Stacking task issuing method based on MES system

Abstract

The invention discloses a stacking task issuing method based on an MES system, and belongs to the technical field of stacking task issuing. Comprising the steps that position coordinate information of a stacking platform is set, and the position coordinate information is transmitted to a PLC to be stored through a gateway; corresponding pressure sensors are started to sense workpiece signals, and a workpiece signal set is generated; based on the position coordinates of all the elements in the workpiece signal set, stacking operation is started; workpiece signal position coordinates of the pressure sensor are monitored in real time, and a workpiece coordinate set is generated until stacking operation is completed; the stacking operation is evaluated and scored according to the stacking task data; when the evaluation score is smaller than the evaluation threshold value, the stacking task is issued again until the evaluation score is qualified; according to the method, the stacking task is monitored in real time through the stacking task data, and the situation that the stacking operation condition is not clear is avoided; the real-time communication of task data is realized through the arrangement of the gateway; through evaluation and scoring, an administrator can conveniently manage the stacking operation.

Description

Technical Field

[0001] The present invention relates to the technical field of palletizing task dispatching, and in particular to a palletizing task dispatching method based on an MES system. Background Art

[0002] In today's highly competitive global industrial intelligent manufacturing field, the application of industrial robot palletizing operations has become increasingly important. Palletizing robots among industrial robots occupy an extremely important position in the field of modern industrial automation with their high efficiency, precision and flexibility. They not only improve production efficiency and reduce labor costs, but also improve product quality and ensure personnel safety. They have a wide range of applications and strong collaborative operation capabilities.

[0003] However, in the field of palletizing task issuance technology, when palletizing robots are performing palletizing operations, there are usually problems with untimely task data communication and unclear palletizing operation conditions. Therefore, how to avoid untimely task data communication and unclear palletizing operation conditions has become a problem we need to solve. Summary of the invention

[0004] The present invention aims to provide a palletizing task issuing method based on an MES system, so as to solve the problems of untimely task data communication and unclear palletizing operation status when a palletizing robot performs palletizing operations.

[0005] In order to achieve the above object, the present invention is implemented by the following technical solutions:

[0006] A method for issuing palletizing tasks based on an MES system, the method comprising the following steps:

[0007] Step 1: The administrator sets the position coordinate information of the palletizing platform through the MES system. The position coordinate information includes the position coordinate and the task area. The task area is defined as the limited area of ​​the workpiece activity range. The position coordinate information is uploaded to the gateway, and the communication module of the gateway transmits the position coordinate information to the PLC for storage.

[0008] Step 2: PLC starts the corresponding pressure sensor on the stacking platform according to the position coordinate information transmitted by the gateway. The pressure sensor is used to detect whether there is a signal in the task area, and updates the position coordinates of the workpiece signal in real time and displays it on the touch screen;

[0009] Step 3: Based on the position coordinates of the workpiece signal, the point coordinates of the palletizing robot are updated in real time, and the fixed-point operation data of the point coordinates and the writing and debugging of the running program are completed. When the touch screen monitors the instruction to start the palletizing operation, it is fed back to the palletizing robot for palletizing operation;

[0010] Step 4: Use the pressure sensor to monitor the position coordinates of the workpiece signal in real time, build a workpiece coordinate set and record the workpiece coordinate set in the MES system database; when the touch screen monitors the instruction to end the palletizing operation, the signal of the completion of the palletizing operation is fed back to the MES system, the signal of the pressure sensor is detected and the detection signal is recorded in the MES system database;

[0011] Step 5: The administrator evaluates and scores the palletizing operation according to the MES system database and stores it in the MES system;

[0012] Step 6: When the evaluation score is less than the evaluation threshold, the palletizing task will be re-issued until the evaluation score is qualified.

