Goods collection system and goods collection method

Abstract

The invention provides a goods collecting system and a goods collecting method. The goods collecting system comprises a control system, a carrying robot, first conveying line equipment and at least one mechanical arm. The conveying line equipment comprises at least one first on-line station and at least one first off-line station and is used for conveying the material box from the first on-line station to the corresponding first off-line station; the mechanical arms are arranged at the first off-line stations correspondingly and used for carrying the material boxes at the first off-line stations to the carriers; the control system is used for acquiring attribute information of the material box, determining a target first on-line station matched with the attribute information, generating first control information for the target first on-line station and sending the first control information to the transfer robot; and the carrying robot is used for carrying the material box to the target first on-line station in response to the first control information and transferring the material box to the conveying line equipment by matching with the conveying line equipment. The goods collecting efficiency can be improved, and the space area occupied by the goods collecting link is saved.

Description

Technical Field

[0001] The present application relates to the field of logistics technology, and in particular to a cargo collection system and a cargo collection method. Background Art

[0002] In modern logistics management, the classification and sorting of material boxes is an important part of the cargo collection process.

[0003] According to the traditional cargo collection scheme, in order to realize the classification and sorting links in the cargo collection process, it is necessary to plan a special area in the cargo collection area as a sorting area. In this link, the material boxes are first moved from the storage area to the sorting area by manual or other means such as large and small vehicles, and then the material boxes are manually stacked on different pallets in the sorting area according to the order requirements. Finally, the pallets filled with material boxes in the sorting area are taken away by lurking robots to complete the classification and sorting links. However, the work efficiency of this cargo collection method is low, and the specially planned sorting area needs to occupy a large area in the cargo collection warehouse, and the space utilization rate is insufficient. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a cargo collection system and a cargo collection method to improve cargo collection efficiency and save the space area required for cargo collection. The specific technical solution is as follows:

[0005] In a first aspect, the present application provides a cargo collection system, including a control system, a handling robot, a first conveyor line device, and at least one robotic arm;

[0006] The first conveyor line equipment includes at least one first on-line station and at least one first off-line station, each of the first on-line stations corresponds to at least one of the first off-line stations, and each of the first off-line stations corresponds to at least one of the first on-line stations, and the first conveyor line equipment is used to convey the material box from the first on-line station to the corresponding first off-line station;

[0007] The robot arms are respectively arranged at each of the first offline workstations, and are used to carry the material boxes arranged at the first offline workstations to the carrier;

[0008] The control system is used to obtain the attribute information of the target material box, determine the first on-line station matching the attribute information from the first on-line stations as the target first on-line station; generate first control information for the target first on-line station and send it to the handling robot;

[0009] The transport robot is used to transport the target material box to the target first on-line station in response to the first control information, and transfer the target material box to the first conveyor line equipment by cooperating with the first conveyor line equipment.

[0010] Optionally, the target first on-line station corresponds to a plurality of first off-line stations, and the control system is further used to determine a first off-line station matching the attribute information from the plurality of first off-line stations corresponding to the target first on-line station as the target first off-line station; generate second control information for the target first off-line station and send it to the first conveyor line equipment;

[0011] The first conveyor line equipment also includes a diversion mechanism arranged between the target first on-line station and a plurality of first off-line stations corresponding to the target first on-line station; the first conveyor line equipment is also used to respond to the second control information, and control the flow direction of the target material box toward the first off-line station through the diversion mechanism, so that the target material box is conveyed to the target first off-line station.

[0012] Optionally, an information recognition point is provided between the first on-line station and the diversion mechanism;

[0013] The cargo collection system further includes an information collection device for collecting attribute information of the material box passing through the information identification point;

[0014] The control system is specifically used to determine, based on the attribute information collected by the information collection device, a first offline workstation matching the attribute information from multiple first offline workstations corresponding to the target first online workstation, as the target first offline workstation; generate second control information for the target first offline workstation and send it to the first conveyor line equipment.

[0015] Optionally, the control system is specifically used to report the attribute information to an upper-level business system, receive a first offline workstation matching the attribute information fed back by the upper-level business system as a target first offline workstation, or, based on a correspondence between pre-acquired attribute information and the first offline workstation, determine a first offline workstation matching the attribute information from the multiple first offline workstations as the target first offline workstation.

[0016] Optionally, the first conveyor line equipment also includes a blocking mechanism arranged between the target first online workstation and the diversion mechanism; the first conveyor line equipment is also used to block the transportation of the material box transferred from the target first online workstation to the first conveyor line equipment on the first conveyor line equipment through the blocking mechanism, and stop blocking after receiving the second control information.

[0017] Optionally, multiple first on-line stations correspond to one first off-line station, and the first conveyor line equipment further includes a merging mechanism arranged between the one first off-line station and the multiple first on-line stations corresponding to the one first off-line station, and the merging mechanism is used to merge material boxes transferred from the multiple first on-line stations corresponding to the one first off-line station to the first conveyor line equipment, so that the material boxes are conveyed to the corresponding first off-line station.

[0018] Optionally, the robotic arm includes a robotic arm body, a base arranged at the bottom of the robotic arm body, and a sliding mechanism arranged at the bottom of the base;

[0019] The robot arm is specifically used to grab the material box at the first offline workstation through the robot arm body, and slide through the sliding mechanism to make the carrier within the grabbing range of the robot arm body, and transport the material box to the carrier through the robot arm body.

[0020] Optionally, the attribute information includes at least one of a container number, a type of goods in the container, and a destination of the goods in the container.

[0021] Optionally, the cargo collection system further includes a storage robot, the storage robot is arranged in a storage area, and at least one storage shelf is arranged in the storage area;

[0022] The storage robot is used to move the material boxes to be shipped out of the storage shelf to the preset cache position of the storage shelf;

[0023] The transport robot is specifically used to receive a material box from the preset cache position, and transport the received material box to the corresponding target first on-line workstation according to the first control information.

[0024] Optionally, the cargo collection system further includes a storage robot and a second conveyor line device; the storage robot is arranged in a storage area, and at least one storage shelf is arranged in the storage area; the second conveyor line device has at least one second on-line station and at least one second off-line station, which are used to transport the material box from the second on-line station to the corresponding second off-line station, and the second on-line station is docked with the storage robot;

[0025] The storage robot is used to carry the material boxes to be shipped out of the storage shelf to the second on-line station, and transfer the material boxes to the second conveyor line equipment by cooperating with the second conveyor line equipment;

[0026] The transport robot is specifically used to receive a material box from the second offline workstation and transport the received material box to the corresponding target first online workstation according to the first control information.

[0027] In a second aspect, the present application provides a cargo collection method, which is applied to a cargo collection system, wherein the cargo collection system includes a control system, a handling robot, a first conveyor line device, and at least one robotic arm; the first conveyor line device includes at least one first on-line station and at least one first off-line station, each of the first on-line stations corresponds to at least one of the first off-line stations, and each of the first off-line stations corresponds to at least one of the first on-line stations; the robotic arms are respectively arranged at each of the first off-line stations; the method includes:

[0028] The control system acquires attribute information of a target material box, determines a first on-line station matching the attribute information from the first on-line stations as the target first on-line station; generates first control information for the target first on-line station and sends it to the handling robot;

[0029] The transport robot transports the target material box to the target first on-line station in response to the first control information, and transfers the target material box to the first conveyor line equipment by cooperating with the first conveyor line equipment;

[0030] The first conveyor line equipment conveys the target material box to the target first offline workstation corresponding to the target first online workstation;

[0031] The first robot arm disposed at the target first offline station moves the target material box from the target first offline station to a carrier.

[0032] Optionally, the target first on-line station corresponds to a plurality of first off-line stations, and the first conveyor line equipment further includes a diversion mechanism disposed between the target first on-line station and a plurality of first off-line stations corresponding to the target first on-line station; after the control system acquires the attribute information of the target material box and determines the first on-line station matching the attribute information from the first on-line stations, the first conveyor line equipment conveys the target material box to the target first off-line station corresponding to the target first on-line station, and further includes:

[0033] The control system determines a first offline workstation matching the attribute information from a plurality of first offline workstations corresponding to the target first online workstation as the target first offline workstation; generates second control information for the target first offline workstation and sends it to the first conveyor line equipment;

[0034] The first conveyor line equipment controls the flow direction of the target material box toward the first offline workstation through the diversion mechanism in response to the second control information, so that the target material box is conveyed to the target first offline workstation.

[0035] Beneficial effects of this application:

[0036] The cargo collection system and cargo collection method provided by the present application include a control system, a handling robot, a first conveyor line device and at least one robotic arm, the conveyor line device includes at least one first on-line station and at least one first off-line station, and the robotic arm is respectively arranged at each first off-line station. During the operation of the cargo collection system, the control system first determines the target first on-line station that matches the attribute information according to the attribute information of the material box, and controls the handling robot to deliver the material box to the conveyor line of the first conveyor line device at the determined target first on-line station by sending the first control information to the handling robot, and then the material box is transported to the first off-line station corresponding to the target first on-line station by the first conveyor line device, and finally the robotic arm arranged at the first off-line station stacks the material box onto the carrier. That is to say, the control system can control the handling robot to drop the material boxes at the target online station that matches the sorting requirements based on the attribute information of the material boxes and the actual sorting requirements, and then divert different material boxes to different robotic arms for palletizing through the first conveyor line equipment, so that material boxes with different sorting requirements can be palletized on different carriers, completing the classification and sorting links in the collection process.

