A cigarette case code disc control system and an empty tray taking and delivering control method

Abstract

This invention discloses a cigarette box palletizing control system and an empty pallet retrieval and delivery control method. The cigarette box palletizing control system includes: a cigarette box conveying device, a cigarette box gripping device, a pallet transporting device, a pallet splitting machine, a robot waiting area, and a pallet temporary storage area. The cigarette box gripping device includes multiple robotic arms and pallet placement stations. The cigarette box conveying device is located on one side of the multiple robotic arms, and the pallet placement stations are located around the robotic arms. The pallet splitting machine is located on one side of the pallet placement stations. The pallet transporting device includes a lurking robot and a robot transport path, with the robot transport path located on the second side of the robotic arms. The robot waiting area and the pallet temporary storage area are respectively located on both sides of the robot transport path, with the robot waiting area positioned close to the robotic arms. This invention, by splitting pallet sets into empty pallets, eliminates the need to retrieve empty pallets from the pallet splitting machine and avoids queuing when retrieving and delivering empty pallets, reducing the waiting time of the robotic arms and improving work efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic carton stacking and unstacking, and more particularly to a carton stacking and unstacking control system and an empty tray taking and delivering control method. BACKGROUND

[0002] The existing mechanical hand stacking and unstacking system is that after the mechanical hand stacks a tray, a hidden robot takes away the full tray, and then takes an empty tray from a tray splitting machine to replace it. The empty tray is in a group of 10, and when one group is used up, another group is taken from the empty tray area to replace it in the tray splitting machine. The number of hidden robots is calculated based on the average flow during normal operation, and one or two standby robots are generally added.

[0003] However, due to uncertain factors, the full tray cannot be taken away in time after stacking, or the empty tray cannot be replaced in time, which causes the mechanical hand to wait. At the same time, multiple full trays wait to be taken away, or multiple stations wait to be replaced with empty trays, or multiple hidden robots wait in line to take empty trays, which causes the mechanical hand to stop working and wait, and a large number of cartons enter the manual process, which requires manual stacking and warehousing, greatly increasing the labor.

[0004] Therefore, how to provide a carton stacking and unstacking control system and an empty tray taking and delivering control method has become a technical problem to be solved in the field. SUMMARY

[0005] An object of the present application is to provide a new technical solution for a carton stacking and unstacking control system and an empty tray taking and delivering control method.

[0006] According to a first aspect of the present application, a carton stacking and unstacking control system is provided, comprising: a carton conveying device, a carton grabbing device, a tray conveying device, a tray splitting machine, a robot waiting area, and a tray temporary storage area;

[0007] The carton grabbing device comprises a plurality of mechanical hands and a tray placement station. The carton conveying device is arranged on the first side of the plurality of mechanical hands. The tray placement station is arranged around the mechanical hands and is used to store empty trays. The mechanical hands are used to grab cartons and place the cartons on the empty trays to form full trays.

[0008] The tray splitting machine is located on one side of the tray placement station. The tray splitting machine splits a tray group formed by stacking a plurality of empty trays into single empty trays.

[0009] The tray conveying device comprises a hidden robot and a robot conveying section. The hidden robot is used to transport empty trays and full trays. The robot conveying section is located on the second side of the mechanical hands.

[0010] The robot waiting area and the tray temporary storage area are respectively arranged on both sides of the robot conveying path, and the robot waiting area is arranged close to the robot hand, the robot waiting area is used for storing the non-working dormant robot, and the tray temporary storage area is used for storing the full tray and the empty tray for a short time.

[0011] Optionally, the tray temporary storage area includes a full tray temporary storage area and an empty tray temporary storage area, and the number of the empty tray temporary storage area is greater than the number of the full tray temporary storage area, and the full tray temporary storage area and the empty tray temporary storage area are uniformly arranged along the length direction of the robot conveying path.

[0012] Optionally, the dormant robot includes an empty tray conveying robot and a full tray conveying robot, and the empty tray conveying robot and the full tray conveying robot are located in the robot waiting area, the empty tray conveying robot is used for conveying the empty tray, and the full tray conveying robot is used for conveying the full tray.

