Cigarette box coded disc control system and coded disc taking and conveying control method

Abstract

The invention discloses a cigarette box stacking control system and a stacking disc taking and conveying control method. The cigarette box stacking control system comprises cigarette box conveying equipment, a plurality of manipulators, a tray placing station, a latent robot, a robot conveying road section and a cigarette box storage area. The cigarette box conveying equipment is used for conveying cigarette boxes, the multiple manipulators are arranged on the same side of the cigarette box conveying equipment, and the manipulators are used for grabbing the cigarette boxes and placing the cigarette boxes on empty trays to form solid trays; the tray placing stations are arranged on the periphery of the mechanical arm, and the cigarette box conveying equipment and the robot conveying road section are located on the two sides of the mechanical arm respectively. A robot waiting area is further arranged between the robot conveying road section and the mechanical arm, and a solid tray temporary storage area is further arranged on the outer side of the robot conveying road section. The problem that the latent robot cannot convey the solid trays in time when the solid trays are too many is effectively solved, the waiting time of the manipulator is shortened, and the working efficiency of the manipulator is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic code disks for cigarette boxes, and more specifically, to a control system for code disks for cigarette boxes and a code disk fetching and delivering control method. Background Art

[0002] At present, the existing robot palletizing system usually uses two robots for palletizing, usually one robot is in priority and the other is in standby. Before entering the robot palletizing channel, the scanner scans the cigarette brand and sends the same brand to the same channel. The same brand is palletized into one pallet. When the pallet is palletized, a lurking robot is used to transport it and send it to the warehouse storage area for storage. The number of lurking robots is calculated based on the average flow rate during normal operation, and usually one or two are added as standby.

[0003] The lurking robot is waiting in the charging area, which is far from the coding area. Due to the uneven flow of incoming smoke or uncertain factors, the coding is often not taken away in time after completion, causing the robot to stop working and wait. In addition, there will be multiple pallets with good coding waiting to be taken away at the same time or multiple stations waiting for empty pallets to be delivered at the same time, causing the robot to stop working and wait, causing a large number of cigarette boxes to enter the manual channel and need to be manually coded and put into storage, which greatly increases the labor force. In addition, if the number of lurking robots is increased, it will cause traffic jams and increase labor costs.

[0004] Therefore, how to provide a cigarette box code disk control system and a code disk pick-up and delivery control method has become a technical problem that urgently needs to be solved in this field. Summary of the invention

[0005] An object of the present invention is to provide a new technical solution for a cigarette box code disk control system and a code disk pick-up and delivery control method.

[0006] According to a first aspect of the present invention, a cigarette box pallet control system is provided, comprising: a cigarette box conveying device, a plurality of manipulators, a pallet placement station, a lurking robot, a robot transport section and a cigarette box storage area; the cigarette box conveying device is used to convey cigarette boxes, a plurality of the manipulators are respectively arranged on the same side of the cigarette box conveying device, the manipulators are used to grab cigarette boxes and place the cigarette boxes on empty pallets to form full pallets; the pallet placement stations are respectively arranged around the manipulators, the pallet placement stations are used to store empty pallets; the cigarette box storage area is used to store full pallets;

[0007] The lurking robot is used to transport the empty pallet to the pallet placement station;

[0008] The cigarette box conveying equipment and the robot transport section are respectively located on both sides of the manipulator; a robot waiting area is also arranged between the robot transport section and the manipulator for storing non-working latent robots; a real pallet temporary storage area is also arranged outside the robot transport section for storing real pallets for a short period of time.

[0009] Optionally, the cigarette box conveying equipment includes a conveyor line, a barcode scanner and multiple lane conveyors. The barcode scanner is arranged on the first end of the conveyor line for identifying the label information of the cigarette box. The first ends of the multiple lane conveyors are connected to the conveyor line for conveying cigarette boxes of different brands. The manipulator is located at the second end of the lane conveyor.

[0010] Optionally, the cigarette box conveying equipment further includes a vertical sorting device, which is arranged at the connection between the first end of the lane conveyor and the conveying line, and is used to convey cigarette boxes of different brands to the corresponding lane conveyor.

