Stacked goods tiling method and system

Abstract

The invention discloses a stacked goods tiling method and system. The method comprises the steps that whether a goods stacking area exists in each climbing section or not is analyzed and determined according to images, collected by an image shooting device, of each climbing section of a stacked goods tiling machine; each climbing section is provided with a plurality of parallel and independent conveying subareas; and when it is determined that the cargo stacking area exists in any climbing section, at least adjusting the conveying speed of the cargo overlapping area of each cargo stacking area in the conveying subarea corresponding to the climbing section so as to eliminate the cargo stacking area. The cargo stacking area can be eliminated only by performing acceleration and deceleration control on the local conveying subarea corresponding to the cargo stacking area, the acceleration and deceleration control of unnecessary conveying subareas can be reduced, other cargoes without the cargo stacking area can be normally conveyed to improve the efficiency, and meanwhile, the cargo stacking area can be reduced. According to the method, the cargo stacking area can be eliminated through acceleration and deceleration in the whole process of automatically recognizing the cargo stacking area and moving the cargo stacking area out of the stacked cargo tiling machine.

Description

Technical Field

[0001] The present invention relates to the technical field of sorting, in particular to a method and system for stacking goods. Background Art

[0002] Switching stacked goods to flat goods is what is desired in logistics sorting.

[0003] A Chinese invention patent with application publication number CN114308680A discloses a control method, which eliminates the cargo stacking state through the speed difference between the first and second climbing sections. However, this control method mainly realizes the cargo stacking state of the trolley at the connection position between the first and second climbing sections. There are fewer elimination points that can be achieved, and there is a situation where the elimination effect cannot meet the requirements.

[0004] More importantly, when goods are partially stacked in the first and second climbing sections, the overall conveying speed of the first and second climbing sections needs to be adjusted, and local speed regulation of the first and second climbing sections cannot be achieved. Summary of the invention

[0005] The purpose of the present invention is to solve the above problems existing in the prior art and to provide a method and system for stacking goods.

[0006] The purpose of the present invention is achieved through the following technical solutions: The method for stacking goods flatly comprises the following steps: Determine whether there is a cargo stacking area in each climbing section according to the image analysis of each climbing section of the stacked cargo flattening machine captured by the image camera; each climbing section has a plurality of conveying partitions for parallel and independent conveying; When it is determined that there is a cargo stacking area in any climbing section, at least the conveying speed of the cargo overlapping area of ​​each cargo stacking area in the conveying partition corresponding to the climbing section is adjusted to eliminate the cargo stacking area.

[0007] Preferably, each of the climbing sections corresponds to an image capture device, and the axis of the lens of the image capture device is perpendicular or substantially perpendicular to the conveying surface of each climbing section.

[0008] Preferably, when it is determined that there is a cargo stacking area in any climbing section, it is determined that each cargo overlapping area corresponds to a single transport partition or multiple adjacent transport partitions; When it is determined that a cargo overlap area corresponds to a single conveying zone, the conveying speed of the single conveying zone is controlled to be adjusted; When it is determined that a cargo overlap area corresponds to a plurality of adjacent conveying zones, the plurality of adjacent conveying zones are controlled to adjust the conveying speeds.

[0009] Preferably, when it is determined that a cargo overlap area corresponds to a single transport zone, the single transport zone is controlled to alternately accelerate and decelerate for a predetermined time or a predetermined number of times.

[0010] Preferably, after determining that a single transport subarea corresponding to a cargo overlap area is alternately accelerated and decelerated, if the cargo stacking area is still not eliminated, the single transport subarea and its adjacent transport subareas are controlled to accelerate and decelerate.

[0011] Preferably, when it is determined that a cargo overlap area corresponds to a plurality of adjacent transport zones, the plurality of adjacent transport zones are controlled to synchronously and alternately accelerate and decelerate for a predetermined time or a predetermined number of times to eliminate the cargo stacking area; Preferably, when it is determined that a goods overlap area corresponds to a plurality of adjacent conveying zones, the goods at the bottom of the stacked goods are caused to swing back and forth by at least controlling the acceleration and deceleration of the plurality of adjacent conveying zones.

