阅读说明：本技术 可移动设备码垛的方法、装置、存储介质与处理器 (Method and device for stacking movable equipment, storage medium and processor ) 是由 张睿 郑自利 周家裕 林宇萌 李鹏程 王佳威 衷镇宇 万文洁 郭东生 邓祖东 于 2020-05-15 设计创作，主要内容包括：本申请提供了一种可移动设备码垛的方法、装置、存储介质与处理器,该方法包括：获取多个预定坐标,预定坐标为抓取结构上的预定点在预定坐标系中的坐标,且预定点的坐标为预定坐标时,抓取结构将抓取的物料产品码放在目标位置上；获取预定偏移量；根据预定偏移量对多个预定坐标进行偏移,得到多个偏移坐标；根据偏移坐标,控制预定点移动至对应的预定坐标,该方案不会在预定坐标对应的位置直接码放待码放的物料产品,而是对预定坐标进行一定量的偏移后,等同于对预定坐标的平移,再控制预定点移动至预定坐标实现对物料产品的码放,由于不是在预定坐标对应的位置直接码放待码放的物料产品,避免了正码放的物料产品与垛盘上的物料产品相撞。(The application provides a method and a device for stacking movable equipment, a storage medium and a processor, wherein the method comprises the following steps: acquiring a plurality of preset coordinates, wherein the preset coordinates are coordinates of a preset point on the grabbing structure in a preset coordinate system, and when the coordinates of the preset point are the preset coordinates, the grabbing structure puts the grabbed material products on a target position; acquiring a preset offset; shifting the plurality of preset coordinates according to the preset shift amount to obtain a plurality of shifted coordinates; according to the offset coordinate, the preset point is controlled to move to the corresponding preset coordinate, the scheme does not directly stack the material products to be stacked at the position corresponding to the preset coordinate, after the preset coordinate is subjected to a certain amount of offset, the translation of the preset coordinate is the same as that of the preset coordinate, and then the preset point is controlled to move to the preset coordinate to stack the material products.)

1. A method of palletizing movable equipment comprising a gripping structure, characterized in that it comprises:

acquiring a plurality of preset coordinates, wherein the preset coordinates are coordinates of a preset point on the grabbing structure in a preset coordinate system, and when the coordinates of the preset point are the preset coordinates, the grabbing structure puts the grabbed material products on a target position;

acquiring a preset offset;

shifting the preset coordinates according to the preset offset to obtain a plurality of shifted coordinates;

and controlling the predetermined point to move to the corresponding predetermined coordinate according to the offset coordinate.

2. The method of claim 1, wherein controlling the predetermined point to move to the corresponding predetermined coordinate according to the offset coordinate comprises:

and controlling the predetermined point to move from the offset coordinate to the corresponding predetermined coordinate.

3. The method of claim 1, wherein the predetermined coordinate system comprises a first coordinate axis, a second coordinate axis and a third coordinate axis, the predetermined coordinate system corresponds to a value on the first coordinate axis being a first value, the predetermined coordinate system corresponds to a value on the second coordinate axis being a second value, the predetermined coordinate system corresponds to a value on the third coordinate axis being a third value, and obtaining the predetermined offset comprises:

a first predetermined offset amount, a second predetermined offset amount, and a third predetermined offset amount are acquired.

4. The method of claim 3, wherein shifting the plurality of predetermined coordinates according to the predetermined shift amount to obtain a plurality of shifted coordinates comprises:

obtaining a first offset coordinate according to the first numerical value and the first preset offset;

obtaining a second offset coordinate according to the second numerical value and the second preset offset;

obtaining a third offset coordinate according to the third numerical value and the third preset offset;

and determining the offset coordinate according to the first offset coordinate, the second offset coordinate and the third offset coordinate.

5. The method of claim 4, wherein shifting the plurality of predetermined coordinates according to the predetermined shift amount to obtain a plurality of shifted coordinates comprises:

adding the first preset offset and the first numerical value to obtain a first offset coordinate;

adding the second preset offset and the second numerical value to obtain a second offset coordinate;

adding the third preset offset and the third numerical value to obtain a third offset coordinate;

and determining the offset coordinate according to the first offset coordinate, the second offset coordinate and the third offset coordinate.

6. The method of claim 1, wherein obtaining a predetermined offset further comprises:

determining a collision coordinate, the collision coordinate being the predetermined coordinate at which the subsequently stacked material product collides with the previously stacked material product;

and determining the preset offset according to the size of the area where the material product stacked later collides with the material product stacked earlier.

7. The method of claim 6, wherein shifting the plurality of predetermined coordinates according to the predetermined shift amount to obtain a plurality of shifted coordinates comprises:

and shifting the collision coordinate according to the preset shift amount to obtain the corresponding shift coordinate.

8. The method of claim 1, wherein shifting the plurality of predetermined coordinates according to the predetermined shift amount to obtain a plurality of shifted coordinates, further comprising:

and shifting all the preset coordinates according to the preset offset to obtain corresponding shifted coordinates.

9. The method of claim 1,

obtaining a predetermined offset, further comprising: a fourth predetermined offset is obtained for the first time,

after controlling the depositing of the material product on the target location, the method further comprises:

acquiring a first height value, wherein the first height value is a numerical value of the preset coordinate in the height direction;

adding the fourth preset offset to the first height value to obtain a second height value;

and controlling the predetermined point to move from the position corresponding to the first height value to the position corresponding to the second height value in the height direction so as to control the grabbing structure to leave the stacked material products.

10. The method of claim 4, wherein controlling the predetermined point to move to the corresponding predetermined coordinate based on the offset coordinate further comprises:

acquiring real-time coordinates of the predetermined point in real time;

and under the condition that a first real-time value is larger than the first offset coordinate, a second real-time value is larger than the second offset coordinate, and a third real-time value is larger than the third offset coordinate, controlling the predetermined point to move from the real-time coordinate to the corresponding predetermined coordinate, wherein the first real-time value is a value of the real-time coordinate corresponding to the first coordinate axis, the second real-time value is a value of the real-time coordinate corresponding to the first coordinate axis, and the third real-time value is a value of the real-time coordinate corresponding to the first coordinate axis.

