A material sorting online method, device and system

Abstract

The embodiments of the present application provide a material sorting and online method, device and system, and relate to the field of material sorting technology. After obtaining the outbound order information for the target production line, an online batch sequence including at least one online batch is planned according to the outbound order information, each online batch includes a material category and a second quantity corresponding to each material category, and for any two online batches, the online order of any material category in the online batch is not later than the online order of any material category in the subsequent online batch, and for any material category, the sum of the second quantities corresponding to the material category in all online batches is equal to the first quantity corresponding to the material category, and then for each online batch in the online batch sequence, the autonomous mobile robot is dispatched to load materials of all material categories in the online batch and transport them to the target production line. Through the method of the embodiments of the present application, the production efficiency on the production line can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of material sorting, and in particular to an online material sorting method, device and system. Background Art

[0002] The production process of the manufacturing industry usually involves multiple production links, and each production link requires specific materials. Through material sorting, it can be ensured that each production link can obtain the required materials in a timely manner. Material sorting refers to the process of classifying and allocating materials of different types, specifications and uses according to certain rules. When materials are accurately and timely allocated to each production link, the staff on the work line can focus more on production operations, thereby improving production efficiency.

[0003] In the related art, all materials required in the outbound order are usually shipped out in their entire packages and stored at the side of the work line. However, the space at the side of the work line is limited. If the entire packages of materials are stacked at the side of the work line, it is inconvenient for the workers on the work line to pick the materials, resulting in reduced production efficiency. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a material sorting method, device and system to improve the production efficiency of the production line. The specific technical solution is as follows:

[0005] In a first aspect of an embodiment of the present application, a material sorting online method is provided, the method comprising:

[0006] Obtaining outbound order information for a target production line, the outbound order information including material categories, first quantities corresponding to each material category, and an on-line order for each material category;

[0007] According to the outbound order information, a launch batch sequence including at least one launch batch is planned, wherein each launch batch includes a material category and a second quantity corresponding to each material category, and for any two launch batches, the launch sequence of any material category in the first launch batch is not later than the launch sequence of any material category in the second launch batch, and for any material category, the sum of the second quantities corresponding to the material category in all the launch batches is equal to the first quantity corresponding to the material category;

[0008] For each online batch in the online batch sequence, the autonomous mobile robot is scheduled to load materials of all material categories in the online batch and transport them to the target production line, wherein the quantity of materials of each material category loaded is the second quantity corresponding to the material category in the online batch sequence.

[0009] In a possible implementation, planning, according to the outbound order information, to obtain an online batch sequence including at least one online batch includes:

[0010] According to the third quantity corresponding to each material category and the order of going online for each material category, determine whether the materials in the current online batch can be put online in the form of a whole package, wherein the third quantity corresponding to each material category is initially the number of materials of each material category that need to be put online in the current online batch, and the current online batch is initially the first online batch;

[0011] If yes, the current online batch is obtained according to the standard accommodation number of incoming packaging of the whole package of materials; if no, the current online batch is obtained according to the standard accommodation number of the sorting and sorting shelves;

[0012] The next online batch of the current online batch is used as the new current online batch, and the step of judging whether the materials in the current online batch can be put online in the form of a whole package according to the third quantity corresponding to each material category and the order of putting the materials online is returned to execute until the planning is completed and the online batch sequence is obtained;

[0013] The scheduling of the autonomous mobile robot to load materials of all material categories in the on-line batch and transport them to the target production line includes:

[0014] If the on-line batch is a batch planned according to the standard number of incoming material packaging for whole packages of materials, dispatch an autonomous mobile robot to load the shelves containing materials of all material categories in the on-line batch and transport them to the target production line;

[0015] If the on-line batch is the on-line batch obtained by planning the standard accommodation number of the sorting and sequencing shelves, the autonomous mobile robot is dispatched to load the sorting and sequencing shelves containing the repacked materials of all material categories in the on-line batch and transport them to the target production line.

[0016] In a possible implementation, judging whether the materials in the current online batch can be put online in the form of a whole package according to the third quantity corresponding to each material category and the order of putting each material category online includes:

[0017] The material category with the highest order of the third quantity corresponding to each material category and not equal to 0 is taken as the current material category, and it is determined whether the third quantity corresponding to the current material category is greater than the standard receiving quantity of the incoming material packaging of the material of the current material category;

[0018] If yes, the current online batch is put online in the form of a whole package, and the next online batch is used as the new current online batch, and the process returns to the step of taking the material category with the highest order of online order among the material categories whose third quantities are not 0 as the current material category, and determining whether the third quantity corresponding to the current material category is greater than the standard receiving number of incoming material packaging of the material of the current material category;

[0019] If the third quantity corresponding to the current material category is not greater than the standard accommodation number of incoming material packaging of the material of the current material category, the current online batch cannot be put online in the form of a whole package.

[0020] In a possible implementation, the planning of obtaining the current online batch according to the standard accommodation number of incoming material packaging of the whole package of materials includes:

[0021] The current online batch is obtained according to the standard accommodation number of incoming material packaging of the current material category and the current material category planning, wherein the material category in the current online batch is the current material category, and the second quantity corresponding to the current material category is the standard accommodation number of incoming material packaging of the current material category.

[0022] In a possible implementation, the planning of obtaining the current online batch according to the standard accommodation number of the sorting and sorting shelves includes:

[0023] Determine whether the third quantity corresponding to the current material category is less than the standard storage quantity of the sorting and sequencing shelf, and determine whether the current material category is at the last position in the online order of each material category;

[0024] If the third quantity corresponding to the current material category is less than the standard storage number of the sorting and sequencing shelf, and the current material category is not at the end of the order of the material categories to be put online, then the current online batch is obtained according to the third quantity corresponding to the current material category and the standard storage number of the sorting and sequencing shelf, wherein the material categories in the current online batch are the current material category and the next material category adjacent to the current material category, and the sum of the second quantities corresponding to the material categories in the current online batch is equal to the standard storage number of the sorting and sequencing shelf;

[0025] If the third quantity corresponding to the current material category is less than the standard storage number of the sorting and sorting shelf, and the current material category is at the end of the online order of each material category, then the current online batch is obtained according to the third quantity corresponding to the current material category, wherein the material category in the current online batch is the current material category, and the second quantity corresponding to the material category in the current online batch is the third quantity corresponding to the current material category;

[0026] If the third quantity corresponding to the current material category is not less than the standard accommodation number of the sorting and sorting shelf, the current online batch is obtained according to the standard accommodation number planning of the sorting and sorting shelf, wherein the material category in the current online batch is the current material category, and the second quantity corresponding to the current material category is equal to the standard accommodation number of the sorting and sorting shelf;

[0027] In a possible implementation, the scheduling of the autonomous mobile robot to load materials of all material categories in the on-line batch and transport them to the target production line includes:

[0028] If the number of racks transported to the target production line does not reach the maximum number of racks that the target production line can accommodate, dispatch an autonomous mobile robot to load racks containing materials of all material categories in the online batch and transport them to the target production line, wherein the racks include shelves or sorting and sequencing shelves;

[0029] If the number of racks transported to the target production line reaches the maximum number of racks that the target production line can accommodate, the autonomous mobile robots are sequentially dispatched to load racks containing the remaining batches of materials to be put on the line and transport them to the pre-set on-line cache position;

[0030] In response to a return-to-empty signal, the autonomous mobile robot indicated by the return-to-empty signal is controlled to leave the target production line, and according to the on-line batch sequence, the autonomous mobile robot is controlled to transport the racks loaded with materials of all material categories in the front-most on-line batch sequence in the on-line cache position to the target production line.

[0031] According to a second aspect of an embodiment of the present application, a material sorting system is provided, the system comprising a processor and at least one autonomous mobile robot;

[0032] The processor is used to obtain outbound order information for a target production line, wherein the outbound order information includes material categories, first quantities corresponding to each material category, and an online order for each material category; according to the outbound order information, a sequence of online batches including at least one online batch is planned, wherein each online batch includes material categories, second quantities corresponding to each material category, and for any two online batches, the online order of any material category in the first online batch is not later than the online order of any material category in the second online batch, and for any material category, the sum of the second quantities corresponding to the material category in all online batches is equal to the first quantity corresponding to the material category; for each online batch in the online batch sequence, an autonomous mobile robot is dispatched to load materials of all material categories in the online batch and transport them to the target production line, wherein the quantity of materials loaded for each material category is the second quantity corresponding to the material category in the online batch sequence;

[0033] The autonomous mobile robot is used to load materials of all material categories in the on-line batch and transport them to the target production line.

