Intelligent dispensing product stacking system and method based on redundancy control

Abstract

The application provides a kind of intelligent distribution product stacking system and method based on redundancy control, acquisition module is in real time from the PLC control system on product production line Product production line data is stored into storage module;Intelligent distribution module determines primary destination and standby destination based on the product production line data when receiving product stacking task;Switching optimization module writes the primary destination as target destination into the PLC control system, so that the stacking execution unit stacks the product produced to the target destination;When the first switching condition is met, switch from the primary destination to the standby destination, write the standby destination as target destination into the PLC control system, so that the stacking execution unit stacks the product produced to the target destination.Guarantee the continuity of product transportation and stacking, realize the real-time and stability of glass stacking process.

Description

Technical Field

[0001] This invention relates to the field of industrial automation and intelligent manufacturing, and in particular to an intelligent product stacking system and method based on redundancy control, applicable to the intelligent scheduling and allocation of float glass, deep-processed glass and related production lines. Background Technology

[0002] In existing glass production and processing, raw glass sheets, after being cut and inspected, need to be transported to designated stacking locations for packaging or stacking according to glass order requirements. Traditional stacking methods typically rely on fixed-destination allocation patterns, lacking flexibility. When a stacking location is full, overloaded, or experiencing a malfunction, the system often cannot switch destinations in a timely manner, easily causing production line shutdowns. Furthermore, existing systems lack sufficient synchronization and redundancy management of the database, resulting in data consistency issues. When the host machine crashes or the network is interrupted, the continuous operation of the scheduling logic cannot be guaranteed, leading to material allocation errors or production interruptions.

[0003] With the development of Industry 4.0 and intelligent manufacturing, manufacturing enterprises have placed higher demands on the real-time performance, reliability, and scalability of glass production scheduling systems. For example: 1. Database synchronization issues: In traditional single-database architectures, systems often rely on a single point of failure. If the primary database fails, data may be lost, and the standby database may not be able to take over in time, potentially leading to destination allocation errors.

[0004] 2. Insufficient redundancy and heartbeat detection: Most existing systems only support coarse-grained redundancy mechanisms and lack heartbeat detection and lifecycle monitoring. There are time gaps in the switching process, making it impossible to achieve smooth switching.

[0005] 3. Limited scheduling strategy: Most systems use fixed priority or simple polling mechanisms, failing to fully utilize stacking capacity, full status, and robot health status for intelligent scheduling, and ignoring overall load balancing.

[0006] 4. High dependence on manual intervention: When the stacking position is full, malfunctioning or busy, and the destination allocation needs to be adjusted, manual monitoring and modification are required. The destination cannot be dynamically switched, which leads to production interruption or material accumulation, slow response speed and easy delays.

[0007] 5. Weak fault tolerance: In the event of equipment failure, communication anomalies, PLC status delays, data packet loss, etc., the system lacks self-healing capabilities and rollback strategies, which can easily lead to a decline in production efficiency. Summary of the Invention

[0008] Based on the above, this invention provides an intelligent product stacking system and method based on redundancy control, aiming to solve technical problems such as the need to optimize and improve production efficiency in the prior art.

[0009] A redundancy-based intelligent product stacking system includes: The data acquisition module is used to acquire real-time data from the PLC control system on the product production line and store it in the storage module. The intelligent allocation module, connected to the storage module, is used to: determine the primary destination and the backup destination based on the product production line data when a product stacking task is received; The switching optimization module, connected to the intelligent allocation module, is used for: The primary destination is written as the target destination into the PLC control system so that the stacking execution unit can stack the produced products to the target destination. When the first switching condition is met, the system switches from the primary destination to the backup destination and writes the backup destination as the target destination into the PLC control system so that the stacking execution unit can stack the produced products to the target destination.

[0010] Furthermore, the product production line data includes actual product output data, stacking status data, and product order data, and each stacking execution unit corresponds to multiple stacking units; The intelligent allocation module includes: The load assessment unit is used to obtain candidate stacking execution units based on the actual product output data and the product order data, and to evaluate the load indicators of each candidate stacking execution unit based on the stacking status data. The execution selection unit is connected to the load evaluation unit and selects a stacking execution unit from the candidate stacking execution units to perform the product stacking task based on the load index. A stacking selection unit, connected to the execution selection unit, is used to perform state analysis on the stacking unit corresponding to the selected stacking execution unit based on the stacking state data, and determine one of the stacking units as the primary destination. The candidate determination unit, connected to the load evaluation unit and the stacking selection unit, is used to select stacking units other than the primary destination from the candidate stacking execution units as the backup destination.