11. The method of claim 1, wherein obtaining a plurality of the predetermined coordinates comprises:

acquiring stacking information, wherein the stacking information at least comprises the number of stacked layers, the placing mode of each layer of material products and the size of the material products;

and acquiring a plurality of preset coordinates according to the stacking information.

12. A method according to any one of claims 1 to 11, wherein the predetermined offsets are the same or different when stacking different said items.

13. A device for palletizing movable apparatuses, the movable apparatuses comprising a gripping structure, characterized in that it comprises:

the first acquisition unit is used for acquiring a plurality of preset coordinates, wherein the preset coordinates are coordinates of a preset point on the grabbing structure in a preset coordinate system, and when the coordinates of the preset point are the preset coordinates, the grabbing structure puts the grabbed material products on a target position;

a second acquisition unit configured to acquire a predetermined offset amount;

the offset unit is used for offsetting the preset coordinates according to the preset offset to obtain a plurality of offset coordinates;

and the first control unit is used for controlling the predetermined point to move to the corresponding predetermined coordinate according to the offset coordinate.

14. A storage medium, characterized in that the storage medium comprises a stored program, wherein the program performs the method of palletizing a movable apparatus according to any one of claims 1 to 12.

15. A processor for running a program, wherein the program when running performs the method of palletising a movable apparatus as claimed in any one of claims 1 to 12.

Technical Field

The application relates to the field of intelligent control, in particular to a method and a device for stacking movable equipment, a storage medium and a processor.

Background

At present industry movable equipment in pile up neatly in-process, if do not set up movable equipment's income sword offset, perhaps go into sword offset and set up the undersize, perhaps the offset sets up the mistake, its movement track will collide with the material on the pile disc when movable equipment snatchs the material pile up neatly, the condition of damage product probably appears.

The above information disclosed in this background section is only for enhancement of understanding of the background of the technology described herein and, therefore, certain information may be included in the background that does not form the prior art that is already known in this country to a person of ordinary skill in the art.

Disclosure of Invention

The application mainly aims to provide a method and a device for stacking movable equipment, a storage medium and a processor, so as to solve the problem that material products stacked on the movable equipment in the stacking process may collide with the material products on a stack tray in the prior art.

In order to achieve the above object, according to one aspect of the present application, there is provided a method of palletizing a movable apparatus comprising a gripping structure comprising: acquiring a plurality of preset coordinates, wherein the preset coordinates are coordinates of a preset point on the grabbing structure in a preset coordinate system, and when the coordinates of the preset point are the preset coordinates, the grabbing structure puts the grabbed material products on a target position; acquiring a preset offset; shifting the preset coordinates according to the preset offset to obtain a plurality of shifted coordinates; and controlling the predetermined point to move to the corresponding predetermined coordinate according to the offset coordinate.

Further, controlling the predetermined point to move to the corresponding predetermined coordinate according to the offset coordinate includes: and controlling the predetermined point to move from the offset coordinate to the corresponding predetermined coordinate.

Further, the obtaining of the predetermined offset includes: a first predetermined offset amount, a second predetermined offset amount, and a third predetermined offset amount are acquired.

Further, shifting the plurality of predetermined coordinates according to the predetermined shift amount to obtain a plurality of shifted coordinates, including: obtaining a first offset coordinate according to the first numerical value and the first preset offset; obtaining a second offset coordinate according to the second numerical value and the second preset offset; obtaining a third offset coordinate according to the third numerical value and the third preset offset; and determining the offset coordinate according to the first offset coordinate, the second offset coordinate and the third offset coordinate.

Further, shifting the plurality of predetermined coordinates according to the predetermined shift amount to obtain a plurality of shifted coordinates, including: adding the first preset offset and the first numerical value to obtain a first offset coordinate; adding the second preset offset and the second numerical value to obtain a second offset coordinate; adding the third preset offset and the third numerical value to obtain a third offset coordinate; and determining the offset coordinate according to the first offset coordinate, the second offset coordinate and the third offset coordinate.

Further, obtaining the predetermined offset further includes: determining a collision coordinate, the collision coordinate being the predetermined coordinate at which the subsequently stacked material product collides with the previously stacked material product; and determining the preset offset according to the size of the area where the material product stacked later collides with the material product stacked earlier.

Further, shifting the plurality of predetermined coordinates according to the predetermined shift amount to obtain a plurality of shifted coordinates, including: and shifting the collision coordinate according to the preset shift amount to obtain the corresponding shift coordinate.

Further, shifting the plurality of predetermined coordinates according to the predetermined shift amount to obtain a plurality of shifted coordinates, further comprising: and shifting all the preset coordinates according to the preset offset to obtain corresponding shifted coordinates.

Further, obtaining the predetermined offset further includes: obtaining a fourth predetermined offset, after controlling the stacking of the material product on the target location, the method further comprising: acquiring a first height value, wherein the first height value is a numerical value of the preset coordinate in the height direction; adding the fourth preset offset to the first height value to obtain a second height value; and controlling the predetermined point to move from the position corresponding to the first height value to the position corresponding to the second height value in the height direction so as to control the grabbing structure to leave the stacked material products.

Further, controlling the predetermined point to move to the corresponding predetermined coordinate according to the offset coordinate further includes: acquiring real-time coordinates of the predetermined point in real time; and under the condition that a first real-time value is larger than the first offset coordinate, a second real-time value is larger than the second offset coordinate, and a third real-time value is larger than the third offset coordinate, controlling the predetermined point to move from the real-time coordinate to the corresponding predetermined coordinate, wherein the first real-time value is a value of the real-time coordinate corresponding to the first coordinate axis, the second real-time value is a value of the real-time coordinate corresponding to the first coordinate axis, and the third real-time value is a value of the real-time coordinate corresponding to the first coordinate axis.

