and barcode orientation, and then automatically plan and generate reference pallets. Because different planning algorithms can generate different reference pallets, the generated reference pallets are displayed in the manual pallet type planning area. For example, they can be displayed in a top view or a three-dimensional view.

[0073] In this embodiment, the user can select one from a plurality of reference stack types as a target stack type according to actual needs, and save the target stack type.

[0074] In this embodiment, by displaying the pallet type planning interface in the HMI, the pallet type planning interface includes: a pallet type list, a pallet list, and a material list; receiving trigger indication information for the material list, jumping to the new material option box, and editing the material parameters; receiving trigger indication information for the pallet list, jumping to the new pallet option box, and the new pallet option box includes multiple pallet parameter information; receiving trigger indication information for the pallet type list, jumping to the new pallet type interface; in the new pallet type interface, input the pallet name, material name, number of pallet layers, palletizing type, barcode orientation, and confirm the generation of at least one reference pallet type, and display the generated reference pallet type in the manual pallet type planning area; determine a reference pallet type as the target pallet type, and save it. Therefore, the pallet type planning of various materials and pallets can be carried out through the HMI, and the combination of the pallet type planning algorithm and the manual auxiliary planning greatly improves the ability of the pallet type planning, with high planning efficiency, suitable for scenes with large quantities and diverse materials, and strong reliability.

[0075] Figure 8 A schematic diagram of another HMI-based stacking planning system provided in an embodiment of the present application is shown in FIG. Figure 8 As shown, the system in this embodiment may include: a processing unit 110, a display unit 120, a first receiving unit 130, an input unit 140, a second receiving unit 150, and a third receiving unit 160, wherein the processing unit 110 is loaded with simulation software 111 for displaying the entire process of pallet type planning through the display unit 120. When the display unit 120 displays the pallet type planning interface in the HMI, the pallet type planning interface includes a pallet type list, a material list, and a pallet list. The second receiving unit 150 is used to receive trigger indication information for the material list, jump to the new material option box, and edit the material parameters; the new material option box contains multiple material parameter information, and the material parameter information includes: material name, barcode quantity, material length, material width, material height, material weight, and material picture. The third receiving unit 160 is used to receive trigger indication information for the pallet list, jump to the new pallet option box, and edit the pallet parameter information in the new pallet option box; the pallet parameter information includes: pallet name, pallet type, pallet length, pallet width, pallet height, pallet weight, maximum load weight, and maximum load height.

[0076] Fig. 9 A structural diagram of another HMI-based stacking planning system provided in an embodiment of the present application is shown in FIG. Fig. 9 As shown, the system in this embodiment may include: a processing unit 110, a display unit 120, a first receiving unit 130, an input unit 140, a second receiving unit 150, a third receiving unit 160, and a list switching unit 170. The list switching unit 170 is specifically used to:

[0077] Switch to the material list, display all or part of the added material parameter information in the material list, and / or select and delete materials in the material list;

[0078] Switch to the pallet list, display all or part of the added pallet parameter information in the pallet list, and / or select and delete the pallet in the pallet list.

[0079] In an optional implementation, the system may further include: a query unit 180 and a jump unit 190, wherein the query unit 180 is configured to perform any of the following operations:

[0080] By entering the material screening conditions, query the material from the material list;

[0081] By entering the filter conditions of the pallet, query the pallet from the pallet list;

[0082] By entering the filtering conditions of the stack type, query the stack type from the stack type list;

[0083] The jump unit 190 is used to execute a jump and flip through multiple reference stack types according to the jump instruction information input by the user in the new stack type interface.

[0084] In this embodiment, you can enter filtering conditions to query materials from the material list, query pallets from the pallet list, and query pallet types from the pallet type list, and then directly add the queried results to the corresponding material option box, pallet option box, and pallet type option box to complete quick editing.

[0085] When there are multiple reference stack types, the user can enter jump instruction information in the new stack type interface to jump to and browse any reference stack type.

[0086] Fig.10 A structural diagram of another HMI-based stacking planning system provided in an embodiment of the present application is shown in FIG. Fig.10 As shown, the system in this embodiment may include: a processing unit 110, a display unit 120, a first receiving unit 130, an input unit 140, a second receiving unit 150, a third receiving unit 160, a list switching unit 170, a query unit 180, a jump unit 190, and a manual stacking type modification unit 1100, the manual stacking type modification unit 1100 is used to perform any one or more of the following operations in the manual stacking type planning area of ​​the newly added stacking type interface:

[0087] Shift the position of one or more materials;

[0088] Rotate the position of one or more materials;

[0089] Align the position of one or more materials.

