CN113023375B - Plate stacking method and terminal - Google Patents
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- CN113023375B CN113023375B CN202110357626.8A CN202110357626A CN113023375B CN 113023375 B CN113023375 B CN 113023375B CN 202110357626 A CN202110357626 A CN 202110357626A CN 113023375 B CN113023375 B CN 113023375B
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- 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
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/03—Stacking of articles by adding to the top of the stack from above
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- 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
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- 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
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- 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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0214—Articles of special size, shape or weigh
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Abstract
本发明涉及板件码垛技术领域，提供了一种板件码垛方法及终端。所述板件码垛方法包括：从板件队列上获取待码垛板件，识别待码垛板件的板件信息，根据板件信息判断待码垛板件是否符合预置的码垛规则；若是，按照码垛规则将待码垛板件码垛在目标板件垛上，并生成相应的虚拟图像及获取信息，将数据信息在显示界面的虚拟图像上进行标记显示；否则根据处理时间节点确定待码垛板件在缓存区中堆放的目标位置及拼接方式，将待码垛板件按照目标位置及拼接方式在缓存区中进行堆放。本发明通过将符合码垛规则的板件码垛在目标板件垛或按要求先将板件堆放在缓存区中，以减少后续搬运工作量，提高了工作效率，也使板件合理流畅地进行。
The present invention relates to the technical field of plate stacking, and provides a plate stacking method and a terminal. The panel stacking method includes: acquiring the panels to be stacked from the panel queue, identifying the panel information of the panels to be stacked, and judging whether the panels to be stacked conform to preset stacking rules according to the panel information ; If so, stack the pallets to be palletized on the target pallets according to the palletizing rules, generate corresponding virtual images and obtain information, and mark and display the data information on the virtual images of the display interface; otherwise, according to the processing time The node determines the target position and splicing method of the plates to be stacked in the buffer area, and stacks the plates to be stacked in the buffer area according to the target position and splicing method. The invention reduces the subsequent handling workload, improves the work efficiency, and makes the plates reasonably and fluently by stacking the plates conforming to the stacking rules on the target plate stack or stacking the plates in the buffer area according to the requirements. conduct.
Description
Technical Field
The invention relates to the technical field of plate stacking, in particular to a plate stacking method and a terminal.
Background
In the customized home production industry, the plates required by orders are circulated in the production and processing process in a sheet flow mode. Although the mode that the plate member is circulated one by one among the processes is mature, the problem of unbalanced beat between the upper and lower processes occurs.
Disclosure of Invention
The invention provides a plate stacking method and a terminal, which are used for automatically stacking plates according to a preset stacking rule or stacking the plates in a cache area according to requirements when plates are circulated between an upper process and a lower process, so that the plates are reasonably and smoothly stacked, and the problem of unbalanced beat between the upper process and the lower process is avoided.
In order to solve the problems, the invention adopts the following technical scheme:
the invention provides a plate stacking method, which is applied to a main control machine of a plate stacking system, wherein the plate stacking system also comprises a feeding device and a discharging device, the main control machine is respectively connected with the feeding device and the discharging device, and the plate stacking method comprises the following steps:
acquiring plates to be stacked from a plate queue of the feeding device, identifying plate information of the plates to be stacked, and judging whether the plates to be stacked accord with a preset stacking rule or not according to the plate information;
when the plate to be stacked is determined to accord with a preset stacking rule, inquiring a target plate stack corresponding to the plate to be stacked, and stacking the plate to be stacked on the target plate stack according to the stacking rule;
when all plates of the target plate stack are determined to be stacked, generating a virtual image of the target plate stack after stacking is completed, acquiring data information of the completed target plate stack, and displaying the data information of the target plate stack on the virtual image of a display interface in a marking manner;
when the plate to be stacked is determined not to accord with a preset stacking rule, acquiring a current processing process of the blanking device and a target processing process of the plate to be stacked in the blanking device, determining the number of processes at intervals according to the current processing process of the blanking device and the target processing process of the plate to be stacked, inquiring the processing time of each process, determining a processing time node of the plate to be stacked in the blanking device according to the number of processes and the processing time, determining a target position and a splicing mode of the plate to be stacked in a cache area according to the processing time node, and stacking the plate to be stacked in the cache area according to the target position and the splicing mode; the buffer area is located between the feeding device and the discharging device.
Preferably, the step of stacking the plates to be stacked on the target plate stack according to the stacking rule includes:
judging whether the plate to be stacked is a first plate of a first layer of the target plate stack;
if not, acquiring the next plate to be stacked, and returning to the step of judging whether the plate to be stacked is the first plate of the first layer of the target plate stack;
if so, taking the plate to be stacked as a first plate, and extracting size information and shape information of the first plate from the plate information;
placing the first plate on a first clamping plate of the target plate stack according to the stacking rule according to the size information and the shape information of the first plate;
on the basis of the first plate, calculating the possibility that the remaining plates to be stacked in the plate queue and the first plate are spliced into the same layer through a preset mathematical model, sequencing according to the possibility, selecting the plate with the possibility arranged in the first layer from the remaining plates to be stacked as a second plate according to the sequencing result, and splicing the second plate and the first plate into the same layer of the first clamping plate;
selecting a plate with the possibility of being arranged on the second from the rest plates as a third plate, splicing the third plate and the first plate on the same layer, and circularly reciprocating until the palletizing operation of the first layer is finished;
and when the palletizing operation of the first layer is determined to be finished, performing the palletizing operation of the rest layers until the palletizing operation of all the layers is finished.