[0013] Optionally, the tobacco case conveying device includes a conveying line, a vertical sorting device and a plurality of channel conveying machines, the first ends of the plurality of channel conveying machines are connected with the conveying line, the vertical sorting device is arranged at the connection of the channel conveying machine and the conveying line, the vertical sorting device is used for identifying the label of the conveying line conveying different brand tobacco cases, and conveying different brand tobacco cases to the corresponding channel conveying machine, and the robot hand is located at the second end of the channel conveying machine.

[0014] Optionally, the tobacco case code disc control system further includes a tobacco case storage area, and the tobacco case storage area is used for storing the full tray.

[0015] Optionally, the tobacco case code disc control system further includes a central control system and a dispatching control device, the central control system is connected with the dormant robot and the dispatching control device respectively, the dormant robot is connected with the dispatching control device, and the dispatching control device is used for controlling the dormant robot to work.

[0016] Optionally, the tobacco case code disc control system further includes a controller.

[0017] The vertical sorting device includes a sorting disc and a sensor, the controller is connected with the sorting disc and the sensor respectively, the sorting disc and the sensor are arranged at the connection of the channel conveying machine and the conveying line, the sensor is used for identifying the label information of the tobacco case, and transmitting the label information to the controller, and the controller is used for controlling the sorting disc to convey the tobacco case to the corresponding channel conveying machine according to the label information.

[0018] According to the second aspect of the present application, a kind of empty tray taking and placing control method is provided, including the tobacco case code disc control system described above, including the following steps:

[0019] acquire first quantity information of empty trays in the tray temporary storage area;

[0020] based on the acquired first quantity information of empty trays, determine whether the first quantity information of empty trays is less than 3, if yes, control the dormant robot to transport a tray group to the tray grouping and splitting machine, so that the tray group is split into single empty trays by the tray grouping and splitting machine;

[0021] control the dormant robot to transport the single empty trays to the tray temporary storage area or the tray placement station.

[0022] Optionally, after the step of "splitting the tray group into single empty trays by the tray grouping and splitting machine", the following steps are further included:

[0023] after a preset time t, re-acquire second quantity information of empty trays in the tray temporary storage area, determine whether the second quantity information of empty trays is equal to 10, if yes, control the tray grouping and splitting machine to stop working.

[0024] Optionally, if the first quantity information of empty trays is greater than 3, the dormant robot keeps the original action.

[0025] The present application has the following beneficial effects:

[0026] In the present application, the tray placement station is arranged around the mechanical hands, the tray grouping and splitting machine is arranged on one side of the tray placement station, and the robot waiting area and the tray temporary storage area are arranged on both sides of the robot transport path, with the robot waiting area being arranged close to the mechanical hands. In the process of storing the tobacco boxes, the mechanical hands grab the tobacco boxes transported by the tobacco box conveying device and place them on the empty trays in the tray placement station to form full trays. At this time, the dormant robot transports the full trays to the tray temporary storage area. Then, the dormant robot transports the empty trays to the tray placement station. When the number of empty trays in the tray temporary storage area is too small, the dormant robot transports a tray group formed by stacking multiple empty trays to the tray grouping and splitting machine, and splits the tray group into single empty trays by the tray grouping and splitting machine. Then, the dormant robot transports the single empty trays to the tray placement station or the tray temporary storage area. In the present application, the empty trays are split in advance, so that the empty trays do not need to be taken from the tray splitting machine, and the empty trays do not need to be queued when they need to be taken, which reduces the waiting time of the mechanical hands and improves the work efficiency.

[0027] Other features and advantages of the present application will become apparent from the following detailed description of exemplary embodiments thereof, taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0028] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the application and, together with the description, serve to explain the principles of the application.

[0029] Figure 1 is a structural diagram of a tobacco box code disc control system of the present application;

[0030] Figures 2 is a flow chart of an empty tray taking and delivering control method of the present application;

[0031] Figures 3 is a specific flow chart of an empty tray taking and delivering control method of the present application.

[0032] The figures are marked as follows: 1, tobacco box conveying equipment; 11, conveying line; 12, vertical sorting device; 13, channel conveyor; 2, mechanical hand; 3, tray placement station; 4, code disc splitting machine; 5, dormant robot; 6, robot conveying section; 7, robot waiting area; 8, tray temporary storage area; 81, real tray temporary storage area; 82, empty tray temporary storage area. DETAILED DESCRIPTION

[0033] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. Note that the relative arrangement, numerical expressions, and numerical values of components and steps set forth in these embodiments are not limiting to the scope of the present application unless specifically stated otherwise.

