Multi-pallet stacking processing method and system, electronic equipment and storage medium

Abstract

The invention discloses a multi-pallet stacking processing method and system, electronic equipment and a storage medium, and the method comprises the steps: building a three-dimensional grid storage system according to the size of a pallet placement area, so as to simulate the actual space structure of pallets; obtaining the size and position information of the box in the current cache region; based on the three-dimensional grid storage system, the size and position information of the boxes in the current cache region and the size and position information of the boxes placed in the pallet placement region, a first stacking strategy of each pallet is obtained; the first stacking strategies of all the pallets are compared, and a second stacking strategy of each pallet is determined; and according to the second stacking strategy, the movement path of the mechanical arm of the robot is controlled, the boxes are carried to the pallet from the cache area, and stacking work is completed. According to the method, the strategy that multiple pallets are stacked efficiently at the same time can be achieved, and the stacking efficiency and the stack shape stability are effectively improved.

Description

Technical Field

[0001] The present application relates to the field of pallet stacking technology, and in particular to a multi-pallet stacking processing method, system, electronic device and storage medium. Background Art

[0002] In the current field of industrial automation, robotic stacking technology has become an important means to improve production efficiency and reduce labor costs. However, in the face of complex and changeable material types and shapes, especially when it is necessary to handle boxes of different sources and shapes, the existing robotic stacking technology faces many challenges. Existing robotic stacking systems often rely on strict item sorting and arrangement to ensure the smooth progress of the stacking process. This strict requirement not only limits the flexibility of robot operation, but also affects the overall production efficiency. When the sources of materials are diverse and the shapes are different, the existing stacking system needs to spend more time and resources to pre-process the materials to meet the robot's stacking requirements. In addition, the existing robotic stacking system is also unable to cope with the task of stacking multiple pallets at the same time. For example, the existing robotic stacking system can only stack pallets one by one, which makes it difficult to achieve simultaneous and efficient stacking of multiple pallets, reducing the stacking efficiency. Summary of the invention

[0003] The main purpose of the present application is to overcome the shortcomings and deficiencies of the prior art and to provide a multi-pallet stacking processing method, system, electronic device and storage medium. By constructing a three-dimensional grid storage system, the actual spatial structure of the pallet can be accurately simulated, and the first stacking strategy for each pallet is generated according to the size and position information of the boxes in the buffer area, as well as the information of the boxes already placed in the pallet placement area, thereby improving the flexibility and adaptability of the robot's stacking operation. At the same time, the first stacking strategy for each pallet is compared to determine the optimal second stacking strategy, thereby maximizing the use of the pallet space, realizing efficient stacking of multiple pallets at the same time, and improving the efficiency of the robot's stacking operation.

[0004] In order to achieve the above objectives, this application adopts the following technical solutions:

[0005] In a first aspect, the present application provides a multi-pallet stacking processing method, comprising the following steps:

[0006] According to the size of the pallet placement area, a three-dimensional grid storage system is established to simulate the actual spatial structure of the pallet;

[0007] Get the size and location information of the box in the current buffer area through the camera;

[0008] Based on the three-dimensional grid storage system, the size and position information of the boxes in the current buffer area, and the size and position information of the boxes already placed in the pallet placement area, a first stacking strategy for each pallet is obtained;

[0009] Comparing the first stacking strategy for each pallet to determine a second stacking strategy for each pallet;

[0010] According to the second stacking strategy, the motion path of the robot arm is controlled to move the boxes from the buffer area to the pallet to complete the stacking work.

[0011] As a preferred technical solution, in the three-dimensional grid storage system, the surface of the placement area is regarded as a placement plane, and the edge corners of the placement plane are regarded as placement points.

[0012] As a preferred technical solution, the first stacking strategy for each pallet is obtained based on the three-dimensional grid storage system, the size and position information of the boxes in the current buffer area, and the size and position information of the boxes already placed in the pallet placement area, including:

[0013] Based on each pallet, traverse all placement points in the three-dimensional grid storage system;

[0014] According to the size and position information of the boxes in the current buffer area, simulate the stacking state of the boxes after being placed at the placement point;

[0015] The stability of the stacking state of the boxes placed at different placement points is determined according to the sizes of the boxes, and the stacking method with a stable stacking state is selected as the first stacking strategy for the pallet.