[0011] Optionally, the cigarette box pallet control system further includes an empty pallet splitter, which is disposed on one side of the manipulator and is used to split the stacked empty pallets into individual empty pallets.

[0012] Optionally, the cigarette box code disk control system also includes a central control system and a scheduling controller, the central control system is connected to the lurking robot and the scheduling controller respectively, the lurking robot is connected to the scheduling controller, and the scheduling controller is used to control the operation of the lurking robot.

[0013] According to a second aspect of the present invention, there is provided a code tray pick-up and delivery control method, comprising the above-mentioned cigarette box code tray control system, including: a cigarette box conveying device for conveying cigarette boxes;

[0014] A manipulator is used to grab the cigarette box on the cigarette box conveying equipment and place the cigarette box on the empty pallet to form a full pallet;

[0015] A robot waiting area; used to store non-working latent robots, wherein the latent robots include a first dispatching robot and a second dispatching robot;

[0016] The real pallet temporary storage area is used to store real pallets;

[0017] The code disk pick-up and delivery control method comprises the following steps:

[0018] Obtain information on the number of latent robots and the number of actual pallets in the robot waiting area;

[0019] According to the acquired information on the number of actual pallets, when it is determined whether the number of actual pallets is greater than 2 and whether the number of lurking robots is greater than 1, the first scheduling robot is controlled to transport the actual pallet to the actual pallet temporary storage area, and the second scheduling robot transports the empty pallet to the corresponding pallet placement station.

[0020] Optionally, if the actual pallet quantity information is greater than 2 and the number of lurking robots is equal to 1, or the actual pallet quantity information is equal to 2 and the number of lurking robots is equal to 1, then the first scheduling robot is controlled to transport the real pallet to the real pallet temporary storage area, and then the first scheduling robot is controlled to transport the empty pallet to the corresponding pallet placement station.

[0021] Optionally, if the actual number of pallets is less than 2, the first dispatching robot is controlled to transport the actual pallets to the cigarette box storage area, and then the first dispatching robot is controlled to transport the empty pallets to the corresponding pallet placement station.

[0022] The beneficial effects of the present invention are:

[0023] The present invention arranges a plurality of manipulators on the same side of the cigarette box conveying equipment, the pallet placement stations are arranged around the manipulators, the cigarette box conveying equipment and the robot conveying section are respectively located on both sides of the manipulators; a robot waiting area is also arranged between the robot conveying section and the manipulators, and a temporary storage area for real pallets is also arranged outside the robot conveying section. In the process of cigarette boxes entering the warehouse, the cigarette boxes are conveyed to the manipulators through the cigarette box conveying equipment, the manipulators grab the cigarette boxes conveyed by the cigarette box conveying equipment, and place them on the empty pallets at the pallet placement station to form real pallets; at this time, the lurking robot transports the real pallets to the cigarette box storage area or the temporary storage area for real pallets; then, the lurking robot transports the empty pallets to the pallet placement station, which effectively solves the problem that the lurking robot cannot transport the real pallets in time when there are too many real pallets, reduces the waiting time of the manipulators, and improves the working efficiency of the manipulators.

[0024] Further features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.

[0026] Figure 1 It is a structural diagram of the cigarette box code disk control system of the present invention;

[0027] Figure 2 It is a flow chart of the code disk pick-up and delivery control method of the present invention;

[0028] Figure 3 It is a structural diagram of Embodiment 1 of the code disk pick-up and delivery control method of the present invention;

[0029] Figure 4 It is a structural diagram of Embodiment 2 of the code disk pick-up and delivery control method of the present invention;

[0030] Figure 5 It is a structural diagram of Embodiment 3 of the code disk pick-up and delivery control method of the present invention;

[0031] Figure 6 This is a structural diagram of Example 4 of the code disk pick-up and delivery control method of the present invention.

[0032] The markings in the figure are as follows: 1. Cigarette box conveying equipment; 11. Conveyor line; 12. Barcode scanner; 13. Lane conveyor; 14. Vertical sorting device; 2. Robot; 3. Pallet placement station; 4. Lurking robot; 5. Robot transport section; 6. Robot waiting area; 7. Temporary storage area for full pallets; 8. Empty pallet splitter; 9. Cigarette box. DETAILED DESCRIPTION

[0033] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention unless otherwise specifically stated.

