CN110443435A - A kind of bar stacking method, device, equipment and medium - Google Patents
A kind of bar stacking method, device, equipment and medium Download PDFInfo
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- CN110443435A CN110443435A CN201910785212.8A CN201910785212A CN110443435A CN 110443435 A CN110443435 A CN 110443435A CN 201910785212 A CN201910785212 A CN 201910785212A CN 110443435 A CN110443435 A CN 110443435A
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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
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- G—PHYSICS
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- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
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Abstract
The embodiment of the invention discloses a kind of bar stacking method, device, equipment and media.Wherein, the method is applied to bar stack equipment, it is placed in temporary disk on the bar stack equipment configured with detection device, temporary disk, rotation Zhao Wei mechanism and high accuracy displacement sensor, bar to be stacked, the bar end face to be stacked is irregular hexagon；This method comprises: obtaining the face size information of bar to be stacked by detection device, according to bar end face size distribution to be stacked in temporary disk and to stack region width, determine to every layer of the stack region bar quantity to be stacked；The face size information and location information to the stack region first layer N root bar to be stacked to be stacked are determined from temporary disk, stack gradually N root bar in the first layer to stack region.The embodiment of the invention provides a kind of automatic bar stacking methods to avoid bar layer from collapsing to improve the space utilization rate of bar stacking.
Description
Technical field
The present embodiments relate to technical field of automation in industry more particularly to a kind of bar stacking methods, device, equipment
And medium.
Background technique
In the industrial production, bar is common raw materials for production.Since the size of bar itself is different, production,
Can there is a problem of during packaging and storage very much.
For example, being the bar of irregular hexagon for end face, memory space will cause using conventional stack manner
Waste, and collapse to bar layer is easily caused.
Summary of the invention
The present invention provides a kind of bar stacking method, device, equipment and medium, to improve the space utilization of bar stacking
Rate avoids bar layer from collapsing.
In a first aspect, being set the embodiment of the invention provides a kind of bar stacking method bar stacking applied to bar stacking
Standby, the bar stack equipment is configured with detection device, temporary disk, rotation Zhao Wei mechanism and high accuracy displacement sensor, to
It stacks bar to be placed in temporary disk, the bar end face to be stacked is irregular hexagon；Wherein, which comprises
The face size information that the bar to be stacked is obtained by the detection device records and stores described wait stack
The location information of the face size information of bar and the bar to be stacked in temporary disk；
It is distributed according to bar end face size to be stacked in the temporary disk and to stack region width, determines to stack region
Every layer of the domain bar quantity to be stacked；Wherein, the bar quantity that odd-level stacks is N root, the bar quantity that even level stacks
For N-1 root；
The end face ruler to the stack region first layer N root bar to be stacked to be stacked is determined from the temporary disk
Very little information and location information, control the rotation Zhao Wei mechanism by the bar to be stacked with bar end face hexagon wherein
The vertical direction to stack region bottom of one group of opposite side, stacks gradually N root bar in the first layer to stack region.
Second aspect, the embodiment of the invention also provides a kind of bar stack devices, are configured at bar stack equipment, described
Bar stack equipment is configured with detection device, temporary disk, rotation Zhao Wei mechanism and high accuracy displacement sensor, bar to be stacked
It is placed in temporary disk, the bar end face to be stacked is irregular hexagon；Wherein, described device includes:
Module is obtained, for obtaining the face size information of the bar to be stacked by the detection device, record is simultaneously
Store the location information of the face size information and the bar to be stacked of the bar to be stacked in temporary disk；
Bar quantity determining module, for being distributed according to bar end face size to be stacked in the temporary disk and wait stack
Peak width is determined to every layer of the stack region bar quantity to be stacked；Wherein, the bar quantity that odd-level stacks is N root,
The bar quantity that even level stacks is N-1 root；
Bar stack module, it is described to the stack region first layer N root to be stacked for being determined from the temporary disk
The face size information and location information of bar to be stacked control the rotation Zhao Wei mechanism for the bar to be stacked with stick
The vertical direction to stack region bottom of wherein one group of opposite side for expecting end face hexagon, the first layer to stack region according to
Secondary stacking N root bar.
The third aspect, the embodiment of the invention also provides a kind of bar stack equipment, the equipment includes:
One or more processors；
Storage device, for storing one or more programs；
Detection device, for detecting the face size information of bar to be stacked, the bar end face to be stacked is irregular
Hexagon；
Temporary disk, for storing bar to be stacked；
Zhao Wei mechanism is rotated, for rotating bar to be stacked；
High accuracy displacement sensor, for detecting the overall width to stack bar in stack region；
When one or more of programs are executed by one or more of processors, so that one or more of processing
Device realizes the bar stacking method as described in any embodiment of the present invention.
