Feeding method, device and system, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a feeding method, device and system, electronic equipment and a storage medium, and relates to the technical field of logistics. The method comprises the steps that when a preset statistical period is reached, the material box quantity of each work station in the transportation process at present is obtained; determining the maximum value of the material box quantity of each work station in the transportation process as the highest water level; calculating the sum of the number of the workbins in the transportation process after the workbins are supplemented to the workstations according to the highest water level, and taking the sum of the number of the workbins as the sum of the delivery quantity; according to the larger value of the distribution quantity sum and the maximum cache number, the number of the material boxes needing to be supplemented to each work station is determined and serves as the number of the to-be-supplemented material boxes corresponding to the work station; wherein the maximum cache number is the product of the sum value of the preset cache threshold values of the workstations and the preset multiple. In this way, materials can be supplied to all the workstations in a balanced mode, and waste of workstation resources caused by idle workstations is avoided.

Description

Technical Field

[0001] The present application relates to the field of logistics technology, and in particular to a feeding method, device, system, electronic equipment and storage medium. Background Art

[0002] With the rapid development of logistics technology, the use of robots to transport material boxes has been widely used. After obtaining the feeding task, each workstation needs to pick the material box to complete the corresponding feeding task.

[0003] In the related art, the required boxes of each workstation can be transported to each workstation through transport carriers such as robots and / or conveyor lines. Since it takes time for the workstation to pick the boxes, if there are too many boxes transported to some workstations, these workstations may not be able to pick the boxes in time, causing the boxes to be stranded on the transport carrier. Since the number of boxes that can be transported by the transport carrier at the same time is limited, the boxes stranded on the transport carrier may cause the boxes that need to be transported to other workstations to be unable to be transported, causing other workstations to be idle.

[0004] Therefore, how to ensure balanced material supply to each workstation to avoid waste of workstation resources due to idle workstations has become an urgent problem to be solved. Summary of the invention

[0005] The purpose of the embodiments of the present application is to provide a feeding method, device, system, electronic device and storage medium to evenly feed materials to each workstation to avoid waste of workstation resources due to idle workstations. The specific technical solution is as follows:

[0006] In a first aspect of an embodiment of the present application, a feeding method is first provided, the method comprising:

[0007] When the preset statistical period is reached, the number of boxes currently in transit at each workstation is obtained;

[0008] The maximum value of the material boxes currently in transit at each workstation is determined as the highest water level;

[0009] When the material boxes are replenished for each workstation according to the highest water level, the sum of the number of material boxes in transit at each workstation after the material boxes are replenished is calculated as the total delivery volume;

[0010] According to the larger value of the total delivery volume and the maximum cache number, the number of material boxes that need to be replenished to each workstation is determined as the number of material boxes to be replenished corresponding to the workstation; wherein the maximum cache number is: the product of the sum of the preset cache thresholds of each workstation and the preset multiple, the preset multiple is not less than 1, and the preset cache threshold of each workstation represents the maximum number of cached material boxes allowed for the workstation.

[0011] In some embodiments, the determining, based on the larger value of the total delivery amount and the maximum cache number, the number of boxes to be replenished for each workstation as the number of boxes to be replenished corresponding to the workstation includes:

[0012] If the total delivery volume is greater than the maximum buffer number, the difference between the highest water level and the number of boxes currently in transit at each workstation is calculated as the number of boxes to be replenished corresponding to the workstation;

[0013] If the total delivery volume is not greater than the maximum cache number, the difference between the preset multiple of the preset cache threshold of each workstation and the number of boxes currently in transit at the workstation is calculated as the number of boxes to be replenished corresponding to the workstation.

[0014] In some embodiments, after determining the number of boxes to be replenished for each workstation according to the larger value of the total delivery amount and the maximum buffer number as the number of boxes to be replenished corresponding to the workstation, the method further includes:

[0015] For each workstation, according to the number of boxes to be replenished corresponding to the workstation, the robot is controlled to perform the task of transporting the boxes to be picked at the workstation in the supply area, so that the number of boxes to be replenished corresponding to the workstation in the supply area are transported to the workstation.

[0016] In some embodiments, for each workstation, according to the number of boxes to be replenished corresponding to the workstation, controlling the robot to perform the task of transporting boxes to be picked at the workstation in the supply area, so that the number of boxes to be replenished corresponding to the workstation in the supply area are transported to the workstation, includes:

[0017] If the sum of the number of boxes to be replenished corresponding to each workstation is not greater than the transport threshold, the robot is controlled to perform a single handling task for the boxes to be picked at each workstation in the feed area, so that the number of boxes to be replenished corresponding to each workstation in the feed area is transported to each workstation through a single transport by the robot; wherein the transport threshold represents the maximum number of boxes that the robot can transport at a single time;

[0018] If the sum of the numbers of boxes to be replenished corresponding to each workstation is greater than the transportation threshold, then for each workstation, the robot is controlled to execute the task of transporting the boxes to be picked at the workstation in the supply area and need to be transported to the workstation this time, so that the boxes to be transported to the workstation this time are transported to the workstation; after this transportation is completed, return to execute the step of controlling the robot to execute the task of transporting the boxes to be picked at the workstation in the supply area and need to be transported to the workstation this time, until the number of boxes to be replenished corresponding to each workstation are transported to each workstation; wherein, the ratio of the number of boxes of each workstation transported at any one time is consistent with the ratio of the number of boxes to be replenished corresponding to each workstation, and the total number of boxes of each workstation transported at any one time is not greater than the transportation threshold.

[0019] In some embodiments, each transport task is used to instruct the robot to transport the material boxes to be picked at each workstation in the feeding area to the docking port of the conveyor line, so that the conveyor line transfers the material boxes to be picked at each workstation to each workstation;

[0020] or,

[0021] Each transport task is used to instruct the robot to transport the material boxes to be picked at each workstation in the feeding area to each workstation.

