CN109368285B - Stacking method and device, storage medium and processor - Google Patents
Stacking method and device, storage medium and processor Download PDFInfo
- Publication number
- CN109368285B CN109368285B CN201811270189.0A CN201811270189A CN109368285B CN 109368285 B CN109368285 B CN 109368285B CN 201811270189 A CN201811270189 A CN 201811270189A CN 109368285 B CN109368285 B CN 109368285B
- Authority
- CN
- China
- Prior art keywords
- target product
- information
- placing
- position corresponding
- target
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
Abstract
The application discloses a stacking method and device, a storage medium and a processor. The method comprises the following steps: scanning a code of a target product by using a code scanning gun to acquire target product information, wherein the target product is a first target product or a second target product; sending target product information to the palletizing robot; the palletizing robot places the target products to corresponding placing positions according to the target product information, wherein the placing positions corresponding to the first target products are different from the placing positions corresponding to the second target products. Through the stacking robot, the problem that in the related art, when production equipment produces two products at the same time, the stacking robot cannot divide materials and stack the two products, so that the production efficiency is low is solved.
Description
Technical Field
The application relates to the technical field of product production, in particular to a stacking method and device, a storage medium and a processor.
Background
In the prior art, the traditional palletizing robot generally carries out the right palletizing after the left palletizing is completed, the palletizing mode has the advantage of simple control, but the palletizing mode can only be used under the condition of producing the same product on production equipment at the same time, has limitation, and needs to be stopped to switch the product placement pallet to ensure the correctness of the product palletizing when two products are produced on the same production equipment and palletizing operation is carried out on the second product.
Aiming at the problems that in the prior art, when two products are produced by production equipment at the same time, and when a second product is stacked, a production machine tool needs to be stopped to replace a product placing pallet, so that the production efficiency is low, an effective solution is not provided at present.
Disclosure of Invention
The application mainly aims to provide a stacking method and device, a storage medium and a processor, so as to solve the problem that in the related art, when production equipment produces two products at the same time, a material distributing robot cannot distribute and stack the two products, so that the production efficiency is low.
To achieve the above object, according to one aspect of the present application, a palletizing method is provided. The method comprises the following steps: scanning a code of a target product by using a code scanning gun to acquire target product information, wherein the target product is a first target product or a second target product; sending target product information to the palletizing robot; the palletizing robot places the target products to corresponding placing positions according to the target product information, wherein the placing positions corresponding to the first target products are different from the placing positions corresponding to the second target products.
Further, the robot palletizer places the target product to the corresponding designated position according to the target product information further includes: the palletizing robot determines a clamping position of a target product according to the information of the target product; and the target product is gripped based on the gripping position to be placed to the corresponding placing position.
Further, the robot palletizer placing the target product to the corresponding placing position according to the target product information includes: confirming whether the target product is a first target product or a second target product based on the target product information; if the target product is confirmed to be a first target product based on the target product information, controlling the palletizing robot to clamp the first target product and place the first target product to a placing position corresponding to the first target product; and if the target product is confirmed to be a second target product based on the target product information, controlling the palletizing robot to clamp the second target product and place the second target product to a placing position corresponding to the second target product.
Further, after the code scanning gun is adopted to scan the code of the target product and the information of the target product is acquired, the method further comprises the following steps: and if the target product is determined to be the third target product based on the target product information, triggering prompt information, wherein the prompt information is used for reminding of replacing the pallet of the placing position corresponding to the first target product or the pallet of the placing position corresponding to the second target product.
Further, after confirming that the target product is a third target product based on the target product information and triggering the prompt message, the method further includes: controlling the production line of equipment for producing a third target product to stop running; and after detecting that the pallet of the placing position corresponding to the first target product or the pallet of the placing position corresponding to the second target product is replaced, controlling the equipment pipeline to continue running.
In order to achieve the above object, according to another aspect of the present application, a palletizing device is provided. The device includes: the code scanning device comprises an acquisition unit, a code scanning gun and a control unit, wherein the acquisition unit is used for acquiring target product information when a code scanning gun is adopted to scan a target product, and the target product is a first target product or a second target product; the sending unit is used for sending the target product information to the palletizing robot; and the placing unit is used for placing the target products to corresponding placing positions according to the target product information by the palletizing robot, wherein the placing positions corresponding to the first target product and the second target product are different.
