Article stacking method and device

Abstract

The invention discloses an article stacking method and device, and the method comprises the steps: obtaining the stack type information of a goods stack corresponding to a target article under the condition that the target article reaches a preset grabbing position, and the stack type information comprises the information of an article stacking position; in a plurality of preset sub-stacking areas, the sub-stacking area where the article stacking position is located is determined as a target sub-stacking area; acquiring information of a first rotation angle corresponding to the target stacking sub-area in a preset corresponding relation between the stacking sub-area and the rotation angle; and after the target objects are rotated by the first rotation angle, the target objects are stacked to the object stacking position, and the labeling end faces of the target objects are located on the outer sides of the goods stacks. According to the embodiment of the invention, the labeling end face of the target article can be located on the outer side of the article stack during stacking, and the requirements for article identification and scanning in warehouse logistics are met.

Description

Technical Field

[0001] This application belongs to the field of factory automation technology, and in particular relates to a method and apparatus for stacking items. Background Technology

[0002] With the continuous development of automation technology, more and more companies are adopting palletizing robots to replace manual labor in handling and stacking goods.

[0003] However, existing palletizing robots often simply perform point-to-point transport tasks, lacking planning for the placement posture of items. While this approach can meet basic transport needs, it falls short when handling items with specific requirements. In particular, ensuring that these markings remain facing outwards after stacking for subsequent scanning and identification is a pressing issue that needs to be addressed when handling items with specific markings (such as QR codes).

[0004] Therefore, existing palletizing robots lack planning for the placement posture of items during operation, making it difficult to ensure that specific markings on items face outwards for scanning and identification. Summary of the Invention

[0005] This application provides a method and apparatus for stacking items, which enables the labeled end face of the target item to be located outside the stack during stacking, thus meeting the needs for item identification and scanning in warehousing and logistics.

[0006] In a first aspect, embodiments of this application provide a method for stacking articles, including:

[0007] When the target item reaches the preset grab position, obtain the stack type information of the corresponding stack of goods, which includes the information of the item's stacking position;

[0008] Among multiple preset sub-stacking areas, the sub-stacking area where the item is located is determined as the target sub-stacking area;

[0009] In the preset correspondence between sub-stacking areas and rotation angles, obtain the information of the first rotation angle corresponding to the target sub-stacking area;

[0010] After rotating the target item by the first rotation angle, it is placed in the item placement position, wherein the label end of the target item is located on the outside of the stack.

[0011] Based on the same inventive concept, in a second aspect, embodiments of this application also provide an article stacking device, comprising:

[0012] The acquisition module is used to acquire the stack type information of the target item when the target item arrives at the preset grab position. The stack type information includes the information of the item's stacking position.

[0013] The determination module is used to identify the target sub-stacking area from among multiple preset sub-stacking areas where the item is located.

[0014] The acquisition module is also used to acquire information about the first rotation angle corresponding to the target sub-stacking area from the preset correspondence between sub-stacking areas and rotation angles.

[0015] The stacking module is used to rotate the target item by a first rotation angle and then stack it in the item stacking position, wherein the label end of the target item is located on the outside of the stack.

[0016] Based on the same inventive concept, in a third aspect, embodiments of this application also provide an article stacking device, the device including a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, it implements the article stacking method of the first aspect or any embodiment of the first aspect.

[0017] Based on the same inventive concept, in a fourth aspect, embodiments of this application also provide a computer storage medium, on which computer program instructions are stored, which, when executed by a processor, implement the first aspect, or the method for stacking items in any embodiment of the first aspect.

[0018] Based on the same inventive concept, in a fifth aspect, embodiments of this application also provide a computer program product, wherein instructions in the computer program product, when executed by a processor of a device, enable the device to perform the stacking method of articles in the first aspect or any embodiment of the first aspect.

[0019] The item stacking method and apparatus of this application, when detecting that a target item has reached a preset gripping position, acquires the stack type information of the corresponding pallet for the target item, including information on the specific location of the item stacking. Then, among multiple pre-divided sub-stacking areas, the sub-stacking area where the item is located can be determined as the target sub-stacking area. Next, based on the preset correspondence between sub-stacking areas and rotation angles, information on the first rotation angle corresponding to the target sub-stacking area can be obtained. The target item can then be rotated by the first rotation angle and stacked at the item stacking position, thereby enabling the item to be placed in the correct position in one go, improving stacking efficiency. Furthermore, by planning the rotation angle, rotation can be performed before stacking so that the labeled end face of the target item is located on the outside of the pallet during stacking, meeting the needs for item identification and scanning in warehousing and logistics, improving stacking efficiency and accuracy, and promoting the automation and intelligent development of the warehousing and logistics industry. Attached Figure Description

[0020] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings, in which the same or similar reference numerals denote the same or similar features, and the drawings are not drawn to scale.

[0021] Figure 1 This is a flowchart illustrating a method for stacking items provided in an embodiment of this application;

[0022] Figure 2 This is a flowchart illustrating a method for stacking items provided in an embodiment of this application;

[0023] Figure 3 This is a flowchart illustrating a method for stacking items provided in an embodiment of this application;

[0024] Figure 4 This is a flowchart illustrating a method for stacking items provided in an embodiment of this application;

[0025] Figure 5 This is a flowchart illustrating a method for stacking items provided in an embodiment of this application;

[0026] Figure 6 This is a flowchart illustrating a method for stacking items provided in an embodiment of this application;

[0027] Figure 7 This is a flowchart illustrating a method for stacking items provided in an embodiment of this application;

[0028] Figure 8 This is a flowchart illustrating a method for stacking items provided in an embodiment of this application;

[0029] Figure 9 This is a flowchart illustrating a method for stacking items provided in an embodiment of this application;

[0030] Figure 10 This is an overall layout diagram of the flexible palletizing robot in the article stacking method provided in the embodiments of this application;

[0031] Figure 11 This is a schematic diagram of the external structure of the main body of the palletizing robot equipment in the article stacking method provided in this application embodiment;

[0032] Figure 12 This is a layout diagram of the end effector of the palletizing robot equipment in the article stacking method provided in the embodiments of this application;

[0033] Figure 13 This is a layout diagram of the assembly line structure of the palletizing robot in the article stacking method provided in the embodiments of this application;

[0034] Figure 14 This is a top-down schematic diagram of an application scenario of the item stacking method provided in the embodiments of this application;

[0035] Figure 15 This is a schematic diagram of a stacking device for articles provided in an embodiment of this application;

[0036] Figure 16 This is a schematic diagram of a stacking device for items provided in an embodiment of this application. Detailed Implementation

[0037] The features and exemplary embodiments of various aspects of this application will now be described in detail. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only configured to explain this application and are not configured to limit this application. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples of this application.