[0016] As a preferred technical solution, the comparing the first stacking strategy of each pallet to determine the second stacking strategy of each pallet includes:

[0017] Based on the relationship between the height of the placement point and the adjacent plane, the lower surface area of ​​the box, and the impact on the remaining placement planes, the first stacking strategies of multiple pallets are judged and compared to obtain the second stacking strategy for each pallet.

[0018] As a preferred technical solution, the first stacking strategies of multiple pallets are judged and compared based on the relationship between the height of the placement point and the adjacent plane, the lower surface area of ​​the box, and the impact on the remaining placement plane to obtain the second stacking strategy for each pallet, including:

[0019] Evaluate the height difference between the top of each box after placement and the adjacent placed boxes, sort the first stacking strategies in ascending order according to the height difference, and select the first stacking strategy with the highest order as the first optimization solution;

[0020] Based on the first optimization scheme, the lower surface area of ​​each box to be placed is calculated, and the first stacking strategy with a large lower surface area is preferentially selected as the second optimization scheme;

[0021] After determining the placement position and order of the boxes based on the first optimization scheme and the second optimization scheme, the remaining load-bearing space of the stacking structure in the X direction and the Y direction is calculated, and the first stacking strategy with the largest remaining load-bearing space is selected as the third optimization scheme;

[0022] Based on the first optimization scheme, the second optimization scheme and the third optimization scheme, a first stacking strategy with optimal space utilization, stability of the stacking structure and coordination is obtained as the overall optimal solution.

[0023] As a preferred technical solution, the controlling the motion path of the robot arm according to the second stacking strategy includes:

[0024] Set different transition points according to the different positions of the pallets;

[0025] The location information of the box in the current buffer area is obtained through the camera as the grab point;

[0026] Based on the second stacking strategy, obtaining a placement point for the box;

[0027] The robot arm is controlled to move along the path of the grabbing point, transition point and placement point.

[0028] In a second aspect, the present application provides a multi-pallet stacking processing system, which is applied to a multi-pallet stacking processing method, including a grid establishment module, an information acquisition module, a first stacking strategy acquisition module, a second stacking strategy acquisition module, and a stacking module;

[0029] The grid establishment module is used to establish a three-dimensional grid storage system according to the size of the placement area of ​​the pallet to simulate the actual spatial structure of the pallet;

[0030] The information acquisition module is used to obtain the size and position information of the box in the current buffer area through the camera;

[0031] The module for obtaining the first stacking strategy is used to obtain the first stacking strategy for each pallet based on the three-dimensional grid storage system, the size and position information of the boxes in the current buffer area, and the size and position information of the boxes already placed in the pallet placement area;

[0032] The module for obtaining the second stacking strategy is used to compare the first stacking strategy of each pallet to determine the second stacking strategy of each pallet;

[0033] The stacking module is used to control the movement path of the robot arm according to the second stacking strategy, move the boxes from the buffer area to the pallet, and complete the stacking work.

[0034] As a preferred technical solution, the module for obtaining the first stacking strategy is specifically used for:

[0035] Based on each pallet, traverse all placement points in the three-dimensional grid storage system;

[0036] According to the size and position information of the boxes in the current buffer area, simulate the stacking state of the boxes after being placed at the placement point;

[0037] The stability of the stacking state of the boxes placed at different placement points is determined according to the sizes of the boxes, and the stacking method with a stable stacking state is selected as the first stacking strategy for the pallet.

[0038] In a third aspect, the present application provides an electronic device, the electronic device comprising:

[0039] at least one processor; and a memory communicatively coupled to the at least one processor;

[0040] The memory stores computer program instructions that can be executed by the at least one processor, and the computer program instructions are executed by the at least one processor so that the at least one processor can execute the multi-pallet stacking processing method.

[0041] In a fourth aspect, the present application provides a computer-readable storage medium storing a program, which, when executed by a processor, implements the multi-pallet stacking processing method.