Further, acquiring a plurality of the predetermined coordinates includes: acquiring stacking information, wherein the stacking information at least comprises the number of stacked layers, the placing mode of each layer of material products and the size of the material products; and acquiring a plurality of preset coordinates according to the stacking information.

Further, when different material products are stacked, the preset offset is the same or different.

According to one aspect of the present application, there is provided a device for palletizing movable apparatuses comprising a gripping structure comprising: the first acquisition unit is used for acquiring a plurality of preset coordinates, wherein the preset coordinates are coordinates of a preset point on the grabbing structure in a preset coordinate system, and when the coordinates of the preset point are the preset coordinates, the grabbing structure puts the grabbed material products on a target position; a second acquisition unit configured to acquire a predetermined offset amount; the offset unit is used for offsetting the preset coordinates according to the preset offset to obtain a plurality of offset coordinates; and the first control unit is used for controlling the predetermined point to move to the corresponding predetermined coordinate according to the offset coordinate.

According to a further aspect of the application, there is provided a storage medium comprising a stored program, wherein the program performs any one of the methods of palletising a movable apparatus.

According to a further aspect of the application, there is provided a processor for executing a program, wherein the program is operable to perform any one of the methods of palletizing a movable device.

By applying the technical scheme, the offset coordinate is obtained by offsetting the preset coordinate, when the material products are actually stacked, the preset point is controlled to move to the corresponding preset coordinate according to the offset coordinate, namely the material products to be stacked cannot be directly stacked at the position corresponding to the preset coordinate, after a certain amount of offset is carried out on the preset coordinate, the translation of the preset coordinate is the same as that of the preset coordinate, and then the material products are stacked by controlling the preset point to move to the preset coordinate.

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 shows a flow chart of a method of palletizing a movable apparatus according to an embodiment of the present application;

FIG. 2 shows a schematic view of a mobile device palletizing apparatus according to an embodiment of the present application;

FIG. 3 illustrates a schematic diagram of an upper computer interface for palletizing movable equipment according to an embodiment of the application;

FIG. 4 illustrates a schematic diagram of a position of a material product in a predetermined coordinate system according to an embodiment of the present application;

FIG. 5 illustrates a schematic diagram of a location of yet another material product in a predetermined coordinate system according to an embodiment of the present application;

FIG. 6 illustrates a schematic diagram of a product of materials collision according to an embodiment of the present application;

fig. 7 shows a flow chart of a specific method for palletizing a movable device according to an embodiment of the present application;

fig. 8 shows a schematic diagram of a specific palletizing mode of the movable equipment according to an embodiment of the application; and

fig. 9 shows a schematic diagram of a further specific movable device palletizing mode according to an embodiment of the application.

Wherein the figures include the following reference numerals:

10. a mobile device; 20. a material product; 30. code disc; 40. offsetting the coordinates; 50. predetermined coordinates; 1. material product No. 1; 2. material product No. 2; 3. material product No. 3; 4. material product No. 4; 5. material product No. 5; 6. material product No. 6; 7. material product No. 7; 8. material product No. 8; 9. material product No. 9; 01. a first position; 02. a second position.

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.

It will be understood that when an element such as a layer, film, region, or substrate is referred to as being "on" another element, it can be directly on the other element or intervening elements may also be present. Also, in the specification and claims, when an element is described as being "connected" to another element, the element may be "directly connected" to the other element or "connected" to the other element through a third element.

As described in the background, in order to solve the problem that the material product being stacked on the pallet of the movable device may collide with the material product on the pallet during stacking in the prior art, embodiments of the present application provide a method, an apparatus, a storage medium and a processor for stacking the movable device.

According to an embodiment of the application, a method of palletizing a movable device is provided.

Fig. 1 is a flow chart of a method of palletizing a movable apparatus comprising gripping structures according to an embodiment of the present application, as shown in fig. 1, comprising the following steps:

step S101, acquiring a plurality of preset coordinates, wherein the preset coordinates are coordinates of a preset point on the grabbing structure in a preset coordinate system, and when the coordinates of the preset point are the preset coordinates, the grabbing structure puts the grabbed material products on a target position;

step S102, acquiring a preset offset;

step S103, shifting a plurality of preset coordinates according to the preset shift amount to obtain a plurality of shifted coordinates;

and step S104, controlling the predetermined point to move to the corresponding predetermined coordinate according to the offset coordinate.

In the scheme, the offset coordinate is obtained by offsetting the preset coordinate, when the material products are actually stacked, the preset point is controlled to move to the corresponding preset coordinate according to the offset coordinate, namely the material products to be stacked are not directly stacked at the position corresponding to the preset coordinate, after the preset coordinate is offset by a certain amount, the preset point is controlled to move to the preset coordinate to achieve stacking of the material products, and the material products to be stacked are not directly stacked at the position corresponding to the preset coordinate, so that the collision between the material products being stacked and the material products on the stacking tray is avoided.

It should be noted that the movable device includes, but is not limited to, a robot and a smart car.

It should be noted that the above gripping structures include, but are not limited to, clamps, manipulators, and suction cups, and those skilled in the art can select a suitable gripping structure according to actual situations.

It should be noted that the predetermined point is a point on the grabbing structure, and may be a center of gravity point of the suction cup, etc., and an appropriate predetermined point is selected to facilitate the control of the movable device.

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.

In an embodiment of the application, controlling the predetermined point to move to the corresponding predetermined coordinate according to the offset coordinate includes: controlling the predetermined point to move from the offset coordinate to the corresponding predetermined coordinate, as shown in fig. 8, by controlling the predetermined point to move from the offset coordinate 40 to the corresponding predetermined coordinate 50 to stack the material product 20, rather than directly stacking the material product 20 at the predetermined coordinate 50, the material product 20 being stacked is prevented from colliding with the material product 20 on the code disc 30, the predetermined coordinate 50 is shifted when the movable apparatus 10 moves the material product 20 in the first position 01 or the second position 02, the predetermined coordinate 50 is shifted when the movable apparatus 10 moves the material product 20 in the second position 02, as shown in fig. 9, however, stacking the material product 20 is realized without shifting the predetermined coordinate 50 when the movable apparatus 10 moves the material product 20 in the first position 01, that is, by setting different offset amounts according to the stacked positions, the working efficiency is improved.