[0038] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0039] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0040] Various modifications and variations can be made to this application without departing from its spirit or scope, which will be apparent to those skilled in the art. Therefore, this application is intended to cover modifications and variations falling within the scope of the corresponding claims (the claimed technical solutions) and their equivalents. It should be noted that the embodiments provided in this application can be combined with each other without contradiction.

[0041] Before describing the technical solutions provided in the embodiments of this application, in order to facilitate understanding of the embodiments of this application, this application first specifically explains the problems existing in the related technologies:

[0042] With the continuous development of automation technology, more and more companies are adopting palletizing robots to replace manual labor in handling and stacking goods.

[0043] A palletizing robot is an automated device that uses a robotic arm / three-axis displacement platform / other actuators to replace manual labor in the handling and stacking of finished goods boxes within a warehousing and logistics module. It effectively reduces the physical burden on personnel, optimizes labor costs, and offers advantages such as high cycle time, stable palletizing, and a larger workspace. Palletizing robots typically employ large industrial robotic arms to meet the requirements of a large workspace. Electric / pneumatic grippers are mounted on the robotic arm to grasp the boxes, while mechanical limit / positioning mechanisms determine the grasping and stacking positions of the boxes. However, the robot's palletizing trajectory is often just a fixed point-to-point handling process, lacking planning for the posture information at the placement points, and the placement process also lacks flexibility.

[0044] In other words, palletizing robots in related technologies often simply perform point-to-point transport tasks, lacking planning for the placement posture of items. While this approach can meet basic transport needs, it falls short when handling items with specific requirements. Especially when dealing with items bearing specific markings (such as QR codes), ensuring these markings remain facing outwards after stacking for subsequent scanning and identification becomes a pressing issue. Therefore, palletizing robots in related technologies suffer from a lack of planning for item placement posture during operation, making it difficult to ensure that specific markings on items face outwards for scanning and identification.

[0045] For example, during the palletizing process, finished goods boxes have a QR code on one end for inbound scanning. To ensure that the QR code-covered end faces outward after the palletizing robot places the box on the pallet, the robot's end effector often needs to have omnidirectional rotation capabilities. However, in scenarios where the end effector is highly integrated or space is limited, the end effector may lack omnidirectional rotation capabilities. In such cases, point-to-point placement planning schemes in related technologies do not have the ability to adjust the QR code-covered end face outward.

[0046] Furthermore, due to warehouse space constraints and the diversity of goods, different goods may need to be stacked in different positions and orientations. This requires palletizing robots to flexibly adjust their gripping and placement postures according to the actual situation of the goods. However, existing palletizing robots still have certain limitations in this regard, often only able to perform fixed rotation and placement actions, and cannot meet diverse stacking needs.

[0047] Based on this, the present application provides a method and apparatus for stacking items, which can position the labeled end face of the target item on the outside of the stack during stacking, thus meeting the needs for item identification and scanning in warehousing and logistics. At the same time, it can flexibly adjust its gripping and placement posture to meet diverse stacking needs.

[0048] The method for stacking items provided in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0049] Figure 1 This is a schematic flowchart of a method for stacking items provided in an embodiment of this application, as shown below. Figure 1 As shown, the method may include steps S110 to S140.

[0050] S110: When the target item arrives at the preset grab position, obtain the stack type information of the corresponding stack of goods for the target item. The stack type information includes the information of the item's placement position.

[0051] The target items are those that need to be stacked, such as cargo boxes.

[0052] The preset gripping position is a pre-defined location where the palletizing robot's robotic arm will grip the target item. This position is typically determined based on factors such as the robot's working range, the size and shape of the target item, etc.

[0053] The stack type information includes the stack's structural information, such as the placement and orientation of each item. Palletizing robots can determine how to grasp, move, and stack items based on this information.

[0054] The stacking location of an item refers to its specific position within a stack of goods. Information about the stacking location typically includes the item's row and column position, height, and other details within the stack.

[0055] Specifically, when the target item is detected to have moved to the preset grab position, the structural information of the stack corresponding to the item, namely the stack type information, can be obtained and identified. The stack type information includes the specific position of the item in the stack.

[0056] S120, among multiple preset sub-stacking areas, determine the sub-stacking area where the item is located as the target sub-stacking area.

[0057] The sub-stacking area is a pre-defined stacking area.

[0058] It should be noted that the area of ​​the sub-stacking zone does not change regardless of the position of the pallet, where the pallet is used to stack items. For example, as... Figure 2 As shown, the stackable area behind the palletizing robot is a rectangular area, which can be divided into 4 areas, including the upper left sub-stacking area T1, the lower left sub-stacking area T2, the upper right sub-stacking area T3, and the lower right sub-stacking area T4.

[0059] Specifically, based on the specific placement location of the target item, the target sub-placement area where the target item needs to be placed can be determined from multiple preset sub-placement areas (T1 to T4).

[0060] S130, based on the preset correspondence between sub-stacking areas and rotation angles, obtain information about the first rotation angle corresponding to the target sub-stacking area.

[0061] Different sub-stacking areas correspond to different rotation angles, which can solve the problem of ensuring that a specific end face of an item faces outwards, especially when the end effector of a palletizing robot lacks omnidirectional rotation.

[0062] Specifically, in the preset correspondence between sub-stacking areas and rotation angles, information on the rotation angle that matches the target storage area is found and obtained. This rotation angle can be referred to as the first rotation angle.

