HMI-based stack type planning method, apparatus and device, and storage medium

Abstract

The invention provides an HMI-based stack type planning method, device and equipment and a storage medium, and the method comprises the steps: displaying a stack type planning interface in an HMI, and enabling the stack type planning interface to comprise a stack type list; the new stack type interface comprises a stack type layer number, stacking type and bar code orientation setting area and a manual stack type planning area, inputting material parameter information and tray parameter information in the new stack type interface, and setting the stack type layer number, the stacking type and the bar code orientation to generate at least one reference stack type; the generated reference stack type is displayed in the manual stack type planning area; and determining a reference stack type as a target stack type according to selection indication information of the user or a preset priority. 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

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, the object of the present invention is to provide a method, device, equipment and storage medium for stacking planning based on HMI.

[0005] In a first aspect, an embodiment of the present application provides a stacking type planning method based on HMI, including:

[0006] Displaying a stack type planning interface in the HMI, wherein the stack type planning interface includes: a stack type list;

[0007] 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 palletizing type, and a barcode orientation setting area and a manual pallet type planning area;

[0008] Import or manually input material parameter information and pallet parameter information in the newly added pallet type interface, and set the number of pallet layers, palletizing type and barcode orientation to generate at least one reference pallet type, and display the generated reference pallet type in the manual pallet type planning area;

[0009] 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.

[0010] Optionally, the pallet type planning interface further includes a pallet list and a material list, and the method further includes:

[0011] Receive trigger indication information for the material list, jump to the new material option box, and edit 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;

[0012] 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;

[0013] 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;

[0014] 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;

[0015] 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;

[0016] 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.

[0017] 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.

[0018] Optionally, the material parameter information can be edited by: automatic import, or manual input;

[0019] The editing methods of pallet parameter information include: automatic import or manual input;

[0020] Before confirming the generation of at least one reference stack type, the method further includes:

[0021] In the newly added stacking interface, the empty throwing height of each layer of the stacking type is set, and the empty throwing height is related to the robot type, material size, and material category.

[0022] Optionally, after editing the material parameters, it also includes:

[0023] 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;

[0024] 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;

[0025] According to the preset priority, a reference stack type is determined as the target stack type, including any of the following methods:

[0026] 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;

[0027] 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.

[0028] Optionally, it also includes:

[0029] By entering the material screening conditions, query the material from the material list;

[0030] By entering the filter conditions of the pallet, query the pallet from the pallet list;

[0031] By entering the filtering conditions of the stack type, query the stack type from the stack type list;

[0032] In the newly added stack type interface, jump and browse of multiple reference stack types are executed according to the jump instruction information input by the user.

[0033] Optionally, it also includes:

[0034] Manually modify the stack type on the new stack type interface, including any or more of the following operations:

[0035] Shift the position of one or more materials;

[0036] Rotate the position of one or more materials;

[0037] Align the position of one or more materials;

[0038] The method further comprises:

[0039] The odd-numbered layers and / or the even-numbered layers of the reference stack type or the target stack type are modified, wherein the modification rules applied to the odd-numbered layers are different from the modification rules applied to the even-numbered layers.

[0040] Optionally, it also includes:

[0041] The generated target pallet type or the found target pallet type is sent to a back-end system so that the back-end system controls at least one robot to perform a palletizing task.

[0042] In a second aspect, an embodiment of the present application provides a stack type planning device based on HMI, including:

[0043] A stack type planning interface display module is used to display a stack type planning interface in the HMI, wherein the stack type planning interface includes: a stack type list;

[0044] A first receiving module 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;

[0045] An input module, used for importing or manually inputting material parameter information and pallet parameter information in the newly added pallet type interface, and setting the number of pallet layers, palletizing type, and barcode orientation to generate at least one reference pallet type, and displaying the generated reference pallet type in the manual pallet type planning area;

[0046] The target stack type determination module is used to determine a reference stack type as the target stack type according to the user's selection indication information or the preset priority, and save it.

[0047] Optionally, the pallet type planning interface further includes a pallet list and a material list, and the device further includes:

[0048] A second receiving module 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;

[0049] A third receiving module 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;

[0050] 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;

[0051] 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;

[0052] 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;

[0053] 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;

[0054] 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.

