Flexible manufacturing unit pull-type logistics control method and system

Abstract

The invention relates to the technical field of flexible manufacturing, and discloses a flexible manufacturing unit pull-type logistics control method and system, and the method comprises the steps: abstracting various material storage devices of a flexible manufacturing unit, and constructing a standardized stock bin model; the material storage device comprises a clamp and a stock bin with different physical forms and functions; abstracting a tray loading process of the stock bin model, and constructing a standardized tray loading task model; on the basis of a standardized stock bin model and a tray loading task model, logistics system configuration and logistics control are separated, logistics system stock bin composition of a flexible manufacturing unit is configured through an external configuration file, and a spontaneous pull type tray circulation mode of stock bin objects of a logistics system is formed. According to the invention, the problems of long development period, high development cost, poor maintainability, poor expandability and the like of the current flexible manufacturing unit logistics system can be solved.

Description

Technical Field

[0001] The present invention relates to the field of flexible manufacturing technology, and in particular to a flexible manufacturing unit pull-type logistics control method and system. Background Art

[0002] Flexible manufacturing cell is an advanced manufacturing system that integrates computer technology, automation technology, information technology and other technologies. It consists of multiple automated equipment, robots, logistics and transportation systems, detection systems, storage systems, etc. It realizes the coordinated work of equipment through computer control systems to complete various manufacturing tasks. Flexible manufacturing cells have the characteristics of high automation, flexible production, scalability, reconfigurability and high information integration. They can meet the strict requirements of modern manufacturing industry for production efficiency, product quality and production cost, and are widely used in machinery manufacturing, electronic manufacturing, automobile manufacturing, aerospace and other fields.

[0003] The logistics control system is one of the key components of the flexible manufacturing unit control system. The logistics control system realizes the automatic supply and loading and unloading of workpieces and fixtures, and completes the automatic transmission, transfer and storage between processes. The blanks are loaded into the fixtures on the pallet by the operator and stored in various material storage devices such as silos, machine tool fixtures, inspection fixtures, cleaning fixtures, etc., and then transported to other designated material storage devices by the handling system according to the control system instructions. The logistics control process includes fixed processes and flexible customizable processes. The fixed mode is generally used in mass production production lines. During the entire production process, materials flow between workstations at a fixed frequency and fixed routes. Its structure is simple, reliable and efficient, but the process is fixed and has poor flexibility. The flexible customizable mode is generally used in flexible manufacturing units. Its logistics logic can be controlled by computer programming. The main control computer issues material handling instructions, and the material handling equipment moves materials from one material storage device to another according to the instructions. The flexible customizable mode greatly improves the flexibility of the logistics system and meets the flexible material handling needs of the flexible manufacturing unit. However, the current flexible manufacturing unit logistics control system still has the following problems: Customized development, long development cycle and high development cost. The composition of various flexible manufacturing units varies greatly, and there is currently no standardized control method to achieve logistics control of flexible manufacturing units. For each flexible manufacturing unit, a set of special logistics control systems must be customized and developed to control the logistics of the manufacturing unit, resulting in a long development cycle and high development costs.

[0004] Poor maintainability. At present, the logistics control of flexible manufacturing units is driven by the main control system according to the current system status, which drives the logistics robot to realize the flow of pallets between silos. The logistics control is tightly coupled with the main control system. Even if there is a slight change in the composition or logic of the logistics system, the entire control system must be modified, which leads to poor maintainability.

[0005] Poor scalability. When the logistics system structure changes, such as adding a storage type or location, the original control system logistics logic must be rewritten, and it is not convenient to expand on the basis of the original system. Summary of the invention

[0006] In order to solve the above problems, the present invention proposes a pull-type logistics control method and system for a flexible manufacturing unit, abstracts various material storage devices of the flexible manufacturing unit, and constructs a standardized silo model; abstracts the pallet loading process of the silo model, and constructs a standardized pallet loading task model; separates the logistics system configuration from the logistics control, and configures the silo structure of the flexible manufacturing unit logistics system through an external configuration file; provides a pull-type control method spontaneously initiated by the silo object of the logistics system, and decouples the logistics control from the main control system; solves the problems of long development cycle, high development cost, poor maintainability and poor scalability of the current flexible manufacturing unit logistics system.

[0007] The technical solution adopted by the present invention is as follows: On the one hand, the present invention provides a pull-type logistics control method for a flexible manufacturing unit, comprising: Abstract various material storage devices of the flexible manufacturing unit and construct a standardized silo model; the material storage device includes fixtures and silos with different physical forms and functions; Abstract the pallet loading process of the silo model and build a standardized pallet loading task model; Based on the standardized silo model and pallet loading task model, the logistics system configuration is separated from the logistics control. The logistics system silo composition of the flexible manufacturing unit is configured through an external configuration file, forming a pull-type pallet flow mode spontaneously driven by the silo objects of the logistics system.

[0008] Furthermore, the various material storage devices of the flexible manufacturing unit are abstracted and a standardized silo model is constructed, including: The pallet storage status and storage function of the material storage device are described by preset attributes and preset methods, so as to construct a standardized silo model; The preset attributes include a bin number attribute, a bin type attribute, a pallet loading attribute, a loaded pallet number attribute, a loadable pallet number attribute, an alarm attribute, and a shielding attribute; The preset method includes a silo construction method, a task of checking loadable pallets, and a task of performing pallet loading.

[0009] Furthermore, the tray loading task model includes a task sub-model for checking a loadable tray, and the task sub-model for checking a loadable tray includes: Check the silo status: Check the current silo attributes, including whether the pallet is loaded, the loaded pallet number, whether the alarm is triggered, and whether the shielding is enabled; Determine whether the silo can load the pallet: When the silo is not loaded with a pallet, the current loaded pallet number is 0, the silo has not alarmed, and the silo is not blocked, the silo can load the pallet and execute the next step; otherwise, the silo cannot load the pallet and the task ends; Query loadable pallets: traverse all pallets and search for pallets that can be loaded into the current bin; the filter conditions for loadable pallets for each bin are stored in a separate Extensible Markup Language XML configuration file. When adding a bin type, add the corresponding bin loadable pallet filter condition configuration file; when the task is executed, read the loadable pallet filter condition configuration file corresponding to the current bin type to check whether the pallet can be loaded into the current bin; when checking that there is a pallet that can be loaded into the current bin, temporarily store the pallet number and end the query for loadable pallets; Determine whether there is a pallet that can be loaded: After querying the pallets that can be loaded, if there is no pallet that can be loaded into the current silo, the task ends; if there is a pallet that can be loaded into the current silo, proceed to the next step of checking the status of the logistics robot; Check the status of the logistics robot: When checking whether the logistics robot is in an idle state, the pallet loading task can be performed; Determine whether the logistics robot can perform the pallet loading task: When the logistics robot is in an idle state, execute the next step; otherwise, the task ends; Modify the current loadable pallet number: When the bin can load pallets, there are pallets that can be loaded into the current bin, and the logistics robot is in an idle state, modify the loadable pallet number attribute value of the current bin to the temporarily stored pallet number.