[0063] S140, after rotating the target item by a first rotation angle, it is placed in the item placement position, wherein the label end of the target item is located on the outside of the stack.

[0064] Specifically, by rotating the target item by a first rotation angle before placing it at the item placement position, the label end of the target item can be located on the outside of the stack.

[0065] According to the item stacking method provided in this application embodiment, when a target item is detected to have reached a preset gripping position, the stack type information of the corresponding pallet for the target item is obtained, including information on the specific location of the item stacking. Then, among multiple pre-divided sub-stacking areas, the sub-stacking area where the item is located can be determined as the target sub-stacking area. Next, in the preset correspondence between sub-stacking areas and rotation angles, information on the first rotation angle corresponding to the target sub-stacking area can be obtained. The target item can then be rotated by the first rotation angle and stacked at the item stacking position, thereby enabling the item to be placed in the correct position in one go, improving stacking efficiency. Furthermore, by planning the rotation angle, rotation can be performed before stacking to ensure that the labeled end face of the target item is located on the outside of the pallet during stacking, solving the problem of ensuring that a specific end face of the item faces outwards, especially since the end effector of the palletizing robot lacks the ability to ensure that a specific end face faces outwards during omnidirectional rotation. This meets the needs for item identification and scanning in warehousing and logistics, improves stacking efficiency and accuracy, and promotes the automation and intelligent development of the warehousing and logistics industry.

[0066] Figure 3 This is another flowchart illustrating the method for stacking items provided in the embodiments of this application.

[0067] In some embodiments, such as Figure 3 As shown, step S110, when the target item arrives at the preset grab position, obtains the stack type information of the corresponding stack of goods for the target item, which may include steps S111 and S112.

[0068] S111: When the target object reaches the preset grasping position, the initial posture information of the target object is obtained using imaging equipment.

[0069] Specifically, when a target object is detected to have moved to a pre-set grasping position, the image device (such as a camera) can capture the posture information of the target object at the grasping position, which can be called the initial posture.

[0070] S112, if the initial posture information is consistent with the preset posture information, obtain the stack type information of the stack corresponding to the target item.

[0071] Among them, the preset posture is the standard posture that the staff should follow when placing the target item, which is agreed in advance. It is a standard used to verify whether the initial posture of the target item is correct.

[0072] Specifically, if the initial posture of the target item upon reaching the preset grasping position matches the preset posture, the verification is successful, and palletizing can proceed. Palletizing first requires obtaining the pallet type information corresponding to the target item, including the specific placement location of the item. Then, among the pre-defined sub-palletizing areas, the sub-palletizing area where the item is located can be identified as the target sub-palletizing area. Next, based on the preset correspondence between sub-palletizing areas and rotation angles, the first rotation angle corresponding to the target sub-palletizing area can be obtained. The target item can then be rotated by the first rotation angle and placed at the item placement position, ensuring that the labeled end of the target item is on the outside of the pallet during placement.

[0073] Before obtaining the stacking type information of the target item, this embodiment first uses an imaging device to obtain the initial posture information of the target item when it reaches the preset grasping position, and then verifies whether the initial posture is consistent with the preset standard posture. If they are consistent, the stacking type information is obtained, which can ensure that the target item is stacked in the correct posture and avoid the problem of inaccurate stacking caused by incorrect item posture.

[0074] In some embodiments, the information of the preset posture includes the orientation of the label end face of the target item toward a first direction.

[0075] The first direction is a pre-set direction. When the labeling end face of the target item faces the first direction, the palletizing robot can capture the labeling end face of the target item through imaging equipment (such as a camera), thus using it as the posture standard when the target item reaches the preset gripping position. For example, the labeling end face of the target item faces the palletizing robot.

[0076] The palletizing robot in this embodiment can accurately capture the labeling end face of the target item through imaging equipment. This not only serves as a standard for judging whether the target item has reached the preset gripping position and is in the correct posture, but also facilitates the robot to perform subsequent palletizing operations, thereby improving the efficiency and accuracy of automated processing.

[0077] Figure 4 This is another flowchart illustrating the method for stacking items provided in the embodiments of this application.

[0078] In some embodiments, such as Figure 4 As shown, step S110, when the target item arrives at the preset grab position, obtains the stack type information of the corresponding stack of goods for the target item, which may include steps S113 to S116.

[0079] S113, when the target item reaches the preset grab position, the first page is displayed.

[0080] Specifically, when the target item is detected to have reached the preset grab position, the first page can be displayed.

[0081] S114, in response to the first input on the first page, obtain the item code information of the target item from the first input.

[0082] Specifically, users can enter the item code information of the target item on the first page.

[0083] S115, in the preset correspondence between codes and sizes, obtain the item size information corresponding to the item code information.

[0084] Specifically, the item size information corresponding to the item code information can be obtained from the pre-set correspondence between code and size. Different item codes correspond to different item sizes.

[0085] S116, Based on the item size information, generate the stack type information of the corresponding stack for the target item.

[0086] Specifically, based on the size information of the item, a stacking arrangement scheme for the target item can be calculated and generated, namely stack type information. Stack type information includes the specific stacking position and stacking posture of the target item in the stack.

[0087] In this embodiment, when the target item arrives at the preset grab position, a first page is displayed and the user is asked to input the item code information. Then, the item size is quickly obtained by using the preset code-size correspondence, thereby generating a stacking arrangement scheme (stack type information) for the target item, which improves the automation and flexibility of stacking construction.

[0088] Figure 5 This is another flowchart illustrating the method for stacking items provided in the embodiments of this application.

[0089] In some embodiments, such as Figure 5 As shown, before obtaining the stack type information of the corresponding stack of goods when the target item reaches the preset grab position in step S110, the method may also include steps S151 to S153.

[0090] S151, in response to the start transport command, start the transport equipment to transport the target item.

[0091] Specifically, upon receiving a user-input command to initiate transportation, transportation equipment (such as a conveyor belt) can be activated to transport the target item (such as a cargo box).