[0034] In a third aspect of the present application, a material sorting device is provided, the device comprising:

[0035] An acquisition module, used to acquire outbound order information for a target production line, wherein the outbound order information includes a material category, a first quantity corresponding to each material category, and an on-line order of each material category;

[0036] a planning module, configured to plan, according to the outbound order information, an online batch sequence including at least one online batch, wherein each online batch includes a material category and a second quantity corresponding to each material category, and for any two online batches, the online sequence of any material category in the first online batch is not later than the online sequence of any material category in the second online batch, and for any material category, the sum of the second quantities corresponding to the material category in all online batches is equal to the first quantity corresponding to the material category;

[0037] a scheduling module, for scheduling the autonomous mobile robot to load materials of all material categories in the online batch and transport them to the target production line for each online batch in the online batch sequence, wherein the quantity of materials of each material category loaded is the second quantity corresponding to the material category in the online batch sequence;

[0038] In a possible implementation, the planning module includes:

[0039] The whole package judgment submodule is used to judge whether the materials in the current online batch can be put online in the form of a whole package according to the third quantity corresponding to each material category and the online order of each material category, wherein the third quantity corresponding to each material category is initially the number of materials of each material category that need to be put online when the current online batch is put online, and the current online batch is initially the first online batch; if so, the current online batch is obtained according to the standard accommodation number planning of the incoming material packaging of the whole package of materials; if not, the current online batch is obtained according to the standard accommodation number planning of the sorting and sorting shelves;

[0040] Return the execution submodule, which is used to take the next online batch of the current online batch as the new current online batch, return to execute the step of judging whether the materials in the current online batch can be put online in the form of a whole package according to the third quantity corresponding to each material category and the online order of each material category, until the planning is completed, and the online batch sequence is obtained;

[0041] In a possible implementation manner, the scheduling module is specifically used to:

[0042] If the on-line batch is a batch planned according to the standard number of incoming material packaging for whole packages of materials, dispatch an autonomous mobile robot to load the shelves containing materials of all material categories in the on-line batch and transport them to the target production line;

[0043] If the on-line batch is the on-line batch obtained by planning the standard storage number of the sorting and sequencing shelves, the autonomous mobile robot is dispatched to load the sorting and sequencing shelves containing the repacked materials of all material categories in the on-line batch and transport them to the target production line;

[0044] In a possible implementation, the whole package judgment submodule is specifically used to take the material category with the highest order of online order among the third quantities corresponding to each material category that are not 0 as the current material category, and judge whether the third quantity corresponding to the current material category is greater than the standard receiving number of incoming material packaging of the material of the current material category;

[0045] If yes, the current online batch is put online in the form of a whole package, and the next online batch is used as the new current online batch, and the process returns to the step of taking the material category with the highest order of online order among the material categories whose third quantities are not 0 as the current material category, and determining whether the third quantity corresponding to the current material category is greater than the standard receiving number of incoming material packaging of the material of the current material category;

[0046] If the third quantity corresponding to the current material category is not greater than the standard acceptance number of incoming material packaging for the material of the current material category, the current online batch cannot be put online in the form of a whole package;

[0047] In a possible implementation, the whole package judgment submodule is specifically used to obtain the current online batch according to the standard acceptance number of incoming material packaging of the current material category and the current material category planning, wherein the material category in the current online batch is the current material category, and the second quantity corresponding to the current material category is the standard acceptance number of incoming material packaging of the current material category;

[0048] In a possible implementation, the whole package judgment submodule is specifically used to judge whether the third quantity corresponding to the current material category is less than the standard accommodation number of the sorting and sorting shelf, and judge whether the current material category is at the last position in the online order of each material category;

[0049] If the third quantity corresponding to the current material category is less than the standard storage number of the sorting and sequencing shelf, and the current material category is not at the end of the order of the material categories to be put online, then the current online batch is obtained according to the third quantity corresponding to the current material category and the standard storage number of the sorting and sequencing shelf, wherein the material categories in the current online batch are the current material category and the next material category adjacent to the current material category, and the sum of the second quantities corresponding to the material categories in the current online batch is equal to the standard storage number of the sorting and sequencing shelf;

[0050] If the third quantity corresponding to the current material category is less than the standard storage number of the sorting and sorting shelf, and the current material category is at the end of the online order of each material category, then the current online batch is obtained according to the third quantity corresponding to the current material category, wherein the material category in the current online batch is the current material category, and the second quantity corresponding to the material category in the current online batch is the third quantity corresponding to the current material category;

[0051] If the third quantity corresponding to the current material category is not less than the standard accommodation number of the sorting and sorting shelf, the current online batch is obtained according to the standard accommodation number planning of the sorting and sorting shelf, wherein the material category in the current online batch is the current material category, and the second quantity corresponding to the current material category is equal to the standard accommodation number of the sorting and sorting shelf;

[0052] In a possible implementation manner, the scheduling module is specifically configured to schedule an autonomous mobile robot to load a rack containing materials of all material categories in the online batch and transport the rack to the target production line if the number of racks transported to the target production line does not reach the maximum number of racks that the target production line can accommodate, wherein the rack includes a shelf or a sorting and sequencing shelf;

[0053] If the number of racks transported to the target production line reaches the maximum number of racks that the target production line can accommodate, the autonomous mobile robots are sequentially dispatched to load racks containing the remaining batches of materials to be put on the line and transport them to the pre-set on-line cache position;

[0054] In response to a return-to-empty signal, the autonomous mobile robot indicated by the return-to-empty signal is controlled to leave the target production line, and according to the on-line batch sequence, the autonomous mobile robot is controlled to transport the racks loaded with materials of all material categories in the front-most on-line batch sequence in the on-line cache position to the target production line.

[0055] According to a fourth aspect of the embodiments of the present application, an electronic device is provided, including:

[0056] Memory, used to store computer programs;

[0057] The processor is used to implement any of the above-mentioned material sorting online methods when executing the program stored in the memory.

[0058] In a fifth aspect of an embodiment of the present application, a computer-readable storage medium is further provided, wherein a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, any of the above-mentioned material sorting online methods is implemented.

[0059] An embodiment of the present application also provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute any of the above-described material sorting online methods.

[0060] The embodiments of the present application provide a material sorting and online method, device and system. After obtaining the outbound order information for the target production line including the material category, the first quantity corresponding to each material category and the online order of each material category, an online batch sequence including at least one online batch is planned according to the outbound order information. Each online batch includes the material category and the second quantity corresponding to each material category. For any two online batches, the online order of any material category in the online batch is not later than the online order of any material category in the subsequent online batch. For any material category, the sum of the second quantities corresponding to the material category in all online batches is equal to the first quantity corresponding to the material category. Then, for each online batch in the online batch sequence, an autonomous mobile robot is dispatched to load materials of all material categories in the online batch and transport them to the target production line. Through the method of the embodiment of the present application, since in the planned online batch sequence, for any two online batches, the online order of any material category in the earlier online batch is not later than the online order of any material category in the later online batch, when the autonomous mobile robot is dispatched to load materials of all material categories in the online batch and transport them to the target production line for each online batch in the online batch sequence, it can be ensured that each material arrives at the target production line in the online order of each material category. On the target working line, it is only necessary to pick up the materials loaded in each autonomous mobile robot in turn according to the online batch, without having to pick among the stacked materials of various categories to be sorted, thereby improving the production efficiency on the production line.

[0061] 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

[0062] 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.

[0063] Figure 1 A schematic diagram of a material sorting method according to an embodiment of the present application;

[0064] Figure 2 A detailed schematic diagram of the above step S20 provided in an embodiment of the present application;

[0065] Figure 3 A detailed schematic diagram of the above step S201 provided in an embodiment of the present application;

[0066] Figure 4aA schematic diagram of an autonomous mobile robot provided in an embodiment of the present application loading a shelf containing whole packaged materials;

[0067] Figure 4b A schematic diagram of an autonomous mobile robot provided in an embodiment of the present application loading a sorting and sequencing shelf for placing bag-turning materials;

[0068] Figure 5 An example flow chart of the material sorting online method provided in an embodiment of the present application;

[0069] Figure 6a , Figure 6b and Figure 6c An example diagram of sorting out materials when the materials provided in the embodiment of the present application meet the sorting conditions;

[0070] Figure 7a , Figure 7b and Figure 7c An example diagram of materials going online when the materials provided in the embodiment of the present application meet the sorting conditions;

[0071] Figure 8a , Figure 8b and Figure 8c An example diagram of sorting out materials when the materials provided in the embodiment of the present application do not meet the sorting conditions;

[0072] Figure 9a , Figure 9b and Fig.9c An example diagram of materials going online when the materials provided in the embodiment of the present application do not meet the sorting conditions;

[0073] Fig.10 A schematic diagram of the structure of a material sorting online device provided in an embodiment of the present application;

[0074] Fig.11 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0075] 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.

[0076] First, the professional terms in the embodiments of the present application are explained:

[0077] AGV (Automated Guided Vehicle, autonomous mobile robot): is a robot used for automatic logistics handling and transportation.

[0078] Whole package form: refers to packaging a certain amount of materials according to certain specifications, weight or volume to form an independent and complete packaging unit.

[0079] Sorting: refers to picking materials A, B, C and other materials in different packages in the warehouse according to the production order of the production line, that is, sorting different materials A, B, C into a sorting device and sending them to the production line. The assembly personnel or mechanical arms of the production line pick up the parts for assembly according to the order of the sorting device. For ease of understanding, the sorted materials are referred to as sorted materials in the following text.

[0080] Sorting equipment: also known as sorting and sorting shelves, containers for storing sorted materials, which can be recycled.

[0081] Standard acceptance number for incoming material packaging: refers to the quantity of materials contained in a whole package when the materials are put into storage.

[0082] The standard storage capacity of the sorting and sorting shelves refers to the number of materials that can be stored in the sorting and sorting shelves. In the embodiment of the present application, the standard storage capacity of each sorting and sorting shelf is the same.