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

[0035] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0036] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0037] like Figure 1 As shown, an embodiment of the present invention provides a cigarette box pallet control system, comprising: a cigarette box conveying device 1, multiple manipulators 2, a pallet placement station 3, a lurking robot 4, a robot transport section 5 and a cigarette box storage area; the cigarette box conveying device 1 is used to convey cigarette boxes 9, and the multiple manipulators 2 are respectively arranged on the same side of the cigarette box conveying device 1, and the manipulators 2 are used to grab the cigarette boxes 9 and place the cigarette boxes 9 on empty pallets to form real pallets; the pallet placement stations 3 are respectively arranged around the manipulators 2, and the pallet placement stations 3 are used to store empty pallets; the cigarette box storage area is used to store real pallets.

[0038] The lurking robot 4 is used to transport the empty pallet to the pallet placement station 3 .

[0039] The cigarette box conveying equipment 1 and the robot transport section 5 are respectively located on both sides of the manipulator 2; a robot waiting area 6 is also arranged between the robot transport section 5 and the manipulator 2 for storing the non-working latent robot 4; a real pallet temporary storage area 7 is also arranged outside the robot transport section 5 for storing the real pallets for a short time.

[0040] Specifically, an empty pallet is placed on the pallet placement station 3. Multiple pallet placement stations 3 can place cigarette boxes 9 of different brands, thereby distinguishing cigarette boxes 9 of different brands and avoiding confusion between cigarette boxes of different brands 9. Multiple cigarette boxes 9 can be placed on one empty pallet.

[0041] When the latent robot 4 transports full pallets and empty pallets, the latent robot 4 must move on the robot transport section 5, and the moving trajectory of the latent robot 4 is limited to avoid the problem of the latent robot 4 causing injuries to other equipment or operators during the movement.

[0042] In addition, the cigarette box storage area may have one or more than one storage area, which will not be described here.

[0043] It should be noted that, in the process of warehousing the cigarette boxes 9, two latent robots 4 are generally used to transport empty pallets and full pallets. When there are too many latent robots 4, traffic jams will occur, and at certain times, multiple latent robots 4 will be waiting for work, which will cause a waste of resources.

[0044] In this embodiment, the lurking robot 4 includes a first dispatching robot and a second dispatching robot.

[0045] The specific operation process is as follows: during the storage of cigarette boxes 9, first, the cigarette boxes 9 are placed on the cigarette box conveying device 1, and the cigarette box conveying device 1 conveys the cigarette boxes 9 to the vicinity of the manipulator 2. The manipulator 2 grabs the cigarette boxes 9 conveyed by the cigarette box conveying device 1 and places them on the empty pallet of the pallet placement station 3 to form a real pallet. At this time, if the number of real pallets is greater than 2, and the lurking robot 4 has only one first dispatching robot, after the first dispatching robot conveys the real pallet to the real pallet temporary storage area 7, the first dispatching robot conveys the empty pallet to the corresponding pallet placement station 3.

[0046] If the number of full pallets is greater than 2, and the lurking robot 4 has a first dispatching robot and a second dispatching robot, the first dispatching robot transports the full pallets to the full pallet temporary storage area 7, and the second dispatching robot transports the empty pallets to the corresponding pallet placement station 3.

[0047] If the number of full pallets is equal to 2, and the number of the lurking robots 4 is the first dispatching robot and the second dispatching robot, the first dispatching robot transports the full pallets to the cigarette box storage area, and the second dispatching robot transports the empty pallets to the corresponding pallet placement station 3.

[0048] If the number of actual pallets is greater than 2 and there is only one first dispatching robot among the lurking robots 4, or the number of actual pallets is equal to 2 and there is only one first dispatching robot among the lurking robots 4, the first dispatching robot transports the actual pallet to the actual pallet temporary storage area 7, and then the first dispatching robot transports the empty pallet to the corresponding pallet placement station 3.

[0049] If the number of full pallets is less than 2, the first dispatching robot transports the full pallets to the cigarette box storage area, and then transports the empty pallets to the corresponding pallet placement station 3.