[0013] Furthermore, uploading the location coordinate information to the gateway includes the following operations:

[0014] The administrator sets the IP address and communication protocol parameters of the gateway, establishes a connection with the corresponding gateway, activates the gateway, and starts the service of receiving uploaded data;

[0015] The administrator sets the location coordinate information of the palletizing platform through the MES system, the location coordinate information including the location coordinate and the task area, and uploads the location coordinate information to the gateway;

[0016] After receiving the location coordinate information, the gateway transmits the location coordinate information to the PLC for storage.

[0017] It needs to be explained that the dispatch of palletizing tasks includes task planning, task dispatching, task monitoring and optimization. In the step of uploading the location coordinate information to the gateway: when planning the task, the requirements of the palletizing task must be clarified first. The administrator sets the location coordinates of the palletizing platform through the MES system to accurately find the palletizing platform for the palletizing task on multiple palletizing platforms; according to the task area of ​​the set palletizing platform, the scope of the palletizing task is clarified to prevent the unsmooth dispatch of the palletizing task due to unclear requirements of the palletizing task; secondly, in the process of uploading the location coordinate information to the gateway, the administrator configures the IP address to ensure that the gateway is assigned a correct IP address that does not conflict with other devices in the network; through the setting of communication protocol parameters, ensure that the communication protocol supported by the gateway is compatible with other devices in the network to avoid communication failures; through the activation of the gateway device, the problem of gateway connection failure is discovered and handled in a timely manner, thereby preventing the problem of untimely communication of task data caused by inaccurate gateway configuration.

[0018] Furthermore, the pressure sensor senses the workpiece signal on the task area, constructs a workpiece signal set, and displays the position coordinates of the workpiece signal on the touch screen, including the following operations:

[0019] The PLC starts the corresponding pressure sensor on the stacking platform through the position coordinate information transmitted by the gateway. The pressure sensor is used to sense the workpiece signal on the task area and construct the workpiece signal set S = {s n |n=1,2,…,N},where s n represents the nth workpiece signal sensed by the pressure sensor in the task area, and N represents the total number of workpiece signals sensed by the pressure sensor in the task area;

[0020] Feedback the workpiece signal set to the operator's touch screen, the workpiece signal set corresponds to the operator's number one by one, and one workpiece signal set corresponds to one operator's number, and the touch screen displays the position coordinates of the workpiece signal in the workpiece signal set according to a preset display template;

[0021] It needs to be explained that the position coordinate information transmitted by the PLC through the gateway to start the corresponding pressure sensor on the stacking platform not only reduces the load of the PLC and reduces unnecessary calculations and processing, but also improves the execution efficiency of the PLC and enhances the stability of the system; by constructing a workpiece signal set, different workpiece signals are identified. The workpiece signal set can uniquely identify each workpiece signal, so that in a complex production environment, workers can quickly identify and process specific signals, thereby realizing real-time tracking and monitoring of the workpiece status, improving production efficiency and work efficiency; when a stacking operation fails, the corresponding workpiece signal can be quickly found through the workpiece signal set, reducing the time and cost of troubleshooting.

[0022] Furthermore, the updating of the fixed-point operation of the point coordinates of the palletizing robot and the writing and debugging of the running program until the touch screen monitors the instruction to start the palletizing operation, and then feeding back to the palletizing robot for the palletizing operation includes the following operations:

[0023] According to the position coordinates of the workpiece signal in the workpiece signal set, the fixed-point operation data of the palletizing robot's point coordinates and the writing and debugging data of the running program are updated in real time until the touch screen monitors the instruction to start the palletizing operation. The update is stopped and the latest fixed-point operation data of the palletizing robot's point coordinates and the writing and debugging data of the running program are recorded in the MES system database, and the palletizing operation starts.

[0024] It needs to be explained that the operator performs fixed-point operations on the palletizing robot's point coordinates and writes and debugs the running program according to the position coordinates of the working signals in the workpiece signal set displayed on the touch screen: first, set the reference point, establish the user coordinate system, and map the position coordinates of all workpiece signals in the workpiece signal set to the user coordinate system; then set the motion trajectory and motion parameters of the palletizing robot to ensure that the palletizing robot moves smoothly and meets production requirements; then set the program to run and debug and optimize, and comply with safety operating procedures; after debugging, accurately position the palletizing robot to the position of the workpiece signal, and the operator presses the start button on the touch screen to start the palletizing operation of the palletizing robot.