[0083] In the related technology, after obtaining the outbound order, the optimal outbound sorting combination is calculated through the material packaging conditions of different inventories in the warehouse and the customer's demand quantity for each material in the outbound order. Under the premise of ensuring that the number of materials outbound is sufficient, the boxes are not unpacked as much as possible. When unpacking is required, a whole small package is taken out as much as possible instead of unpacking the small package. Such an outbound sorting scheme can facilitate warehouse pickers and picking machines to sort according to the calculation results of the warehouse management system, greatly improving the sorting efficiency, thereby avoiding inventory squeeze and unreasonable outbound order allocation, which are not conducive to inventory management. However, this method only considers the order and inventory situation, and does not consider the space problem of the production line. After all the materials in the outbound order are out of the warehouse, they are stacked next to the production line, which is not convenient for the staff or mechanical arms on the production line to pick materials, resulting in reduced production efficiency.

[0084] In order to improve the production efficiency on the production line, an embodiment of the present application provides a material sorting method, device and system. The material sorting method provided by the present application is described below through specific embodiments.

[0085] In a first aspect of the embodiments of the present application, a material sorting online method is first provided, such as Figure 1 A schematic diagram of a material sorting method provided in an embodiment of the present application, the method comprising the following steps:

[0086] Step S10, obtaining outbound order information for the target production line, the outbound order information including material categories, first quantities corresponding to each material category, and the order of each material category being put online;

[0087] Step S20, planning and obtaining an online batch sequence including at least one online batch according to the outbound order information;

[0088] Each online batch includes material categories and second quantities corresponding to each material category, and for any two online batches, the online order of any material category in the first online batch is not later than the online order of any material category in the later online batch, and for any material category, the sum of the second quantities corresponding to the material category in all online batches is equal to the first quantity corresponding to the material category;

[0089] Step S30, for each online batch in the online batch sequence, dispatching an autonomous mobile robot to load materials of all material categories in the online batch and transporting them to the target production line;

[0090] The quantity of material loaded for each material category is the second quantity corresponding to the material category in the online batch sequence.

[0091] By adopting the method of the embodiment of the present application, since in the planned online batch sequence, for any two online batches, the online order of any material category in the earlier online batch is not later than the online order of any material category in the later online batch, when scheduling the autonomous mobile robot to load materials of all material categories in the online batch and transport them to the target production line for each online batch in the online batch sequence, it can be ensured that each material arrives at the target production line in the online order of each material category. On the target working line, it is only necessary to pick up the materials loaded in each autonomous mobile robot in turn according to the online batches, without having to pick among the stacked materials of various categories to be sorted, thereby improving the production efficiency on the production line.

[0092] The above steps S10 to S30 will be described in detail below:

[0093] In step S10, the material categories included in the outbound order information refer to the categories of materials required by the target production line, the first quantity corresponding to each material category refers to the quantity of materials of each category required by the target production line, and the online order of each material category refers to the order in which the materials of each material category are used in the actual production process of the target production line.

[0094] For example, 50 products need to be assembled on the target production line. Each product uses 3 materials B, 2 materials A, and 2 materials C in sequence during the assembly process. The outbound order information is: material A-100, material B-150, material C-100, and the order of putting materials A, material B, and material C online is: material B, material A, material C. The categories of the materials are A, B, and C. The first quantity corresponding to category A is 100, the first quantity corresponding to category B is 150, and the first quantity corresponding to category C is 100. The order of putting each material category online is: category B, category A, category C.

[0095] It is understandable that in actual production, each material needs to be put online in strict accordance with the order in which each material category is put online. Taking the above example as an example, if the material of category B is currently being put online, the materials of category A and category C cannot be put online before the materials of category B are put online.

[0096] In order to facilitate the workers or robotic arms on the work line to pick the materials needed for current production, in the embodiment of the present application, the materials can be transported to the production line in batches according to the order in which they are put online.

[0097] In step S20, an online batch sequence including at least one online batch can be planned based on the outbound order information. If the outbound order information includes only one category of materials, and the first quantity corresponding to the material category is equal to the standard accommodation number of incoming material packaging of the material category, or the sum of the first quantities corresponding to the material categories included in the outbound order is not greater than the standard accommodation number of the sorting and sorting shelves, then an online batch sequence including one online batch can be planned based on the outbound order information; if the outbound order includes two or more material categories, and the sum of the first quantities corresponding to the material categories is greater than the standard accommodation number of the sorting and sorting shelves, then an online batch sequence including at least two online batches can be planned based on the outbound order information.

[0098] The online batch sequence refers to the order of the online batches. For example, if the first online batch, the second online batch, and the third online batch are planned, the materials of the first online batch, the second online batch, and the third online batch will be put online in sequence.

[0099] In order to ensure that materials of each material category arrive at the production line in the order of going online, when each going online batch is obtained according to the outbound order information planning, the order of going online of any material category in the previous going online batch shall not be later than the order of going online of any material category in the later going online batch. Exemplarily, the outbound order information includes: material category A-100, material category B-150, material category C-100, that is, the first quantity of material category A is 100, the first quantity corresponding to material category B is 150, and the first quantity corresponding to material category C is 100, and the order of going online of material category A, material category B, and material category C is: material A, material B, material C. After planning, three batches are obtained, among which the first batch includes 100 A and 50 B, the second batch includes 100 B and 50 C, and the third batch includes 50 C. It can be seen that the online order of any material category (category A and category B) in the first batch is not later than the online order of any material category (category B and category C) in the second batch, the online order of any material category in the first batch is not later than the online order of any material category (category C) in the third batch, and the online order of any material category in the second batch is not later than the online order of any material category in the third batch.

[0100] Moreover, in each online batch obtained after planning, for any material category, the sum of the second quantities corresponding to a material category in all online batches is equal to the first quantity corresponding to the material category. For example, the second quantity corresponding to material category A in the first batch is 100, the second quantity corresponding to material category B is 50, the second quantity corresponding to material category B in the second batch is 100, the second quantity corresponding to material category C is 50, the second quantity corresponding to material category C in the third batch is 50, the sum of the second quantities corresponding to material category A in all online batches is 100, which is equal to the first quantity corresponding to material category A, the sum of the second quantities corresponding to material category B in all online batches is 150, which is equal to the first quantity corresponding to material category B, and the sum of the second quantities corresponding to material category C in all online batches is 100, which is equal to the first quantity corresponding to material category C.

[0101] It can be understood that the above step 20 obtains the online batch sequence including at least one online batch according to the outbound order information planning, and each online batch can be directly obtained according to the quantity of each material category and the online order of each material category and the capacity planning of the sorting and sorting shelves, and the materials of the same material category are planned as at least one online batch, and the online order of the material category in the first online batch is not later than the online order of the material category in the later online batch. For example, assume that the outbound order information includes: material category A - 100, material category B - 150, material category C - 100, that is, the first quantity of material category A is 100, the first quantity corresponding to material category B is 150, and the first quantity corresponding to material category C is 100. The order of putting material category A, material category B, and material category C online is: material A, material B, material C. The standard storage number of the sorting and sorting shelves is 100. Then four online batches can be planned: the first online batch includes 100 A, the second online batch includes 100 B, the third online batch includes 50 B, and the fourth online batch includes 100 C.

[0102] It is understandable that materials of each material category are put into storage in the form of whole packages, and for materials of the same material category, the standard acceptance number of incoming material packages is the same. Therefore, in the process of putting materials online, if the number of materials of a certain category required on the target production line is greater than or equal to the standard acceptance number of incoming material packages of materials of this category, in order to reduce the time consumption of material sorting, the materials can be put online in the form of whole packages. Specifically, materials are put on the line in whole packages, which may refer to transporting the whole packages of materials to the target production line. For example, in the above embodiment, the standard accommodation number of incoming packages of material A is 80, then the whole packages containing 80 materials A are transported to the target production line; it may also refer to transporting shelves containing a number of materials with a standard accommodation number of incoming packages to the target production line. For example, when materials are put into storage, they are placed on the shelves according to the standard accommodation number of incoming packages, that is, each shelf only contains a number of materials with a standard accommodation number of incoming packages. For example, the standard accommodation number of incoming packages of material A is 80, and the standard accommodation number of incoming packages of material B is 100. Then, when the materials are put into storage, 80 materials A are placed on the shelves for containing material A, and 100 materials B are placed on the shelves for containing material B. When the materials are put on the line, if material A is put on the line in whole packages, the shelves containing material A are transported to the target production line.

[0103] When the quantity of a certain category of materials required on the target production line is greater than or equal to the standard acceptance number of incoming material packaging for the category of materials, the material is put online in the form of a whole package, which saves time compared to turning over and sorting all the packages.

[0104] It can be seen that in order to improve the efficiency of material sorting, when planning the online batch, you can first determine whether the quantity of materials of the same category is greater than or equal to the standard accommodation number of incoming material packaging of materials of this category, so as to determine whether the materials of this category can be put online in the form of whole packages, and then plan the current online batch.

[0105] Based on this, in a possible implementation, the above step S20 plans an online batch sequence including at least one online batch according to the outbound order information, or it can be based on the third quantity corresponding to each material category and the online order of each material category. It is judged whether the materials in the current online batch can be put online in the form of a whole package, and then each online batch is planned according to whether the materials in the current online batch can be put online in the form of a whole package.

[0106] For details, see Figure 2 , Figure 2 A detailed schematic diagram of the above step S20 provided in an embodiment of the present application, the above step S20 may specifically include:

[0107] Step S201, judging whether the materials in the current online batch can be put online in the form of a whole package according to the third quantity corresponding to each material category and the online order of each material category,

[0108] Among them, the third quantity corresponding to each material category is initially the number of materials of each material category that need to be put online when the current online batch is launched, and the current online batch is initially the first online batch.