Fourth aspect, the embodiment of the invention also provides a kind of computer readable storage mediums, are stored thereon with computer
Program, which is characterized in that the bar stacking side as described in any embodiment of the present invention is realized when the program is executed by processor
Method.
The embodiment of the present invention obtains the face size information of bar to be stacked by detection device, records and stores wait stack
Location information of the face size information and bar to be stacked of bar in temporary disk, and then according to stick to be stacked in temporary disk
Expect face size distribution and to stack region width, determine to every layer of the stack region bar quantity to be stacked, from keeping in
The face size information and location information that bar is stacked to the stack region first layer N root band to be stacked, control are determined in disk
System rotation Zhao Wei mechanism puts bar according to the direction of setting.The technical solution of the embodiment of the present invention provides a kind of sky
Between the high automatic stacking method of bar of utilization rate, can be avoided collapsing for bar layer.
Detailed description of the invention
Fig. 1 is a kind of flow chart for bar stacking method that the embodiment of the present invention one provides；
Fig. 2 is the schematic diagram for the bar stacking direction that the embodiment of the present invention one provides；
Fig. 3 is a kind of flow chart of bar stacking method provided by Embodiment 2 of the present invention；
Fig. 4 is that schematic diagram is put in the dislocation of different layers bar provided by Embodiment 2 of the present invention；
Fig. 5 is a kind of structural schematic diagram for bar stack device that the embodiment of the present invention three provides；
Fig. 6 is the structural schematic diagram for the bar stack equipment that the embodiment of the present invention four provides.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
Embodiment one
Fig. 1 is a kind of flow chart for bar stacking method that the embodiment of the present invention one provides.The present embodiment is applicable to pair
The case where bar is stacked.This method is applied to bar stack equipment, and the bar stack equipment is configured with detection
Device, temporary disk, rotation Zhao Wei mechanism and high accuracy displacement sensor, bar to be stacked be placed in temporary disk, it is described to
Stacking bar end face is irregular hexagon.This method can be executed by bar stack device, which can be by software
And/or the mode of hardware is realized, and is configured in bar stack equipment.As shown in Figure 1, bar provided in this embodiment stacks
Method can specifically include following steps:
Step 110, the face size information that the bar to be stacked is obtained by the detection device, record and store institute
State the location information of the face size information and the bar to be stacked of bar to be stacked in temporary disk.
Wherein, detection device is used to detect the face size information of bar to be stacked, can be by bar to be stacked
The CCD device placed at both ends detects the face size information at bar both ends to be stacked respectively.Further, bar to be stacked
Face size information include relative distance between three groups of opposite side of end face hexagon, by between other group of opposite side it is opposite away from
Deviation is away from the relative distance between maximum opposite side as bar end face dimension information.
Illustratively, if detecting, the relative distance of wherein two groups of opposite side is close, the relative distance of another set opposite side and
The relative distance difference of this two groups of opposite side is larger, then using the relative distance between another set opposite side as hexagon face size
Information.If detecting, the face size information error value at bar both ends has exceeded certain threshold value, judges the bar not conform to
The bar of lattice is simultaneously discarded, wherein error threshold is set according to actual demand.
Further, it will test the bar to be stacked that device detected to be put into temporary disk, every in temporary disk is to heap
Folded bar is all associated with corresponding location information, record and store the bar to be stacked face size information and bar to be stacked
Location information in temporary disk forms the database of a bar to be stacked.
Step 120 is distributed according to bar end face size to be stacked in the temporary disk and to stack region width, determines
To every layer of the stack region bar quantity to be stacked.
Wherein, the bar quantity that odd-level stacks is N root, and the bar quantity that even level stacks is N-1 root, wherein described
Face size distribution is to divide to obtain according to the face size information of bar to be stacked in temporary disk in advance.
It optionally, is to place the mold for stacking bar to stack region.When one timing of width to stack region, according to temporary
The face size of bar to be stacked in deposit is distributed, to determine to every layer of the stack region bar quantity to be stacked.
Illustratively, if the width to stack region is 180mm, the face size size of bar to be stacked [2.40,
2.60] between mm, by face size be divided into four sections [2.40,2.45) mm, [2.45,2.50) mm, [2.50,2.55)
Mm, [2.55,2.60) mm.If the face size of bar is mainly distributed in the first two section, the odd-level to stack region
72 bars are put, if the face size of bar is mainly distributed in intermediate two sections, the odd-level to stack region is put
71 bars are put, if the face size of bar is mainly distributed in two sections next, the odd-level to stack region is put
70 bars.
Step 130, determination is described to the stack region first layer N root bar to be stacked to be stacked from the temporary disk
Face size information and location information, control the rotation Zhao Wei mechanism for the bar to be stacked with six side of bar end face
The vertical direction to stack region bottom of wherein one group of opposite side of shape, stacks gradually N root in the first layer to stack region
Bar.