[0010] Furthermore, the pallet loading task model includes a pallet loading task execution sub-model, and the pallet loading task execution sub-model includes: Initialize the task parameters of the logistics robot: the task parameters of the logistics robot loading the pallet, the task parameters include the pallet path number and the pallet path number, the pallet path number indicates which bin the logistics robot takes the pallet from and returns to the initial position, and the pallet path number indicates which bin the logistics robot places the pallet from the initial position; when initializing the task parameters of the logistics robot, the pallet path number and the pallet path number are both initialized to 0; Instantiate pallet: Instantiate pallet using pallet data stored in database according to the pallet number recorded in the pallet number attribute of the current bin loadable; Analyze task parameters: read the current status of the pallet recorded in the pallet attributes, analyze the target bin where the pallet is located in combination with the extensible markup language XML configuration file that defines the pallet status, and determine the path number for taking the pallet; Execute pallet loading: send the task parameters of the logistics robot loading the pallet to the logistics robot controller, drive the logistics robot to take the pallet from the target silo, place it in the current silo, and execute the pallet loading task; update the robot status to task execution; Waiting for task completion: The logistics control system waits for the logistics robot to complete the pallet loading task; if the pallet loading task is successful, the relevant state change steps are executed; if the pallet loading task fails, the error handling procedure is executed; Loading pallet bin status change: Update the bin attribute of the task loading pallet, update the whether to load pallet attribute to yes, and change the loaded pallet number attribute to the loaded pallet number; Unloading pallet silo status change: Update the silo attribute of the task unloading pallet, update whether to load the pallet to no, and change the loaded pallet number attribute to 0; Pallet status change: Update the pallet status according to the original status of the pallet and the current bin; Reset the task parameters of the logistics robot: the path number for taking the pallet and the path number for placing the pallet of the logistics robot loading the pallet task are reset to zero, and the robot status is updated to task execution completed; Error handling procedure: Set the logistics control system status to alarm status, the monitoring page displays the alarm information, and the system suspends operation.

[0011] Furthermore, the configuration of the silo structure of the logistics system of the flexible manufacturing unit through the external configuration file to form a pull-type pallet flow mode spontaneously generated by the silo object of the logistics system includes: Instantiate the silo list: configure the silo composition of the logistics system of the flexible manufacturing unit through the external configuration file, instantiate the silo of the flexible manufacturing unit according to the configuration file, and build the silo list; Read the silo list: read the constructed silo list, take the first silo, and read the silo properties; Execute the task of checking the loadable pallets: read the attribute value of the current silo to determine whether the current silo allows the loading of pallets; read the loadable pallet conditions corresponding to the current silo type, read the status of the pallets one by one, and check whether the pallets meet the conditions for loading into the current silo; check whether the logistics robot is in an idle state; when the current silo meets the conditions for loading pallets, update the loadable pallet number of the silo; Determine whether the pallet can be loaded: When the loadable pallet number of the silo is not equal to 0, execute the pallet loading task, otherwise skip the pallet loading task; Execute the pallet loading task: instantiate the loadable pallet, generate logistics robot instructions, drive the logistics robot to take the pallet from the target silo, and load the pallet to the current silo; after successful loading, change the current silo, target silo and current pallet status, and reset the logistics robot task parameters; Determine whether the current bin is the last bin: If the current bin is not the last bin, restart the loop to read the bin list; otherwise, read the next bin and execute the bin loading pallet cycle.

[0012] On the other hand, the present invention provides a flexible manufacturing unit pull-type logistics control system, comprising: A silo model building module is configured to abstract various material storage devices of the flexible manufacturing unit and build a standardized silo model; the material storage device includes fixtures and silos of different physical forms and functions; A pallet loading task model building module is configured to abstract the pallet loading process of the silo model and build a standardized pallet loading task model; The pull-type pallet circulation module is configured based on a standardized silo model and a pallet loading task model, which separates the logistics system configuration from the logistics control. The logistics system silo composition of the flexible manufacturing unit is configured through an external configuration file, forming a pull-type pallet circulation mode spontaneously generated by the silo objects of the logistics system.

[0013] Furthermore, in the silo model construction module, various material storage devices of the flexible manufacturing unit are abstracted and a standardized silo model is constructed, including: The pallet storage status and storage function of the material storage device are described by preset attributes and preset methods, so as to construct a standardized silo model; The preset attributes include a bin number attribute, a bin type attribute, a pallet loading attribute, a loaded pallet number attribute, a loadable pallet number attribute, an alarm attribute, and a shielding attribute; The preset method includes a silo construction method, a task of checking loadable pallets, and a task of performing pallet loading.

[0014] Furthermore, in the pallet loading task model construction module, the pallet loading task model includes a task sub-model for checking loadable pallets, and the task sub-model for checking loadable pallets includes: Check the silo status: Check the current silo attributes, including whether the pallet is loaded, the loaded pallet number, whether the alarm is triggered, and whether the shielding is enabled; Determine whether the silo can load the pallet: When the silo is not loaded with a pallet, the current loaded pallet number is 0, the silo has not alarmed, and the silo is not blocked, the silo can load the pallet and execute the next step; otherwise, the silo cannot load the pallet and the task ends; Query loadable pallets: traverse all pallets and search for pallets that can be loaded into the current bin; the filter conditions for loadable pallets for each bin are stored in a separate Extensible Markup Language XML configuration file. When adding a bin type, add the corresponding bin loadable pallet filter condition configuration file; when the task is executed, read the loadable pallet filter condition configuration file corresponding to the current bin type to check whether the pallet can be loaded into the current bin; when checking that there is a pallet that can be loaded into the current bin, temporarily store the pallet number and end the query for loadable pallets; Determine whether there is a pallet that can be loaded: After querying the pallets that can be loaded, if there is no pallet that can be loaded into the current silo, the task ends; if there is a pallet that can be loaded into the current silo, proceed to the next step of checking the status of the logistics robot; Check the status of the logistics robot: When checking whether the logistics robot is in an idle state, the pallet loading task can be performed; Determine whether the logistics robot can perform the pallet loading task: When the logistics robot is in an idle state, execute the next step; otherwise, the task ends; Modify the current loadable pallet number: When the bin can load pallets, there are pallets that can be loaded into the current bin, and the logistics robot is in an idle state, modify the loadable pallet number attribute value of the current bin to the temporarily stored pallet number.