[0022] According to a second aspect of the embodiments of the present application, a feeding system is provided, the system comprising: a material box control platform, a robot control platform, and a robot;

[0023] The material box control platform is used to execute the steps of any of the above-mentioned feeding methods;

[0024] The robot control platform is used to obtain the number of to-be-replenished material boxes corresponding to each workstation obtained by the material box control platform, and send a control instruction to the robot;

[0025] The robot is used to perform the task of transporting the boxes to be picked at each workstation in the supply area according to the control instructions, so that the number of boxes to be replenished corresponding to the workstation in the supply area are transported to each workstation.

[0026] In a third aspect of the embodiments of the present application, a feeding device is provided, the device comprising:

[0027] The first statistical module is used to obtain the quantity of material boxes currently in transit at each workstation when a preset statistical period is reached;

[0028] The first determination module is used to determine the maximum value of the amount of material boxes currently in transit at each workstation as the highest water level;

[0029] The first calculation module is used to calculate the sum of the number of material boxes in transit at each workstation after the material boxes are replenished when the material boxes are replenished at each workstation according to the highest water level, as the total delivery volume;

[0030] A comparison module is used to determine the number of material boxes required to be replenished to each workstation according to the larger value of the total delivery volume and the maximum cache number, as the number of material boxes to be replenished corresponding to the workstation; wherein the maximum cache number is: the product of the sum of the preset cache thresholds of each workstation and a preset multiple, the preset multiple is not less than 1, and the preset cache threshold of each workstation represents the maximum number of cached material boxes allowed for the workstation.

[0031] In some embodiments, the comparison module is specifically used to:

[0032] If the total delivery volume is greater than the maximum buffer number, the difference between the highest water level and the number of boxes currently in transit at each workstation is calculated as the number of boxes to be replenished corresponding to the workstation;

[0033] If the total delivery volume is not greater than the maximum cache number, the difference between the preset multiple of the preset cache threshold of each workstation and the number of boxes currently in transit at the workstation is calculated as the number of boxes to be replenished corresponding to the workstation;

[0034] In some embodiments, the apparatus further comprises:

[0035] The control module is used for, after determining the number of boxes to be replenished to each workstation according to the larger value of the total delivery amount and the maximum buffer number as the number of boxes to be replenished corresponding to the workstation, for each workstation, according to the number of boxes to be replenished corresponding to the workstation, controlling the robot to perform the task of transporting boxes to be picked at the workstation in the supply area, so that the number of boxes to be replenished corresponding to the workstation in the supply area is transported to the workstation;

[0036] In some embodiments, the control module is specifically used to:

[0037] If the sum of the number of boxes to be replenished corresponding to each workstation is not greater than the transport threshold, the robot is controlled to perform a single handling task for the boxes to be picked at each workstation in the feed area, so that the number of boxes to be replenished corresponding to each workstation in the feed area is transported to each workstation through a single transport by the robot; wherein the transport threshold represents the maximum number of boxes that the robot can transport at a single time;

[0038] If the sum of the number of boxes to be replenished corresponding to each workstation is greater than the transportation threshold, then for each workstation, the robot is controlled to execute the task of transporting the boxes to be picked at the workstation in the supply area and need to be transported to the workstation this time, so that the boxes to be transported to the workstation this time are transported to the workstation; after this transportation is completed, return to execute the step of controlling the robot to execute the task of transporting the boxes to be picked at the workstation in the supply area and need to be transported to the workstation this time, until the number of boxes to be replenished corresponding to each workstation is transported to each workstation; wherein the ratio of the number of boxes of each workstation transported at any one time is consistent with the ratio of the number of boxes to be replenished corresponding to each workstation, and the total number of boxes of each workstation transported at any one time is not greater than the transportation threshold;

[0039] In some embodiments, each transport task is used to instruct the robot to transport the material boxes to be picked at each workstation in the feeding area to the docking port of the conveyor line, so that the conveyor line transfers the material boxes to be picked at each workstation to each workstation;

[0040] or,

[0041] Each transport task is used to instruct the robot to transport the material boxes to be picked at each workstation in the feeding area to each workstation.

[0042] According to a fourth aspect of the embodiments of the present application, an electronic device is provided, including:

[0043] Memory, used to store computer programs;

[0044] The processor is used to implement any of the above-mentioned feeding methods when executing the program stored in the memory.

[0045] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, any of the above-mentioned feeding methods is implemented.

[0046] An embodiment of the present application also provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute any of the feeding methods described above.

[0047] Beneficial effects of the embodiments of the present application:

[0048] An embodiment of the present application provides a material supply method, the method comprising: when a preset statistical period is reached, obtaining the amount of material boxes currently in transit at each workstation; determining the maximum value of the amount of material boxes currently in transit at each workstation as the highest water level; calculating the sum of the number of material boxes in transit at each workstation after replenishing the material boxes when replenishing the material boxes for each workstation according to the highest water level, as the total delivery amount; determining the number of material boxes required to be replenished to each workstation according to the larger value of the total delivery amount and the maximum cache number, as the number of material boxes to be replenished corresponding to the workstation; wherein the maximum cache number is: the product of the sum of the preset cache thresholds of each workstation and a preset multiple, the preset multiple being not less than 1, and the preset cache threshold of each workstation represents the maximum number of cached material boxes allowed for the workstation.

[0049] Based on the above processing, in the scenario where multiple workstations need to be supplied with material boxes, the maximum value (i.e., the highest water level) of the material boxes currently in transit at each workstation can be determined when the preset statistical period is reached. And when the material boxes are replenished for each workstation according to the highest water level, the sum of the number of material boxes in transit at each workstation after the material boxes are replenished, that is, the product of the number of workstations and the highest water level, is determined as the total distribution volume. Since the maximum cache number is: the product of the sum of the preset cache thresholds of each workstation and the preset multiple, the maximum cache number can reflect the total cache capacity of all workstations. Furthermore, according to the larger value of the total distribution volume and the maximum cache number, the number of material boxes required to be replenished to each workstation (i.e., the number of material boxes to be replenished corresponding to each workstation) is determined, which can ensure that the cache capacity of each workstation is fully utilized, and the number of material boxes in transit at each workstation after the material boxes are replenished is consistent. In this way, it is possible to achieve balanced supply of materials to each workstation according to the amount of material boxes currently in transit at each workstation. And when the preset statistical period is reached, the number of material boxes to be replenished corresponding to each workstation is recalculated to continuously adjust the number of material boxes replenished to each workstation to ensure that the amount of material boxes currently in transit at each workstation is always in a balanced state. In this way, balanced material supply can be achieved at each workstation to avoid waste of workstation resources due to idle workstations.