[0042] In summary, compared with the prior art, the effective effects brought about by the technical solution provided by this application include at least:

[0043] The present application proposes a multi-pallet stacking processing method. By constructing a three-dimensional grid storage system, it can accurately simulate the actual spatial structure of the pallet, and generate a first stacking strategy for each pallet according to the size and position information of the boxes in the buffer area, as well as the information of the boxes already placed in the pallet placement area. The formulation of this strategy gets rid of the reliance of the traditional robot stacking system on the strict sorting and arrangement of items, thereby greatly improving the flexibility and adaptability of the robot stacking operation, and being able to efficiently process boxes of various shapes and sources; secondly, by comparing the first stacking strategy of each pallet, the second stacking strategy is further determined, and the stacking method of the boxes can be optimized, thereby maximizing the use of the pallet space and reducing space waste; the present application realizes the simultaneous and efficient stacking of multiple pallets, thereby effectively improving the stacking efficiency and the stability of the stacking type. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0045] Figure 1 A flowchart of a multi-pallet stacking processing method provided for one embodiment of the present application;

[0046] Figure 2 A block diagram of a multi-pallet stacking processing system provided for one embodiment of the present application. DETAILED DESCRIPTION

[0047] In order to enable those skilled in the art to better understand the present application, the technical solutions 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 only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present application.

[0048] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments.

[0049] Terminology explanation: Stacking in this application refers to stacking or placing items neatly in a certain way to achieve storage, transportation and management of items.

[0050] See also Figure 1 In one embodiment of the present application, a multi-pallet stacking processing method is provided, comprising the following steps:

[0051] S1. According to the size of the pallet placement area, a three-dimensional grid storage system is established to simulate the actual spatial structure of the pallet.

[0052] Furthermore, in this embodiment, a three-dimensional grid storage system is established separately for each pallet; the three-dimensional grid storage system is used to represent the placement spaces and points in the three-dimensional space of the placement area.

[0053] In the three-dimensional grid storage system, the surface of the placeable area is regarded as a placement plane, and the edge corners of the placement plane are used as placement points.

[0054] S2. Obtain the size and location information of the box in the current buffer area through the camera.

[0055] Furthermore, at least one camera is used to capture images of boxes in the current buffer area, and the size and position information of each box are obtained by analyzing the images; and the recognition error of the camera is analyzed. The recognition error is a unique attribute of each camera. Generally, the recognition error is plus or minus 5mm, so 10mm can be used as a gradient, and the sizes with the same gradient can be regarded as the same size. For example, 300 to 310mm captured by the camera can all be regarded as 310mm.

[0056] S3. Obtain a first stacking strategy for each pallet based on the three-dimensional grid storage system, the size and position information of the boxes in the current buffer area, and the size and position information of the boxes already placed in the pallet placement area.

[0057] Specifically, based on the three-dimensional grid storage system, the size and position information of the boxes in the current buffer area, and the size and position information of the boxes already placed in the pallet placement area, the step of obtaining the first stacking strategy for each pallet includes:

[0058] S31, based on each pallet, traversing all placement points in the three-dimensional grid storage system;

[0059] S32, simulating the stacking state of the boxes after they are placed at the placement point according to the size and position information of the boxes in the current buffer area;

[0060] Furthermore, the size (length, width, height) and position information (relative to a reference point in the cache) of each box are obtained from the current cache. Secondly, based on the size of the box, the space required to place the box is calculated, including checking whether the placement point and its surrounding grid cells are large enough to accommodate the box, while considering the placement direction of the box (such as the long side is parallel to the edge of the pallet or the short side is parallel).

[0061] In this application, the stack type refers to the three-dimensional shape and structure formed by stacking boxes on pallets, reflecting the arrangement, stacking height, tilt angle and other characteristics of the boxes.

[0062] S33. For each pallet, determine the stability of the stacking state of boxes placed at different placement points according to the sizes of different boxes, and select a stacking method with a stable stacking state as the first stacking strategy for the pallet.

[0063] S4. Compare the first stacking strategy for each pallet to determine the second stacking strategy for each pallet.

[0064] Furthermore, based on the relationship between the height of the placement point and the adjacent plane, the lower surface area of ​​the box, and the impact on the remaining placement planes, the first stacking strategies of multiple pallets are judged and compared to obtain the second stacking strategy for each pallet.