[0015] Furthermore, in the pallet loading task model construction module, the pallet loading task model includes a pallet loading task execution sub-model, and the pallet loading task execution sub-model includes: Initialize the task parameters of the logistics robot: the task parameters of the logistics robot loading the pallet, the task parameters include the pallet path number and the pallet path number, the pallet path number indicates which bin the logistics robot takes the pallet from and returns to the initial position, and the pallet path number indicates which bin the logistics robot places the pallet from the initial position; when initializing the task parameters of the logistics robot, the pallet path number and the pallet path number are both initialized to 0; Instantiate pallet: Instantiate pallet using pallet data stored in database according to the pallet number recorded in the pallet number attribute of the current bin loadable; Analyze task parameters: read the current status of the pallet recorded in the pallet attributes, analyze the target bin where the pallet is located in combination with the extensible markup language XML configuration file that defines the pallet status, and determine the path number for taking the pallet; Execute pallet loading: send the task parameters of the logistics robot loading the pallet to the logistics robot controller, drive the logistics robot to take the pallet from the target silo, place it in the current silo, and execute the pallet loading task; update the robot status to task execution; Waiting for task completion: The logistics control system waits for the logistics robot to complete the pallet loading task; if the pallet loading task is successful, the relevant state change steps are executed; if the pallet loading task fails, the error handling procedure is executed; Loading pallet bin status change: Update the bin attribute of the task loading pallet, update the whether to load pallet attribute to yes, and change the loaded pallet number attribute to the loaded pallet number; Unloading pallet silo status change: Update the silo attribute of the task unloading pallet, update whether to load the pallet to no, and change the loaded pallet number attribute to 0; Pallet status change: Update the pallet status according to the original status of the pallet and the current bin; Reset the task parameters of the logistics robot: the path number for taking the pallet and the path number for placing the pallet of the logistics robot loading the pallet task are reset to zero, and the robot status is updated to task execution completed; Error handling procedure: Set the logistics control system status to alarm status, the monitoring page displays the alarm information, and the system suspends operation.

[0016] Furthermore, in the pull-type pallet circulation module, the logistics system silo structure of the flexible manufacturing unit is configured through an external configuration file to form a pull-type pallet circulation mode spontaneously generated by the silo object of the logistics system, including: Instantiate the silo list: configure the silo composition of the logistics system of the flexible manufacturing unit through the external configuration file, instantiate the silo of the flexible manufacturing unit according to the configuration file, and build the silo list; Read the silo list: read the constructed silo list, take the first silo, and read the silo properties; Execute the task of checking the loadable pallets: read the attribute value of the current silo to determine whether the current silo allows the loading of pallets; read the loadable pallet conditions corresponding to the current silo type, read the status of the pallets one by one, and check whether the pallets meet the conditions for loading into the current silo; check whether the logistics robot is in an idle state; when the current silo meets the conditions for loading pallets, update the loadable pallet number of the silo; Determine whether the pallet can be loaded: When the loadable pallet number of the silo is not equal to 0, execute the pallet loading task, otherwise skip the pallet loading task; Execute the pallet loading task: instantiate the loadable pallet, generate logistics robot instructions, drive the logistics robot to take the pallet from the target silo, and load the pallet to the current silo; after successful loading, change the current silo, target silo and current pallet status, and reset the logistics robot task parameters; Determine whether the current bin is the last bin: If the current bin is not the last bin, restart the loop to read the bin list; otherwise, read the next bin and execute the bin loading pallet cycle.

[0017] The beneficial effects of the present invention are: The present invention abstracts the material storage devices of various physical forms and functions of the flexible manufacturing unit and constructs a standardized silo model. At the same time, the pallet loading process of the silo model is abstracted, and a standardized pallet loading task model consisting of a task of checking loadable pallets and a task of executing pallet loading is constructed. Based on the standardized silo model and the pallet loading task model, the logistics system configuration is separated from the logistics control logic, and the silo structure of the flexible manufacturing unit logistics system is configured through an external configuration file. A pull-type pallet circulation mode spontaneously driven by the silo object of the logistics system is constructed, which changes the conventional pallet circulation mode driven by the main control system. The main control system is no longer responsible for the pallet circulation control, thereby decoupling the logistics control from the main control system.

[0018] The flexible manufacturing unit logistics control method and system provided by the present invention separate the logistics system configuration from the logistics control logic, decouple the logistics control from the main control system, and adapt to the different silo composition requirements of various flexible manufacturing units through external configuration files, without the need for special customized development, thus shortening the flexible manufacturing unit control system development cycle and reducing development costs. When the composition of the material storage device in the flexible manufacturing unit logistics system changes, only the configuration file needs to be updated, without changing the main logic of the logistics control system, thereby improving the maintainability and scalability of the logistics control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 Schematic diagram of a typical flexible manufacturing unit and its logistics system.

[0020] Figure 2 This is a flow chart of a flexible manufacturing unit pull-type logistics control method according to Example 1 of the present invention.

[0021] Figure 3 This is a schematic diagram of a standardized silo model in Example 1 of the present invention.

[0022] Figure 4 This is a workflow diagram of the sub-model of the task of checking the loadable tray in Example 1 of the present invention.

[0023] Figure 5 This is a workflow diagram of the sub-model for executing the tray loading task in Example 1 of the present invention.

[0024] Figure 6 The flowchart of the pull-type pallet circulation mode spontaneously constructed by the silo object of the logistics system in Example 1 of the present invention. DETAILED DESCRIPTION

[0025] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, the specific implementation methods of the present invention are now described. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention, that is, the embodiments described are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present invention.