[0090] In this embodiment, the generated reference stack type or the determined target stack type can be manually modified to compensate for the problems existing in the automatic stack type planning, making the stack type planning method more flexible and suitable for complex stack type planning scenarios.

[0091] Exemplarily, the manual modification of the stacking unit 1100 is also used to: modify the material of any layer of the reference stacking type or the target stacking type, and the modification processing includes: adding, deleting, and moving the position; if the current layer being modified is an odd-numbered layer, the corresponding modification result is applied to all odd-numbered layers of the stacking type through shortcut keys; select any even-numbered layer and rotate it 180 degrees according to the modification result of the odd-numbered layer, so that the material position of the even-numbered layer is symmetrical with the material position of the odd-numbered layer; apply the modification result corresponding to the even-numbered layer to all even-numbered layers of the stacking type through shortcut keys.

[0092] In an optional implementation, for a planned reference stack type or target stack type, modifications are made to the odd-numbered layers or even-numbered layers of the stack type, respectively, wherein the modification rules for the odd-numbered layers and the even-numbered layers may be different.

[0093] In this embodiment, in a single-code scenario, the placement of each layer in the stack is the same, but this stacking method is prone to tilting, and the stability of the stack is poor. To address this problem, in a single-code scenario, the odd and even layers are planned separately. One way is to rotate the material position in the even layer 180 degrees, so that the even layer can press the material on the odd layer to achieve the purpose of stabilizing the stack.

[0094] For example, if the position of the material in the odd-numbered layers is modified (moved, added, deleted, etc.), the corresponding modification can be applied to all odd-numbered layers through one-click setting. Correspondingly, for the even-numbered layers, the materials can be set to be rotationally symmetrical with the odd-numbered layers, and then the modification of the even-numbered layers can be applied to all even-numbered layers. This modification method can greatly improve the modification efficiency of the stacking shape and well ensure the stability of the stacking shape.

[0095] In another optional implementation, before confirming the generation of at least one reference stack type, the empty throw height of each layer of the stack type is set in the new stack type interface, and the empty throw height is related to the robot type, material size, and material category.

[0096] In this embodiment, for the planned reference stack type or target stack type, an empty throw height can be added as a reference factor for stack type planning. The empty throw height means: after the end of the robot actuator clamps the material, when the distance between the bottom surface of the material and the stacking layer of the stack type reaches a preset height, the end of the robot actuator is controlled to fall slowly to avoid damage to other materials on the stack. The setting of the empty throw height needs to be considered during stack type planning, so as to set the optimal stack type height, number of stack type layers, etc. to ensure the safety of palletizing.

[0097] Exemplarily, the above system may further include: a sending unit 1110, which is used to send the generated target pallet type or the found target pallet type to the back-end system, so that the back-end system controls at least one robot to perform the palletizing task.

[0098] In this embodiment, in addition to displaying the results of the pallet planning, the HMI can also send the generated target pallet type or the found target pallet type to the back-end system, and the back-end system will send the planned pallet type to one or more robots working on site, thereby realizing remote pallet planning with higher planning efficiency.

[0099] In addition, an HMI-based stacking planning method provided in an embodiment of the present application may include the following steps:

[0100] Step S1, displaying the stack type planning interface in the HMI.

[0101] Exemplarily, the pallet type planning function is developed through a human machine interface (HMI), and the pallet type planning interface includes: a pallet type list, a pallet list, and a material list. Figure 2 This is a schematic diagram of the interface of the material list provided in the embodiment of the present application. Figure 3 This is a schematic diagram of the interface of the tray list provided in the embodiment of the present application. Figure 4 A schematic diagram of the interface of the stack type list provided in an embodiment of the present application.

[0102] Step S2, receiving trigger indication information for the stack type list, and jumping to the new stack type interface.

[0103] In this embodiment, the newly added pallet type interface includes: the number of pallet layers, the palletizing type and the barcode orientation setting area and the manual pallet type planning area.

[0104] In an optional implementation, the stack planning interface also includes a material list, receives trigger indication information for the material list, jumps to the new material option box, and edits the material parameters; the new material option box contains multiple material parameter information, and the material parameter information includes: material name, barcode quantity, material length, material width, material height, material weight, and material picture.