[0050] Of course, implementing any product or method of the present application does not necessarily require achieving all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0052] Figure 1 A first flow chart of the feeding method provided in the embodiment of the present application;

[0053] Figure 2 A statistical schematic diagram of the amount of material boxes currently in transit at each workstation provided in an embodiment of the present application;

[0054] Figure 3 A second flow chart of the feeding method provided in the embodiment of the present application;

[0055] Figure 4 A statistical schematic diagram of replenishing material boxes for each workstation according to the highest water level provided in an embodiment of the present application;

[0056] Figure 5 A statistical schematic diagram of replenishing material boxes for each workstation according to the maximum cache number provided in an embodiment of the present application;

[0057] Figure 6 A third flow chart of the feeding method provided in the embodiment of the present application;

[0058] Figure 7 A schematic diagram of an application scenario of a feeding system provided in an embodiment of the present application;

[0059] Figure 8 A flow chart of a bin picking service provided in an embodiment of the present application;

[0060] Fig. 9 A structural diagram of a feeding system provided in an embodiment of the present application;

[0061] Fig.10 A structural diagram of a feeding device provided in an embodiment of the present application;

[0062] Fig.11 A structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0063] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field based on the present application belong to the scope of protection of the present application.

[0064] With the rapid development of logistics technology, the use of robots to transport material boxes has been widely used. After obtaining the feeding task, each workstation needs to pick the material box to complete the corresponding feeding task.

[0065] In the related art, the required boxes of each workstation can be transported to each workstation through transport carriers such as robots and / or conveyor lines. Since it takes time for the workstation to pick the boxes, if there are too many boxes transported to some workstations, these workstations may not be able to pick the boxes in time, causing the boxes to be stranded on the transport carrier. Since the number of boxes that can be transported by the transport carrier at the same time is limited, the boxes stranded on the transport carrier may cause the boxes that need to be transported to other workstations to be unable to be transported, causing other workstations to be idle.

[0066] Therefore, how to ensure balanced material supply to each workstation to avoid waste of workstation resources due to idle workstations has become an urgent problem to be solved.

[0067] The present application embodiment provides a feeding method, which can be applied to electronic equipment. The electronic equipment can be a material box control platform in a feeding system. Figure 1 , Figure 1 The first flow chart of the feeding method provided in the embodiment of the present application comprises the following steps:

[0068] S101: When a preset statistical period is reached, the quantity of material boxes currently in transit at each workstation is obtained.

[0069] S102: Determine the maximum value of the quantity of material boxes currently in transit at each workstation as the highest water level.

[0070] S103: Calculate the sum of the number of material boxes in transit at each workstation after the material boxes are replenished when the material boxes are replenished at each workstation according to the highest water level, as the total delivery quantity.

[0071] S104: Determine the number of material boxes required to be replenished to each workstation according to the larger value of the total delivery volume and the maximum buffer number, as the number of material boxes to be replenished corresponding to the workstation.

[0072] The maximum number of caches is: the product of the sum of the preset cache thresholds of each workstation and the preset multiple, the preset multiple is not less than 1, and the preset cache threshold of each workstation represents the maximum number of cache bins allowed for the workstation.

[0073] Based on the above processing, in the scenario where multiple workstations need to be supplied with material boxes, the maximum value (i.e., the highest water level) of the material boxes currently in transit at each workstation can be determined when the preset statistical period is reached. And when the material boxes are replenished for each workstation according to the highest water level, the sum of the number of material boxes in transit at each workstation after the material boxes are replenished, that is, the product of the number of workstations and the highest water level, is determined as the total distribution volume. Since the maximum cache number is: the product of the sum of the preset cache thresholds of each workstation and the preset multiple, the maximum cache number can reflect the total cache capacity of all workstations. Furthermore, according to the larger value of the total distribution volume and the maximum cache number, the number of material boxes required to be replenished to each workstation (i.e., the number of material boxes to be replenished corresponding to each workstation) is determined, which can ensure that the cache capacity of each workstation is fully utilized, and the number of material boxes in transit at each workstation after the material boxes are replenished is consistent. In this way, it is possible to achieve balanced supply of materials to each workstation according to the amount of material boxes currently in transit at each workstation. And when the preset statistical period is reached, the number of material boxes to be replenished corresponding to each workstation is recalculated to continuously adjust the number of material boxes replenished to each workstation to ensure that the amount of material boxes currently in transit at each workstation is always in a balanced state. In this way, balanced material supply can be achieved at each workstation to avoid waste of workstation resources due to idle workstations.

[0074] In this application, the workstation performs picking in units of boxes, which are loaded with materials to be picked.

[0075] In one implementation, the feeding system further includes: a plurality of robots and a robot control platform. The robot control platform can communicate with the robots to control the plurality of robots. The robots are movable robots. For example, the robots can be CTU (Carton Transfer Unit, material box handling robot) robots.

[0076] The workstation can be a manual workstation where materials are picked manually, or an intelligent workstation where materials are picked by machines. An intelligent workstation includes at least one workstation (also called a grid) for picking materials.

[0077] With respect to steps S101-S104, the electronic device may periodically perform steps S101-S104, that is, the amount of boxes currently in transit at each workstation may be obtained every time a preset statistical period is reached. For example, the preset statistical period may be 1 minute.

[0078] The quantity of material boxes currently in transport at a workstation is: the number of material boxes currently on the transport carrier that need to be transported to the workstation.