Further, the placing unit further includes: the determining subunit is used for determining a clamping position of the target product according to the target product information by the palletizing robot; and the clamping sub-unit is used for clamping the target product based on the clamping position so as to place the target product to the corresponding placing position.
Further, the placing unit further includes: the determining subunit is used for determining whether the target product is a first target product or a second target product according to the target product information; the first clamping sub-unit is used for controlling the palletizing robot to clamp the first target product and place the first target product to a placing position corresponding to the first target product under the condition that the target product is confirmed to be the first target product according to the target product information; and the second clamping sub-unit is used for controlling the palletizing robot to clamp the second target product and place the second target product to a placing position corresponding to the second target product under the condition that the target product is determined to be the second target product according to the target product information.
Further, the apparatus further comprises: and the trigger prompt information unit is used for triggering prompt information after the code scanning gun is adopted to scan the code of the target product and acquire the information of the target product, wherein the prompt information is used for reminding the user to replace the pallet of the placement position corresponding to the first target product or the pallet of the placement position corresponding to the second target product.
Further, the apparatus further comprises: and the first control unit is used for controlling the equipment production line for producing the third target product to stop running after the target product is confirmed to be the third target product based on the target product information and the prompt information is triggered. And the second control unit is used for controlling the equipment pipeline to continue to operate after detecting that the pallet corresponding to the placing position corresponding to the first target product or the pallet corresponding to the placing position corresponding to the second target product is replaced.
Through the application, the following steps are adopted: scanning a code of a target product by using a code scanning gun to acquire target product information, wherein the target product is a first target product or a second target product; sending target product information to the palletizing robot; the stacking robot places the target products to corresponding placing positions according to the target product information, wherein the placing positions corresponding to the first target products are different from the placing positions corresponding to the second target products, so that the problem that in the related technology, when two products are produced by production equipment at the same time, the stacking robot cannot divide materials and stack the two products, so that the production efficiency is low is solved, and the effect of improving the production efficiency of the equipment is achieved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. In the drawings:
FIG. 1 is a flow chart of a palletizing method provided in accordance with an embodiment of the present application; and
fig. 2 is a schematic view of a palletizing device provided according to an embodiment of the present application.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
According to an embodiment of the application, a palletizing method is provided.
Fig. 1 is a flow chart of a palletizing method according to an embodiment of the present application. As shown in fig. 1, the method comprises the steps of:
and S101, scanning a code of the target product by adopting a code scanning gun to acquire information of the target product, wherein the target product is a first target product or a second target product.
Specifically, a yard rifle is swept in setting up on the production facility assembly line, and in the yard within range of sweeping that finishes from the production facility upflow to sweep a yard rifle in product production, sweep a yard rifle and sweep the sign indicating number to the target product, wherein, all can have a bar code or two-dimensional code on each product that finishes of production, the one side that the product was printed with the scanning sign indicating number is up to for sweep a yard rifle and sweep a yard operation to the product. The code scanning gun scans the target product to obtain the information of the target product, wherein the information of the target product comprises the size information, the stacking position information and the like of the target product.
It should be noted that there are two target products, which are divided into a first target product and a second target product. Therefore, the code scanning gun can obtain the information of two different products after scanning the code of the target product.
And S102, sending the target product information to the palletizing robot.
Specifically, a palletizing robot is arranged at a position where production equipment assembly line products are palletized, after a code scanning gun scans a target product to obtain product information of the target product, the code scanning gun sends the obtained target product information to the palletizing robot, and the robot determines palletizing operation on the target product according to the received target product information.
And S103, the palletizing robot places the target product to a corresponding placing position according to the target product information, wherein the placing position corresponding to the first target product is different from the placing position corresponding to the second target product.
Optionally, the robot palletizer placing the target product to the corresponding designated position according to the target product information includes: the palletizing robot determines a clamping position of a target product according to the information of the target product; and the target product is gripped based on the gripping position to be placed to the corresponding placing position.
Specifically, after the palletizing robot receives the information of the target product, the palletizing robot can determine a clamping position clamping mode of the target product according to the size information of the target product so as to ensure that the clamping action of the palletizing robot on the target product is effective and efficient.
It should be noted that, in this embodiment, when can satisfy production facility production two kinds of products, the pile up neatly machine people divides the material pile up neatly to two kinds of different products.