[0034] The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the scope of the application, its application, or uses.

[0035] Techniques, methods, and apparatus known to those of ordinary skill in the relevant art can not be discussed in detail herein. However, where appropriate, such techniques, methods, and apparatus should be considered as part of the description of the present application.

[0036] In all examples shown and discussed herein, any specific values should be interpreted as merely exemplary, and not as a limitation. Thus, other examples of the exemplary embodiments can have different values.

[0037] As Figure 1 shown, an embodiment of the present application provides a tobacco box code disc control system, which includes: tobacco box conveying equipment 1, tobacco box grabbing equipment, tray conveying equipment, code disc splitting machine 4, robot waiting area 7, and tray temporary storage area 8.

[0038] The tobacco box grabbing equipment includes a plurality of mechanical hands 2 and tray placement stations 3, the tobacco box conveying equipment 1 is arranged at a first side of the plurality of mechanical hands 2, and the tray placement stations 3 are arranged around the mechanical hands 2. The tray placement stations 3 are used to store empty trays, and the mechanical hands 2 are used to grab tobacco boxes and place the tobacco boxes on the empty trays to form real trays.

[0039] The code disc splitter 4 is located on one side of the tray placement station 3, and the code disc splitter 4 is used to split the tray group formed by stacking a plurality of empty trays into single empty trays.

[0040] The tray conveying device comprises a latent robot 5 used for transporting empty trays and full trays, and a robot conveying section 6 located on the second side of the robot 2.

[0041] The robot waiting area 7 and the tray temporary storage area 8 are respectively arranged on both sides of the robot conveying section 6, and the robot waiting area 7 is arranged close to the robot 2, the robot waiting area 7 is used to store the latent robot 5 which is not working, and the tray temporary storage area 8 is used to store the full trays and the empty trays for a short time.

[0042] Specifically, the tobacco case code disc control system further comprises a tobacco case storage area, and the tobacco case storage area is used to store the full trays. The tobacco case storage area can have one or multiple, which is not described here.

[0043] Specifically, the empty tray is placed on the tray placement station 3. A plurality of tray placement stations 3 can place different brand tobacco cases, thereby distinguishing different brand tobacco cases and avoiding the problem of confusion between different brand tobacco cases. A plurality of tobacco cases can be placed on one empty tray.

[0044] When the latent robot 5 conveys the full trays and the empty trays, the latent robot 5 must move on the robot conveying section 6, and the movement track of the latent robot 5 is limited to avoid the problem that the latent robot 5 causes injury to other equipment or operators during movement.

[0045] The specific operation process is as follows: in the process of storing the tobacco case, first, the tobacco case is placed on the tobacco case conveying device 1, the tobacco case conveying device 1 conveys the tobacco case to the vicinity of the robot 2, the robot 2 grabs the tobacco case conveyed by the tobacco case conveying device 1, and places the empty tray on the tray placement station 3 to form a full tray. At this time, the latent robot 5 conveys the full tray to the tray temporary storage area 8 or the tobacco case storage area. It should be noted that when the number of full trays is too large, the latent robot 5 conveys the full trays to the tray temporary storage area 8, and when the number of full trays is less than or equal to 1, the latent robot 5 conveys the full trays in the tray temporary storage area 8 to the tobacco case storage area.

[0046] Next, the stealth robot 5 transports empty pallets to pallet placement station 3. When the number of empty pallets in pallet storage area 8 is less than 3, the stealth robot 5 transports the pallet group formed by stacking multiple empty pallets to pallet stacking and splitting machine 4, and splits it into individual empty pallets. Then, the stealth robot 5 transports the individual empty pallets to pallet placement station 3 or pallet storage area 8. It should be noted that when there are no empty pallets at pallet placement station 3, the stealth robot 5 prioritizes transporting empty pallets to pallet placement station 3.

[0047] When the number of empty pallets in the pallet storage area 8 is equal to 10, the pallet splitting machine 4 stops working.