[0079] When the method of transporting boxes to each workstation is that the robot directly transports the boxes to each workstation, the transport carrier is the robot. Accordingly, for each workstation, the number of boxes currently required to be transported to the workstation by all robots can be obtained to obtain the number of boxes currently in transit at the workstation.

[0080] In the case where the method of transporting boxes to each workstation is: the robot first transports the boxes to the conveyor line, and then the conveyor line transports the boxes to the workstation, the transport carrier includes the robot and the conveyor line. Accordingly, for each workstation, the number of boxes that need to be transported to the workstation on all robots (which can be recorded as M1) and the number of boxes that need to be transported to the workstation on the current conveyor line (which can be recorded as M2) can be obtained. Then, the sum of M1 and M2 is calculated to obtain the number of boxes currently in transit at the workstation.

[0081] Among them, for the number of material boxes that need to be delivered to the workstation on the current conveyor line, the number of material boxes belonging to the workstation that the robot has transported to the conveyor line connection port and the number of material boxes that the workstation has received can be recorded, and the difference between the two can be calculated as the number of material boxes that need to be delivered to the workstation on the current conveyor line (which can be recorded as M2).

[0082] Furthermore, the maximum value of the amount of material boxes currently in transit at each workstation can be determined as the highest water level.

[0083] See also Figure 2 , Figure 2 A statistical diagram of the quantity of material boxes currently in transit at each workstation provided in an embodiment of the present application. Figure 2 In the current scene, there are 6 workstations (i.e., workstation 1 to workstation 6), the amount of boxes currently in transit at workstation 1 (i.e., the number of boxes) is a1; the amount of boxes currently in transit at workstation 2 is a2; the amount of boxes currently in transit at workstation 3 is a3; the amount of boxes currently in transit at workstation 4 is a4; the amount of boxes currently in transit at workstation 5 is a5; the amount of boxes currently in transit at workstation 6 is a6. And since the maximum value among a1 to a6 is a5, a5 can be determined as the highest water level.

[0084] For steps S103-S104, replenishing material boxes for each workstation according to the highest water level means that after replenishing material boxes for each workstation, the number of material boxes in transit at each workstation after replenishing material boxes reaches the highest water level. In this way, it can be ensured that the amount of material boxes currently in transit at each workstation is in a balanced state.

[0085] Accordingly, the sum of the number of material boxes in transit at each workstation after the material boxes are replenished, that is, the product of the number of workstations and the highest water level, can be taken as the total distribution volume.

[0086] It is understandable that, since each workstation has a certain cache capacity, in order to ensure that the cache capacity of each workstation is fully utilized, the total cache capacity of each workstation (i.e., the maximum cache number) can be determined. Then, according to the larger value of the total delivery volume and the maximum cache number, the number of material boxes required to be replenished to each workstation is determined as the number of material boxes to be replenished corresponding to the workstation.

[0087] In the present application, the cache capability of each workstation is consistent, that is, the preset cache threshold of each workstation is the same.

[0088] In one implementation, the electronic device may obtain a preset cache threshold of each workstation; wherein the preset cache threshold of a workstation indicates the maximum number of cache bins allowed by the workstation. Then, the product of the sum of the preset cache thresholds of each workstation and the preset multiple is calculated as the maximum cache number. The preset multiple is not less than 1, for example, the preset multiple may be 2.

[0089] In some embodiments, see Figure 3 , Figure 3 The second flow chart of the feeding method provided in the embodiment of the present application is as follows: Figure 1 On the basis of this, step S104 comprises:

[0090] S1041: If the total delivery volume is greater than the maximum buffer number, the difference between the highest water level and the number of boxes currently in transit at each workstation is calculated as the number of boxes to be replenished corresponding to the workstation.

[0091] S1042: If the total delivery volume is not greater than the maximum cache number, the difference between the preset multiple of the preset cache threshold of each workstation and the number of material boxes currently in transit at the workstation is calculated as the number of material boxes to be replenished corresponding to the workstation.

[0092] In an embodiment of the present application, if the total delivery volume is greater than the maximum cache number, it indicates that when the material boxes are replenished for each workstation according to the highest water level, the number of material boxes in transit at each workstation after the replenishment of the material boxes can fully utilize the total cache capacity of each workstation.

[0093] At this time, the material boxes can be replenished for each workstation according to the highest water level, that is, for each workstation, the difference between the highest water level and the number of material boxes currently in transit at the workstation is calculated as the number of material boxes to be replenished corresponding to the workstation.

[0094] See also Figure 4 , Figure 4A statistical diagram of replenishing material boxes for each workstation according to the highest water level provided in the embodiment of the present application. For workstations 1 to 6, when replenishing material boxes for each workstation according to the highest water level, the number of material boxes in transit at workstation 1 after replenishing the material boxes is b1, and b1=a5, and the number of material boxes to be replenished corresponding to workstation 1 is b1-a1; the number of material boxes in transit at workstation 2 after replenishing the material boxes is b2, and b2=a5, and the number of material boxes to be replenished corresponding to workstation 2 is b2-a2; the number of material boxes in transit at workstation 3 after replenishing the material boxes is b3, and b3=a5, and the number of material boxes to be replenished corresponding to workstation 3 is b3-a5. The number of boxes to be replenished is b3-a3; the number of boxes in transit at workstation 4 after replenishing the boxes is b4, and b4=a5, and the number of boxes to be replenished corresponding to workstation 4 is b4-a4; the number of boxes in transit at workstation 5 after replenishing the boxes is b5, and b5=a5, and the number of boxes to be replenished corresponding to workstation 5 is b5-a5; the number of boxes in transit at workstation 6 after replenishing the boxes is b6, and b6=a5, and the number of boxes to be replenished corresponding to workstation 6 is b6-a6.

[0095] In this way, when the material boxes of each workstation can be replenished according to the highest water level and the number of material boxes in transit at each workstation after replenishment can fully utilize the total cache capacity of each workstation, the number of material boxes to be replenished corresponding to each workstation can be determined according to the total delivery volume determined by the highest water level. While achieving balanced material supply at each workstation, the cache capacity of each workstation can be fully utilized to avoid wasting cache resources at the workstation.