Further, the palletizing robot receives the product information of the target product and also comprises stacking position information of the target product. The palletizing robot can place the clamped target product at the corresponding stacking position according to the stacking position information of the target product.
Optionally, the robot palletizer placing the target product to the corresponding placing position according to the target product information includes: confirming whether the target product is a first target product or a second target product based on the target product information; if the target product is confirmed to be a first target product based on the target product information, controlling the palletizing robot to clamp the first target product and place the first target product to a placing position corresponding to the first target product; and if the target product is confirmed to be a second target product based on the target product information, controlling the palletizing robot to clamp the second target product and place the second target product to a placing position corresponding to the second target product.
In the above way, after the code scanning gun scans the target product to obtain the information of the target product, the code scanning gun judges the target product, judges whether the target product to be stacked currently is a first target product or a second target product, and feeds back the information of the determined type of the target product and the information of other target products to the palletizing robot. The robot clamps and carries out stacking operation on target products when the target products flow to stacking positions on an assembly line according to target product information sent by a scanning gun, wherein the target product information comprises type information of the target products, placement positions corresponding to the target products, size information of the target products and the like.
It should be noted that, because the production equipment assembly line produces two target products simultaneously, if the scanning gun determines that the target product is the first target product, the palletizing robot grips the target product to a placement position corresponding to the first target product, for example: the placing position corresponding to the first target product is the left side of the production equipment assembly line, wherein the placing pallet corresponding to the first target product is placed at the stacking position corresponding to the first target product, and the palletizing robot clamps the target product and places the pallet corresponding to the left side of the production equipment assembly line. Similarly, if the scanning gun determines that the target product is a second target product, the palletizing robot clamps the target product to a placement position corresponding to the second target product, for example: the placing position corresponding to the second target product is the right side of the production equipment assembly line, wherein the placing pallet corresponding to the second target product is placed at the stacking position corresponding to the second target product, and the palletizing robot clamps the target product and places the pallet corresponding to the right side of the production equipment assembly line.
It should be noted that the main body for determining whether the target product is the first target product or the second target product may be the scanning gun described above or may be the palletizing robot, which means that the scanning gun is only responsible for scanning the target product to obtain the target product information and sending the target product information to the palletizing robot, and the palletizing robot determines the type of the target product according to the received target product information and performs palletizing operation on the target product based on the type of the target product and other information.
Optionally, after the code scanning gun is adopted to scan the code of the target product and obtain the information of the target product, the method further includes: and if the target product is determined to be the third target product based on the target product information, triggering prompt information, wherein the prompt information is used for reminding of replacing the pallet of the placing position corresponding to the first target product or the pallet of the placing position corresponding to the second target product.
Specifically, after the code scanning gun scans the code of the target product, if the target product is judged to be the third target product, namely the target product is not the first target product or the second target product, the code scanning gun triggers the production equipment to send out prompt information, and the prompt information is used for prompting the replacement of the pallet corresponding to the placement position of the first target product or the second target product. Wherein the target product removed from the placement position is a target product that has already been produced.
As an example, the following are given: the first target product is an air conditioner shell, the second target product is a television shell, the third target product is a sound box shell, the production equipment assembly line initially produces two target products of the air conditioner shell and the television shell, and after the air conditioner shell is produced, corresponding stacking work on the air conditioner shell is also completed. And then, target products currently produced on the production equipment assembly line are replaced by a television shell and a sound shell. Under the condition, when scanning the sign indicating number rifle and scanning the information that acquires the stereo set casing, can confirm that treat one of pile up neatly target product at present and change for the stereo set casing, can trigger production facility promptly and send prompt message to the suggestion needs the pallet of placing of changing air conditioner casing for placing the pallet that the stereo set casing corresponds.
In the above manner, the palletizing robot may determine that the target product is replaced, and then trigger the production equipment to send out the prompt message.
Optionally, after determining that the target product is a third target product based on the target product information and triggering the prompt message, the method further includes: controlling the production line of equipment for producing a third target product to stop running; and after detecting that the pallet of the placing position corresponding to the first target product or the pallet of the placing position corresponding to the second target product is replaced, controlling the equipment pipeline to continue running.