It should be noted that, moving the material product 20 to the first position 01 or the second position 02 actually moves the center point of the material product 20 to the first position 01 or the second position 02. As shown in fig. 8. It should be further noted that the dashed lines in fig. 8 and 9 are moving tracks of the predetermined point of the material product.

In another embodiment of the application, the obtaining of the predetermined offset includes: obtaining a first predetermined offset, a second predetermined offset and a third predetermined offset, that is, the predetermined coordinate system is a three-dimensional space coordinate system, as shown in fig. 3 to 5, the first coordinate axis is an X axis, the second coordinate axis is a Y axis, the third coordinate axis is a Z axis, and the corresponding predetermined offsets include three offsets corresponding to three axes: a first preset offset, a second preset offset and a third preset offset, based on the obtained offsets on the three coordinate axes, the preset coordinates of the preset points are offset to obtain offset coordinates, further, the preset points are controlled to move from the offset coordinates to the corresponding preset coordinates to stack material products instead of directly stacking the material products on the preset coordinates, the collision of the material products being stacked with the material products on the pallet is avoided, fig. 3 also shows the current stacking number (total 6), and the positions of the material products 1, 2, 3, 4, 5 and 6 in the preset coordinate system, and the offset coordinate and the preset coordinate of one of the material products, the offset coordinate X represents the value (200mm) of the offset coordinate on the X axis, the offset coordinate Y represents a value of the offset coordinate on the Y axis (400mm), and the offset coordinate Z represents a value of the offset coordinate on the Z axis (200 mm); the predetermined coordinate X represents a value (150mm) of the predetermined coordinate on the X-axis, the predetermined coordinateY represents a value (300mm) of a predetermined coordinate on a Y axis, and a predetermined coordinate Z represents a value (100mm) of a predetermined coordinate on a Z axis; h in FIG. 4₀The height of the pallet is indicated, and when the material product 20 is stacked on the code wheel 30, the height of the pallet needs to be considered when setting the value of the Z axis of the third coordinate axis.

In a specific embodiment, the first predetermined offset, the second predetermined offset and the third predetermined offset may be the same or different, fig. 5 is a top view of stacked material products in a predetermined coordinate system, material products 1, 2, 3, 4, 5, 6, 7, 8 and 9 are in the same layer, after material product 1 is stacked, material product 2 is stacked only by having an offset in the X-axis direction, that is, the first predetermined offset is not equal to 0, the second predetermined offset is equal to 0, and the third predetermined offset is equal to 0; similarly, after the material product 1 No. 1 is stacked, the material product 4 No. 4 is stacked, and only the material product needs to be shifted in the Y-axis direction, namely, the second preset shift amount is not equal to 0, the first preset shift amount is equal to 0, and the third preset shift amount is equal to 0; after putting things in good order 2 material product 2 and 4 material products 4, put things in good order 5 material product 5, all have the skew in X axle and the Y axle direction, first predetermined offset is not equal to 0 promptly, and second predetermined offset is not equal to 0, and third predetermined offset equals 0, sets up different offsets through the material product of putting things in good order to different positions, can save operating time greatly, improves mobile device's work efficiency.

In still another embodiment of the present application, the first offset coordinate is a value of the offset coordinate on the first coordinate axis, the second offset coordinate is a value of the offset coordinate on the second coordinate axis, and the third offset coordinate is a value of the offset coordinate on the third coordinate axis, and the plurality of predetermined coordinates are offset according to the predetermined offset amount to obtain a plurality of offset coordinates, including: obtaining a first offset coordinate according to the first numerical value and the first preset offset; obtaining a second offset coordinate according to the second numerical value and the second preset offset; obtaining a third offset coordinate according to the third numerical value and the third preset offset; and determining the offset coordinates according to the first offset coordinate, the second offset coordinate and the third offset coordinate, namely the first offset coordinate, the second offset coordinate and the third offset coordinate form three components of the offset coordinates, further determining the offset coordinates according to the first offset coordinate, the second offset coordinate and the third offset coordinate, and further stacking the material products from the offset coordinates to the corresponding predetermined coordinates by controlling a predetermined point to move to the predetermined coordinates instead of directly stacking the material products on the predetermined coordinates, so that the collision between the material products being stacked and the material products on the pallet is avoided.

In another embodiment of the present application, shifting a plurality of the predetermined coordinates according to the predetermined shift amount to obtain a plurality of shifted coordinates includes: adding the first preset offset and the first numerical value to obtain a first offset coordinate; adding the second predetermined offset amount to the second numerical value to obtain a second offset coordinate; adding the third predetermined offset amount to the third numerical value to obtain a third offset coordinate; and determining the offset coordinates according to the first offset coordinate, the second offset coordinate and the third offset coordinate, namely adding a first preset offset on the basis of a first numerical value to obtain a first offset coordinate, adding a second preset offset on the basis of a second numerical value to obtain a first offset coordinate, and adding a third preset offset on the basis of a third numerical value to obtain a third offset coordinate.

In an embodiment of the present application, obtaining the predetermined offset further includes: determining collision coordinates, the collision coordinates being the predetermined coordinates at which a subsequently stacked material product collides with a previously stacked material product; according to the size of the area where the material product stacked later collides with the material product stacked earlier, the preset offset is determined, the collision is at least caused by control errors caused by the property of the movable device, as shown in fig. 6, when the material product 20 is stacked on the code disc 30, the material product 20 collides, according to the sizes of the areas where multiple collisions occur, the maximum first preset offset, the maximum second preset offset and the maximum third preset offset are determined, and further, the preset coordinates are shifted according to the maximum first preset offset, the maximum second preset offset and the maximum third preset offset, so that the material product can be correctly stacked without collision.