[0096] If the total delivery volume is greater than the maximum buffer number, it means that when replenishing material boxes for each workstation according to the highest water level, the number of material boxes in transit at each workstation after replenishment cannot fully utilize the total buffer capacity of each workstation.

[0097] At this time, the material boxes for each workstation can be replenished according to the cache capacity of each workstation. That is, for each workstation, the difference between the preset multiple of the preset cache threshold of the workstation and the number of material boxes currently in transit at the workstation can be calculated as the number of material boxes to be replenished corresponding to the workstation.

[0098] See also Figure 5 , Figure 5 A statistical diagram of replenishing material boxes for each workstation according to the maximum cache number provided in the embodiment of the present application. Figure 5In , on the basis that the preset cache thresholds of each workstation are consistent, the preset multiples of the preset cache thresholds of each workstation are also consistent, that is, P1=P2=P3=P4=P5=P6>a5, where Pi represents the preset multiple of the preset cache threshold of the i-th workstation. When replenishing the material boxes of each workstation according to the preset multiples of the preset cache threshold of each workstation, the number of material boxes to be replenished corresponding to workstation 1 is P1-a1; the number of material boxes to be replenished corresponding to workstation 2 is P2-a2; the number of material boxes to be replenished corresponding to workstation 3 is P3-a3; the number of material boxes to be replenished corresponding to workstation 4 is P4-a4; the number of material boxes to be replenished corresponding to workstation 5 is P5-a5; the number of material boxes to be replenished corresponding to workstation 6 is P6-a6.

[0099] In this way, when the material boxes of each workstation are replenished according to the highest water level and the number of material boxes in transit after the replenishment of the material boxes of each workstation cannot fully utilize the total cache capacity of each workstation, the number of material boxes to be replenished corresponding to each workstation is determined according to the cache capacity of each workstation. While achieving balanced material supply for each workstation, the cache capacity of each workstation can be fully utilized to avoid waste of cache resources of the workstation.

[0100] In the present application, the boxes to be picked at each workstation can be placed in a feeding area (also referred to as a box warehouse), and accordingly, the robot can move to the feeding area to obtain the boxes required for transportation to each workstation.

[0101] In some embodiments, see Figure 6 , Figure 6 The third flow chart of the feeding method provided in the embodiment of the present application is as follows: Figure 1 On the basis of, after step S104, the method further includes:

[0102] S105: For each workstation, according to the number of boxes to be replenished corresponding to the workstation, control the robot to perform the task of transporting the boxes to be picked at the workstation in the supply area, so that the number of boxes to be replenished corresponding to the workstation in the supply area are transported to the workstation.

[0103] In an embodiment of the present application, after obtaining the number of boxes to be replenished corresponding to each workstation, for each workstation, the robot can be controlled to perform the task of transporting the boxes to be picked at the workstation in the supply area, so that the number of boxes to be replenished corresponding to the workstation in the supply area are transported to the workstation.

[0104] In one implementation, each transport task is used to instruct the robot to transport the boxes to be picked at each workstation in the feeding area to the docking port of the conveyor line, so that the conveyor line can transfer the boxes to be picked at each workstation to each workstation.

[0105] In an embodiment of the present application, for each handling task, the robot can obtain the number of boxes to be replenished corresponding to the workstation from all the boxes to be picked in the supply area, and transport the number of boxes to be replenished corresponding to the workstation to the docking port of the conveyor line. Then, the conveyor line can transport each box to the workstation that needs to pick the box (that is, the workstation to which the box belongs).

[0106] For example, each material box may be provided with a label indicating the workstation to which the material box belongs, and correspondingly, an identification device for identifying the label of the material box may be installed at the diversion point between the conveyor line and each workstation. For any identification device, if it identifies that the label of a material box indicates that the workstation to which the material box belongs is: the workstation corresponding to the diversion point where the identification device is located, the material box can be controlled to be conveyed to the workstation.

[0107] See also Figure 7 , Figure 7 A schematic diagram of an application scenario of a feeding system provided in an embodiment of the present application. Figure 7 In the scenario shown, each workstation may include a manual workstation 706 and an intelligent workstation 707. The electronic device may obtain the amount of material boxes currently in transit (i.e., on the conveyor line 702 and the robot 703) at each workstation. Furthermore, according to the above steps S102 to S104, the number of material boxes to be replenished corresponding to each workstation is determined. And the robot 703 obtains the number of material boxes to be replenished corresponding to the workstation from all the material boxes to be picked at each workstation (i.e., the material boxes 705 in the feeding area 704), and transports them to the docking port 701 of the conveyor line 702, so as to transfer the number of material boxes to be replenished corresponding to the workstation to the workstation through the conveyor line 702. In this way, the transportation of the material boxes can be completed by the robot and the conveyor line.

[0108] Alternatively, in another implementation, each transport task is used to instruct the robot to transport the material boxes to be picked at each workstation in the feeding area to each workstation.

[0109] In an embodiment of the present application, for each handling task, the robot can obtain the number of boxes to be replenished corresponding to the workstation from all the boxes to be picked in the supply area, and directly transport the number of boxes to be replenished corresponding to the workstation to the workstation.

[0110] In some embodiments, step S105 includes:

[0111] Step 1: If the sum of the number of boxes to be replenished corresponding to each workstation is not greater than the transportation threshold, the robot is controlled to perform a single handling task for the boxes to be picked at each workstation in the supply area, so that the number of boxes to be replenished corresponding to each workstation in the supply area can be transported to each workstation through a single transportation of the robot.

[0112] The transport threshold represents the maximum number of boxes that the robot can transport at one time.

[0113] Step 2: If the sum of the number of boxes to be replenished corresponding to each workstation is greater than the transportation threshold, then for each workstation, the robot is controlled to execute the task of transporting the boxes to be picked at the workstation in the supply area, so that the boxes to be transported to the workstation are transported to the workstation; after this transportation is completed, return to execute the step of controlling the robot to execute the task of transporting the boxes to be picked at the workstation in the supply area, until the number of boxes to be replenished corresponding to each workstation are transported to each workstation.