[0109] If yes, execute step S202, if no, execute step S203;

[0110] Step S202, obtaining the current online batch according to the standard accommodation number of incoming material packaging of the whole package of materials;

[0111] Step S203, obtaining the current online batch according to the standard storage number of the sorting and sorting shelves;

[0112] Step S204, taking the next online batch of the current online batch as the new current online batch, returning to step S201, until the planning is completed, and obtaining the online batch sequence;

[0113] In the above step S201, when judging whether the materials in the current online batch can be put online in the form of a whole package, the material category with the highest order of the material category whose third quantity corresponding to each material category is not 0 is taken as the current material category, and then it is judged whether the third quantity corresponding to the current material category is greater than the standard acceptance number of incoming material packaging of the materials of the current material category, and it is judged whether the rack containing the materials of the current online batch is loaded with other materials. If the third quantity corresponding to the current material category is greater than the standard acceptance number of incoming material packaging of the materials of the current material category, and the rack containing the materials of the current online batch is not loaded with any other materials, the current online batch is put online in the form of a whole package.

[0114] The material rack refers to the rack used to load materials on the autonomous mobile robot during the process of transporting each batch of materials to the target production line. The material rack includes a shelf and a sorting and sorting shelf. The shelf is a shelf in the warehouse used to hold whole packaged materials, and each shelf holds a whole packaged material; the sorting and sorting shelf is a shelf used to hold flipped materials. In a possible embodiment, there are multiple grids on the sorting and sorting shelf, which are used to hold materials of different material categories in order.

[0115] It is understandable that, since the number of materials in the online batch is determined based on the standard storage number of the material rack and the standard storage number of the incoming material packaging, if the sorting and sorting shelf holding the materials of the current online batch already has other materials that are not in the current online batch, the materials of the current online batch cannot be completely held by one sorting and sorting shelf. For example, if the number of material B in the current online batch is 100, the standard storage number of the sorting and sorting shelf is 100, and assuming that 80 materials P are already held in the sorting and sorting shelf, then only 20 materials B can be held in the sorting and sorting shelf. Since each category of materials is picked up in the order of going online, even if the sorting and sequencing shelf containing 20 materials B and 80 materials P is transported to the target production line, the staff of the target production line can only pick up the 20 materials B. If the time for picking up 100 materials B is equal to the time for the next autonomous mobile robot to arrive at the target production line, it can be considered that after picking up 20 materials B, it is necessary to wait for the next autonomous mobile robot to transport the remaining 80 materials B to arrive at the target production line, resulting in untimely material switching.

[0116] In order to ensure that materials of each material category can be transported to the target production line in strict accordance with the order of going online and avoid untimely material switching, when planning each online batch, it can be assumed that the sorting and sorting shelves used to hold the materials of each online batch are empty.

[0117] Therefore, when determining whether the materials in the current online batch can be put online in the form of a whole package, it is actually only necessary to determine whether the third quantity corresponding to the current material category is greater than the standard acceptance number of incoming material packaging for the materials of the current material category. Based on this, Figure 3 The figure is a detailed schematic diagram of the above step S201 provided in the embodiment of the present application. The above step S201 may specifically include:

[0118] Step S2011, taking the material category with the highest order of going online among the third quantities corresponding to each material category that are not 0 as the current material category;

[0119] Step S2012, determining whether the third quantity corresponding to the current material category is greater than the standard receiving quantity of incoming material packaging of the material of the current material category;

[0120] If yes, execute step S2013, otherwise execute step S2014;

[0121] Step S2013, the current online batch is online in the form of a whole package;

[0122] Step S2014, the current online batch cannot be put online in the form of a whole package;

[0123] Step S2015, taking the next online batch of the current online batch as the new current online batch, returning to step S2011, until the planning is completed, and obtaining the online batch sequence.

[0124] By adopting the embodiment of the present application, the material category with the highest online order among the material categories whose third quantities corresponding to each material category are not 0 is taken as the current material category. By judging whether the third quantity corresponding to the current material category is greater than the standard accommodation number of incoming material packaging of the material of the current material category, it is determined whether the current online batch can be put online in the form of a whole package. This can reduce the possibility of low sorting efficiency caused by flipping and sorting, and improve the sorting efficiency.

[0125] It can be understood that after determining the current material category according to the above step S2011, the current online batch is obtained according to the standard acceptance number of incoming material packaging of the whole package of materials in the above step S202, which means that the current online batch is obtained according to the standard acceptance number of incoming material packaging of the current material category and the current material category planning, wherein the material category in the current online batch is the current material category, and the second quantity corresponding to the current material category is the standard acceptance number of incoming material packaging of the current material category. Exemplarily, assuming that the first quantity corresponding to the current material category in the outbound order information is x, and the standard acceptance number of incoming material packaging of the current material category is y, if x≥y, then the material category in the current online batch is the current material category, and the second quantity corresponding to the current material category in the current online batch is y.

[0126] When the current online batch is obtained according to the standard accommodation number of the sorting and sorting shelves in the above step S203, since the third quantity corresponding to the current material category is less than the standard accommodation number of incoming material packaging of the current material category, the materials of the current material category cannot be shipped out in whole packages. It is necessary to determine the material categories in the current online batch and the second quantities corresponding to each material category based on the standard accommodation number of the sorting and sorting shelves and the third quantity corresponding to the current material category.

[0127] When the third quantity corresponding to the current material category is greater than or equal to the standard storage number of the sorting and sorting shelf, the current online batch is actually obtained according to the standard storage number of the sorting and sorting shelf. In this case, the material category in the current online batch is only the current material category, and the second quantity corresponding to the current material category in the current online batch is the standard storage number of the sorting and sorting shelf. For example, assuming that the third quantity corresponding to the current material category is 100 and the standard storage number of the sorting and sorting shelf is 80, that is, the current online batch can only include materials of the current material category and can only include 80 materials of the current material category.

[0128] When the third quantity corresponding to the current material category is less than the standard storage capacity of the sorting and sorting shelf, whether the current material category is at the end of the online order of each material category will also affect the material category in the current online batch and the second quantity corresponding to each material category.

[0129] If the current material category is at the end of the order of all material categories, since the third quantity corresponding to the current material category is less than the standard storage capacity of the sorting and sorting shelf, it means that the current online batch is the last online batch in the sequence of all the online batches planned for the outbound order. The current online batch can be planned according to the third quantity corresponding to the current material category, and the second quantity corresponding to the material category in the current online batch is the third quantity corresponding to the current material category. For example, assuming that the third quantity corresponding to the current material category is 50, and the standard storage capacity of the sorting and sorting shelf is 80, but since the current material category is at the end of the order of all material categories, the current online batch only includes 50 materials of the current material category.

[0130] If the current material category is not at the end of the order of going online of each material category, since the third quantity corresponding to the current material category is less than the standard accommodation number of the sorting and sorting shelf, it means that even if all the materials of the third quantity corresponding to the current material category are sorted to the sorting and sorting shelf, there are still vacancies on the sorting and sorting shelf. Therefore, the current online batch can be planned according to the third quantity corresponding to the current material category and the standard accommodation number of the sorting and sorting shelf. The material categories in the current online batch are the current material category and the next material category adjacent to the current material category. The sum of the second quantities corresponding to each material category in the current online batch is equal to the standard accommodation number of the sorting and sorting shelf. For example, assuming that the current material category is material category A, the order of going online of each material category is: material category A, material category B, material category C. When planning the current online batch, the third quantity corresponding to material category A is 50, the third quantity corresponding to material category B is 50, and the third quantity corresponding to material category C is 50. The standard accommodation number of the sorting and sorting shelves is 80. Since the current material category A is not at the end of the order of going online of each material category, even if all 50 materials of material category A are sorted to the sorting and sorting shelves, there will still be 30 vacant positions on the sorting and sorting shelves. In order to improve the sorting efficiency, 30 materials of material category B and 50 materials of material category A can be planned into the current online batch.

[0131] It can be understood that, when the current material category is not at the end of the order of material categories, and the third quantity corresponding to the current material category is less than the standard storage number of the sorting and sorting shelf, there are at least two material categories in the current online batch. If the sum of the third quantity corresponding to the current material category and the third quantity corresponding to the next material category adjacent to the current material category (hereinafter referred to as the current adjacent material category for the convenience of description) is less than the standard storage number of the sorting and sorting shelf, the current online batch also includes materials of the next material category adjacent to the current adjacent material category. However, no matter how many material categories are included in the current online batch, these material categories are adjacent, and the sum of the second quantities corresponding to these material categories is equal to the standard storage number of the sorting and sorting shelf.

[0132] By adopting the embodiment of the present application, the current online batch is planned according to the third quantity corresponding to the current material category and the standard storage number of the sorting and sorting shelves, which can ensure that the sorting and sorting shelves are used most effectively and avoid waste of resources.

[0133] It is understandable that if the current online batch is obtained according to the standard storage number of the sorting and sorting shelves, the autonomous mobile robot is loaded with the sorting and sorting shelves containing the current online batch of materials; and in order to reduce the possibility of low sorting efficiency due to flipping, after the current online batch is obtained according to the standard storage number of the incoming material packaging of the whole package of materials, the materials of the current online batch are actually transported to the target production line by the autonomous mobile robot in the form of a whole package of materials. In this case, the autonomous mobile robot directly transports the shelves containing the whole package of materials of the current online batch to the target production line. It can be seen that when the materials of the current online batch obtained according to different rules are transported to the target production line, the types of racks set on the autonomous mobile robot are also different.