In the present embodiment, after the quantity for putting bar to every layer of stack region determines, according to the width to stack region
Bar database to be stacked in degree and temporary disk determines in slave temporary disk successively to be stacked to stack region first layer
Bar to be stacked is passed through motor by the face size information and location information of N root bar to be stacked, control rotation Zhao Wei mechanism
Rotate to specified direction.Further, referring to Fig. 2, specified direction refers to wherein one group pair of bar end face hexagon
The vertical direction to stack region bottom in side, stacks gradually N root bar in the first layer to stack region.
The embodiment of the present invention obtains the face size information of bar to be stacked by detection device, records and stores to heap
Location information of the face size information and bar to be stacked of folded bar in temporary disk, so according in temporary disk wait stack
Bar end face size distribution and to stack region width, determines to every layer of the stack region bar quantity to be stacked, from temporary
The face size information and location information that bar is stacked to the stack region first layer N root band to be stacked are determined in deposit,
Control rotation Zhao Wei mechanism puts bar according to the direction of setting, to provide a kind of bar that space utilization rate is high
Automatic stacking method can be avoided collapsing for bar layer.
On the basis of the above embodiments, this method further include: the end according to newly added bar to be stacked in temporary disk
Face dimension information and location information, the face size information of the stored bar to be stacked in real-time update temporary disk and position
Information.
Specifically, the spare bits in temporary disk in time during the bar to be stacked in temporary disk is removed
Set the new bar to be stacked of addition, the bar to be stacked being removed face size information in the database and in temporary disk
Location information can also be eliminated, correspondingly, face size information and position according to bar to be stacked newly added in temporary disk
Confidence ceases, the face size information and location information of the stored bar to be stacked in real-time update temporary disk.
Embodiment two
Fig. 3 is a kind of flow chart of bar stacking method provided by Embodiment 2 of the present invention.The present embodiment is in above-mentioned reality
On the basis of applying example, step 130 is further refined.As shown in figure 3, bar stacking method provided in this embodiment is specific
It may include steps of:
Step 210, the face size information that the bar to be stacked is obtained by the detection device, record and store institute
State the location information of the face size information and the bar to be stacked of bar to be stacked in temporary disk.
Step 220 is distributed according to bar end face size to be stacked in the temporary disk and to stack region width, determines
To every layer of the stack region bar quantity to be stacked.
Step 230, according to bar quantity N to be stacked to stack region width and first layer, determine needed for first layer to
Stack the average face size of bar.
Illustratively, if the width to stack region is 180mm, the face size range of the bar to be stacked in temporary disk
For [2.40,2.60] mm, the first layer bar quantity to be stacked is 72, then bar to be stacked needed for first layer is averaged
Face size is 2.50mm.
Step 240, according to the average face size and face size distribution, the is determined from the temporary disk
One layer of the 1st face size information and location information to M root bar to be stacked to be stacked.
Wherein the size distribution of end face includes at least the size distributed area of two end faces, for reflecting bar in temporary disk
The distribution situation of face size.
Continue with the width to stack region to be 180mm, the face size range of the bar to be stacked in temporary disk is
[2.40,2.60] mm can be pressed the face size range by division for the first layer bar quantity to be stacked is 72
The sequence of hindsight cun from small to large be divided into first interval [2.40,2.45) mm, second interval [2.45,2.50) mm, third area
Between [2.50,2.55) mm and the 4th section [2.55,2.60] mm this four size distributed areas.At this time to heap needed for first layer
The average face size of folded bar is 2.50mm, optionally, M 40, since bar can have detection when actually stacking
Error and gap error, so before progress when the selection of 40 bars, it be in the first interval smaller than average face size
And first interval carries out the selection of bar end face size, it can be according to actual demand assignment first interval and second interval
The quantity of selected bar.
As an alternative embodiment, face size can be chosen from temporary disk according to sequence from small to large
Preceding 10 bars to be stacked within the scope of first interval, successively by the bar to be stacked of selection in the first layer to stack region
It is stacked.
Further, according to data from small to large, face size is chosen from temporary disk the of the second range intervals
11 to the 40th bars to be stacked, if to be stacked bar of the face size in the second range intervals only has 27 in temporary disk
Root then continues to choose the bar to be stacked being close with average face size 2.50mm from temporary disk as the 38th to the 40th
Bar to be stacked successively stacks the bar to be stacked of selection in the first layer to stack region.
The selection mode of the bar to be stacked can guarantee that the face size gap between adjacent bar is smaller, be conducive to
The stacking of upper layer bar, while by reasonably distributing bar end face size to be stacked in the quantity in different sections, it can guarantee
Average face size of the average face size of the bar stacked close to bar to be stacked needed for first layer.
Wherein, the specific value of M can have according to the face size of width and bar to be stacked to stack region
Body determines, does not do any restriction.
The face size mean value for the preceding M root bar that step 250, foundation have stacked and the face size information of M root bar,
And the average face size of bar to be stacked needed for the first layer, determine that M+1 root to L root waits stacking from temporary disk
The face size information and location information of bar.
Optionally, 60 L, end when choosing the 41st to the 60th bar, according to the preceding M root bar stacked
The average end face ruler of bar to be stacked needed for the face size information and the first layer of face size mean value and M root bar
It is very little, the face size information and location information of M+1 root to L root bar to be stacked are determined from temporary disk.
Specifically, the bar quantity that first layer stacks is 72, first layer still to be 180mm to stack region width
For the average face size of required bar to be stacked is 2.50mm, if the end face for preceding 40 bars stacked being calculated
Size mean value is less than 2.50mm, then from temporary disk according to from it is small to big sequence successively choose it is bigger than 2.50mm and with the 40th
The 41st to the 60th bar to be stacked that the face size of root bar is close；If first 40 be calculated have stacked bar
Face size mean value be greater than 2.50mm, then from temporary disk according to sequence from big to small successively choose it is smaller than 2.50mm and with
The face size of 40th bar is close the 41st to the 60th bar, and the bar to be stacked that screening is obtained is in the 40th stick
It is successively placed after material.
Further, the average face size of bar to be stacked needed for the above-mentioned first layer acquired is the end face that is preferably averaged
Size, because bar can have certain gap error and detection error during stacking, in practical applications,
It can be using the value smaller than average face size as actual average face size, illustratively, if the average end face ruler acquired
Very little is 2.50mm, then can be using 2.49mm as the 41st to the 60th average face size when stacking the selection of bar
Value.
Wherein, the specific value of L can have according to the face size of width and bar to be stacked to stack region
Body determines, does not do any restriction.
Step 260 obtains having stacked when stacking L root to nth root bar by high accuracy displacement sensor respectively
Bar width calculates the remaining average end for stacking bar to be stacked needed for width of first layer when stacking L root to nth root bar
Face size, according to it is remaining stack width needed for the average face size of bar and the face size of previous bar, from described
The face size information and location information of the first layer L root to be stacked to nth root bar to be stacked are determined in temporary disk.
Specifically, the average face size of bar and the end face ruler of previous bar needed for stacking width according to residue
It is very little, from the temporary disk determine the first layer K+1 root to be stacked to nth root bar to be stacked face size information with
And location information, comprising:
If the average face size is greater than the face size of the previous bar, determined from the temporary disk big
It is used as currently in the previous bar end face size and with the immediate bar to be stacked of the previous bar end face size
The bar to be stacked；
If the average face size is less than the face size of the previous bar, determination is small from the temporary disk
It is used as currently in the previous bar end face size and with the immediate bar to be stacked of the previous bar end face size
The bar to be stacked.
Illustratively, when carrying out the stacking of the 61st to the 72nd bar, before the selection of each bar, height is utilized
Accurate sensor detects the overall width of the stacked bar of first layer, it is hereby achieved that first layer residue stacked position is total
Width, and then acquire the average face size of bar to be stacked needed for remaining placement position, according to this be averaged face size and
The face size of previous bar, to determine the face size of the current bar to be stacked to be chosen.
Illustratively, when carrying out the stacking of the 61st bar, if the required to heap of remaining placement position is calculated
The average face size value of folded bar is 2.5mm, and the size of the 60th bar is 2.55mm at this time, then ratio is chosen from temporary disk
2.55mm is small and is placed on the 61st position with the immediate bar to be stacked of 2.55mm size；If remaining placement position is calculated
The average face size value of required bar to be stacked be 2.5mm, the size of the 60th bar is 2.45mm at this time, then from temporary
It chooses bigger than 2.45mm in disk and is placed on the 61st position with the immediate bar to be stacked of 2.45mm size.According to the method described above
And so on, the 62nd to the 72nd bar to be stacked successively is chosen from temporary disk, it is complete in conjunction with the error of putting of bar requirement
At the bar stacking to stack region first layer.Further, above-mentioned error of putting can be set according to actual demand,
Specific restriction is not done.
The Rule of judgment of above-mentioned bar to be stacked not only had taken into account the requirement of face size but also had taken into account ruler between adjacent bar
Very little difference cannot be too big requirement, meet stack precision under the premise of, be also beneficial to the stacking of upper layer bar.
Since bar to be stacked can have detection error when being detected by detection device, and in stacking
There can be gap in the process, error can be eliminated using high-precision sensor, it is ensured that the stacking required precision of bar.
Further, after the first layer to stack region stacks gradually N root bar, further includes:
When stacking number is more than or equal to 2, the face size information of bar is stacked according to preceding layer, from the temporary disk
The face size information and location information of the current layer of the middle determination bar to be stacked to be stacked control the rotation and look for a machine
Structure is successively by the topside position for being stacked on preceding layer of the bar dislocation to be stacked.
Specifically, first layer bar stack complete after, the face size of first layer bar be it is known, so as to
The face size for determining the every bar to be stacked on the second layer chooses phase from temporary disk according to the face size of every bar
The bar to be stacked answered.And so on, complete the stacking to stack region bar at the middle and upper levels, the dislocation disposing way between every layer
It is referred to shown in Fig. 4.
The technical solution of the present embodiment will be adjacent by choosing bar to be stacked from temporary disk according to different rules
Face size control between bar has also taken into account upper layer bar while stacking precision in a certain range, ensure that
It stacks, the stacking error between bar can be reduced accordingly, avoid the collapsing for having stacked bar.
Embodiment three
Fig. 5 is a kind of structure chart of bar stack device provided by the embodiment of the present invention three.The device is configured at bar
In stack equipment, bar stack equipment is configured with detection device, temporary disk, rotation Zhao Wei mechanism and high precision displacement sensing
Device, bar to be stacked are placed in temporary disk, and the bar end face to be stacked is irregular hexagon；The device is executable originally
A kind of bar stacking method provided by invention any embodiment, referring to Fig. 5, a kind of bar stacking provided in an embodiment of the present invention
Device includes: to obtain module 310, bar quantity determining module 320 and bar stack module 330.
Wherein, module 310 is obtained, the face size for obtaining the bar to be stacked by the detection device is believed
Breath records and stores the position letter of the face size information and the bar to be stacked of the bar to be stacked in temporary disk
Breath.
Bar quantity determining module 320, for according to bar end face size to be stacked in the temporary disk be distributed and to
Stack region width is determined to every layer of the stack region bar quantity to be stacked；Wherein, the bar quantity of odd-level stacking is
N root, the bar quantity that even level stacks are N-1 root, and the face size distribution is in advance according to bar to be stacked in temporary disk
Face size information divide to obtain.
Bar stack module 330, it is described to the stack region first layer N to be stacked for being determined from the temporary disk
The face size information and location information of root bar to be stacked, control the rotation Zhao Wei mechanism by the bar to be stacked with
The vertical direction to stack region bottom of wherein one group of opposite side of bar end face hexagon, in the first layer to stack region
Stack gradually N root bar.
It is provided by any embodiment of the invention that a kind of bar provided by the embodiment of the present invention waits for that stack region can be performed
A kind of bar stacking method has the corresponding functional module of execution method and beneficial effect.
On the basis of the above embodiments, the device further include: upper layer bar stack module, for being greater than when stacking number
When equal to 2, the face size information of bar is stacked according to preceding layer, the current layer determined from the temporary disk to be stacked
Bar to be stacked face size information and location information, control the rotation Zhao Wei mechanism successively by the bar to be stacked
The topside position for being stacked on preceding layer of dislocation.
On the basis of the above embodiments, above-mentioned acquisition module 310 is specifically used for: by described in detection device acquisition
Relative distance between three groups of opposite side of bar end face hexagon to be stacked, and the relative distance between other group of opposite side is poor
Away from the relative distance between maximum opposite side as bar end face dimension information.
On the basis of the above embodiments, which further includes temporary disk update module, for newly adding in foundation temporary disk
The face size information and location information of the bar to be stacked added, stored bar to be stacked in real-time update temporary disk
Face size information and location information.
On the basis of the above embodiments, above-mentioned bar stack module 330 is specifically used for: according to stack region width and
The bar quantity N to be stacked of first layer, the average face size of bar to be stacked needed for determining first layer；
According to the average face size and face size distribution, determine that first layer is wanted from the temporary disk
The 1st face size information and location information to M root bar to be stacked stacked；
According to the face size mean value of preceding M root bar that has stacked and the face size information of M root bar and described
The average face size of bar to be stacked needed for first layer determines M+1 root to the end of L root bar to be stacked from temporary disk
Face dimension information and location information；
Obtain the bar width stacked when stacking L root to nth root bar respectively by high accuracy displacement sensor,
The remaining average face size for stacking bar to be stacked needed for width for calculating first layer when stacking L root to nth root bar, according to
The average face size of bar and the face size of previous bar needed for stacking width according to residue, from the temporary disk really
Determine the face size information and location information of L root that first layer to be stacked to nth root bar to be stacked.
Further, above-mentioned bar stack module 330 also particularly useful for: if the average face size be greater than it is described previous
The face size of root bar, then from the temporary disk determine be greater than the previous bar end face size and with described previous
The immediate bar to be stacked of bar end face size is as the current bar to be stacked；
If the average face size is less than the face size of the previous bar, determination is small from the temporary disk
It is used as currently in the previous bar end face size and with the immediate bar to be stacked of the previous bar end face size
The bar to be stacked.
A kind of bar stack device provided by the embodiment of the present invention can be performed provided by any embodiment of the invention one
Kind bar stacking method, has the corresponding functional module of execution method and beneficial effect.
Example IV
Fig. 6 is a kind of structural schematic diagram for bar stack equipment that the embodiment of the present invention four provides.Fig. 6, which is shown, to be suitable for using
Come realize embodiment of the present invention example devices 612 block diagram.The equipment 612 that Fig. 6 is shown is only an example, is not answered
Any restrictions are brought to the function and use scope of the embodiment of the present invention.
As shown in fig. 6, equipment 612 is showed in the form of universal computing device.The component of equipment 612 may include but unlimited
In one or more processor 616 or processing unit, system memory device 628, connecting different system components (including is
Unite storage device 628 and processor 616) bus 618, detection device 644, temporary disk 646, rotation Zhao Wei mechanism 648, high-precision
Spend displacement sensor 650.
Detection device 644, for detecting the face size information of bar to be stacked, the bar end face to be stacked is not advise
Hexagon then, temporary disk 646, for storing bar to be stacked, rotation Zhao Wei mechanism 648 is high for rotating bar to be stacked
Accuracy Displacement sensor 650, for detecting the overall width to stack bar in stack region.
Bus 618 indicates one of a few class bus structures or a variety of, including storage device bus or storage device control
Device processed, peripheral bus, graphics acceleration port, processor or total using the local of any bus structures in a variety of bus structures
Line.For example, these architectures include but is not limited to industry standard architecture (ISA) bus, microchannel architecture
(MAC) bus, enhanced isa bus, Video Electronics Standards Association (VESA) local bus and peripheral component interconnection (PCI) are total
Line.
Equipment 612 typically comprises a variety of computer system readable media.These media can be it is any can be by equipment
The usable medium of 612 access, including volatile and non-volatile media, moveable and immovable medium.
Storage device 628 may include the computer system readable media of form of volatile memory, such as arbitrary access
Memory (RAM) 630 and/or cache memory 632.Equipment 612 may further include other removable/nonremovable
, volatile/non-volatile computer system storage medium.Only as an example, storage system 634 can be used for reading and writing not removable
Dynamic, non-volatile magnetic media (Fig. 6 do not show, commonly referred to as " hard disk drive ").Although being not shown in Fig. 6, can provide
Disc driver for being read and write to removable non-volatile magnetic disk (such as " floppy disk "), and to removable anonvolatile optical disk
The CD drive of (such as CD-ROM, DVD-ROM or other optical mediums) read-write.In these cases, each driver can
To be connected by one or more data media interfaces with bus 618.Storage device 628 may include that at least one program produces
Product, the program product have one group of (for example, at least one) program module, these program modules are configured to perform of the invention each
The function of embodiment.
Program/utility 640 with one group of (at least one) program module 642 can store in such as storage dress
It sets in 628, such program module 642 includes but is not limited to operating system, one or more application program, other program moulds
It may include the realization of network environment in block and program data, each of these examples or certain combination.Program module
642 usually execute function and/or method in embodiment described in the invention.
Equipment 612 can also be logical with one or more external equipment 614 (such as keyboard, sensing equipment) displays 624 etc.
Letter, can also be enabled a user to one or more equipment interact with the equipment 612 communicate, and/or with make the equipment 612
Any equipment (such as network interface card, modem etc.) that can be communicated with one or more of the other calculating equipment communicates.This
Kind communication can be carried out by input/output (I/O) interface 622.Also, equipment 612 can also by network adapter 620 with
One or more network (such as local area network (LAN), wide area network (WAN) and/or public network, such as internet) communication.Such as
Shown in figure, network adapter 620 is communicated by bus 618 with other modules of equipment 612.It should be understood that although not showing in figure
Out, other hardware and/or software module can be used with bonding apparatus 612, including but not limited to: microcode, device driver, superfluous
Remaining processing unit, external disk drive array, RAID system, tape drive and data backup storage system etc..
Processor 616 by the program that is stored in system storage 628 of operation, thereby executing various function application and
Data processing, such as realize a kind of bar stacking method provided by the embodiment of the present invention:
The face size information that the bar to be stacked is obtained by the detection device records and stores described wait stack
The location information of the face size information of bar and the bar to be stacked in temporary disk；
It is distributed according to bar end face size to be stacked in the temporary disk and to stack region width, determines to stack region
Every layer of the domain bar quantity to be stacked；Wherein, the bar quantity that odd-level stacks is N root, the bar quantity that even level stacks
For N-1 root；
The end face ruler to the stack region first layer N root bar to be stacked to be stacked is determined from the temporary disk
Very little information and location information, control the rotation Zhao Wei mechanism by the bar to be stacked with bar end face hexagon wherein
The vertical direction to stack region bottom of one group of opposite side, stacks gradually N root bar in the first layer to stack region.
Embodiment five
The embodiment of the present invention five also provides a kind of storage medium comprising computer executable instructions, and computer is executable to be referred to
It enables when being executed by computer processor for executing a kind of bar stacking method, is applied to bar stack equipment, the bar
Stack equipment is placed configured with detection device, temporary disk, rotation Zhao Wei mechanism and high accuracy displacement sensor, bar to be stacked
In temporary disk, the bar end face to be stacked is irregular hexagon；This method comprises:
The face size information that the bar to be stacked is obtained by the detection device records and stores described wait stack
The location information of the face size information of bar and the bar to be stacked in temporary disk；
It is distributed according to bar end face size to be stacked in the temporary disk and to stack region width, determines to stack region
Every layer of the domain bar quantity to be stacked；Wherein, the bar quantity that odd-level stacks is N root, the bar quantity that even level stacks
For N-1 root；
The end face ruler to the stack region first layer N root bar to be stacked to be stacked is determined from the temporary disk
Very little information and location information, control the rotation Zhao Wei mechanism by the bar to be stacked with bar end face hexagon wherein
The vertical direction to stack region bottom of one group of opposite side, stacks gradually N root bar in the first layer to stack region.When
So, a kind of storage medium comprising computer executable instructions, computer executable instructions provided by the embodiment of the present invention
It is not limited to method operation as above, the phase in a kind of bar stacking method provided by any embodiment of the invention can also be performed
Close operation.
By the description above with respect to embodiment, it is apparent to those skilled in the art that, the present invention
It can be realized by software and required common hardware, naturally it is also possible to which by hardware realization, but in many cases, the former is more
Good embodiment.Based on this understanding, technical solution of the present invention substantially in other words contributes to the prior art
Part can be embodied in the form of software products, which can store in computer readable storage medium
In, floppy disk, read-only memory (Read-Only Memory, ROM), random access memory (Random such as computer
Access Memory, RAM), flash memory (FLASH), hard disk or CD etc., including some instructions are with so that a computer is set
The method that standby (can be personal computer, terminal or the network equipment etc.) executes each embodiment of the present invention.
It is worth noting that, included each unit and module are only in a kind of embodiment of above-mentioned bar stack device
It is to be divided according to the functional logic, but be not limited to the above division, as long as corresponding functions can be realized；Separately
Outside, the specific name of each functional unit is also only for convenience of distinguishing each other, the protection scope being not intended to restrict the invention.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The present invention is not limited to specific embodiments here, be able to carry out for a person skilled in the art it is various it is apparent variation, again
Adjustment and substitution are without departing from protection scope of the present invention.Therefore, although by above embodiments to the present invention carried out compared with
For detailed description, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, can be with
Including more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. a kind of bar stacking method, which is characterized in that be applied to bar stack equipment, the bar stack equipment is configured with inspection
Device, temporary disk, rotation Zhao Wei mechanism and high accuracy displacement sensor are surveyed, bar to be stacked is placed in temporary disk, described
Bar end face to be stacked is irregular hexagon；Wherein, which comprises
The face size information that the bar to be stacked is obtained by the detection device records and stores the bar to be stacked
Location information in temporary disk of face size information and the bar to be stacked；
It is distributed according to bar end face size to be stacked in the temporary disk and to stack region width, determination is every to stack region
The layer bar quantity to be stacked；Wherein, the bar quantity that odd-level stacks is N root, and the bar quantity that even level stacks is N-1
Root, the face size distribution is to divide to obtain according to the face size information of bar to be stacked in temporary disk in advance；
Determine that the face size to the stack region first layer N root bar to be stacked to be stacked is believed from the temporary disk
Breath and location information control the rotation Zhao Wei mechanism for the bar to be stacked with wherein one group of bar end face hexagon
The vertical direction to stack region bottom of opposite side, stacks gradually N root bar in the first layer to stack region.
2. the method according to claim 1, wherein stacking gradually N root in the first layer to stack region
After bar, further includes:
When stacking number is more than or equal to 2, the face size information of bar is stacked according to preceding layer, from the temporary disk really
The face size information and location information of the fixed current layer bar to be stacked to be stacked, control the rotation Zhao Wei mechanism according to
The secondary topside position for being stacked on preceding layer by the bar dislocation to be stacked.
3. the method according to claim 1, wherein described obtain the stick to be stacked by the detection device
The face size information of material includes:
The relative distance between three groups of opposite side of the bar end face hexagon to be stacked is obtained by the detection device, and will
Relative distance between the opposite side of relative distance disparity between other group of opposite side is as bar end face dimension information.
