Real-time online mixed stacking optimization method

The invention is suitable for the technical field of stacking, and particularly relates to a real-time online mixed stacking optimization method. Compared with the prior art, the method comprises the following steps: acquiring first product information of a plurality of to-be-stacked products; second product information corresponding to stacked products in the current tray is obtained; the first product information and the second product information are calculated according to preset stacking constraint conditions, and an optimal stacking scheme of the to-be-stacked products is obtained; and controlling the manipulator to stack the to-be-stacked products according to the optimal stacking scheme. In this way, the stacking scheme on the tray can be given online in real time on the stacking sorting line where little product information is known in advance, the tray utilization rate of the given stacking scheme is high, the stack shape is stable, and the stacking method can be widely applied to the industries of