Safety monitoring system of palletizing robot and real-time display method of palletizing state

Abstract

The invention provides a safety monitoring system of a palletizing robot and a real-time display method of the palletizing state. The system comprises the palletizing robot, multiple sensors, an integrated proximity sensor, a PLC and a touch screen. The sensor collects running state parameters of the palletizing robot, the integrated proximity sensor monitors that operators enter a palletizing area, the PLC receives and processes the parameters and controls the robot to work and the operators to give an alarm, and the touch screen displays the palletizing progress in real time. In the method, the PLC determines the state of the stacking table according to sensor data, and the touch screen displays the real-time state of the stacking table through MGGS configuration software, including monitoring non-stacking material mixing and alarming, and changing the color of the indicator lamp according to the height of the stacking table. The system solves the problem that in the prior art, an operator of a palletizing robot system cannot visually know the palletizing progress and state, so that the operator cannot respond to emergencies in time.

Description

Technical Field

[0001] The present invention relates to the field of data communication technology, and in particular to a safety monitoring system for a palletizing robot and a real-time display method, device and computer-readable storage medium for the palletizing status. Background Art

[0002] Palletizing robots are efficient, precise and reliable handling and palletizing equipment designed for modern automated logistics systems. They are widely used in factory automation and production lines. Palletizing robots are usually equipped with safety fences when loading, palletizing and unloading goods to prevent operators from entering and causing danger.

[0003] In the prior art, palletizing robots prevent people from entering the robot's operating area through the combination of robots and safety fences. However, traditional safety fences can only detect the entry of people through the equipment carried by the operator, which has certain limitations. In addition, it is impossible to monitor and identify the mixing of non-palletizing materials, such as materials clamped by clamps, and it is impossible to detect the misloading of non-palletizing materials in time, resulting in loss of production efficiency. At the same time, the operators cannot intuitively understand the real-time progress of the palletizing operation, and need to read the report or ask the operator to obtain it. The lack of effective management reduces production efficiency.

[0004] In summary, the existing palletizing robots cannot effectively monitor the problem of non-palletizing materials mixing in during operation, it is difficult to effectively prevent operators from entering by mistake, and they cannot intuitively display the real-time progress of the palletizing operation, thus affecting production efficiency. Summary of the invention

[0005] The main purpose of the present application is to provide a safety monitoring system for a palletizing robot and a real-time display method, device and computer-readable storage medium for the palletizing status, so as to at least solve the problem in the prior art that the operator of the palletizing robot system cannot intuitively understand the progress and status of the palletizing, resulting in the operator being unable to respond to emergencies in a timely manner.

[0006] In order to achieve the above-mentioned purpose, according to one aspect of the present application, a safety monitoring system for a palletizing robot is provided, including a palletizing robot for performing palletizing operations of palletizing materials; a plurality of sensors installed at the joints of the palletizing robot for collecting the operating status parameters of the robot during the palletizing process; an integrated proximity sensor for monitoring whether there is an operator entering the palletizing area; a PLC, which is respectively communicated with the palletizing robot, the integrated proximity sensor and the sensor, for receiving and processing the operating status parameters, obtaining the palletizing progress, and sending control instructions to the palletizing robot to control the robot to perform the palletizing operation and to warn the operator of entering the palletizing area; a touch screen, which is communicated with the PLC, for displaying the palletizing progress in real time, and the palletizing progress includes at least the height of the stacking platform and the palletizing materials included in the stacking platform.

[0007] Optionally, the safety monitoring system of the palletizing robot also includes a visual camera, which is connected to the PLC for communication, and the visual camera is used to assist the integrated proximity sensor in recording operators entering the palletizing area.

[0008] Optionally, multiple sensors, including positioning sensors, are used to position the palletizing robot and the robot's joints; load sensors are used to monitor the weight of the palletizing materials grasped by the palletizing robot; acceleration sensors are used to monitor the real-time acceleration of the palletizing robot; photoelectric sensors are used to assist the palletizing robot in adjusting the position of the palletizing materials and monitor whether non-palletizing materials are mixed into the palletizing platform.

[0009] According to another aspect of the present application, a real-time display method of a palletizing status is provided, which is applied to a safety monitoring system of a palletizing robot, the safety monitoring system at least including a positioning sensor and a photoelectric sensor, and the real-time display method includes: controlling a plurality of sensors to monitor the operating status of the palletizing robot to obtain first target data, the first target data at least including position data of the palletizing robot joints and image data of materials carried by the palletizing robot; controlling a PLC to determine the status of a pallet according to the first target data to obtain second target data, the second target data at least including the height of the pallet and a material list; and controlling a touch screen to perform a visual display of the real-time status of the pallet through MGGS configuration software according to the first target data and the second target data.

[0010] Optionally, after controlling multiple sensors to monitor the operating status of the palletizing robot and obtaining the first target data, the method also includes controlling the PLC to analyze the first target data, extract image data, and obtain third target data; controlling the PLC to identify according to the third target data, and perform calculations according to a preset classification algorithm to determine whether the material is a palletizing material, and to issue an alarm if the material is not a palletizing material.

[0011] Optionally, the control touch screen visualizes the real-time status of the stack according to the first target data and the second target data through the MGGS configuration software, including controlling the touch screen to traverse the material list in the second target data according to the stack graphic at the current moment to obtain the first target material, the first target material being the material that does not contain a corresponding graphic in the stack graphic; controlling the touch screen to extract a first target image from the first target data based on the first target material; controlling the touch screen to determine the shape and size of the first target material based on the first target image to update the real-time status of the stack, and visualize it at a preset ratio through the MGGS configuration software.

[0012] Optionally, after determining the shape and size of the first target material according to the first target image to update the real-time status of the stacker, and visually displaying it at a preset ratio through the MGGS configuration software, the method also includes controlling the touch screen to extract the stacker height according to the second target data to obtain the target stacker height; controlling the touch screen to change the target indicator light to a first preset color when the target stacker height is greater than or equal to a first threshold, and the first preset color is used to indicate that the stacking of the stacker is completed.