[0026] Example 1 Typical flexible manufacturing units and their logistics systems consist of Figure 1 As shown. Among them, a typical flexible manufacturing unit includes multiple CNC machine tools, loading workstations, inspection workstations, cleaning workstations, main storage devices, and loading and unloading temporary storage devices installed near the machine tools. In order to position and install the pallets carrying parts, processing fixtures, loading fixtures, inspection fixtures, cleaning fixtures, main material bins, loading and unloading temporary storage bins, and unloading temporary storage bins are correspondingly set in the above-mentioned machine tools, workstations and storage devices. The basic function of the flexible manufacturing unit logistics system is to drive the logistics robot to complete the pallet loading and unloading of fixtures and bins and the flow of pallets between fixtures and bins.

[0027] Although the flexible and customizable model has greatly improved the flexibility of the logistics system and met the flexible material handling needs of the flexible manufacturing unit, the current flexible manufacturing unit logistics system still has the following problems: Customized development, long development cycle and high development cost. The composition of various flexible manufacturing units varies greatly, and there is currently no standardized control method to achieve logistics control of flexible manufacturing units. For each flexible manufacturing unit, a set of special logistics control systems must be customized and developed to control the logistics of the manufacturing unit, resulting in a long development cycle and high development costs.

[0028] Poor maintainability. At present, the logistics control of flexible manufacturing units is driven by the main control system according to the current system status, which drives the logistics robot to realize the flow of pallets between silos. The logistics control is tightly coupled with the main control system. Even if there is a slight change in the composition or logic of the logistics system, the entire control system must be modified, which leads to poor maintainability.

[0029] Poor scalability. When the logistics system structure changes, such as adding a storage type or location, the original control system logistics logic must be rewritten, and it is not convenient to expand on the basis of the original system.

[0030] Based on this, this embodiment provides a flexible manufacturing unit pull-type logistics control method, such as Figure 2 As shown, including: Abstract various material storage devices of flexible manufacturing units and build a standardized silo model; material storage devices include fixtures and silos with different physical forms and functions; Abstract the pallet loading process of the silo model and build a standardized pallet loading task model; Based on the standardized silo model and pallet loading task model, the logistics system configuration is separated from the logistics control. The logistics system silo composition of the flexible manufacturing unit is configured through an external configuration file, forming a pull-type pallet flow mode spontaneously driven by the silo objects of the logistics system.

[0031] The flexible manufacturing unit pull-type logistics control method of this embodiment will be described in detail below.

[0032] 1. Build a standardized silo model The fixtures and silos of the flexible manufacturing unit logistics system are installed on different equipment, and their physical forms and functions are also different. For the logistics system, different fixtures and silos are used to store pallets, so the pallet storage function of the fixtures and silos can be abstracted, and a set of attributes and methods can be used to describe its pallet storage status and storage function to build a standardized silo model, such as Figure 3 shown.

[0033] Preferably, the standard silo model includes the following standard silo attributes: Silo number attribute: records the unique number of the silo in the logistics system, used to identify the silo.

[0034] Silo type attribute: record the current silo type. Silo types include machining fixtures of CNC machine tools, loading fixtures of loading workstations, testing fixtures of testing workstations, cleaning fixtures of cleaning workstations, main silos of main storage devices, loading temporary storage bins of machine tool loading temporary storage devices, and unloading temporary storage bins of machine tool unloading temporary storage devices. All silo types are defined in an extensible markup language XML file, which can be easily expanded according to the business needs of flexible manufacturing units.

[0035] Whether the pallet is loaded attribute: Indicates whether the bin is loaded with a pallet.

[0036] Loaded Pallet Number Attribute: records the pallet number currently loaded in the bin. If no pallet is loaded, the Loaded Pallet Number attribute value is 0. If a pallet is loaded, this attribute identifies the number of the loaded pallet.

[0037] Loadable Pallet Number Attribute: records the pallet number that can be loaded into the current bin. If the pallet has been loaded, the current loadable pallet number attribute value is 0. If the pallet has not been loaded, its initial value is 0. After running the Check Loadable Pallet Task method, if there is a pallet that can be loaded into the bin, the current loadable pallet number attribute value is the loadable pallet number.

[0038] Alarm attribute: Indicates whether the silo is working normally.

[0039] Whether to block the property: Indicates whether the silo is out of use. If the silo is blocked, it will stop being used in the logistics system and cannot be loaded with pallets.

[0040] Preferably, the standard silo model includes the following standard silo methods: Silo construction method: used to set the initial value of each attribute value when the silo is instantiated and initialize the silo.

[0041] Check whether the pallet loading task can be executed in the current silo.

[0042] Execute pallet loading tasks: used to start silo pallet loading. The logistics control system issues a pallet loading instruction and drives the logistics robot to load the pallet according to the task instruction.

[0043] 2. Build a standardized pallet loading task model This embodiment constructs a standardized pallet loading task model by abstracting the pallet loading process of the silo, wherein the pallet loading task model includes a task sub-model for checking loadable pallets and a task sub-model for executing pallet loading.

[0044] Preferably, if Figure 4 As shown, the check loadable tray task submodel includes: Check the silo status: Check the current silo properties, including whether the pallet is loaded, the loaded pallet number, whether the alarm is triggered, and whether the shielding is enabled.

[0045] Determine whether the silo can load the pallet: When the silo is not loaded with a pallet, the current loaded pallet number is 0, the silo has not alarmed, and the silo is not blocked, the silo can load the pallet and execute the next step; otherwise, the silo cannot load the pallet and the task ends.

[0046] Query loadable pallets: traverse all pallets and search for pallets that can be loaded into the current bin; the loadable pallet screening conditions for each bin are stored in a separate Extensible Markup Language XML configuration file. When adding a bin type, add the corresponding bin loadable pallet screening condition configuration file; when the task is executed, read the loadable pallet screening condition configuration file corresponding to the current bin type to check whether the pallet can be loaded into the current bin; when it is found that there is a pallet that can be loaded into the current bin, temporarily store the pallet number and end the query for loadable pallets.

[0047] Determine whether there is a pallet that can be loaded: After querying the loadable pallets, if there is no pallet that can be loaded into the current silo, the task ends; if there is a pallet that can be loaded into the current silo, execute the next step to check the status of the logistics robot.