Further, after the step of displaying the data information of the target plate stack on the virtual image of the display interface in a marking manner, the method further comprises the following steps:
analyzing whether the stacking position of each plate is reasonable or not according to the virtual image of the display interface;
if the stacking position of each plate is unreasonable, the stacking position of each plate is adjusted, and the stacking rule is updated based on the adjusted stacking position of each plate.
Further, after the step of displaying the data information of the target plate stack on the virtual image of the display interface in a marking manner, the method further comprises the following steps:
acquiring a plate selected by the user from the target plate stack to obtain a first target plate;
determining upper and lower layer plates adjacent to the first target plate to obtain a second target plate;
generating a target virtual image according to the first target plate and the second target plate;
inquiring data information of the first target plate and the second target plate to obtain target data information;
marking and displaying the target data information on the target virtual image of a display interface; wherein the target virtual image is positioned at the right side of the virtual image and is separately displayed in an enlarged manner.
Further, before the step of determining that the plate to be palletized conforms to the preset palletizing rule, the method further includes:
responding to a configuration instruction of an initial stacking rule of a user, extracting stacking conditions from the configuration instruction of the initial stacking rule, and acquiring configuration parameters of various combinations of the user; the configuration parameters comprise parameter information configured on the feeding device and the discharging device;
based on the stacking conditions, calculating the times of carrying required when the plates are stacked under the configuration parameters of different combinations;
and acquiring a group of configuration parameters with the least carrying times as target configuration parameters, and adding the target configuration parameters into the initial stacking rule to obtain the stacking rule preset by the user.
Preferably, the palletizing conditions comprise at least one of:
placing plates with the same size on the same clamping plate for stacking or placing plates with different sizes on the same clamping plate for mixed stacking;
after stacking, the maximum length, width, height, layer number or weight of each stack does not exceed a preset range;
the width difference ratio and the length difference ratio of the two adjacent layers are within a preset ratio.
Further, the plate stacking system further includes a monitoring device for monitoring the processing condition of the blanking device in real time, and after the step of stacking the plates to be stacked in the buffer area according to the target position and the splicing mode, the system further includes:
controlling the monitoring equipment to acquire a plurality of continuous processing images of the blanking device when the blanking device processes the plate in real time;
judging whether the blanking device has abnormal processing beat conditions according to the continuous multiple processing images; the condition of abnormal processing rhythm comprises different time consumed by the blanking device when the blanking device processes the same type of plate;
when the situation that the processing tempo is abnormal is determined to exist in the blanking device, the feeding device is controlled to reduce the number of plates to be stacked conveyed to the blanking device, or the reason of the processing tempo abnormality is checked, and the reason of the processing tempo abnormality is displayed on an interface for a maintenance worker to refer to;
and when the fact that the situation that the processing rhythm is abnormal does not exist in the blanking device is determined, the blanking device is controlled to sequentially grab the plates to be stacked from the cache region, and the grabbed plates to be stacked are processed.
Further, after the step of displaying the data information of the target plate stack on the virtual image of the display interface in a marking manner, the method further comprises the following steps:
judging whether all plates of the same order are in the target plate stack or not, and if not, acquiring all plates of the same order in the target plate stack;
if so, combining all the plates to generate a plurality of plate blocks; wherein the panel pieces are generated to be equal in length or width;
the plate blocks with the same area are sorted from large to small according to the length, and the plate blocks with the same length are sorted from large to small according to the width;
and selecting the largest plate block from the plurality of plate blocks according to the sequencing result to be used as the plate to be processed by the blanking device.
Further, after the step of displaying the data information of the target plate stack on the virtual image of the display interface in a marking manner, the method further comprises the following steps:
calculating the single-layer utilization rate between every two adjacent plates to be stacked according to the data information of the target plate stack;
judging whether the single-layer utilization rate is greater than or equal to a set utilization rate or not;
when the single-layer utilization rate is determined to be greater than or equal to the set utilization rate, the stacking rule meets the requirement;
and when the single-layer utilization rate is determined to be smaller than the set utilization rate, adjusting the stacking rule.
The invention provides a plate stacking device, which comprises:
the acquisition module is used for acquiring plates to be stacked from a plate queue of the feeding device, identifying plate information of the plates to be stacked, and judging whether the plates to be stacked accord with a preset stacking rule or not according to the plate information;
the query module is used for querying a target plate stack corresponding to the plates to be stacked when the plates to be stacked are determined to meet a preset stacking rule, and stacking the plates to be stacked on the target plate stack according to the stacking rule;
the display module is used for generating a virtual image of the target plate stack which is subjected to stacking when all plates of the target plate stack are determined to be stacked, acquiring data information of the target plate stack which is subjected to stacking, and displaying the data information of the target plate stack on the virtual image of a display interface in a marking manner;
the determining module is used for acquiring the current processing process of the blanking device and the target processing process of the plate to be stacked in the blanking device when the plate to be stacked is determined not to accord with a preset stacking rule, determining the number of the processes at intervals according to the current processing process of the blanking device and the target processing process of the plate to be stacked, inquiring the processing time of each process, determining the processing time node of the plate to be stacked in the blanking device according to the number of the processes and the processing time, determining the target position and the splicing mode of the plate to be stacked in a cache area according to the processing time node, and stacking the plate to be stacked in the cache area according to the target position and the splicing mode; the buffer area is located between the feeding device and the discharging device.
