Material sorting method of robot, terminal equipment and readable storage medium

Abstract

The invention discloses a material sorting method of a robot, terminal equipment and a readable storage medium, and relates to the field of robots. The method comprises the steps that a material sorting task is obtained, and material position information of to-be-sorted materials is determined according to the material sorting task; acquiring equipment information of a robot, and determining a target robot according to the material position information and the equipment information; determining a target material corresponding to the target robot, and acquiring material description information and material size information of the target material; determining the placement position of the target material on the target robot according to the material size information, wherein the placement positions are tray platforms of different layers; and generating material sorting information according to the material description information and the placement position of the target material. The problem that existing material sorting is low in efficiency and accuracy is solved.

Description

Technical Field

[0001] The present application relates to the field of robots, and in particular to a material picking method, terminal equipment and readable storage medium of a robot. Background Art

[0002] At present, in the warehousing and logistics industry, it is necessary to screen a large number of orders and pick materials. After picking the corresponding materials, the materials are moved to the corresponding locations to realize the transportation of materials.

[0003] However, this type of work requires a lot of manpower and time-consuming and labor-intensive order picking. It is labor-intensive, repetitive, and inefficient. Manual operations also have the problem of low accuracy. Summary of the invention

[0004] The present application provides a robot material picking method, a track robot and a computer-readable storage medium, which solve the problems of low efficiency and low accuracy of existing material picking.

[0005] In a first aspect, the present application provides a material picking method of a robot, wherein the robot comprises a multi-layer pallet platform, and the pallet platform is used to place materials, and the method comprises:

[0006] Obtaining a material picking task, and determining material location information of the material to be picked according to the material picking task;

[0007] Acquire device information of the robot, and determine the target robot according to the material location information and the device information;

[0008] Determine the target material corresponding to the target robot, and obtain material description information and material size information of the target material;

[0009] Determine the placement position of the target material on the target robot according to the material size information, wherein the placement position is a pallet platform on different layers;

[0010] Material picking information is generated according to the material description information and placement location of the target material.

[0011] In a second aspect, the present application provides a terminal device, the terminal device comprising a memory and a processor;

[0012] The memory is used to store computer programs;

[0013] The processor is used to execute the computer program and implement the robot material picking method as described above when executing the computer program.

[0014] In a third aspect, the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the processor enables the processor to implement the robot material picking method as described above.

[0015] The robot material picking method, terminal device and readable storage medium provided in the embodiment of the present application obtain material picking tasks, determine the material location information of the material to be picked according to the material picking tasks; obtain the device information of the robot, determine the target robot according to the material location information and device information; determine the target material corresponding to the target robot, and obtain the material description information and material size information of the target material; determine the placement position of the target material on the target robot according to the material size information, and the placement position is a pallet platform of different layers; generate material picking information according to the material description information and placement position of the target material. In this way, material picking can be assisted by robots, thereby greatly reducing the work intensity and labor costs, and because the robot has a multi-layer pallet platform structure, the efficiency and accuracy of material picking are effectively improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 It is a structural schematic diagram of a material picking system provided in an embodiment of the present application;

[0018] Figure 2 is a schematic diagram of the structure of a robot provided in an embodiment of the present application;

[0019] Figure 3 It is a schematic diagram of the steps of a material picking method of a robot provided in an embodiment of the present application;

[0020] Figure 4 It is a schematic block diagram of the structure of a rail robot provided in an embodiment of the present application. DETAILED DESCRIPTION

[0021] 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 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 without creative work are within the scope of protection of this application.

[0022] The flowcharts shown in the accompanying drawings are only examples and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may also be decomposed, combined or partially merged, so the actual execution order may change according to actual conditions.

[0023] It should be understood that the terms used in this application specification are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in this application specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0024] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0025] The embodiments of the present application provide a robot material picking method, a terminal device, and a computer-readable storage medium. The robot material picking method can be applied to a terminal device, a robot, or a server. The robot material picking method provided in the present application can assist in material picking with the assistance of a robot, thereby greatly reducing the workload and labor costs, and because the robot has a multi-layer pallet platform structure, the efficiency and accuracy of material picking are effectively improved.

[0026] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0027] See also Figure 1 , Figure 1 1 is a schematic diagram of the structure of a material picking system 10 provided in an embodiment of the present application. Figure 1 As shown, the material picking system 10 may include a robot 100 and a terminal device 200. The robot 100 and the terminal device 200 may communicate via wireless communication methods such as Bluetooth, 4G, 5G, 6G, and WIFI.