[0013] Optionally, the method also includes: controlling the integrated proximity sensor to monitor whether there is an operator approaching the palletizing area, and generating a target signal and sending it to the PLC when the distance between the operator and the boundary of the palletizing area is less than a second threshold; controlling the PLC to sound an alarm when receiving the target signal.

[0014] According to another aspect of the present application, a real-time display device for palletizing status is provided, which is applied to a safety monitoring system of a palletizing robot. The real-time display device includes a first control unit, which is used to control multiple sensors to monitor the operating status of the palletizing robot and obtain first target data; a second control unit, which is used to control the PLC to determine the status of the palletizing platform according to the first target data and obtain second target data; and a third control unit, which is used to control the touch screen to visualize the real-time status of the palletizing platform through the MGGS configuration software according to the first target data and the second target data.

[0015] According to another aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute any one of the methods described.

[0016] By applying the technical solution of the present application, the safety monitoring system of the above-mentioned palletizing robot realizes comprehensive monitoring of the operating status of the palletizing robot and real-time display of the palletizing progress by integrating a variety of sensors and monitoring equipment, significantly improving production efficiency and safety. The system can timely identify the mixing of non-palletizing materials, avoiding potential production errors. At the same time, it monitors and alarms the approach of operators, effectively preventing the occurrence of safety accidents. The visual display of the touch screen enables the operator to intuitively understand the progress of the palletizing operation, facilitates real-time adjustment of the production plan, and further improves the flexibility and efficiency of the production line. In addition, the visual camera assists in recording the entry of the operator, providing a basis for subsequent production data analysis and personnel management. The system solves the problem in the prior art that the operator of the palletizing robot system cannot intuitively understand the progress and status of the palletizing, resulting in the operator's inability to respond to emergencies in a timely manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic structural diagram of a safety monitoring system for a palletizing robot provided according to an embodiment of the present application is shown;

[0018] Figure 2 A schematic flow chart of a method for real-time display of a palletizing state provided according to an embodiment of the present application is shown;

[0019] Figure 3 The structure block diagram of a real-time display device of a palletizing status provided according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0020] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0021] In order to enable those skilled in the art to better understand the solution of the present application, 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 only 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 should fall within the scope of protection of the present application.

[0022] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0023] As introduced in the background technology, the existing palletizing robots cannot effectively monitor the problem of non-palletizing materials mixing in during operation, it is difficult to effectively prevent operators from entering by mistake, and the real-time progress of the palletizing operation cannot be intuitively displayed, affecting production efficiency. In order to solve the problem in the prior art that the operators of the palletizing robot system cannot intuitively understand the progress and status of palletizing, resulting in the operators being unable to respond to emergencies in a timely manner, the embodiments of the present application provide a safety monitoring system for a palletizing robot and a real-time display method, device and computer-readable storage medium for the palletizing status.

[0024] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0025] In this embodiment, a safety monitoring system for a palletizing robot is provided. Figure 1 As shown, it includes: palletizing robot, multiple sensors, integrated proximity sensor, PLC and touch screen, among which,

[0026] Palletizing robots are used to perform palletizing operations of palletized materials;

[0027] Specifically, a palletizing robot is a common device in the field of automated warehousing and logistics, which is used to stack scattered materials into stacks according to a certain pattern to improve storage efficiency and cargo handling speed. With respect to the palletizing robot, the present application is configured to perform palletizing operations and respond to control instructions issued by a PLC to adapt to different stacking needs and safety requirements.

[0028] A variety of sensors are installed at the joints of the palletizing robot. The sensors are used to collect the operating status parameters of the palletizing robot during the palletizing process.

[0029] Specifically, multiple sensors are installed at the joints of the palletizing robot to monitor the robot's operating parameters, including but not limited to the position, speed and acceleration of the joints. This is achieved by installing corresponding sensors (such as position sensors, speed sensors and acceleration sensors) at each joint or key position. The data collected by these sensors is crucial for real-time monitoring of the robot's motion status, thereby ensuring the accuracy and safety of the palletizing process.

[0030] Integrated proximity sensor to detect whether there are workers entering the palletizing area;

[0031] Specifically, the integrated proximity sensor is used to monitor whether there are workers or non-palletizing materials in the palletizing area. This sensor is usually installed at the entrance of the palletizing area or within the robot's operating range. When it detects someone approaching or abnormal materials appearing, it sends a signal to the PLC, triggering the safety mechanism to stop the palletizing robot from moving to avoid potential injury or damage.

[0032] PLC, which is connected to the palletizing robot, the integrated proximity sensor and the sensor respectively. The PLC is used to receive and process the operation status parameters, obtain the palletizing progress, and send control instructions to the palletizing robot to control the palletizing robot to perform the palletizing operation and to warn the operator to enter the palletizing area;

[0033] Specifically, the PLC (Programmable Logic Controller) serves as the control core of the entire system. It communicates with the palletizing robot, the integrated proximity sensor, and a variety of sensors. The PLC is responsible for receiving and processing the operating status parameters of the sensor, calculating the palletizing progress based on these data, and generating corresponding control instructions. When the PLC receives an emergency signal from the integrated proximity sensor, it immediately sends an emergency stop command to the palletizing robot and displays an alarm message on the touch screen. The data exchange between the PLC and the touch screen is carried out through the Modbus TCP protocol to ensure efficient and stable information transmission.

[0034] The touch screen is connected to the PLC for real-time display of the palletizing progress, which at least includes the height of the pallet platform and the palletized materials included in the pallet platform.

[0035] Specifically, the touch screen is a human-machine interface that communicates with the PLC and is used to display the status and progress of the palletizing robot in real time. The display content on the touch screen includes at least the height of the pallet and the materials on the pallet. This information is pushed periodically by the PLC and received and displayed by the touch screen through the MCGS configuration software.