In another embodiment of the present application, shifting a plurality of the predetermined coordinates according to the predetermined shift amount to obtain a plurality of shifted coordinates includes: and shifting the collision coordinates according to the preset offset to obtain the corresponding offset coordinates, namely shifting the collision coordinates only, correspondingly stacking the material products, and moving the preset points from the offset coordinates to the corresponding preset coordinates to stack the material products instead of directly stacking the material products on the preset coordinates, so that the collision between the material products being stacked and the material products on the pallet is avoided.

In another embodiment of the present application, shifting a plurality of the predetermined coordinates according to the predetermined shift amount to obtain a plurality of shifted coordinates, further includes: shifting all the predetermined coordinates according to the predetermined shift amount to obtain corresponding shifted coordinates, specifically, a first predetermined shift amount of 200mm, a second predetermined shift amount of 200mm and a third predetermined shift amount of 200mm, that is, in this case, shifting all the predetermined coordinates according to the predetermined shift amount, shifting a plurality of the predetermined coordinates directly according to the set predetermined shift amount to obtain a plurality of shifted coordinates, stacking the material products by controlling the predetermined points to move from the shifted coordinates to the corresponding predetermined coordinates instead of stacking the material products directly on the predetermined coordinates, so as to avoid collision between the material products being stacked and the material products on the pallet, that is, shifting the predetermined coordinates of all the predetermined points at the first predetermined shift amount of 200mm, the second predetermined shift amount of 200mm and the third predetermined shift amount of 200mm, no collision of the material products occurs, i.e. 200mm is the maximum first predetermined offset, 200mm is the maximum second predetermined offset, and 200mm is the maximum third predetermined offset, although those skilled in the art can select other values of the offsets that meet the requirements than 200 mm.

In another embodiment of the present application, obtaining the predetermined offset further includes: obtaining a fourth predetermined offset, wherein after controlling to stack the material product at the target position, the method further comprises: acquiring a first height value, wherein the first height value is a numerical value of the preset coordinate in the height direction; adding the fourth predetermined offset amount to the first height value to obtain a second height value; and controlling the predetermined point to move from the position corresponding to the first height value to the position corresponding to the second height value in the height direction so as to control the grabbing structure to leave the stacked material products, namely when the grabbing structure is controlled to leave the stacked material products, in order to prevent the stacked material products from being damaged, the grabbing structure needs to be raised by a certain height, and then the grabbing structure is controlled to leave the material products.

It should be noted that the fourth predetermined offset includes, but is not limited to, 200mm, and those skilled in the art can select a suitable fourth predetermined offset according to practical situations.

In another embodiment of the present application, controlling the predetermined point to move to the corresponding predetermined coordinate according to the offset coordinate further includes: acquiring real-time coordinates of the predetermined point in real time; controlling the predetermined point to move from the real-time coordinate to the corresponding predetermined coordinate when a first real-time value is greater than the first offset coordinate, a second real-time value is greater than the second offset coordinate, and a third real-time value is greater than the third offset coordinate, wherein the first real-time value is a value of the real-time coordinate corresponding to the first coordinate axis, the second real-time value is a value of the real-time coordinate corresponding to the first coordinate axis, and the third real-time value is a value of the real-time coordinate corresponding to the first coordinate axis, specifically, as shown in fig. 7, when the material product is stacked in real time, a user first configures stacking parameters (equivalent to stacking information) and then the system determines the position of the stacking parameters, and then obtains the real-time coordinate of the predetermined point in real time, and the coordinate in the X-axis direction is X, the coordinate of the Y-axis direction is Y, the coordinate of the non-X-axis direction and the Y-axis direction (equivalent to the Z-axis direction) is H, Xn is a first numerical value, Yn is a second numerical value, Hn is a third numerical value, the first preset offset and the second preset offset are both 150mm, under the condition that the X-axis direction satisfies X > Xn +150 and H > Hn, the Y-axis direction satisfies Y > Yn +150 and H > Hn, the non-X-axis direction and the Y-axis direction satisfy X > Xn +150, Y > Yn +150 and H > Hn, the preset point is controlled to move from the real-time coordinate to the corresponding preset coordinate so as to realize correct stacking of the material product and avoid the collision of the material product, under the condition that the X-axis direction does not satisfy X > Xn +150 and H > Hn, the Y-axis direction does not satisfy Y > Yn +150 and H > Hn, the non-X-axis direction and the Y-axis direction does not satisfy X > Xn +150, Y > Hn +150 and H > Hn, the movable equipment alarm is triggered, of course, 150mm in this embodiment is optional, and the third predetermined offset in the non-X-axis and Y-axis directions may also be set to appropriate values according to actual situations, and X > Xn +150, H > Hn, Y > Yn +150, where greater than the relationship among the three determination conditions, in actual operation, for example, X ═ Xn +155 may be satisfied, and it is not necessary to control the grabbing structure to act when X ═ Xn +300 is satisfied, so as to improve the working efficiency.

In another embodiment of the present application, obtaining a plurality of the predetermined coordinates includes: acquiring stacking information, wherein the stacking information at least comprises the number of stacked layers, the placing mode of each layer of material products, the size of the material products, the size (length, width and height) of a code disc, the shape of the material products, the position of a gripping point of a clamp during stacking, the height of a stacking pallet, the placing mode of the material during stacking and the like; and acquiring a plurality of preset coordinates according to the stacking information, and accurately determining the preset coordinates according to the stacking information.

When stacking different above-mentioned material products, the above-mentioned predetermined offset is the same or different, as shown in fig. 5, when stacking material products No. 1 to No. 9, different offsets are correspondingly set according to the position difference of the material products, thereby saving time and improving work efficiency.