[0048] Check the status of the logistics robot: When checking whether the logistics robot is in an idle state, the pallet loading task can be performed.

[0049] Determine whether the logistics robot can perform the pallet loading task: When the logistics robot is in an idle state, execute the next step; otherwise, the task ends.

[0050] Modify the current loadable pallet number: When the bin can load pallets, there are pallets that can be loaded into the current bin, and the logistics robot is in an idle state, modify the loadable pallet number attribute value of the current bin to the temporarily stored pallet number.

[0051] Preferably, if Figure 5 As shown, the sub-model for executing the tray loading task includes: Initialize the task parameters of the logistics robot: the task parameters of the logistics robot for loading pallets. The task parameters include the pallet pick-up path number and the pallet placement path number. The pallet pick-up path number indicates which bin the logistics robot takes the pallet from and returns to the initial position. The pallet placement path number indicates which bin the logistics robot places the pallet from the initial position. When initializing the task parameters of the logistics robot, both the pallet pick-up path number and the pallet placement path number are initialized to 0.

[0052] Instantiate pallet: Instantiate the pallet using the pallet data stored in the database according to the pallet number recorded in the loadable pallet number attribute of the current bin.

[0053] Analyze task parameters: read the current status of the pallet recorded in the pallet attributes, analyze the target bin where the pallet is located in combination with the extensible markup language XML configuration file that defines the pallet status, and determine the path number for picking up the pallet.

[0054] Execute pallet loading: send the task parameters of the logistics robot loading the pallet to the logistics robot controller, drive the logistics robot to take the pallet from the target silo, place it in the current silo, and execute the pallet loading task; update the robot status to task execution.

[0055] Waiting for task completion: The logistics control system waits for the logistics robot to complete the pallet loading task; if the pallet loading task is successful, the relevant state change steps are executed; if the pallet loading task fails, the error handler is executed.

[0056] Load Pallet Bin Status Change: Update the Bin attribute of the task Load Pallet, update the Whether Pallet is Loaded attribute to Yes, and change the Loaded Pallet Number attribute to the loaded pallet number.

[0057] Unload pallet bin status change: Update the bin attributes of the task unload pallet, update whether the pallet is loaded to no, and change the loaded pallet number attribute to 0.

[0058] Pallet status change: Update the pallet status based on the original status of the pallet and the current bin where it is located.

[0059] Reset the task parameters of the logistics robot: the pallet path number and pallet path number of the logistics robot loading pallet task parameters are reset to zero, and the robot status is updated to task execution completed.

[0060] Error handling procedure: Set the logistics control system status to alarm status, the monitoring page displays the alarm information, and the system suspends operation.

[0061] 3. Pull-type pallet circulation mode spontaneously driven by the silo objects in the logistics system This embodiment is based on a standardized silo model and a pallet loading task model, separates the logistics system configuration from the logistics control, and configures the logistics system silo composition of the flexible manufacturing unit through an external configuration file, thereby forming a pull-type pallet flow mode spontaneously driven by the silo object of the logistics system. This control method changes the conventional pallet flow mode driven by the main control system, and the main control system is no longer responsible for pallet flow control, thereby decoupling the logistics control system from the main control system.

[0062] Preferably, if Figure 6 As shown in the figure, the pull-type pallet circulation mode spontaneously constructed by the silo object of the logistics system includes: Instantiate the silo list: Configure the silo composition of the logistics system of the flexible manufacturing unit through the external configuration file, and instantiate the silo of the flexible manufacturing unit according to the configuration file. Among them, the external configuration file defines the silo number and silo type in the logistics system. In the silo definition, the silo with a high priority for loading pallets is placed in front. The logistics control system instantiates the silo according to the silo number and silo type defined in the silo XML configuration file and builds a silo list.

[0063] Read the silo list: Read the constructed silo list, take the first silo, and read the silo properties.

[0064] Execute the task of checking loadable pallets: read the current silo attribute value to determine whether the current silo allows pallet loading; read the loadable pallet conditions corresponding to the current silo type, read the pallet status one by one, and check whether the pallet meets the conditions for loading into the current silo; check whether the logistics robot is in an idle state; when the current silo meets the conditions for loading pallets, update the loadable pallet number of the silo.

[0065] Determine whether the pallet can be loaded: When the loadable pallet number of the silo is not equal to 0, execute the pallet loading task, otherwise skip the pallet loading task.

[0066] Execute the pallet loading task: instantiate the loadable pallet, generate logistics robot instructions, drive the logistics robot to take the pallet from the target bin, and load the pallet to the current bin; after successful loading, change the current bin, target bin and current pallet status, and reset the logistics robot task parameters.

[0067] Determine whether the current bin is the last bin: If the current bin is not the last bin, restart the loop to read the bin list; otherwise, read the next bin and execute the bin loading pallet cycle.

[0068] Example 2 This embodiment provides a pull-type logistics control system for a flexible manufacturing unit, including a silo model building module, a pallet loading task model building module, and a pull-type pallet circulation module, wherein: The silo model building module is configured to abstract various material storage devices of the flexible manufacturing unit and build a standardized silo model; the material storage devices include fixtures and silos with different physical forms and functions; The pallet loading task model building module is configured to abstract the pallet loading process of the silo model and build a standardized pallet loading task model; The pull-type pallet circulation module is configured based on a standardized silo model and pallet loading task model, separating the logistics system configuration from the logistics control. The logistics system silo composition of the flexible manufacturing unit is configured through an external configuration file, forming a pull-type pallet circulation mode spontaneously generated by the silo objects of the logistics system.

[0069] Preferably, in the silo model construction module, various material storage devices of the flexible manufacturing unit are abstracted and a standardized silo model is constructed, including: The pallet storage status and storage function of the material storage device are described by preset attributes and preset methods, so as to construct a standardized silo model; wherein the preset attributes include silo number attribute, silo type attribute, whether to load pallets attribute, loaded pallet number attribute, loadable pallet number attribute, whether to alarm attribute and whether to shield attribute; the preset methods include silo construction method, loadable pallet checking task and pallet loading task.