[0036] In an optional embodiment, the touch screen is also used to display the state of the pallet shape and the shape information of the material, so as to help the operator intuitively understand the palletizing process. When an abnormal situation occurs such as a person approaching or non-palletizing material mixing, a visual alarm is issued.

[0037] In the above embodiment, through the system, the operating status of the palletizing robot can be monitored in real time to ensure the safety and efficiency of the production process, and it is suitable for various industrial production scenarios that require material palletizing.

[0038] Based on this embodiment, by integrating a variety of sensors and monitoring equipment, comprehensive monitoring of the operating status of the palletizing robot and real-time display of the palletizing progress are achieved, which significantly improves production efficiency and safety. The system can promptly identify the mixing of non-palletizing materials, avoiding potential production errors. At the same time, it monitors and alarms the approach of operators, effectively preventing the occurrence of safety accidents. The visual display of the touch screen enables operators to intuitively understand the progress of the palletizing operation, facilitates real-time adjustment of the production plan, and further improves the flexibility and efficiency of the production line. In addition, the visual camera assists in recording the entry of operators, providing a basis for subsequent production data analysis and personnel management. The system solves the problem in the prior art that the operators of the palletizing robot system cannot intuitively understand the progress and status of the palletizing, resulting in the operator's inability to respond to emergencies in a timely manner.

[0039] In order to achieve accurate alarm of personnel approaching, in an optional implementation, the safety monitoring system of the palletizing robot further includes:

[0040] The visual camera is connected to the PLC communication. The visual camera is used to assist the integrated proximity sensor to record the operators entering the palletizing area.

[0041] Specifically, in traditional safety monitoring systems, integrated proximity sensors can detect the presence of personnel, but may not provide specific information about the personnel, such as location, direction of movement, or whether they are carrying non-palletizing materials. Vision cameras can provide this additional information by capturing real-time images of the palletizing area and using image processing and analysis technology.

[0042] In an optional implementation, the workflow is as follows:

[0043] Image capture: The vision camera continuously captures images of the palletizing area, which may contain the activities of operators, palletizing materials, and palletizing robots. Image processing: The captured images are analyzed inside the vision camera or through an image processing module connected to the PLC to identify people, objects, and their locations in the image. Information transmission: The vision camera sends the analysis results, that is, specific information about the operator, to the PLC through the communication interface. PLC logic processing: After receiving the information from the vision camera, the PLC combines it with the data from the integrated proximity sensor to perform logical judgment. If a person is detected approaching the palletizing area and is in a dangerous position, the PLC will immediately send an emergency stop command to the palletizing robot and issue an alarm to the operator through the touch screen.

[0044] In the above embodiment, by introducing the visual camera, the palletizing robot safety monitoring system realizes more comprehensive safety protection and more intelligent operation status monitoring, ensuring the safety, efficiency and controllability of the palletizing operation, and effectively preventing operators from mistakenly entering the palletizing area.

[0045] In order to accurately confirm the operating status of the palletizing robot, in an optional embodiment, the multiple sensors include:

[0046] Positioning sensors are used to position the palletizing robot and its joints;

[0047] Specifically, positioning sensors are mainly used to accurately position the palletizing robot and its joints, ensuring that the robot can move accurately to the predetermined position when performing palletizing operations. This is achieved by installing high-precision position sensors on the robot's key joints. The sensors track the displacement of the robot's joints in real time to ensure that it moves according to the programmed path, and can also detect any deviation from the preset path.

[0048] Load sensor, used to monitor the weight of the palletizing materials grabbed by the palletizing robot;

[0049] Specifically, the load sensor is mainly responsible for monitoring the load weight of the palletizing robot when it grabs materials, ensuring that the robot works within a safe load range. This is to avoid exceeding the robot's load capacity, causing damage to the robot and affecting the stability of palletizing. The load sensor is usually installed on the grabbing tool or joint of the palletizing robot, and can provide real-time feedback on the weight of the grabbed material, thereby helping the PLC determine whether the robot is in a safe working state.

[0050] Acceleration sensor, used to monitor the real-time acceleration of the palletizing robot;

[0051] Specifically, the accelerometer is used to monitor the real-time acceleration of the palletizing robot during movement, to control the robot's dynamic response and to prevent sudden movement. During palletizing operations, the robot needs to frequently accelerate and decelerate to meet different palletizing requirements. The accelerometer can monitor the acceleration changes during this process to ensure that the robot moves smoothly and without impact. It can also detect any unexpected rapid movements and trigger safety mechanisms in a timely manner.

[0052] Photoelectric sensors are used to assist the palletizing robot in adjusting the position of palletizing materials and to monitor whether non-palletizing materials are mixed into the pallet.

[0053] Specifically, photoelectric sensors play a role in assisting positioning and safety monitoring in the palletizing robot system. They mainly detect the existence and position of objects by emitting and receiving light, and can help the palletizing robot adjust the precise position of materials during the palletizing process to ensure the stability and aesthetics of the palletizing. In addition, photoelectric sensors can also be used to monitor whether there are non-palletizing materials on the palletizing platform. Once detected, a signal is immediately sent to the PLC to trigger a safety mechanism to prevent non-palletizing materials from mixing into the palletizing platform, affecting the quality and even safety of the palletizing.

[0054] In the above embodiment, through the comprehensive application of multiple sensors, the palletizing robot safety monitoring system can monitor the robot's operating status in all directions, promptly discover and deal with potential safety hazards, ensure the smooth progress of the palletizing operation, and also provide the operator with intuitive and real-time operating status feedback.