[0011] Furthermore, the storage module includes two servers with databases, and the product stacking system also includes an equipment monitoring module and a database switching module; One of the servers is used as the master server, and the other server is used as the slave server; The device monitoring module is used to monitor the operating status of the main server in real time and obtain the first monitoring result; When the first monitoring result indicates that the master server is in an abnormal state, the database switching module will downgrade the server currently serving as the master server to a slave server, and promote the server currently serving as the slave server to a new master server. The acquisition module stores the product production line data in the master database on the master server. The slave server synchronizes the data in the master database of the master server to its own slave database based on the replication mechanism. The intelligent allocation module obtains the product production line data from the master database of the master server.

[0012] Furthermore, the handover optimization module is also used to: after switching to the backup destination, when the second handover condition for switching back to the primary destination is met, decide whether to switch back to the primary destination from the backup destination based on a preset priority strategy.

[0013] Furthermore, when the database switching module downgrades the server currently acting as the master server to the slave server, it sets the database of the server to readable mode.

[0014] Furthermore, after the switching optimization module switches from the original target destination to the new target destination, it sets a lock period to prevent switching back to the original target destination within a preset period.

[0015] Furthermore, the product stacking system also includes: The order tracking module is used to track and record the execution process of each product order data, obtain the execution tracking results, and log them. The execution monitoring module is connected to the order tracking module and is used to monitor execution process anomalies based on the execution tracking results, obtain a second monitoring result, and generate an early warning and log record when execution interruption, omission, or timeout occurs in the second monitoring result. The master database of the master server is used to store the log records.

[0016] Furthermore, it also includes: The human-computer interaction module is used to display stacking status data and the target destination assigned to the product.

[0017] A redundancy-controlled intelligent product stacking method, using the aforementioned redundancy-controlled intelligent product stacking system, includes: Step A1: Collect product production line data in real time from the PLC control system on the product production line and store it in the storage module; Step A2: Upon receiving a product stacking task, determine the primary destination and backup destination based on the product production line data in the storage module; Step A3: Write the primary destination as the target destination into the PLC control system so that the stacking execution unit can stack the produced products to the target destination. Step A4: When the first switching condition is met, switch from the primary destination to the backup destination, and write the backup destination as the target destination into the PLC control system so that the stacking execution unit can stack the produced products to the target destination.

[0018] Furthermore, the product production line data includes actual product output data, stacking status data, and product order data, and each stacking execution unit corresponds to multiple stacking units; Step A2 includes: Step A21: Based on the actual product output data and the product order data, candidate stacking execution units are obtained, and the load index of each candidate stacking execution unit is evaluated based on the stacking status data. Step A22: Select a stacking execution unit from the candidate stacking execution units to perform the product stacking task based on the load index; Step A23: Based on the stacking status data, perform status analysis on the stacking unit corresponding to the selected stacking execution unit, and determine one of the stacking units as the primary destination; Step A24: Select stacking units other than the primary destination from the candidate stacking execution units as the backup destination.

[0019] The beneficial technical effects of this invention are as follows: By using redundant switching between primary and backup destinations and an intelligent allocation algorithm for stacking units, this invention ensures the continuity of product transportation and stacking, realizes the real-time performance, stability, and fault tolerance of the glass stacking process, and achieves high efficiency, stability, and intelligence in glass production scheduling. Attached Figure Description

[0020] Figure 1-2 This is a schematic diagram of a module of an intelligent product stacking system based on redundancy control according to the present invention. Figure 3-4 This is a flowchart illustrating the steps of an intelligent product stacking method based on redundancy control according to the present invention. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0023] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the scope of the invention.

[0024] See Figure 1 This invention provides an intelligent product stacking system based on redundancy control, comprising: The data acquisition module 1 is used to acquire data from the PLC control system on the product production line in real time and store it in the storage module 2. The intelligent allocation module 3, connected to the storage module 2, is used to: determine the primary destination and the backup destination based on the product production line data when a product stacking task is received; Switch optimization module 4 and connect intelligent allocation module 3 for: Write the primary destination as the target destination into the PLC control system so that the stacking execution unit can stack the produced products to the target destination. When the first switching condition is met, the system switches from the target destination to the backup destination and writes the backup destination as the target destination into the PLC control system so that the stacking execution unit can stack the produced products to the target destination.