[0012] Preferably, if there is a cargo stacking area at the nth climbing section, and the conveying sub-area corresponding to the cargo stacking area in the climbing section upstream of the nth climbing section is started and stopped according to a predetermined rule, if the cargo stacking area of ​​the nth climbing section is eliminated or the cargo in the cargo stacking area is output from the nth climbing section, the conveying sub-area corresponding to the cargo stacking area in the climbing section upstream of the nth climbing section is restored to a continuous conveying state.

[0013] Preferably, the goods are transported to the stacked goods flattening machine by a pack supply machine, a blocking curtain is provided above the conveying surface of the pack supply machine, and a predetermined distance is maintained between the lower end of the blocking chain and the conveying surface of the pack supply machine.

[0014] Stacking cargo flat-laying system, including: A cargo stacking area identification unit, used to determine whether there is a cargo stacking area in each climbing section according to the image analysis of each climbing section of the stacked cargo flattening machine captured by the image camera; each climbing section has a plurality of transport partitions for parallel and independent transport; The elimination unit is used to, when it is determined that there is a cargo stacking area in any climbing section, at least adjust the conveying speed of the cargo overlapping area of ​​each cargo stacking area in the conveying partition corresponding to the climbing section to eliminate the cargo stacking area.

[0015] The advantages of the technical solution of the present invention are mainly reflected in: When the method of the present invention identifies that there is a cargo stacking area in each climbing section, it can eliminate the cargo stacking area by performing acceleration and deceleration control on only the local conveying section corresponding to the cargo stacking area according to the conveying section where the identified cargo stacking area is located, thereby reducing unnecessary acceleration and deceleration control of the conveying section, and allowing other cargo that does not exist in the cargo stacking area to be transported normally to improve efficiency. At the same time, the present scheme can eliminate the cargo stacking area by accelerating and decelerating during the entire process from the identification of the cargo stacking area to the removal of the cargo stacking area from the stacking cargo flattener, and is not limited to the connection position of the front and rear climbing sections, thereby effectively ensuring the full elimination of the cargo stacking area.

[0016] The present invention can first accelerate and decelerate the transport partition corresponding to the cargo overlap area to eliminate the cargo stacking area. If the area is still not eliminated, the transport speed control of the adjacent transport partition is increased. In this way, the cargo stacking area can be eliminated by accelerating and decelerating a small number of transport partitions, and the acceleration and deceleration of the adjacent transport partitions can be further reduced. At the same time, if the area is not eliminated, the separation effect can be improved by increasing the speed control of the adjacent transport partitions. The various elimination methods of the present invention can be selected according to needs, and the control flexibility is better.

[0017] When eliminating the cargo stacking area, each transporting partition of the present invention makes the speed difference between the transporting partitions, so that it is easier to eliminate the cargo stacking area that appears in the speed difference area later, which is conducive to improving efficiency and reliability.

[0018] When a cargo stacking area exists in the nth climbing section of the present invention, when the cargo stacking area is eliminated, the start and stop control of the conveying of the conveying partition corresponding to the upstream climbing section can be performed, thereby effectively avoiding the re-stacking of the cargo separated from the downstream when the upstream climbing section enters the nth climbing section, thereby eliminating the appearance of unnecessary cargo stacking areas. At the same time, this can better realize the cargo connection between the upstream and downstream climbing sections, and can effectively improve the cargo transportation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a side view of the stacked goods flattening machine of the present invention; Figure 2 is a partial perspective view of the stacked goods flattening machine of the present invention; Figure 3 is a perspective view of a belt conveyor of a stacked goods flattening machine of the present invention; Figure 4 is a cross-sectional view of a belt conveyor of a stacked goods flattening machine of the present invention; Figure 5 It is a process schematic diagram of the present invention; Figure 6 It is a top view of a cargo stacking area on the first climbing section of the cargo stacking flat machine of the present invention. DETAILED DESCRIPTION

[0020] The purpose, advantages and features of the present invention will be illustrated and explained by the non-limiting description of the following preferred embodiments. These embodiments are only typical examples of the application of the technical solution of the present invention, and any technical solution formed by equivalent replacement or equivalent transformation falls within the scope of protection claimed by the present invention.