[0055] Figure 2 1 is a flow chart of a method for real-time display of the palletizing status according to an embodiment of the present application. Figure 2 As shown, the method comprises the following steps:

[0056] Step S201, controlling a plurality of sensors to monitor the operating state of the palletizing robot to obtain first target data, wherein the first target data at least includes position data of the palletizing robot joints and image data of the materials transported by the palletizing robot;

[0057] Specifically, first, the operating status of the palletizing robot is monitored to obtain the first target data, which specifically includes: Positioning sensor: continuously monitors the position of the palletizing robot joints to ensure that the robot can accurately move to the predetermined position during palletizing. Photoelectric sensor: assists the palletizing robot in adjusting the position of the palletizing material, and monitors whether non-palletizing materials are mixed into the palletizing platform. The first target data set in this application at least includes the position data of the palletizing robot joints and the image data of the materials carried by the palletizing robot. The position data comes from the positioning sensor, which can be the precise coordinates or relative position information of the joints, to help determine whether the robot moves along the predetermined path. The image data comes from photoelectric sensors or other visual devices, which are used to identify and track materials to ensure their correct layout on the palletizing platform.

[0058] Step S202, controlling the PLC to determine the state of the stack according to the first target data, and obtaining the second target data, wherein the second target data at least includes the stack height and the material list;

[0059] Specifically, the PLC determines the state of the pallet based on the first target data and obtains the second target data, which specifically includes: data processing: the PLC first processes the first target data, and combines the original data of the sensor and the pre-set rules to calculate the current height of the pallet and the layout of the materials. State determination: Based on the processed data, the PLC can determine whether the pallet has reached a predetermined height, and whether the materials on the pallet meet the preset palletizing mode. In addition, through the analysis of image data, it can be confirmed whether non-palletizing materials are mixed in the pallet. The second target data set in this application at least includes the height of the pallet and the material list, which is the core indicator of the status of the palletizing operation, and can reflect the progress of the operation and the accuracy of the material stacking.

[0060] Step S203, controlling the touch screen to visualize the real-time status of the stacking platform through the MGGS configuration software according to the first target data and the second target data.

[0061] Specifically, the touch screen serves as an interface for operators to interact with the system, and receives and processes the second target data from the PLC through the MCGS configuration software, as well as the display-related part of the first target data, such as image data. The MCGS configuration software provides a rich graphic library and components that can be used to design and implement a visual display of the stacking platform status.

[0062] In an optional embodiment, the visualization display method of the touch screen may include: Dynamic graphic display: The touch screen is designed with graphic elements representing the pallet and materials. The size, position and color of these elements can be dynamically updated as the height of the pallet and the material list change, intuitively displaying the palletizing process. Real-time image monitoring: The image data captured by the photoelectric sensor or visual camera can be displayed in real time on the touch screen. The operator can monitor the material layout on the pallet and the working status of the palletizing robot to ensure the safe operation. Progress information display: The touch screen may also have components such as a progress bar and a digital counter to display the completion rate or remaining quantity of the palletizing operation to help the operator understand the progress of the operation.

[0063] In the above embodiments, the present application effectively combines sensor data acquisition, PLC logic processing and touch screen visualization technology to provide operators with real-time and intuitive palletizing status feedback, which not only improves the safety of palletizing operations, but also greatly improves operational efficiency and accuracy. Through the visual display of the touch screen, operators can quickly understand the actual status of the palletizing platform, adjust operating parameters or respond to emergencies in a timely manner, and ensure the smooth progress of palletizing operations.

[0064] In order to prevent non-palletizing materials from mixing in, in an optional implementation, after controlling multiple sensors to monitor the operating status of the palletizing robot and obtaining the first target data, the method further includes:

[0065] Step S301, controlling the PLC to analyze the first target data, extracting the image data in the first target data, and obtaining the third target data;

[0066] Step S302, controlling the PLC to identify the third target data and perform calculations according to a preset classification algorithm to determine whether the material is a palletizing material, and to issue an alarm if the material is not a palletizing material.

[0067] Specifically, after the PLC receives the first target data including the image data, it performs the following steps:

[0068] Data extraction: PLC first extracts image data from the first target data and treats it as a separate processing object to form the third target data.

[0069] Image recognition and classification: PLC uses the preset image analysis algorithm to process the third target data and identify the objects in the image. This process may involve the analysis of the shape, size, color and position of the object to determine whether the object in the image is the material in the palletizing plan.

[0070] Classification algorithm operation: PLC compares the identified object with the preset classification standard, which may be a material database containing the characteristic description of palletizing materials. Through algorithm operation, PLC can determine whether the current object belongs to the category of palletizing materials.

[0071] Abnormal situation handling: If the object is identified as a non-palletizing material, the PLC will immediately activate the preset safety mechanism. On the one hand, it will send an alarm signal to the touch screen to display a warning message to alert the operator; on the other hand, the PLC will send a stop signal to the palletizing robot to prevent the robot from continuing to operate and avoid possible damage or safety risks.

[0072] In the above embodiment, through the real-time analysis and recognition of image data by PLC, combined with the alarm display function of the touch screen, the present invention can effectively prevent non-palletizing materials from mixing into the palletizing platform, avoid potential safety hazards, and is an important technical guarantee for safety monitoring in the automated palletizing system.

[0073] In order to visually display the status of the stacking platform, in an optional implementation, the above step S203 includes:

[0074] Step S2031, controlling the touch screen to traverse the material list in the second target data according to the stack graphics at the current moment, and obtaining the first target material, where the first target material is the material that does not contain the corresponding graphics in the stack graphics;

[0075] Step S2032, controlling the touch screen to extract a first target image from the first target data based on the first target material, where the first target image is image data corresponding to the first target material;

[0076] Step S2033, controlling the touch screen to determine the shape and size of the first target material according to the first target image, so as to update the real-time status of the stacking platform, and visually display it at a preset ratio through the MGGS configuration software.