[0037] By applying the above-mentioned cargo collection system, the reliance on manual handling in the classification and sorting process can be reduced, so that enterprises can reduce labor costs and reallocate human resources to tasks that require more human intervention. Correspondingly, since the robot can work 24 hours a day, it can continuously and uninterruptedly execute the cargo collection process, thereby saving labor costs while greatly improving overall operating efficiency. In addition, when market demand fluctuates, the cargo collection system can also quickly adjust the specific allocation strategy of allocating the material box to different robotic arms based on the attribute information of the material box, as well as the specific deployment of the up and down line stations, robotic arms and carriers of the first conveyor line equipment, so that the cargo collection system can adapt to business needs and flexibly respond to changes in demand.

[0038] In addition, compared to the traditional cargo collection scheme, in the cargo collection scheme provided in the embodiment of the present application, the process of the material boxes to be sorted being transported to different carriers does not require human participation, thereby saving the space originally used to set up the sorting area, and the required floor space is smaller, which can effectively improve the space utilization rate in the warehouse. Moreover, according to the traditional cargo collection scheme, when stacking the material boxes on the carrier in the sorting area, it is also necessary to set a single-layer shelf under the pallet to dock with the lurking robot. By applying the cargo collection scheme provided in the embodiment of the present application, the first offline station of the first conveyor line equipment can be directly set in the area for storing the material boxes to be sent, so that the material boxes can be directly sent to the destination later, and there is no need to go to the sorting area through the lurking robot to pick up the single-layer shelf filled with pallets, and there is no need to set the single-layer shelf originally used to be deployed in the sorting area for docking with the lurking robot, which saves the use of the single-layer shelf.

[0039] Of course, implementing any product or method of the present application does not necessarily require achieving all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0041] Figure 1 A schematic diagram of a cargo collection scenario of an AMR-based cargo collection solution in the related art;

[0042] Figure 2 It is a schematic diagram of the structure of a lurking robot in the related art;

[0043] Figure 3a A schematic diagram of the architecture of a cargo collection system provided in an embodiment of the present application;

[0044] Figure 3b Another schematic diagram of the architecture of the cargo collection system provided in the embodiment of the present application;

[0045] Figure 4 A schematic diagram of the structure of the Q1P robot provided in an embodiment of the present application;

[0046] Figure 5 A schematic diagram of a first deployment of a handling robot, a conveyor line device, a robotic arm, and a pallet in a cargo collection system provided in an embodiment of the present application;

[0047] Figure 6 A schematic diagram of a second deployment of a handling robot, a conveyor line device, a robotic arm, and a pallet in a cargo collection system provided in an embodiment of the present application;

[0048] Figure 7 A schematic diagram of a third deployment of a handling robot, a conveyor line device, a robotic arm, and a pallet in a cargo collection system provided in an embodiment of the present application;

[0049] Figure 8 A fourth deployment diagram of a handling robot, a conveyor line device, a robotic arm, and a pallet in a cargo collection system provided in an embodiment of the present application;

[0050] Fig. 9 A fifth deployment diagram of a handling robot, a conveyor line device, a robotic arm, and a pallet in a cargo collection system provided in an embodiment of the present application;

[0051] Fig.10 A sixth deployment diagram of a handling robot, a conveyor line device, a robotic arm, and a pallet in a cargo collection system provided in an embodiment of the present application;

[0052] Fig.11 A schematic diagram of the docking process between the handling robot and the conveyor line equipment provided in the embodiment of the present application;

[0053] Fig.12 A schematic diagram of the flow chart of the cargo collection method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0054] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field based on the present application belong to the scope of protection of the present application.

[0055] In modern logistics management, cargo collection refers to the process of gathering goods from different sources into a specific area in a warehouse environment for subsequent processing, sorting and distribution. This process usually involves multiple steps and technical means to ensure efficient and accurate inventory management and meet customer needs.

[0056] Specifically, the cargo collection scenario can be regarded as a logistics operation mode, the core purpose of which is to gather goods from different suppliers or locations into a centralized location, where the staff will sort and organize the goods in preparation for subsequent shipment or distribution. This location is usually a dedicated area in the warehouse, generally known as the cargo collection area.

[0057] In actual logistics management, the collection process usually includes the following steps: first, warehousing registration, entering the information of all arriving goods into the system; second, classification and sorting, gathering goods of the same type or the same destination together according to order requirements; third, review and confirmation, checking the quantity and quality of the gathered goods to ensure accuracy; fourth, preparation for shipment, packing the confirmed goods and preparing them for shipment to the destination.

[0058] Regarding the classification and sorting of goods, there are generally two collection solutions: one is the manual collection solution, and the other is the AMR-based collection solution.

[0059] The traditional manual cargo collection solution includes the following processes:

[0060] Step 1: Manually pick the goods to be shipped out of the warehouse according to the order at the workstation and put them into the material box on the distribution wall.

[0061] Step 2: After picking is completed, the collection operator moves the material box to the corresponding numbered pallet in the collection area according to the box code information on the material box.

[0062] Figure 1 The following figure shows a cargo collection scenario when the AMR-based cargo collection solution is used for cargo sorting. The AMR-based cargo collection solution includes the following processes:

[0063] Step 1: Manually place different material boxes to be shipped out of the warehouse at the material box delivery port 1 of the conveyor line, and the conveyor line will divert the material boxes to different sorting ports 3 on the sorting area 2.

[0064] exist Figure 1 In the illustrated scenario, the conveyor line has a plurality of sorting gates 3 leading to different positions on the sorting area 2. The conveyor line can divert the bins to different sorting gates 3 according to certain conditions (for example, diverting bins of the same shipping route or the same store number to the same sorting gate, etc.).

[0065] Step 2: Manually remove the material box from the conveyor line and stack it on pallet 4, which is placed on a single-layer shelf.

[0066] Step 3: When the number of boxes stacked on pallet 4 reaches a certain number, the operator manually calls the lurking robot to move the corresponding single-layer shelf to the temporary storage area according to the outbound task.

[0067] The lurking robot is a robot that can be used to transport shelves. It is large in size and has a specific structure. Figure 2 shown.

[0068] Step 4: The lurking robot moves the corresponding single-layer shelf to the outbound platform according to the outbound task.

[0069] Step 5: Manually load the pallets on the single-layer shelves together with the material boxes and send them out.

[0070] It can be seen that in the above two cargo collection solutions, a large amount of manpower is required to complete the sorting of goods, which has the problems of high labor cost and low operation efficiency. In addition, the specially planned sorting area needs to occupy a large area in the cargo collection warehouse, and the space utilization rate is insufficient.

[0071] In view of this, the present application provides a cargo collection system, and the architecture of the cargo collection system is first described below.

[0072] Figure 3a A schematic diagram of the structure of a cargo collection system provided in an embodiment of the present application, including a control system 100, a handling robot 200, a first conveyor line device 300 and at least one robotic arm 400. Figure 3a In the illustrated cargo collection system, the handling robot 200, the first conveyor line equipment 300, and the manipulator 400 respectively establish communication connections with the control system 100, so that the control system 100 can control the actions of the handling robot 200, the first conveyor line equipment 300, and the manipulator 400. For example, the control system 100 can send a control instruction to the handling robot 200 to control the handling robot 200 to carry the items to a specific position (for example, the first on-line station of the conveyor equipment); for another example, the control system 100 can send a control instruction to the first conveyor line equipment 300 to control the first conveyor line equipment 300 to start or terminate the operation of the conveyor line; for another example, the control system 100 can send a control instruction to the manipulator 400 to control the manipulator 400 to carry items at a certain position to another position (for example, to carry a material box on the conveyor line to a pallet).

[0073] In some application scenarios, the control system 100 may be composed of several subsystems with different functions. Figure 3b Another schematic diagram of the structure of the cargo collection system provided in the embodiment of the present application, the control system 100 specifically includes a robot control system 110 (Robot Control System, RCS), a conveyor line control system 120 (Warehouse Control System, WCS) and a robotic arm control system 130. Figure 3bIn the illustrated cargo collection system, the robot control system 110 is connected in communication with the transport robot 200, and can control the movement of the transport robot 200; the conveyor line control system 120 is connected in communication with the first conveyor line equipment 300, and can control the movement of the first conveyor line equipment 300; the robot arm control system 130 is connected in communication with the robot arm 400, and can control the movement of the robot arm 400. Exemplarily, the robot control system 110 can also establish a communication connection with the conveyor line control system 120, so that the robot control system 110 can understand the load status of the conveyor line on the first conveyor line equipment 300, and judge whether it is appropriate to control the transport robot 200 to transport items to the conveyor line. For example, when the robot control system 110 determines that the load on the conveyor line does not exceed the threshold, the transport robot 200 can be controlled to continue to transport items to the conveyor line. When it is determined that the load on the conveyor line exceeds the threshold, the transport robot 200 will not be controlled to transport items to the conveyor line. The conveyor line control system 120 can also establish a communication connection with the robot arm control system 130, so that the robot arm control system 130 can understand the transportation status of items on the conveyor line, and control the robot arm 400 to grab items from the conveyor line accordingly.