[0134] Based on this, in a possible implementation manner, if the online batch is the online batch obtained by planning the standard accommodation number of incoming material packaging of the whole package of materials, the above step S30 dispatches the autonomous mobile robot to load materials of all material categories in the online batch and transport them to the target production line, which may specifically include:

[0135] Dispatching autonomous mobile robots to load shelves containing materials of all material categories in the on-line batch and transport them to the target production line;

[0136] If the online batch is the online batch obtained by planning the standard storage number of the sorting and sorting shelves, the above step S30 may specifically include:

[0137] Dispatch autonomous mobile robots to load sorting and sequencing shelves containing repacked materials of all material categories in the on-line batch and transport them to the target production line.

[0138] like Figure 4a FIG. 1 is a schematic diagram of an autonomous mobile robot provided in an embodiment of the present application loading a shelf containing whole packaged materials. Figure 4b Shown is a schematic diagram of an autonomous mobile robot provided in an embodiment of the present application loading a sorting and sequencing shelf for placing turned-over materials. Figure 4a The autonomous mobile robot 10 is loaded with a shelf 20 for holding whole packaged materials. Figure 4b The autonomous mobile robot 10 is loaded with a sorting and sorting shelf 30 for holding the bag-turning materials.

[0139] By adopting the method of the embodiment of the present application, the online batch is planned by judging whether the materials in the current online batch can be put online in the form of whole packages. When the materials in the current online batch are put online in the form of whole packages, the autonomous mobile robot is dispatched to load the shelves containing whole-packaged materials. When the materials in the current online batch cannot be put online in the form of whole packages, the autonomous mobile robot is dispatched to load the sorting and sorting shelves containing turned-over materials, thereby improving the efficiency of material sorting.

[0140] It is understandable that after obtaining each batch of products according to the outbound order information planning, each autonomous mobile robot can be dispatched to load the materials of each batch of products and transport them to the production line in the sequence of each batch of products. In a possible embodiment, a line-side warehouse for storing materials is provided at the production line. Each autonomous mobile robot can be dispatched to load the materials of each batch of products and transport them to the line-side warehouse in the sequence of each batch of products.

[0141] However, due to the limited space of the line-side warehouse, the number of racks that can be accommodated by the line-side warehouse is also limited. In order to avoid piling up all materials on the side of the production line, in a possible implementation, when scheduling each autonomous mobile robot to transport materials to the target production line, it can be determined whether the number of racks transported to the target production line has reached the maximum number of racks that the target production line can accommodate. If not, the autonomous mobile robot is scheduled to load racks containing materials of all material categories in the online batch and transport them to the target production line. Exemplarily, the number of racks that can be accommodated by the target production line is 5. After planning the outbound order information of the target production line to obtain 4 online batches, autonomous mobile robots 1 to autonomous mobile robots 4 are scheduled to load racks 1 to 4 containing materials of online batches 1 to 4 in sequence and transport them to the target production line.

[0142] In another possible implementation, a preset number of autonomous mobile robots may be dispatched in sequence according to the online batches to transport materials to the target production line. After the staff or robotic arms on the target production line have picked up all the materials in a rack on the target production line, a return signal will be given; in response to the return signal, the empty vehicle will be controlled to leave the production line, and for the remaining online batches that have not yet been transported, an autonomous mobile robot will be dispatched to load the rack containing materials of all material categories in the online batch that is at the front of the sequence of the online batches to the target production line. Exemplarily, after the outbound order information of the target production line is planned to obtain 7 batches, autonomous mobile robots 1 to autonomous mobile robots 4 are first dispatched to load racks 1 to racks 4 containing materials of online batches 1 to 4 in sequence and transport them to the target production line. After the staff or robotic arm on the target production line picks up the materials in rack 1 of autonomous mobile robot 1, a return-to-empty signal is given. In response to the return-to-empty signal, autonomous mobile robot 1 is controlled to load rack 1 and leave the target production line, and autonomous mobile robot 5 is dispatched to load rack 5 containing materials of online batch 5 and transport it to the target production line. Then, after receiving the return-to-empty signal, autonomous mobile robot 2 is controlled to load rack 2 and leave the target production line, and autonomous mobile robot 6 is dispatched to load rack 6 containing materials of online batch 6 and transport it to the target production line, and so on, until all materials in the outbound order are transported to the target production line.

[0143] In another possible implementation, an online cache position may be pre-set for the target production line. If the number of racks transported to the target production line has reached the maximum number of racks that the target production line can accommodate, the autonomous mobile robots are dispatched in sequence to load racks containing materials of the remaining online batches. After receiving the return-to-empty signal, the autonomous mobile robots indicated by the return-to-empty signal are controlled to load the empty racks and leave the target production line. According to the online batch sequence, the autonomous mobile robots are controlled to load racks containing materials of all material categories in the online batch at the front of the online batch sequence in the online cache position and transport them to the target production line. Exemplarily, assuming that the maximum number of racks that the target production line can accommodate is 5, and the online cache position can accommodate one rack, 7 online batches are planned for the outbound order information of the target production line. Autonomous mobile robots 1 to 5 are first scheduled to load racks 1 to 5 containing materials of online batches 1 to 5 in turn and transport them to the target production line, and autonomous mobile robot 6 is scheduled to load rack 6 containing materials of online batch 6 and transport it to the online cache position. After the staff or robotic arm on the target production line picks up the materials in rack 1 of autonomous mobile robot 1, a return signal is given. In response to the return signal, autonomous mobile robot 1 is controlled to load empty rack 1 and leave the target production line, and autonomous mobile robot 7 is scheduled to load rack 7 containing materials of online batch 7 and transport it to the online cache position. At the same time, autonomous mobile robot 6 is scheduled to load rack 6 at the online cache position and transport it to the target production line. Then, after receiving the return signal, autonomous mobile robot 2 is controlled to load empty rack 2 and leave the target production line, and autonomous mobile robot 7 is scheduled to load rack 7 at the online cache position and transport it to the target production line.

[0144] Among them, the number of material racks that can be accommodated in the online cache position is set according to actual conditions, and the embodiments of the present application do not limit this.

[0145] By adopting the method of the embodiment of the present application, the autonomous mobile robot is dispatched according to the number of material racks that the target production line can accommodate, and in response to the return-to-empty signal, the autonomous mobile robot indicated by the return-to-empty signal is controlled to load the empty material rack and leave the target production line. This can avoid the problem of low picking efficiency due to material accumulation on the target production line, improve the material picking efficiency on the production line, and then improve the production efficiency on the production line; and can reduce the possibility of wrong loading due to manual material calling errors, thereby improving production quality.

[0146] In order to more clearly illustrate the material sorting online method of the embodiment of the present application, the following is a description in conjunction with a specific embodiment. Figure 5 , Figure 5This is an example flow chart of the material sorting online method provided in an embodiment of the present application. In this example, the material sorting online method provided in an embodiment of the present application is applied to a processor in a material sorting online system. The material sorting online system also includes multiple autonomous mobile robots (i.e. Figure 5 in the Automated Guided Vehicle).

[0147] At the beginning of the process, the upper-level system sends an order to the processor (i.e., the outbound order information mentioned above); after the processor receives the outbound order (i.e., the robot system in the figure receives the order), it plans multiple online batches according to the outbound order information. For each online batch, it determines whether the material meets the sorting conditions, that is, whether the material is a non-reversed part and satisfies the executable quantity of the combined order (i.e., the first quantity corresponding to each material category) ≥ the standard incoming packaging of parts (i.e., the standard accommodation number of incoming packaging of each material category). If the material meets the sorting conditions, that is, the material is a non-reversed part and satisfies the executable quantity ≥ the standard incoming packaging of parts, then the autonomous mobile robot (i.e., automatic guided vehicle) is dispatched to move the shelf loaded with the whole package of materials to the workstation. After the shelf arrives at the workstation , the terminal interface jumps to the processing interface. The staff of the workstation manually processes it and changes it to the sorted state. Then it is determined that the outbound delivery is completed, and the outbound delivery data is reported to update the inventory. If the material does not meet the sorting conditions, the autonomous mobile robot is dispatched to transport the designated shelf (usually an empty sorting and sorting shelf) and the material to the workstation. After the shelf arrives at the workstation, the terminal interface jumps to the picking and unloading interface. The staff of the workstation manually sorts the materials in order to the sorting and sorting shelf. Then the processor updates the inventory information and sends the return to the warehouse task. It dispatches other self-guided vehicles to transport the shelves with the remaining materials from the workstation back to the warehouse, and at the same time determines whether the order is completed (that is, confirm whether all the materials of the current online batch are loaded into the sorting and sorting shelf).

[0148] If the order has not been completed, it returns to the step of dispatching the autonomous mobile robot to transport the specified shelves and materials to the workstation; if the order has been completed, the processor considers that the outbound delivery is completed, reports the outbound delivery data, updates the inventory, and dispatches the autonomous mobile robot to transport the sorted shelves to the temporary storage area (online cache location) or the line side (production line side). After the staff at the line side uses up the materials in the autonomous mobile robot at the workstation, they press the pager to switch between empty and full, or the robotic arm automatically switches between empty and full. Then, the autonomous mobile robot is dispatched to enter the workstation and transport the empty shelves to the empty shelf area (that is, the empty shelf storage area in the figure). Finally, the autonomous mobile robot is dispatched to transport the bound full shelves to the line side workstation, and the process ends.