[0055] Optionally, the material parameter information can be edited by: automatic import, or manual input;

[0056] The editing methods of pallet parameter information include: automatic import or manual input;

[0057] The input module is also 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.

[0058] Optionally, it further includes: a list switching module, which is used to switch to the material list after editing the material parameters, 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;

[0059] 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;

[0060] The target stack type determination module is specifically used to determine the target stack type in any of the following ways:

[0061] 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;

[0062] 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.

[0063] Optionally, the method further includes: a query module, wherein the query module is used to perform any of the following operations:

[0064] By entering the material screening conditions, query the material from the material list;

[0065] By entering the filter conditions of the pallet, query the pallet from the pallet list;

[0066] By entering the filtering conditions of the stack type, query the stack type from the stack type list;

[0067] In the newly added stack type interface, jump and browse of multiple reference stack types are executed according to the jump instruction information input by the user.

[0068] Optionally, it further includes: a manual modification module for manually modifying the stack type on the newly added stack type interface, including any one or more of the following operations:

[0069] Shift the position of one or more materials;

[0070] Rotate the position of one or more materials;

[0071] Align the position of one or more materials.

[0072] Optionally, the manual stacking modification module is further used to modify the odd-numbered layers and / or even-numbered layers of the reference stacking type or the target stacking type, wherein the modification rules applied to the odd-numbered layers are different from the modification rules applied to the even-numbered layers.

[0073] Optionally, it also includes: a sending module, 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.

[0074] In a third aspect, an embodiment of the present application provides a stacking type planning device based on HMI, including: a processor and a memory, wherein the memory stores executable program instructions, and when the processor calls the program instructions in the memory, the processor is used to:

[0075] Execute the steps of the HMI-based stacking planning method as described in any one of the first aspects.

[0076] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium for storing a program, which, when executed, implements the steps of the HMI-based stack planning method as described in any one of the first aspects.

[0077] In a fifth aspect, an embodiment of the present application provides a program product, which includes a computer program, and the computer program is stored in a readable storage medium. At least one processor of a robot can read the computer program from the readable storage medium, and the at least one processor executes the computer program so that the robot implements the HMI-based stacking planning method as in the first aspect.

[0078] Compared with the prior art, the present invention has the following beneficial effects:

[0079] In this application, a pallet type planning interface is displayed in the HMI, and a pallet type list is included in the pallet type planning interface; the newly added pallet type interface includes: a pallet type number of layers, a pallet type, and a barcode orientation setting area and a manual pallet type planning area, and the material parameter information and pallet parameter information are imported or manually input in the newly added pallet type interface, and the number of pallet types, 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 different 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 pallet type planning, has high planning efficiency, is suitable for scenes with large quantities and diverse materials, and has strong reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0080] 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:

[0081] Figure 1 A schematic diagram of a process flow of a stack type planning method based on HMI provided in an embodiment of the present application;

[0082] Figure 2 A schematic diagram of the interface of the material list provided in the embodiment of the present application;

[0083] Figure 3 A schematic diagram of the interface of the tray list provided in the embodiment of the present application;

[0084] Figure 4 A schematic diagram of the interface of the stack type list provided in the embodiment of the present application;

[0085] Figure 5 Schematic diagram of the newly added stack interface provided in the embodiment of the present application Figure 1 ;

[0086] Figure 6 Schematic diagram of the newly added stack interface provided in the embodiment of the present application Figure 2 ;

[0087] Figure 7 Schematic diagram of the newly added stack interface provided in the embodiment of the present application Figure 3 ;

[0088] Figure 8 A schematic flow chart of another HMI-based stacking planning method provided in an embodiment of the present application;

[0089] Fig. 9 A schematic flow chart of another HMI-based stacking planning method provided in an embodiment of the present application;

[0090] Fig.10 A schematic diagram of the structure of a stack type planning device based on HMI provided in an embodiment of the present application;

[0091] Fig.11 A schematic diagram of the structure of a stacking type planning device based on HMI provided in one embodiment of the present application;

[0092] Fig.12 It is a schematic diagram of the structure of a computer-readable storage medium in an embodiment of the present invention. DETAILED DESCRIPTION

[0093] 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.