[0025] This invention ensures the continuity of product transportation and stacking by using redundant switching between primary and backup destinations and an intelligent allocation algorithm for stacking units. It achieves real-time performance, stability, and fault tolerance in the glass stacking process, and realizes high efficiency, stability, and intelligence in glass production scheduling.

[0026] Furthermore, the products are glass products.

[0027] The switching optimization module 4 writes the target destination into the register storage area of ​​the PLC control system and triggers subsequent handling and execution logic.

[0028] The first switching condition is as follows: Full package switching: When the stacking unit of the current target destination is detected to be full, switch to the backup destination; Fault switching: When an abnormal shutdown or loss of connection is detected in the stacking unit of the current target destination, the system automatically switches to the backup destination.

[0029] See Figure 2 Furthermore, the product production line data includes actual product output data, stacking status data, and product order data, with each stacking execution unit corresponding to multiple stacking units; The intelligent allocation module 3 includes: The load assessment unit 31 is used to obtain candidate stacking execution units based on actual product output data and product order data, and to evaluate the load indicators of each candidate stacking execution unit based on stacking status data. The execution selection unit 32 is connected to the load evaluation unit 31, and selects the stacking execution unit to perform the product stacking task from the candidate stacking execution units based on the load index; Stacking selection unit 33 is connected to execution selection unit 32 and is used to perform state analysis on the stacking unit corresponding to the selected stacking execution unit based on stacking state data, and determine a stacking unit as the primary destination. The candidate determination unit 34 is connected to the load evaluation unit 31 and the stacking selection unit 33, and is used to select stacking units other than the primary destination from the candidate stacking execution units as backup destinations.

[0030] Product destinations are dynamically assigned based on real-time stacking status data.

[0031] Specifically, the stacking execution unit is a robotic arm, which is responsible for transporting the produced products to the corresponding target destination.

[0032] Stacking status data includes the status data of the stacking execution unit and the status data of the stacking unit itself. One stacking unit is equivalent to one stacking position; one stacking execution unit corresponds to multiple stacking units, and one stacking rack has multiple stacking units. The status data of a stacking unit includes: the maximum stacking quantity of the stacking unit, whether the stacking unit is fully loaded, whether the stacking rack is full, the remaining stacking quantity of the stacking unit, and whether the stacking unit is faulty, etc. The status of a stacking unit can be divided into two main categories: available and unavailable. An unavailable status occurs when the stacking unit is not fully loaded, the stacking rack is full, or when the stacking unit or stacking rack is faulty. The status of a stacking execution unit also includes two main categories: available and unavailable; a fault indicates an unavailable status.

[0033] The status data of the stacking unit can be distinguished and identified by color. For example, red indicates that the stacking unit is faulty, yellow indicates that the stacking unit is full, and green indicates that the stacking unit is available.

[0034] When the intelligent allocation module receives a product stacking task, it first performs an overall load analysis on the stacking capacity of each stacking execution unit, such as the robotic arm, and prioritizes stacking execution units with lower loads, such as those with a large remaining stack quantity or high space utilization, in order to achieve balanced utilization of system resources.

[0035] Then, among the multiple stacking units of the stacking execution unit, a suitable stacking unit is dynamically determined as the target allocation location by taking into account factors such as the remaining stack quantity, maximum stack quantity, and available / unavailable status of the current stacking unit. When the selected stacking unit is in an abnormal, fully loaded, or unavailable state, the switching optimization module 4 will automatically switch to other candidate destinations to ensure the stability and continuity of the allocation process.

[0036] Actual product output data includes the quantity of products actually produced, product specifications, product IDs, etc.

[0037] In a preferred embodiment of the present invention, the product order data sets default destinations for the products in the order, and there may be multiple default destinations. The intelligent allocation module first selects a set of available stacking execution units based on the default destinations in the product order data and the actual product output data. It then performs load assessment on the stacking execution units in the set, primarily based on the status data of the corresponding stacking units, such as the maximum stacking quantity, remaining stacking quantity, and available / unavailable status, etc., to calculate load indicators. The stacking execution unit with the lowest load (lowest stacking pressure) is selected as the first choice, and further, the best stacking unit is selected from the stacking units corresponding to that execution unit as the primary destination. Afterwards, alternative destinations are selected from the stacking execution units in the set, excluding the primary destination. The alternative destinations may or may not be the same stacking execution unit as the primary destination.