[0114] The ratio of the number of boxes of each workstation in any transportation is consistent with the ratio of the number of boxes to be replenished corresponding to each workstation, and the total number of boxes of each workstation in any transportation is not greater than the transportation threshold.

[0115] In the embodiment of the present application, the transport threshold represents the maximum number of boxes that can be transported at a time by all robots in the feeding system. It can be understood that the transport threshold is positively correlated with the number of robots.

[0116] If the sum of the number of boxes to be replenished corresponding to each workstation is not greater than the transport threshold, it indicates that the number of boxes to be replenished corresponding to each workstation can be transported by the robot in a single trip. At this time, the robot can be controlled to perform the task of transporting boxes to be picked at each workstation in the feeding area, so that the number of boxes to be replenished corresponding to each workstation in the feeding area can be transported to each workstation in a single trip by the robot.

[0117] Based on the above processing, when the sum of the number of boxes to be replenished corresponding to each workstation is not greater than the transportation threshold, the number of boxes to be replenished corresponding to each workstation are transported to each workstation in a single transportation manner. In this way, the amount of boxes currently in transportation at each workstation can always be in a balanced state. In this way, balanced material supply can be achieved at each workstation to avoid waste of workstation resources due to idle workstations.

[0118] If the sum of the number of boxes to be replenished corresponding to each workstation is greater than the transportation threshold, it means that the number of boxes to be replenished corresponding to each workstation cannot be transported by the robot in a single transport.

[0119] Therefore, for each workstation, the robot can be controlled to obtain the boxes that need to be transported to the workstation this time from the boxes to be picked at each workstation in the feeding area, so that the boxes that need to be transported to the workstation this time are transported to the workstation. The total number of boxes of each workstation transported at one time is not greater than the transportation threshold.

[0120] For example, the product of the number of boxes to be replenished corresponding to each workstation and a preset reduction multiple can be calculated as the number of boxes that need to be transported to each workstation this time. The preset reduction multiple is greater than 0 and less than 1.

[0121] Based on the above processing, when the sum of the number of boxes to be replenished corresponding to each workstation is greater than the transportation threshold, multiple transportations can be performed by the robot until the robot transports the number of boxes to be replenished corresponding to each workstation to each workstation.

[0122] In addition, during each transportation, the ratio of the number of material boxes at each workstation in that transportation is made consistent with the ratio of the number of material boxes to be replenished corresponding to each workstation. In this way, it can be ensured that after any transportation, the number of material boxes currently in transit at each workstation is more consistent, and balanced material supply to each workstation can be achieved to avoid waste of workstation resources due to idle workstations.

[0123] In some embodiments, the electronic device can directly calculate the number of to-be-replenished bins corresponding to each workstation based on the picking rate, and the ratio of the number of to-be-replenished bins corresponding to each workstation is consistent with the picking speed of each workstation.

[0124] See also Figure 8 , Figure 8 A flow chart of a bin picking service provided in an embodiment of the present application.

[0125] S801: Generate material box pick-up and delivery tasks based on business orders and issue the tasks.

[0126] That is, the feeding system can generate a material box pick-up and delivery task according to the actual needs of the user (i.e., the business order), and send the material box pick-up and delivery task to the material box control platform to indicate the material box out of the warehouse. Among them, any material box pick-up and delivery task includes: the identification of the workstation, and the number of material boxes that the workstation corresponding to each identification needs to pick.

[0127] S802: The robot takes the box according to the task and delivers it to the connection port of the conveyor line.

[0128] That is, the material box control platform can obtain the number of material boxes to be replenished corresponding to each workstation according to the feeding method provided in the embodiment of the present application. Correspondingly, the robot control platform can obtain the number of material boxes to be replenished corresponding to each workstation obtained by the material box control platform and send a control instruction to the robot.

[0129] Furthermore, the robot can perform the task of handling the boxes to be picked at each workstation in the supply area according to the control instructions, and transport the number of boxes to be replenished corresponding to each workstation to the docking port of the conveyor line, so as to transmit the number of boxes to be replenished corresponding to each workstation to each workstation through the conveyor line.

[0130] S803: The material box enters the workstation through the conveyor line for picking.

[0131] That is, the conveyor line can transport the material box to the workstation to which the material box belongs, and the workstation can pick the material box after obtaining the material box.

[0132] S804: After the workstation has finished picking, the material box is transferred to other workstations through the conveyor line or flows back to the connection port of the conveyor line.

[0133] That is, for any material box, after the workstation completes the picking of the material box, the material box can be transferred back to the conveyor line. Accordingly, the material box can be transferred to the next workstation that needs to be picked, or the material box can also be transferred to the docking port of the conveyor line.

[0134] S805: The robot receives the material box from the connection port of the conveyor line and returns it to the warehouse.

[0135] That is, the robot can obtain the material box that needs to be transported back to the material box warehouse from the docking port of the conveyor line and transport it to the material box warehouse.

[0136] Based on the same inventive concept, the present application embodiment provides a feeding system, see Fig. 9 , Fig. 9 The structural diagram of a feeding system provided in an embodiment of the present application is as follows: the feeding system 900 comprises: a material box control platform 901 , a robot control platform 902 , and a robot 903 .

[0137] The material box control platform 901 is used to execute any step of the feeding method in the above embodiments.

[0138] The robot control platform 902 is used to obtain the number of to-be-replenished material boxes corresponding to each workstation obtained by the material box control platform, and send control instructions to the robot.

[0139] The robot 903 is used to carry out the task of transporting the boxes to be picked at each workstation in the supply area according to the control instructions, so that the number of boxes to be replenished corresponding to the workstation in the supply area are transported to each workstation.