The invention provides a terminal comprising a memory and a processor, the memory having stored therein computer readable instructions which, when executed by the processor, cause the processor to carry out the steps of a method of palletizing panels as claimed in any one of the preceding claims.
The present invention provides a storage medium having stored thereon a computer program which, when executed by a processor, implements a method of palletizing panels as set forth in any one of the preceding claims.
Compared with the prior art, the technical scheme of the invention at least has the following advantages:
according to the plate stacking method and the terminal, plates to be stacked are obtained from a plate queue of a feeding device, plate information of the plates to be stacked is identified, and whether the plates to be stacked accord with a preset stacking rule or not is judged according to the plate information; when the plate to be stacked is determined to accord with the preset stacking rule, inquiring a target plate stack corresponding to the plate to be stacked, stacking the plate to be stacked on the target plate stack according to the stacking rule, when it is determined that all the plates of the target stack have been palletized, generating a virtual image of the palletized target stack, and acquiring the data information of the completed target plate stack, performing mark display on the data information of the target plate stack on the virtual image of the display interface, thereby stacking the plates according with the stacking rule on the target plate stack according to the preset stacking rule, reducing the subsequent carrying workload, improving the working efficiency, leading the plates to be reasonably and smoothly carried out, avoiding the problem of unbalanced rhythm between the upper working procedure and the lower working procedure, and in addition, the data information of the target plate stack is marked and displayed on the virtual image of the display interface, so that a user can conveniently and visually observe the stacking condition of the target plate stack which is stacked. And when the plate to be stacked is determined not to accord with the preset stacking rule, acquiring the current processing process of the blanking device and the target processing process of the plate to be stacked in the blanking device, determining the number of the processes spaced between the current processing process of the blanking device and the target processing process of the plate to be stacked, inquiring the processing time of each process, determining the processing time node of the plate to be stacked in the blanking device according to the number of the processes and the processing time, determining the target position and the splicing mode of the plate to be stacked in the cache area according to the processing time node, and stacking the plate to be stacked in the cache area according to the target position and the splicing mode, so that the plate is stacked in the cache area according to requirements, the plate is reasonably and smoothly stacked, and the problem of unbalanced beat between the upper process and the lower process is avoided.
Drawings
Fig. 1 is a flow chart of an embodiment of a plate stacking method according to the invention;
fig. 2 is a block diagram of a plate stacking device according to an embodiment of the present invention;
fig. 3 is a block diagram of the internal structure of a terminal in one embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention.
In some of the flows described in the present specification and claims and in the above-described figures, a number of operations are included that occur in a particular order, but it should be clearly understood that these operations may be performed out of order or in parallel as they occur herein, with the order of the operations being numbered, e.g., S11, S12, etc., merely to distinguish between various operations, and the order of the operations by themselves is not meant to imply any order of execution. Additionally, the flows may include more or fewer operations, and the operations may be performed sequentially or in parallel. It should be noted that, the descriptions of "first", "second", etc. in this document are used for distinguishing different messages, devices, modules, etc., and do not represent a sequential order, nor limit the types of "first" and "second" to be different.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. As used herein, the term "and/or" includes all or any element and all combinations of one or more of the associated listed items.
It will be understood by those of ordinary skill in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. 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 invention.
Referring to fig. 1, the plate stacking method provided by the present invention is applied to a main control machine of a plate stacking system, and the plate stacking system further includes a feeding device and a discharging device, and the main control machine is respectively connected to the feeding device and the discharging device, so as to solve the problem that a beat of a plate is unbalanced when the plate is moved between an upper process and a lower process. In one embodiment, the plate stacking method comprises the following steps:
s11, obtaining plates to be stacked from a plate queue of the feeding device, identifying plate information of the plates to be stacked, and judging whether the plates to be stacked accord with a preset stacking rule or not according to the plate information;
s12, when the plate to be stacked is determined to accord with a preset stacking rule, inquiring a target plate stack corresponding to the plate to be stacked, and stacking the plate to be stacked on the target plate stack according to the stacking rule;
s13, when it is determined that all plates of the target plate stack are completely stacked, generating a virtual image of the target plate stack after stacking is completed, acquiring data information of the target plate stack after stacking is completed, and displaying the data information of the target plate stack on the virtual image of a display interface in a marking mode;
s14, when the plate to be stacked is determined not to accord with a preset stacking rule, acquiring a current processing process of the blanking device and a target processing process of the plate to be stacked in the blanking device, determining the number of processes at intervals according to the current processing process of the blanking device and the target processing process of the plate to be stacked, inquiring the processing time of each process, determining a processing time node of the plate to be stacked in the blanking device according to the number of processes and the processing time, determining a target position and a splicing mode of the plate to be stacked in a cache area according to the processing time node, and stacking the plate to be stacked in the cache area according to the target position and the splicing mode; the buffer area is located between the feeding device and the discharging device.
According to the embodiment, the plate information of the plates to be stacked, such as the size, the shape and the model information, can be acquired through the external interface (such as an Exce l file and cutting system data), and then the plates to be stacked according with the stacking rule are stacked according to the pre-configured stacking rule, so that the plates are reasonably and smoothly stacked, and the problem of unbalanced rhythm between an upper process and a lower process is avoided.