[0092] S152 uses monitoring equipment to generate and output a trigger signal when the target item is detected being transported to a preset grab position.

[0093] Specifically, monitoring equipment (such as photoelectric switches) can be used to monitor whether there is a target item at the preset grab position, and when the target item is detected at the preset grab position, a trigger signal is generated and output.

[0094] In one example, the preset grab position is the first preset grab position (such as the grab position on the left). When the target item is detected to be transported to the first preset grab position, the monitoring device generates and outputs a first trigger signal to indicate that the target item has arrived at the first preset grab position.

[0095] In another example, the preset grab position is the second preset grab position (such as the grab position on the right). When the target item is detected to be transported to the second preset grab position, the monitoring device generates and outputs a second trigger signal to indicate that the target item has arrived at the second preset grab position.

[0096] S153, upon receiving a trigger signal, shuts down the transport equipment.

[0097] Specifically, upon receiving a trigger signal, it indicates that the target item has reached the preset grab position, and therefore the transport equipment (such as a conveyor belt) can be shut down to stop the transport of the target item.

[0098] Step S110, when the target item arrives at the preset grab position, obtains the stack type information of the corresponding stack of goods for the target item, which may include step S117.

[0099] S117: Upon receiving a trigger signal, obtain the stack type information of the stack corresponding to the target item.

[0100] Specifically, upon receiving a trigger signal, it indicates that the target item has reached the preset grab position, and therefore palletizing can be performed. During palletizing, it is necessary to first obtain the pallet type information corresponding to the target item.

[0101] This application embodiment ensures that the target item can accurately reach the preset grab position by adding steps such as starting transportation, monitoring triggering, and stopping transportation, and promptly triggers the operation of obtaining the stack type information upon arrival, thereby improving the stacking efficiency and accuracy.

[0102] The following is combined Figure 6 This paper details the specific process of dividing the stackable area into multiple sub-stackable areas in the item stacking method provided in the embodiments of this application.

[0103] Figure 6 This is another flowchart illustrating the method for stacking items provided in the embodiments of this application.

[0104] In some embodiments, such as Figure 6As shown, before step S120 determines the sub-stacking area where the item is located as the target sub-stacking area in multiple preset sub-stacking areas, the method may also include steps S161 to S163.

[0105] S161, obtain information about the stackable area.

[0106] Specifically, you can first obtain the area where items will be placed, i.e., the placement area. For example, see [link to example]. Figure 2 The palletizing robot is positioned in front of a conveyor belt, which can be divided into a left conveyor belt and a right conveyor belt. The palletizing area is a rectangular area behind the palletizing robot.

[0107] S162, establish a plane rectangular coordinate system with the center point of the stackable area as the origin.

[0108] For more details, please refer to [link / reference]. Figure 2 The center point of the stackable area can be used as the origin to establish a Cartesian coordinate system consisting of the x-axis and y-axis.

[0109] S163 divides the stackable area into multiple sub-stackable areas along the coordinate axes of the Cartesian coordinate system.

[0110] For more details, please refer to [link / reference]. Figure 2 The stackable area is divided into multiple sub-stacking areas along the coordinate axes of a Cartesian coordinate system: sub-stacking area T1, sub-stacking area T2, sub-stacking area T3, and sub-stacking area T4. Different sub-stacking areas correspond to different rotation angles, which can solve the problem of ensuring that a specific end face of an item faces outward, especially when the end effector of a palletizing robot lacks omnidirectional rotation.

[0111] The embodiments of this application can finely divide the stackable area into multiple sub-stackable areas, providing a flexible strategy for solving the problem of specific end faces of items facing outwards. Especially when the rotation capability of the end effector of the palletizing robot is limited, by selecting different sub-stackable areas and adjusting the corresponding rotation angle, it is possible to ensure that items are stacked neatly and that specific end faces of items face outwards, which greatly improves the flexibility and accuracy of palletizing operations.

[0112] Figure 7 This is another flowchart illustrating the method for stacking items provided in the embodiments of this application.

[0113] In some embodiments, such as Figure 7 As shown, the preset gripping position is the first preset gripping position; step S130 obtains the information of the first rotation angle corresponding to the target sub-grinding area from the preset correspondence between the sub-grinding area and the rotation angle, which may include step S131.

[0114] S131, in the preset first correspondence between sub-stacking areas and rotation angles, obtain the information of the first rotation angle corresponding to the target sub-stacking area.

[0115] In this embodiment of the application, during the stacking process of items, the first rotation angle corresponding to the target sub-stacking area can be determined by referring to the first correspondence based on the preset gripping position (such as the first preset gripping position) where the target item is located. This improves the flexibility and adaptability of the stacking operation, ensures that items are stacked at the correct angle and position, thereby improving work efficiency and meeting specific stacking requirements, such as specific end faces facing outwards.

[0116] Figure 8 This is another flowchart illustrating the method for stacking items provided in the embodiments of this application.

[0117] In some embodiments, such as Figure 8 As shown, the preset gripping position is the second preset gripping position; step S130 obtains the information of the first rotation angle corresponding to the target sub-grinding area from the preset correspondence between the sub-grinding area and the rotation angle, which may include step S132.

[0118] S132, in the preset second correspondence between sub-stacking areas and rotation angles, obtain information about the first rotation angle corresponding to the target sub-stacking area.

[0119] In this embodiment of the application, during the stacking process, based on the preset gripping position (such as the second preset gripping position) of the target item, the first rotation angle corresponding to the target sub-stacking area can be determined by referring to the second correspondence. This improves the flexibility and adaptability of the stacking operation, ensuring that items are stacked at the correct angle and position, thereby improving operational efficiency and meeting specific stacking requirements, such as specific end faces facing outwards.

[0120] It should be noted that the first and second correspondences provide flexible solutions for different preset gripping positions and meet the requirement of a specific end face facing outwards. The rotation angles in the first and second correspondences can be set according to actual needs, and this application embodiment does not limit this.

[0121] Figure 9 This is another flowchart illustrating the method for stacking items provided in the embodiments of this application.