[0094] 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.

[0095] 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.

[0096] 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.

[0097] 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.

[0098] 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.

[0099] Figure 1A flow chart of a stack type planning method based on HMI is provided in an embodiment of the present application, such as Figure 1 As shown, the method in this embodiment may include:

[0100] Step S101: displaying a 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 S102, 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 S103, 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 S104: 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.

[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 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.

[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] Figure 8 A flow chart of another HMI-based stacking type planning method provided in an embodiment of the present application is shown as follows: Figure 8 As shown, the method in this embodiment may include:

[0119] Step S801: displaying a stack type planning interface in the HMI.

[0120] Step S802: Receive trigger indication information for the stack type list, and jump to the new stack type interface.

[0121] Step S803: Import or manually input material parameter information and pallet parameter information in the new pallet type interface, and set the number of pallet layers, palletizing type and barcode orientation to generate at least one reference pallet type, and display the generated reference pallet type in the manual pallet type planning area.

[0122] Step S804: 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.

[0123] For the specific implementation and technical effects of steps S801 to S804 in this embodiment, please refer to Figure 1 The relevant descriptions of steps S101 to S104 are not repeated here.

[0124] Step S805: Query materials from the material list by inputting material screening conditions.

[0125] Step S806: Query the pallet from the pallet list by inputting the screening conditions of the pallet.

[0126] Step S807: query the stack type from the stack type list by inputting the screening conditions of the stack type.

[0127] Step S808: 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.

[0128] In steps S805 to S808, 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.

[0129] 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.

[0130] Fig. 9 A flow chart of another HMI-based stacking type planning method provided in an embodiment of the present application is shown as follows: Fig. 9 As shown, the method in this embodiment may include:

[0131] Step S901: displaying a stack type planning interface in the HMI.

[0132] Step S902, receiving trigger indication information for the stack type list, and jumping to the new stack type interface.

[0133] Step S903: Import or manually input material parameter information and pallet parameter information in the new pallet type interface, and set the number of pallet layers, palletizing type and barcode orientation to generate at least one reference pallet type, and display the generated reference pallet type in the manual pallet type planning area.

[0134] Step S904: Determine a reference stack type as the target stack type according to the user's selection indication information or the preset priority, and save it.

[0135] For the specific implementation and technical effects of steps S901 to S904 in this embodiment, please refer to Figure 1The relevant descriptions of steps S101 to S104 are not repeated here.

[0136] Step S905: manually modify the stack type on the new stack type interface.

[0137] 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:

[0138] Shift the position of one or more materials;

[0139] Rotate the position of one or more materials;

[0140] Align the position of one or more materials.

[0141] 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.

[0142] 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.

[0143] 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.

[0144] 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.

[0145] 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.

[0146] 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.

[0147] 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.

[0148] 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.

[0149] Fig.10 A schematic diagram of a stack type planning device based on HMI is provided in an embodiment of the present application, as shown in FIG. Fig.10 As shown, the device in this embodiment may include:

[0150] A stack type planning interface display module 1001 is used to display a stack type planning interface in the HMI, wherein the stack type planning interface includes a stack type list;

[0151] The first receiving module 1002 is used to receive trigger indication information for the pallet type list and jump to a new pallet type interface, which includes: a pallet type layer number, a pallet type, a barcode orientation setting area and a manual pallet type planning area;

[0152] The input module 1003 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, pallet 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;

[0153] The target stack type determination module 1004 is used to determine a reference stack type as the target stack type according to the user's selection indication information or the preset priority, and save it.

[0154] Optionally, the pallet type planning interface further includes a pallet list and a material list, and the device further includes:

[0155] The second receiving module 1005 is used to receive the 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;

[0156] The third receiving module 1006 is used to receive the 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;

[0157] The newly added pallet type interface also includes: pallet parameter display area, material parameter display area, reference pallet type corresponding parameter display area, and material information editing area;

[0158] 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;

[0159] 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;

[0160] 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;

[0161] Manual pallet planning 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 stereoscopic view of the pallet.