The method comprises the steps of obtaining plates to be stacked one by one from a plate queue of a feeding device, scanning two-dimensional codes of the plates to be stacked through a scanner to obtain characteristic information of the plates to be stacked, inquiring the plate information of the plates to be stacked according to the characteristic information, judging whether the plates to be stacked accord with preset stacking rules or not according to the plate information, inquiring a target plate stack corresponding to the plates to be stacked when the plates to be stacked accord with the preset stacking rules, and stacking the plates to be stacked on the target plate stack according to the stacking rules until the target plate stack is stacked. For example, the stacking rule specifies the number, height, length and width of the stacks of plates, and the number, size, shape and other information of the plates in each stack of plates, when the plates to be stacked are plates with the size required by the target stack of plates, the plates to be stacked are indicated to accord with the preset stacking rule, and then the plates to be stacked are stacked on the layer of the target stack of plates according to the specific layer required to be placed by the plate stack to be stacked specified by the stacking rule.
When it is determined that all the plates of the target plate stack are stacked, generating a corresponding virtual image according to appearance information such as the shape and the size of the stacked target plate stack, acquiring data information of the stacked target plate stack, and displaying the data information of the target plate stack on the virtual image of a display interface in a marking manner, for example, displaying data information such as the length, the width and the like of the plates of each layer in the virtual image, so that a user can intuitively acquire the stacking condition of the plates of the target stack.
And when the plate to be stacked is determined not to accord with the preset stacking rule, placing the plate to be stacked in the cache region. Specifically, the current processing process of the blanking device and the target processing process of the plate to be stacked in the blanking device can be firstly obtained, the number of the processes at intervals between the current processing process of the blanking device and the target processing process of the plate to be stacked is determined according to the current processing process of the blanking device and the target processing process of the plate to be stacked, the processing time of each process is inquired, how long the plate to be stacked needs to be specifically processed is known according to the number of the processes and the processing time, the processing time node of the plate to be stacked in the blanking device is determined, the target position and the splicing mode of the plate to be stacked in the cache area are determined according to the processing time node, and the plate to be stacked is stacked in the cache area according to the target position and the splicing mode, for example, when the plate to be stacked is longer than the processing time node, the plate to be stacked is stacked in the cache area at a position close to the bottom layer of the plate stack; when the distance between the plate to be stacked and the processing time node is short, the plate to be stacked is stacked at a position close to the top layer of the plate stack in the buffer area, so that when the processing time node is reached, the plate to be stacked can be rapidly grabbed from the buffer area by the blanking device to be processed.
The plate stacking method provided by the invention comprises the steps of acquiring plates to be stacked from a plate queue of a feeding device, identifying information of the plates to be stacked, and judging whether the plates to be stacked accord with a preset stacking rule or not according to the information of the plates; when the plate to be stacked is determined to accord with the preset stacking rule, inquiring a target plate stack corresponding to the plate to be stacked, stacking the plate to be stacked on the target plate stack according to the stacking rule, when it is determined that all the plates of the target stack have been palletized, generating a virtual image of the palletized target stack, and acquiring the data information of the completed target plate stack, performing mark display on the data information of the target plate stack on the virtual image of the display interface, thereby stacking the plates according with the stacking rule on the target plate stack according to the preset stacking rule, reducing the subsequent carrying workload, improving the working efficiency, leading the plates to be reasonably and smoothly carried out, avoiding the problem of unbalanced rhythm between the upper working procedure and the lower working procedure, and in addition, the data information of the target plate stack is marked and displayed on the virtual image of the display interface, so that a user can conveniently and visually observe the stacking condition of the target plate stack which is stacked. And when the plate to be stacked is determined not to accord with the preset stacking rule, acquiring the current processing process of the blanking device and the target processing process of the plate to be stacked in the blanking device, determining the number of the processes spaced between the current processing process of the blanking device and the target processing process of the plate to be stacked, inquiring the processing time of each process, determining the processing time node of the plate to be stacked in the blanking device according to the number of the processes and the processing time, determining the target position and the splicing mode of the plate to be stacked in the cache area according to the processing time node, and stacking the plate to be stacked in the cache area according to the target position and the splicing mode, so that the plate is stacked in the cache area according to requirements, the plate is reasonably and smoothly stacked, and the problem of unbalanced beat between the upper process and the lower process is avoided.
In an embodiment, in step S12, the step of stacking the plates to be stacked on the target plate stack according to the stacking rule may specifically include:
s121, judging whether the plate to be stacked is the first plate of the first layer of the target plate stack;
s122, if not, acquiring a next plate to be stacked, and returning to the step of judging whether the plate to be stacked is the first plate of the first layer of the target plate stack;
s123, if yes, taking the plate to be stacked as a first plate, and extracting size information and shape information of the first plate from the plate information;
s124, placing the first plate on a first clamping plate of the target plate stack according to the stacking rule according to the size information and the shape information of the first plate;
s125, on the basis of the first plate, calculating the possibility that the remaining plates to be stacked in the plate array are spliced into the same layer with the first plate through a preset mathematical model, sequencing according to the possibility, selecting the plate with the possibility arranged in the first layer from the remaining plates to be stacked as a second plate according to the sequencing result, and splicing the second plate and the first plate into the same layer of the first clamping plate;
s126, selecting a plate which is possibly arranged on the second from the rest plates as a third plate, splicing the third plate and the first plate on the same layer, and circularly reciprocating until the stacking operation of the first layer is finished;
and S127, after the palletizing operation of the first layer is determined to be finished, performing the palletizing operation of the remaining layers until the palletizing operation of all the layers is finished.