[0105] In another optional embodiment, the pallet planning interface also includes a pallet list, receives trigger indication information for the pallet list, jumps to the new pallet option box, and edits the pallet parameter information in the new pallet option box; the pallet parameter information includes: pallet name, pallet type, pallet length, pallet width, pallet height, pallet weight, maximum load weight, and maximum load height.

[0106] Step S3, import or manually input material parameter information, pallet parameter information, and set the number of pallet layers, palletizing type, and barcode orientation in the new pallet type interface to generate at least one reference pallet type, and display the generated reference pallet type in the manual pallet type planning area.

[0107] Step S4: According to the user's selection indication information or the preset priority, a reference stack type is determined as the target stack type and saved.

[0108] In this embodiment, the priority setting method for selecting the reference stack type may include any of the following methods:

[0109] 1) The greater the total number of materials in the reference stack type, the higher the corresponding priority, and the reference stack type with the highest priority is used as the target stack type;

[0110] 2) Different weights are set for the total number of materials, stacking height, and total load-bearing weight in the reference stack type, and the priority order is comprehensively determined, and the reference stack type with the highest priority is used as the target stack type.

[0111] For example, Figure 5 Schematic diagram of the newly added stack interface provided in the embodiment of the present application Figure 1 , Figure 6 Schematic diagram of the newly added stack interface provided in the embodiment of the present application Figure 2 , Figure 7 Schematic diagram of the newly added stack interface provided in the embodiment of the present application Figure 3 , see Figure 5 to Figure 7As shown, the newly added pallet type interface includes: pallet parameter display area, material parameter display area, reference pallet type corresponding parameter display area, manual pallet type planning area, and material information editing area. The pallet parameter display area displays the pallet name, pallet type, pallet length, pallet width, pallet height, pallet weight, maximum load weight, and maximum load height of the current pallet. The material parameter display area displays the material name, barcode quantity, material length, material width, material height, material weight, and material picture of the material in the current pallet. The reference pallet type corresponding parameter display area displays the number of materials contained in the current pallet, the number of stacking layers, the loading height, and the utilization rate of the pallet surface. The manual pallet type planning area is divided into a 2D display window and a 3D display window. The 2D display window displays a top view of the pallet, and the 3D display window displays a three-dimensional view of the pallet.

[0112] In this embodiment, the material parameter information and the pallet parameters can be edited by automatic import or manual input.

[0113] In an optional implementation, after completing the material parameter editing, you can switch to the material list, display all or part of the added material parameter information in the material list, and / or select and delete the materials in the material list. This method can display the edited material parameter information in the form of a list, and in the displayed list, you can edit any one or more material parameters, such as deleting, modifying, etc.

[0114] In another optional implementation, it is also possible to switch to the pallet list, display all or part of the added pallet parameter information in the pallet list, and / or select and delete the pallets in the pallet list, so that the pallet parameter information is displayed in the form of a list, and any one or more pallet parameters can be edited in the pallet list.

[0115] In this embodiment, see Figure 5 to Figure 7 As shown in the figure, in the new pallet type interface, enter the pallet name, material name, number of pallet layers, pallet type, and barcode orientation, and then automatically plan and generate reference pallets. Because different planning algorithms can generate different reference pallets, the generated reference pallets are displayed in the manual pallet type planning area. For example, they can be displayed in a top view or a three-dimensional view.

[0116] In this embodiment, the user can select one from a plurality of reference stack types as a target stack type according to actual needs, and save the target stack type.

[0117] In this embodiment, by displaying the pallet type planning interface in the HMI, the pallet type planning interface includes: a pallet type list, a pallet list, and a material list; receiving trigger indication information for the material list, jumping to the new material option box, and editing the material parameters; receiving trigger indication information for the pallet list, jumping to the new pallet option box, and the new pallet option box includes multiple pallet parameter information; receiving trigger indication information for the pallet type list, jumping to the new pallet type interface; in the new pallet type interface, input the pallet name, material name, number of pallet layers, palletizing type, barcode orientation, and confirm the generation of at least one reference pallet type, and display the generated reference pallet type in the manual pallet type planning area; determine a reference pallet type as the target pallet type, and save it. Therefore, the pallet type planning of various materials and pallets can be carried out through the HMI, and the combination of the pallet type planning algorithm and the manual auxiliary planning greatly improves the ability of the pallet type planning, with high planning efficiency, suitable for scenes with large quantities and diverse materials, and strong reliability.

[0118] Step S5: Query materials from the material list by inputting material screening conditions.

[0119] Step S6: Query the pallet from the pallet list by inputting the screening conditions of the pallet.