[0122] In some embodiments, such as Figure 9 As shown, the stacking information includes information on the stacking posture of the items; after rotating the target item by a first rotation angle in step S140 and before stacking it to the item stacking position, the method may also include steps S171 to S173.

[0123] S171, when the target object reaches the preset grasping position, the initial posture information of the target object is obtained using imaging equipment.

[0124] Specifically, when it is detected that the target object has reached the preset grasping position, the initial posture information of the target object can be captured by imaging equipment (such as a camera).

[0125] S172, based on the initial posture and the item stacking posture, determine the information of the second rotation angle corresponding to the target item.

[0126] Specifically, the second rotation angle of the target item is determined based on the angular difference between the initial posture and the item placement posture. For example, if the initial posture and the item placement posture are the same, the second rotation angle is 0 degrees. Or, if the initial posture is vertical and the item placement posture is horizontal, the second rotation angle is a horizontal rotation of 90 degrees.

[0127] It should be noted that whether the second rotation angle is clockwise or counterclockwise depends on the different target sub-stacking areas.

[0128] S173, based on the information of the first rotation angle and the information of the second rotation angle, calculate the target rotation angle information corresponding to the target item.

[0129] Specifically, based on the first rotation angle and the second rotation angle, the target rotation angle corresponding to the target item can be calculated comprehensively. For example, if the first rotation angle is 90 degrees counterclockwise and the second rotation angle is 180 degrees counterclockwise, then the target rotation angle is 90 degrees clockwise. As another example, if the first rotation angle is 0 degrees counterclockwise and the second rotation angle is 0 degrees counterclockwise, then the target rotation angle is 0 degrees clockwise.

[0130] Step S140 involves rotating the target item by a first rotation angle and then placing it at the item placement position, which may include step S141.

[0131] S141, after rotating the target item by the target rotation angle, place it in the item placement position.

[0132] Specifically, rotating the target item by the target rotation angle before stacking it in the designated stacking position ensures that the labeling end of the target item is located on the outside of the stack.

[0133] This application embodiment ensures that the label end faces outward when the target item is placed in the item placement position after rotating the target rotation angle by accurately calculating the first rotation angle based on the target sub-stacking area and then according to the second rotation angle based on the actual initial posture and the required stacking posture, thereby improving stacking accuracy and efficiency.

[0134] Figure 10This is an overall layout diagram of the flexible palletizing robot in the article stacking method provided in the embodiments of this application.

[0135] In one example, such as Figure 10 As shown, the palletizing robot equipment is deployed close to the product packaging line and consists of a collaborative robotic arm, a binocular vision camera (imaging device), a flexible suction cup, a lifting column, a movable support chassis, two electrical control cabinets, two production lines, several trigger sensors, and a touch screen. Specifically, the rear end of the production line is positioned close to the manual packaging workstation and is equipped with the touch screen for easy manual control. The front end of the production line is positioned close to the support chassis, which houses two electrical control cabinets and a lifting column. The lifting column is equipped with a collaborative robotic arm, and the end of the robotic arm is fitted with a suction cup, camera (imaging device), and photoelectric switch (monitoring device). The combination of the lifting column and the collaborative robotic arm allows the equipment to expand its working space while ensuring safety and portability.

[0136] It should be noted that placing a single pallet or a double pallet within the stackable area does not affect the division of sub-stacking areas; the division of sub-stacking areas is related to the position of the palletizing robot.

[0137] Figure 11 This is a schematic diagram of the external structure of the main body of the palletizing robot equipment in the article stacking method provided in this application embodiment.

[0138] In one example, such as Figure 11 As shown, the palletizing robot equipment is encased in a shell that conceals the electrical control cabinet, chassis, lifting column, and other equipment, enhancing its integrated design. Handles are also provided for easy manual movement of the equipment, and marker lights are installed to indicate the robot's workspace and prevent personnel from entering.

[0139] Figure 12 This is a layout diagram of the end effector of the palletizing robot equipment in the article stacking method provided in the embodiments of this application.

[0140] In one example, such as Figure 12As shown, a suction cup is connected to the end effector of the robotic arm via an adapter flange, and a camera, solenoid valve, and photoelectric switch are mounted on the suction cup. The solenoid valve controls the opening and closing of the suction cup via a remote signal from inside the electrical control cabinet. Using the suction cup as the end effector for grasping can protect the internal instruments from damage during the grasping of the cargo box (item). At the same time, the suction cup adheres to the cargo box from above, making it highly compatible with cargo boxes of different sizes. The camera (imaging device) is an RGBD camera, which uses vision to locate the position of the cargo box and the cargo box placement pallet, avoiding the need for positioning methods such as limiters installed on the ground. It can adapt to the changes in the robot's deployment position and the cargo box grasping and placement position. The photoelectric switch (monitoring device) can be used to monitor whether the cargo box has reached the preset grasping position, and can also be used to detect the relative distance between the cargo box and the suction cup during the grasping and movement of the cargo box, and calibrate the grasping height.

[0141] Figure 13 This is a layout diagram of the assembly line structure of the palletizing robot in the article stacking method provided in the embodiments of this application.

[0142] In one example, such as Figure 13 As shown, the rear end of the assembly line is connected to the worker's workstation and is equipped with a start switch and an emergency stop switch. The start switch is used to start the conveyor belt (transportation equipment) to transport the cargo box to the robot when the cargo box is ready. The emergency stop switch is used to stop the robot's current action in case of an emergency. The front end of the assembly line is equipped with a barrier plate and a photoelectric switch to stop the cargo box and detect whether the cargo box has reached the front grabbing point.

[0143] It should be noted that the palletizing robot can be compatible with two production lines, placing cartons on two pallets accordingly. Cartons of different sizes can be stacked on different pallets, and imaging equipment (such as cameras) can be used to identify the size of the cartons.