[0021] In the description of the scheme, it should be noted that the terms "center", "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience and simplification of description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0022] The stacked goods paving method disclosed by the present invention is described below in conjunction with the accompanying drawings. The method is based on a stacked goods paving machine, as shown in the attached drawings. Figure 1 As shown, the stacked goods spreading machine includes a plurality of climbing sections connected in sequence, each climbing section has a plurality of parallel and independently conveying conveying partitions a; the stacked goods spreading machine also includes an image capturer 400 corresponding to each conveying partition a.

[0023] As attached Figure 1 , Attachment Figure 2 As shown, there are three climbing sections. For the convenience of explanation, in this embodiment, the three climbing sections are defined as the first climbing section 100, the second climbing section 200 and the third climbing section 300 in order from upstream to downstream, and each climbing section has 6 conveying partitions a, each conveying partition a is a belt conveyor, and the belt conveyor can be a known feasible structure.

[0024] In order to make the belt conveyor more compact, as shown in the attached Figure 3 , Attachment Figure 4As shown, the base frame of the belt conveyor includes two parallel vertical plates a1, and the first roller a2, the second roller a3, the third roller a4, the fourth roller a5 and the belt a6 mounted on the first roller a2, the second roller a3 and the third roller a4 are arranged between the two vertical plates a1. The first roller a2 and the second roller a3 are located at both ends of the vertical plate a1, and the third roller a4 is located below the first roller a2 and the second roller a3 and connected to the motor a7 that drives its self-rotation. The motor a7 can be integrated in the third roller a4, that is, the third roller a4 is an electric roller. Of course, in other embodiments, the motor a7 can also be arranged on the outside of the third roller a4 and connected to the third roller a4 through a torque transmission component a8, and the torque transmission component a8 can be a synchronous belt transmission mechanism or a gear transmission mechanism. The fourth roller a5 is used to adjust the tension of the belt a6, and it is attached to the outside of the belt a6. At the same time, a plurality of through holes are provided on the two vertical plates a1 to facilitate the embedding of the torque transmission assembly a8 into the inner side of the vertical plates a1 of the adjacent belt conveyor and the installation of the motor a7 and the like.

[0025] As attached Figure 1 As shown, the image capture device 400 can be a known camera, CCD, video camera or other feasible device. The axis of the lens of the image capture device 400 is perpendicular or substantially perpendicular to the conveying surface of each climbing section and the shooting range of one image capture device 400 can cover the conveying surface of one climbing section, so that each image obtained can be more convenient for subsequent analysis. Of course, in other embodiments, one image capture device can also be used to cover and collect images of three climbing sections and perform image analysis to determine whether there is a cargo overlapping area in each climbing section.

[0026] As attached Figure 1 As shown, a packing machine 500 is connected upstream of the stacked goods flattening machine, and goods are transported to the stacked goods flattening machine through the packing machine 500. The conveying surface of the packing machine 500 is horizontally arranged and a blocking curtain 600 is arranged above the conveying surface of the packing machine 500. A predetermined distance is maintained between the lower end of the blocking curtain and the conveying surface of the packing machine 500. When there are stacked goods on the packing machine 500, a certain resistance can be generated to the upper goods through the blocking curtain 600, thereby eliminating part of the stacked goods.