The embodiment of the application also provides a device for stacking movable equipment, and it should be noted that the device for stacking movable equipment of the embodiment of the application can be used for executing the method for stacking movable equipment provided by the embodiment of the application. The device for stacking the movable equipment provided by the embodiment of the application is described below.

Fig. 2 is a schematic view of an apparatus for palletizing movable devices comprising gripping structures according to an embodiment of the present application, as shown in fig. 2, comprising:

a first obtaining unit 100, configured to obtain a plurality of predetermined coordinates, where the predetermined coordinates are coordinates of a predetermined point on the grabbing structure in a predetermined coordinate system, and when the coordinates of the predetermined point are the predetermined coordinates, the grabbing structure places the grabbed material product at a target position;

a second obtaining unit 200 for obtaining a predetermined offset;

a shifting unit 300, configured to shift the plurality of predetermined coordinates according to the predetermined shift amount to obtain a plurality of shifted coordinates;

a first control unit 400, configured to control the predetermined point to move to the corresponding predetermined coordinate according to the offset coordinate.

In the scheme, the offset unit offsets the preset coordinate to obtain an offset coordinate, when the material products are actually stacked, the preset point is controlled to move to the corresponding preset coordinate according to the offset coordinate, namely the material products to be stacked are not directly stacked at the position corresponding to the preset coordinate, after a certain amount of offset is carried out on the preset coordinate, the translation of the preset coordinate is the same as that of the preset coordinate, and then the preset point is controlled to move to the preset coordinate to stack the material products.

It should be noted that the movable device includes, but is not limited to, a robot and a smart car.

It should be noted that the above gripping structures include, but are not limited to, clamps, manipulators, and suction cups, and those skilled in the art can select a suitable gripping structure according to actual situations.

It should be noted that the predetermined point is a point on the grabbing structure, and may be a center of gravity point of the suction cup, etc., and an appropriate predetermined point is selected to facilitate the control of the movable device.

In one embodiment of the present application, the first control unit is further configured to control the predetermined point to move from the offset coordinate to the corresponding predetermined coordinate, as shown in fig. 8, to stack the material product 20 from the offset coordinate 40 to the corresponding predetermined coordinate 50, instead of stacking the material product 20 directly at the predetermined coordinate 50, so as to prevent the material product 20 being stacked from colliding with the material product 20 on the code tray 30, the predetermined coordinate 50 is shifted when the movable device 10 moves the material product 20 in the first position 01 or the second position 02, as shown in fig. 9, the predetermined coordinate 50 is shifted when the movable device 10 moves the material product 20 in the second position 02, however, stacking the material product 20 is also achieved without shifting the predetermined coordinate 50 when the movable device 10 moves the material product 20 in the first position 01, namely, different offsets are set according to different stacking positions, so that the working efficiency is improved.

It should be noted that, moving the material product 20 to the first position 01 or the second position 02 actually moves the center point of the material product 20 to the first position 01 or the second position 02. As shown in fig. 8. It should be further noted that the dashed lines in fig. 8 and 9 are moving tracks of the predetermined point of the material product.

In another embodiment of the present application, the predetermined coordinate system includes a first coordinate axis, a second coordinate axis and a third coordinate axis, the predetermined coordinate corresponds to a value on the first coordinate axis being a first value, the predetermined coordinate corresponds to a value on the second coordinate axis being a second value, the predetermined coordinate corresponds to a value on the third coordinate axis being a third value, and a third coordinate axis is a third coordinate axisThe two obtaining units are further configured to obtain a first predetermined offset amount, a second predetermined offset amount, and a third predetermined offset amount, that is, the predetermined coordinate system is a three-dimensional space coordinate system, as shown in fig. 3 to 5, the first coordinate axis is an X axis, the first coordinate axis is a Y axis, the first coordinate axis is a Z axis, and the corresponding predetermined offset amounts include three offset amounts corresponding to three axes: a first predetermined offset, a second predetermined offset and a third predetermined offset, offset the predetermined coordinates of the predetermined points based on the obtained offsets on the three coordinate axes to obtain offset coordinates, and further stacking the material products by controlling the predetermined points to move from the offset coordinates to the corresponding predetermined coordinates instead of stacking the material products directly on the predetermined coordinates, so as to avoid the collision of the material products being stacked with the material products on the pallet, fig. 3 also shows the current stacking number (total 6), and the positions of material products No. 1, No. 2, No. 3, No. 4, No. 5 and No. 6 in the predetermined coordinate system, and the offset coordinate and the predetermined coordinate of one of the material products, the offset coordinate X representing the value of the offset coordinate on the X axis (200mm), the offset coordinate Y represents a value of the offset coordinate on the Y axis (400mm), and the offset coordinate Z represents a value of the offset coordinate on the Z axis (200 mm); the predetermined coordinate X represents a numerical value (150mm) of the predetermined coordinate on the X axis, the predetermined coordinate Y represents a numerical value (300mm) of the predetermined coordinate on the Y axis, and the predetermined coordinate Z represents a numerical value (100mm) of the predetermined coordinate on the Z axis; h in FIG. 4₀The height of the pallet is indicated, and when the material product 20 is stacked on the code wheel 30, the height of the pallet needs to be considered when setting the value of the Z axis of the third coordinate axis.

In a specific embodiment, the first predetermined offset, the second predetermined offset and the third predetermined offset may be the same or different, fig. 5 is a top view of stacked material products in a predetermined coordinate system, material products 1, 2, 3, 4, 5, 6, 7, 8 and 9 are in the same layer, after material product 1 is stacked, material product 2 is stacked only by having an offset in the X-axis direction, that is, the first predetermined offset is not equal to 0, the second predetermined offset is equal to 0, and the third predetermined offset is equal to 0; similarly, after the material product 1 No. 1 is stacked, the material product 4 No. 4 is stacked, and only the material product needs to be shifted in the Y-axis direction, namely, the second preset shift amount is not equal to 0, the first preset shift amount is equal to 0, and the third preset shift amount is equal to 0; after putting things in good order 2 material product 2 and 4 material products 4, put things in good order 5 material product 5, all have the skew in X axle and the Y axle direction, first predetermined offset is not equal to 0 promptly, and second predetermined offset is not equal to 0, and third predetermined offset equals 0, sets up different offsets through the material product of putting things in good order to different positions, can save operating time greatly, improves mobile device's work efficiency.