According to the embodiment, different combination operations can be performed according to preset stacking rules and sizes of relevant plates in stacking data generated by a stacking algorithm to obtain an optimal stacking scheme, wherein mathematical models such as a random model and a geometric model can be combined for calculation. In the calculation process, all the possibilities that the plate can be spliced with the current plate into one layer are calculated through the mathematical model according to the size and the stacking rule of the first plate, then the plate is screened in all the possibilities calculated in the first step according to the next plate, the operation is repeated in a circulating mode until the plate of one whole layer is obtained, the stacking operation of one layer is finished, after the operation of one whole layer is finished, the plate stacking of the next layer is carried out according to the operation method until the stacking operation of all the layers is finished, so that the space of each layer is fully utilized, the optimal stacking mode is ensured, the cost is saved, the required data support can be provided for pre-sorting of an automatic production line, and the stacking of all the plates can be reasonably finished.
In addition, when it is determined that the plate to be palletized is not the first plate of the first layer of the target plate stack, acquiring the next plate to be palletized, judging whether the next plate to be palletized is the first plate of the first layer of the target plate stack, and repeating the steps until the first plate of the first layer of the target plate stack is obtained, and executing the step S123 and the subsequent steps.
In an embodiment, in step S13, after the step of displaying the data information of the target plate stack on the virtual image of the display interface by a mark, the method further includes:
analyzing whether the stacking position of each plate is reasonable or not according to the virtual image of the display interface;
if the stacking position of each plate is unreasonable, the stacking position of each plate is adjusted, and the stacking rule is updated based on the adjusted stacking position of each plate.
The embodiment can provide visual management and check for the target plate pile which finishes stacking, comprises information such as stacking scheme graphic representation and stacking lists, can check different layer structures of the target plate pile corresponding to different stacking rules, and can clearly see the quality and the rationality of stacking each layer.
When the stacking position of each plate is unreasonable, the stacking position of each plate is adjusted, and the stacking rule is updated based on the adjusted stacking position of each plate, so that the unreasonable stacking condition is visually observed, and the stacking rule is adjusted in time.
In another embodiment, in step S13, after the step of displaying the data information of the target plate stack on the virtual image of the display interface by a mark, the method further comprises:
acquiring a plate selected by the user from the target plate stack to obtain a first target plate;
determining upper and lower layer plates adjacent to the first target plate to obtain a second target plate;
generating a target virtual image according to the first target plate and the second target plate;
inquiring data information of the first target plate and the second target plate to obtain target data information;
marking and displaying the target data information on the target virtual image of a display interface; wherein the target virtual image is positioned at the right side of the virtual image and is separately displayed in an enlarged manner.
The embodiment can provide a visual viewing interface for the result after the plate stacking operation. Specifically, according to parameters set by a plate stacking parameter setting interface and information of configuration rules, plate stacking conditions are displayed in a visual mode, after a first target plate on one layer is selected, detailed information of upper and lower plates adjacent to the current layer of the first target plate can be displayed in detail, and when the first target plate is displayed, the first target plate, a second target plate and corresponding data information of the first target plate are displayed in a target virtual image mode and are located on the right side of the virtual image and displayed in an independent amplification mode, so that the placing conditions and the data information of each layer of plates can be intuitively obtained.
In step S13, after the step of displaying the data information of the target plate stack on the virtual image of the display interface by a mark, the method may further include:
judging whether all plates of the same order are in the target plate stack or not, and if not, acquiring all plates of the same order in the target plate stack;
if so, combining all the plates to generate a plurality of plate blocks; wherein the panel pieces are generated to be equal in length or width;
the plate blocks with the same area are sorted from large to small according to the length, and the plate blocks with the same length are sorted from large to small according to the width;
and selecting the largest plate block from the plurality of plate blocks according to the sequencing result to be used as the plate to be processed by the blanking device.
This embodiment can be with all plate pile up neatly of same order on same plate buttress, when all plates of plate buttress have not been collected, then obtain and be located all plates of the same order of target plate buttress, with all plate pile up neatly of same order on target plate buttress. When all the plates of the plate stack are collected, all the plates are combined to generate a plurality of plate blocks, for example, plates with the same area are formed into one plate block, plates with the same length, width and height are formed into one plate block, or plates with the same shape are formed into one plate block, which is not limited herein.
Then the plate pieces are sorted from large to small according to the area, the plate pieces with the same area are sorted from large to small according to the length, the plate pieces with the same length are sorted from large to small according to the width, and then the largest plate piece is selected from the plate pieces according to the sorting result and taken out to serve as a plate to be processed by the blanking device or serve as the plate at the bottommost layer of the plate stack, so that the plate pieces with the larger area are preferentially processed, and the space occupation of the plate pieces is reduced.
Further, in step S13, after the step of displaying the data information of the target plate stack on the virtual image of the display interface by a mark, the method may further include:
calculating the single-layer utilization rate between every two adjacent plates to be stacked according to the data information of the target plate stack;
judging whether the single-layer utilization rate is greater than or equal to a set utilization rate or not;
when the single-layer utilization rate is determined to be greater than or equal to the set utilization rate, the stacking rule meets the requirement;
and when the single-layer utilization rate is determined to be smaller than the set utilization rate, adjusting the stacking rule.