[0070] Preferably, in the pallet loading task model construction module, the pallet loading task model includes a task sub-model for checking loadable pallets, and the task sub-model for checking loadable pallets includes: Check the silo status: Check the current silo attributes, including whether the pallet is loaded, the loaded pallet number, whether the alarm is triggered, and whether the shielding is enabled; Determine whether the silo can load the pallet: When the silo is not loaded with a pallet, the current loaded pallet number is 0, the silo has not alarmed, and the silo is not blocked, the silo can load the pallet and execute the next step; otherwise, the silo cannot load the pallet and the task ends; Query loadable pallets: traverse all pallets and search for pallets that can be loaded into the current bin; the filter conditions for loadable pallets for each bin are stored in a separate Extensible Markup Language XML configuration file. When adding a bin type, add the corresponding bin loadable pallet filter condition configuration file; when the task is executed, read the loadable pallet filter condition configuration file corresponding to the current bin type to check whether the pallet can be loaded into the current bin; when checking that there is a pallet that can be loaded into the current bin, temporarily store the pallet number and end the query for loadable pallets; Determine whether there is a pallet that can be loaded: After querying the pallets that can be loaded, if there is no pallet that can be loaded into the current silo, the task ends; if there is a pallet that can be loaded into the current silo, proceed to the next step of checking the status of the logistics robot; Check the status of the logistics robot: When checking whether the logistics robot is in an idle state, the pallet loading task can be performed; Determine whether the logistics robot can perform the pallet loading task: When the logistics robot is in an idle state, execute the next step; otherwise, the task ends; Modify the current loadable pallet number: When the bin can load pallets, there are pallets that can be loaded into the current bin, and the logistics robot is in an idle state, modify the loadable pallet number attribute value of the current bin to the temporarily stored pallet number.

[0071] Preferably, in the pallet loading task model construction module, the pallet loading task model includes a pallet loading task execution sub-model, and the pallet loading task execution sub-model includes: Initialize the task parameters of the logistics robot: the task parameters of the logistics robot loading the pallet, which include the pallet path number and the pallet path number. The pallet path number indicates which bin the logistics robot takes the pallet from and returns to the initial position, and the pallet path number indicates which bin the logistics robot places the pallet from the initial position. When initializing the task parameters of the logistics robot, the pallet path number and the pallet path number are both initialized to 0; Instantiate pallet: Instantiate pallet using pallet data stored in database according to the pallet number recorded in the pallet number attribute of the current bin loadable; Analyze task parameters: read the current status of the pallet recorded in the pallet attributes, analyze the target bin where the pallet is located in combination with the extensible markup language XML configuration file that defines the pallet status, and determine the path number for taking the pallet; Execute pallet loading: send the task parameters of the logistics robot loading the pallet to the logistics robot controller, drive the logistics robot to take the pallet from the target silo, place it in the current silo, and execute the pallet loading task; update the robot status to task execution; Waiting for task completion: The logistics control system waits for the logistics robot to complete the pallet loading task; if the pallet loading task is successful, the relevant state change steps are executed; if the pallet loading task fails, the error handling procedure is executed; Loading pallet bin status change: Update the bin attribute of the task loading pallet, update the whether to load pallet attribute to yes, and change the loaded pallet number attribute to the loaded pallet number; Unloading pallet silo status change: Update the silo attribute of the task unloading pallet, update whether to load the pallet to no, and change the loaded pallet number attribute to 0; Pallet status change: Update the pallet status according to the original status of the pallet and the current bin; Reset the task parameters of the logistics robot: the path number for taking the pallet and the path number for placing the pallet of the logistics robot loading the pallet task are reset to zero, and the robot status is updated to task execution completed; Error handling procedure: Set the logistics control system status to alarm status, the monitoring page displays the alarm information, and the system suspends operation.

[0072] Preferably, in the pull-type pallet circulation module, the logistics system silo composition of the flexible manufacturing unit is configured through an external configuration file to form a pull-type pallet circulation mode spontaneously generated by the silo object of the logistics system, including: Instantiate the silo list: configure the silo composition of the logistics system of the flexible manufacturing unit through the external configuration file, instantiate the silo of the flexible manufacturing unit according to the configuration file, and build the silo list; Read the silo list: read the constructed silo list, take the first silo, and read the silo properties; Execute the task of checking the loadable pallets: read the attribute value of the current silo to determine whether the current silo allows the loading of pallets; read the loadable pallet conditions corresponding to the current silo type, read the status of the pallets one by one, and check whether the pallets meet the conditions for loading into the current silo; check whether the logistics robot is in an idle state; when the current silo meets the conditions for loading pallets, update the loadable pallet number of the silo; Determine whether the pallet can be loaded: When the loadable pallet number of the silo is not equal to 0, execute the pallet loading task, otherwise skip the pallet loading task; Execute the pallet loading task: instantiate the loadable pallet, generate logistics robot instructions, drive the logistics robot to take the pallet from the target silo, and load the pallet to the current silo; after successful loading, change the current silo, target silo and current pallet status, and reset the logistics robot task parameters; Determine whether the current bin is the last bin: If the current bin is not the last bin, restart the loop to read the bin list; otherwise, read the next bin and execute the bin loading pallet cycle.

[0073] Example 3 This embodiment is based on embodiment 1: This embodiment provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the flexible manufacturing unit pull-type logistics control method of embodiment 1 is implemented. The computer program may be in source code form, object code form, executable file, or some intermediate form.

[0074] Example 4 This embodiment is based on embodiment 1: This embodiment provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the flexible manufacturing unit pull-type logistics control method of Embodiment 1. The computer program may be in source code form, object code form, executable file, or some intermediate form, etc. The storage medium includes: any entity or device capable of carrying computer program code, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal, and software distribution medium, etc. It should be noted that the content contained in the storage medium may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the storage medium does not include electric carrier signals and telecommunication signals.

[0075] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity of description, they are expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the order of the actions described, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

Claims

1. A flexible manufacturing unit pull-type logistics control method, characterized in that: include: Abstract various material storage devices of the flexible manufacturing unit and construct a standardized silo model; the material storage device includes fixtures and silos with different physical forms and functions; Abstract the pallet loading process of the silo model and build a standardized pallet loading task model; Based on the standardized silo model and pallet loading task model, the logistics system configuration is separated from the logistics control. The logistics system silo composition of the flexible manufacturing unit is configured through an external configuration file, forming a pull-type pallet flow mode spontaneously driven by the silo objects of the logistics system.