[0028] It should be noted that the execution subject corresponding to the positioning method of the self-moving device in the embodiment of the present application can be the robot 100 or the terminal device 200. When the execution subject is the terminal device 200, the terminal device 200 obtains the material picking task, determines the material location information of the material to be picked according to the material picking task; obtains the device information of the robot, and determines the target robot according to the material location information and the device information; determines the target material corresponding to the target robot, and obtains the material description information and material size information of the target material; determines the placement position of the target material in the target robot according to the material size information; generates material picking information according to the material description information and placement position of the target material. In the embodiment of the present application, for the sake of convenience, the terminal device 200 will be used as the execution subject to explain how to perform positioning.

[0029] Before introducing the material picking method of the robot provided in the embodiment of the present application, the structure of the robot 100 provided in the embodiment of the present application is first introduced.

[0030] like Figure 2 As shown, the robot 100 includes a multi-layer pallet platform 10, and the pallet platform 10 is used to place materials.

[0031] Take the robot 100 including three-layer pallet platforms 10 as an example for introduction. The three-layer pallet platforms 10 are respectively a top-layer pallet platform 11, a middle-layer pallet platform 12 and a middle-layer pallet platform 13. Among them, since the middle-layer pallet platform 13 is connected to the base of the robot, the middle-layer pallet platform 13 has the strongest load-bearing capacity, while the top-layer pallet platform 11 and the middle-layer pallet platform 12 are suspended, so their load-bearing capacity is much weaker than that of the middle-layer pallet platform 13, that is, the top-layer pallet platform 11 and the middle-layer pallet platform 12 have restrictions on the weight of the materials picked. In addition, since the middle-layer pallet platform 12 is arranged above the middle-layer pallet platform 13, and the top-layer pallet platform 11 is arranged above the middle-layer pallet platform 12, the middle-layer pallet platform 13 and the middle-layer pallet platform 12 are both set with a layer height, that is, the middle-layer pallet platform 13 and the middle-layer pallet platform 12 have restrictions on the height of the materials picked.

[0032] Exemplarily, the robot 100 further includes an emergency stop button 20 , which is a protection button for controlling the robot to stop running in an emergency.

[0033] Exemplarily, the robot 100 further includes an ultrasonic sensor 30 , which is used to detect obstacles at the rear side of the robot.

[0034] Exemplarily, the robot 100 further includes an indicator light 40, which is used to provide feedback on the operating status of the robot.

[0035] Exemplarily, the robot 100 also includes a laser radar, which is used for navigation and obstacle avoidance of the robot.

[0036] Exemplarily, the robot 100 further includes a safety touch edge 50 , which is a detection and protection device for mechanical collisions around the robot.

[0037] Exemplarily, the robot 100 further includes a touch screen 60, which is used to display material picking information.

[0038] Exemplarily, the robot 100 further includes a barcode scanner 70, which is used to scan the barcode of the goods for material verification.

[0039] See also Figure 3 , Figure 3 The present invention provides a schematic flow chart of a robot material picking method provided in an embodiment of the present invention. The robot material picking method can assist in material picking by the robot, thereby greatly reducing the work intensity and labor cost, and because the robot has a multi-layer pallet platform structure, the efficiency and accuracy of material picking are effectively improved.

[0040] like Figure 3 As shown, the material picking method of the robot includes steps S101 to S105.

[0041] S101. Obtain a material picking task, and determine the material location information of the material to be picked according to the material picking task.

[0042] Among them, the material picking task is a task for the robot to pick materials, which is used to control the robot to move to the corresponding material location and generate material picking information corresponding to the material, so that personnel can pick materials according to the material picking information. The material location information of the material to be picked is used to indicate the storage location of the material to be picked.

[0043] Specifically, the material picking task can be analyzed to determine the materials that need to be transported in the material picking task, determine these materials that need to be transported as materials to be picked, and then obtain the storage locations of these materials to be picked as material location information.

[0044] Exemplarily, since the robot scheduling system stores information such as pictures, dimensions, weight, names, and storage locations of the materials to be picked, the storage locations of the materials to be picked can be queried through the robot scheduling system.

[0045] In some embodiments, before obtaining a material picking task, a material picking order is obtained, and the priority and material type of the materials to be picked are determined according to the material picking order; the materials to be picked are integrated according to the priority and material type to generate a material picking task. Thus, a material picking task can be accurately generated according to the material picking order.