[0144] It should also be noted that, such as Figures 10-13 As shown, the palletizing robot equipment in this embodiment of the application achieves safety requirements during collaboration with humans through a combination of a collaborative robotic arm, a marker light, a photoelectric trigger switch, and an emergency stop button; the combination of a lifting column and a robotic arm expands the workspace of the equipment while ensuring portability, enabling the robot to meet the needs of high-rise palletizing; the actuators of a camera, suction cup, and fuma wheels achieve high flexibility and dynamic palletizing; and finally, a touch screen facilitates the issuance of work instructions by personnel.

[0145] Figure 14 This is a top-down schematic diagram of an application scenario in the item stacking method provided in the embodiments of this application.

[0146] In one example, such as Figure 14As shown, the item stacking method involves two conveyor belts, one palletizing robot, and two pallets. The basic logic is as follows: Conveyor belt 1 transports boxes to the vicinity of the robot, and then the palletizing robot places the boxes onto the corresponding pallet 1; similarly, conveyor belt 2 transports boxes and uses the palletizing robot to place them onto the corresponding pallet 2. Boxes stacked on the same pallet are of the same size. Manual placement of the boxes requires the label's short end to face outwards, i.e., towards the palletizing robot, before flexible gripping is planned.

[0147] In one embodiment, the method for stacking items may include:

[0148] 1) Division of sub-stacking areas.

[0149] The stackable area is divided into multiple sub-stackable areas: sub-stackable area T1, sub-stackable area T2, sub-stackable area T3, and sub-stackable area T4. Different sub-stackable areas correspond to different rotation angles, which can solve the problem of ensuring that a specific end face of an item faces outward, especially when the end effector of a palletizing robot lacks omnidirectional rotation.

[0150] 2) Attitude verification.

[0151] The staff starts the conveyor belt to transport the box to the preset gripping position; when the photoelectric switch (monitoring equipment) detects that the box has reached the preset gripping position, it generates and outputs a trigger signal; when the palletizing robot receives the trigger signal, it captures the initial posture of the box at the preset gripping position through imaging equipment (such as a camera) and performs posture verification on the initial posture. If the initial posture is the agreed preset posture (such as the short end of the label facing the palletizing robot), the verification is successful.

[0152] 3) Palletizing operation.

[0153] 3.1) Based on the cargo box number entered by the staff, find the cargo box size information and generate the stack type information of the cargo stack.

[0154] For example, the stacking information may include the variable Rot, which describes whether the container will be placed horizontally or vertically on the pallet. Rot = 1 indicates horizontal orientation, and Rot = 0 indicates vertical orientation.

[0155] 3.2) Among multiple preset sub-stacking areas, determine the sub-stacking area where the item is located as the target sub-stacking area.

[0156] 3.3) Obtain the target rotation angle information corresponding to the target item.

[0157] First, when the cargo box arrives at the preset gripping position (first preset gripping position), information about the first rotation angle corresponding to the target sub-stacking area is obtained from the first correspondence between preset sub-stacking areas and rotation angles. When the cargo box arrives at the preset gripping position (second preset gripping position), information about the first rotation angle corresponding to the target sub-stacking area is obtained from the second correspondence between preset sub-stacking areas and rotation angles. The first rotation angle is used to rotate the cargo box to ensure that the labeling end faces outwards after stacking. For example, see [further details omitted]. Figure 14 For the cargo box coming from conveyor belt 1, when the cargo box reaches the first preset grab position, if the sub-stacking area where the cargo box is placed is T1, then the first rotation angle is 0 degrees; if the sub-stacking area where the cargo box is placed is T2, then the first rotation angle is 180 degrees; if the sub-stacking area where the cargo box is placed is T3, then the first rotation angle is 180 degrees; if the sub-stacking area where the cargo box is placed is T4, then the first rotation angle is 0 degrees. For the cargo boxes coming from conveyor belt 2, the judgment is the opposite of that for conveyor belt 1: when the cargo box reaches the second preset grab position, if the sub-stacking area where the cargo box is placed is T3, then the first rotation angle is 0 degrees; if the sub-stacking area where the cargo box is placed is T4, then the first rotation angle is 180 degrees; if the sub-stacking area where the cargo box is placed is T1, then the first rotation angle is 180 degrees; if the sub-stacking area where the cargo box is placed is T2, then the first rotation angle is 0 degrees.

[0158] Then, based on the initial posture and the item stacking posture, the information of the second rotation angle corresponding to the target item is determined. This second rotation angle is used to rotate the container to meet the stacking posture requirements. Based on the information of the first and second rotation angles, the information of the target rotation angle corresponding to the target item is calculated.

[0159] 3.4) After rotating the target item by the target rotation angle, place it in the item placement position, wherein the label end of the target item is located on the outside of the stack.

[0160] In one example, the palletizing robot's arm rotates within ±90° of the end effector, with a target rotation angle of 180 degrees. The specific process of rotating the target item to the target rotation angle is as follows: After the palletizing robot picks up the box, it rotates it clockwise by +90°, then places the box down and rotates it counterclockwise to -90° (i.e., clockwise rotation by +90°). It then picks it up again and places it in the item placement position. Next, after rotating the target item to the target rotation angle, the specific process of placing it in the item placement position is as follows: The robot arm is activated, and a suction cup is used to pick up and move the box, placing it on the corresponding pallet type placement point. The suction cup is then deactivated, and the box is released. The robot arm then moves back to the standby position, awaiting the next start command for manual packing.

[0161] This application provides a system solution for integrated end effectors that flexibly plans placement requirements when there are limitations on the end effector's rotation angle. Compared with traditional placement methods, this solution improves the integration and flexibility of the equipment, reduces the activity requirements of the actuator hardware, and can also solve the problem of the designated end face facing outward when the end effector lacks omnidirectional rotation.

[0162] In another example, the palletizing robot can use either grippers or suction cups to move the cartons. The timing of rotation according to the target rotation angle can be: rotating in place at the preset gripping position before moving and stacking, rotating in the air during movement, or rotating directly above the stacking position. The rotation timing can be flexibly set according to the palletizing robot's rotatable angle.