Specifically, when the third target product is determined to be on the production equipment assembly line, the production equipment sends prompt information to prompt the replacement of the pallet placed on the placement position of one of the first target product and the second target product. After the prompt message is sent, the production equipment assembly line is suspended for waiting for the pallet to be replaced. After the pallet is changed, the pallet can be continuously operated by external starting production equipment, the pallet placing robot can be used for detecting the changed pallet, the pallet changing operation is completed when the pallet detecting robot detects, and the starting production equipment is continuously operated.
According to the stacking method provided by the embodiment of the application, a target product is scanned by a code scanning gun to obtain target product information, wherein the target product is a first target product or a second target product; sending target product information to the palletizing robot; the stacking robot places the target products to corresponding placing positions according to the target product information, wherein the placing positions corresponding to the first target products are different from the placing positions corresponding to the second target products, so that the problem that in the related technology, when two products are produced by production equipment at the same time, the stacking robot cannot divide materials and stack the two products, so that the production efficiency is low is solved, and the effect of improving the production efficiency of the equipment is achieved.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
The embodiment of the application further provides a stacking device, and it needs to be explained that the stacking device provided by the embodiment of the application can be used for executing the stacking method provided by the embodiment of the application. A palletizing apparatus provided in an embodiment of the present application is described below.
Fig. 2 is a schematic view of a palletising device according to an embodiment of the present application. As shown in fig. 2, the apparatus includes: the acquiring unit 201 is configured to acquire target product information when a code scanning gun is used to scan a code of a target product, where the target product is a first target product or a second target product; a sending unit 201, configured to send target product information to the palletizing robot; the placing unit 203 is used for placing the target product to a corresponding placing position according to the target product information by the palletizing robot, wherein the placing position corresponding to the first target product is different from the placing position corresponding to the second target product.
According to the stacking device provided by the embodiment of the application, through the obtaining unit 201, when a code scanning gun is used for scanning a code of a target product, information of the target product is obtained, wherein the target product is a first target product or a second target product; the sending unit 202 sends the target product information to the palletizing robot; the placing unit 203 is used for placing the target products to corresponding placing positions according to the target product information, wherein the placing positions corresponding to the first target product are different from the placing positions corresponding to the second target product, so that the problem that in the related art, when two products are produced by production equipment at the same time, the stacking robot cannot divide materials and stack the two products, so that the production efficiency is low is solved, and the effect of improving the production efficiency of the equipment is achieved.
Optionally, the placing unit 203 further comprises: the determining subunit is used for determining a clamping position of the target product according to the target product information by the palletizing robot; and the clamping sub-unit is used for clamping the target product based on the clamping position so as to place the target product to the corresponding placing position.
Optionally, the placing unit 203 further comprises: the determining subunit is used for determining whether the target product is a first target product or a second target product according to the target product information; the first clamping sub-unit is used for controlling the palletizing robot to clamp the first target product and place the first target product to a placing position corresponding to the first target product under the condition that the target product is confirmed to be the first target product according to the target product information; and the second clamping sub-unit is used for controlling the palletizing robot to clamp the second target product and place the second target product to a placing position corresponding to the second target product under the condition that the target product is determined to be the second target product according to the target product information.
Optionally, the apparatus further comprises: and the trigger prompt information unit is used for triggering prompt information after the code scanning gun is adopted to scan the code of the target product and acquire the information of the target product, wherein the prompt information is used for reminding the user to replace the pallet of the placement position corresponding to the first target product or the pallet of the placement position corresponding to the second target product.
Optionally, the apparatus further comprises: and the first control unit is used for controlling the equipment production line for producing the third target product to stop running after the target product is confirmed to be the third target product based on the target product information and the prompt information is triggered. And the second control unit is used for controlling the equipment pipeline to continue to operate after detecting that the pallet corresponding to the placing position corresponding to the first target product or the pallet corresponding to the placing position corresponding to the second target product is replaced.
The acquisition unit 201, the sending unit 202, the placing unit 203 and the like are stored in the memory as program units, and the program units stored in the memory are executed by the processor to realize corresponding functions.
The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. The inner core can be set to be one or more than one, and the problem that in the related art, when two products are produced by production equipment at the same time, the stacking robot cannot divide the materials and stack the two products, so that the production efficiency is low is solved by adjusting the inner core parameters.
The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
An embodiment of the present invention provides a storage medium having a program stored thereon, which when executed by a processor implements a palletizing method.
The embodiment of the invention provides a processor, which is used for running a program, wherein a stacking method is executed when the program runs.