[0140] Based on the same inventive concept, the present application embodiment provides a feeding device, see Fig.10 , Fig.10 This is a structural diagram of a feeding device provided in an embodiment of the present application. The device comprises:

[0141] The first statistical module 1001 is used to obtain the quantity of material boxes currently in transit at each workstation when a preset statistical period is reached;

[0142] The first determination module 1002 is used to determine the maximum value of the amount of material boxes currently in transit at each workstation as the highest water level;

[0143] The first calculation module 1003 is used to calculate the sum of the number of material boxes in transit at each workstation after the material boxes are replenished when the material boxes are replenished at each workstation according to the highest water level, as the total delivery quantity;

[0144] The comparison module 1004 is used to determine the number of boxes required to be replenished for each workstation according to the larger value between the total delivery volume and the maximum cache number, as the number of boxes to be replenished corresponding to the workstation; wherein the maximum cache number is: the product of the sum of the preset cache thresholds of each workstation and a preset multiple, the preset multiple is not less than 1, and the preset cache threshold of each workstation represents the maximum number of cache boxes allowed for the workstation.

[0145] In some embodiments, the comparison module 1004 is specifically configured to:

[0146] If the total delivery volume is greater than the maximum buffer number, the difference between the highest water level and the number of boxes currently in transit at each workstation is calculated as the number of boxes to be replenished corresponding to the workstation;

[0147] If the total delivery volume is not greater than the maximum cache number, the difference between the preset multiple of the preset cache threshold of each workstation and the number of boxes currently in transit at the workstation is calculated as the number of boxes to be replenished corresponding to the workstation;

[0148] In some embodiments, the apparatus further comprises:

[0149] The control module is used for, after determining the number of boxes to be replenished to each workstation according to the larger value of the total delivery amount and the maximum buffer number as the number of boxes to be replenished corresponding to the workstation, for each workstation, according to the number of boxes to be replenished corresponding to the workstation, controlling the robot to perform the task of transporting boxes to be picked at the workstation in the supply area, so that the number of boxes to be replenished corresponding to the workstation in the supply area is transported to the workstation;

[0150] In some embodiments, the control module is specifically used to:

[0151] If the sum of the number of boxes to be replenished corresponding to each workstation is not greater than the transport threshold, the robot is controlled to perform a single handling task for the boxes to be picked at each workstation in the feed area, so that the number of boxes to be replenished corresponding to each workstation in the feed area is transported to each workstation through a single transport by the robot; wherein the transport threshold represents the maximum number of boxes that the robot can transport at a single time;

[0152] If the sum of the number of boxes to be replenished corresponding to each workstation is greater than the transportation threshold, then for each workstation, the robot is controlled to execute the task of transporting the boxes to be picked at the workstation in the supply area and need to be transported to the workstation this time, so that the boxes to be transported to the workstation this time are transported to the workstation; after this transportation is completed, return to execute the step of controlling the robot to execute the task of transporting the boxes to be picked at the workstation in the supply area and need to be transported to the workstation this time, until the number of boxes to be replenished corresponding to each workstation is transported to each workstation; wherein the ratio of the number of boxes of each workstation transported at any one time is consistent with the ratio of the number of boxes to be replenished corresponding to each workstation, and the total number of boxes of each workstation transported at any one time is not greater than the transportation threshold;

[0153] In some embodiments, each transport task is used to instruct the robot to transport the material boxes to be picked at each workstation in the feeding area to the docking port of the conveyor line, so that the conveyor line transfers the material boxes to be picked at each workstation to each workstation;

[0154] or,

[0155] Each transport task is used to instruct the robot to transport the material boxes to be picked at each workstation in the feeding area to each workstation.

[0156] The present application also provides an electronic device, such as Fig.11 As shown, including:

[0157] Memory 1101, used for storing computer programs;

[0158] The processor 1102 is used to implement the steps of any feeding method in the above embodiments when executing the program stored in the memory 1101.

[0159] In addition, the electronic device may further include a communication bus and / or a communication interface, and the processor 1102, the communication interface, and the memory 1101 communicate with each other via the communication bus.

[0160] The communication bus mentioned in the above electronic device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0161] The communication interface is used for communication between the above electronic device and other devices.

[0162] The memory may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0163] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0164] In another embodiment provided in the present application, a computer-readable storage medium is provided, in which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above-mentioned feeding methods are implemented.

[0165] In another embodiment provided in the present application, a computer program product including instructions is also provided, which, when executed on a computer, enables the computer to execute any of the feeding methods in the above embodiments.

[0166] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a solid-state hard disk (SSD), etc.

[0167] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0168] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system, device, electronic device, and computer-readable storage medium embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0169] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. A feeding method, characterized in that: The method comprises: When the preset statistical period is reached, the number of boxes currently in transit at each workstation is obtained; The maximum value of the material boxes currently in transit at each workstation is determined as the highest water level; When the material boxes are replenished for each workstation according to the highest water level, the sum of the number of material boxes in transit at each workstation after the material boxes are replenished is calculated as the total delivery volume; According to the larger value of the total delivery volume and the maximum cache number, the number of material boxes that need to be replenished to each workstation is determined as the number of material boxes to be replenished corresponding to the workstation; wherein the maximum cache number is: the product of the sum of the preset cache thresholds of each workstation and the preset multiple, the preset multiple is not less than 1, and the preset cache threshold of each workstation represents the maximum number of cached material boxes allowed for the workstation.

2. The method according to claim 1, characterized in that The determining, according to the larger value of the total delivery amount and the maximum buffer number, the number of material boxes required to be replenished to each workstation as the number of material boxes to be replenished corresponding to the workstation, includes: If the total delivery volume is greater than the maximum buffer number, the difference between the highest water level and the number of boxes currently in transit at each workstation is calculated as the number of boxes to be replenished corresponding to the workstation; If the total delivery volume is not greater than the maximum cache number, the difference between the preset multiple of the preset cache threshold of each workstation and the number of boxes currently in transit at the workstation is calculated as the number of boxes to be replenished corresponding to the workstation.