In this embodiment, the remaining space between every two adjacent plates to be palletized can be extracted from the data information of the target plate stack, the use space is calculated according to the remaining space and the single-layer total space, then the single-layer utilization rate is calculated according to the use space and the single-layer total space, when the single-layer utilization rate is determined to be greater than or equal to the set utilization rate, the current palletizing rule is reasonable, otherwise, the palletizing rule needs to be adjusted until the single-layer utilization rate is high. The utilization rate can be set according to the needs of a user, but the set utilization rate can not exceed a preset threshold value at the maximum because one-hundred percent utilization rate cannot be achieved.
In an embodiment, before the step of determining that the plates to be palletized conform to the preset palletizing rule in step S12, the method may further include:
responding to a configuration instruction of an initial stacking rule of a user, extracting stacking conditions from the configuration instruction of the initial stacking rule, and acquiring configuration parameters of various combinations of the user; the configuration parameters comprise parameter information configured on the feeding device and the discharging device;
based on the stacking conditions, calculating the times of carrying required when the plates are stacked under the configuration parameters of different combinations;
and acquiring a group of configuration parameters with the least carrying times as target configuration parameters, and adding the target configuration parameters into the initial stacking rule to obtain the stacking rule preset by the user.
In this embodiment, when a stacking rule is set, a user initiates a configuration instruction in response to an initial stacking rule of the user, a terminal responds to the configuration instruction, displays a configuration interface of the initial stacking rule, extracts stacking conditions from the configuration instruction of the initial stacking rule, obtains configuration parameters of multiple combinations of the user, configures the stacking conditions and the configuration parameters in corresponding mathematical models of the configuration interface, calculates the number of times of carrying required for stacking plates under the configuration parameters of different combinations by using the mathematical models based on the stacking conditions, obtains a group of configuration parameters with the minimum number of carrying times from the multiple groups of configuration parameters as target configuration parameters, adds the target configuration parameters to the initial stacking rule to update the initial stacking rule to obtain the stacking rule preset by the user, and then sequentially carries out stacking, and the like of the plates according to the stacking rule, And the placing operation reduces the carrying times and obtains an optimal stacking scheme.
Preferably, the palletizing conditions comprise at least one of:
placing plates with the same size on the same clamping plate for stacking or placing plates with different sizes on the same clamping plate for mixed stacking;
after stacking, the maximum length, width, height, layer number or weight of each stack does not exceed a preset range;
the width difference ratio and the length difference ratio of two adjacent layers are within a preset ratio;
a plurality of stacks can be stored on one cache region;
whether it is required that the plates in an order can only be placed in the same plate stack.
Whether the plates in one order can be required to be placed in the same plate stack or not can affect the timely aligning rate of the orders, the size of the cache storage capacity can be effectively reduced, and the waiting time of personnel in a packaging area is shortened.
In an embodiment, the plate stacking system further includes a monitoring device for monitoring a processing condition of the blanking device in real time, and in step S14, after the step of stacking the plates to be stacked in the buffer area according to the target position and the splicing manner, the method may further include:
s15, controlling the monitoring equipment to acquire a plurality of continuous processing images when the blanking device processes the plate in real time;
s16, judging whether the blanking device has abnormal processing beat according to the continuous multiple processing images; the condition of abnormal processing rhythm comprises different time consumed by the blanking device when the blanking device processes the same type of plate;
s17, when the situation that the processing tempo is abnormal is determined to exist in the blanking device, controlling the feeding device to reduce the number of the plates to be stacked conveyed to the blanking device, or troubleshooting the reason of the processing tempo abnormality, and displaying the reason of the processing tempo abnormality on an interface for a maintenance worker to refer;
and S18, when it is determined that the blanking device has no abnormal processing rhythm, controlling the blanking device to sequentially grab the plates to be stacked from the buffer area, and processing the grabbed plates to be stacked.
In the embodiment, the monitoring equipment can be controlled to acquire a plurality of continuous processing images of the blanking device during plate processing in real time, and then whether the blanking device has the condition of abnormal processing beat is judged according to the plurality of continuous processing images; the time taken by a lower feeding device to process the same type of panel is different.
When the situation that the processing rhythm is abnormal is determined to exist in the blanking device, the feeding device is controlled to reduce and suspend the quantity of the plates to be stacked conveyed to the blanking device, or the reason of the processing rhythm is checked, and the reason of the processing rhythm is displayed on an interface for a maintenance worker to refer to and repair the abnormal situation.
When the fact that the blanking device is abnormal in processing rhythm is determined, the blanking device is controlled to sequentially grab the plates to be stacked from the cache region and process the grabbed plates to be stacked, if the plates to be processed are orderly grabbed from the cache region according to a preset sequencing rule, the grabbed plates are processed, so that the plates are further processed reasonably and smoothly, and the problem of rhythm unbalance between an upper process and a lower process is avoided.
Referring to fig. 2, an embodiment of the present invention further provides a plate stacking apparatus, wherein,
the acquisition module 11 is configured to acquire plates to be stacked from a plate queue of the feeding device, identify plate information of the plates to be stacked, and judge whether the plates to be stacked meet a preset stacking rule according to the plate information;
the inquiring module 12 is used for inquiring a target plate stack corresponding to the plate to be stacked when the plate to be stacked is determined to meet a preset stacking rule, and stacking the plate to be stacked on the target plate stack according to the stacking rule;
the display module 13 is configured to generate a virtual image of the target plate stack that has been completed when it is determined that all plates of the target plate stack have been completed, acquire data information of the completed target plate stack, and mark and display the data information of the target plate stack on the virtual image of a display interface;
the determining module 14 is configured to, when it is determined that the plates to be stacked do not meet a preset stacking rule, obtain a current processing progress of the blanking device and a target processing progress of the plates to be stacked in the blanking device, determine, according to the current processing progress of the blanking device and the target processing progress of the plates to be stacked, a number of processes spaced therebetween, query processing time of each process, determine, according to the number of processes and the processing time, processing time nodes of the plates to be stacked in the blanking device, determine, according to the processing time nodes, target positions and a splicing manner in which the plates to be stacked are stacked in a cache area, and stack the plates to be stacked in the cache area according to the target positions and the splicing manner; the buffer area is located between the feeding device and the discharging device.