[0048] The present invention arranges the cigarette box conveying device 1 on the first side of multiple robotic arms 2, the pallet placement station 3 around the robotic arms 2, the pallet unpacking machine 4 on one side of the pallet placement station 3, and the robot transport section 6 on the second side of the robotic arms 2; the robot waiting area 7 and the pallet temporary storage area 8 are respectively arranged on both sides of the robot transport section 6, and the robot waiting area 7 is arranged close to the robotic arms 2. During the cigarette box receiving process, the cigarette boxes are conveyed to the robotic arm 2 via the cigarette box conveyor 1. The robotic arm 2 picks up the cigarette boxes conveyed by the cigarette box conveyor 1 and places them on an empty pallet at the pallet placement station 3, forming a full pallet. At this time, the lurking robot 5 transports the full pallet to the pallet temporary storage area 8 or the cigarette box storage area. Then, the lurking robot 5 transports the empty pallets to the pallet placement station 3. When the number of empty pallets in the pallet temporary storage area 8 is too small, the lurking robot 5 transports the pallet group formed by stacking multiple empty pallets to the pallet splitting machine 4, and splits them into individual empty pallets. Then, the lurking robot 5 transports the individual empty pallets to the pallet placement station 3 or the pallet temporary storage area 8. This invention, by splitting pallet groups into empty pallets, eliminates the need to retrieve empty pallets from the pallet splitting machine. Furthermore, the lurking robot 5 does not need to queue when retrieving empty pallets, reducing the waiting time of the robotic arm 2 and improving work efficiency.

[0049] In one embodiment of the cigarette box pallet control system of the present invention, the pallet storage area 8 includes a full pallet storage area 81 and an empty pallet storage area 82, and the number of empty pallet storage areas 82 is greater than the number of full pallet storage areas 81. The full pallet storage areas 81 and the empty pallet storage areas 82 are evenly spaced along the length of the robot transport route 6.

[0050] In this embodiment, there are four full pallet storage areas 81 and ten empty pallet storage areas 82. The number of empty pallet storage areas 82 is the number of individual empty pallets when a pallet group is split into its constituent parts.

[0051] This invention achieves buffering of both empty and empty pallets by having a greater number of empty pallet storage areas 82 than the number of full pallet storage areas 81, and by evenly spacing the full pallet storage areas 81 and empty pallet storage areas 82 along the length of the robot transport route 6. This avoids the problem of the lurking robot 5 being unable to transport full pallets in time when there are too many full pallets, and also avoids the problem of a shortage of empty pallets due to the slow splitting speed of the pallet splitter.

[0052] In one embodiment of the cigarette box pallet control system of the present invention, the lurking robot 5 includes an empty pallet transport robot and a full pallet transport robot. Both the empty pallet transport robot and the full pallet transport robot are located in the robot waiting area 7. The empty pallet transport robot is used to transport empty pallets, and the full pallet transport robot is used to transport full pallets.

[0053] This invention places both empty pallet transport robots and full pallet transport robots in robot waiting area 7, and then uses empty pallet transport robots and full pallet transport robots to transport empty pallets and full pallets respectively, thereby avoiding the problem of confusion between empty pallets and full pallets, and also improving the transport efficiency of empty pallets and full pallets.

[0054] In one embodiment of the cigarette box pallet control system of the present invention, the cigarette box conveying equipment 1 includes a conveyor line 11, a vertical sorting device 12 and a plurality of channel conveyors 13. The first end of the plurality of channel conveyors 13 is connected to the conveyor line 11. The vertical sorting device 12 is respectively arranged at the connection between the channel conveyor 13 and the conveyor line 11. The vertical sorting device 12 is used to identify the labels of different brands of cigarette boxes conveyed by the conveyor line 11 and to convey different brands of cigarette boxes to the corresponding channel conveyors 13. The robot arm 2 is located at the second end of the channel conveyor 13.

[0055] Specifically, conveyor line 11 is used to convey smoke boxes.

[0056] During the cigarette box receiving process, the cigarette boxes are first placed on conveyor line 11 and transported to the next process. When cigarette boxes of different brands are transported to the vertical sorting device 12, the vertical sorting device 12 identifies the labels of different brands of cigarette boxes and transports the different brands of cigarette boxes to the corresponding lane conveyor 13; then, the lane conveyor 13 transports the cigarette boxes to the robot arm 2, the robot arm 2 grabs the cigarette boxes and places them on the empty code tray to form a full code tray.

[0057] In one embodiment of the cigarette box code control system of the present invention, the cigarette box code control system further includes a central control system and a scheduling control device. The central control system is connected to the lurking robot 5 and the scheduling control device respectively. The lurking robot 5 is connected to the scheduling control device, and the scheduling control device controls the operation of the lurking robot 5.