[0065] Specifically, judging and comparing the first stacking strategies of the plurality of pallets based on the relationship between the height of the placement point and the adjacent plane, the lower surface area of ​​the box, and the influence on the remaining placement planes to obtain the second stacking strategy for each pallet includes:

[0066] S41, first, evaluate the height difference between the top of each box after placement and the adjacent placed box, sort the first stacking strategies in ascending order according to the height difference, and select the first stacking strategy with the highest order as the first optimization solution;

[0067] Evaluate the height difference between the top of each box after placement and the adjacent boxes, taking into account the size and shape of each box and its specific position on the pallet; ideally, the height difference between adjacent boxes should be as small as possible to maintain the flatness and stability of the stack.

[0068] The basis for sorting is that the smaller the height difference, the better the flatness and stability of the stacking. Therefore, the first stacking strategy with the highest sorting performs better in terms of height difference.

[0069] S42. Next, based on the first optimization scheme, the lower surface area of ​​each box to be placed is calculated, and the first stacking strategy with a large lower surface area is preferentially selected as the second optimization scheme;

[0070] The size of the lower surface area directly affects the stability of the box on the pallet; the larger the lower surface area, the larger the contact area between the box and the pallet, thus improving the stability of the stack. Therefore, the first stacking strategy that can maximize the lower surface area of ​​the box is preferred. In order to increase the lower surface area of ​​the box as much as possible while maintaining the flatness and stability of the stack, it helps to improve the stability of the entire stacking structure.

[0071] S43. Finally, based on the first optimization scheme and the second optimization scheme, after determining the placement position and order of the boxes, calculate the remaining load-bearing space of the stacking structure in the X direction and the Y direction, and select the first stacking strategy with the largest remaining load-bearing space as the third optimization scheme;

[0072] Furthermore, the first stacking strategy with the largest remaining load-bearing space is selected as the third optimization scheme; the third optimization scheme further improves the space utilization of the pallet and the flexibility of the stacking structure on the basis of maintaining the stacking flatness and stability and maximizing the lower surface area of ​​the box.

[0073] By comparing the first stacking strategies of multiple pallets and determining the optimal stacking strategy (second stacking strategy), the storage space can be utilized to the maximum extent and the storage efficiency can be improved.

[0074] S44. Based on the first optimization scheme, the second optimization scheme and the third optimization scheme, a first stacking strategy with the best space utilization, operation steps, stability and coordination of the stacking structure can be obtained as the overall optimal solution, namely, the second stacking strategy.

[0075] The optimal solution not only meets the need to maximize the utilization of pallet space, but also ensures the stability and coordination of the stacking structure, providing strong support for subsequent handling and stacking operations.

[0076] S5. According to the second stacking strategy, control the movement path of the robot arm to move the box from the buffer area to the pallet to complete the stacking work.

[0077] Furthermore, this embodiment sets different transition points according to the different positions of the pallets, obtains the position information of the boxes in the current buffer area through the camera as the grabbing point, and obtains the placement point of the box based on the second stacking strategy. Finally, the robot arm is controlled to move along the path of the grabbing point, the transition point (adjusting the motion path to the correct transition point according to the different positions of the placed pallets) and the placement point. In addition, it also includes: after the robot grabs the box at the grabbing point, the conveyor belt is controlled by IO to replenish the boxes in the buffer area, and the information of the replenished boxes is captured by the camera, and the next box to be stacked and its position are calculated.

[0078] It should be noted that, for the sake of convenience of description, the aforementioned method embodiments are all expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited to the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously.

[0079] Based on the same idea as the multi-pallet stacking processing method in the above embodiment, the present application also provides a multi-pallet stacking processing system, which can be used to execute the above multi-pallet stacking processing method. For ease of explanation, the structural diagram of a multi-pallet stacking processing system embodiment only shows the parts related to the embodiment of the present application. Those skilled in the art can understand that the illustrated structure does not constitute a limitation on the system, and may include more or fewer components than shown in the diagram, or combine certain components, or arrange the components differently.