According to the embodiment, the plate information of the plates to be stacked, such as the size, the shape and the model information, can be acquired through the external interface (such as an Exce l file and cutting system data), and then the plates to be stacked according with the stacking rule are stacked according to the pre-configured stacking rule, so that the plates are reasonably and smoothly stacked, and the problem of unbalanced rhythm between an upper process and a lower process is avoided.
The method comprises the steps of obtaining plates to be stacked one by one from a plate queue of a feeding device, scanning two-dimensional codes of the plates to be stacked through a scanner to obtain characteristic information of the plates to be stacked, inquiring the plate information of the plates to be stacked according to the characteristic information, judging whether the plates to be stacked accord with preset stacking rules or not according to the plate information, inquiring a target plate stack corresponding to the plates to be stacked when the plates to be stacked accord with the preset stacking rules, and stacking the plates to be stacked on the target plate stack according to the stacking rules until the target plate stack is stacked. For example, the stacking rule specifies the number, height, length and width of the stacks of plates, and the number, size, shape and other information of the plates in each stack of plates, when the plates to be stacked are plates with the size required by the target stack of plates, the plates to be stacked are indicated to accord with the preset stacking rule, and then the plates to be stacked are stacked on the layer of the target stack of plates according to the specific layer required to be placed by the plate stack to be stacked specified by the stacking rule.
When it is determined that all the plates of the target plate stack are stacked, generating a corresponding virtual image according to appearance information such as the shape and the size of the stacked target plate stack, acquiring data information of the stacked target plate stack, and displaying the data information of the target plate stack on the virtual image of a display interface in a marking manner, for example, displaying data information such as the length, the width and the like of the plates of each layer in the virtual image, so that a user can intuitively acquire the stacking condition of the plates of the target stack.
And when the plate to be stacked is determined not to accord with the preset stacking rule, placing the plate to be stacked in the cache region. Specifically, the current processing process of the blanking device and the target processing process of the plate to be stacked in the blanking device can be firstly obtained, the number of the processes at intervals between the current processing process of the blanking device and the target processing process of the plate to be stacked is determined according to the current processing process of the blanking device and the target processing process of the plate to be stacked, the processing time of each process is inquired, how long the plate to be stacked needs to be specifically processed is known according to the number of the processes and the processing time, the processing time node of the plate to be stacked in the blanking device is determined, the target position and the splicing mode of the plate to be stacked in the cache area are determined according to the processing time node, and the plate to be stacked is stacked in the cache area according to the target position and the splicing mode, for example, when the plate to be stacked is longer than the processing time node, the plate to be stacked is stacked in the cache area at a position close to the bottom layer of the plate stack; when the distance between the plate to be stacked and the processing time node is short, the plate to be stacked is stacked at a position close to the top layer of the plate stack in the buffer area, so that when the processing time node is reached, the plate to be stacked can be rapidly grabbed from the buffer area by the blanking device to be processed.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
The invention provides a terminal comprising a memory and a processor, wherein the memory stores computer readable instructions which, when executed by the processor, cause the processor to carry out the steps of the plate palletizing method as described in any one of the above.
The plate stacking method comprises the following steps:
acquiring plates to be stacked from a plate queue of the feeding device, identifying plate information of the plates to be stacked, and judging whether the plates to be stacked accord with a preset stacking rule or not according to the plate information;
when the plate to be stacked is determined to accord with a preset stacking rule, inquiring a target plate stack corresponding to the plate to be stacked, and stacking the plate to be stacked on the target plate stack according to the stacking rule;
when all plates of the target plate stack are determined to be stacked, generating a virtual image of the target plate stack after stacking is completed, acquiring data information of the completed target plate stack, and displaying the data information of the target plate stack on the virtual image of a display interface in a marking manner;
when the plate to be stacked is determined not to accord with a preset stacking rule, acquiring a current processing process of the blanking device and a target processing process of the plate to be stacked in the blanking device, determining the number of processes at intervals according to the current processing process of the blanking device and the target processing process of the plate to be stacked, inquiring the processing time of each process, determining a processing time node of the plate to be stacked in the blanking device according to the number of processes and the processing time, determining a target position and a splicing mode of the plate to be stacked in a cache area according to the processing time node, and stacking the plate to be stacked in the cache area according to the target position and the splicing mode; the buffer area is located between the feeding device and the discharging device.