[0074] for Figure 3b For the illustrated cargo collection system, in actual application scenarios, the robot control system 110, the conveyor line control system 120 and the robotic arm control system 130 may be independent systems, or they may have a control and controlled relationship with each other (for example, the conveyor line control system 120 may be controlled by the robot control system 110), and this application does not impose any restrictions on this.

[0075] The above-mentioned cargo collection system provided by the present application can be applied to the classification and sorting links in the cargo collection process. For the material boxes to be sorted, the handling robot 200 can first carry the material boxes to the conveying line of the first conveyor line equipment 300. The first conveyor line equipment 300 conveys the material boxes to the area where the robot arm 400 is located through its own conveyor line. Finally, the robot arm 400 grabs the material boxes transmitted through the conveyor line and stacks the material boxes on the carrier, so that automatic classification and sorting can be achieved under the mutual cooperation of the handling robot 200, the first conveyor line equipment 300 and the robot arm 400. The cargo collection system is described in detail below:

[0076] The first conveyor line equipment 300 includes at least one first on-line station and at least one first off-line station, each first on-line station corresponds to at least one first off-line station, and each first off-line station corresponds to at least one first on-line station. The first conveyor line equipment 300 is used to convey the material box from the first on-line station to the corresponding first off-line station.

[0077] Among them, the first conveyor line equipment 300 is provided with multiple conveyor lines, and the conveyor lines can be conveyor belts or other conveying structures. The first on-line station refers to the point connected to the upstream of the conveyor line, and the first off-line station refers to the point connected to the downstream of the conveyor line. When a first on-line station is connected to a first off-line station through a conveyor line, this application refers to the first on-line station corresponding to the down-line station. Therefore, for the first conveyor line equipment 300, when a material box is transferred from a specific first on-line station to the conveyor line, the first conveyor line equipment 300 can transport the material box to the first off-line station corresponding to the specific first on-line station through its own conveying function.

[0078] Furthermore, in the cargo collection system provided in the present application, the robot arm 400 is respectively arranged at each first offline station, and is used to carry the material box arranged at the first offline station to the carrier. The carrier may be a pallet or other forms of cargo carrying devices. For ease of description, the pallet will be used as the carrier for exemplary description in the following embodiments.

[0079] Specifically, one or more carriers can be arranged around each robot arm 400. After the first conveyor line equipment 300 conveys a material box to a first offline workstation through the conveyor line, the robot arm 400 arranged at the first offline workstation is responsible for grabbing the material box and stacking the material box on the carriers around it. The number of carriers that each robot arm 400 is responsible for can be flexibly adjusted according to the working distance of the robot arm 400, and this embodiment of the application is not limited to this.

[0080] For example, the robot arm 400 can use a tool such as a clamp or a system to grab the material box on the conveyor line.

[0081] It should be understood that in an actual cargo collection scenario, it is necessary to allocate the material boxes to specific pallets according to certain conditions. For example, the material boxes with the same type of goods or destination inside are centrally allocated to one or several pallets. In the cargo collection system provided in the present application, in order to achieve this purpose, the attribute information of the material box can be obtained through the control system 100, and the control system 100 determines the manipulator 400 that matches the attribute information of the material box (equivalent to determining the pallet that matches the attribute information of the material box, and in the cargo collection system provided in the present application, it is also equivalent to determining the first offline station that matches the attribute information of the material box), and controls the handling robot 200 to carry the material box to the first online station (target first online station) of the conveyor line that can be connected to the manipulator 400 in the first conveyor line equipment 300. Therefore, after the handling robot 200 carries the material box to the corresponding target first on-line station and transfers the material box to the conveyor line at the target first on-line station, the first conveyor line equipment 300 can use its own conveying function to convey the material box to the robot arm 400 that matches its attribute information, and each robot arm 400 has one or more pallets deployed within its working range, so that the robot arm 400 can further grab the material box from the conveyor line and palletize the material box on the pallet that matches its attribute information. Therefore, in the embodiment of the present application, through the mutual cooperation between the handling robot 200, the first conveyor line equipment 300 and the robot arm 400, it is possible to palletize each material box on the pallet that matches its attribute information.

[0082] As an example, the attribute information of a material box may include at least one of the material box number, the type of goods in the material box, and the destination of the goods in the material box. It is easy to understand that when the attribute information of the material box specifically includes the type of goods in the material box and / or the destination of the goods in the material box, the control system 100 can centrally allocate the materials with the same type of goods and / or destination inside to a specific robot arm 400 to achieve the purpose of classification and sorting. When the attribute information of the material box is specifically the material box number, the correspondence between the material box number and the robot arm 400 (or pallet) can be established in advance through an algorithm or manual method according to the type of goods inside the material box, the destination and other information, and the control system 100 allocates the material box to the robot arm 400 corresponding to its number according to the corresponding relationship, and the purpose of classification and sorting can be achieved in the same way.

[0083] The specific operation mechanism of the control system 100 and the handling robot 200 is as follows:

[0084] The control system 100 is used to obtain the attribute information of the target material box, determine the first on-line station that matches the attribute information of the material box from the first on-line station of the first conveyor line equipment 300 as the target first on-line station; generate first control information for the target first on-line station and send it to the handling robot 200 (for Figure 3bThe illustrated cargo collection system specifically comprises the robot control system 110 acquiring the attribute information of the material box and generating corresponding first control information accordingly).

[0085] The target container can be understood as any container currently to be transported in the application scenario. It should be understood that in actual application scenarios, it may be necessary to sort several containers, and the processing flow of each container in the collection system is essentially the same.

[0086] The transport robot 200 is used to transport the target material box to the target first on-line station in response to the first control information, and transfer the target material box to the first conveyor line equipment 300 by cooperating with the first conveyor line equipment 300.

[0087] Exemplarily, the transport robot 200 in the cargo collection system may specifically be a Q1P (a special latent material box robot) robot.

[0088] The Q1P robot consists of a motion chassis and a lifting platform. Its navigation methods include but are not limited to QR code, SLAM (Simultaneous Localization And Mapping), texture navigation and other navigation methods. The specific structure of the Q1P robot is as follows Figure 4 As shown, this type of robot is small and can handle a single box.

[0089] In one possible implementation, before classifying and sorting the material boxes through the above-mentioned collection system provided in the present application, the material boxes to be shipped out of the storage area can be transported to a certain area, and then the handling robot 200 in the collection system can transport the material boxes from the area to the first on-line station of the first conveyor line equipment 300 to improve work efficiency.

[0090] Specifically, when the goods in the storage area are shipped out, there are two shipping modes: picking up small items and shipping out full boxes.

[0091] If it is a full-box outbound mode, in one example, the above-mentioned cargo collection system also includes a storage robot, which is arranged in a storage area, and at least one storage shelf is arranged in the storage area. The storage robot is used to transport the material boxes to be outbound on the storage shelf to the preset cache position of the storage shelf, and the above-mentioned transport robot 200 is specifically used to receive the material boxes from the preset cache position, and transport the received material boxes to the corresponding target first on-line workstation according to the first control information.

[0092] Exemplarily, the storage robot may be a CTU (Container Transport Unit, box storage robot) robot or a STU (Sky Transfer Unit, material box robot) robot.

[0093] Specifically, the storage shelves are usually multi-layer large shelves. In the embodiment of the present application, certain cache positions can be reserved therein as preset cache positions so as to dock with the handling robot 200. In the collection process, the material boxes to be shipped out can be first transferred to the preset cache positions by the storage robot, so that the handling robot 200 can receive the material boxes from the preset cache positions and further transfer them to the first conveyor line equipment 300. Exemplarily, in order to facilitate the handling robot 200 to take the material boxes, the first layer of the storage shelf cache position can be used as the preset cache position.

[0094] In another example of the full-box outbound mode, the above-mentioned cargo collection system also includes a storage robot and a second conveyor line device; the storage robot is arranged in a storage area, and at least one storage shelf is arranged in the storage area; the second conveyor line device has at least one second on-line station and at least one second off-line station, and the second conveyor line device is used to transport the material box from the second on-line station to the corresponding second off-line station, and the second on-line station is docked with the storage robot. The storage robot is used to transport the material box to be shipped out of the storage shelf to the second on-line station, and transfer the material box to the second conveyor line device by cooperating with the second conveyor line device; the aforementioned transport robot 200 is specifically used to receive the material box from the second off-line station, and transport the received material box to the corresponding target first on-line station according to the first control information.

[0095] It should be noted that the storage robot and the second conveyor line equipment in the cargo collection system are for outbound delivery, and the purpose of this business is to transport the boxes to be shipped out of the storage area. The aforementioned handling robot 200, the first conveyor line equipment 300 and the robotic arm 400 are for classification and sorting, and they can only be classified and sorted after the boxes to be shipped out of the storage area have been transported out. There is an essential difference between the two businesses.

[0096] If it is a piecemeal picking mode, before the collection system provided in the present application executes the classification and sorting links in the collection process, the specific pre-process can be: pick the goods that need to be shipped out into the material box manually or by a robotic arm, and concentrate the material boxes in a specific area to facilitate the subsequent receipt of these material boxes by the above-mentioned handling robot 200.

