Material sorting method, device and system, dispatching equipment and storage medium

Abstract

The embodiment of the invention provides a material sorting method, device and system, dispatching equipment and a storage medium, and relates to the technical field of intelligent warehousing, the dispatching equipment sends a warehousing instruction of warehousing materials to a carrying robot, and the carrying robot carries the warehousing materials to a connection layer of the bottom layer of a storage shelf; the material box sky rail robot carries the warehoused materials from the connection layer to a storage position on the upper layer of the storage shelf; in response to a sorting instruction for the target material, controlling the material box sky rail robot to carry the material box containing the target material from the storage position to the fluent goods shelf, controlling the traction robot to move to the fluent goods shelf where the target material is located, and placing the target material on a material trolley pulled by the traction robot by an operator; and the traction robot is controlled to go to the on-line station of the target material. In the process, the materials needing to be sorted do not need to be transferred for multiple times, and the storage and distribution efficiency of the materials is improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent warehousing technology, and in particular to a material picking method, device, system, scheduling equipment and storage medium. Background Art

[0002] Currently, in the manufacturing plants of manufacturing enterprises, there are mainly two ways of material circulation:

[0003] In the first method, after receiving the materials, the materials are first transferred to the high-level shelves, then transferred from the high-level shelves to the supermarket shelf temporary storage area, and then transferred to the supermarket shelves. When the materials need to be picked, the materials are transferred from the supermarket shelves to the distribution shelves, and then the distribution shelves are delivered to the SPS (Set Parts Supply) shelf line, and then the materials are picked in the SPS material picking area.

[0004] In the second method, after receiving the materials, the CTU (Carton Transfering Unit, feeding robot) needs to transfer the materials to the storage and removal area of ​​the CTU shelf, and then transfer the materials to the CTU shelf. The subsequent picking method is the same as the first method mentioned above.

[0005] It can be seen that in the current material circulation mode, materials need to be transferred between shelves many times from storage to picking, resulting in low efficiency of logistics and warehousing and high manufacturing costs. In addition, material picking needs to be carried out in a designated material picking area, and the picking efficiency is low. Summary of the invention

[0006] The purpose of the embodiments of the present application is to provide a material picking method, device, system, scheduling equipment and storage medium to improve the efficiency of logistics warehousing, reduce manufacturing costs, and improve picking efficiency. The specific technical solution is as follows:

[0007] In a first aspect, an embodiment of the present application provides a material picking method, which is applied to a scheduling device in a material picking system, wherein the material picking system further includes a robot, wherein the robot includes a handling robot, a material box overhead rail robot, and a traction robot, wherein the traction robot is used to traction a material vehicle, and the method includes:

[0008] Sending a storage instruction corresponding to the storage material to the transport robot, so that the transport robot transports the storage material to the docking layer of the bottom layer of the storage shelf indicated by the storage instruction;

[0009] Control the material box overhead rail robot to move the incoming materials from the docking layer to the storage location on the upper layer of the storage shelf indicated by the incoming instruction;

[0010] In response to a picking instruction for a target material, the material box overhead rail robot is controlled to move the material box containing the target material from the storage location to the flow shelf, and the traction robot is controlled to go to the flow shelf where the target material is located, so that the operator places the target material on the material vehicle towed by the traction robot, wherein the target material is at least one of the incoming materials, and the flow shelf is located at the bottom of the storage shelf;

[0011] The traction robot is controlled to go to the on-line station corresponding to the target material.

[0012] Optionally, the storage shelf includes storage locations on the upper layer, the flow shelf includes a picking port on the bottom layer, the picking port is provided with a light prompt device, and the material box slides to the picking port of the flow shelf after being placed on the flow shelf;

[0013] The step of controlling the bin overhead rail robot to move the bin containing the target material from the storage location to the flow shelf in response to the picking instruction for the target material, and controlling the traction robot to go to the flow shelf where the target material is located so that the operator places the target material on the material vehicle towed by the traction robot includes:

[0014] In response to obtaining a material requirement list, determining a location of a target picking port bound to a target material identifier included in the material requirement list;

[0015] Control the material box overhead rail robot to take the material box containing the target material from the storage position on the upper layer of the storage shelf, and place the taken material box on the flow shelf to which the target picking port belongs, so that the material box slides to the target picking port;

[0016] The traction robot is controlled to go to the position of the target picking port, and the target lighting prompt device corresponding to the target picking port is turned on, so that the operator can determine the target picking port based on the target lighting prompt device, take the target material from the target picking port and place it in the material cart towed by the traction robot.