[0077] Specifically, the visualization process of the touch screen includes:

[0078] Refresh the comparison between the stack graphics and the material list: Control the touch screen to traverse the material list in the second target data: The touch screen queries the second target data transmitted from the PLC regularly or in real time through the MCGS configuration software, namely the stack height and the material list (including the position, shape and other information of the materials on the stack). The touch screen software will traverse the current material list and compare it with the material graphics already in the stack graphics. If the corresponding graphics of a certain material are missing in the stack graphics, this material will be marked as the first target material, which means that it is a material newly added to the stack but not yet displayed on the touch screen.

[0079] It can be understood that there is a virtual pallet graphics on the touch screen, which represents the current state of palletizing.

[0080] Extract the first target image based on the first target material: The touch screen extracts the image data corresponding to the first target material from the first target data received from the PLC. These image data may come from photoelectric sensors or other visual devices, and contain intuitive visual information of the material.

[0081] Determine the shape and size of the first target material: Automatically identify and determine the shape and size of the material from the first target image through image processing techniques such as edge detection, shape recognition and size measurement algorithms. This process relies on advanced image analysis technology to accurately identify material features in complex backgrounds.

[0082] Update the real-time status of the pallet and visualize the updated pallet status: The touch screen updates the status of its internal pallet model based on the shape and size information of the first target material to ensure that the virtual pallet matches the layout and material status of the actual pallet.

[0083] Visual display: Through the MCGS configuration software, the touch screen will visualize the updated pallet status at a preset scale. This means that on the touch screen, the pallet graphics and its material representation will automatically adjust the size and position to reflect the actual progress of palletizing. For example, if new materials are added to the pallet, the pallet height on the touch screen will increase accordingly, while displaying the shape and size of the newly added materials.

[0084] In the above embodiments, the present application not only provides real-time feedback of the palletizing status, but also enhances the ability to identify the shape and size of materials through the analysis of image data, making the visual display of the pallet status more accurate and intuitive. It can help operators intuitively understand the progress of the palletizing operation and is suitable for production environments that require real-time monitoring of the pallet status.

[0085] In order to monitor the progress of the palletizing operation, in an optional embodiment, after determining the shape and size of the first target material according to the first target image to update the real-time status of the pallet platform and visually displaying it at a preset ratio through the MGGS configuration software, the method further includes:

[0086] Step S401, controlling the touch screen to extract the stack height according to the second target data to obtain the target stack height;

[0087] Specifically, after the PLC processes the sensor information and generates the second target data (including the stack height and the material list), the software on the touch screen reads these data regularly or in real time. The acquisition of the target stack height is based on the information transmitted by the PLC, and directly reads the variable value related to the stack height.

[0088] Step S402, controlling the touch screen to change the target indicator light to a first preset color when the target pallet height is greater than or equal to a first threshold, wherein the first preset color is used to indicate that palletizing of the pallet is completed.

[0089] Specifically, the system is designed with a preset standard threshold for the completion of the pallet height, namely the first threshold. This threshold is based on the maximum loading capacity of the pallet or the completion standard of the palletizing operation. Determine the pallet height: The touch screen software compares the target pallet height read in real time with the first threshold. If the pallet height reaches or exceeds the first threshold, the palletizing operation is considered to be completed. When the touch screen software determines that the pallet height reaches or exceeds the first threshold, it will change the color of the indicator light related to the pallet status to the first preset color. The first preset color is usually green, which is used to indicate that the palletizing of the pallet is completed and the system is in a safe state.

[0090] In the above embodiment, the touch screen can intuitively provide the operator with feedback on the palletizing status of the palletizing platform. In particular, when the operation is completed, the display of the green indicator light provides a clear signal to help the operator make the next operational decision.

[0091] In order to prevent the operators from approaching the palletizing area, in an optional embodiment, the method further includes:

[0092] Step S501, controlling the integrated proximity sensor to monitor whether there is an operator approaching the palletizing area, and generating a target signal and sending it to the PLC when the distance between the operator and the boundary of the palletizing area is less than a second threshold;

[0093] Specifically, proximity sensors, which usually use ultrasonic, infrared, laser and other technologies, are installed at the border of the palletizing area or around the palletizing robot. They continuously monitor any potential approaching objects, including operators, to ensure the safety of palletizing operations. When the system is designed, a second threshold is preset based on the range of motion, speed and safety distance of the palletizing robot, i.e., the minimum safety distance between the operator and the border of the palletizing area. When the distance between the operator and the border of the palletizing area is less than the second threshold, the integrated proximity sensor immediately generates a target signal, indicating a potential safety threat.

[0094] Step S502, controlling the PLC to give an alarm when receiving the target signal.

[0095] Specifically, after receiving the target signal: the PLC immediately starts the internal alarm logic program, which may include sending a warning message to the touch screen and triggering the emergency stop system of the palletizing robot. Alarm processing: the PLC can control the sound and light alarm devices in the palletizing area, such as buzzers and warning lights, to warn the operators and remind them to leave the dangerous area. At the same time, the PLC will also display the warning message on the touch screen to ensure that the operator can quickly know the situation.

[0096] In the above embodiments, the present application can respond promptly when an operator approaches, take effective safety measures, protect the operator from potential harm, and also ensure the smooth progress of the palletizing operation.

[0097] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0098] The present application embodiment also provides a real-time display device of a palletizing state. It should be noted that the real-time display device of the palletizing state of the present application embodiment can be used to execute the real-time display method for palletizing state provided by the present application embodiment. The device is used to implement the above-mentioned embodiments and preferred embodiments, and the descriptions thereof will not be repeated. As used below, the term "module" can implement a combination of software and / or hardware of a predetermined function. Although the device described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware is also possible and conceived.

[0099] The following is an introduction to the real-time display device of the palletizing status provided in the embodiment of the present application.