[0097] Based on the above description, it can be seen that the above-mentioned cargo collection system provided by the present application includes a control system, a handling robot, a first conveyor line equipment and at least one robotic arm, and the first conveyor line equipment includes at least one first on-line station and at least one first off-line station, and the robotic arms are respectively arranged at each first off-line station. During the operation of the cargo collection system, the control system first determines the target first on-line station that matches the attribute information according to the attribute information of the material box, and controls the handling robot to deliver the material box to the conveyor line of the first conveyor line equipment at the determined target first on-line station by sending the first control information to the handling robot, and then the material box is transported to the first off-line station corresponding to the target first on-line station by the first conveyor line equipment, and finally the robotic arm arranged at the first off-line station stacks the material box onto the pallet. That is to say, the control system can control the handling robot to drop the material boxes at the target first online station that matches the sorting requirements based on the attribute information of the material boxes and the actual sorting requirements, and then divert different material boxes to different robotic arms for palletizing through the first conveyor line equipment, so that material boxes with different sorting requirements can be palletized on different carriers, completing the classification and sorting links in the collection process.

[0098] By applying the above-mentioned cargo collection system, the reliance on manual handling in the classification and sorting process can be reduced, so that enterprises can reduce labor costs and reallocate human resources to tasks that require more human intervention. Correspondingly, since the robot can work 24 hours a day, it can continuously and uninterruptedly execute the cargo collection process, thereby saving labor costs while greatly improving overall operating efficiency. In addition, when market demand fluctuates, the cargo collection system can also quickly adjust the specific allocation strategy of allocating the material box to different robotic arms based on the attribute information of the material box, as well as the specific deployment of the upper and lower line stations, robotic arms and carriers of the first conveyor line equipment, so that the cargo collection system can adapt to business needs and flexibly respond to changes in demand.

[0099] In addition, compared to the traditional cargo collection scheme, in the cargo collection scheme provided in the embodiment of the present application, the process of the material boxes to be sorted being transported to different carriers does not require human participation, thereby saving the space originally used to set up the sorting area, and the required floor space is smaller, which can effectively improve the space utilization rate in the warehouse. Moreover, according to the traditional cargo collection scheme, when stacking the material boxes on the carrier in the sorting area, it is also necessary to set a single-layer shelf under the pallet to dock with the lurking robot. By applying the cargo collection scheme provided in the embodiment of the present application, the first offline station of the first conveyor line equipment can be directly set in the area for storing the material boxes to be sent, so that the material boxes can be directly sent to the destination later, and there is no need to go to the sorting area through the lurking robot to pick up the single-layer shelf filled with pallets, and there is no need to set the single-layer shelf originally used to be deployed in the sorting area for docking with the lurking robot, which saves the use of the single-layer shelf.

[0100] The cargo collection system provided by the present application is described below in conjunction with specific embodiments:

[0101] In some embodiments, each conveying line of the first conveying line equipment 300 is independent of each other, and there is no confluence and divergence relationship. In these embodiments, the first on-line station of the first conveying line equipment 300 is in a one-to-one correspondence with the first off-line station.

[0102] Figure 5 An example is given, where the first conveyor line equipment 300 includes two first on-line stations, marked as A1 and A2, and two first off-line stations, marked as B1 and B2. The first on-line station A1 corresponds to the first off-line station B1, and the first on-line station A2 corresponds to the first off-line station B2. Robot arms 400 are respectively provided at the first off-line stations B1 and B2, and five pallets are respectively provided around each robot arm 400, wherein the pallets around one of the robot arms 400 are respectively marked as C1 to C5, and the pallets around the other robot arm 400 are respectively marked as C6 to C10.

[0103] It should be understood that Figure 5 This is only used for example description. In actual application, the number of the transport robots 200 to be deployed can be adjusted according to demand. Similarly, the number of the first online station and the first offline station can also be adjusted according to demand, and the shape of the conveyor line is not limited to the straight line shown in the figure.

[0104] Combination Figure 5, an exemplary description is given of the handling process of the material box in the cargo collection system. Assume that the material boxes that need to be handled in the system include: material boxes whose goods are destined for City M, and material boxes whose goods are destined for City N. For the material boxes to be handled currently, the box code on the material box can be first identified by a camera, a barcode scanner or other identification device, and the attribute information of the material box can be obtained and reported to the control system 100. If the control system 100 determines that the goods inside the material box are sent to City M based on the attribute information of the material box, the first control information can be sent to the handling robot 200 to instruct the handling robot 200 to carry the material box to the first online workstation A1, and cooperate with the first conveyor line equipment 300 to transfer the material box to the corresponding conveyor line. The first conveyor line equipment 300 transports the material box to the first offline workstation B1 through the conveyor line, and then the first offline workstation B The robot arm 400 at the first station 1 stacks the material box to one of the pallets C1-C5; if the control system 100 determines that the goods inside the material box are sent to City N based on the attribute information of the material box, the first control information can be sent to the handling robot 200 to instruct the handling robot 200 to carry the material box to the first on-line station A2, and cooperate with the first conveyor line equipment 300 to transfer the material box to the corresponding conveyor line. The first conveyor line equipment 300 conveys the material box to the first off-line station B2 through the conveyor line, and then the robot arm 400 at the first off-line station B2 stacks the material box to one of the pallets C6-C10. Therefore, the material boxes whose internal goods are destined for City M will be concentrated on pallets C1-C5, and the material boxes whose internal goods are destined for City N will be concentrated on pallets C6-C10, achieving the purpose of material box sorting.

[0105] The box code of the material box is specifically an identifier for carrying the material box attribute information, and can be in the form of a barcode, a two-dimensional code, an electronic chip, etc. In actual application scenarios, a box code can be set in advance for each material box before executing the classification and sorting stages of the collection process.

[0106] As an example, the robot arm 400 at each first offline station can be set to stack the boxes on the surrounding pallets according to a certain rule. For example, the robot arm 400 at the first offline station B1 can be set to stack the boxes in the pallets C1-C5 in sequence, so that it first stacks the boxes in the pallet C1, and after the load of the pallet C1 is saturated, it stacks the boxes in the pallet C2, and so on.

[0107] As another example, the attribute information of the material box transmitted to the first offline station can also be collected, and the robot arm 400 can be controlled to further palletize the material box to different pallets according to its attribute information. For example, the attribute information of the material box transmitted to the first offline station B1 can be collected. If the goods in the material box are specifically sent to District K of City M, the robot arm 400 can be controlled to palletize it to pallet C1. If the goods in the material box are specifically sent to District J of City M, the robot arm 400 can be controlled to palletize it to pallet C2, and so on. Alternatively, after determining the robot arm 400 and pallet that match the attribute information of the material box, the control system 100 can also send the control information carrying the pallet identification to the robot arm 400, and the robot arm 400 will subsequently palletize the material box received from the first offline station to the corresponding pallet according to the information received from the control system 100.

[0108] For example, when the pallets arranged around the robot arm 400 are full, the empty and full pallets can be exchanged by a manual forklift or an automatic forklift, and the pallets filled with material boxes can be taken away for subsequent processes.

[0109] In some special scenarios (for example, a warehouse is only used to process goods sent to a specific location), it is also possible to deploy only a single conveyor line and a single robotic arm. Figure 6 Another example is given, the first conveyor line equipment 300 includes a first on-line station, marked as A10, and a first off-line station, marked as B9, and the first on-line station A10 corresponds to the first off-line station B9. A robot arm 400 is provided at the first off-line station B9, and five pallets are provided around the robot arm 400, which are marked as G1 to G5 respectively.

[0110] Combination Figure 6 , an exemplary description is given of the handling process of the material box in the cargo collection system. Assuming that the material boxes that need to be handled in the system are all material boxes whose goods are destined for City M, for the material boxes to be handled, since only one conveyor line is included, the control system 100 can directly use the first on-line station A10 as the target first on-line station, and send a first control message to the handling robot 200, instructing the handling robot 200 to carry the material box to the first on-line station A10, and cooperate with the first conveyor line equipment 300 to transfer the material box to the corresponding conveyor line, and the first conveyor line equipment 300 transports the material box to the first off-line station B9 through the conveyor line, and then the robot arm 400 at the first off-line station B9 stacks the material box to one of the pallets G1-G5.

[0111] In some embodiments, there is a shunt relationship between the conveyor lines on the first conveyor line equipment 300. Based on these shunt-relation conveyor lines, one first on-line station may correspond to a plurality of first off-line stations.

[0112] Figure 7 An example is given, where the first conveyor line equipment 300 includes a first on-line station, labeled A3, and two first off-line stations, labeled B3 and B4, respectively. The first on-line station A3 corresponds to the first off-line stations B3 and B4. A robotic arm 400 is provided at the first off-line stations B3 and B4, respectively, and five pallets are provided around each robotic arm 400, wherein the pallets around one robotic arm 400 are labeled D1 to D5, respectively, and the pallets around the other robotic arm 400 are labeled D6 to D10, respectively.

[0113] In these embodiments, in order to divert the material box to the robot arm 400 that matches its attribute information, for the first on-line station corresponding to multiple first off-line stations, the first conveyor line equipment 300 also includes a diversion mechanism disposed between the first on-line station and the multiple first off-line stations corresponding thereto. The first conveyor line equipment 300 can control the specific flow direction of the material box on the conveyor line toward the first off-line station through the diversion mechanism, so that the material box transferred from a first on-line station to the conveyor line is conveyed to a specific first off-line station corresponding to the first on-line station.