2. A flexible manufacturing unit pull-type logistics control method according to claim 1, characterized in that: The various material storage devices of the flexible manufacturing unit are abstracted and a standardized silo model is constructed, including: The pallet storage status and storage function of the material storage device are described by preset attributes and preset methods, so as to construct a standardized silo model; The preset attributes include a bin number attribute, a bin type attribute, a pallet loading attribute, a loaded pallet number attribute, a loadable pallet number attribute, an alarm attribute, and a shielding attribute; The preset method includes a silo construction method, a task of checking loadable pallets, and a task of performing pallet loading.

3. A flexible manufacturing unit pull-type logistics control method according to claim 1, characterized in that: The pallet loading task model includes a task sub-model for checking loadable pallets, and the task sub-model for checking loadable pallets includes: Check the silo status: Check the current silo attributes, including whether the pallet is loaded, the loaded pallet number, whether the alarm is triggered, and whether the shielding is enabled; Determine whether the silo can load the pallet: When the silo is not loaded with a pallet, the current loaded pallet number is 0, the silo has not alarmed, and the silo is not blocked, the silo can load the pallet and execute the next step; otherwise, the silo cannot load the pallet and the task ends; Query loadable pallets: traverse all pallets and search for pallets that can be loaded into the current bin; the filter conditions for loadable pallets for each bin are stored in a separate Extensible Markup Language XML configuration file. When adding a bin type, add the corresponding bin loadable pallet filter condition configuration file; when the task is executed, read the loadable pallet filter condition configuration file corresponding to the current bin type to check whether the pallet can be loaded into the current bin; when checking that there is a pallet that can be loaded into the current bin, temporarily store the pallet number and end the query for loadable pallets; Determine whether there is a pallet that can be loaded: After querying the pallets that can be loaded, if there is no pallet that can be loaded into the current silo, the task ends; if there is a pallet that can be loaded into the current silo, proceed to the next step of checking the status of the logistics robot; Check the status of the logistics robot: When checking whether the logistics robot is in an idle state, the pallet loading task can be performed; Determine whether the logistics robot can perform the pallet loading task: When the logistics robot is in an idle state, execute the next step; otherwise, the task ends; Modify the current loadable pallet number: When the bin can load pallets, there are pallets that can be loaded into the current bin, and the logistics robot is in an idle state, modify the loadable pallet number attribute value of the current bin to the temporarily stored pallet number.

4. A flexible manufacturing unit pull-type logistics control method according to claim 1, characterized in that: The pallet loading task model includes a pallet loading task execution sub-model, and the pallet loading task execution sub-model includes: Initialize the task parameters of the logistics robot: the task parameters of the logistics robot loading the pallet, the task parameters include the pallet path number and the pallet path number, the pallet path number indicates which bin the logistics robot takes the pallet from and returns to the initial position, and the pallet path number indicates which bin the logistics robot places the pallet from the initial position; when initializing the task parameters of the logistics robot, the pallet path number and the pallet path number are both initialized to 0; Instantiate pallet: Instantiate pallet using pallet data stored in database according to the pallet number recorded in the pallet number attribute of the current bin loadable; Analyze task parameters: read the current status of the pallet recorded in the pallet attributes, analyze the target bin where the pallet is located in combination with the extensible markup language XML configuration file that defines the pallet status, and determine the path number for taking the pallet; Execute pallet loading: send the task parameters of the logistics robot loading the pallet to the logistics robot controller, drive the logistics robot to take the pallet from the target silo, place it in the current silo, and execute the pallet loading task; update the robot status to task execution; Waiting for task completion: The logistics control system waits for the logistics robot to complete the pallet loading task; if the pallet loading task is successful, the relevant state change steps are executed; if the pallet loading task fails, the error handling procedure is executed; Loading pallet bin status change: Update the bin attribute of the task loading pallet, update the whether to load pallet attribute to yes, and change the loaded pallet number attribute to the loaded pallet number; Unloading pallet silo status change: Update the silo attribute of the task unloading pallet, update whether to load the pallet to no, and change the loaded pallet number attribute to 0; Pallet status change: Update the pallet status according to the original status of the pallet and the current bin; Reset the task parameters of the logistics robot: the path number for taking the pallet and the path number for placing the pallet of the logistics robot loading the pallet task are reset to zero, and the robot status is updated to task execution completed; Error handling procedure: Set the logistics control system status to alarm status, the monitoring page displays the alarm information, and the system suspends operation.

5. A pull-type logistics control method for a flexible manufacturing unit according to claim 1, characterized in that: The method of configuring the material silo structure of the logistics system of the flexible manufacturing unit through the external configuration file to form a pull-type pallet flow mode spontaneously generated by the material silo object of the logistics system includes: Instantiate the silo list: configure the silo composition of the logistics system of the flexible manufacturing unit through the external configuration file, instantiate the silo of the flexible manufacturing unit according to the configuration file, and build the silo list; Read the silo list: read the constructed silo list, take the first silo, and read the silo properties; Execute the task of checking the loadable pallets: read the attribute value of the current silo to determine whether the current silo allows the loading of pallets; read the loadable pallet conditions corresponding to the current silo type, read the status of the pallets one by one, and check whether the pallets meet the conditions for loading into the current silo; check whether the logistics robot is in an idle state; when the current silo meets the conditions for loading pallets, update the loadable pallet number of the silo; Determine whether the pallet can be loaded: When the loadable pallet number of the silo is not equal to 0, execute the pallet loading task, otherwise skip the pallet loading task; Execute the pallet loading task: instantiate the loadable pallet, generate logistics robot instructions, drive the logistics robot to take the pallet from the target silo, and load the pallet to the current silo; after successful loading, change the current silo, target silo and current pallet status, and reset the logistics robot task parameters; Determine whether the current bin is the last bin: If the current bin is not the last bin, restart the loop to read the bin list; otherwise, read the next bin and execute the bin loading pallet cycle.

6. A flexible manufacturing unit pull-type logistics control system, characterized in that: include: A silo model building module is configured to abstract various material storage devices of the flexible manufacturing unit and build a standardized silo model; the material storage device includes fixtures and silos of different physical forms and functions; A pallet loading task model building module is configured to abstract the pallet loading process of the silo model and build a standardized pallet loading task model; The pull-type pallet circulation module is configured based on a standardized silo model and a pallet loading task model, which separates the logistics system configuration from the logistics control. The logistics system silo composition of the flexible manufacturing unit is configured through an external configuration file, forming a pull-type pallet circulation mode spontaneously generated by the silo objects of the logistics system.