[0027] The method of using the stacked goods flattening machine to switch the stacked goods into a flattened state is as shown in the attached Figure 5 As shown, it includes the following steps: Determine whether there is a cargo stacking area in each climbing section according to the image analysis of each climbing section of the stacked cargo flattening machine captured by the image capturer 400; When it is determined that there is no cargo stacking area on any climbing section, the cargo on the climbing section is uniformly transported to a downstream climbing section or output stacking cargo flattening machine at a predetermined speed; When it is determined that there is a cargo stacking area in any climbing section, at least the conveying speed of the cargo overlapping area of ​​each cargo stacking area in the conveying zone a corresponding to the climbing section is adjusted to eliminate the cargo stacking area.

[0028] That is, after the equipment is started, after a batch of goods enters the first climbing section 100, its corresponding image capture device 400 captures the top surface image of the first climbing section 100 and determines whether there is a cargo stacking area on the first climbing section 100 through a known image analysis method. There may be a cargo stacking area on the first climbing section 100 (at least two goods are in a stacked state and / or at least one cargo is partially located on another cargo and partially located on the belt conveyor), or there may be no cargo stacking area. When there is a cargo stacking area, there may be only one cargo stacking area or there may be multiple cargo stacking areas.

[0029] When it is determined that there is a cargo stacking area in the first climbing section 100, the cargo overlap area of ​​each cargo stacking area is determined, and then it is determined whether the transport zone a corresponding to each cargo overlap area in the first climbing section 100 is a single transport zone (one transport zone a) or multiple adjacent transport zones; for the convenience of explanation: as shown in the attached figure Figure 5 As shown, the six transport zones of each climbing section are defined from the upper side to the lower side as transport zone No. 1 a01, transport zone No. 2 a02, transport zone No. 3 a03, transport zone No. 4 a04, transport zone No. 5 a05, and transport zone No. 6 a06.

[0030] When determining a cargo overlap area corresponding to a single transport zone of the first climbing section, as shown in the attached Figure 6 For the first cargo b1 and the second cargo b2, the single conveying zone corresponding to the cargo overlapping area c1 is the No. 2 conveying zone, then the No. 2 conveying zone is controlled to adjust the conveying speed, that is, the No. 2 conveying zone is controlled to alternately accelerate and decelerate for a predetermined time or a predetermined number of times, for example, the No. 2 conveying zone is alternately accelerated and decelerated for 0.5 seconds or 1 second, or the No. 2 conveying zone is made to repeat the acceleration and deceleration action 4 or 5 times or the deceleration and acceleration action 4 or 5 times, etc. In this way, the upper cargo can slide relative to the lower cargo under the action of inertia, so that the upper cargo slides off the lower cargo.

[0031] After determining that the No. 2 conveying partition is alternately accelerated and decelerated, when the cargo stacking area has not been eliminated, the No. 2 conveying partition and its adjacent conveying partitions are accelerated and decelerated. For example, since the overall outer contours of the first cargo b1 and the second cargo b2 are located in the No. 2 conveying partition and the No. 3 conveying partition, the No. 2 conveying partition and the No. 3 conveying partition can be synchronously and alternately accelerated and decelerated for a predetermined time or a predetermined number of times, so that the first cargo b1 can be accelerated and decelerated as a whole, so that the second cargo b2 (upper cargo) can be more easily separated by sliding relative to the first cargo b1 (bottom cargo).

[0032] Alternatively, the No. 2 conveying zone and the No. 3 conveying zone can be accelerated and decelerated alternately, and one of the No. 2 conveying zone and the No. 3 conveying zone can be accelerated and the other can be decelerated, that is, when the No. 2 conveying zone is accelerated, the No. 3 conveying zone is decelerated at the same time, and when the No. 2 conveying zone is switched to deceleration, the No. 3 conveying zone is switched to acceleration at the same time. In this way, the No. 1 cargo can be in a reciprocating swinging state, so that the first cargo b1 can be swung to the outside of the second cargo to achieve separation.