[0058] Specifically, when the central control system receives real-time information from the pallet placement station 3 and the hidden robot 5, such as when empty pallets on the pallet placement station 3 are converted into full pallets, when the pallet placement station 3 lacks empty pallets, or when the number of empty pallet temporary storage areas 82 is too small, the central control system sends control information to the scheduling control device. The scheduling control device controls the empty pallet transport robot and the full pallet transport robot to work, thereby enabling the empty pallet transport robot to transport the pallet group to the pallet splitting machine 4, or the empty pallet transport robot to transport empty pallets to the pallet placement station 3; the full pallet transport robot transports the full pallets on the placement station to the cigarette box storage area, effectively improving work efficiency.

[0059] In one embodiment of the cigarette box code control system of the present invention, the cigarette box code control system further includes a controller.

[0060] The vertical sorting device 12 includes a sorting tray and sensors. The controller is connected to the sorting tray and the sensors respectively. The sorting tray and sensors are both set at the connection between the channel conveyor 13 and the conveyor line 11. The sensors are used to identify the label information of the cigarette boxes and transmit the label information to the controller. The controller is used to control the sorting tray to transport the cigarette boxes to the corresponding channel conveyor 13 according to the label information.

[0061] Specifically, the controller is connected to the central control system. When the conveyor line 11 transports the cigarette boxes to the vertical sorting unit 12, the sensor identifies the label information of the cigarette boxes and transmits the label information to the controller. The controller receives the label information and, based on the label information, controls the sorting tray to operate, and the sorting tray transports the cigarette boxes to the corresponding sorting conveyor 13.

[0062] This invention connects the controller to the sorting tray and the sensor respectively. The sorting tray and the sensor are both set at the connection between the sorting conveyor 13 and the conveyor line 11. Thus, the sorting tray and the sensor can quickly and accurately sort logistics packages and realize automated operation, saving manpower and space.

[0063] According to a second aspect of the invention, such as Figures 2 to 3 As shown, an empty pallet retrieval and delivery control method is provided, including the above-mentioned cigarette box stacking control system, comprising the following steps:

[0064] Step S1: Obtain the first quantity information of empty pallets in the pallet temporary storage area 8;

[0065] Step S2: Based on the first quantity information of the empty pallets obtained, determine whether the first quantity information of the empty pallets is less than 3. If so, control the lurking robot 5 to transport the pallet group to the pallet splitting machine 4, so that the pallet splitting machine 4 splits the pallet group into individual empty pallets.

[0066] Step S3: Control the lurking robot 5 to transport a single empty pallet to the pallet storage area 8 or the pallet placement station 3.

[0067] This invention first obtains the first quantity information of empty pallets in the pallet storage area 8, and then, based on the obtained first quantity information of empty pallets, determines whether the first quantity information of empty pallets is less than 3. If the first quantity information of empty pallets is less than 3, it controls the lurking robot 5 to transport the pallet group to the pallet splitting machine 4, so that the pallet splitting machine 4 splits the pallet group into individual empty pallets, and controls the lurking robot 5 to transport the individual empty pallets to the pallet storage area 8 or the pallet placement station 3. In this way, empty pallets can be split in advance, eliminating the need to retrieve empty pallets from the pallet splitting machine. At the same time, there is no need to queue when retrieving and delivering empty pallets, reducing the waiting time of the robotic arm 2 and improving work efficiency.

[0068] In one embodiment of the empty pallet pick-up and delivery control method of the present invention, such as Figures 2 to 3 As shown, after "the 4-pallet set of the encoder splitter is split into individual empty pallets", the following steps are also included:

[0069] Step S4: After a preset time t, reacquire the second quantity information of empty pallets in the pallet storage area 8, and determine whether the second quantity information of empty pallets is equal to 10. If so, control the disk splitting machine 4 to stop working.

[0070] Specifically, if the second quantity information of empty pallets is less than 10, the lurking robot is controlled to transport the single empty pallet to the pallet storage area or pallet placement station.

[0071] This invention avoids the problem of the disk splitter 4 splitting too many empty pallets by retrieving the second quantity information of empty pallets in the pallet storage area 8 after a preset time t, and controlling the disk splitter 4 to stop working when the second quantity information of empty pallets is equal to 10.

[0072] In one embodiment of the empty pallet retrieval and delivery control method of the present invention, if the first quantity information of empty pallets is greater than 3, the lurking robot 5 maintains its original action.