[0149] Among them, the upper-level system in the embodiment of the present application refers to the smart warehouse management system.

[0150] It can be understood that in this embodiment, the material sorting and sorting operations are completed manually, and the material on-line and the empty and full switching on the production line are realized by AGV. In other possible embodiments, the material sorting and sorting operations can also be realized by robotic arms or other mechanical equipment.

[0151] Based on the above embodiments, it can be known that whether a material meets the sorting conditions or not, its outbound method is different. The following describes the case where the material meets the sorting conditions and the case where the material does not meet the sorting conditions respectively.

[0152] like Figure 6a , Figure 6b and Figure 6c The figure shows an example diagram of sorting out materials provided by the embodiment of the present application when the materials meet the sorting conditions. Assuming that the outbound order includes materials A, B and C, after receiving the outbound order, materials of each material category are sorted from the warehouse area 100 to the sorting area 200, wherein: Figure 6a , Figure 6b and Figure 6c and below Figure 8a , Figure 8b and Figure 8c In the storage area 100 in the figure, "full A", "full B", "full C", and "full D" respectively represent shelves loaded with full-package materials of model A, model B, model C, and model D, "remaining A" and "remaining B" respectively represent shelves loaded with model A and model B materials, and the number of materials in each shelf is less than the standard number of incoming material packaging for the material, and "empty A" means that the remaining material in the shelf loaded with model A materials is 0. Assume that the autonomous mobile robot (i.e. Figure 6a , Figure 6b and Figure 6c ), the autonomous mobile robot represented by 1 in the figure, and the autonomous mobile robot loaded with the second batch of online robots (i.e. Figure 6a , Figure 6b and Figure 6c 2 in the figure), and the autonomous mobile robot loaded with the third batch of online autonomous mobile robots (i.e. Figure 6a , Figure 6b and Figure 6c The autonomous mobile robot represented by 3 in the figure is dispatched to the lineside warehouse 300, and the sorting and sorting of the fourth batch of materials has been completed in the sorting area 200. The autonomous mobile robot is dispatched to transport the sorting and sorting shelf 4 containing the fourth batch of materials to the lineside warehouse 300, and sort and sort the fifth batch of materials to the sorting and sorting shelf 5. The staff in the sorting area 200 sorts the materials into the sorting and sorting shelves according to the order of the materials being put online, and returns the remaining materials to the warehouse. Figure 7a , Figure 7b and Figure 7cAs shown is an example diagram of materials going online when the materials meet the sorting conditions provided in an embodiment of the present application. After the materials of the first batch of materials loaded on the autonomous mobile robot 1 at the main position of the line-side use station 500 on the production line 400 are picked up, the staff on the production line gives a return-to-empty signal (for example, the staff on the production line clicks the pager); then, in response to the return-to-empty signal, the autonomous mobile robot 1 is controlled to carry the empty shelves back to the warehouse, and at the same time, the autonomous mobile robot 2 loaded with the second batch of materials going online is controlled to carry the second batch of materials going online to the main position of the line-side use station 500, and at the same time, the autonomous mobile robot 3 loaded with the third batch of materials going online in the line-side warehouse 300 is dispatched to carry the third batch of materials to the line-side use station 500, and so on, until all the batches of materials going online are online.

[0153] like Figure 8a , Figure 8b and Figure 8c The figure shows an example diagram of sorting out materials when the materials provided in the embodiment of the present application do not meet the sorting conditions. Assuming that the outbound order includes materials A, B, and C, after receiving the outbound order, materials of each material category are sorted from the warehouse area 100 to the sorting area 200. Assuming that the autonomous mobile robot (i.e., Figure 8a , Figure 8b and Figure 8c The autonomous mobile robot represented by 1 in FIG. 1 and the autonomous mobile robot loaded with the second batch of materials (i.e. Figure 8a , Figure 8b and Figure 8c The autonomous mobile robot represented by 2 in FIG. 1 and the autonomous mobile robot loaded with the third batch of materials (i.e. Figure 8a , Figure 8b and Figure 8c If the autonomous mobile robot (represented by 3 in the figure) is dispatched to the lineside warehouse 300, and the materials of the fourth and fifth online batches are shipped out in full packages, the autonomous mobile robot is first dispatched to transport the shelf 4 containing the full packages of the materials of the fourth online batch to the lineside warehouse 300, and obtain the shelf 5 containing the full packages of the materials of the fifth online batch and attach a sorting sheet to the shelf 5, and change the future inventory to the sorted inventory in the system. Figure 9a , Figure 9b and Fig.9cAs shown is an example diagram of materials going online when the materials provided in an embodiment of the present application do not meet the sorting conditions. After the materials of the first batch of materials going online (i.e., the whole package of materials A) loaded in the autonomous mobile robot 1 at the main position of the line-side use station 500 on the production line are picked up, the staff on the production line gives a return-to-empty signal (for example, the staff on the production line clicks the pager); then, in response to the return-to-empty signal, the autonomous mobile robot 1 is controlled to carry the empty shelves back to the warehouse, and at the same time, the autonomous mobile robot 2 loaded with the second batch of materials going online is controlled to carry the second batch of materials going online to the main position of the line-side use station 500, and the autonomous mobile robot 3 loaded with the third batch of materials going online (i.e., material C) in the line-side warehouse 300 is dispatched to carry material C to the line-side use station 500, and so on, until all the batches of materials going online are online.

[0154] Corresponding to the aforementioned first aspect, a second aspect of the embodiment of the present application provides a material sorting online system, including a processor and at least one autonomous mobile robot;

[0155] The processor is used to obtain outbound order information for a target production line, the outbound order information including material categories, first quantities corresponding to each material category, and an online order for each material category; according to the outbound order information, a sequence of online batches including at least one online batch is planned, wherein each online batch includes material categories and second quantities corresponding to each material category, and for any two online batches, the online order of any material category in the first online batch is not later than the online order of any material category in the second online batch, and for any material category, the sum of the second quantities corresponding to the material category in all online batches is equal to the first quantity corresponding to the material category; for each online batch in the online batch sequence, an autonomous mobile robot is dispatched to load materials of all material categories in the online batch and transport them to the target production line, wherein the quantity of materials loaded for each material category is the second quantity corresponding to the material category in the online batch sequence;

[0156] Autonomous mobile robots are used to load materials of all material categories in the online batch and transport them to the target production line.

[0157] By adopting the material sorting online system provided by the embodiment of the present application, since in the online batch sequence obtained by processor planning, for any two online batches, the online order of any material category in the earlier online batch is not later than the online order of any material category in the later online batch, when scheduling the autonomous mobile robot to load materials of all material categories in the online batch and transport them to the target production line for each online batch in the online batch sequence in turn, it can be ensured that each material arrives at the target production line in the online order of each material category. On the target working line, it is only necessary to pick up the materials loaded in each autonomous mobile robot in turn according to the online batch, without having to pick among the stacked materials of various categories to be sorted, thereby improving the production efficiency on the production line.

[0158] Corresponding to the first aspect, the third aspect of the present application provides a material sorting device, such as Fig.10 The figure is a schematic diagram of the structure of the material sorting online device provided in the embodiment of the present application, and the device includes:

[0159] The acquisition module 1001 is used to acquire the outbound order information for the target production line, where the outbound order information includes the material category, the first quantity corresponding to each material category, and the order of the material categories to be put online;

[0160] The planning module 1002 is used to plan, according to the outbound order information, a launch batch sequence including at least one launch batch, wherein each launch batch includes a material category and a second quantity corresponding to each material category, and for any two launch batches, the launch sequence of any material category in the first launch batch is not later than the launch sequence of any material category in the second launch batch, and for any material category, the sum of the second quantities corresponding to the material category in all the launch batches is equal to the first quantity corresponding to the material category;

[0161] The scheduling module 1003 is used to schedule the autonomous mobile robot to load materials of all material categories in the online batch and transport them to the target production line for each online batch in the online batch sequence, wherein the quantity of materials of each material category loaded is the second quantity corresponding to the material category in the online batch sequence;

[0162] By using the material sorting online device provided in the embodiment of the present application, since in the planned online batch sequence, for any two online batches, the online order of any material category in the earlier online batch is not later than the online order of any material category in the later online batch, when the autonomous mobile robot is dispatched to load materials of all material categories in the online batch and transport them to the target production line for each online batch in the online batch sequence, it can be ensured that each material arrives at the target production line in the online order of each material category. On the target working line, it is only necessary to pick up the materials loaded in each autonomous mobile robot in turn according to the online batch, without having to pick among the stacked materials of various categories to be sorted, thereby improving the production efficiency on the production line.