[0017] Optionally, the step of turning on the target lighting prompt device corresponding to the target picking port includes:

[0018] Determine the production line corresponding to the material requirement list executed by the traction robot;

[0019] The lighting prompt device of the target picking port corresponding to the determined production line is used as the target lighting prompt device, and the target lighting prompt device is turned on, wherein the correspondence between the production line and the picking port is determined based on the material demand of the production line and the materials stored in the storage shelves.

[0020] Optionally, there are multiple material demand orders;

[0021] The step of controlling the traction robot to go to the on-line station corresponding to the target material includes:

[0022] The traction robot that controls the transport of the target material included in each material requirement list goes to the on-line station corresponding to the target material in sequence according to the preset priority order of the production line corresponding to each material requirement list.

[0023] Optionally, the incoming materials are contained in a material box, the storage shelf includes a storage position on an upper layer, the flow shelf includes a picking port on a lower layer, and the material box slides to the picking port of the flow shelf after being placed on the flow shelf;

[0024] After the operator places the target material on the material vehicle towed by the towing robot, the method further includes:

[0025] After the material in the material box at the picking port is taken away, the accumulated material taking quantity corresponding to the picking port is increased by the material demand quantity, wherein the material demand quantity is the demand quantity corresponding to the material included in the material demand list;

[0026] When the accumulated material picking quantity corresponding to the picking port reaches a preset quantity, the material box overhead rail robot is controlled to pick up the material box from the storage position on the upper layer of the storage shelf corresponding to the flow shelf to which the picking port belongs, and the picked up material box is placed on the flow shelf so that the material box slides to the picking port of the flow shelf; and / or,

[0027] In response to a replenishment instruction issued by the operator when the material box is empty, the material box overhead rail robot is controlled to pick up the material box from the storage position on the upper layer of the storage shelf corresponding to the flow rack to which the picking port belongs, and place the picked material box on the flow rack so that the material box slides to the picking port of the flow rack.

[0028] Optionally, the method further includes:

[0029] Controlling the empty return conveyor line to transport the empty material box to the empty material box docking port, wherein the empty material box is placed on the empty return conveyor line by the operator;

[0030] Controlling the robot arm to grab the empty material box located at the empty material box docking port, and stacking the empty material box on a pallet;

[0031] After the stacking is completed, the transport robot is controlled to transport the stacked pallet to the emptying area, wherein the emptying area is used to store empty material boxes.

[0032] Optionally, the material picking system further comprises a conveyor line, which is used to transport the incoming materials from the unloading point to the docking point;

[0033] The step of sending a storage instruction corresponding to the storage material to the transport robot so that the transport robot transports the storage material to the docking layer of the bottom layer of the storage shelf indicated by the storage instruction includes:

[0034] The storage instruction corresponding to the storage material is sent to the transport robot, so that the transport robot goes to the docking point of the conveyor line to pick up the storage material, and transports the storage material to the docking layer of the bottom layer of the storage shelf indicated by the storage instruction.

[0035] Optionally, the conveyor line is provided with an image acquisition device, and the conveyor line includes a trunk conveyor line and a plurality of branch conveyor lines, and a connection point is provided at the end of each branch conveyor line;

[0036] Before the step of sending the storage instruction corresponding to the storage material to the handling robot, the method further includes:

[0037] Acquire category information obtained by the image acquisition device identifying labels corresponding to incoming materials on the conveyor line;

[0038] Matching the category information with the incoming document to determine the target storage location corresponding to the incoming material, wherein the incoming document includes the correspondence between the category information of the material and the storage location;

[0039] Based on the correspondence between the storage position and the branch conveying line, determining the branch conveying line corresponding to the target storage position;

[0040] The incoming materials are transported to the determined connection point of the branch conveyor line.

[0041] In a second aspect, an embodiment of the present application provides a material picking device, which is applied to a scheduling device in a material picking system. The material picking system also includes a robot, which includes a handling robot, a material box overhead rail robot, and a traction robot. The traction robot is used to tow a material vehicle. The device includes:

[0042] An instruction sending module is used to send a storage instruction corresponding to the storage material to the handling robot, so that the handling robot transports the storage material to the docking layer of the bottom layer of the storage shelf indicated by the storage instruction;

[0043] A first control module is used to control the material box overhead rail robot to move the incoming materials from the docking layer to the storage position on the upper layer of the storage shelf indicated by the incoming instruction;

[0044] The second control module is used to control the material box overhead rail robot to move the material box containing the target material from the storage position to the flow shelf in response to the picking instruction for the target material, and control the traction robot to go to the flow shelf where the target material is located, so that the operator can place the target material on the material vehicle towed by the traction robot, wherein the target material is at least one of the incoming materials, and the flow shelf is located at the bottom of the storage shelf;

[0045] The third control module is used to control the traction robot to go to the online workstation corresponding to the target material.