[0073] While specific embodiments of the invention have been described in detail by way of examples, those skilled in the art should understand that the examples are for illustrative purposes only and not intended to limit the scope of the invention. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.

Claims

1. A method for controlling the handling of empty pallets, characterized in that, The system includes a cigarette box palletizing control system, which comprises cigarette box conveying equipment, cigarette box gripping equipment, pallet conveying equipment, pallet splitting machine, robot waiting area, and pallet temporary storage area. The cigarette box gripping device includes multiple robotic arms and a pallet placement station. The cigarette box conveying device is located on the first side of the multiple robotic arms. The pallet placement station is located around the robotic arms and is used to store empty pallets. The robotic arms are used to grip the cigarette boxes and place them on the empty pallets to form a full pallet. The pallet splitter is located on one side of the pallet placement station. The pallet splitter is used to split a pallet group formed by stacking multiple empty pallets into individual empty pallets. The pallet transport equipment includes a stealthy robot and a robot transport route. The stealthy robot is used to transport empty pallets and full pallets, and the robot transport route is located on the second side of the robotic arm. The robot waiting area and the pallet storage area are respectively located on both sides of the robot transport route, with the robot waiting area located close to the robotic arm. The robot waiting area is used to store dormant robots that are not in operation, and the pallet storage area is used to store full and empty pallets for a short period of time. The empty pallet retrieval and delivery control method includes the following steps: Obtain the initial quantity information of empty pallets in the pallet storage area; Based on the first quantity information of the empty pallets obtained, it is determined whether the first quantity information of the empty pallets is less than 3. If so, the hidden robot is controlled to transport the pallet group to the pallet splitting machine, so that the pallet splitting machine splits the pallet group into individual empty pallets. Control the stealth robot to transport individual empty pallets to the pallet storage area or pallet placement station; After a preset time t, the second quantity information of empty pallets in the pallet storage area is retrieved again. It is then determined whether the second quantity information of empty pallets is equal to 10. If so, the disk splitting machine is controlled to stop working.

2. The empty pallet pick-up and delivery control method according to claim 1, characterized in that, The pallet storage area includes a full pallet storage area and an empty pallet storage area, and the number of empty pallet storage areas is greater than the number of full pallet storage areas. The full pallet storage areas and the empty pallet storage areas are evenly spaced along the length of the robot transport route.

3. The empty pallet pick-up and delivery control method according to claim 1, characterized in that, The lurking robots include empty pallet transport robots and full pallet transport robots. Both the empty pallet transport robots and the full pallet transport robots are located in the robot waiting area. The empty pallet transport robots are used to transport empty pallets, and the full pallet transport robots are used to transport full pallets.

4. The empty pallet pick-up and delivery control method according to claim 1, characterized in that, The cigarette box conveying equipment includes a conveyor line, a vertical sorting device, and multiple lane conveyors. The first end of each lane conveyor is connected to the conveyor line. The vertical sorting device is respectively located at the connection between the lane conveyor and the conveyor line. The vertical sorting device is used to identify the labels of different brands of cigarette boxes conveyed by the conveyor line and to convey different brands of cigarette boxes to the corresponding lane conveyors. The robotic arm is located at the second end of each lane conveyor.

5. The empty pallet pick-up and delivery control method according to claim 1, characterized in that, The cigarette box pallet control system also includes a cigarette box storage area for storing full pallets.

6. The empty pallet pick-up and delivery control method according to claim 1, characterized in that, The cigarette box code control system also includes a central control system and a scheduling control device. The central control system is connected to the hidden robot and the scheduling control device respectively. The hidden robot is connected to the scheduling control device, and the scheduling control device is used to control the operation of the hidden robot.

7. The empty pallet pick-up and delivery control method according to claim 4, characterized in that, The cigarette box code control system also includes a controller; The vertical sorting device includes a sorting tray and a sensor. The controller is connected to the sorting tray and the sensor respectively. The sorting tray and the sensor are both located at the connection between the channel conveyor and the conveyor line. The sensor is used to identify the label information of the cigarette boxes and transmit the label information to the controller. The controller is used to control the sorting tray to transport the cigarette boxes to the corresponding channel conveyor according to the label information.

8. The empty pallet pick-up and delivery control method according to claim 1, characterized in that, If the initial quantity information of the empty trays is greater than 3, the lurking robot will continue its original action.

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