[0163] Based on the same inventive concept, such as Figure 15 As shown in the figure, this application embodiment also provides an article stacking device, which 1500 may include an acquisition module 1510, a determination module 1520 and a stacking module 1530:

[0164] The acquisition module 1510 is used to acquire the stack type information of the target item when the target item arrives at the preset grab position. The stack type information includes the information of the item's stacking position.

[0165] The determination module 1520 is used to determine the sub-stacking area where the item is located as the target sub-stacking area among multiple preset sub-stacking areas;

[0166] The acquisition module 1510 is also used to acquire information about the first rotation angle corresponding to the target sub-stacking area from the preset correspondence between sub-stacking areas and rotation angles.

[0167] The stacking module 1530 is used to rotate the target item by a first rotation angle and then stack it at the item stacking position, wherein the label end face of the target item is located on the outside of the stack.

[0168] According to the item stacking device provided in this application embodiment, when a target item is detected to have reached a preset gripping position, the stack type information of the corresponding pallet for the target item is obtained, including information on the specific location of the item stacking. Then, among multiple pre-divided sub-stacking areas, the sub-stacking area where the item is located can be determined as the target sub-stacking area. Next, based on the preset correspondence between sub-stacking areas and rotation angles, information on the first rotation angle corresponding to the target sub-stacking area can be obtained. The target item can then be rotated by the first rotation angle and stacked at the item stacking position, thereby enabling the item to be placed in the correct position in one go, improving stacking efficiency. Furthermore, by planning the rotation angle, rotation can be performed before stacking so that the labeled end face of the target item is located on the outside of the pallet during stacking, meeting the needs for item identification and scanning in warehousing and logistics, improving stacking efficiency and accuracy, and promoting the automation and intelligent development of the warehousing and logistics industry.

[0169] In some embodiments, the acquisition module is used to acquire the stack type information of the corresponding stack of goods when the target item arrives at the preset grab position, specifically for:

[0170] When the target object reaches the preset grasping position, the initial posture information of the target object is obtained using imaging equipment;

[0171] If the initial posture information is consistent with the preset posture information, obtain the stack type information of the target item's corresponding stack.

[0172] In some embodiments, the information of the preset posture includes the orientation of the label end face of the target item toward a first direction.

[0173] In some embodiments, the acquisition module is used to acquire the stack type information of the corresponding stack of goods when the target item arrives at the preset grab position, specifically for:

[0174] The first page is displayed when the target item reaches the preset grab position;

[0175] In response to the first input on the first page, retrieve the item code information of the target item from the first input;

[0176] Based on the preset correspondence between codes and sizes, obtain the item size information corresponding to the item code information;

[0177] Based on the item size information, generate the stack type information of the corresponding stack for the target item.

[0178] In some embodiments, before the acquisition module acquires the stack type information of the corresponding pallet of the target item when the target item reaches the preset grasping position, the device further includes a start module, a monitoring module, and a stop module:

[0179] The initiation module is used to activate the transportation equipment to transport the target goods in response to the initiation transportation command;

[0180] The monitoring module is used to generate and output a trigger signal when the target item is detected being transported to the preset grab position using monitoring equipment.

[0181] The stop module is used to shut down the transport equipment upon receiving a trigger signal.

[0182] The acquisition module is used to obtain the stack type information of the corresponding pallet when the target item arrives at the preset grab position. Specifically, it can be used for:

[0183] Upon receiving a trigger signal, obtain the stack type information of the corresponding stack for the target item.

[0184] In some embodiments, before the determining module determines the sub-stacking area where the item is located as the target sub-stacking area from among multiple preset sub-stacking areas, the device further includes an establishment module and a division module:

[0185] The acquisition module is also used to acquire information about the stackable area;

[0186] A module is created to establish a Cartesian coordinate system with the center point of the stackable area as the origin.

[0187] The partitioning module is used to divide the stackable area into multiple sub-stackable areas along the coordinate axes of the Cartesian coordinate system.

[0188] In some embodiments, the preset grasping position is a first preset grasping position; the acquisition module is used to acquire information about the first rotation angle corresponding to the target sub-stacking area from a preset correspondence between sub-stacking areas and rotation angles, specifically for:

[0189] In the first correspondence between the preset sub-stacking area and the rotation angle, the information of the first rotation angle corresponding to the target sub-stacking area is obtained.

[0190] In some embodiments, the preset grasping position is a second preset grasping position; the acquisition module is used to acquire information about the first rotation angle corresponding to the target sub-stacking area from the preset correspondence between sub-stacking areas and rotation angles, specifically for:

[0191] In the second correspondence between the preset sub-stacking area and the rotation angle, information about the first rotation angle corresponding to the target sub-stacking area is obtained.

[0192] In some embodiments, the stacking information includes information on the stacking posture of the items; before the stacking module stacks the target items to the item stacking position after rotating the target items by a first rotation angle, the device further includes a calculation module:

[0193] The acquisition module is also used to acquire information about the initial posture of the target object using imaging equipment when the target object reaches the preset grasping position;

[0194] The determination module is also used to determine the information of the second rotation angle corresponding to the target item based on the initial posture and the item stacking posture;

[0195] The calculation module is used to calculate the target rotation angle information corresponding to the target item based on the information of the first rotation angle and the information of the second rotation angle.

[0196] The stacking module is used to rotate the target item by a first rotation angle and then stack it at the designated item placement position. Specifically, it can be used for:

[0197] After rotating the target item by the specified angle, place it in the designated item placement position.

[0198] The various modules in the item stacking device provided in this application embodiment can achieve... Figures 1 to 14 The functions of each step in the provided method for stacking items, and the corresponding technical effects they achieve, will not be elaborated here for the sake of brevity.

[0199] Figure 16 A schematic diagram of the hardware structure of the article stacking device provided in the embodiments of this application is shown.

[0200] The stacking device for items may include a processor 1601 and a memory 1602 storing computer program instructions.

[0201] Specifically, the processor 1601 may include a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0202] Memory 1602 may include mass storage for data or instructions. For example, and not limitingly, memory 1602 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Where suitable, memory 1602 may include removable or non-removable (or fixed) media. Where suitable, memory 1602 may be internal or external to an article stacking device. In a particular embodiment, memory 1602 is a non-volatile solid-state memory.