[0033] Of course, when it is determined that the transport zone a corresponding to each cargo overlapping area in the first climbing section 100 is a single transport zone, one method can be selected from the above-mentioned multiple methods of eliminating the cargo stacking area, or two or three methods can be selected in sequence, that is, when one method cannot eliminate the cargo stacking area, another method can be executed to eliminate the cargo stacking area.

[0034] During acceleration and deceleration control, if the overlapping area is biased toward the front side of the bottom cargo (the side close to the cargo overlapping area c1), the transport partition a is controlled to decelerate first and then accelerate. Decelerating first can make the upper cargo slide forward relative to the bottom cargo; if the overlapping area is biased toward the back side of the bottom cargo, the transport partition a is controlled to accelerate first and then decelerate. Accelerating first can make the upper cargo slide backward relative to the bottom cargo. The order of acceleration and deceleration is controlled according to the position of the overlapping area, which is conducive to making the upper stacked cargo slide down from the bottom cargo more easily under the action of inertia.

[0035] When it is determined that a cargo overlap area corresponds to multiple adjacent transport zones, such as the attached Figure 6 The third cargo b3 and the fourth cargo b4 have their cargo overlapping area c2 located at the fourth conveying zone and the fifth conveying zone, then the plurality of adjacent conveying zones are controlled to adjust the conveying speed, that is, the fourth conveying zone and the fifth conveying zone are controlled to accelerate and decelerate.

[0036] In one method, the conveying speeds of the fourth conveying zone and the fifth conveying zone can be controlled to accelerate and decelerate synchronously and alternately, that is, the fourth conveying zone and the fifth conveying zone accelerate or decelerate at the same time, then decelerate or accelerate at the same time, then accelerate or decelerate at the same time, and then decelerate or decelerate at the same time, and repeat this process for a predetermined time or a predetermined number of times.

[0037] In another way, the conveying speed of the fourth conveying partition and the fifth conveying partition can be controlled to make the third cargo b3 swing back and forth. Specifically, the fourth conveying partition and the fifth conveying partition can be accelerated and decelerated alternately, and when one of the fourth conveying partition and the fifth conveying partition is accelerated, the other is decelerated, that is, when the fourth conveying partition is accelerated, the fifth conveying partition is decelerated at the same time, and when the fourth conveying partition is decelerated, the fifth conveying partition is accelerated at the same time. When the fourth conveying partition is accelerated, the upper side area of ​​the third cargo b3 (bottom cargo) will move downstream (move upward along the conveying surface of the belt conveyor), and when the fifth conveying partition is decelerated, the lower side area of ​​the third cargo b3 (bottom cargo) will move upstream (move downward along the conveying surface of the belt conveyor), so that the cargo rotates clockwise. When the fourth conveying partition is switched to deceleration, the upper side area of ​​the third cargo b3 will move upstream (move downward along the conveying surface of the belt conveyor), and when the fifth conveying partition is switched to acceleration, the lower side area of ​​the third cargo b3 (bottom cargo) will move downstream (move upward along the conveying surface of the belt conveyor), so that the third cargo rotates counterclockwise.

[0038] When the cargo stacking area of ​​the first climbing section 100 is still not eliminated when it moves to the output end of the first climbing section 100, the cargo stacking area is made to fall into the second climbing section 200. At this time, due to the height difference between the first climbing section 100 and the second climbing section 200, the cargo in the cargo stacking area is separated by the height difference.

[0039] After the goods enter the second climbing section 200, the image capturer 400 of the second climbing section 200 captures the top surface image of the second climbing section 200, and repeats the method of eliminating the goods stacking area at the first climbing section to eliminate the goods stacking area at the second climbing section 200. When the goods stacking area of ​​the second climbing section 200 moves to its end and is still not eliminated, the goods stacking area is made to fall into the third climbing section 300. At this time, the goods in the goods stacking area are separated again due to the height difference between the first climbing section 100 and the second climbing section 200. At the third climbing section 300, the method of the first climbing section and the second climbing section is also repeated to eliminate the goods stacking area at the third climbing section.