[0046] Specifically, multiple material picking orders imported by the order system can be obtained, and then the multiple material picking orders can be analyzed to determine the priority and material type of each material to be picked; then the materials to be picked of all material picking orders are grouped and integrated according to the priority and material type of each material to be picked, so as to generate material picking tasks.

[0047] Exemplarily, high-priority materials to be picked in all material picking orders can be grouped and integrated to generate material picking tasks; materials to be picked with the same or similar material types in all material picking orders can also be grouped and integrated to generate material picking tasks.

[0048] S102: Obtain device information of the robot, and determine the target robot according to the material location information and the device information.

[0049] The device information of the robot may include information such as the type, power, and location of the robot. The target robot may be a robot used for material picking and material handling.

[0050] In some embodiments, the device status and position information of the robot are determined based on the device information; the robot to be assigned is determined based on the device status; and the target robot is determined from the robots to be assigned based on the position information of the robot to be assigned and the material position information. Thus, the target robot can be accurately selected based on the device information of the robot and the material position information, thereby improving the accuracy and efficiency of material picking.

[0051] The device status may include a ready-to-use status and an unavailable status, and the device status may be determined by factors such as the robot's power level, wear level, and robot type. The robot to be assigned may be a robot whose device status is a ready-to-use status.

[0052] Exemplarily, the device status of each robot can be determined by factors such as the robot's power level, degree of wear, and robot type. If the robot's power level is lower than a preset power threshold, the robot's device status is unusable; if the robot's power level is higher than or equal to the preset power threshold, the robot's device status is ready for use; if the robot's wear level is lower than a preset wear level, the robot's device status is ready for use; if the robot's wear level is higher than or equal to the preset wear level, the robot's device status is unusable; if the robot type does not meet the preset robot type, the robot's device status is unusable; if the robot type meets the preset robot type, the robot's device status is ready for use.

[0053] It should be noted that the preset power threshold, the preset loss level, and the preset robot type can be any value or any type, and are not specifically limited here. The device status of the robot can be determined by any one of the robot's power, loss level, and robot type, or by a combination of the above, and are not specifically limited here.

[0054] In some embodiments, the distance between each robot to be assigned and the material is determined based on the position information of the robot to be assigned and the material position information; if the distance between the robot to be assigned and the material is less than a preset distance threshold, the robot to be assigned is used as the target robot. In this way, the robot to be assigned with a shorter distance can be determined as the target robot, thereby improving the accuracy and efficiency of material picking.

[0055] The preset distance threshold may be any distance, such as 10m or 20m, and is not specifically limited here.

[0056] Specifically, according to the position information of the robot to be assigned and the position information of the material, the distance between each robot to be assigned and the material is determined; if the distance between the robot to be assigned and the material is less than a preset distance threshold, the robot to be assigned is used as the target robot; if the distance between the robot to be assigned and the material is greater than or equal to the preset distance threshold, the robot to be assigned is screened out.

[0057] Exemplarily, if the robots to be assigned include robot A to be assigned, robot B to be assigned and robot C to be assigned, and the preset distance threshold is 10m, determine the moving distance between the position of each robot to be assigned and the material position; if the distance between robot A to be assigned and robot C to be assigned and the material is less than the preset distance threshold, robot A to be assigned and robot C to be assigned can be used as target robots.

[0058] S103: Determine the target material corresponding to the target robot, and obtain material description information and material size information of the target material.

[0059] The target material is the material that the target robot needs to pick. The material description information of the target material may include information such as the image, size, weight, and name of the target material. The material size information of the target material may include information such as the height, width, and volume of the target material.

[0060] For example, since the robot scheduling system stores information such as pictures, dimensions, weight, names, and storage locations of materials to be picked, the robot scheduling system can be used to query information such as pictures, height, width, volume, weight, names, and other information of materials to be picked.

[0061] S104. Determine the placement position of the target material on the target robot according to the material size information, where the placement position is a pallet platform on different layers.

[0062] The placement position of the target material on the target robot is used to indicate that the target material is placed on the pallet platform of the corresponding layer. Pallet platforms of different layers correspond to different placement positions.

[0063] In some embodiments, the height and load limit of each pallet platform are obtained; and the pallet platform corresponding to the target material is determined as the placement position according to the material size information and the height and load limit of the pallet platform. Thus, the pallet platform for placing the target material can be accurately determined according to the height and load limit of each pallet platform.