[0050] Then, when the number of subsequent solid pallets is less than or equal to 1, the second dispatching robot transports the solid pallets in the solid pallet temporary storage area 7 to the cigarette box storage area.

[0051] The present invention arranges a plurality of manipulators 2 on the same side of the cigarette box conveying device 1, and the pallet placement stations 3 are arranged around the manipulators 2. The cigarette box conveying device 1 and the robot transport section 5 are respectively located on both sides of the manipulator 2; a robot waiting area 6 is also arranged between the robot transport section 5 and the manipulator 2, and a real pallet temporary storage area 7 is also arranged outside the robot transport section 5. In the process of cigarette boxes 9 being put into storage, the cigarette boxes 9 are transported to the manipulator 2 by the cigarette box conveying device 1, and the manipulator 2 grabs the cigarette boxes 9 transported by the cigarette box conveying device 1 and places them on the empty pallet of the pallet placement station 3 to form a real pallet; at this time, the latent robot 4 transports the real pallet to the cigarette box storage area or the real pallet temporary storage area 7; then, the latent robot 4 transports the empty pallet to the pallet placement station 3, which effectively solves the problem that the latent robot 4 cannot transport the real pallet in time when there are too many real pallets, reduces the waiting time of the manipulator 2, and improves the working efficiency of the manipulator 2.

[0052] In one embodiment of the cigarette box code disk control system of the present invention, the cigarette box code disk control system also includes a central control system and a scheduling controller. The central control system is connected to the lurking robot 4 and the scheduling controller respectively. The lurking robot 4 is connected to the scheduling controller. The scheduling controller is used to control the lurking robot 4 to work.

[0053] Specifically, when the central control system receives real-time information from the pallet placement station 3 and the latent robot 4, for example, when the empty code tray on the pallet placement station 3 is converted into a real code tray or the pallet placement station 3 lacks an empty code tray, the central control system transmits control information to the scheduling controller, and the scheduling controller controls the latent robot 4 to work, thereby enabling the latent robot 4 to transport the real code tray on the pallet placement station 3 to the cigarette box storage area, and transport the empty code tray to the pallet placement station 3, effectively improving work efficiency.

[0054] Furthermore, the cigarette box code disk control system of the present invention also includes a plurality of charging piles, which are used to provide charging needs of the latent robot 4 so that the latent robot 4 can work efficiently and sustainably.

[0055] In one embodiment of the cigarette box code disk control system of the present invention, the cigarette box conveying equipment 1 includes a conveyor line 11, a code scanner 12 and a plurality of lane conveyors 13. The code scanner 12 is arranged on the first end of the conveyor line 11 for identifying the label information of the cigarette box 9. The first ends of the plurality of lane conveyors 13 are connected to the conveyor line 11 for conveying cigarette boxes 9 of different brands. The manipulator 2 is located at the second end of the lane conveyor 13.

[0056] Specifically, the conveying line 11 is used to convey the cigarette boxes 9 .

[0057] During the storage of cigarette boxes 9, the cigarette boxes 9 are first placed on the conveyor line 11 and transported to the next process by the conveyor line 11. When cigarette boxes 9 of different brands are transported to the barcode scanner 12, the barcode scanner 12 identifies the labels of cigarette boxes 9 of different brands and transports the cigarette boxes 9 of different brands to the corresponding lane conveyors 13; then, the lane conveyors 13 transport the cigarette boxes 9 to the manipulator 2, which grabs the cigarette boxes 9 and places them on the empty code tray to form a real code tray. At this time, the lurking robot 4 transports the real code tray to the cigarette box storage area to realize the storage of the cigarette boxes 9.

[0058] In one embodiment of the cigarette box code control system of the present invention, the cigarette box conveying equipment 1 also includes a vertical sorting device 14, which is arranged at the connection between the first end of the lane conveyor 13 and the conveyor line 11, and is used to convey cigarette boxes 9 of different brands to the corresponding lane conveyor 13.

[0059] The present invention arranges a vertical sorting device 14 at the connection between the first end of the lane conveyor 13 and the conveyor line 11. The vertical sorting device 14 can convey cigarette boxes 9 of different brands to the corresponding lane conveyor 13, thereby achieving fast and accurate sorting of logistics packages, realizing automated operations, and saving manpower and space.