[0114] for Figure 7 For example, a diversion mechanism (not shown in the figure) can be specifically provided at the diversion point O of the conveyor line. The first conveyor line equipment 300 can control the flow direction of the material box transferred from the first on-line station A3 to the conveyor line through the diversion mechanism, so that the material box is conveyed to a specific first off-line station among the off-line points B3 and B4.

[0115] For example, the flow splitter mechanism may be a pneumatic push rod, an inclined flow splitter, or other types of mechanical devices.

[0116] In order to instruct the first conveyor line equipment 300 to divert the material box to the appropriate robot arm 400 through its diversion mechanism, in these embodiments, the control system 100 is also used to determine the first offline station that matches the attribute information of the target material box from the multiple first offline stations corresponding to the target first online station as the target first offline station, generate the second control information for the target first offline station and send it to the first conveyor line equipment 300 (for Figure 3b In the illustrated cargo collection system, the conveyor line control system 120 can obtain the attribute information of the target material box and generate the corresponding second control information; the robot control system 110 can also obtain the attribute information of the target material box, determine the target first offline station based on it and transmit it to the conveyor line control system 120, and the conveyor line control system 120 generates the corresponding second control information). The first conveyor line equipment 300 is also used to respond to the second control information, control the flow direction of the target material box toward the first offline station through the diversion mechanism, so that the target material box is transported to the target first offline station.

[0117] Those skilled in the art will understand that, although in actual application scenarios, the attribute information of the material box can be collected before it is transferred to the conveyor line, after it is placed on the conveyor line, the first conveyor line equipment 300 itself may not have the ability to identify a specific material box. Thus, in one example, in order to ensure that the first conveyor line equipment 300 accurately diverts through its diversion mechanism, an information identification point can be set between the first online station and the diversion mechanism. In this example, the cargo collection system also includes an information collection device for collecting the attribute information of the material box passing through the information identification point, and the control system 100 is specifically used to determine, based on the attribute information collected by the information collection device, a first offline station that matches the attribute information from a plurality of first offline stations corresponding to the target first online station, as the target first offline station, and generate second control information for the target first offline station and send it to the first conveyor line equipment 300 (for Figure 3b For the illustrated cargo collection system, the conveyor line control system 120 can directly obtain the attribute information collected by the information collection device and generate the second control information; the robot control system 110 can also obtain the attribute information collected by the information collection device, determine the first offline workstation that matches it and transmit it to the conveyor line control system 120, and then the conveyor line control system 120 generates the corresponding second control information).

[0118] for Figure 7 For example, the information identification point can be specifically set on the main conveyor line between the first on-line station A3 and the first off-line stations B3 and B4 (that is, the conveyor line between the first on-line station A3 and point O).

[0119] As mentioned above, in order to facilitate the information recognition device to collect the attribute information of the material box, a box code can be set on the material box. Therefore, when it is necessary to divert the material box according to the attribute information of the material box, the information recognition device can obtain its attribute information by identifying the box code on the material box. The information recognition device can specifically be a camera, a barcode scanner, or an RFID (Radio Frequency Identification) reader / writer, etc.

[0120] Combination Figure 7 , the process of moving containers in the cargo collection system is described by way of example. Assume that the containers that need to be moved in the system include: containers whose goods are destined for city M, and containers whose goods are destined for city N. Figure 7For example, since the first on-line station A3 is connected to the first off-line stations B3 and B4, the control system 100 can directly use the first on-line station A3 as the target first on-line station for the material box to be transported, and send a first control information to the transport robot 200, instructing the transport robot 200 to transport the material box to the first on-line station A3, and cooperate with the first conveyor line equipment 300 to transfer the material box to the corresponding conveyor line. For the material box transferred to the conveyor line, when the material box passes through the information identification point, the information collection device can collect its attribute information and report it to the control system 100. If the control system 100 determines that the goods inside the material box are shipped to City M based on the attributes of the material box, it can send a second control message to the conveyor line system to instruct the first conveyor line equipment 300 to guide the material box to be transported to the first offline station B3 through its diversion mechanism, and then the robot arm 400 at the first offline station B3 will stack the material box on one of the pallets D1-D5 (the mechanism for the robot arm 400 to stack the material box on a specific pallet can be referred to the previous description); if the control system 100 determines that the goods inside the material box are shipped to City N based on the attributes of the material box, it can send a second control message to the conveyor line system to instruct the first conveyor line equipment 300 to guide the material box to be transported to the first offline station B4 through its diversion mechanism, and then the robot arm 400 at the first offline station B4 will stack the material box on one of the pallets D6-D10. Thus, the bins whose goods are destined for City M will be concentrated on pallets D1-D5, and the bins whose goods are destined for City N will be concentrated on pallets D6-D10, thereby achieving the purpose of bin sorting.

[0121] In addition, regarding how the control system 100 determines the first offline workstation that matches the attribute information of the material box (or the robot arm 400 or the pallet that matches the attribute information of the material box), the present application provides two optional implementation methods:

[0122] Mode 1: The control system 100 reports the attribute information to the upper-layer business system, and receives the first offline workstation matched with the attribute information fed back by the upper-layer business system as the target first offline workstation.

[0123] Specifically, the upper-layer business system may store an algorithm for determining the first offline workstation that matches the material box based on the material box's attribute information. Thus, after the control system 100 reports the material box's attribute information to the upper-layer business system, the upper-layer business system may perform corresponding processing on the attribute information, obtain the first offline workstation that matches the material box, and feed it back to the control system 100, so that the control system 100 can generate corresponding first control information and / or second control information accordingly.

[0124] Method 2: Based on the correspondence between the pre-acquired attribute information and the first offline workstation, the control system 100 determines a first offline workstation matching the attribute information from among the plurality of first offline workstations as the target first offline workstation.

[0125] Specifically, before the cargo collection system is actually used to carry the material boxes, the attribute information of all the material boxes to be carried can be uniformly reported to the upper-level business system for processing, and the business system obtains the target first offline workstation that matches the attribute information of each material box, and obtains the corresponding relationship between the attribute information of the material box and the target first offline workstation (which is also equivalent to the corresponding relationship between the attribute information of the material box and the robot 400, or the corresponding relationship between the attribute information of the material box and the pallet), and sends the corresponding relationship to the control system 100. Therefore, when the material boxes are subsequently carried by the cargo collection system, the control system 100 can directly determine the corresponding target first offline workstation through the corresponding relationship after obtaining the attribute information of the material box. As an example, the box numbers of all boxes to be transported, as well as the types and / or destinations of the goods in the boxes, can be uniformly reported to the upper-level business system, and the business system will derive the first offline workstation that matches the attribute information of the box based on the types and / or destinations of the goods in the boxes, and accordingly give a correspondence between the box number and the first offline workstation number (it can also be a correspondence between the box number and the robot arm 400 number, or a correspondence between the box number and the pallet number), and send the correspondence to the control system 100.

[0126] It should be understood that since there is a corresponding relationship between the first online workstation and the first offline workstation, after the control system determines the target first offline workstation that matches the attribute information of the material box based on the above-mentioned method one or method two, it can obtain the corresponding target first online workstation based on the corresponding relationship.

[0127] In actual application scenarios, the above-mentioned method 1 or method 2 can be selected according to specific needs. Specifically, when method 2 is adopted, the control system 100 can more quickly obtain the first offline workstation that matches the attribute information of the material box, thereby helping to ensure the timeliness of the internal response of the collection system.

[0128] Further, for the case where there is a shunt relationship between the conveyor lines on the first conveyor line equipment 300. Combined with the description in the previous text, it can be understood that from the time when the material box passes through the information identification point, the information collection device collects the attribute information of the material box and reports it to the control system 100, to the control system 100 sending the second control information for the target first offline station to the first conveyor line equipment 300, so that the first conveyor line equipment 300 responds to the second control information to control the shunt mechanism to perform the action, the entire process requires a certain delay. If this delay is too long (the above-mentioned method is particularly prone to the problem of long delay), so that the shunt mechanism fails to respond before the material box reaches the shunt point of the conveyor line, it may cause the material box to be transported to the wrong first offline station, and the expected sorting effect cannot be achieved.

[0129] by Figure 7 For example, assuming that the destination of the goods in a certain material box is City N, when the material box passes through the information identification point between the first on-line station A3 and point O, the information collection device will collect the attribute information of the material box and report it to the control system 100. Then the control system 100 determines that the first off-line station matching the attribute information of the material box is B4, generates the corresponding second control information, and sends the second control information to the first conveyor line device 300. If the first conveyor line device 300 responds to the second control information and controls the diversion mechanism to perform an action, the material box has reached point O, then the material box will be transported to the first off-line station B3, instead of the expected first off-line station B4.

[0130] To avoid the above situation, in one example, for the case where a first on-line station corresponds to multiple first off-line stations, the first conveyor line equipment 300 also includes a blocking mechanism disposed between the first on-line station and the diversion mechanism located downstream of the first on-line station. In this example, the first conveyor line equipment 300 is also used to block the conveying of the material box transferred from the first on-line station to the first conveyor line equipment 300 on the conveyor line through the blocking mechanism, and stops blocking after receiving the second control information sent by the control system 100.