[0100] Figure 3 3 is a structural block diagram of a real-time display device for the palletizing state according to an embodiment of the present application. As shown in FIG. 3 , the device includes:

[0101] A first control unit 10 is used to control a plurality of sensors to monitor the operating state of the palletizing robot to obtain first target data, wherein the first target data at least includes position data of the palletizing robot joints and image data of the materials transported by the palletizing robot;

[0102] Specifically, first, the operating status of the palletizing robot is monitored to obtain the first target data, which specifically includes: Positioning sensor: continuously monitors the position of the palletizing robot joints to ensure that the robot can accurately move to the predetermined position during palletizing. Photoelectric sensor: assists the palletizing robot in adjusting the position of the palletizing material, and monitors whether non-palletizing materials are mixed into the palletizing platform. The first target data set in this application at least includes the position data of the palletizing robot joints and the image data of the materials carried by the palletizing robot. The position data comes from the positioning sensor, which can be the precise coordinates or relative position information of the joints, to help determine whether the robot moves along the predetermined path. The image data comes from photoelectric sensors or other visual devices, which are used to identify and track materials to ensure their correct layout on the palletizing platform.

[0103] A second control unit 20, used to control the PLC to determine the state of the stack according to the first target data, and obtain second target data, where the second target data at least includes the stack height and a material list;

[0104] Specifically, the PLC determines the state of the pallet based on the first target data and obtains the second target data, which specifically includes: data processing: the PLC first processes the first target data, and combines the original data of the sensor and the pre-set rules to calculate the current height of the pallet and the layout of the materials. State determination: Based on the processed data, the PLC can determine whether the pallet has reached a predetermined height, and whether the materials on the pallet meet the preset palletizing mode. In addition, through the analysis of image data, it can be confirmed whether non-palletizing materials are mixed in the pallet. The second target data set in this application at least includes the height of the pallet and the material list, which is the core indicator of the status of the palletizing operation, and can reflect the progress of the operation and the accuracy of the material stacking.

[0105] The third control unit 30 is used to control the touch screen to visualize the real-time status of the stacking platform through the MGGS configuration software according to the first target data and the second target data.

[0106] Specifically, the touch screen serves as an interface for operators to interact with the system, and receives and processes the second target data from the PLC through the MCGS configuration software, as well as the display-related part of the first target data, such as image data. The MCGS configuration software provides a rich graphic library and components that can be used to design and implement a visual display of the stacking platform status.

[0107] In an optional embodiment, the visualization display method of the touch screen may include: Dynamic graphic display: The touch screen is designed with graphic elements representing the pallet and materials. The size, position and color of these elements can be dynamically updated as the height of the pallet and the material list change, intuitively displaying the palletizing process. Real-time image monitoring: The image data captured by the photoelectric sensor or visual camera can be displayed in real time on the touch screen. The operator can monitor the material layout on the pallet and the working status of the palletizing robot to ensure the safe operation. Progress information display: The touch screen may also have components such as a progress bar and a digital counter to display the completion rate or remaining quantity of the palletizing operation to help the operator understand the progress of the operation.

[0108] In the above embodiments, the present application effectively combines sensor data acquisition, PLC logic processing and touch screen visualization technology to provide operators with real-time and intuitive palletizing status feedback, which not only improves the safety of palletizing operations, but also greatly improves operational efficiency and accuracy. Through the visual display of the touch screen, operators can quickly understand the actual status of the palletizing platform, adjust operating parameters or respond to emergencies in a timely manner, and ensure the smooth progress of palletizing operations.

[0109] In order to prevent non-palletizing materials from mixing in, in an optional embodiment, the device further includes:

[0110] A fourth control unit is used for controlling the multiple sensors to monitor the running state of the palletizing robot, and after obtaining the first target data, controlling the PLC to analyze the first target data, extracting the image data in the first target data, and obtaining the third target data;

[0111] The fifth control unit is used to control the PLC to identify the third target data and perform calculations according to a preset classification algorithm to determine whether the material is a stacking material, and to issue an alarm if the material is not a stacking material.

[0112] Specifically, after the PLC receives the first target data including the image data, it performs the following steps:

[0113] Data extraction: PLC first extracts image data from the first target data and treats it as a separate processing object to form the third target data.

[0114] Image recognition and classification: PLC uses the preset image analysis algorithm to process the third target data and identify the objects in the image. This process may involve the analysis of the shape, size, color and position of the object to determine whether the object in the image is the material in the palletizing plan.

[0115] Classification algorithm operation: PLC compares the identified object with the preset classification standard, which may be a material database containing the characteristic description of palletizing materials. Through algorithm operation, PLC can determine whether the current object belongs to the category of palletizing materials.

[0116] Abnormal situation handling: If the object is identified as a non-palletizing material, the PLC will immediately activate the preset safety mechanism. On the one hand, it will send an alarm signal to the touch screen to display a warning message to alert the operator; on the other hand, the PLC will send a stop signal to the palletizing robot to prevent the robot from continuing to operate and avoid possible damage or safety risks.

[0117] In the above embodiment, through the real-time analysis and recognition of image data by PLC, combined with the alarm display function of the touch screen, the present invention can effectively prevent non-palletizing materials from mixing into the palletizing platform, avoid potential safety hazards, and is an important technical guarantee for safety monitoring in the automated palletizing system.

[0118] In order to visually display the status of the stacking platform, in an optional embodiment, the third control unit includes:

[0119] The first control module is used to control the touch screen to traverse the material list in the second target data according to the stacking platform graphic at the current moment to obtain the first target material, where the first target material is the material that does not contain the corresponding graphic in the stacking platform graphic;

[0120] A second control module is used to control the touch screen to extract a first target image from the first target data based on the first target material, where the first target image is image data corresponding to the first target material;

[0121] The third control module is used to control the touch screen to determine the shape and size of the first target material according to the first target image, so as to update the real-time status of the stacking platform, and to perform visual display at a preset ratio through the MGGS configuration software.