[0025] Furthermore, the pressure sensor monitors the position coordinates of the workpiece signal in real time, constructs a workpiece coordinate set, and records the workpiece coordinate set in the MES system database, including the following operations:

[0026] After the palletizing task begins, the pressure sensor senses the workpiece signal s according to the workpiece signal set. n The position coordinates are monitored in real time to build the workpiece coordinate set W|s n ={(x m ,y m , z m )|m=1,2,…,M},where (x m ,y m , z m ) indicates that the pressure sensor monitors the workpiece signal s during palletizing operation n The mth position coordinate of the workpiece signal is obtained, and the workpiece coordinate set corresponding to all workpiece signals in the workpiece signal set is recorded in the MES system database.

[0027] It needs to be explained that after the palletizing operation begins, the position coordinates of the workpiece signal are monitored in real time through pressure sensors, so that real-time monitoring of the palletizing operation can be achieved. It can also promptly detect deviations in the workpiece position and the time and place of the deviation, and identify potential quality problems and improvement directions.

[0028] Furthermore, when the touch screen monitors the instruction to end the palletizing operation, it feeds back the signal of the completion of the palletizing operation to the MES system, detects the signal of the pressure sensor and records the detection signal in the MES system database, including the following operations:

[0029] When the touch screen monitors the instruction to end the palletizing operation, the palletizing robot completes the palletizing operation and uploads the signal of completion of the palletizing operation to the gateway, which then transmits it to the MES system; the signal of the pressure sensor is detected and the detection signal is recorded in the MES system database.

[0030] It needs to be explained that when the palletizing operation is completed, the operator presses the end button on the touch screen to upload the signal that the palletizing operation is completed to the gateway, which then transmits it to the MES system, and the administrator evaluates and scores the completed palletizing operation. At the same time, the signal of the pressure sensor is detected. If the pressure sensor fails or the reading is abnormal, it may cause unstable stacking or even collapse accidents. Therefore, the pressure sensor output detection signal is recorded to provide a basis for the administrator to evaluate the completed palletizing operation.

[0031] Furthermore, the evaluation and scoring of the palletizing operation according to the MES system database and retention in the MES system include the following operations:

[0032] The administrator extracts the palletizing task data from the MES system database, wherein the palletizing task data includes the operator's number, workpiece signal set, workpiece coordinate set and detection signal, evaluates and scores the palletizing operation according to the evaluation template and the scoring template, generates evaluation data and evaluation scores, and retains them in the MES system.

[0033] It needs to be explained that the administrator checks the palletizing task data recorded in the MES system database to determine whether there are any problems with the palletizing operation, such as safety violation, incomplete task, pressure sensor abnormality, etc. When there are problems with the palletizing operation, the operator will be deducted points, such as three points for safety violation, three points for incomplete task, and three points for pressure sensor abnormality. Evaluation data and evaluation scores are generated according to the evaluation template and scoring template, and fed back to the MES system. The MES system generates a visual evaluation report through a preset display template, thereby avoiding the problem of unclear palletizing operation status.

[0034] Furthermore, when the evaluation score is less than the evaluation threshold, the stacking task is re-issued until the evaluation score is qualified, including the following operations:

[0035] The evaluation score of the palletizing operation is extracted. When the evaluation score is less than the evaluation threshold, the MES system will re-issue the palletizing task until the evaluation score is greater than or equal to the evaluation threshold. The palletizing task is then issued when the evaluation score is qualified.