The embodiment of the invention provides equipment, which comprises a processor, a memory and a program which is stored on the memory and can run on the processor, wherein the processor executes the program and realizes the following steps: scanning a code of a target product by using a code scanning gun to acquire target product information, wherein the target product is a first target product or a second target product; sending target product information to the palletizing robot; the palletizing robot places the target products to corresponding placing positions according to the target product information, wherein the placing positions corresponding to the first target products are different from the placing positions corresponding to the second target products.
Optionally, the robot palletizer placing the target product to the corresponding designated position according to the target product information includes: the palletizing robot determines a clamping position of a target product according to the information of the target product; and the target product is gripped based on the gripping position to be placed to the corresponding placing position.
Optionally, the robot palletizer placing the target product to the corresponding placing position according to the target product information includes: confirming whether the target product is a first target product or a second target product based on the target product information; if the target product is confirmed to be a first target product based on the target product information, controlling the palletizing robot to clamp the first target product and place the first target product to a placing position corresponding to the first target product; and if the target product is confirmed to be a second target product based on the target product information, controlling the palletizing robot to clamp the second target product and place the second target product to a placing position corresponding to the second target product.
Optionally, after the code scanning gun is adopted to scan the code of the target product and obtain the information of the target product, the method further includes: and if the target product is determined to be the third target product based on the target product information, triggering prompt information, wherein the prompt information is used for reminding of replacing the pallet of the placing position corresponding to the first target product or the pallet of the placing position corresponding to the second target product.
Optionally, after determining that the target product is a third target product based on the target product information and triggering the prompt message, the method further includes: controlling the production line of equipment for producing a third target product to stop running; and after detecting that the pallet of the placing position corresponding to the first target product or the pallet of the placing position corresponding to the second target product is replaced, controlling the equipment pipeline to continue running. The device herein may be a server, a PC, a PAD, a mobile phone, etc.
The present application further provides a computer program product adapted to perform a program for initializing the following method steps when executed on a data processing device: scanning a code of a target product by using a code scanning gun to acquire target product information, wherein the target product is a first target product or a second target product; sending target product information to the palletizing robot; the palletizing robot places the target products to corresponding placing positions according to the target product information, wherein the placing positions corresponding to the first target products are different from the placing positions corresponding to the second target products.
Optionally, the robot palletizer placing the target product to the corresponding designated position according to the target product information includes: the palletizing robot determines a clamping position of a target product according to the information of the target product; and the target product is gripped based on the gripping position to be placed to the corresponding placing position.
Optionally, the robot palletizer placing the target product to the corresponding placing position according to the target product information includes: confirming whether the target product is a first target product or a second target product based on the target product information; if the target product is confirmed to be a first target product based on the target product information, controlling the palletizing robot to clamp the first target product and place the first target product to a placing position corresponding to the first target product; and if the target product is confirmed to be a second target product based on the target product information, controlling the palletizing robot to clamp the second target product and place the second target product to a placing position corresponding to the second target product.
Optionally, after the code scanning gun is adopted to scan the code of the target product and obtain the information of the target product, the method further includes: and if the target product is determined to be the third target product based on the target product information, triggering prompt information, wherein the prompt information is used for reminding of replacing the pallet of the placing position corresponding to the first target product or the pallet of the placing position corresponding to the second target product.
Optionally, after determining that the target product is a third target product based on the target product information and triggering the prompt message, the method further includes: controlling the production line of equipment for producing a third target product to stop running; and after detecting that the pallet of the placing position corresponding to the first target product or the pallet of the placing position corresponding to the second target product is replaced, controlling the equipment pipeline to continue running.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (6)
1. A palletizing method, characterized in that it comprises:
scanning a code of a target product by using a code scanning gun to acquire target product information, wherein the target product is a first target product or a second target product;
sending the target product information to a palletizing robot;
the palletizing robot places the target product to a corresponding placing position according to the target product information, wherein the placing position corresponding to the first target product is different from the placing position corresponding to the second target product;
the palletizing robot places the target product to the corresponding designated position according to the target product information includes: the palletizing robot determines a clamping position of the target product according to the target product information; clamping the target product based on the clamping position to place the target product at a corresponding placing position;
wherein the target product information comprises the following contents: the type information of the target product, the corresponding placement position of the target product and the size information of the target product;
after the code scanning gun is adopted to scan the code of the target product and the information of the target product is acquired, the method further comprises the following steps: if the target product is determined to be a third target product based on the target product information, triggering prompt information, wherein the prompt information is used for prompting the replacement of the pallet of the placement position corresponding to the first target product or the pallet of the placement position corresponding to the second target product;
after confirming that the target product is the third target product based on the target product information and triggering a prompt message, the method further comprises: controlling the production line of the equipment for producing the third target product to stop running; and after detecting that the pallet of the placing position corresponding to the first target product or the pallet of the placing position corresponding to the second target product is replaced, controlling the equipment assembly line to continue running.