[0064] For example, the height and load limit of each pallet platform can be obtained, such as Figure 2 Taking the robot shown in the figure as an example, the bottom pallet platform has the largest load limit, and the top pallet platform has no height limit. The height and load limit of each pallet platform can be obtained; then the pallet platform of the corresponding layer is allocated to the target material according to the height and load limit of each pallet platform and the material size information, and the pallet platform of this layer is used as the placement position of the target material. The storage form of the robot on the shelf makes it convenient to pick and place goods, and enables the robot to pick multiple orders at the same time, and can carry a total weight of 100kg of materials, which improves the efficiency of picking work.

[0065] In some embodiments, if the height of the material exceeds the layer height of the pallet platform, the pallet platform corresponding to the target material is determined to be the top pallet platform, and the top pallet platform is used as the placement position; if the weight of the material exceeds the load limit of the pallet platform, the pallet platform corresponding to the target material is determined to be the bottom pallet platform, and the bottom pallet platform is used as the placement position. In this way, the placement position of special materials (exceeding the layer height and exceeding the load limit) can be accurately determined.

[0066] Exemplarily, if the material height exceeds the layer height of the pallet platform, the pallet platform corresponding to the target material is determined to be the top pallet platform, and the top pallet platform is used as the placement position; if the material height does not exceed the layer height of the pallet platform, the pallet platform corresponding to the target material is determined based on other information of the target material, such as weight, type, etc.

[0067] Exemplarily, if the weight of the material exceeds the load limit of the pallet platform, the pallet platform corresponding to the target material is determined as the bottom pallet platform, and the bottom pallet platform is used as the placement position; if the weight of the material does not exceed the load limit of the pallet platform, the pallet platform corresponding to the target material is determined based on other information of the target material, such as layer height, type, etc.

[0068] In some embodiments, after determining the placement position of the target material on the target robot according to the material size information, the total weight of the materials placed on the robot is determined, and it is determined whether the total weight of the materials exceeds the total weight of the robot; if the total weight of the materials exceeds the total weight of the robot, the placement position of the target material on the target robot is re-determined. This can prevent the total weight of the materials placed on the robot from exceeding the total weight of the robot, thereby affecting the movement stability of the robot.

[0069] For example, the total weight of the materials placed on the robot is determined, and whether the total weight of the materials exceeds the total weight of the robot; if the total weight of the materials exceeds the total weight of the robot, the placement position of the target materials on the target robot is re-determined; if the total weight of the materials does not exceed the total weight of the robot, the robot is controlled to move the materials to the corresponding position to achieve material handling. The storage form of the robot on the shelf makes it convenient to take and put goods, and enables the robot to pick multiple orders at the same time, and can carry a total weight of 100kg of materials, which improves the efficiency of picking work.

[0070] S105. Generate material picking information according to the material description information and placement location of the target material.

[0071] Among them, the material picking information is the material information that needs to be transported by the robot.

[0072] Specifically, material picking information can be generated based on the material description information and placement location of the target material, and displayed on the robot's touch screen so that the staff can accurately pick the corresponding material based on the material picking information. The visual screen displays the information and quantity of the material to be picked, and displays the location of the cargo box where the material should be picked, thereby improving the accuracy of the picking operation.

[0073] In some embodiments, after the material picking information is generated according to the material description information and placement position of the target material, it is detected whether the corresponding placement position in the robot has the material placed; if it is determined that the corresponding placement position in the robot has the material placed, the material is verified; if the material verification is successful, the robot is controlled to carry the material. In this way, the material can be verified, thereby improving the accuracy of material selection.

[0074] Exemplarily, if it is determined that there is material placed at the corresponding placement position in the robot, the material is verified; if the material verification is successful, the robot is controlled to carry out material transportation; if the material verification fails, the material picking information is re-determined.

[0075] For example, the barcode of the material can be scanned and verified by the software system, thereby avoiding the wrong materials from being picked and improving the accuracy of the picking operation.

[0076] The robot material picking method provided in the embodiment of the present application obtains the material picking task, determines the material location information of the material to be picked according to the material picking task; obtains the device information of the robot, determines the target robot according to the material location information and device information; determines the target material corresponding to the target robot, and obtains the material description information and material size information of the target material; determines the placement position of the target material on the target robot according to the material size information, and the placement position is a pallet platform of different layers; generates material picking information according to the material description information and placement position of the target material. In this way, material picking can be assisted by the robot, thereby greatly reducing the work intensity and labor cost, and because the robot has a multi-layer pallet platform structure, the efficiency and accuracy of material picking are effectively improved.