[0131] Following the previous example, for Figure 7As shown in the figure, the blocking mechanism can be set upstream of point O on the main conveyor line (not shown in the figure). Assuming that the destination of the goods in a certain material box is city N, when the material box passes through the information identification point between the first on-line station A3 and point O, the information collection device will collect the attribute information of the material box and report it to the control system 100. Before the first conveyor line equipment 300 responds to the second control information and controls the diversion mechanism to perform the action, if the material box has reached the blocking mechanism, the blocking structure will block the material box from being further transported to point O, so that the material box cannot be temporarily diverted to the first offline station B3 or B4. After the first conveyor line equipment 300 receives the second control information sent by the control system 100, the first conveyor line equipment 300 will control the blocking mechanism to stop blocking, so that the material box can continue to be transported toward point O. Since the first conveyor line equipment 300 can control the diversion mechanism to guide the material box on the main conveyor line toward the first offline station B4 in response to the second control information, the material box will be smoothly diverted to the expected first offline station B4.

[0132] In some embodiments, there is a confluence relationship between the conveyor lines on the first conveyor line equipment 300. Based on these confluence relationship between the conveyor lines, one first offline station can correspond to multiple first online stations.

[0133] Figure 8 An example is given, the first conveyor line equipment 300 includes four first on-line stations, marked as A4 to A7, and two first off-line stations, marked as B5 and B6, respectively. The first on-line stations A4 and A5 correspond to the first off-line station B5, and the first on-line stations A6 and A7 correspond to the first off-line station B6. A robotic arm 400 is provided at the first off-line stations B5 and B6, respectively, and five pallets are provided around each robotic arm 400, wherein the pallets around one robotic arm 400 are marked as E1 to E5, respectively, and the pallets around the other robotic arm 400 are marked as E6 to E10, respectively.

[0134] In these embodiments, for a first offline station corresponding to a plurality of first online stations, the first conveyor line equipment 300 further includes a merging mechanism disposed between the first offline station and the plurality of first online stations corresponding thereto. The first conveyor line equipment 300 can merge the material boxes transferred to the conveyor line from the plurality of first online stations corresponding to the first offline station through the merging mechanism, so that the material boxes are conveyed to the corresponding first offline station.

[0135] for Figure 8For example, for the conveyor line between the first online stations A4 and A5 and the first offline station B5, a confluence mechanism (not shown in the figure) can be specifically set at the confluence point O' of the conveyor line. The first conveyor line equipment 300 can merge the material boxes transferred from the first online station A4 or A5 to the conveyor line through the confluence mechanism, and guide the material boxes to merge into the main conveyor line (the conveyor line between point O' and the first offline station B5), so that the material boxes can be transported to the first offline station B5. Based on the same principle, another confluence mechanism can also be set at the confluence point between the first online stations A6 and A7 and the first offline station B6, and the material boxes transferred from the first online stations A6 or A7 to the conveyor line can be merged through the other confluence mechanism.

[0136] Exemplarily, the merging mechanism may be a plurality of conveying lines or other types of transmission equipment.

[0137] Combination Figure 8, an exemplary description is given of the handling process of the material box in the cargo collection system. Assume that the material boxes that need to be handled in the system include: material boxes whose goods are destined for City M, and material boxes whose goods are destined for City N. For the material box to be handled currently, the box code on the material box can be first identified by an identification device such as a camera or a barcode scanner, and the attribute information of the material box can be obtained and reported to the control system 100. If the control system 100 determines that the goods inside the material box are sent to City M based on the attribute information of the material box, since the first online stations A4 and A5 are both connected to the first offline station B5, the control system 100 can send a first control message to the handling robot 200, instructing the handling robot 200 to carry the material box to one of the first online stations A4 and A5, and cooperate with the first conveyor line equipment 300 to transfer the material box to the corresponding conveyor line. The confluence mechanism of the first conveyor line equipment 300 can guide the material box to merge into the main conveyor line connected to the first offline station B5, so that the material box can be transported to the first offline station B5, and then palletized to one of the pallets E1-E5 by the robot arm 400 at the first offline station B5. If the control system 100 determines that the goods inside the material box are sent to City N based on the attribute information of the material box, since the first online stations A6 and A7 are both connected to the first offline station B6, the control system 100 can send a first control message to the handling robot 200 to instruct the handling robot 200 to transport the material box to one of the first online stations A6 and A7, and cooperate with the first conveyor line equipment 300 to transfer the material box to the corresponding conveyor line. The confluence mechanism of the first conveyor line equipment 300 can guide the material box to merge into the main conveyor line connected to the first offline station B6, so that the material box can be transported to the first offline station B6, and then palletized to one of the pallets E6-E10 by the robot arm 400 at the first offline station B6. Thus, the bins whose goods are destined for city M will be concentrated on pallets E1-E5, and the bins whose goods are destined for city N will be concentrated on pallets E6-E10, thereby achieving the purpose of bin sorting.

[0138] In some embodiments, the conveyor lines on the first conveyor line equipment 300 have both a confluence relationship and a divergence relationship. Based on these conveyor lines with a confluence relationship and a divergence relationship, one first on-line station can correspond to multiple first off-line stations, and one first off-line station can also correspond to multiple first on-line stations.

[0139] Fig. 9An example is given, the first conveyor line equipment 300 includes two first on-line stations, marked as A8 and A9, and two first off-line stations, marked as B7 and B8, respectively. The first on-line station A8 corresponds to the first off-line stations B7 and B8, and the first on-line station A9 also corresponds to the first off-line stations B7 and B8. A robotic arm 400 is provided at the first off-line stations B7 and B8, respectively, and five pallets are provided around each robotic arm 400, wherein the pallets around one robotic arm 400 are marked as F1 to F5, respectively, and the pallets around the other robotic arm 400 are marked as F6 to F10, respectively.

[0140] Combined with the description in the foregoing, it can be understood that in these embodiments, for the conveyor lines that have both a converging relationship and a diverting relationship, it is necessary to set a converging mechanism and a diverting mechanism between the first on-line station and the first off-line station of these conveyor lines. In addition, an information recognition point can also be set between the first on-line station and the diverting mechanism, so that the information collection device can collect the attribute information of the material box on the conveyor line and report it to the control system 100, and the control system 100 controls the first conveyor line equipment 300 to reasonably divert the material box through its diverting mechanism. For specific content, please refer to the description in the foregoing.

[0141] Combination Fig. 9 , the handling process of the material box in the cargo collection system is illustrated. Specifically, a confluence mechanism can be set at the O' point in the figure, a diversion mechanism can be set at the O point in the figure, and an information recognition point can be set between the O point and the O' point. Assume that the material boxes that need to be transported in the system include: a material box whose goods are destined for city M, and a material box whose goods are destined for city N. Then for Fig. 9For example, since the first on-line stations A8 and A9 are connected to each of the first off-line stations B7 and B8, and since the first on-line station A3 is connected to the first off-line stations B3 and B4, for the material box to be transported, the control system 100 can use any of the first on-line stations A8 and A9 as the target first on-line station, and control the handling robot 200 to transport the material box to the corresponding first on-line station. For the material box transferred from the first on-line station A8 or A9 to the conveyor line, when it reaches point O', the confluence mechanism will guide the material box to merge into the main conveyor line between point O' and point O for further transportation. When the material box passes through the information identification point, the information collection device can collect its attribute information and report it to the control system 100. If the attribute information collected by the information collection device indicates that the goods in the material box are shipped to City M, the control system 100 can send a second control information to the conveyor line system to instruct the conveyor line system to guide the material box on the main conveyor line to the first offline station B7 through the diversion mechanism, so that the material box with the internal goods destined for City M will eventually be stacked by the robot arm 400 at the first offline station B7 to one of the pallets F1-F5; similarly, if the attribute information collected by the information collection device indicates that the goods in the material box are shipped to City N, the control system 100 can send a second control information to the conveyor line system to instruct the conveyor line system to guide the material box on the main conveyor line to the first offline station B8 through the diversion mechanism, so that the material box with the internal goods destined for City N will eventually be stacked by the robot arm 400 at the first offline station B8 to one of the pallets F6-F10. Thus, the bins whose goods are destined for City M will be concentrated on pallets F1-F5, and the bins whose goods are destined for City N will be concentrated on pallets F6-F10, thereby achieving the purpose of bin sorting.

[0142] In practical applications, the internal conveyor line shape of the first conveyor line device 300 can be designed in combination with actual needs, so that the internal conveyor line is as follows: Figure 5 The indication does not have a confluence and divergence relationship, or Figure 7 The indication only has a shunt relationship, or Figure 8 The indication only has a confluence relationship, or Fig. 9 Alternatively, the conveyor line in the first conveyor line device 300 may be designed to adopt Figures 5 to 9 A combination of one or more of the four design solutions given helps to ensure that the above-mentioned cargo collection system provided by the present application is consistent with actual needs and realizes the optimal application of the cargo collection system.

[0143] In some embodiments, the robot 400 includes a robot 400 body, a base disposed at the bottom of the robot 400 body, and a sliding mechanism disposed at the bottom of the base. The robot 400 is specifically used to grab the material box at the first offline station through the robot 400 body, and slide through the sliding mechanism to make the carrier within the grabbing range of the robot 400 body, and move the material box to the carrier through the robot 400 body.

[0144] In these embodiments, after the robot arm 400 grabs the material box from the first offline station of the first conveyor line equipment 300, it can slide through the sliding structure to move itself closer to or farther away from a specific carrier. In this way, more carriers can be deployed around each robot arm 400, and the robot arm 400 is responsible for stacking the material boxes in these carriers.