[0120] Step S7: query the stack type from the stack type list by inputting the screening conditions of the stack type.

[0121] Step S8: In the newly added stack type interface, according to the jump instruction information input by the user, execute the jump and flip through of multiple reference stack types.

[0122] In steps S5 to S8, you can enter filtering conditions to query materials from the material list, query pallets from the pallet list, and query pallet types from the pallet type list, and then directly add the query results to the corresponding material option box, pallet option box, and pallet type option box to complete quick editing.

[0123] When there are multiple reference stack types, the user can enter jump instruction information in the new stack type interface to jump to and browse any reference stack type.

[0124] Step S9: manually modify the stack type on the new stack type interface.

[0125] In this embodiment, the reference stack type on the newly added stack type interface or the finally determined target stack type may be manually modified. Specifically, any one or more of the following operations may be performed:

[0126] Shift the position of one or more materials;

[0127] Rotate the position of one or more materials;

[0128] Align the position of one or more materials.

[0129] In this embodiment, the generated reference stack type or the determined target stack type can be manually modified to compensate for the problems existing in the automatic stack type planning, making the stack type planning method more flexible and suitable for complex stack type planning scenarios.

[0130] In an optional implementation, for a planned reference stack type or target stack type, modifications are made to the odd-numbered layers or even-numbered layers of the stack type, respectively, wherein the modification rules for the odd-numbered layers and the even-numbered layers may be different.

[0131] In this embodiment, in a single-code scenario, the placement of each layer in the stack is the same, but this stacking method is prone to tilting, and the stability of the stack is poor. To address this problem, in a single-code scenario, the odd and even layers are planned separately. One way is to rotate the material position in the even layer 180 degrees, so that the even layer can press the material on the odd layer to achieve the purpose of stabilizing the stack.

[0132] For example, if the position of the material in the odd-numbered layers is modified (moved, added, deleted, etc.), the corresponding modification can be applied to all odd-numbered layers through one-click setting. Correspondingly, for the even-numbered layers, the materials can be set to be rotationally symmetrical with the odd-numbered layers, and then the modification of the even-numbered layers can be applied to all even-numbered layers. This modification method can greatly improve the modification efficiency of the stacking shape and well ensure the stability of the stacking shape.

[0133] In another optional implementation, before confirming the generation of at least one reference stack type, the empty throw height of each layer of the stack type is set in the new stack type interface, and the empty throw height is related to the robot type, material size, and material category.

[0134] In this embodiment, for the planned reference stack type or target stack type, an empty throw height can be added as a reference factor for stack type planning. The empty throw height means: after the end of the robot actuator clamps the material, when the distance between the bottom surface of the material and the stacking layer of the stack type reaches a preset height, the end of the robot actuator is controlled to fall slowly to avoid damage to other materials on the stack. The setting of the empty throw height needs to be considered during stack type planning, so as to set the optimal stack type height, number of stack type layers, etc. to ensure the safety of palletizing.

[0135] Exemplarily, the generated target pallet type or the found target pallet type may also be sent to a back-end system so that the back-end system controls at least one robot to perform the palletizing task.

[0136] In this embodiment, in addition to displaying the results of the pallet planning, the HMI can also send the generated target pallet type or the found target pallet type to the back-end system, and the back-end system will send the planned pallet type to one or more robots working on site, thereby realizing remote pallet planning with higher planning efficiency.

[0137] 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.

[0138] 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 stacking type planning system based on HMI, characterized in that: include: A processing unit, a display unit, a first receiving unit, and an input unit, wherein the processing unit is loaded with simulation software for displaying the entire process of stack type planning through the display unit, and when the display unit displays the stack type planning interface displayed in the HMI, the stack type planning interface includes a stack type list; The first receiving unit is used to receive trigger indication information for the pallet type list and jump to a new pallet type interface, wherein the new pallet type interface includes: a pallet type layer number, a pallet type, and a barcode orientation setting area and a manual pallet type planning area; The input unit is used to import or manually input material parameter information and pallet parameter information in the new pallet type interface, and to set the number of pallet layers, palletizing type and barcode orientation to generate at least one reference pallet type, and to display the generated reference pallet type in the manual pallet type planning area; The processing unit is used to determine a reference stack type as a target stack type according to the user's selection indication information or a preset priority, and save it.