[0038] There can be multiple backup destinations. When the primary destination is unavailable, the switching optimization module 4 can select the best destination from the backup destinations based on the real-time collected product production line data as the target destination.

[0039] If a stacking execution unit becomes unavailable, the switching optimization module 4 will automatically switch to another available stacking execution unit to ensure uninterrupted allocation.

[0040] Furthermore, storage module 2 includes two servers with databases, and the product stacking system also includes an equipment monitoring module and a database switching module; One server is used as the master server 21, and the other server is used as the slave server 22; The device monitoring module is used to monitor the operating status of the main server 21 in real time and obtain the first monitoring result; When the first monitoring result indicates that the master server 21 is in an abnormal state, the database switching module will demote the server currently serving as the master server 21 to a slave server 22, and promote the server currently serving as the slave server 22 to become the new master server 21. The acquisition module 1 stores the product production line data in the master database on the master server 21. The slave server 22 synchronizes the data in the master database of the master server 21 to its own slave database based on the replication mechanism. The intelligent allocation module 3 obtains the product production line data from the master database of the master server 21.

[0041] During system operation, the master server and slave server continuously exchange heartbeat packets. When the master server crashes or its lifecycle is abnormal (CPU overload, process freeze) and the master database becomes unavailable, the system automatically switches to the slave server to ensure that the scheduling logic is not interrupted.

[0042] A master-slave database architecture is adopted, with both the master and slave databases using MySQL. Utilizing the MySQL master-slave database replication mechanism, after product order data and stacking status data are written to the master database, the slave database automatically receives and keeps them synchronized, ensuring that product order data and stacking status data are synchronized in real time between the two servers and guaranteeing master-slave data consistency.

[0043] When the master server database fails, the database switching module takes over services from the slave database via Keepalived and VRRP virtual IP. Keepalived sends VRRP announcement messages (similar to a heartbeat) between the master and slave databases. When the master server fails, the slave database is promoted to the new master database, ensuring that the application layer is unaware of the switchover. The device monitoring module and the database switching module are deployed on two servers.

[0044] The equipment monitoring module is a heartbeat detection module. The master server and slave server can send heartbeat packets to each other every 500ms. The detection content includes: CPU utilization, memory usage, PLC communication status, and process running status. When the heartbeat is lost more than a certain number of times, such as 3 times, the master server is considered to be in an abnormal state, and the slave server is automatically promoted to read / write server. Furthermore, the handover optimization module 4 is also used to: after switching to the backup destination, when the second handover condition for switching back to the primary destination is met, decide whether to switch back from the backup destination to the primary destination based on a preset priority strategy.

[0045] Operators can customize priority strategies to adapt to different production line modes. For example, intelligent allocation assigns primary and backup destinations to products in an order. When a first switching condition is met, such as the primary destination being full or unavailable due to a fault, the system switches to the backup destination to continue receiving the remaining products in the order. While the backup destination is receiving products, if the primary destination meets a second switching condition, such as recovering from a fault or being available after packaging, and if the preset priority strategy indicates that the primary destination has the first priority and the backup destination has the second priority, then the switching optimization module 4 controls the current backup destination to switch back to the primary destination. If the preset priority strategy indicates that the primary and backup destinations have equal priority, then switching back to the primary destination is not necessary.

[0046] This invention achieves real-time performance, stability, and fault tolerance in the glass stacking process through dual-machine databases and their redundancy switching, primary and backup destination redundancy switching, and intelligent allocation algorithms for stacking units. It also improves the utilization rate of stacking space resources and avoids local congestion.

[0047] This invention utilizes dual-machine hot standby redundancy and switching, as well as multi-destination redundancy, to support real-time master-slave database switching and destination switching, significantly reducing the risk of production stoppages due to single-point failures and ensuring the continuity of product transportation and stacking. Furthermore, this system architecture supports expansion to multiple production lines, multiple PLC control systems, and multiple stacking positions, making it suitable for glass deep processing enterprises of different sizes.