In yet another embodiment of the present application, the first offset coordinate is a value of the offset coordinate corresponding to the first coordinate axis, the second offset coordinate is a value of the offset coordinate corresponding to the second coordinate axis, and the third offset coordinate is a value of the offset coordinate corresponding to the third coordinate axis, the offset unit further includes a first obtaining module, a second obtaining module, a third obtaining module, and a first determining module, the first obtaining module is configured to obtain a first offset coordinate according to the first value and the first predetermined offset; the second obtaining module is used for obtaining a second offset coordinate according to the second numerical value and the second preset offset; the third obtaining module is used for obtaining a third offset coordinate according to the third numerical value and the third preset offset; the first determining module is used for determining the offset coordinates according to the first offset coordinate, the second offset coordinate and the third offset coordinate, namely the first offset coordinate, the second offset coordinate and the third offset coordinate form three components of the offset coordinates, further determining the offset coordinates according to the first offset coordinate, the second offset coordinate and the third offset coordinate, and further stacking the material products from the offset coordinates to the corresponding preset coordinates by controlling a preset point instead of directly stacking the material products on the preset coordinates, so that the collision between the material products being stacked and the material products on the pallet is avoided.

In another embodiment of the present application, the offset unit further includes a first calculating module, a second calculating module, a third calculating module, and a second determining module, wherein the first calculating module is configured to add the first predetermined offset to the first value to obtain a first offset coordinate; the second calculation module is used for adding the second preset offset and the second numerical value to obtain a second offset coordinate; the third calculation module is used for adding the third preset offset and the third numerical value to obtain a third offset coordinate; the second determining module is used for determining the offset coordinates according to the first offset coordinate, the second offset coordinate and the third offset coordinate, namely, the first offset coordinate is obtained by adding a first preset offset on the basis of a first numerical value, the first offset coordinate is obtained by adding a second preset offset on the basis of a second numerical value, and the third offset coordinate is obtained by adding a third preset offset on the basis of a third numerical value.

In an embodiment of the application, the second obtaining unit further includes a third determining module and a fourth determining module, the third determining module is configured to determine a collision coordinate, where the collision coordinate is the predetermined coordinate at which the material product stacked later collides with the material product stacked earlier; the fourth determining module is configured to determine the predetermined offset amount according to a size of a region where the subsequently stacked material product collides with the previously stacked material product, where the collision is caused at least by a control error caused by an attribute of the movable device, as shown in fig. 6, in a case where the material product 20 collides when the material product 20 is stacked on the code wheel 30, according to sizes of a plurality of regions where the collision occurs, a maximum first predetermined offset amount, a maximum second predetermined offset amount, and a maximum third predetermined offset amount are determined, and then the predetermined coordinate is shifted according to the maximum first predetermined offset amount, the maximum second predetermined offset amount, and the maximum third predetermined offset amount, so that the material product is correctly stacked without collision.

In another embodiment of the application, the shifting unit is further configured to shift the collision coordinate according to the predetermined shift amount to obtain the corresponding shift coordinate, that is, only the collision coordinate is shifted, and then the material product is stacked correspondingly, and the material product is stacked by controlling the predetermined point to move from the shift coordinate to the corresponding predetermined coordinate instead of directly stacking the material product on the predetermined coordinate, so that the collision between the material product being stacked and the material product on the pallet is avoided.

In yet another embodiment of the application, the shifting unit is further configured to shift all the predetermined coordinates according to the predetermined shift amount to obtain corresponding shifted coordinates, specifically, a first predetermined shift amount is 200mm, a second predetermined shift amount is 200mm, and a third predetermined shift amount is 200mm, that is, in this case, all the predetermined coordinates are shifted according to the predetermined shift amount, a plurality of the predetermined coordinates are shifted directly according to the set predetermined shift amount to obtain a plurality of shifted coordinates, and the material product is stacked by controlling the predetermined point to move from the shifted coordinates to the corresponding predetermined coordinates instead of stacking the material product directly on the predetermined coordinates, so that the collision between the material product being stacked and the material product on the pallet is avoided, that is, the first predetermined shift amount is 200mm, the second predetermined shift amount is 200mm, and the third predetermined shift amount is 200mm, the predetermined coordinates of all the predetermined points are shifted, no collision of the material products occurs, that is, 200mm is the maximum first predetermined shift amount, 200mm is the maximum second predetermined shift amount, and 200mm is the maximum third predetermined shift amount, of course, the skilled person can select other values of the shift amount satisfying the requirement besides 200 mm.

In another embodiment of the present application, the apparatus further includes a third obtaining unit, a calculating unit, and a second control unit, wherein the third obtaining unit is configured to obtain a fourth predetermined offset, and obtain a first height value after controlling to place the material product at the target position, where the first height value is a value of the predetermined coordinate in a height direction; the calculating unit is used for acquiring a fourth preset offset, and after the material product is controlled to be stacked on the target position, the fourth preset offset is added with the first height value to obtain a second height value; the second control unit is configured to obtain a fourth predetermined offset, and after controlling to stack the material product at the target position, control the predetermined point to move from the position corresponding to the first height value to the position corresponding to the second height value in the height direction to control the grabbing structure to leave the stacked material product, that is, when controlling the grabbing structure to leave the stacked material product, to prevent damage to the stacked material product, the grabbing structure needs to be raised by a certain height, and then control the grabbing structure to leave the material product.

It should be noted that the fourth predetermined offset includes, but is not limited to, 200mm, and those skilled in the art can select a suitable fourth predetermined offset according to practical situations.