[0163] In a possible implementation, the planning module 1002 includes:

[0164] The whole package judgment submodule is used to judge whether the materials in the current online batch can be put online in the form of a whole package according to the third quantity corresponding to each material category and the online order of each material category, wherein the third quantity corresponding to each material category is initially the number of materials of each material category that need to be put online when the current online batch is put online, and the current online batch is initially the first online batch; if so, the current online batch is obtained according to the standard accommodation number planning of the incoming material packaging of the whole package of materials; if not, the current online batch is obtained according to the standard accommodation number planning of the sorting and sorting shelves;

[0165] The execution submodule is returned, which is used to use the next online batch of the current online batch as the new current online batch, and return to execute the step of judging whether the materials in the current online batch can be put online in the form of a whole package according to the third quantity corresponding to each material category and the online order of each material category, until the planning is completed, and the online batch sequence is obtained;

[0166] In a possible implementation, the scheduling module 1003 is specifically configured to:

[0167] If the online batch is the one planned according to the standard number of incoming material packaging for the whole package of materials, the autonomous mobile robot is dispatched to load the shelves containing materials of all material categories in the online batch and transport them to the target production line;

[0168] If the online batch is the online batch obtained by planning the standard storage number of the sorting and sorting shelves, the autonomous mobile robot is dispatched to load the sorting and sorting shelves containing the repacked materials of all material categories in the online batch and transport them to the target production line;

[0169] In a possible implementation, the whole package judgment submodule is specifically used to take the material category with the highest order of online order among the third quantities corresponding to each material category that are not 0 as the current material category, and judge whether the third quantity corresponding to the current material category is greater than the standard receiving number of incoming material packaging of the material of the current material category;

[0170] If so, the current online batch is put online in the form of a whole package, and the next online batch is used as the new current online batch, and the process returns to the step of taking the material category with the highest online order among the material categories whose third quantities corresponding to each material category are not 0 as the current material category, and judging whether the third quantity corresponding to the current material category is greater than the standard receiving number of incoming material packaging of the material of the current material category;

[0171] If the third quantity corresponding to the current material category is not greater than the standard acceptance number of incoming material packaging for the current material category, the current online batch cannot be put online in the form of a whole package;

[0172] In a possible implementation, the whole package judgment submodule is specifically used to obtain the current online batch according to the standard acceptance number of incoming material packaging of the current material category and the current material category planning, wherein the material category in the current online batch is the current material category, and the second quantity corresponding to the current material category is the standard acceptance number of incoming material packaging of the current material category;

[0173] In a possible implementation, the whole package judgment submodule is specifically used to judge whether the third quantity corresponding to the current material category is less than the standard storage quantity of the sorting and sorting shelf, and judge whether the current material category is at the last position in the online order of each material category;

[0174] If the third quantity corresponding to the current material category is less than the standard storage number of the sorting and sorting shelf, and the current material category is not at the end of the order of going online for each material category, the current going online batch is obtained according to the third quantity corresponding to the current material category and the standard storage number of the sorting and sorting shelf, wherein the material categories in the current going online batch are the current material category and the next material category adjacent to the current material category, and the sum of the second quantities corresponding to each material category in the current going online batch is equal to the standard storage number of the sorting and sorting shelf;

[0175] If the third quantity corresponding to the current material category is less than the standard storage number of the sorting and sorting shelf, and the current material category is at the end of the order of going online for each material category, the current going online batch is obtained according to the third quantity planning corresponding to the current material category, wherein the material category in the current going online batch is the current material category, and the second quantity corresponding to the material category in the current going online batch is the third quantity corresponding to the current material category;

[0176] If the third quantity corresponding to the current material category is not less than the standard accommodation number of the sorting and sorting shelf, the current online batch is obtained according to the standard accommodation number planning of the sorting and sorting shelf, wherein the material category in the current online batch is the current material category, and the second quantity corresponding to the current material category is equal to the standard accommodation number of the sorting and sorting shelf;

[0177] In a possible implementation, the scheduling module 1003 is specifically configured to schedule the autonomous mobile robot to load the racks containing materials of all material categories in the online batch and transport them to the target production line if the number of racks transported to the target production line does not reach the maximum number of racks that the target production line can accommodate, wherein the racks include shelves or sorting and sorting shelves;

[0178] If the number of racks transported to the target production line reaches the maximum number of racks that the target production line can accommodate, the autonomous mobile robots are dispatched in sequence to load racks containing the remaining batches of materials and transport them to the pre-set online cache position;

[0179] In response to the return-to-empty signal, the autonomous mobile robot indicated by the return-to-empty signal is controlled to leave the target production line, and according to the on-line batch sequence, the autonomous mobile robot is controlled to load the material rack containing materials of all material categories in the on-line batch sequence at the front in the on-line batch sequence in the on-line cache position and transport it to the target production line.

[0180] The present application also provides an electronic device, such as Fig.11 As shown, including:

[0181] Memory 1101, used for storing computer programs;

[0182] The processor 1102 is used to implement the following steps when executing the program stored in the memory 1101:

[0183] Obtaining outbound order information for a target production line, the outbound order information including material categories, first quantities corresponding to each material category, and an on-line order for each material category;

[0184] According to the outbound order information, a launch batch sequence including at least one launch batch is planned, wherein each launch batch includes a material category and a second quantity corresponding to each material category, and for any two launch batches, the launch sequence of any material category in the first launch batch is not later than the launch sequence of any material category in the second launch batch, and for any material category, the sum of the second quantities corresponding to the material category in all the launch batches is equal to the first quantity corresponding to the material category;

[0185] For each online batch in the online batch sequence, the autonomous mobile robot is scheduled to load materials of all material categories in the online batch and transport them to the target production line, wherein the quantity of materials of each material category loaded is the second quantity corresponding to the material category in the online batch sequence.

[0186] The memory may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0187] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0188] In another embodiment provided in the present application, a computer-readable storage medium is provided, in which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above-mentioned material sorting methods are implemented.

[0189] In another embodiment provided in the present application, a computer program product including instructions is also provided, which, when executed on a computer, enables the computer to execute any of the material sorting methods in the above embodiments.

[0190] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a solid-state hard disk (SSD), etc.

[0191] 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.

[0192] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for system and device embodiments, since they are basically similar to method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0193] 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 material sorting online method, characterized in that: The method comprises: Obtaining outbound order information for a target production line, the outbound order information including material categories, first quantities corresponding to each material category, and an on-line order for each material category; According to the outbound order information, a launch batch sequence including at least one launch batch is planned, wherein each launch batch includes a material category and a second quantity corresponding to each material category, and for any two launch batches, the launch sequence of any material category in the first launch batch is not later than the launch sequence of any material category in the second launch batch, and for any material category, the sum of the second quantities corresponding to the material category in all the launch batches is equal to the first quantity corresponding to the material category; For each online batch in the online batch sequence, dispatching the autonomous mobile robot to load materials of all material categories in the online batch and transport them to the target production line, wherein the quantity of materials of each material category loaded is the second quantity corresponding to the material category in the online batch sequence; The step of planning, according to the outbound order information, obtaining an online batch sequence including at least one online batch comprises: According to the third quantity corresponding to each material category and the order of going online for each material category, determine whether the materials in the current online batch can be put online in the form of a whole package, wherein the third quantity corresponding to each material category is initially the number of materials of each material category that need to be put online in the current online batch, and the current online batch is initially the first online batch; If yes, the current online batch is obtained according to the standard accommodation number of incoming packaging of the whole package of materials; if no, the current online batch is obtained according to the standard accommodation number of the sorting and sorting shelves; The next online batch of the current online batch is used as the new current online batch, and the step of judging whether the materials in the current online batch can be put online in the form of a whole package according to the third quantity corresponding to each material category and the order of putting the materials online is returned to execute until the planning is completed and the online batch sequence is obtained; The scheduling of the autonomous mobile robot to load materials of all material categories in the on-line batch and transport them to the target production line includes: If the on-line batch is a batch planned according to the standard number of incoming material packaging for whole packages of materials, dispatch an autonomous mobile robot to load the shelves containing materials of all material categories in the on-line batch and transport them to the target production line; If the on-line batch is the on-line batch obtained by planning the standard accommodation number of the sorting and sequencing shelves, the autonomous mobile robot is dispatched to load the sorting and sequencing shelves containing the repacked materials of all material categories in the on-line batch and transport them to the target production line.

2. The method according to claim 1, characterized in that The determining, according to the third quantity corresponding to each material category and the order of going online of each material category, whether the materials in the current going online batch can be put online in the form of a whole package includes: The material category with the highest order of the third quantity corresponding to each material category and not equal to 0 is taken as the current material category, and it is determined whether the third quantity corresponding to the current material category is greater than the standard receiving quantity of the incoming material packaging of the material of the current material category; If yes, the current online batch is put online in the form of a whole package, and the next online batch is used as the new current online batch, and the process returns to the step of taking the material category with the highest order of online order among the material categories whose third quantities are not 0 as the current material category, and determining whether the third quantity corresponding to the current material category is greater than the standard receiving number of incoming material packaging of the material of the current material category; If the third quantity corresponding to the current material category is not greater than the standard accommodation number of incoming material packaging of the material of the current material category, the current online batch cannot be put online in the form of a whole package.

3. The method according to claim 2, characterized in that The current online batch is obtained according to the standard acceptance number of incoming material packaging of the whole package of materials, including: The current online batch is obtained according to the standard accommodation number of incoming material packaging of the current material category and the current material category planning, wherein the material category in the current online batch is the current material category, and the second quantity corresponding to the current material category is the standard accommodation number of incoming material packaging of the current material category.