[0048] In addition, the product stacking system of the present invention also includes: Adaptive optimization module 5, connected to storage module 2: is used to perform transmission efficiency analysis based on historical order execution data recorded in the log (e.g., average processing time, failure rate), and automatically adjust priority strategies based on the product transmission efficiency analysis results.

[0049] Furthermore, when the database switching module demotes the server currently acting as the master server 21 to a slave server 22, it sets the server's database to readable mode.

[0050] During the switchover process, the original master server is automatically downgraded to a read-only node to avoid dual-write conflicts.

[0051] Furthermore, after the switching optimization module 4 switches from the original target destination to the new target destination, it sets a lock period to prevent switching back to the original target destination within the preset period.

[0052] Set a lockout period, for example, when the original destination is switched due to full packet switching, it is not allowed to switch back to the original destination for a short period of time to avoid the "jitter" phenomenon.

[0053] Furthermore, the product stacking system also includes: The order tracking module 6 is connected to the storage module 2 and is used to track and record the execution process of each product order data, obtain the execution tracking results, and log them. The execution monitoring module 7 is connected to the order tracking module 6. It is used to monitor execution process anomalies based on execution tracking results, obtain a second monitoring result, and generate warnings and log records when execution interruptions, omissions, or timeouts occur in the second monitoring result. The primary database on primary server 21 is used to store log records.

[0054] The log records the execution process data for each product order, including the order number, product ID, destination before and after product allocation, destination write results of the PLC control system, etc.

[0055] Furthermore, the product stacking system of this invention injects monitoring probes into key threads (database synchronization thread, PLC acquisition thread, and scheduling allocation thread). If the probe detects that a thread is blocked for more than 5 seconds, an automatic restart mechanism is triggered to achieve system lifecycle monitoring. Regarding the risk of memory leaks, the system automatically performs resource reclamation every 24 hours and generates log records.

[0056] Furthermore, it also includes: The human-computer interaction module 8 is connected to the storage module 2 and is used to display stacking status data and the target destination assigned to the product.

[0057] The human-computer interaction module 8 provides an interactive interface that displays the status of the stacking unit, the number of products stored in the stacking unit in the product order data, etc., making it easy for operators to monitor intuitively.

[0058] The system can schedule log records for production traceability and operation monitoring.

[0059] See Figure 3 The present invention also provides an intelligent product stacking method based on redundancy control, using the aforementioned intelligent product stacking system based on redundancy control, comprising: Step A1: Collect product production line data in real time from the PLC control system on the product production line and store it in the storage module; Step A2: Upon receiving a product stacking task, determine the primary destination and backup destination based on the product production line data from the storage module. Step A3: Write the primary destination as the target destination into the PLC control system so that the stacking execution unit can stack the produced products to the target destination. Step A4: When the first switching condition is met, switch from the target destination to the backup destination and write the backup destination as the target destination into the PLC control system so that the stacking execution unit can stack the produced products to the target destination.

[0060] See Figure 4 Furthermore, the product production line data includes actual product output data, stacking status data, and product order data, with each stacking execution unit corresponding to multiple stacking units; Step A2 includes: Step A21: Based on actual product output data and product order data, candidate stacking execution units are obtained, and load indicators are evaluated for each candidate stacking execution unit based on stacking status data. Step A22: Select the stacking execution unit to perform the product stacking task from the candidate stacking execution units based on the load index; Step A23: Based on the stacking status data, perform status analysis on the stacking unit corresponding to the selected stacking execution unit, and determine a stacking unit as the primary destination. Step A24: Select stacking units other than the primary destination from the candidate stacking execution units as backup destinations.

[0061] The above are merely preferred embodiments of the present invention and are not intended to limit the implementation methods and protection scope of the present invention. Those skilled in the art should recognize that any equivalent substitutions and obvious changes made based on the description and illustrations of the present invention should be included within the protection scope of the present invention.