[0060] In one embodiment of the cigarette box pallet control system of the present invention, the cigarette box pallet control system also includes an empty pallet splitter 8, which is arranged on one side of the manipulator 2. The empty pallet splitter 8 is used to split the stacked empty pallets into single empty pallets.

[0061] Specifically, after the pallet splitter splits the stacked empty pallets into individual empty pallets, the lurking robot 4 transports the individual empty pallets to the pallet placement station 3 .

[0062] According to a second aspect of the present invention, Figures 2 to 6 As shown, a code tray pick-up and delivery control method is provided, including the above-mentioned cigarette box code tray control system, including: a cigarette box conveying device 1, used to convey a cigarette box 9;

[0063] The manipulator 2 is used to grab the cigarette box 9 on the cigarette box conveying device 1 and place the cigarette box 9 on the empty pallet to form a full pallet;

[0064] A robot waiting area 6 is used to store non-working latent robots 4, wherein the latent robots 4 include a first dispatching robot and a second dispatching robot;

[0065] A real pallet temporary storage area 7, for storing real pallets;

[0066] The code disk pick-up and delivery control method comprises the following steps:

[0067] Step S1, obtaining the number of latent robots 4 in the robot waiting area 6 and the number of actual pallets;

[0068] Step S2: Based on the acquired information on the number of actual pallets, determine whether the number of actual pallets is greater than 2, and whether the number of lurking robots 4 is greater than 1, then control the first scheduling robot to transport the actual pallet to the actual pallet temporary storage area 7, and the second scheduling robot to transport the empty pallet to the corresponding pallet placement station 3.

[0069] In addition, when the actual number of pallets is equal to 2 and the number of lurking robots 4 is greater than 1, the first scheduling robot is controlled to transport the actual pallets to the cigarette box storage area, and the second scheduling robot is controlled to transport the empty pallets to the corresponding pallet placement station 3.

[0070] It should be noted that when the number of subsequent solid pallets is less than or equal to 1, the second scheduling robot transports the solid pallets in the solid pallet temporary storage area 7 to the cigarette box storage area, the first scheduling robot transports the solid pallets to the cigarette box storage area alone, and transports the empty pallets to the corresponding pallet placement station 3.

[0071] The present invention first obtains the number of latent robots 4 and the number of actual pallets in the robot waiting area 6. If the number of actual pallets is greater than 2 and the number of latent robots 4 is greater than 1, the first scheduling robot is controlled to transport the actual pallets to the actual pallet temporary storage area 7, and the second scheduling robot transports the empty pallets to the corresponding pallet placement station 3, thereby effectively solving the problem that the latent robot 4 cannot transport the actual pallets in time when there are too many actual pallets, reducing the waiting time of the manipulator 2 and improving the working efficiency of the manipulator 2.

[0072] In one embodiment of the code disk pick-up and delivery control method of the present invention, Figures 2 to 6 As shown, if the actual pallet quantity information is greater than 2 and the number of lurking robots 4 is equal to 1, or the actual pallet quantity information is equal to 2 and the number of lurking robots 4 is equal to 1, then the first scheduling robot is controlled to transport the real pallet to the real pallet temporary storage area 7, and then the first scheduling robot is controlled to transport the empty pallet to the corresponding pallet placement station 3.

[0073] The present invention effectively alleviates the peak period of real pallet transportation and significantly improves the utilization rate of the manipulator 2 by controlling the first scheduling robot to transport the real pallet to the real pallet temporary storage area 7 and then controlling the first scheduling robot to transport the empty pallet to the corresponding pallet placement station 3 when the real pallet quantity information is greater than 2 and the number of lurking robots 4 is equal to 1, or when the real pallet quantity information is equal to 2 and the number of lurking robots 4 is equal to 1.

[0074] In one embodiment of the code disk pick-up and delivery control method of the present invention, Figures 2 to 6 As shown, if the actual number of pallets is less than 2, the first dispatching robot is controlled to transport the actual pallets to the cigarette box storage area, and then the first dispatching robot is controlled to transport the empty pallets to the corresponding pallet placement station 3.