4. The method according to claim 2, characterized in that: The current online batch is obtained according to the standard storage number planning of the sorting and sorting shelves, including: Determine whether the third quantity corresponding to the current material category is less than the standard storage quantity of the sorting and sequencing shelf, and determine whether the current material category is at the last position in the online order of each material category; If the third quantity corresponding to the current material category is less than the standard storage number of the sorting and sequencing shelf, and the current material category is not at the end of the order of the material categories to be put online, then the current online batch is obtained according to the third quantity corresponding to the current material category and the standard storage number of the sorting and sequencing shelf, wherein the material categories in the current online batch are the current material category and the next material category adjacent to the current material category, and the sum of the second quantities corresponding to the material categories in the current online batch is equal to the standard storage number of the sorting and sequencing shelf; If the third quantity corresponding to the current material category is less than the standard storage number of the sorting and sorting shelf, and the current material category is at the end of the online order of each material category, then the current online batch is obtained according to the third quantity corresponding to the current material category, wherein the material category in the current online batch is the current material category, and the second quantity corresponding to the material category in the current online batch is the third quantity corresponding to the current material category; If the third quantity corresponding to the current material category is not less than the standard accommodation number of the sorting and sorting shelf, the current online batch is obtained according to the standard accommodation number planning of the sorting and sorting shelf, wherein the material category in the current online batch is the current material category, and the second quantity corresponding to the current material category is equal to the standard accommodation number of the sorting and sorting shelf.

5. The method according to claim 1, characterized in that The scheduling of the autonomous mobile robot to load materials of all material categories in the on-line batch and transport them to the target production line includes: If the number of racks transported to the target production line does not reach the maximum number of racks that the target production line can accommodate, dispatch an autonomous mobile robot to load racks containing materials of all material categories in the online batch and transport them to the target production line, wherein the racks include shelves or sorting and sequencing shelves; If the number of racks transported to the target production line reaches the maximum number of racks that the target production line can accommodate, the autonomous mobile robots are sequentially dispatched to load racks containing the remaining batches of materials to be put on the line and transport them to the pre-set on-line cache position; In response to a return-to-empty signal, the autonomous mobile robot indicated by the return-to-empty signal is controlled to leave the target production line, and according to the on-line batch sequence, the autonomous mobile robot is controlled to transport the racks loaded with materials of all material categories in the front-most on-line batch sequence in the on-line cache position to the target production line.

6. A material sorting system, characterized in that: The system includes a processor and at least one autonomous mobile robot; The processor is used to obtain outbound order information for a target production line, wherein the outbound order information includes a material category, a first quantity corresponding to each material category, and an on-line order of each material category; According to the outbound order information, an online batch sequence including at least one online batch is planned, including: judging whether the materials in the current online batch can be put online in the form of a whole package according to the third quantity corresponding to each material category and the online order of each material category, wherein the third quantity corresponding to each material category is initially the number of materials of each material category that need to be put online when the current online batch is put online, and the current online batch is initially the first online batch; if so, the current online batch is obtained according to the standard accommodation number of incoming material packaging for the whole package of materials; if not, the current online batch is obtained according to the standard accommodation number of the sorting and sorting shelves; the next online batch of the current online batch is used as the new current online batch, and the step of judging whether the materials in the current online batch can be put online in the form of a whole package according to the third quantity corresponding to each material category and the online order of each material category is returned to execute until the planning is completed to obtain the online batch sequence; wherein each online batch includes the material category and the second quantity corresponding to each material category, and for any two online batches, the first online batch is The order of going online of any material category in the batch is no later than the order of going online of any material category in the subsequent going online batch, and for any material category, the sum of the second quantities corresponding to the material category in all the going online batches is equal to the first quantity corresponding to the material category; for each going online batch in the going online batch sequence, the autonomous mobile robot is dispatched to load materials of all material categories in the going online batch and transport them to the target production line, including: if the going online batch is an going online batch obtained by planning the standard accommodation number of incoming material packaging of whole packages of materials, the autonomous mobile robot is dispatched to load the shelves containing materials of all material categories in the going online batch and transport them to the target production line; if the going online batch is an going online batch obtained by planning the standard accommodation number of sorting and sorting shelves, the autonomous mobile robot is dispatched to load the sorting and sorting shelves containing the reversed materials of all material categories in the going online batch and transport them to the target production line, wherein the quantity of materials of each material category loaded is the second quantity corresponding to the material category in the going online batch sequence; The autonomous mobile robot is used to load materials of all material categories in the on-line batch and transport them to the target production line.

7. A material sorting device, characterized in that: The device comprises: An acquisition module, used to acquire outbound order information for a target production line, wherein the outbound order information includes a material category, a first quantity corresponding to each material category, and an on-line order of each material category; a planning module, configured to plan, according to the outbound order information, an online batch sequence including at least one online batch, wherein each online batch includes a material category and a second quantity corresponding to each material category, and for any two online batches, the online sequence of any material category in the first online batch is not later than the online sequence of any material category in the second online batch, and for any material category, the sum of the second quantities corresponding to the material category in all online batches is equal to the first quantity corresponding to the material category; a scheduling module, for scheduling the autonomous mobile robot to load materials of all material categories in the online batch and transport them to the target production line for each online batch in the online batch sequence, wherein the quantity of materials of each material category loaded is the second quantity corresponding to the material category in the online batch sequence; The planning module comprises: The whole package judgment submodule is used to judge whether the materials in the current online batch can be put online in the form of a whole package according to the third quantity corresponding to each material category and the online order of each material category, wherein the third quantity corresponding to each material category is initially the number of materials of each material category that need to be put online when the current online batch is put online, and the current online batch is initially the first online batch; if so, the current online batch is obtained according to the standard accommodation number planning of the incoming material packaging of the whole package of materials; if not, the current online batch is obtained according to the standard accommodation number planning of the sorting and sorting shelves; Return the execution submodule, which is used to take the next online batch of the current online batch as the new current online batch, return to execute the step of judging whether the materials in the current online batch can be put online in the form of a whole package according to the third quantity corresponding to each material category and the online order of each material category, until the planning is completed, and the online batch sequence is obtained; The scheduling module is specifically used for: If the on-line batch is a batch planned according to the standard number of incoming material packaging for whole packages of materials, dispatch an autonomous mobile robot to load the shelves containing materials of all material categories in the on-line batch and transport them to the target production line; If the on-line batch is the on-line batch obtained by planning the standard accommodation number of the sorting and sequencing shelves, the autonomous mobile robot is dispatched to load the sorting and sequencing shelves containing the repacked materials of all material categories in the on-line batch and transport them to the target production line.

8. The device according to claim 7, characterized in that The whole package judgment submodule is specifically used to take the material category with the highest order of online order among the third quantities corresponding to each material category that are not 0 as the current material category, and judge whether the third quantity corresponding to the current material category is greater than the standard receiving number of incoming material packaging of the material of the current material category; If yes, the current online batch is put online in the form of a whole package, and the next online batch is used as the new current online batch, and the process returns to the step of taking the material category with the highest order of online order among the material categories whose third quantities are not 0 as the current material category, and determining whether the third quantity corresponding to the current material category is greater than the standard receiving number of incoming material packaging of the material of the current material category; If the third quantity corresponding to the current material category is not greater than the standard acceptance number of incoming material packaging for the material of the current material category, the current online batch cannot be put online in the form of a whole package; and / or The whole package judgment submodule is specifically used to obtain the current online batch according to the standard acceptance number of incoming material packaging of the current material category and the current material category planning, wherein the material category in the current online batch is the current material category, and the second quantity corresponding to the current material category is the standard acceptance number of incoming material packaging of the current material category; and / or The whole package judgment submodule is specifically used to judge whether the third quantity corresponding to the current material category is less than the standard storage quantity of the sorting and sorting shelf, and judge whether the current material category is at the last position in the online order of each material category; If the third quantity corresponding to the current material category is less than the standard storage number of the sorting and sequencing shelf, and the current material category is not at the end of the order of the material categories to be put online, then the current online batch is obtained according to the third quantity corresponding to the current material category and the standard storage number of the sorting and sequencing shelf, wherein the material categories in the current online batch are the current material category and the next material category adjacent to the current material category, and the sum of the second quantities corresponding to the material categories in the current online batch is equal to the standard storage number of the sorting and sequencing shelf; If the third quantity corresponding to the current material category is less than the standard storage number of the sorting and sorting shelf, and the current material category is at the end of the online order of each material category, then the current online batch is obtained according to the third quantity corresponding to the current material category, wherein the material category in the current online batch is the current material category, and the second quantity corresponding to the material category in the current online batch is the third quantity corresponding to the current material category; If the third quantity corresponding to the current material category is not less than the standard accommodation number of the sorting and sorting shelf, the current online batch is obtained according to the standard accommodation number planning of the sorting and sorting shelf, wherein the material category in the current online batch is the current material category, and the second quantity corresponding to the current material category is equal to the standard accommodation number of the sorting and sorting shelf; and / or The scheduling module is specifically used to schedule the autonomous mobile robot to load the racks containing materials of all material categories in the online batch and transport them to the target production line if the number of racks transported to the target production line does not reach the maximum number of racks that the target production line can accommodate, wherein the racks include shelves or sorting and sorting shelves; If the number of racks transported to the target production line reaches the maximum number of racks that the target production line can accommodate, the autonomous mobile robots are sequentially dispatched to load racks containing the remaining batches of materials to be put on the line and transport them to the pre-set on-line cache position; In response to a return-to-empty signal, the autonomous mobile robot indicated by the return-to-empty signal is controlled to leave the target production line, and according to the on-line batch sequence, the autonomous mobile robot is controlled to transport the racks loaded with materials of all material categories in the front-most on-line batch sequence in the on-line cache position to the target production line.

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

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

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