[0145] Fig.10 An example is given, Fig.10 exist Figure 5 Based on the example, two pallets are further deployed around the robot arm 400 at the first offline station B1, which are marked as C11 and C12, and two pallets are further deployed around the robot arm 400 at the first offline station B2, which are marked as C13 and C14. After the robot arm 400 at the first offline station B1 receives the material box from the first offline station B1, if the material box needs to be palletized on pallet C11 or C12, then pallets C11 and C12 are not within the grasping range of the robot arm 400. The robot arm 400 can slide toward pallet C11 or C12 through a sliding mechanism, so that the corresponding pallet enters the grasping range of the robot arm 400 body, and then palletizes the material box on the pallet.

[0146] In some application scenarios, a pallet may be too close to the robot arm 400, making it inconvenient for the robot arm 400 to palletize the material boxes on the pallet. In this case, the robot arm 400 may also move away from the pallet through the sliding mechanism, so that the pallet enters the grasping range of the robot arm 400 body, and then palletize the material boxes on the pallet.

[0147] It should be understood that Fig.10 It is only used for exemplary description. In practical applications, it can also be Figures 7 to 9 On the basis of the provided solution, more pallets are arranged around each robot arm 400, and the robot arm 400 stacks the material boxes into these pallets by means of its own sliding function.

[0148] By providing a sliding mechanism at the bottom of the robot arm 400, the robot arm 400 has the ability to stack material boxes on pallets within a larger range, so that a larger number of pallets can be deployed around the robot arm 400 according to actual needs, which helps to improve work efficiency.

[0149] For ease of understanding, the docking process between the transport robot and the first conveyor line equipment is described as an example in the case where the conveyor lines in the conveyor equipment have a split relationship at the same time. Fig.11 The whole process includes the following steps:

[0150] Step S1: The robot control system reports to the conveyor line control system that the transport robot has arrived at the docking point.

[0151] The docking point here can be understood as the first on-line station of the aforementioned first conveyor line equipment.

[0152] Step S2: The conveyor line control system applies to release the goods to the first conveyor line equipment.

[0153] For example, the load condition of the conveyor line on the first conveyor line device can be detected manually or by an algorithm, and whether to allow the release of the goods is determined accordingly. If the release of the goods is allowed, the process proceeds to step S3.

[0154] Step S3: The conveyor line control system determines that the first conveyor line equipment is allowed to release the goods.

[0155] Step S4: The conveyor line control system notifies the robot control system to allow the goods to be released, and the task continues.

[0156] Step S5: The robot control system instructs the handling robot to lift the material box to a corresponding height according to the set conveyor line height based on the recorded conveyor line information.

[0157] Specifically, the plane coordinates and height information of each conveyor line in the first conveyor line equipment can be recorded in advance by the robot control system, and the first control information can be subsequently generated based on this, so that the transport robot can transport the material box to the first on-line station of the corresponding conveyor line according to the coordinate and height information.

[0158] Step S6: The robot control system controls the transport robot to place the box.

[0159] Specifically, the robot control system controls the transport robot to transfer the material box to the conveyor line of the first conveyor line equipment.

[0160] Step S7: The material box rolls forward to the photographing point.

[0161] The photographing point is a specific implementation of the aforementioned information identification point, and the photographing point should be specifically set upstream of the diversion point of the conveyor line.

[0162] Step S8: The first conveyor line equipment reports to the conveyor line control system that the material box has arrived at the photographing point.

[0163] Exemplarily, the first conveyor line equipment can sense whether the material box has reached the photographing point through pressure sensors, optical sensors and other devices.

[0164] Step S9: The conveyor line control system controls the camera to take pictures.

[0165] Step S10: The camera returns the photographing result to the conveyor line control system.

[0166] After the conveyor line control system obtains the camera's photo results for the material box, it can identify the box code of the material box based on the photo results.

[0167] Step S11: The conveyor line control system reports the box code to the robot control system.

[0168] Step S12: The robot control system determines the flow direction of the material box according to the box code.

[0169] Specifically, the robot control system determines which robot arm (or which pallet) the material box should be assigned to based on the box code. The specific judgment method can refer to the method 1 and method 2 provided in the previous article.

[0170] Step S13: The robot control system indicates the flow direction of the material box to the conveyor line control system.

[0171] Step S14: The conveyor line control system indicates the flow direction of the material box to the first conveyor line equipment.

[0172] After receiving the material box flow direction indicated by the conveyor line control system, the first conveyor line equipment can control the diversion mechanism to perform corresponding actions, thereby entering the subsequent step S15.

[0173] Step S15: The material boxes are diverted to different robotic arms.

[0174] At this point, the classification and sorting process in the cargo collection scenario is completed.

[0175] In some embodiments, feedback and adjustment can be added to the process of the cargo collection system. The control system collects data from each link in the operation process. If a delay or error is found in a certain link, the control system can adjust the operation strategy in real time to ensure the operation effect. For example, if it is found that the load of the material boxes diverted to each robot arm is unbalanced, the diversion order can be rearranged or the workload of the robot arm can be adjusted to improve the overall efficiency.

[0176] Based on the above description, it can be seen that the cargo collection system provided by the embodiment of the present application uses a handling robot to replace manual labor to carry and put the material box into the line, and the first conveyor line equipment diverts the material box to the area where the different mechanical arms are located, and the mechanical arm replaces the manual labor to stack the material box to different pallets, thereby realizing the classification and sorting links in the cargo collection process. Thereby, the reliance of the classification and sorting links on manual handling can be reduced, so that the enterprise can reduce labor costs and reallocate human resources to tasks that require more human intervention. Accordingly, since the robot can work 24 hours a day, it can continuously and uninterruptedly execute the cargo collection process, thereby saving labor costs and greatly improving the overall operating efficiency. In addition, when market demand fluctuates, the specific allocation strategy of allocating the material box to different mechanical arms according to the attribute information of the cargo collection system, as well as the specific deployment of the upper and lower line stations, mechanical arms and pallets of the first conveyor line equipment can be quickly adjusted, so that the cargo collection system can adapt to business needs and flexibly respond to changes in demand.

[0177] In addition, compared to the traditional cargo collection scheme, in the cargo collection scheme provided in the embodiment of the present application, the process of the material boxes to be sorted being transported to different carriers does not require human participation, thereby saving the space originally used to set up the sorting area, and the required floor space is smaller, which can effectively improve the space utilization rate in the warehouse. Moreover, according to the traditional cargo collection scheme, when stacking the material boxes on the carrier in the sorting area, it is also necessary to set a single-layer shelf under the pallet to dock with the lurking robot. By applying the cargo collection scheme provided in the embodiment of the present application, the first offline station of the first conveyor line equipment can be directly set in the area for storing the material boxes to be sent, so that the material boxes can be directly sent to the destination later, and there is no need to go to the sorting area through the lurking robot to pick up the single-layer shelf filled with pallets, and there is no need to set the single-layer shelf originally used to be deployed in the sorting area for docking with the lurking robot, which saves the use of the single-layer shelf.

[0178] Based on the same inventive concept, the embodiment of the present application also provides a cargo collection method applied to a cargo collection system, which is specifically applied to a cargo collection system. The cargo collection system includes a control system, a handling robot, a first conveyor line device and at least one robotic arm; the first conveyor line device includes at least one first on-line station and at least one first off-line station, each first on-line station corresponds to at least one first off-line station, and each first off-line station corresponds to at least one first on-line station; the robotic arms are respectively arranged at each first off-line station. Fig.12 The cargo collection method provided in the embodiment of the present application specifically includes:

[0179] Step S101: The control system obtains the attribute information of the target material box, determines the first on-line station matching the attribute information from the first on-line stations as the target first on-line station; generates first control information for the target first on-line station and sends it to the handling robot.

[0180] Step S102: The transport robot transports the target material box to the target first on-line station in response to the first control information, and transfers the target material box to the first conveyor line equipment by cooperating with the first conveyor line equipment.

[0181] Step S103: The first conveyor line equipment conveys the target material box to the target first offline station corresponding to the target first online station.

[0182] Step S104: The first robot arm disposed at the target first offline station moves the target material box from the target first offline station to the carrier.

[0183] For the cargo collection system involved and the beneficial effects of the cargo collection system, please refer to the previous description of the cargo collection system embodiment, which will not be repeated here.

[0184] In one embodiment of the present application, the target first on-line station corresponds to a plurality of first off-line stations, and the first conveyor line equipment further includes a diversion mechanism disposed between the target first on-line station and the plurality of first off-line stations corresponding to the target first on-line station. After the above step S101 and before step S103, it further includes:

[0185] The control system determines a first offline workstation matching the attribute information from a plurality of first offline workstations corresponding to the target first online workstation as the target first offline workstation; generates second control information for the target first offline workstation and sends it to the first conveyor line equipment;

[0186] The first conveyor line equipment responds to the second control information and controls the flow direction of the target material box toward the first offline workstation through the diversion mechanism, so that the target material box is conveyed to the target first offline workstation.

[0187] In one embodiment of the present application, an information recognition point is provided between the first on-line station and the diversion mechanism, and the cargo collection system further includes an information collection device. After the above step S102 and before step S103, it further includes:

[0188] The information collection device collects attribute information of the material box passing through the information identification point;

[0189] The control system determines, based on the attribute information collected by the information collection device, a first offline workstation matching the attribute information from multiple first offline workstations corresponding to the target first online workstation, as the target first offline workstation; generates second control information for the target first offline workstation and sends it to the first conveyor line equipment.