[0036] It needs to be explained that when the evaluation score of the palletizing operation is less than the evaluation threshold, the administrator can reset the palletizing task to the original initial state of the palletizing task and automatically send the palletizing task to the operator. The operator performs palletizing again until the score is qualified and the palletizing task is sent. This method of sending palletizing tasks not only improves the efficiency and accuracy of the palletizing operation, but also greatly improves the operator's operating ability and programming ability of the palletizing robot. Based on the background of industrial manufacturing, there are also many palletizing robot operation processes in many non-standard product manufacturing automated production lines. Sending tasks through MES can provide strong support for the company's production management.

[0037] The beneficial effects of the present invention are as follows: the present invention discloses a method for issuing palletizing tasks based on an MES system, comprising setting position coordinate information of a palletizing platform, transmitting the position coordinate information to a PLC for storage through a gateway; starting a corresponding pressure sensor to sense a workpiece signal and generating a workpiece signal set; starting a palletizing operation based on the position coordinates of each element in the workpiece signal set; monitoring the workpiece signal position coordinates of the pressure sensor in real time and generating a workpiece coordinate set until the palletizing operation is completed; evaluating and scoring the palletizing operation according to the palletizing task data; when the evaluation score is less than the evaluation threshold, reissuing the palletizing task until the evaluation score is qualified; the present invention realizes real-time monitoring of the palletizing task through the palletizing task data, thereby avoiding unclear palletizing operation conditions; and also realizes real-time communication of task data through the setting of a gateway; and realizes real-time data processing through evaluation and scoring, thereby facilitating the administrator's management of the palletizing operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0039] in:

[0040] Figure 1 A schematic diagram of steps in an embodiment of the present invention;

[0041] Figure 2 This is a structural diagram of the MES monitoring interface in an embodiment of the present invention. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solution and advantages of the embodiment of the present invention clearer, the technical solution of the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings of the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention, not all of the embodiments. Based on the described embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of the present invention.

[0043] like Figure 1 As shown in FIG. 1 , an embodiment of the present invention is provided, which provides a method for issuing palletizing tasks based on an MES system, and the method includes the following steps:

[0044] Step 1: The administrator sets the position coordinate information of the palletizing platform through the MES system. The position coordinate information includes the position coordinate and the task area. The task area is defined as the limited area of ​​the workpiece activity range. The position coordinate information is uploaded to the gateway, and the communication module of the gateway transmits the position coordinate information to the PLC for storage.

[0045] Step 2: PLC starts the corresponding pressure sensor on the palletizing platform according to the position coordinate information transmitted by the gateway. The pressure sensor is used to detect whether there is a workpiece signal in the task area, and updates the position coordinates of the workpiece signal in real time and displays it on the touch screen;

[0046] Step 3: Based on the position coordinates of the workpiece signal, the robot's point coordinates are updated in real time, and the fixed-point operation data of the point coordinates and the writing and debugging of the running program are completed. When the touch screen monitors the instruction to start the palletizing operation, it is fed back to the robot for palletizing operation;

[0047] Step 4: Use the pressure sensor to monitor the position coordinates of the workpiece signal in real time, build a workpiece coordinate set and record the workpiece coordinate set in the MES system database; when the touch screen monitors the instruction to end the palletizing operation, the signal of the completion of the palletizing operation is fed back to the MES system, the signal of the pressure sensor is detected and the detection signal is recorded in the MES system database;

[0048] Step 5: The administrator evaluates and scores the palletizing operation according to the MES system database and stores it in the MES system;

[0049] Step 6: When the evaluation score is less than the evaluation threshold, the palletizing task will be re-issued until the evaluation score is qualified.

[0050] Preferably, uploading the location coordinate information to the gateway includes the following operations:

[0051] The administrator sets the IP address and communication protocol parameters of the gateway, establishes a connection with the corresponding gateway, activates the gateway, and starts the service of receiving uploaded data. The administrator completes the setting of relevant signals through the SymLink development system, establishes the gateway communication address, realizes data communication between the gateway and the PLC, and uploads it to the MES system at the same time.

[0052] The administrator sets the location coordinate information of the palletizing platform through the MES system. The location coordinate information includes the location coordinate and task area, and uploads the location coordinate information to the gateway;

[0053] After receiving the location coordinate information, the gateway transmits the location coordinate information to the PLC for storage.

[0054] Preferably, the pressure sensor senses the workpiece signal on the task area, constructs a workpiece signal set, and displays the position coordinates of the workpiece signal on the touch screen, including the following operations:

[0055] The PLC uses the location coordinate information transmitted by the gateway to start the corresponding pressure sensor on the stacking platform. The pressure sensor is used to sense the workpiece signal on the task area and construct the workpiece signal set S = {s n |n=1,2,…,N},where s n represents the nth workpiece signal sensed by the pressure sensor in the task area, and N represents the total number of workpiece signals sensed by the pressure sensor in the task area;

[0056] Feedback the workpiece signal set to the operator's touch screen, the workpiece signal set corresponds to the operator's number one by one, and one workpiece signal set corresponds to one operator's number, and the touch screen displays the position coordinates of the workpiece signal in the workpiece signal set according to a preset display template;

[0057] Preferably, updating the fixed-point operation of the point coordinates of the palletizing robot and the writing and debugging of the running program until the touch screen monitors the instruction to start the palletizing operation, and feeding back to the palletizing robot to perform the palletizing operation includes the following operations:

[0058] According to the position coordinates of the workpiece signal in the workpiece signal set, the fixed-point operation data of the palletizing robot's point coordinates and the writing and debugging data of the running program are updated in real time until the touch screen monitors the instruction to start the palletizing operation. The updating is stopped and the latest fixed-point operation data of the palletizing robot's point coordinates and the writing and debugging data of the running program are recorded in the MES system database, and the palletizing operation of the palletizing robot starts.

[0059] Preferably, the pressure sensor monitors the position coordinates of the workpiece signal in real time, constructs the workpiece coordinate set, and records the workpiece coordinate set in the MES system database, including the following operations:

[0060] After the palletizing operation begins, the pressure sensor senses the workpiece signal s according to the workpiece signal set. n The position coordinates are monitored in real time to build the workpiece coordinate set W|s n ={(x m ,y m , z m )|m=1,2,…,M},where (x m ,y m , z m ) indicates that the pressure sensor monitors the workpiece signal s during palletizing operation n The mth position coordinate of the workpiece signal is obtained, and the workpiece coordinate set corresponding to all workpiece signals in the workpiece signal set is recorded in the MES system database.

[0061] For example: workpiece signal set S = {s1, s2, s3}, construct workpiece coordinate set W|s1 =

[0062] {(0, 2, 1), (0, 3, 1), (0, 3, 1), (0, 3, 1)}, W|s2=

[0063] {(0, 4, 1), (0, 4, 1), (0, 3, 2), (0, 3, 2)}, W|s3=

[0064] {(0, 5, 1), (0, 5, 1), (0, 5, 1), (0, 3, 3)};

[0065] Preferably, when the touch screen monitors the instruction to end the palletizing operation, the signal of the completion of the palletizing operation is fed back to the MES system, the signal of the pressure sensor is detected and the detection signal is recorded in the MES system database, including the following operations:

[0066] When the touch screen monitors the instruction to end the palletizing operation, the palletizing robot completes the palletizing operation and uploads the signal of completion of the palletizing operation to the gateway, which then transmits it to the MES system; the signal of the pressure sensor is detected and the detection signal is recorded in the MES system database.

[0067] Preferably, the palletizing operation is evaluated and scored according to the MES system database and retained in the MES system including the following operations:

[0068] The administrator extracts the palletizing task data from the MES system database. The palletizing task data includes the operator's number, workpiece signal set, workpiece coordinate set and detection signal. The administrator evaluates and scores the palletizing operation according to the evaluation template and scoring template, generates evaluation data and evaluation scores, and retains them in the MES system.