2. The method of claim 1, wherein the palletizing robot placing the target product to a corresponding placement location according to the target product information comprises:
confirming whether the target product is the first target product or the second target product based on the target product information;
if the target product is confirmed to be the first target product based on the target product information, controlling the palletizing robot to clamp the first target product and place the first target product to a placing position corresponding to the first target product;
and if the target product is confirmed to be the second target product based on the target product information, controlling the palletizing robot to clamp the second target product and place the second target product to a placing position corresponding to the second target product.
3. A palletizing device, characterized in that it comprises:
the code scanning device comprises an acquisition unit, a code scanning gun and a control unit, wherein the acquisition unit is used for acquiring target product information when a code scanning gun is adopted to scan a target product, and the target product is a first target product or a second target product;
the sending unit is used for sending the target product information to the palletizing robot;
the placing unit is used for placing the target product to a corresponding placing position according to the target product information by the palletizing robot, wherein the placing position corresponding to the first target product is different from the placing position corresponding to the second target product;
the placing unit further includes: the determining subunit is used for determining a clamping position of the target product according to the target product information by the palletizing robot; a gripping sub-unit configured to grip the target product based on the gripping position to place the target product at a corresponding placement position;
wherein the target product information comprises the following contents: the type information of the target product, the corresponding placement position of the target product and the size information of the target product;
the device further comprises: the trigger prompt information unit is used for triggering prompt information after the target product information is acquired by scanning the code of the target product by the code scanning gun, wherein the prompt information is used for reminding the replacement of the pallet at the placement position corresponding to the first target product or the pallet at the placement position corresponding to the second target product;
the device further comprises: the first control unit is used for controlling the equipment production line for producing the third target product to stop running after the target product is confirmed to be the third target product based on the target product information and the prompt information is triggered; and the second control unit is used for controlling the equipment pipeline to continue to operate after detecting that the pallet corresponding to the placing position corresponding to the first target product or the pallet corresponding to the placing position corresponding to the second target product is replaced.
4. The apparatus of claim 3, wherein the placing unit further comprises:
a determining subunit, configured to determine, according to the target product information, whether the target product is the first target product or the second target product;
the first clamping sub-unit is used for controlling the palletizing robot to clamp the first target product and place the first target product to a placing position corresponding to the first target product under the condition that the target product is confirmed to be the first target product according to the target product information;
and the second clamping sub-unit is used for controlling the palletizing robot to clamp the second target product and place the second target product to a placing position corresponding to the second target product under the condition that the target product is determined to be the second target product according to the target product information.
5. A storage medium, comprising a stored program, wherein the program performs a palletization method as claimed in any one of claims 1 to 2.