3. The method according to claim 1, characterized in that After determining the number of material boxes required to be replenished to each workstation according to the larger value of the total delivery amount and the maximum buffer number as the number of material boxes to be replenished corresponding to the workstation, the method further includes: For each workstation, according to the number of boxes to be replenished corresponding to the workstation, the robot is controlled to perform the task of transporting the boxes to be picked at the workstation in the supply area, so that the number of boxes to be replenished corresponding to the workstation in the supply area are transported to the workstation.

4. The method according to claim 3, characterized in that For each workstation, according to the number of to-be-replenished material boxes corresponding to the workstation, controlling the robot to perform the task of transporting material boxes to be picked at the workstation in the supply area, so that the number of to-be-replenished material boxes corresponding to the workstation in the supply area are transported to the workstation, including: If the sum of the number of boxes to be replenished corresponding to each workstation is not greater than the transport threshold, the robot is controlled to perform a single handling task for the boxes to be picked at each workstation in the feed area, so that the number of boxes to be replenished corresponding to each workstation in the feed area is transported to each workstation through a single transport by the robot; wherein the transport threshold represents the maximum number of boxes that the robot can transport at a single time; If the sum of the numbers of boxes to be replenished corresponding to each workstation is greater than the transportation threshold, then for each workstation, the robot is controlled to execute the task of transporting the boxes to be picked at the workstation in the supply area and need to be transported to the workstation this time, so that the boxes to be transported to the workstation this time are transported to the workstation; after this transportation is completed, return to execute the step of controlling the robot to execute the task of transporting the boxes to be picked at the workstation in the supply area and need to be transported to the workstation this time, until the number of boxes to be replenished corresponding to each workstation are transported to each workstation; wherein, the ratio of the number of boxes of each workstation transported at any one time is consistent with the ratio of the number of boxes to be replenished corresponding to each workstation, and the total number of boxes of each workstation transported at any one time is not greater than the transportation threshold.

5. The method according to claim 3 or 4, characterized in that: Each transport task is used to instruct the robot to transport the material boxes to be picked at each workstation in the feeding area to the docking port of the conveyor line, so that the conveyor line can transport the material boxes to be picked at each workstation to each workstation; or, Each transport task is used to instruct the robot to transport the material boxes to be picked at each workstation in the feeding area to each workstation.

6. A feeding system, characterized in that: The system comprises: a material box control platform, a robot control platform, and a robot; The material box control platform is used to perform the method steps of any one of claims 1-5; The robot control platform is used to obtain the number of to-be-replenished material boxes corresponding to each workstation obtained by the material box control platform, and send a control instruction to the robot; The robot is used to perform the task of transporting the boxes to be picked at each workstation in the supply area according to the control instructions, so that the number of boxes to be replenished corresponding to the workstation in the supply area are transported to each workstation.

7. A feeding device, characterized in that: The device comprises: The first statistical module is used to obtain the quantity of material boxes currently in transit at each workstation when a preset statistical period is reached; The first determination module is used to determine the maximum value of the amount of material boxes currently in transit at each workstation as the highest water level; The first calculation module is used to calculate the sum of the number of material boxes in transit at each workstation after the material boxes are replenished when the material boxes are replenished at each workstation according to the highest water level, as the total delivery volume; A comparison module is used to determine the number of material boxes required to be replenished to each workstation according to the larger value of the total delivery volume and the maximum cache number, as the number of material boxes to be replenished corresponding to the workstation; wherein the maximum cache number is: the product of the sum of the preset cache thresholds of each workstation and a preset multiple, the preset multiple is not less than 1, and the preset cache threshold of each workstation represents the maximum number of cached material boxes allowed for the workstation.

8. The device according to claim 7, characterized in that The comparison module is specifically used for: If the total delivery volume is greater than the maximum buffer number, the difference between the highest water level and the number of boxes currently in transit at each workstation is calculated as the number of boxes to be replenished corresponding to the workstation; If the total delivery volume is not greater than the maximum cache number, the difference between the preset multiple of the preset cache threshold of each workstation and the number of boxes currently in transit at the workstation is calculated as the number of boxes to be replenished corresponding to the workstation; and / or, The device also includes: The control module is used for, after determining the number of boxes to be replenished to each workstation according to the larger value of the total delivery amount and the maximum buffer number as the number of boxes to be replenished corresponding to the workstation, for each workstation, according to the number of boxes to be replenished corresponding to the workstation, controlling the robot to perform the task of transporting boxes to be picked at the workstation in the supply area, so that the number of boxes to be replenished corresponding to the workstation in the supply area is transported to the workstation; and / or, The control module is specifically used for: If the sum of the number of boxes to be replenished corresponding to each workstation is not greater than the transport threshold, the robot is controlled to perform a single handling task for the boxes to be picked at each workstation in the feed area, so that the number of boxes to be replenished corresponding to each workstation in the feed area is transported to each workstation through a single transport by the robot; wherein the transport threshold represents the maximum number of boxes that the robot can transport at a single time; If the sum of the number of boxes to be replenished corresponding to each workstation is greater than the transportation threshold, then for each workstation, the robot is controlled to execute the task of transporting the boxes to be picked at the workstation in the supply area and need to be transported to the workstation this time, so that the boxes to be transported to the workstation this time are transported to the workstation; after this transportation is completed, return to execute the step of controlling the robot to execute the task of transporting the boxes to be picked at the workstation in the supply area and need to be transported to the workstation this time, until the number of boxes to be replenished corresponding to each workstation is transported to each workstation; wherein the ratio of the number of boxes of each workstation transported at any one time is consistent with the ratio of the number of boxes to be replenished corresponding to each workstation, and the total number of boxes of each workstation transported at any one time is not greater than the transportation threshold; and / or, Each transport task is used to instruct the robot to transport the material boxes to be picked at each workstation in the feed area to the docking port of the conveyor line, so that the conveyor line can transfer the material boxes to be picked at each workstation to each workstation; or, each transport task is used to instruct the robot to transport the material boxes to be picked at each workstation in the feed area to each workstation.

9. An electronic device, characterized in that: include: Memory, used to store computer programs; A processor, for implementing any of the methods described in claims 1-5 when executing a program stored in a memory.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 5 is implemented.

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