[0046] In a third aspect, an embodiment of the present application provides a material picking system, the material picking system includes a scheduling device and a robot, the robot includes a handling robot, a material box overhead rail robot and a traction robot, the traction robot is used to tow a material vehicle, wherein:

[0047] The dispatching device is used to send storage instructions corresponding to storage materials to the handling robot;

[0048] The transport robot is used to transport the incoming materials to the docking layer of the bottom layer of the storage shelf indicated by the incoming materials instruction in response to the incoming materials instruction;

[0049] The dispatching device is also used to send a storage location handling instruction to the material box overhead rail robot;

[0050] The material box overhead rail robot is used to respond to the storage position handling instruction and transport the incoming materials from the docking layer to the storage position on the upper layer of the storage shelf indicated by the warehousing instruction;

[0051] The dispatching device is further used to send a material replenishment instruction to the material box overhead rail robot and a material fetching instruction to the traction robot in response to a picking instruction for the target material;

[0052] The material box overhead rail robot is further used to move the material box containing the target material from the storage position to the flow rack in response to the material replenishment instruction, wherein the flow rack is located at the bottom of the storage rack;

[0053] The traction robot is used to respond to the material fetching instruction and go to the flow shelf where the target material is located, so that the operator can place the target material on the material vehicle towed by the traction robot, wherein the target material is at least one of the warehoused materials;

[0054] The dispatching device is also used to send a feeding instruction to the traction robot;

[0055] The traction robot is also used to respond to the feeding instruction and go to the online workstation corresponding to the target material.

[0056] Optionally, the storage shelf includes storage locations on the upper layer, the flow shelf includes a picking port on the bottom layer, the picking port is provided with a light prompt device, and the material box slides to the picking port of the flow shelf after being placed on the flow shelf;

[0057] The dispatching device is specifically used to determine the position of the target picking port bound to the target material identifier included in the material demand list in response to obtaining the material demand list; send a material replenishment instruction to the material box overhead rail robot, send a material fetching instruction to the traction robot and turn on the target lighting prompt device corresponding to the target picking port;

[0058] The material box overhead rail robot is specifically used to respond to the material replenishment instruction, take the material box containing the target material from the storage position on the upper layer of the storage shelf, and place the taken material box on the flow shelf to which the target picking port belongs, so that the material box slides to the target picking port;

[0059] The traction robot is specifically used to respond to the material picking instruction and go to the position of the target picking port, so that the operator can determine the target picking port based on the target lighting prompt device, pick up the target material from the target picking port and place it in the material cart towed by the traction robot.

[0060] Optionally, the scheduling device is specifically used to determine the production line corresponding to the material requirement list executed by the traction robot; use the lighting prompt device of the target picking port corresponding to the determined production line as the target lighting prompt device, and turn on the target lighting prompt device, wherein the correspondence between the production line and the picking port is determined based on the material requirements of the production line and the materials stored on the storage shelves.

[0061] Optionally, there are multiple material demand orders;

[0062] The dispatching device is specifically used to send a material delivery instruction to a traction robot of a target material included in each material demand list;

[0063] The traction robot is specifically used to respond to the feeding instruction and go to the online workstation corresponding to the target material in sequence according to the preset priority order of the production line corresponding to each material demand order.

[0064] Optionally, the incoming materials are contained in a material box, the storage shelf includes a storage position on an upper layer, the flow shelf includes a picking port on a lower layer, and the material box slides to the picking port of the flow shelf after being placed on the flow shelf;

[0065] The scheduling device is further used to increase the cumulative material taking quantity corresponding to the picking port by the material demand quantity after the material in the material box located at the picking port is taken away; when the cumulative material taking quantity corresponding to the picking port reaches a preset quantity, send a replenishment instruction to the material box overhead rail robot, wherein the material demand quantity is the demand quantity corresponding to the material included in the material demand list;

[0066] The material box overhead rail robot is further used to respond to the replenishment instruction, take the material box from the storage position on the upper layer of the storage shelf corresponding to the flow shelf to which the picking port belongs, and place the taken material box on the flow shelf so that the material box slides to the picking port of the flow shelf; and / or,

[0067] The dispatching device is further used to send a replenishment instruction to the material box overhead rail robot in response to a replenishment instruction issued by an operator when the material box is an empty material box;

[0068] The material box overhead rail robot is also used to respond to the replenishment instruction, take the material box from the storage position on the upper layer of the storage shelf corresponding to the flow shelf to which the picking port belongs, and place the taken material box on the flow shelf so that the material box slides to the picking port of the flow shelf.