[0122] Specifically, the visualization process of the touch screen includes:

[0123] Refresh the comparison between the stack graphics and the material list: Control the touch screen to traverse the material list in the second target data: The touch screen queries the second target data transmitted from the PLC regularly or in real time through the MCGS configuration software, namely the stack height and the material list (including the position, shape and other information of the materials on the stack). The touch screen software will traverse the current material list and compare it with the material graphics already in the stack graphics. If the corresponding graphics of a certain material are missing in the stack graphics, this material will be marked as the first target material, which means that it is a material newly added to the stack but not yet displayed on the touch screen.

[0124] It can be understood that there is a virtual pallet graphics on the touch screen, which represents the current state of palletizing.

[0125] Extract the first target image based on the first target material: The touch screen extracts the image data corresponding to the first target material from the first target data received from the PLC. These image data may come from photoelectric sensors or other visual devices, and contain intuitive visual information of the material.

[0126] Determine the shape and size of the first target material: Automatically identify and determine the shape and size of the material from the first target image through image processing techniques such as edge detection, shape recognition and size measurement algorithms. This process relies on advanced image analysis technology to accurately identify material features in complex backgrounds.

[0127] Update the real-time status of the pallet and visualize the updated pallet status: The touch screen updates the status of its internal pallet model based on the shape and size information of the first target material to ensure that the virtual pallet matches the layout and material status of the actual pallet.

[0128] Visual display: Through the MCGS configuration software, the touch screen will visualize the updated pallet status at a preset scale. This means that on the touch screen, the pallet graphics and its material representation will automatically adjust the size and position to reflect the actual progress of palletizing. For example, if new materials are added to the pallet, the pallet height on the touch screen will increase accordingly, while displaying the shape and size of the newly added materials.

[0129] In the above embodiments, the present application not only provides real-time feedback of the palletizing status, but also enhances the ability to identify the shape and size of materials through the analysis of image data, making the visual display of the pallet status more accurate and intuitive. It can help operators intuitively understand the progress of the palletizing operation and is suitable for production environments that require real-time monitoring of the pallet status.

[0130] In order to monitor the progress of the palletizing operation, in an optional embodiment, the device further includes:

[0131] A sixth control unit is used to determine the shape and size of the first target material according to the first target image to update the real-time status of the stack, and after visually displaying it at a preset ratio through the MGGS configuration software, control the touch screen to extract the stack height according to the second target data to obtain the target stack height;

[0132] Specifically, after the PLC processes the sensor information and generates the second target data (including the stack height and the material list), the software on the touch screen reads these data regularly or in real time. The acquisition of the target stack height is based on the information transmitted by the PLC, and directly reads the variable value related to the stack height.

[0133] The seventh control unit is used to control the touch screen to change the target indicator light to a first preset color when the target stack height is greater than or equal to the first threshold value, and the first preset color is used to indicate that the stacking of the stack is completed.

[0134] Specifically, the system is designed with a preset standard threshold for the completion of the pallet height, namely the first threshold. This threshold is based on the maximum loading capacity of the pallet or the completion standard of the palletizing operation. Determine the pallet height: The touch screen software compares the target pallet height read in real time with the first threshold. If the pallet height reaches or exceeds the first threshold, the palletizing operation is considered to be completed. When the touch screen software determines that the pallet height reaches or exceeds the first threshold, it will change the color of the indicator light related to the pallet status to the first preset color. The first preset color is usually green, which is used to indicate that the palletizing of the pallet is completed and the system is in a safe state.

[0135] In the above embodiment, the touch screen can intuitively provide the operator with feedback on the palletizing status of the palletizing platform. In particular, when the operation is completed, the display of the green indicator light provides a clear signal to help the operator make the next operational decision.

[0136] In order to prevent operators from approaching the palletizing area, in an optional embodiment, the device further includes:

[0137] an eighth control unit, configured to control the integrated proximity sensor to monitor whether an operator approaches the palletizing area, and to generate a target signal and send it to the PLC when the distance between the operator and the boundary of the palletizing area is less than a second threshold;

[0138] Specifically, proximity sensors, which usually use ultrasonic, infrared, laser and other technologies, are installed at the border of the palletizing area or around the palletizing robot. They continuously monitor any potential approaching objects, including operators, to ensure the safety of palletizing operations. When the system is designed, a second threshold is preset based on the range of motion, speed and safety distance of the palletizing robot, i.e., the minimum safety distance between the operator and the border of the palletizing area. When the distance between the operator and the border of the palletizing area is less than the second threshold, the integrated proximity sensor immediately generates a target signal, indicating a potential safety threat.

[0139] The ninth control unit is used to control the PLC to give an alarm when receiving a target signal.

[0140] Specifically, after receiving the target signal: the PLC immediately starts the internal alarm logic program, which may include sending a warning message to the touch screen and triggering the emergency stop system of the palletizing robot. Alarm processing: the PLC can control the sound and light alarm devices in the palletizing area, such as buzzers and warning lights, to warn the operators and remind them to leave the dangerous area. At the same time, the PLC will also display the warning message on the touch screen to ensure that the operator can quickly know the situation.

[0141] In the above embodiments, the present application can respond promptly when an operator approaches, take effective safety measures, protect the operator from potential harm, and also ensure the smooth progress of the palletizing operation.

[0142] The real-time display device of the palletizing state includes a processor and a memory. The first control unit, the second control unit and the third control unit are stored in the memory as program units, and the processor executes the program units stored in the memory to realize the corresponding functions. The modules are all located in the same processor; or, the modules are located in different processors in any combination.

[0143] The processor contains a kernel, which calls the corresponding program unit from the memory. One or more kernels can be set, and the real-time display of the palletizing status and progress can be achieved by adjusting the kernel parameters.

[0144] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0145] An embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the real-time display method of the palletizing status.

[0146] An embodiment of the present invention provides a processor, and the processor is used to run a program, wherein the real-time display method of the palletizing status is executed when the program is run.