6. A processor for running a program, wherein the program when running performs a palletizing method as claimed in any one of claims 1 to 2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811270189.0A CN109368285B (en) | 2018-10-29 | 2018-10-29 | Stacking method and device, storage medium and processor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811270189.0A CN109368285B (en) | 2018-10-29 | 2018-10-29 | Stacking method and device, storage medium and processor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109368285A CN109368285A (en) | 2019-02-22 |
| CN109368285B true CN109368285B (en) | 2021-02-26 |
Family
ID=65390019
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811270189.0A Active CN109368285B (en) | 2018-10-29 | 2018-10-29 | Stacking method and device, storage medium and processor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109368285B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110077866B (en) * | 2019-04-30 | 2021-07-06 | 广东拓斯达科技股份有限公司 | Manipulator control method, control device, stacking device and readable storage medium |
| CN110977181B (en) * | 2019-11-29 | 2021-09-07 | 深圳泰德半导体装备有限公司 | Control method of marking device, marking device and storage medium |
| CN111232272B (en) * | 2020-01-19 | 2021-09-24 | 珠海格力智能装备有限公司 | Material stacking method and device, storage medium and processor |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104261032A (en) * | 2014-08-04 | 2015-01-07 | 珠海格力电器股份有限公司 | Full-automatic scanning stacking device and method thereof |
| CN204980393U (en) * | 2015-07-22 | 2016-01-20 | 西安银马实业发展有限公司 | Categorised and pile up neatly system of quality control of same category goods |
| CN206367870U (en) * | 2017-01-05 | 2017-08-01 | 山东科技大学 | A kind of tire classification palletizing apparatus |
| CN207157597U (en) * | 2017-09-18 | 2018-03-30 | 青岛普力捷自动化科技有限公司 | It is a kind of can simultaneously plural mode production automatic packaging line |
| JP2018055342A (en) * | 2016-09-28 | 2018-04-05 | パナソニックＩｐマネジメント株式会社 | Management system and management method |
| CN108584451A (en) * | 2018-04-28 | 2018-09-28 | 杭州亚恩自动化科技有限公司 | Multistation stacking machine |
| CN208007464U (en) * | 2018-03-23 | 2018-10-26 | 福建明鑫机器人科技有限公司 | A kind of packing case labels and is conducive to the production line that robot carries out stacking |
-
2018
- 2018-10-29 CN CN201811270189.0A patent/CN109368285B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104261032A (en) * | 2014-08-04 | 2015-01-07 | 珠海格力电器股份有限公司 | Full-automatic scanning stacking device and method thereof |
| CN204980393U (en) * | 2015-07-22 | 2016-01-20 | 西安银马实业发展有限公司 | Categorised and pile up neatly system of quality control of same category goods |
| JP2018055342A (en) * | 2016-09-28 | 2018-04-05 | パナソニックＩｐマネジメント株式会社 | Management system and management method |
| CN206367870U (en) * | 2017-01-05 | 2017-08-01 | 山东科技大学 | A kind of tire classification palletizing apparatus |
| CN207157597U (en) * | 2017-09-18 | 2018-03-30 | 青岛普力捷自动化科技有限公司 | It is a kind of can simultaneously plural mode production automatic packaging line |
| CN208007464U (en) * | 2018-03-23 | 2018-10-26 | 福建明鑫机器人科技有限公司 | A kind of packing case labels and is conducive to the production line that robot carries out stacking |
| CN108584451A (en) * | 2018-04-28 | 2018-09-28 | 杭州亚恩自动化科技有限公司 | Multistation stacking machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109368285A (en) | 2019-02-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109368285B (en) | Stacking method and device, storage medium and processor | |
| CN109968352B (en) | Robot control method, robot and device with storage function | |
| CN110768912A (en) | API gateway current limiting method and device | |
| CN107959695B (en) | Data transmission method and device | |
| CN111571600B (en) | Control method and device of palletizing robot and palletizing robot | |
| CN111086889A (en) | Control method and device of palletizing robot and palletizing robot | |
| CN110099108B (en) | Block chain event duplicate removal method and device, computer equipment and storage medium | |
| CN104392543A (en) | Note processing control method, device and system | |
| WO2015184094A1 (en) | Data uniqueness control and information storage | |
| CN112114976B (en) | Service processing method, device, equipment and storage medium | |
| CN110077866B (en) | Manipulator control method, control device, stacking device and readable storage medium | |
| CN105636012A (en) | Writing card method, smart card, and writing card platform and system | |
| CN114168712A (en) | Method and device for pushing manufacturing industry processing file, storage medium and processor | |
| CN111232272B (en) | Material stacking method and device, storage medium and processor | |
| CN104407848A (en) | Data processing method and device | |
| CN110968879A (en) | Data processing method and device based on block chain | |
| CN109264112B (en) | Packing method and device for electric appliance box | |
| CN110753070A (en) | Data communication method, client, server and data communication system | |
| CN110436182B (en) | Method and device for controlling blanking of blanking equipment, storage medium and processor | |
| CN109867079B (en) | Control method and control device for three-dimensional library, storage medium and processor | |
| CN109954804B (en) | Control method and device of pipe expander, storage medium and processor | |
| CN112583862A (en) | Data concurrent processing method and device, storage medium and equipment | |
| CN104572980B (en) | Data processing method and device | |
| CN110659111A (en) | Data processing method and system | |
| CN105868011A (en) | Method and device for improving running efficiency of software system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |