Unknown incoming material-oriented stacking method, system and device

The invention relates to a stacking method, system and device for unknown incoming materials. The method comprises the steps that the size of a box in an incoming material area and the stack shape on a stack tray are sensed through a depth camera; the stack shape is converted into a height map matrix, and numerical values of elements in the height map matrix indicate the stack shape height of the stack disc position where the elements are located; traversing the boxes in the incoming material area, and executing the following operations: traversing elements in the height map matrix to obtain a mask matrix generated by placing target vertexes of the boxes on element points, the array dimensions of the mask matrix and the height map matrix being the same; determining a reward function value corresponding to an element with an element value of 1 in the mask matrix, wherein the element value of 1 indicates that a first constraint condition is met when the target vertex of the box is placed on the element point; a