[0147] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program for initiating at least the steps of the above-mentioned real-time display method of the palletizing status.

[0148] Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order than here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0149] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0150] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0151] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0152] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0153] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0154] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0155] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0156] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0157] From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

[0158] The safety monitoring system of the palletizing robot and the real-time display method of the palletizing status of the present application realize the comprehensive monitoring of the operation status of the palletizing robot and the real-time display of the palletizing progress by integrating a variety of sensors and monitoring equipment, which significantly improves the production efficiency and safety. The system can timely identify the mixing of non-palletizing materials, avoid potential production errors, and at the same time, monitor and alarm the approach of operators, effectively preventing the occurrence of safety accidents. The visual display of the touch screen enables the operator to intuitively understand the progress of the palletizing operation, facilitates the real-time adjustment of the production plan, and further improves the flexibility and efficiency of the production line. In addition, the visual camera assists in recording the entry of the operator, which provides a basis for subsequent production data analysis and personnel management. The system solves the problem in the prior art that the operator of the palletizing robot system cannot intuitively understand the progress and status of the palletizing, resulting in the operator's inability to respond to emergencies in a timely manner.

[0159] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A safety monitoring system for a palletizing robot, characterized in that: include: Palletizing robots are used to perform palletizing operations of palletized materials; A plurality of sensors are installed at the joints of the palletizing robot, and the plurality of sensors are used to collect operating state parameters of the palletizing robot during the palletizing process; Integrated proximity sensor to detect whether there are workers entering the palletizing area; A PLC is connected to the palletizing robot, the integrated proximity sensor and the sensor respectively, and the PLC is used to receive and process the operating status parameters, obtain the palletizing progress, and send a control instruction to the palletizing robot to control the palletizing robot to perform the palletizing operation and to warn the operator to enter the palletizing area; The touch screen is connected to the PLC for real-time display of the stacking progress, wherein the stacking progress includes at least the height of the stacking platform and the stacking materials included in the stacking platform.

2. The security monitoring system according to claim 1, characterized in that: The safety monitoring system of the palletizing robot also includes: A visual camera is connected to the PLC for communication, and the visual camera is used to assist the integrated proximity sensor in recording the operators entering the palletizing area.

3. The security monitoring system according to claim 1, characterized in that: A variety of such sensors include: A positioning sensor, used for positioning the palletizing robot and the joints of the palletizing robot; A load sensor, used for monitoring the weight of the palletizing material grasped by the palletizing robot; An acceleration sensor, used to monitor the real-time acceleration of the palletizing robot; The photoelectric sensor is used to assist the stacking robot in adjusting the position of the stacking materials and to monitor whether non-stacking materials are mixed into the stacking platform.

4. A real-time display method of palletizing status, characterized in that: The real-time display method of the palletizing status is applied to the safety monitoring system of the palletizing robot according to any one of claims 1 to 3, wherein the safety monitoring system at least includes a positioning sensor and a photoelectric sensor, and the real-time display method includes: Controlling a plurality of sensors to monitor the operating status of the palletizing robot to obtain first target data, wherein the first target data at least includes position data of the joints of the palletizing robot and image data of the materials transported by the palletizing robot; Control the PLC to determine the state of the stack according to the first target data to obtain second target data, wherein the second target data at least includes the stack height and a material list; The control touch screen visualizes the real-time status of the stacking platform through the MGGS configuration software according to the first target data and the second target data.

5. The method according to claim 4, characterized in that After controlling the multiple sensors to monitor the operating status of the palletizing robot and obtaining the first target data, the method further includes: Controlling the PLC to analyze the first target data, extracting the image data in the first target data, and obtaining third target data; The PLC is controlled to identify the third target data and perform calculations according to a preset classification algorithm to determine whether the material is a palletizing material, and to issue an alarm if the material is not a palletizing material.

6. The method according to claim 4, characterized in that The control touch screen performs visual display of the real-time status of the stacking platform through the MGGS configuration software according to the first target data and the second target data, including: Control the touch screen to traverse the material list in the second target data according to the stacking platform graphic at the current moment to obtain a first target material, where the first target material is the material that does not contain a corresponding graphic in the stacking platform graphic; Control the touch screen to extract a first target image from the first target data based on the first target material, where the first target image is the image data corresponding to the first target material; The touch screen is controlled to determine the shape and size of the first target material according to the first target image to update the real-time status of the stacking platform, and is visualized at a preset ratio through the MGGS configuration software.

7. The method according to claim 6, characterized in that After determining the shape and size of the first target material according to the first target image to update the real-time status of the stacking platform and visually displaying it at a preset ratio through the MGGS configuration software, the method further includes: Controlling the touch screen to extract the stack height according to the second target data to obtain a target stack height; The touch screen is controlled to change the target indicator light to a first preset color when the target stack height is greater than or equal to a first threshold, wherein the first preset color is used to indicate that the stacking of the stack is completed.

8. The method according to claim 4, characterized in that The method further comprises: Control the integrated proximity sensor to monitor whether an operator approaches the palletizing area, and generate a target signal and send it to the PLC when the distance between the operator and the boundary of the palletizing area is less than a second threshold; The PLC is controlled to give an alarm when receiving the target signal.

9. A real-time display device for palletizing status, characterized in that: The real-time display device of the palletizing status is applied to the safety monitoring system of the palletizing robot according to any one of claims 1 to 3, and the real-time display device comprises: A first control unit, used for controlling a plurality of sensors to monitor the operating state of the palletizing robot to obtain first target data, wherein the first target data at least includes position data of the joints of the palletizing robot and image data of the materials transported by the palletizing robot; A second control unit is used to control the PLC to determine the state of the stack according to the first target data to obtain second target data, wherein the second target data at least includes a stack height and a material list; The third control unit is used to control the touch screen to visualize the real-time status of the stacking platform through the MGGS configuration software according to the first target data and the second target data.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the method according to any one of claims 4 to 8.

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