In another embodiment of the present application, according to the offset coordinate, the first control unit further includes a fourth obtaining module and a control module, where the fourth obtaining module is configured to obtain a real-time coordinate of the predetermined point in real time; the control module is used for controlling the predetermined point to move from the real-time coordinate to the corresponding predetermined coordinate when a first real-time value is larger than the first offset coordinate, a second real-time value is larger than the second offset coordinate, and a third real-time value is larger than the third offset coordinate, wherein the first real-time value is a value on the real-time coordinate corresponding to the first coordinate axis, the second real-time value is a value on the real-time coordinate corresponding to the first coordinate axis, the third real-time value is a value on the real-time coordinate corresponding to the first coordinate axis, specifically, as shown in fig. 7, when the material product is stacked in real time, a user firstly configures stacking parameters (equal to stacking information), and then the system judges the stacking position according to the stacking parameters, and then obtains the real-time coordinate of the predetermined point in real time, and the coordinate in the X-axis direction is X, the coordinate of the Y-axis direction is Y, the coordinate of the non-X-axis direction and the coordinate of the Y-axis direction are H, Xn is a first numerical value, Yn is a second numerical value, Hn is a third numerical value, the first preset offset and the second preset offset are both 150mm, under the condition that the X-axis direction satisfies X > Xn +150 and H > Hn, the Y-axis direction satisfies Y > Yn +150 and H > Hn, the non-X-axis direction and the Y-axis direction satisfy X > Xn +150, Y > Yn +150 and H > Hn, the preset point is controlled to move from the real-time coordinate to the corresponding preset coordinate so as to achieve correct stacking of the material product and avoid collision of the material product, under the condition that the X-axis direction does not satisfy X > Xn +150 and H > Hn, the Y-axis direction does not satisfy Y > Yn +150 and H > Hn, the non-X-axis direction and the Y-axis direction does not satisfy X > Xn +150, Y > Yn +150 and H > Hn, the alarm device is triggered, of course, 150mm in the present embodiment is optional, and the third predetermined offset amount in the non-X-axis and Y-axis directions may also be set to an appropriate value according to actual conditions, and X > Xn +150, H > Hn, Y > Yn +150, which is greater than the relationship among the three determination conditions, may be satisfied in actual operation, for example, when X is Xn +155, and it is not necessary to control the grabbing structure operation to improve the working efficiency when X is Xn + 300.

In another embodiment of the application, the first obtaining unit is further configured to obtain stacking information, where the stacking information at least includes the number of layers to be stacked, a placement mode of each layer of material products, the size of the material products, the size (length, width, and height) of a code wheel, the shape of the material products, a position of a gripping point of the clamp during stacking, a height of the stacking pallet, a placement mode of the material during stacking, and the like; and acquiring a plurality of preset coordinates according to the stacking information, and accurately determining the preset coordinates according to the stacking information.

When stacking different above-mentioned material products, the above-mentioned predetermined offset is the same or different, as shown in fig. 5, when stacking material products No. 1 to No. 9, different offsets are correspondingly set according to the position difference of the material products, thereby saving time and improving work efficiency.

The device for stacking the movable equipment comprises a processor and a memory, wherein the first acquiring unit, the second acquiring unit, the shifting unit, the first control unit and the like are stored in the memory as program units, and the processor executes the program units stored in the memory 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 collision between the material products which are just stacked and the material products on the code disc is prevented by adjusting the parameters of the inner core.

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, on which a program is stored, which when executed by a processor implements the above-described method of palletizing a movable device.

The embodiment of the invention provides a processor, which is used for running a program, wherein the program is used for executing the method for stacking the movable equipment during running.

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 when the processor executes the program, at least the following steps are realized:

step S101, acquiring a plurality of preset coordinates, wherein the preset coordinates are coordinates of a preset point on the grabbing structure in a preset coordinate system, and when the coordinates of the preset point are the preset coordinates, the grabbing structure puts the grabbed material products on a target position;

step S102, acquiring a preset offset;

step S103, shifting a plurality of preset coordinates according to the preset shift amount to obtain a plurality of shifted coordinates;

and step S104, controlling the predetermined point to move to the corresponding predetermined coordinate according to the offset coordinate.

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 of initializing at least the following method steps when executed on a data processing device:

step S101, acquiring a plurality of preset coordinates, wherein the preset coordinates are coordinates of a preset point on the grabbing structure in a preset coordinate system, and when the coordinates of the preset point are the preset coordinates, the grabbing structure puts the grabbed material products on a target position;

step S102, acquiring a preset offset;

step S103, shifting a plurality of preset coordinates according to the preset shift amount to obtain a plurality of shifted coordinates;

and step S104, controlling the predetermined point to move to the corresponding predetermined coordinate according to the offset coordinate.

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.

From the above description, it can be seen that the above-described embodiments of the present application achieve the following technical effects:

1) the method for stacking the movable equipment obtains the offset coordinate by offsetting the preset coordinate, when the material products are actually stacked, the preset point is controlled to move to the corresponding preset coordinate according to the offset coordinate, namely the material products to be stacked cannot be directly stacked at the position corresponding to the preset coordinate, after the preset coordinate is offset by a certain amount, the preset point is controlled to move to the preset coordinate to achieve stacking of the material products, and the material products to be stacked are not directly stacked at the position corresponding to the preset coordinate, so that the collision between the material products being stacked and the material products on the stacking tray is avoided.

2) The shifting unit shifts the preset coordinate to obtain the shifted coordinate, when the material products are actually stacked, the preset point is controlled to move to the corresponding preset coordinate according to the shifted coordinate, namely the material products to be stacked cannot be directly stacked at the position corresponding to the preset coordinate, after the preset coordinate is shifted by a certain amount, the preset point is controlled to move to the preset coordinate to achieve stacking of the material products, and the material products to be stacked are not directly stacked at the position corresponding to the preset coordinate, so that collision between the material products which are being stacked and the material products on the stacking tray is avoided.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.