[0040] Usually, when the goods enter the third climbing section, the situation of cargo stacking area has been greatly reduced. Therefore, it is easy to eliminate the cargo stacking area in the third climbing section, that is, it is rare that the cargo stacking area still exists when the goods are output from the third climbing section. Although it is rare that the cargo stacking area still exists when the goods are output from the third climbing section, in order to ensure reliability, when it is identified that the cargo stacking area has not been eliminated after moving to the output end of the third climbing section, an alarm is issued to remind manual processing. Of course, if necessary, the third climbing section can be stopped, or even the stacking cargo flattening machine can be stopped.

[0041] Furthermore, due to the drop between the front and rear climbing sections, if the upstream climbing section maintains normal continuous transportation, the goods separated by the upstream climbing section will be re-stacked with the goods separated from the goods stacking area of ​​the downstream climbing section when they fall to the downstream climbing section. Therefore, if there is a goods stacking area at the nth climbing section, in the process of eliminating the goods stacking area at the nth climbing section, the conveying sub-area a corresponding to the goods stacking area in the climbing section upstream of the nth climbing section is started and stopped according to a predetermined rule. If the goods stacking area of ​​the nth climbing section is eliminated or the goods in the goods stacking area are exported from the nth climbing section, the conveying sub-area a corresponding to the goods stacking area in the climbing section upstream of the nth climbing section is restored to a continuous transportation state.

[0042] For example, when there is a cargo stacking area in the No. 2 and No. 3 transport sub-areas of the second climbing section, when eliminating the cargo stacking area, the No. 2 and No. 3 transport sub-areas corresponding to the first climbing section are stopped for a period of time, and then transport is started for a period of time. When it is determined through image recognition that the cargo stacking area of ​​the No. 2 and No. 3 transport sub-areas of the second climbing section has not been eliminated, the No. 2 and No. 3 transport sub-areas corresponding to the first climbing section are stopped for a period of time and then transport is started again. Moreover, when there is also a cargo stacking area in the No. 2 and No. 3 transport sub-areas of the first climbing section, the No. 2 and No. 3 transport sub-areas can be accelerated and decelerated when the No. 2 and No. 3 transport sub-areas of the first climbing section are started to eliminate the cargo stacking area there. If the cargo stacking area of ​​the No. 2 and No. 3 transport sub-areas of the second climbing section is eliminated or the cargo in the cargo stacking area is moved out of the second climbing section, the No. 2 and No. 3 transport sub-areas of the first climbing section can resume normal transport. Furthermore, during the process of alternately starting and stopping the No. 2 and No. 3 conveying zones of the first climbing section, if there is also a cargo stacking area in the No. 2 and No. 3 conveying zones of the first climbing section, when the No. 2 and No. 3 conveying zones of the first climbing section are started, the No. 2 and No. 3 conveying zones can also be accelerated and decelerated to eliminate the cargo stacking area there. This can not only effectively avoid the situation where the cargo separated on the downstream climbing section and the cargo entering the downstream climbing section from the upstream climbing section are overlapped, but also effectively improve the conveying efficiency, and effectively solve the problem that the conventional control method makes the cargo of the downstream climbing section basically completely output, and then the upstream climbing section continues to convey the cargo to the downstream climbing section, resulting in a decrease in the overall cargo conveying efficiency.

[0043] Example 2 This embodiment discloses a stacking cargo flattening system, comprising: A cargo stacking area identification unit, used to determine whether there is a cargo stacking area in each climbing section according to the image analysis of each climbing section of the stacked cargo flattening machine captured by the image capturer 400; each climbing section has a plurality of parallel and independently transporting conveying partitions a; The elimination unit is used to, when it is determined that there is a cargo stacking area in any climbing section, at least adjust the conveying speed of the cargo overlapping area of ​​each cargo stacking area in the conveying partition corresponding to the climbing section to eliminate the cargo stacking area.