[0162] Optionally, the material parameter information can be edited by: automatic import, or manual input;

[0163] The editing methods of pallet parameter information include: automatic import or manual input;

[0164] The input module 1003 is also 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. The empty throw height is related to the robot type, material size, and material category.

[0165] Optionally, it further includes: a list switching module 1007, which is used to switch to the material list after editing the material parameters, 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;

[0166] 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;

[0167] The target stack type determination module 1004 is specifically used to determine the target stack type in any of the following ways:

[0168] 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;

[0169] 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.

[0170] Optionally, the method further includes: a query module 1008, the query module being configured to perform any of the following operations:

[0171] By entering the material screening conditions, query the material from the material list;

[0172] By entering the filter conditions of the pallet, query the pallet from the pallet list;

[0173] By entering the filtering conditions of the stack type, query the stack type from the stack type list;

[0174] In the newly added stack type interface, jump and browse of multiple reference stack types are executed according to the jump instruction information input by the user.

[0175] Optionally, it further includes: a manual modification module 1009 for manually modifying the stack type on the newly added stack type interface, including any one or more of the following operations:

[0176] Shift the position of one or more materials;

[0177] Rotate the position of one or more materials;

[0178] Align the position of one or more materials.

[0179] Optionally, the manual stacking modification module 1009 is further used to modify the odd-numbered layers and / or even-numbered layers of the reference stacking type or the target stacking type, wherein the modification rules applied to the odd-numbered layers are different from the modification rules applied to the even-numbered layers.

[0180] Optionally, the method further includes: a sending module 1010, 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.

[0181] 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.

[0182] Fig.11 This is a schematic structural diagram of an HMI-based stack type planning device provided in an embodiment of the present application. The HMI-based stack type planning device 1100 in this embodiment may include: a processor 1101 and a memory 1102 .

[0183] The memory 1102 is used to store programs. The memory 1102 may include volatile memory, such as random-access memory (RAM), such as static random-access memory (SRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), etc. The memory may also include non-volatile memory, such as flash memory. The memory 1102 is used to store computer programs (such as applications, functional modules, etc. that implement the above methods), computer instructions, etc. The above computer programs, computer instructions, etc. may be partitioned and stored in one or more memories 1102. And the above computer programs, computer instructions, data, etc. may be called by the processor 1101.

[0184] The above-mentioned computer programs, computer instructions, etc. may be stored in partitions in one or more memories 1102 . And the above-mentioned computer programs, computer instructions, data, etc. may be called by the processor 1101 .

[0185] The processor 1101 is used to execute the computer program stored in the memory 1102 to implement each step of the method involved in the above embodiment.

[0186] For details, please refer to the relevant description in the previous method embodiment.

[0187] The processor 1101 and the memory 1102 may be independent structures or integrated structures. When the processor 1101 and the memory 1102 are independent structures, the memory 1102 and the processor 1101 may be coupled and connected via a bus 1103 .

[0188] The HMI-based stacking planning device 1100 of this embodiment can execute Figure 1 , Figure 8 , Fig. 9 For the technical solution in the method shown, its specific implementation process and technical principles can be found in Figure 1 , Figure 8 , Fig. 9 The relevant descriptions in the method shown will not be repeated here.

[0189] It will be appreciated by those skilled in the art that various aspects of the present invention may be implemented as systems, methods or program products. Therefore, various aspects of the present invention may be specifically implemented in the following forms, namely: complete hardware implementation, complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software implementations, which may be collectively referred to herein as "circuits", "modules" or "platforms".

[0190] In addition, an embodiment of the present application further provides a computer-readable storage medium, in which computer-executable instructions are stored. When at least one processor of a user device executes the computer-executable instructions, the user device executes the above-mentioned various possible methods.

[0191] Among them, computer-readable media include computer storage media and communication media, wherein the communication media include any media that facilitates the transmission of computer programs from one place to another. The storage medium can be any available medium that can be accessed by a general or special-purpose computer. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be an integral part of the processor. The processor and the storage medium can be located in an ASIC. In addition, the ASIC can be located in a user device. Of course, the processor and the storage medium can also be present in a communication device as discrete components.