[0203] Memory may include read-only memory (ROM), random access memory (RAM), disk storage media devices, optical storage media devices, flash memory devices, and electrical, optical, or other physical / tangible memory storage devices. Therefore, typically, memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to one aspect of this disclosure.

[0204] The processor 1601 reads and executes computer program instructions stored in the memory 1602 to implement any of the item stacking methods in the above embodiments.

[0205] In one example, the item stacking device may also include a communication interface 1603 and a bus 1604. Wherein, for example... Figure 16 As shown, the processor 1601, memory 1602, and communication interface 1603 are connected through bus 1604 and complete communication with each other.

[0206] This device can execute the item stacking method described in this application based on each unit / component in the item stacking device, thereby achieving a combination of Figures 1 to 14 The method of stacking the items described.

[0207] Furthermore, in conjunction with the item stacking methods in the above embodiments, this application embodiment can provide a computer storage medium for implementation. This computer storage medium stores computer program instructions; when these computer program instructions are executed by a processor, they implement any of the item stacking methods in the above embodiments.

[0208] This application also provides a computer program product, wherein the instructions in the computer program product, when executed by the processor of an electronic device, cause the electronic device to perform various processes implementing any of the above-described methods for stacking items.

[0209] It should be clarified that this application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of this application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.

[0210] It should also be noted that the exemplary embodiments mentioned in this application describe methods or systems based on a series of steps or apparatus. However, this application is not limited to the order of the above steps; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0211] The aspects of this disclosure have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, 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, or other programmable data processing apparatus to produce a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by special-purpose hardware performing the specified functions or actions, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0212] The above are merely specific embodiments of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A method of stacking articles, characterized by, include: When the target item reaches the preset grab position, the stack type information of the corresponding stack of goods for the target item is obtained, and the stack type information includes information on the stacking position of the item; Among multiple preset sub-stacking areas, the sub-stacking area where the item is located is determined as the target sub-stacking area; In the preset correspondence between sub-stacking areas and rotation angles, information about the first rotation angle corresponding to the target sub-stacking area is obtained; After rotating the target item by the first rotation angle, it is placed in the item placement position, wherein the label end face of the target item is located on the outside of the stack.

2. The method according to claim 1, characterized in that, The step of obtaining the stack type information of the corresponding stack when the target item reaches the preset grab position includes: When the target object reaches the preset grasping position, the initial posture information of the target object is obtained using imaging equipment; If the information of the initial posture is consistent with the information of the preset posture, the stack type information of the stack corresponding to the target item is obtained.

3. The method according to claim 2, characterized in that, The preset posture information includes the direction in which the label end of the target item faces.

4. The method according to claim 1, characterized in that, The step of obtaining the stack type information of the corresponding stack when the target item reaches the preset grab position includes: The first page is displayed when the target item reaches the preset grab position; In response to the first input on the first page, the item code information of the target item is obtained from the first input; Based on the preset correspondence between codes and sizes, obtain the item size information corresponding to the item code information; Based on the item size information, the stack type information of the corresponding stack for the target item is generated.

5. The method according to claim 1, characterized in that, Before obtaining the stack type information of the corresponding pallet when the target item reaches the preset grab position, the method further includes: In response to the start transport command, the transport equipment is activated to transport the target item; Using monitoring equipment, when the target item is detected being transported to the preset grabbing position, a trigger signal is generated and output; Upon receiving the trigger signal, the transport equipment shall be shut down; The step of obtaining the stack type information of the corresponding stack when the target item reaches the preset grab position includes: Upon receiving the trigger signal, the stack type information of the stack corresponding to the target item is obtained.

6. The method according to claim 1, characterized in that, Before determining the target sub-stacking area from among multiple preset sub-stacking areas where the item is located, the method further includes: Obtain information about the stackable area; A Cartesian coordinate system is established with the center point of the stackable area as the origin; The stackable area is divided into multiple sub-stackable areas along the coordinate axes of the Cartesian coordinate system.

7. The method according to claim 6, characterized in that, The preset gripping position is a first preset gripping position; obtaining information about the first rotation angle corresponding to the target sub-stacking area from the preset correspondence between sub-stacking areas and rotation angles includes: In the first correspondence between the preset sub-stacking area and the rotation angle, information about the first rotation angle corresponding to the target sub-stacking area is obtained.

8. The method according to claim 6, characterized in that, The preset gripping position is the second preset gripping position; obtaining the information of the first rotation angle corresponding to the target sub-stacking area from the preset correspondence between sub-stacking areas and rotation angles includes: In the second correspondence between the preset sub-stacking area and the rotation angle, information about the first rotation angle corresponding to the target sub-stacking area is obtained.

9. The method according to any one of claims 1 to 8, characterized in that, The stacking information includes information on the stacking posture of the items; after rotating the target item by the first rotation angle and before stacking it to the item stacking position, the method further includes: When the target object reaches the preset grasping position, the initial posture information of the target object is obtained using imaging equipment; Based on the initial posture and the item stacking posture, determine the information of the second rotation angle corresponding to the target item; Based on the information of the first rotation angle and the information of the second rotation angle, calculate the target rotation angle information corresponding to the target item; The step of rotating the target item by the first rotation angle and then placing it in the item placement position includes: After rotating the target item by the target rotation angle, place it in the item placement position.

10. A device for stacking articles, characterized in that, include: The acquisition module is used to acquire the stack type information of the stack corresponding to the target item when the target item arrives at the preset grab position. The stack type information includes information on the item's stacking position. The determination module is used to determine, among multiple preset sub-stacking areas, the sub-stacking area where the item is located is the target sub-stacking area; The acquisition module is also used to acquire information about the first rotation angle corresponding to the target sub-stacking area from a preset correspondence between sub-stacking areas and rotation angles. The stacking module is used to rotate the target item by the first rotation angle and then stack it at the item stacking position, wherein the label end face of the target item is located on the outside of the stack.

Images