7. A flexible manufacturing unit pull-type logistics control system according to claim 6, characterized in that: In the silo model construction module, various material storage devices of the flexible manufacturing unit are abstracted and a standardized silo model is constructed, including: The pallet storage status and storage function of the material storage device are described by preset attributes and preset methods, so as to construct a standardized silo model; The preset attributes include a bin number attribute, a bin type attribute, a pallet loading attribute, a loaded pallet number attribute, a loadable pallet number attribute, an alarm attribute, and a shielding attribute; The preset method includes a silo construction method, a task of checking loadable pallets, and a task of performing pallet loading.

8. A flexible manufacturing unit pull-type logistics control system according to claim 6, characterized in that: In the pallet loading task model construction module, the pallet loading task model includes a task sub-model for checking loadable pallets, and the task sub-model for checking loadable pallets includes: Check the silo status: Check the current silo attributes, including whether the pallet is loaded, the loaded pallet number, whether the alarm is triggered, and whether the shielding is enabled; Determine whether the silo can load the pallet: When the silo is not loaded with a pallet, the current loaded pallet number is 0, the silo has not alarmed, and the silo is not blocked, the silo can load the pallet and execute the next step; otherwise, the silo cannot load the pallet and the task ends; Query loadable pallets: traverse all pallets and search for pallets that can be loaded into the current bin; the filter conditions for loadable pallets for each bin are stored in a separate Extensible Markup Language XML configuration file. When adding a bin type, add the corresponding bin loadable pallet filter condition configuration file; when the task is executed, read the loadable pallet filter condition configuration file corresponding to the current bin type to check whether the pallet can be loaded into the current bin; when checking that there is a pallet that can be loaded into the current bin, temporarily store the pallet number and end the query for loadable pallets; Determine whether there is a pallet that can be loaded: After querying the pallets that can be loaded, if there is no pallet that can be loaded into the current silo, the task ends; if there is a pallet that can be loaded into the current silo, proceed to the next step of checking the status of the logistics robot; Check the status of the logistics robot: When checking whether the logistics robot is in an idle state, the pallet loading task can be performed; Determine whether the logistics robot can perform the pallet loading task: When the logistics robot is in an idle state, execute the next step; otherwise, the task ends; Modify the current loadable pallet number: When the bin can load pallets, there are pallets that can be loaded into the current bin, and the logistics robot is in an idle state, modify the loadable pallet number attribute value of the current bin to the temporarily stored pallet number.

9. A flexible manufacturing unit pull-type logistics control system according to claim 6, characterized in that: In the pallet loading task model construction module, the pallet loading task model includes a pallet loading task execution sub-model, and the pallet loading task execution sub-model includes: Initialize the task parameters of the logistics robot: the task parameters of the logistics robot loading the pallet, the task parameters include the pallet path number and the pallet path number, the pallet path number indicates which bin the logistics robot takes the pallet from and returns to the initial position, and the pallet path number indicates which bin the logistics robot places the pallet from the initial position; when initializing the task parameters of the logistics robot, the pallet path number and the pallet path number are both initialized to 0; Instantiate pallet: Instantiate pallet using pallet data stored in database according to the pallet number recorded in the pallet number attribute of the current bin loadable; Analyze task parameters: read the current status of the pallet recorded in the pallet attributes, analyze the target bin where the pallet is located in combination with the extensible markup language XML configuration file that defines the pallet status, and determine the path number for taking the pallet; Execute pallet loading: send the task parameters of the logistics robot loading the pallet to the logistics robot controller, drive the logistics robot to take the pallet from the target silo, place it in the current silo, and execute the pallet loading task; update the robot status to task execution; Waiting for task completion: The logistics control system waits for the logistics robot to complete the pallet loading task; if the pallet loading task is successful, the relevant state change steps are executed; if the pallet loading task fails, the error handling procedure is executed; Loading pallet bin status change: Update the bin attribute of the task loading pallet, update the whether to load pallet attribute to yes, and change the loaded pallet number attribute to the loaded pallet number; Unloading pallet silo status change: Update the silo attribute of the task unloading pallet, update whether to load the pallet to no, and change the loaded pallet number attribute to 0; Pallet status change: Update the pallet status according to the original status of the pallet and the current bin; Reset the task parameters of the logistics robot: the path number for taking the pallet and the path number for placing the pallet of the logistics robot loading the pallet task are reset to zero, and the robot status is updated to task execution completed; Error handling procedure: Set the logistics control system status to alarm status, the monitoring page displays the alarm information, and the system suspends operation.

10. A flexible manufacturing unit pull-type logistics control system according to claim 6, characterized in that: In the pull-type pallet circulation module, the logistics system silo structure of the flexible manufacturing unit is configured through an external configuration file to form a pull-type pallet circulation mode spontaneously generated by the silo object of the logistics system, including: Instantiate the silo list: configure the silo composition of the logistics system of the flexible manufacturing unit through the external configuration file, instantiate the silo of the flexible manufacturing unit according to the configuration file, and build the silo list; Read the silo list: read the constructed silo list, take the first silo, and read the silo properties; Execute the task of checking the loadable pallets: read the attribute value of the current silo to determine whether the current silo allows the loading of pallets; read the loadable pallet conditions corresponding to the current silo type, read the status of the pallets one by one, and check whether the pallets meet the conditions for loading into the current silo; check whether the logistics robot is in an idle state; when the current silo meets the conditions for loading pallets, update the loadable pallet number of the silo; Determine whether the pallet can be loaded: When the loadable pallet number of the silo is not equal to 0, execute the pallet loading task, otherwise skip the pallet loading task; Execute the pallet loading task: instantiate the loadable pallet, generate logistics robot instructions, drive the logistics robot to take the pallet from the target silo, and load the pallet to the current silo; after successful loading, change the current silo, target silo and current pallet status, and reset the logistics robot task parameters; Determine whether the current bin is the last bin: If the current bin is not the last bin, restart the loop to read the bin list; otherwise, read the next bin and execute the bin loading pallet cycle.

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