[0192] The present application also provides a program product, which includes a computer program. The computer program is stored in a readable storage medium. At least one processor of the server can read the computer program from the readable storage medium. At least one processor executes the computer program so that the server implements any method of the above-mentioned embodiments of the present invention.

[0193] Those skilled in the art can understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiments; and the aforementioned storage medium includes: read-only memory (ROM), random access memory (RAM), magnetic disk or optical disk, etc. Various media that can store program codes.

[0194] Fig.12 Schematic diagram of the structure of a computer-readable storage medium in an embodiment of the present invention. Fig.12 As shown, a program product 1200 for implementing the above method according to an embodiment of the present invention is described, which can adopt a portable compact disk read-only memory (CD-ROM) and include program code, and can be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto. In this document, a readable storage medium can be any tangible medium containing or storing a program, which can be used by or in combination with an instruction execution system, an apparatus or a device.

[0195] The program product may use any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0196] Computer readable storage media may include data signals propagated in baseband or as part of a carrier wave, wherein readable program codes are carried. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The readable storage medium may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, device, or device. The program codes contained on the readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination thereof.

[0197] Program code for performing the operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., through the Internet using an Internet service provider).

[0198] 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.

[0199] 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 method based on HMI, characterized in that: include: Displaying a stack type planning interface in the HMI, wherein the stack type planning interface includes a stack type list; 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 palletizing type, and a barcode orientation setting area and a manual pallet type planning area; Import or manually input material parameter information and pallet parameter information in the newly added pallet type interface, and set the number of pallet layers, palletizing type and barcode orientation to generate at least one reference pallet type, and display the generated reference pallet type in the manual pallet type planning area; 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.

2. The HMI-based stacking planning method according to claim 1, characterized in that: The pallet type planning interface also includes a pallet list and a material list, and the method further includes: Receive trigger indication information for the material list, jump to the new material option box, and edit 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; 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 method according to claim 2, 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; Before confirming the generation of at least one reference stack type, the method further includes: In the newly added stacking interface, the empty throwing height of each layer of the stacking type is set, and the empty throwing height is related to the robot type, material size, and material category.

4. The HMI-based stacking planning method according to claim 1, characterized in that: After editing the material parameters, it also includes: 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; According to the preset priority, a reference stack type is determined as the target stack type, including any of the following methods: 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; 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.

5. The HMI-based stacking planning method according to claim 1, characterized in that: Also includes: 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; In the newly added stack type interface, jump and browse of multiple reference stack types are executed according to the jump instruction information input by the user.

6. The HMI-based stacking planning method according to any one of claims 1 to 5, characterized in that: Also includes: Manually modify the stack type on the new stack type interface, including any or more of the following operations: Shift the position of one or more materials; Rotate the position of one or more materials; Align the position of one or more materials; The method further comprises: The odd-numbered layers and / or the even-numbered layers of the reference stack type or the target stack type are modified, wherein the modification rules applied to the odd-numbered layers are different from the modification rules applied to the even-numbered layers.

7. The HMI-based stacking planning method according to any one of claims 1 to 5, characterized in that: Also includes: The generated target pallet type or the found target pallet type is sent to a back-end system so that the back-end system controls at least one robot to perform a palletizing task.

8. A stacking type planning device based on HMI, characterized in that: include: A stack type planning interface display module is used to display a stack type planning interface in the HMI, wherein the stack type planning interface includes a stack type list; A first receiving module 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, a barcode orientation setting area, and a manual pallet type planning area; An input module, used for importing or manually inputting material parameter information and pallet parameter information in the newly added pallet type interface, and setting the number of pallet layers, palletizing type, and barcode orientation to generate at least one reference pallet type, and displaying the generated reference pallet type in the manual pallet type planning area; The target stack type determination module is used to determine a reference stack type as the target stack type according to the user's selection indication information or the preset priority, and save it.

9. A stacking type planning device based on HMI, characterized in that: include: A processor and a memory, wherein the memory stores executable program instructions, and when the processor calls the program instructions in the memory, the processor is used to: Execute the steps of the HMI-based stack planning method as described in any one of claims 1 to 7.

10. A computer-readable storage medium for storing a program, characterized in that: When the program is executed, the steps of the HMI-based stacking planning method according to any one of claims 1 to 7 are implemented.

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