[0077] See also Figure 4 , Figure 4 A schematic block diagram of the structure of a terminal device provided in an embodiment of the present invention.

[0078] like Figure 4 As shown, the terminal device 200 may include a processor 201 and a memory 202, and the processor 201 and the memory 202 are connected via a bus 203, such as an I2C (Inter-integrated Circuit) bus.

[0079] In an exemplary embodiment, the processor 201 can be used to provide computing and control capabilities to support the operation of the entire rail robot. The processor 201 can be a central processing unit (CPU), and the processor 201 can also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc.

[0080] Specifically, the memory 202 may be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a mobile hard disk.

[0081] Those skilled in the art will understand that Figure 4 The structure shown in the figure is only a block diagram of a partial structure related to the embodiment of the present invention, and does not constitute a limitation of the rail robot to which the embodiment of the present invention is applied. The specific server may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0082] The processor 201 is used to run a computer program stored in the memory, and implement any one of the robot material picking methods provided by the embodiments of the present invention when executing the computer program.

[0083] In one embodiment, the processor 201 is used to run a computer program stored in a memory, and implement the following steps when executing the computer program: obtain a material picking task, and determine the material location information of the material to be picked according to the material picking task; obtain the device information of the robot, and determine the target robot according to the material location information and the device information; determine the target material corresponding to the target robot, and obtain the material description information and material size information of the target material; determine the placement position of the target material on the target robot according to the material size information, and the placement position is a pallet platform on different layers; generate material picking information according to the material description information and the placement position of the target material.

[0084] In one embodiment, when the processor 201 implements the determination of the target robot according to the material location information and the device information, it is used to implement: determining the device status and location information of the robot according to the device information; determining the robot to be assigned according to the device status; and determining the target robot from the robots to be assigned according to the location information of the robot to be assigned and the material location information.

[0085] In one embodiment, when the processor 201 determines the target robot from the robots to be allocated based on the position information of the robots to be allocated and the position information of the material, it is used to implement: determining the distance between each of the robots to be allocated and the material based on the position information of the robots to be allocated and the position information of the material; if the distance between the robot to be allocated and the material is less than a preset distance threshold, then using the robot to be allocated as the target robot.

[0086] In one embodiment, when the processor 201 implements the determination of the placement position of the target material on the target robot based on the material size information, it is used to implement: obtaining the layer height and the limited load-bearing capacity of the pallet platform on each layer; and determining the pallet platform corresponding to the target material as the placement position based on the material size information and the layer height and the limited load-bearing capacity of the pallet platform.

[0087] In one embodiment, the processor 201 implements the determination of the pallet platform corresponding to the target material as the placement position based on the material size information and the layer height and the limited load-bearing capacity of the pallet platform, and is used to achieve: if the material height exceeds the layer height of the pallet platform, then the pallet platform corresponding to the target material is determined to be the top pallet platform, and the top pallet platform is used as the placement position; if the material weight exceeds the limited load-bearing capacity of the pallet platform, then the pallet platform corresponding to the target material is determined to be the bottom pallet platform, and the bottom pallet platform is used as the placement position.

[0088] In one embodiment, after determining the placement position of the target material on the target robot based on the material size information, the processor 201 is used to: determine the total weight of the materials placed on the robot, and determine whether the total weight of the materials exceeds the total bearing weight of the robot; if the total weight of the materials exceeds the total bearing weight of the robot, redetermine the placement position of the target material on the target robot.

[0089] In one embodiment, before obtaining a material picking task, the processor 201 is used to implement: obtaining a material picking order, and determining the priority and material type of the materials to be picked according to the material picking order; integrating the materials to be picked according to the priority and the material type to generate a material picking task.

[0090] In one embodiment, after the processor 201 generates material picking information according to the material description information and placement position of the target material, it is used to: detect whether there is a material placed at the corresponding placement position in the robot; if it is determined that there is a material placed at the corresponding placement position in the robot, verify the material; if the material is successfully verified, control the robot to carry out material handling.

[0091] It should be noted that those skilled in the art can clearly understand that, for the sake of convenience and brevity of description, the specific working process of the track robot described above can refer to the corresponding process in the aforementioned embodiment and will not be repeated here.