[0069] Optionally, the dispatching device is further used to send a transport instruction to the empty return conveyor line;

[0070] The empty return conveyor line is used to transport the empty material box to the empty material box docking port in response to the transport instruction, wherein the empty material box is placed on the empty return conveyor line by the operator;

[0071] The scheduling device is also used to send a stacking instruction to the robotic arm;

[0072] The robot arm is used to grab the empty material box located at the empty material box docking port in response to the stacking instruction, and stack the empty material box on the pallet;

[0073] The dispatching device is also used to send a pallet handling instruction to the handling robot after the stacking is completed;

[0074] The transport robot is used to respond to the pallet transport instruction to transport the pallet after stacking to the empty return area, wherein the empty return area is used to store empty material boxes.

[0075] Optionally, the material picking system further comprises a conveyor line, which is used to transport the incoming materials from the unloading point to the docking point;

[0076] The dispatching device is specifically used to send a storage instruction corresponding to the storage material to the handling robot;

[0077] The transport robot is specifically used to respond to the warehousing instruction, go to the docking point of the conveyor line to pick up the warehousing materials, and transport the warehousing materials to the docking layer of the bottom layer of the storage shelf indicated by the warehousing instruction.

[0078] Optionally, the conveyor line is provided with an image acquisition device, and the conveyor line includes a trunk conveyor line and a plurality of branch conveyor lines, and a connection point is provided at the end of each branch conveyor line;

[0079] The scheduling device is also used to obtain the category information obtained by the image acquisition device when identifying the label corresponding to the incoming material on the conveyor line; match the category information with the incoming document to determine the target storage location corresponding to the incoming material, wherein the incoming document includes the correspondence between the category information of the material and the storage location; based on the correspondence between the storage location and the branch conveyor line, determine the branch conveyor line corresponding to the target storage location; and transport the incoming material to the determined connection point of the branch conveyor line.

[0080] In a fourth aspect, an embodiment of the present application provides a scheduling device, including:

[0081] Memory, used to store computer programs;

[0082] The processor is used to implement any method described in the first aspect when executing a program stored in the memory.

[0083] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, any method described in the first aspect is implemented.

[0084] Beneficial effects of the embodiments of the present application:

[0085] In the scheme provided by the embodiment of the present application, the scheduling device can send the storage instruction corresponding to the incoming material to the handling robot, so that the handling robot will transport the incoming material to the docking layer of the bottom layer of the storage shelf indicated by the storage instruction; control the material box overhead rail robot to transport the incoming material from the docking layer to the storage position on the upper layer of the storage shelf indicated by the storage instruction; in response to the picking instruction for the target material, control the material box overhead rail robot to transport the material box containing the target material from the storage position to the flow shelf, and control the traction robot to go to the flow shelf where the target material is located, so that the operator can place the target material on the material vehicle towed by the traction robot, wherein the target material is at least one of the incoming materials, and the flow shelf is located at the bottom of the storage shelf; control the traction robot to go to the corresponding on-line station of the target material. In the above scheme, the handling robot directly transports the incoming material to the docking layer of the storage shelf, and the material box overhead rail robot transports the incoming material from the docking layer to the storage position of the storage shelf without the need for multiple transfers between shelves, thereby improving the efficiency of logistics warehousing and reducing manufacturing costs. When picking is required, the traction robot pulling the material cart goes directly to the storage shelf for picking, rather than the designated material picking area, thereby improving picking efficiency. Of course, implementing any product or method of the present application does not necessarily require all of the above advantages to be achieved at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0086] 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.

[0087] Figure 1 A flow chart of a material picking method provided in an embodiment of the present application;

[0088] Figure 2 Based on Figure 1 A schematic diagram of the storage layout of the illustrated embodiment;

[0089] Figure 3 Based on Figure 1 A first schematic diagram of a storage rack of the illustrated embodiment;

[0090] Figure 4 Based on Figure 1 A second schematic diagram of a storage rack of the illustrated embodiment;

[0091] Figure 5 for Figure 1 A specific flow chart of step S103 in the illustrated embodiment;

[0092] Figure 6 (a) is based on Figure 1 A third schematic diagram of the storage rack of the illustrated embodiment;

[0093] Figure 6(b) is based on Figure 1 A fourth schematic diagram of a storage rack of the illustrated embodiment;

[0094] Figure 7 Based on Figure 1 A schematic diagram of a traction robot and a material vehicle of the illustrated embodiment;

[0095] Figure 8 for Figure 5 A specific flow chart of step S503 in the illustrated embodiment;

[0096] Fig. 9 Based on Figure 1 A flow chart of diverting incoming materials in the embodiment shown;

[0097] Fig.10 Based on Figure 1 A schematic diagram of a conveyor line of the illustrated embodiment;

[0098] Fig.11 A schematic diagram of the structure of a material picking device provided in an embodiment of the present application;

[0099] Fig.12 A structural schematic diagram of a material picking system provided in an embodiment of the present application;

[0100] Fig.13 A schematic diagram of the structure of a scheduling device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0101] 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.