[0190] In one embodiment of the present application, the control system determines the target first offline workstation based on the following method:

[0191] The control system reports the attribute information to the upper-level business system, receives the first offline workstation matching the attribute information fed back by the upper-level business system as the target first offline workstation, or the control system determines the first offline workstation matching the attribute information from multiple first offline workstations based on the correspondence between the pre-acquired attribute information and the first offline workstation as the target first offline workstation.

[0192] In one embodiment of the present application, the first conveyor line equipment further includes a blocking mechanism disposed between the target first on-line station and the diversion mechanism; after the above step S101 and before step S103, it further includes:

[0193] The first conveyor line equipment blocks the conveyance of the material box transferred from the target first on-line station to the first conveyor line equipment on the first conveyor line equipment through the blocking mechanism, and stops blocking after receiving the second control information.

[0194] In one embodiment of the present application, the target first offline station corresponds to a plurality of first online stations, and the first conveyor line equipment further includes a confluence mechanism disposed between the target first offline station and the plurality of first online stations corresponding to the target first offline station; after the above-mentioned step S101 and before step S103, it further includes:

[0195] The first conveyor line equipment merges the target material box transferred from the target first on-line station to the first conveyor line equipment through a merging mechanism.

[0196] In one embodiment of the present application, the robot arm includes a robot arm body, a base disposed at the bottom of the robot arm body, and a sliding mechanism disposed at the bottom of the base; the aforementioned step S104 includes:

[0197] The first robot arm grabs the target material box at the target first offline workstation through the robot arm body, and slides through the sliding mechanism to place the carrier within the grabbing range of the robot arm body, and transports the target material box to the carrier through the robot arm body.

[0198] In one embodiment of the present application, the attribute information includes at least one of a container number, a type of goods in the container, and a destination of the goods in the container.

[0199] In one embodiment of the present application, the cargo collection system further includes a storage robot, which is disposed in a storage area, and at least one storage shelf is disposed in the storage area; before the aforementioned step S102, the following is further included:

[0200] The storage robot moves the material boxes to be shipped out of the storage shelf to the preset cache position of the storage shelf;

[0201] The aforementioned S102 specifically includes:

[0202] The handling robot receives a material box from a preset cache position, transports the received material box to the corresponding target first on-line station according to the first control information sent by the control system, and transfers the target material box to the first conveyor line equipment by cooperating with the first conveyor line equipment.

[0203] In one embodiment of the present application, the cargo collection system further includes a storage robot and a second conveyor line device; the storage robot is arranged in a storage area, and at least one storage shelf is arranged in the storage area; the second conveyor line device has at least one second on-line station and at least one second off-line station, which is used to transport the material box from the second on-line station to the corresponding second off-line station, and the second on-line station is docked with the storage robot; before the aforementioned step S102, it also includes:

[0204] The storage robot moves the material boxes to be shipped out of the storage shelf to the second on-line station, and transfers the material boxes to the second conveyor line equipment by cooperating with the second conveyor line equipment;

[0205] The aforementioned S102 specifically includes:

[0206] The handling robot receives the material box from the second offline station, and according to the first control information sent by the control system, transports the received material box to the corresponding target first online station, and transfers the target material box to the first conveyor line equipment by cooperating with the first conveyor line equipment.

[0207] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0208] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

[0209] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. A cargo collection system, characterized in that: It includes a control system, a handling robot, a first conveyor line device and at least one mechanical arm; The first conveyor line equipment includes at least one first on-line station and at least one first off-line station, each of the first on-line stations corresponds to at least one of the first off-line stations, and each of the first off-line stations corresponds to at least one of the first on-line stations, and the first conveyor line equipment is used to convey the material box from the first on-line station to the corresponding first off-line station; The robot arms are respectively arranged at the first offline workstations, and are used to carry the material boxes arranged at the first offline workstations to the carrier; The control system is used to obtain the attribute information of the target material box, determine the first on-line station matching the attribute information from the first on-line stations as the target first on-line station; generate first control information for the target first on-line station and send it to the handling robot; The transport robot is used to transport the target material box to the target first on-line station in response to the first control information, and transfer the target material box to the first conveyor line equipment by cooperating with the first conveyor line equipment.

2. The cargo collection system according to claim 1, characterized in that: The target first on-line station corresponds to a plurality of first off-line stations, and the control system is further used to determine a first off-line station matching the attribute information from the plurality of first off-line stations corresponding to the target first on-line station as the target first off-line station; generate second control information for the target first off-line station and send it to the first conveyor line equipment; The first conveyor line equipment also includes a diversion mechanism arranged between the target first on-line station and a plurality of first off-line stations corresponding to the target first on-line station; the first conveyor line equipment is also used to respond to the second control information, and control the flow direction of the target material box toward the first off-line station through the diversion mechanism, so that the target material box is conveyed to the target first off-line station.

3. The cargo collection system according to claim 2, characterized in that: An information recognition point is provided between the first on-line station and the diversion mechanism; The cargo collection system further includes an information collection device for collecting attribute information of the material box passing through the information identification point; The control system is specifically used to determine, based on the attribute information collected by the information collection device, a first offline workstation matching the attribute information from multiple first offline workstations corresponding to the target first online workstation, as the target first offline workstation; generate second control information for the target first offline workstation and send it to the first conveyor line equipment.

4. The cargo collection system according to claim 2 or 3, characterized in that: The control system is specifically used to report the attribute information to the upper-level business system, receive the first offline workstation matching the attribute information fed back by the upper-level business system as the target first offline workstation, or, based on the correspondence between the pre-acquired attribute information and the first offline workstation, determine the first offline workstation matching the attribute information from the multiple first offline workstations as the target first offline workstation.

5. The cargo collection system according to claim 2 or 3, characterized in that: The first conveyor line equipment also includes a blocking mechanism arranged between the target first online workstation and the diversion mechanism; the first conveyor line equipment is also used to block the transportation of the material box transferred from the target first online workstation to the first conveyor line equipment on the first conveyor line equipment through the blocking mechanism, and stop blocking after receiving the second control information.

6. The cargo collection system according to claim 1, characterized in that: The plurality of first on-line stations correspond to a first off-line station, and the first conveyor line equipment further comprises a merging mechanism arranged between the first off-line station and the plurality of first on-line stations corresponding to the first off-line station, and the merging mechanism is used for merging material boxes transferred from the plurality of first on-line stations corresponding to the first off-line station to the first conveyor line equipment, so that the material boxes are conveyed to the corresponding first off-line station.

7. The cargo collection system according to claim 1, characterized in that: The mechanical arm comprises a mechanical arm body, a base arranged at the bottom of the mechanical arm body, and a sliding mechanism arranged at the bottom of the base; The robot arm is specifically used to grab the material box at the first offline workstation through the robot arm body, and slide through the sliding mechanism to make the carrier within the grabbing range of the robot arm body, and transport the material box to the carrier through the robot arm body.

8. The cargo collection system according to any one of claims 1 to 3, characterized in that: The attribute information includes at least one of a container number, a type of goods in the container, and a destination of the goods in the container.

9. The cargo collection system according to any one of claims 1 to 3, characterized in that: The cargo collection system further includes a storage robot, which is arranged in a storage area, and at least one storage shelf is arranged in the storage area; The storage robot is used to move the material boxes to be shipped out of the storage shelf to the preset cache position of the storage shelf; The transport robot is specifically used to receive a material box from the preset cache position, and transport the received material box to the corresponding target first on-line workstation according to the first control information.

10. The cargo collection system according to any one of claims 1 to 3, characterized in that: The cargo collection system further includes a storage robot and a second conveyor line device; the storage robot is arranged in a storage area, and at least one storage shelf is arranged in the storage area; the second conveyor line device has at least one second on-line station and at least one second off-line station, which is used to transport the material box from the second on-line station to the corresponding second off-line station, and the second on-line station is docked with the storage robot; The storage robot is used to carry the material boxes to be shipped out of the storage shelf to the second on-line station, and transfer the material boxes to the second conveyor line equipment by cooperating with the second conveyor line equipment; The transport robot is specifically used to receive a material box from the second offline workstation and transport the received material box to the corresponding target first online workstation according to the first control information.

11. A cargo collection method, characterized in that: Applied to a cargo collection system, the cargo collection system includes a control system, a handling robot, a first conveyor line device and at least one robotic arm; the first conveyor line device includes at least one first on-line station and at least one first off-line station, each of the first on-line stations corresponds to at least one of the first off-line stations, and each of the first off-line stations corresponds to at least one of the first on-line stations; the robotic arms are respectively arranged at each of the first off-line stations; the method includes: The control system acquires attribute information of a target material box, determines a first on-line station matching the attribute information from the first on-line stations as the target first on-line station; generates first control information for the target first on-line station and sends it to the handling robot; The transport robot transports the target material box to the target first on-line station in response to the first control information, and transfers the target material box to the first conveyor line equipment by cooperating with the first conveyor line equipment; The first conveyor line equipment conveys the target material box to the target first offline workstation corresponding to the target first online workstation; The first robot arm disposed at the target first offline station moves the target material box from the target first offline station to a carrier.

Images