[0069] Preferably, when the evaluation score is less than the evaluation threshold, the palletizing task is re-issued until the evaluation score is qualified, including the following operations:

[0070] Extract the evaluation score of the palletizing operation. When the evaluation score is less than the evaluation threshold, the administrator can reset the palletizing task to the original initial state of the palletizing task, and the MES system will reissue the palletizing task until the evaluation score is greater than or equal to the evaluation threshold. The evaluation score is qualified and the palletizing task is issued.

[0071] like Figure 2 As shown, it is an embodiment of the present invention, which provides an MES monitoring interface formulated and generated by an administrator in a university teaching environment. The MES monitoring interface includes a student online profile module, a robot task completion status module, a student real-time score recording module, a correction status module and a student score change status module;

[0072] The student online profile module includes the number of people currently online, the number of people who have completed the course, the number of people who have completed the course this month, the number of people who have not completed the course last month, and a visual bar chart;

[0073] The robot task completion status module includes the total number of logins, the completion rate of the previous month, the total number of violations in the current month, and a visual pie chart;

[0074] The student real-time score record module is displayed in the form of a chart on the MES monitoring interface, including the student's name, student number, violation reason, deduction, teacher and time;

[0075] The correction status module includes the number of full marks, good scores, passing scores, unsatisfactory scores, and a visual bar chart;

[0076] The student score change module displays the student score change status in the form of a bar chart on the MES monitoring interface.

[0077] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or other arbitrary combinations. When implemented using software, it can be implemented in whole or in part in the form of a computer program product, which includes one or more computer instructions. When loading and executing computer program instructions on a computer, the process or function according to the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium.

[0078] In addition, each functional unit in each embodiment of the present application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into one module. The above-mentioned integrated module can be implemented in the form of hardware or in the form of a software functional module. If the above-mentioned integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. The storage medium can be a read-only memory, a disk or an optical disk, etc.

[0079] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. The method for issuing palletizing tasks based on the MES system is characterized by: The following steps are involved: Step 1: The administrator sets the position coordinate information of the palletizing platform through the MES system. The position coordinate information includes the position coordinate and the task area. The task area is defined as the limited area of ​​the workpiece activity range. The position coordinate information is uploaded to the gateway, and the communication module of the gateway transmits the position coordinate information to the PLC for storage. Step 2: PLC starts the corresponding pressure sensor on the palletizing platform according to the position coordinate information transmitted by the gateway. The pressure sensor is used to detect whether there is a workpiece signal in the task area, and updates the position coordinates of the workpiece signal in real time and displays it on the touch screen; Step 3: Based on the position coordinates of the workpiece signal, the point coordinates of the palletizing robot are updated in real time, and the fixed-point operation data of the point coordinates and the writing and debugging of the running program are completed. When the touch screen monitors the instruction to start the palletizing operation, it is fed back to the palletizing robot for palletizing operation; Step 4: Use the pressure sensor to monitor the position coordinates of the workpiece signal in real time, build a workpiece coordinate set and record the workpiece coordinate set in the MES system database; when the touch screen monitors the instruction to end the palletizing operation, the signal of the completion of the palletizing operation is fed back to the MES system, the signal of the pressure sensor is detected and the detection signal is recorded in the MES system database; Step 5: The administrator evaluates and scores the palletizing operation according to the MES system database and stores it in the MES system; Step 6: When the evaluation score is less than the evaluation threshold, the palletizing task will be re-issued until the evaluation score is qualified.

2. The method for issuing palletizing tasks based on the MES system according to claim 1 is characterized in that: The uploading of the location coordinate information to the gateway includes the following operations: The administrator sets the IP address and communication protocol parameters of the gateway, establishes a connection with the corresponding gateway, activates the gateway, and starts the service of receiving uploaded data; The administrator sets the location coordinate information of the palletizing platform through the MES system, the location coordinate information including the location coordinate and the task area, and uploads the location coordinate information to the gateway; After receiving the location coordinate information, the gateway transmits the location coordinate information to the PLC for storage.