[0044] There are many implementation methods of the present invention, and all technical solutions formed by equivalent transformation or equivalent transformation fall within the protection scope of the present invention.

Claims

1. A method for stacking goods, characterized in that: The steps include: Determine whether there is a cargo stacking area in each climbing section according to the image analysis of each climbing section of the stacked cargo flattening machine captured by the image camera; each climbing section has a plurality of conveying partitions for parallel and independent conveying; When it is determined that there is a cargo stacking area in any climbing section, at least the conveying speed of the cargo overlapping area of ​​each cargo stacking area in the conveying partition corresponding to the climbing section is adjusted to eliminate the cargo stacking area.

2. The method for stacking goods according to claim 1, characterized in that: Each of the climbing sections corresponds to an image capturer, and the axis of the lens of the image capturer is perpendicular or substantially perpendicular to the conveying surface of each climbing section.

3. The method for stacking goods according to claim 1, characterized in that: When determining that there is a cargo stacking area in any climbing section, determining that each cargo overlapping area corresponds to a single conveying partition or multiple adjacent conveying partitions; When it is determined that a cargo overlap area corresponds to a single conveying zone, the conveying speed of the single conveying zone is controlled to be adjusted; When it is determined that a cargo overlap area corresponds to a plurality of adjacent conveying zones, the plurality of adjacent conveying zones are controlled to adjust the conveying speeds.

4. The method for stacking goods according to claim 3, characterized in that: When it is determined that a cargo overlap area corresponds to a single transport zone, the single transport zone is controlled to alternately accelerate and decelerate for a predetermined time or a predetermined number of times.

5. The method for stacking goods according to claim 4, characterized in that: After determining that a single transport subarea corresponding to a cargo overlap area is alternately accelerated and decelerated, if the cargo stacking area is still not eliminated, the single transport subarea and its adjacent transport subareas are controlled to accelerate and decelerate.

6. The method for stacking goods according to claim 3, characterized in that: When it is determined that a cargo overlapping area corresponds to a plurality of adjacent conveying zones, the plurality of adjacent conveying zones are controlled to synchronously and alternately accelerate and decelerate for a predetermined time or a predetermined number of times to eliminate the cargo stacking area.

7. The method for stacking goods according to claim 3, characterized in that: When it is determined that a goods overlap area corresponds to a plurality of adjacent conveying zones, the goods at the bottom of the stacked goods are caused to swing back and forth by at least controlling the acceleration and deceleration of the plurality of adjacent conveying zones.

8. The method for stacking goods according to claim 1, characterized in that: If there is a cargo stacking area at the nth climbing section, and the conveying sub-area corresponding to the cargo stacking area in the climbing section upstream of the nth climbing section is started and stopped according to a predetermined rule, if the cargo stacking area of ​​the nth climbing section is eliminated or the cargo in the cargo stacking area is output from the nth climbing section, the conveying sub-area corresponding to the cargo stacking area in the climbing section upstream of the nth climbing section is restored to a continuous conveying state.

9. The method for stacking goods according to any one of claims 1 to 8, characterized in that: The goods are transported to the stacked goods flattening machine by a pack supply machine, a blocking curtain is arranged above the conveying surface of the pack supply machine, and a predetermined distance is maintained between the lower end of the blocking chain and the conveying surface of the pack supply machine.

10. Stacking cargo flat system, characterized in that, include: A cargo stacking area identification unit, used to determine whether there is a cargo stacking area in each climbing section according to the image analysis of each climbing section of the stacked cargo flattening machine captured by the image camera; each climbing section has a plurality of transport partitions for parallel and independent transport; The elimination unit is used to, when it is determined that there is a cargo stacking area in any climbing section, at least adjust the conveying speed of the cargo overlapping area of ​​each cargo stacking area in the conveying partition corresponding to the climbing section to eliminate the cargo stacking area.

Images