[0080] See also Figure 2In another embodiment of the present application, a multi-pallet stacking processing system is provided, the system comprising a grid establishment module 101, an information acquisition module 102, an acquisition first stacking strategy module 103, an acquisition second stacking strategy module 104 and a stacking module 105;

[0081] The grid building module 101 is used to build a three-dimensional grid storage system according to the size of the pallet placement area to simulate the actual spatial structure of the pallet;

[0082] The information acquisition module 102 is used to acquire the size and position information of the box in the current buffer area through a camera;

[0083] The module 103 for obtaining a first stacking strategy is used to obtain a first stacking strategy for each pallet based on the three-dimensional grid storage system, the size and position information of the boxes in the current buffer area, and the size and position information of the boxes already placed in the pallet placement area;

[0084] The module 104 for obtaining the second stacking strategy is used to compare the first stacking strategy of each pallet to determine the second stacking strategy of each pallet;

[0085] The stacking module 105 is used to control the movement path of the robot arm according to the second stacking strategy, move the boxes from the buffer area to the pallet, and complete the stacking work.

[0086] As a preferred technical solution, the module for obtaining the first stacking strategy is specifically used for:

[0087] Based on each pallet, traverse all placement points in the three-dimensional grid storage system;

[0088] According to the size and position information of the boxes in the current buffer area, simulate the stacking state of the boxes after being placed at the placement point;

[0089] The stability of the stacking state of the boxes placed at different placement points is determined according to the sizes of the boxes, and the stacking method with a stable stacking state is selected as the first stacking strategy for the pallet.

[0090] It should be noted that a multi-pallet stacking processing system of the present application corresponds one-to-one to a multi-pallet stacking processing method of the present application. The technical features and beneficial effects described in the embodiment of the above-mentioned multi-pallet stacking processing method are applicable to the embodiment of a multi-pallet stacking processing system. For specific contents, please refer to the description in the embodiment of the method of the present application. It will not be repeated here. This is hereby declared.

[0091] In addition, in the implementation of a multi-pallet stacking processing system in the above embodiment, the logical division of each program module is only an example. In actual applications, the above functions can be assigned to different program modules as needed, for example, for the configuration requirements of the corresponding hardware or the convenience of software implementation. That is, the internal structure of the multi-pallet stacking processing system is divided into different program modules to complete all or part of the functions described above.

[0092] In another embodiment, an electronic device for implementing a multi-pallet stacking processing method is provided, comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor; when the processor executes the computer program, a multi-pallet stacking processing method of any embodiment of the present application is implemented.

[0093] Exemplarily, in this embodiment, the computer program may be divided into one or more modules, which are stored in the memory and executed by the processor to complete the present application. The one or more module elements may be a series of computer program instruction segments capable of completing specific functions, which are used to describe the execution process of the computer program in the device.

[0094] The device may be a computing device such as a desktop computer, a notebook, a PDA, a cloud server, etc. The device may include, but is not limited to, a processor and a memory.

[0095] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc. The processor is the control center of the device, and various interfaces and lines are used to connect various parts of the entire device.

[0096] The memory can be used to store the computer program and / or module, and the processor realizes various functions of the device by running or executing the computer program and / or module stored in the memory, and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application required for a function, etc.; in addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0097] Accordingly, the present application also provides a computer-readable storage medium, which includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute a multi-pallet stacking processing method as described in any one of the above embodiments.

[0098] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the program can be stored in a non-volatile computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0099] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0100] The above embodiments are preferred implementation modes of the present application, but the implementation modes of the present application are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present application should be equivalent replacement methods and are included in the protection scope of the present application.

Claims

1. A method for stacking multiple pallets, characterized in that: The steps include: According to the size of the pallet placement area, a three-dimensional grid storage system is established to simulate the actual spatial structure of the pallet; Get the size and location information of the box in the current buffer area through the camera; Based on the three-dimensional grid storage system, the size and position information of the boxes in the current buffer area, and the size and position information of the boxes already placed in the pallet placement area, a first stacking strategy for each pallet is obtained; Comparing the first stacking strategy for each pallet to determine a second stacking strategy for each pallet; According to the second stacking strategy, the motion path of the robot arm is controlled to move the boxes from the buffer area to the pallet to complete the stacking work.

2. A multi-pallet stacking processing method according to claim 1, characterized in that: In the three-dimensional grid storage system, the surface of the placement area is regarded as a placement plane, and the edge corners of the placement plane are regarded as placement points.