Claims

1. A smart product stacking system based on redundancy control, characterized in that, include: The data acquisition module is used to acquire real-time data from the PLC control system on the product production line and store it in the storage module. The intelligent allocation module, connected to the storage module, is used to: determine the primary destination and the backup destination based on the product production line data when a product stacking task is received; The switching optimization module, connected to the intelligent allocation module, is used for: The primary destination is written as the target destination into the PLC control system so that the stacking execution unit can stack the produced products to the target destination. When the first switching condition is met, the system switches from the primary destination to the backup destination and writes the backup destination as the target destination into the PLC control system so that the stacking execution unit can stack the produced products to the target destination. The product production line data includes actual product output data, stacking status data, and product order data. Each stacking execution unit corresponds to multiple stacking units. The intelligent allocation module includes: The load assessment unit is used to obtain candidate stacking execution units based on the actual product output data and the product order data, and to evaluate the load indicators of each candidate stacking execution unit based on the stacking status data. The execution selection unit is connected to the load evaluation unit and selects a stacking execution unit from the candidate stacking execution units to perform the product stacking task based on the load index. A stacking selection unit, connected to the execution selection unit, is used to perform state analysis on the stacking unit corresponding to the selected stacking execution unit based on the stacking state data, and determine one of the stacking units as the primary destination. The candidate determination unit, connected to the load evaluation unit and the stacking selection unit, is used to select stacking units other than the primary destination from the candidate stacking execution units as the backup destination.

2. The intelligent product stacking system based on redundancy control as described in claim 1, characterized in that, The storage module includes two servers with databases, and the product stacking system also includes an equipment monitoring module and a database switching module. One of the servers is used as the master server, and the other server is used as the slave server; The device monitoring module is used to monitor the operating status of the main server in real time and obtain the first monitoring result; When the first monitoring result indicates that the master server is in an abnormal state, the database switching module will downgrade the server currently serving as the master server to a slave server, and promote the server currently serving as the slave server to a new master server. The acquisition module stores the product production line data in the master database on the master server. The slave server synchronizes the data in the master database of the master server to its own slave database based on the replication mechanism. The intelligent allocation module obtains the product production line data from the master database of the master server.

3. The intelligent product stacking system based on redundancy control as described in claim 1, characterized in that, The switching optimization module is also used to: after switching to the backup destination, when the second switching condition for switching back to the primary destination is met, decide whether to switch back to the primary destination from the backup destination based on a preset priority strategy.

4. The intelligent product stacking system based on redundancy control as described in claim 2, characterized in that, When the database switching module downgrades the server currently acting as the master server to the slave server, it sets the database of the server to readable mode.

5. The intelligent product stacking system based on redundancy control as described in claim 3, characterized in that, After the switching optimization module switches from the original target destination to the new target destination, it sets a lock period to prevent switching back to the original target destination within a preset period.

6. The intelligent product stacking system based on redundancy control as described in claim 2, characterized in that, The product stacking system also includes: The order tracking module is used to track and record the execution process of each product order data, obtain the execution tracking results, and log them. The execution monitoring module is connected to the order tracking module and is used to monitor execution process anomalies based on the execution tracking results, obtain a second monitoring result, and generate an early warning and log record when execution interruption, omission, or timeout occurs in the second monitoring result. The master database of the master server is used to store the log records.

7. The intelligent product stacking system based on redundancy control as described in claim 6, characterized in that, Also includes: The human-computer interaction module is used to display stacking status data and the target destination assigned to the product.

8. A method for intelligent product stacking allocation based on redundancy control, characterized in that, Using a redundancy control-based intelligent product stacking system as described in any one of claims 1-7, comprising: Step A1: Collect product production line data in real time from the PLC control system on the product production line and store it in the storage module; Step A2: Upon receiving a product stacking task, determine the primary destination and backup destination based on the product production line data in the storage module; Step A3: Write the primary destination as the target destination into the PLC control system so that the stacking execution unit can stack the produced products to the target destination. Step A4: When the first switching condition is met, switch from the primary destination to the backup destination, and write the backup destination as the target destination into the PLC control system so that the stacking execution unit can stack the produced products to the target destination. The product production line data includes actual product output data, stacking status data, and product order data. Each stacking execution unit corresponds to multiple stacking units. Step A2 includes: Step A21: Based on the actual product output data and the product order data, candidate stacking execution units are obtained, and the load index of each candidate stacking execution unit is evaluated based on the stacking status data. Step A22: Select a stacking execution unit from the candidate stacking execution units to perform the product stacking task based on the load index; Step A23: Based on the stacking status data, perform status analysis on the stacking unit corresponding to the selected stacking execution unit, and determine one of the stacking units as the primary destination; Step A24: Select stacking units other than the primary destination from the candidate stacking execution units as the backup destination.

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