2. The HMI-based stacking planning system according to claim 1, characterized in that: The pallet type planning interface also includes a pallet list and a material list, and the system also includes: A second receiving unit is used to receive trigger indication information for the material list, jump to a new material option box, and edit material parameters; the new material option box contains a plurality of material parameter information, and the material parameter information includes: material name, barcode quantity, material length, material width, material height, material weight, and material picture; A third receiving unit is used to receive trigger indication information for the pallet list, jump to a new pallet option box, and edit pallet parameter information in the new pallet option box; the pallet parameter information includes: pallet name, pallet type, pallet length, pallet width, pallet height, pallet weight, maximum load weight, and maximum load height; The newly added pallet type interface also includes: a pallet parameter display area, a material parameter display area, a reference pallet type corresponding parameter display area, and a material information editing area; The pallet name, pallet type, pallet length, pallet width, pallet height, pallet weight, maximum load weight and maximum load height of the current pallet are displayed in the pallet parameter display area; The material parameter display area displays the material name, barcode quantity, material length, material width, material height, material weight, and material picture of the material in the current stack; The parameter display area corresponding to the reference pallet type displays the number of materials, the number of stacking layers, the loading height, and the utilization rate of the pallet surface contained in the current pallet type; The manual stack planning is divided into a 2D display window and a 3D display window. The top view of the stack is displayed in the 2D display window, and the stereoscopic view of the stack is displayed in the 3D display window.

3. The HMI-based stacking planning system according to claim 1, characterized in that: The editing methods of material parameter information include: automatic import or manual input; The editing methods of pallet parameter information include: automatic import or manual input; The processing unit is further used to set the empty throw height of each layer of the stack type in the new stack type interface before confirming the generation of at least one reference stack type, and the empty throw height is related to the robot type, material size, and material category.

4. The HMI-based stacking planning system according to claim 1, characterized in that: Also includes: A list switching unit, wherein the list switching unit is specifically used for: Switch to the material list, display all or part of the added material parameter information in the material list, and / or select and delete materials in the material list; Switch to the pallet list, display all or part of the added pallet parameter information in the pallet list, and / or select and delete the pallet in the pallet list.

5. The HMI-based stacking planning system according to claim 1, characterized in that: The processing unit is specifically used for: The greater the total number of materials in the reference stack type, the higher the corresponding priority, and the reference stack type with the highest priority is used as the target stack type; or, Different weights are set for the total number of materials, stacking height, and total load-bearing weight in the reference stack type, and the priority order is comprehensively determined, and the reference stack type with the highest priority is taken as the target stack type.

6. The HMI-based stacking planning system according to claim 1, characterized in that: Also includes: A query unit and a jump unit, wherein the query unit is used to perform any of the following operations: By entering the material screening conditions, query the material from the material list; By entering the filter conditions of the pallet, query the pallet from the pallet list; By entering the filtering conditions of the stack type, query the stack type from the stack type list; The jump unit is used to execute jump browsing of multiple reference stack types according to jump instruction information input by the user in the new stack type interface.

7. The HMI-based stacking planning system according to any one of claims 1 to 6, characterized in that: Also includes: Manually modify the stacking unit, which is used to perform any or more of the following operations in the manual stacking planning area of ​​the new stacking interface: Shift the position of one or more materials; Rotate the position of one or more materials; Align the position of one or more materials.

8. The HMI-based stacking planning system according to claim 7, characterized in that: The manual modification stacking unit is also used for: Modify the material of any layer of the reference stack or the target stack, wherein the modification includes: adding, deleting, and moving the material; If the current layer being modified is an odd-numbered layer, the corresponding modification result will be applied to all odd-numbered layers of the stack through shortcut keys; Select any even-numbered layer and rotate it 180 degrees according to the modification result of the odd-numbered layer, so that the material position of the even-numbered layer is symmetrical with the material position of the odd-numbered layer; Use shortcut keys to apply the modification results corresponding to the even-numbered layers to all the even-numbered layers of the stack.

9. The HMI-based stacking planning system according to any one of claims 1 to 6, characterized in that: Also includes: The sending unit is used to send the generated target pallet type or the found target pallet type to the back-end system, so that the back-end system controls at least one robot to perform the palletizing task.

10. A robot for storing programs, characterized in that: include: A robot body, a drive system and a robotic arm, wherein: a processor in the robot body, or a computer remotely connected to the robot body, is loaded with a stacking type planning system based on HMI as claimed in any one of claims 1 to 9, for realizing stacking type planning and obtaining a target stacking type; The driving system is used to control the robot arm to perform the palletizing task according to the palletizing rules corresponding to the target pallet type.

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