In an embodiment, a terminal is further provided in this embodiment, referring to fig. 3, the terminal may be a computer device, and an internal structure of the terminal may be as shown in fig. 3. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the computer designed processor is used to provide computational and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used for data such as a relational extraction model, a discovery model and the like. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement the plate palletizing method described in the above embodiment. The plate stacking method comprises the following steps:
acquiring plates to be stacked from a plate queue of the feeding device, identifying plate information of the plates to be stacked, and judging whether the plates to be stacked accord with a preset stacking rule or not according to the plate information;
when the plate to be stacked is determined to accord with a preset stacking rule, inquiring a target plate stack corresponding to the plate to be stacked, and stacking the plate to be stacked on the target plate stack according to the stacking rule;
when all plates of the target plate stack are determined to be stacked, generating a virtual image of the target plate stack after stacking is completed, acquiring data information of the completed target plate stack, and displaying the data information of the target plate stack on the virtual image of a display interface in a marking manner;
when the plate to be stacked is determined not to accord with a preset stacking rule, acquiring a current processing process of the blanking device and a target processing process of the plate to be stacked in the blanking device, determining the number of processes at intervals according to the current processing process of the blanking device and the target processing process of the plate to be stacked, inquiring the processing time of each process, determining a processing time node of the plate to be stacked in the blanking device according to the number of processes and the processing time, determining a target position and a splicing mode of the plate to be stacked in a cache area according to the processing time node, and stacking the plate to be stacked in the cache area according to the target position and the splicing mode; the buffer area is located between the feeding device and the discharging device.
In one embodiment, the present invention also provides a storage medium storing computer readable instructions which, when executed by one or more processors, cause the one or more processors to perform the above-mentioned plate palletizing method. The plate stacking method comprises the following steps:
acquiring plates to be stacked from a plate queue of the feeding device, identifying plate information of the plates to be stacked, and judging whether the plates to be stacked accord with a preset stacking rule or not according to the plate information;
when the plate to be stacked is determined to accord with a preset stacking rule, inquiring a target plate stack corresponding to the plate to be stacked, and stacking the plate to be stacked on the target plate stack according to the stacking rule;
when all plates of the target plate stack are determined to be stacked, generating a virtual image of the target plate stack after stacking is completed, acquiring data information of the completed target plate stack, and displaying the data information of the target plate stack on the virtual image of a display interface in a marking manner;
when the plate to be stacked is determined not to accord with a preset stacking rule, acquiring a current processing process of the blanking device and a target processing process of the plate to be stacked in the blanking device, determining the number of processes at intervals according to the current processing process of the blanking device and the target processing process of the plate to be stacked, inquiring the processing time of each process, determining a processing time node of the plate to be stacked in the blanking device according to the number of processes and the processing time, determining a target position and a splicing mode of the plate to be stacked in a cache area according to the processing time node, and stacking the plate to be stacked in the cache area according to the target position and the splicing mode; the buffer area is located between the feeding device and the discharging device.
Among others, the storage medium may be a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.
It will be understood by those skilled in the art that all or part of the processes of the methods of the above embodiments may be implemented by a computer program, which may be stored in a storage medium and executed by a computer, and the processes of the embodiments of the methods may be included. The storage medium may be a non-volatile storage medium such as a magnetic disk, an optical disk, a Read-only Memory (ROM), or a Random Access Memory (RAM).
The embodiment is combined to show that the invention has the following maximum beneficial effects:
according to the plate stacking method and the terminal, plates to be stacked are obtained from a plate queue of a feeding device, plate information of the plates to be stacked is identified, and whether the plates to be stacked accord with a preset stacking rule or not is judged according to the plate information; when the plate to be stacked is determined to accord with the preset stacking rule, inquiring a target plate stack corresponding to the plate to be stacked, stacking the plate to be stacked on the target plate stack according to the stacking rule, when it is determined that all the plates of the target stack have been palletized, generating a virtual image of the palletized target stack, and acquiring the data information of the completed target plate stack, performing mark display on the data information of the target plate stack on the virtual image of the display interface, thereby stacking the plates according with the stacking rule on the target plate stack according to the preset stacking rule, reducing the subsequent carrying workload, improving the working efficiency, leading the plates to be reasonably and smoothly carried out, avoiding the problem of unbalanced rhythm between the upper working procedure and the lower working procedure, and in addition, the data information of the target plate stack is marked and displayed on the virtual image of the display interface, so that a user can conveniently and visually observe the stacking condition of the target plate stack which is stacked. And when the plate to be stacked is determined not to accord with the preset stacking rule, acquiring the current processing process of the blanking device and the target processing process of the plate to be stacked in the blanking device, determining the number of the processes spaced between the current processing process of the blanking device and the target processing process of the plate to be stacked, inquiring the processing time of each process, determining the processing time node of the plate to be stacked in the blanking device according to the number of the processes and the processing time, determining the target position and the splicing mode of the plate to be stacked in the cache area according to the processing time node, and stacking the plate to be stacked in the cache area according to the target position and the splicing mode, so that the plate is stacked in the cache area according to requirements, the plate is reasonably and smoothly stacked, and the problem of unbalanced beat between the upper process and the lower process is avoided.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
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| TWI809470B (en) * | 2021-08-10 | 2023-07-21 | 寶元數控股份有限公司 | Method and system for automatically stacking panels |
| CN115352895B (en) * | 2022-07-28 | 2024-08-13 | 中科元象(常州)智能装备有限公司 | Plate stacking method |
| CN118359005B (en) * | 2024-04-30 | 2024-11-29 | 广州宁基智能系统有限公司 | Robot automatic stacking method and device, electronic equipment and storage medium |
| CN119142827B (en) * | 2024-11-18 | 2025-02-11 | 南兴装备股份有限公司 | Stacking method for panel furniture processing production line |
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