4. the method according to claim 1, wherein the method also includes:
According to the face size information and location information of newly added bar to be stacked in temporary disk, in real-time update temporary disk
The face size information and location information of stored bar to be stacked.
5. the method according to claim 1, wherein described determining described to stack region from the temporary disk
The face size information and location information of the first layer N root bar to be stacked to be stacked includes:
According to the bar quantity N to be stacked to stack region width and first layer, bar to be stacked needed for determining first layer is put down
Equal face size；
According to the average face size and face size distribution, determine that first layer to be stacked from the temporary disk
The 1st face size information and location information to M root bar to be stacked；
According to the face size mean value of the preceding M root bar stacked and the face size information and described first of M root bar
The average face size of bar to be stacked needed for layer determines the end face ruler of M+1 root to L root bar to be stacked from temporary disk
Very little information and location information；
It obtains the bar width stacked when stacking L root to nth root bar respectively by high accuracy displacement sensor, calculates
The remaining average face size for stacking bar to be stacked needed for width of first layer when stacking L root to nth root bar, according to surplus
The average face size of bar needed for remaining stacking width and the face size of previous bar determine the from the temporary disk
One layer of L root to be stacked to nth root bar to be stacked face size information and location information.
6. according to the method described in claim 5, it is characterized in that, the average end face ruler of bar needed for stacking width according to residue
The face size of very little and previous bar determines that first layer L root to the nth root to be stacked waits for heap from the temporary disk
The face size information and location information of folded bar, comprising:
If the average face size is greater than the face size of the previous bar, is determined from the temporary disk and be greater than institute
It states previous bar end face size and is used as with the immediate bar to be stacked of the previous bar end face size and currently wanted
The bar of stacking；
If the average face size is less than the face size of the previous bar, is determined from the temporary disk and be less than institute
It states previous bar end face size and is used as with the immediate bar to be stacked of the previous bar end face size and currently wanted
The bar of stacking.
7. a kind of bar stack device, which is characterized in that be configured at bar stack equipment, the bar stack equipment is configured with inspection
Device, temporary disk, rotation Zhao Wei mechanism and high accuracy displacement sensor are surveyed, bar to be stacked is placed in temporary disk, described
Bar end face to be stacked is irregular hexagon；Wherein, described device includes:
Module is obtained, for obtaining the face size information of the bar to be stacked by the detection device, is recorded and stored
The location information of the face size information of the bar to be stacked and the bar to be stacked in temporary disk；
Bar quantity determining module, for being distributed according to bar end face size to be stacked in the temporary disk and to stack region
Width is determined to every layer of the stack region bar quantity to be stacked；Wherein, the bar quantity that odd-level stacks is N root, even number
The folded bar quantity of layer heap is N-1 root；
Bar stack module, for waiting for heap to the stack region first layer N root to be stacked described in the determination from the temporary disk
The face size information and location information of folded bar control the rotation Zhao Wei mechanism for the bar to be stacked with bar end
The vertical direction to stack region bottom of wherein one group of opposite side of face hexagon, in the first layer to stack region successively heap
Folded N root bar.
8. device according to claim 7, which is characterized in that the bar stack module is specifically used for:
According to the bar quantity N to be stacked to stack region width and first layer, bar to be stacked needed for determining first layer is put down
Equal face size；
According to the average face size and face size distribution, determine that first layer to be stacked from the temporary disk
The 1st face size information and location information to M root bar to be stacked；
According to the face size mean value of the preceding M root bar stacked and the face size information and described first of M root bar
The average face size of bar to be stacked needed for layer determines the end face ruler of M+1 root to L root bar to be stacked from temporary disk
Very little information and location information；
It obtains the bar width stacked when stacking L root to nth root bar respectively by high accuracy displacement sensor, calculates
The remaining average face size for stacking bar to be stacked needed for width of first layer when stacking L root to nth root bar, according to surplus
The average face size of bar needed for remaining stacking width and the face size of previous bar determine the from the temporary disk
One layer of L root to be stacked to nth root bar to be stacked face size information and location information.
9. a kind of bar stack equipment, which is characterized in that the equipment includes:
One or more processors；
Storage device, for storing one or more programs；
Detection device, for detecting the face size information of bar to be stacked, the bar end face to be stacked is irregular six
Side shape；
Temporary disk, for storing bar to be stacked；
Zhao Wei mechanism is rotated, for rotating bar to be stacked；
High accuracy displacement sensor, for detecting the overall width to stack bar in stack region；
When one or more of programs are executed by one or more of processors, so that one or more of processors are real
Now such as bar stacking method as claimed in any one of claims 1 to 6.
10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor
Such as bar stacking method as claimed in any one of claims 1 to 6 is realized when execution.
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| CN201910785212.8A CN110443435B (en) | 2019-08-23 | 2019-08-23 | Bar stacking method, bar stacking device, bar stacking equipment and bar stacking medium |
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