[0075] Specifically, when the actual number of pallets is less than 2, that is, the actual number of pallets is 1 or 0, regardless of whether there are one or two lurking robots 4, the first scheduling robot is controlled to transport the real pallet to the cigarette box storage area, and then the first scheduling robot is controlled to transport the empty pallet to the corresponding pallet placement station 3.

[0076] Although some specific embodiments of the present invention have been described in detail by way of example, it will be appreciated by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present invention. It will be appreciated by those skilled in the art that the above embodiments may be modified without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

Claims

1. A cigarette box code disk control system, characterized in that: include: Cigarette box conveying equipment, multiple manipulators, pallet placement stations, lurking robots, robot transport sections and cigarette box storage areas; the cigarette box conveying equipment is used to convey cigarette boxes, multiple manipulators are respectively arranged on the same side of the cigarette box conveying equipment, the manipulators are used to grab cigarette boxes and place the cigarette boxes on empty pallets to form full pallets; the pallet placement stations are respectively arranged around the manipulators, the pallet placement stations are used to store empty pallets; the cigarette box storage area is used to store full pallets; The lurking robot is used to transport the empty pallet to the pallet placement station; The cigarette box conveying equipment and the robot transport section are respectively located on both sides of the manipulator; a robot waiting area is also arranged between the robot transport section and the manipulator for storing non-working latent robots; a real pallet temporary storage area is also arranged outside the robot transport section for storing real pallets for a short period of time.

2. The cigarette box code disk control system according to claim 1, characterized in that: The cigarette box conveying equipment includes a conveyor line, a barcode scanner and multiple lane conveyors. The barcode scanner is arranged on the first end of the conveyor line and is used to identify the label information of the cigarette box. The first ends of the multiple lane conveyors are connected to the conveyor line and are used to convey cigarette boxes of different brands. The manipulator is located at the second end of the lane conveyor.

3. The cigarette box code disk control system according to claim 2, characterized in that: The cigarette box conveying equipment also includes a vertical sorting device, which is arranged at the connection between the first end of the lane conveyor and the conveying line, and is used to convey cigarette boxes of different brands to the corresponding lane conveyor.

4. The cigarette box code disk control system according to claim 1, characterized in that: The cigarette box pallet control system further includes an empty pallet splitter, which is disposed on one side of the manipulator and is used to split the stacked empty pallets into individual empty pallets.

5. The cigarette box code disk control system according to claim 1, characterized in that: The cigarette box code disk control system also includes a central control system and a scheduling controller. The central control system is connected to the latent robot and the scheduling controller respectively. The latent robot is connected to the scheduling controller. The scheduling controller is used to control the operation of the latent robot.

6. A code disk pick-up and delivery control method, comprising the cigarette box code disk control system according to any one of claims 1 to 5, characterized in that: include: Cigarette box conveying equipment, used for conveying cigarette boxes; A manipulator is used to grab the cigarette box on the cigarette box conveying equipment and place the cigarette box on the empty pallet to form a full pallet; A robot waiting area; used to store non-working latent robots, wherein the latent robots include a first dispatching robot and a second dispatching robot; The real pallet temporary storage area is used to store real pallets; The code disk pick-up and delivery control method comprises the following steps: Obtain information on the number of latent robots and the number of actual pallets in the robot waiting area; According to the acquired information on the number of actual pallets, when it is determined whether the number of actual pallets is greater than 2 and whether the number of lurking robots is greater than 1, the first scheduling robot is controlled to transport the actual pallet to the actual pallet temporary storage area, and the second scheduling robot transports the empty pallet to the corresponding pallet placement station.

7. The code disk pick-up and delivery control method according to claim 6, characterized in that: If the actual pallet quantity information is greater than 2 and the number of lurking robots is equal to 1, or the actual pallet quantity information is equal to 2 and the number of lurking robots is equal to 1, then the first scheduling robot is controlled to transport the actual pallet to the actual pallet temporary storage area, and then the first scheduling robot is controlled to transport the empty pallet to the corresponding pallet placement station.

8. The code disk pick-up and delivery control method according to claim 6, characterized in that: If the actual number of pallets is less than 2, the first dispatching robot is controlled to transport the actual pallets to the cigarette box storage area, and then the first dispatching robot is controlled to transport the empty pallets to the corresponding pallet placement station.

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