3. A multi-pallet stacking processing method according to claim 2, characterized in that: The first stacking strategy for each pallet is obtained based on the three-dimensional grid storage system, the size and position information of the boxes in the current buffer area, and the size and position information of the boxes already placed in the pallet placement area, including: Based on each pallet, traverse all placement points in the three-dimensional grid storage system; According to the size and position information of the boxes in the current buffer area, simulate the stacking state of the boxes after being placed at the placement point; The stability of the stacking state of the boxes placed at different placement points is determined according to the sizes of the boxes, and the stacking method with a stable stacking state is selected as the first stacking strategy for the pallet.

4. A multi-pallet stacking processing method according to claim 1, characterized in that: The comparing the first stacking strategy of each pallet to determine the second stacking strategy of each pallet includes: Based on the relationship between the height of the placement point and the adjacent plane, the lower surface area of ​​the box, and the impact on the remaining placement planes, the first stacking strategies of multiple pallets are judged and compared to obtain the second stacking strategy for each pallet.

5. A multi-pallet stacking processing method according to claim 4, characterized in that: The first stacking strategies of the plurality of pallets are judged and compared based on the relationship between the height of the placement point and the adjacent plane, the lower surface area of ​​the box, and the influence on the remaining placement plane to obtain the second stacking strategy for each pallet, including: Evaluate the height difference between the top of each box after placement and the adjacent placed boxes, sort the first stacking strategies in ascending order according to the height difference, and select the first stacking strategy with the highest order as the first optimization solution; Based on the first optimization scheme, the lower surface area of ​​each box to be placed is calculated, and the first stacking strategy with a large lower surface area is preferentially selected as the second optimization scheme; After determining the placement position and order of the boxes based on the first optimization scheme and the second optimization scheme, the remaining load-bearing space of the stacking structure in the X direction and the Y direction is calculated, and the first stacking strategy with the largest remaining load-bearing space is selected as the third optimization scheme; Based on the first optimization scheme, the second optimization scheme and the third optimization scheme, a first stacking strategy with optimal space utilization, stability of the stacking structure and coordination is obtained as the overall optimal solution.

6. A multi-pallet stacking processing method according to claim 1, characterized in that: The controlling the motion path of the robot arm according to the second stacking strategy includes: Set different transition points according to the different positions of the pallets; The location information of the box in the current buffer area is obtained through the camera as the grab point; Based on the second stacking strategy, obtaining a placement point for the box; The robot arm is controlled to move along the path of the grabbing point, transition point and placement point.

7. A multi-pallet stacking processing system, characterized in that: A multi-pallet stacking processing method applied to any one of claims 1-6, comprising a grid establishment module, an information acquisition module, a first stacking strategy acquisition module, a second stacking strategy acquisition module and a stacking module; The grid establishment module is used to establish a three-dimensional grid storage system according to the size of the placement area of ​​the pallet to simulate the actual spatial structure of the pallet; The information acquisition module is used to obtain the size and position information of the box in the current buffer area through the camera; The module for obtaining the first stacking strategy is used to obtain the first stacking strategy for each pallet based on the three-dimensional grid storage system, the size and position information of the boxes in the current buffer area, and the size and position information of the boxes already placed in the pallet placement area; The module for obtaining the second stacking strategy is used to compare the first stacking strategy of each pallet to determine the second stacking strategy of each pallet; The stacking module is used to control the movement path of the robot arm according to the second stacking strategy, move the boxes from the buffer area to the pallet, and complete the stacking work.

8. A multi-pallet stacking and processing system according to claim 7, characterized in that: The module for obtaining the first stacking strategy is specifically used for: Based on each pallet, traverse all placement points in the three-dimensional grid storage system; According to the size and position information of the boxes in the current buffer area, simulate the stacking state of the boxes after being placed at the placement point; The stability of the stacking state of the boxes placed at different placement points is determined according to the sizes of the boxes, and the stacking method with a stable stacking state is selected as the first stacking strategy for the pallet.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively coupled to the at least one processor; The memory stores computer program instructions that can be executed by the at least one processor, and the computer program instructions are executed by the at least one processor so that the at least one processor can execute a multi-pallet stacking processing method as described in any one of claims 1-6.

10. A computer-readable storage medium storing a program, characterized in that: When the program is executed by a processor, a multi-pallet stacking processing method as described in any one of claims 1 to 6 is implemented.

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