[0092] A computer-readable storage medium is also provided in an embodiment of the present application. The computer-readable storage medium stores a computer program. The computer program includes program instructions. The processor executes the above program instructions to implement any material picking method for the detection robot provided in the embodiment of the present application.

[0093] For example, the program is loaded by the processor and may execute the following steps:

[0094] Acquire a material picking task, and determine the material location information of the material to be picked according to the material picking task; acquire the device information of the robot, and determine the target robot according to the material location information and the device information; determine the target material corresponding to the target robot, and acquire the material description information and material size information of the target material; determine the placement position of the target material on the target robot according to the material size information, and the placement position is a pallet platform on different layers; generate material picking information according to the material description information and placement position of the target material.

[0095] The computer-readable storage medium may be an internal storage unit of the rail robot of the aforementioned embodiment, such as a hard disk or memory of the rail robot. The computer-readable storage medium may also be an external storage device of the rail robot, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital card (Secure Digital Card, SD Card), a flash card (Flash Card), etc. equipped on the rail robot.

[0096] Furthermore, the computer-readable storage medium may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, programs required for at least one function, etc.; the data storage area may store data created according to each program, etc.

[0097] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A material picking method of a robot, characterized in that: The robot includes a multi-layer pallet platform, and the pallet platform is used to place materials. The method includes: Obtaining a material picking task, and determining material location information of the material to be picked according to the material picking task; Acquire device information of the robot, and determine the target robot according to the material location information and the device information; Determine the target material corresponding to the target robot, and obtain material description information and material size information of the target material; Determine the placement position of the target material on the target robot according to the material size information, wherein the placement position is a pallet platform on different layers; Material picking information is generated according to the material description information and placement location of the target material.

2. The method according to claim 1, characterized in that The determining the target robot according to the material position information and the device information includes: Determine the device status and position information of the robot according to the device information; Determine the robot to be assigned according to the device status; A target robot is determined from the robots to be allocated according to the position information of the robots to be allocated and the material position information.

3. The method according to claim 2, characterized in that The step of determining a target robot from the robots to be allocated according to the position information of the robots to be allocated and the material position information comprises: Determine the distance between each of the robots to be allocated and the material according to the position information of the robots to be allocated and the position information of the material; If the distance between the robot to be allocated and the material is less than a preset distance threshold, the robot to be allocated is used as a target robot.

4. The method according to claim 1, characterized in that The step of determining the placement position of the target material on the target robot according to the material size information includes: Obtain the floor height and load limit of the pallet platform at each floor; According to the material size information and the layer height and load-bearing limit of the pallet platform, the pallet platform corresponding to the target material is determined as the placement position.

5. The method according to claim 4, characterized in that The material size information includes material height and material weight, and determining the pallet platform corresponding to the target material as the placement position according to the material size information and the layer height and load limit of the pallet platform includes: If the material height exceeds the layer height of the pallet platform, the pallet platform corresponding to the target material is determined to be the top pallet platform, and the top pallet platform is used as the placement position; If the weight of the material exceeds the load-bearing limit of the pallet platform, the pallet platform corresponding to the target material is determined to be the bottom pallet platform, and the bottom pallet platform is used as the placement position.

6. The method according to claim 1, characterized in that After determining the placement position of the target material according to the material size information, the method further includes: Determine the total weight of materials placed on the robot, and determine whether the total weight of the materials exceeds the total load-bearing weight of the robot; If the total weight of the materials exceeds the total bearing weight of the robot, the placement position of the target material on the target robot is re-determined.

7. The method according to claim 1, characterized in that Before obtaining the material picking task, the method further includes: Obtaining a material picking order, and determining the priority and material type of the material to be picked according to the material picking order; The materials to be picked are integrated according to the priority and the material type to generate a material picking task.

8. The method according to claim 1, characterized in that: After the material picking information is generated according to the material description information and placement location of the target material, the method further includes: Detecting whether a material is placed at a corresponding placement position in the robot; If it is determined that a material is placed at the corresponding placement position in the robot, the material is verified; If the material is successfully verified, the robot is controlled to carry out material transportation.

9. A terminal device, characterized in that: The terminal device includes a memory and a processor; The memory is used to store computer programs; The processor is used to execute the computer program and implement the robot material picking method as described in any one of claims 1 to 8 when executing the computer program.

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 processor enables the processor to implement the material picking method of the robot as described in any one of claims 1 to 8.

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