3. The method for issuing palletizing tasks based on the MES system according to claim 1 is characterized in that: The pressure sensor is used to sense the workpiece signal on the task area, construct a workpiece signal set, and display the position coordinates of the workpiece signal on the touch screen, including the following operations: The PLC starts the corresponding pressure sensor on the stacking platform through the position coordinate information transmitted by the gateway. The pressure sensor is used to sense the workpiece signal on the task area and construct the workpiece signal set S = {s n |n=1,2,…,N},where s n represents the nth workpiece signal sensed by the pressure sensor in the task area, and N represents the total number of workpiece signals sensed by the pressure sensor in the task area; The workpiece signal set is fed back to the operator's touch screen. The workpiece signal set corresponds to the operator's number one by one, and one workpiece signal set corresponds to one operator's number. The touch screen displays the position coordinates of the workpiece signal in the workpiece signal set according to a preset display template.

4. The method for issuing palletizing tasks based on the MES system according to claim 1 is characterized in that: The updating of the fixed-point operation of the point coordinates of the palletizing robot and the writing and debugging of the running program until the touch screen monitors the instruction to start the palletizing task, and then feeds back to the palletizing robot to perform the palletizing operation includes the following operations: According to the position coordinates of the workpiece signal in the workpiece signal set, the fixed-point operation data of the palletizing robot's point coordinates and the writing and debugging data of the running program are updated in real time until the touch screen monitors the instruction to start the palletizing operation. The updating is stopped and the latest fixed-point operation data of the palletizing robot's point coordinates and the writing and debugging data of the running program are recorded in the MES system database, and the palletizing operation of the palletizing robot starts.

5. The method for issuing palletizing operations based on the MES system according to claim 1, characterized in that: The pressure sensor monitors the position coordinates of the workpiece signal in real time, constructs a workpiece coordinate set, and records the workpiece coordinate set in the MES system database, including the following operations: After the palletizing operation begins, the pressure sensor senses the workpiece signal s according to the workpiece signal set. n The position coordinates are monitored in real time to build the workpiece coordinate set W|s n ={(x m ,y m , z m )|m=1,2,…,M},where (x m ,y m , z m ) indicates that the pressure sensor monitors the workpiece signal s during palletizing operation n The mth position coordinate of the workpiece signal is obtained, and the workpiece coordinate set corresponding to all workpiece signals in the workpiece signal set is recorded in the MES system database.

6. The method for issuing palletizing tasks based on the MES system according to claim 1, characterized in that: When the touch screen monitors the instruction to end the palletizing operation, it feeds back the signal of the completion of the palletizing operation to the MES system, detects the signal of the pressure sensor and records the detection signal in the MES system database, including the following operations: When the touch screen monitors the instruction to end the palletizing operation, the palletizing robot completes the palletizing operation and uploads the signal of completion of the palletizing operation to the gateway, which then transmits it to the MES system; the signal of the pressure sensor is detected and the detection signal is recorded in the MES system database.

7. The method for issuing palletizing tasks based on the MES system according to claim 1, characterized in that: The evaluation and scoring of the palletizing operation according to the MES system database and retention in the MES system include the following operations: The administrator extracts the palletizing task data from the MES system database, wherein the palletizing task data includes the operator's number, workpiece signal set, workpiece coordinate set and detection signal, evaluates and scores the palletizing operation according to the evaluation template and the scoring template, generates evaluation data and evaluation scores, and retains them in the MES system.

8. The method for issuing palletizing tasks based on the MES system according to claim 1, characterized in that: When the evaluation score is less than the evaluation threshold, the palletizing task is re-issued until the evaluation score is qualified, including the following operations: The evaluation score of the palletizing operation is extracted. When the evaluation score is less than the evaluation threshold, the MES system re-issues the palletizing task until the evaluation score is greater than or equal to the evaluation threshold. The evaluation score is qualified and the palletizing task is issued.

Images