[0102] In order to improve the efficiency of logistics warehousing, reduce manufacturing costs, and improve picking efficiency, the present application embodiment provides a material picking method, device, system, scheduling equipment, computer-readable storage medium, and computer program product. The following first introduces a material picking method provided by the present application embodiment.

[0103] like Figure 1As shown, a material picking method is applied to a dispatching device in a material picking system, wherein the material picking system further includes a robot, wherein the robot includes a handling robot, a material box overhead rail robot, and a traction robot, wherein the traction robot is used to traction a material vehicle, and the method includes:

[0104] S101, sending a storage instruction corresponding to the storage material to the transport robot, so that the transport robot transports the storage material to the docking layer of the bottom layer of the storage shelf indicated by the storage instruction;

[0105] S102, controlling the material box overhead rail robot to move the incoming materials from the docking layer to the storage location on the upper layer of the storage shelf indicated by the incoming instruction;

[0106] S103, in response to a picking instruction for a target material, controlling the material box overhead rail robot to move the material box containing the target material from the storage location to the flow shelf, and controlling the traction robot to go to the flow shelf where the target material is located, so that the operator places the target material on the material cart towed by the traction robot;

[0107] Wherein, the target material is at least one of the incoming materials, and the flow shelf is located at the bottom of the storage shelf.

[0108] S104, controlling the traction robot to go to the on-line station corresponding to the target material.

[0109] It can be seen that in the embodiment of the present application, the scheduling device can send the warehousing instruction corresponding to the incoming material to the handling robot, so that the handling robot will transport the incoming material to the docking layer of the bottom layer of the storage shelf indicated by the warehousing instruction; control the material box overhead rail robot to transport the incoming material from the docking layer to the storage position on the upper layer of the storage shelf indicated by the warehousing instruction; in response to the picking instruction for the target material, control the material box overhead rail robot to transport the material box containing the target material from the storage position to the flow shelf, and control the traction robot to go to the flow shelf where the target material is located, so that the operator can place the target material on the material vehicle towed by the traction robot, wherein the target material is at least one of the incoming materials, and the flow shelf is located at the bottom of the storage shelf; control the traction robot to go to the corresponding on-line station of the target material. In the above scheme, the handling robot directly transports the incoming material to the docking layer of the storage shelf, and the material box overhead rail robot transports the incoming material from the docking layer to the storage position of the storage shelf without the need for multiple transfers between shelves. Therefore, the efficiency of logistics warehousing can be improved and the manufacturing cost can be reduced. When picking is required, the traction robot towing a material cart goes directly to the storage shelves for picking, rather than to the designated material picking area, thus improving picking efficiency.

[0110] First, combine Figure 2The warehouse layout shown briefly introduces the material flow process of this application:

[0111] After receiving the incoming materials, the incoming materials are unloaded at the unloading point 201 and placed on the conveyor line 202. A plurality of image acquisition devices 203 are arranged along the conveyor line 202. When the incoming materials pass through the acquisition range of the image acquisition device 203, the image acquisition device 203 can determine the category information of the incoming materials based on the labels corresponding to the incoming materials, and then divert the incoming materials and transport them to the corresponding docking point 204.

[0112] Next, the incoming materials at the docking point 204 are transported to the corresponding storage shelves 205 by the Autonomous Mobile Robot (AMR) and the Sky Transfer Unit (STU). Figure 2 When a target material in the incoming materials needs to be picked, the dispatching device can control the traction robot 206 to go to the storage shelf where the target material is located, and the operator will place the target material on the material vehicle towed by the traction robot 206, and the traction robot 206 can transport the target material to the corresponding on-line workstation 207. In addition, aisles 208 are provided between the various areas, and the robot can travel between the various areas through the aisles 208.

[0113] A schematic diagram of the storage shelf 205 can be as follows: Figure 3 As shown, Figure 3 This is a first schematic diagram of a storage shelf. The storage shelf 301 may include a plurality of storage locations 302 for storing incoming materials.

[0114] Steps S101 to S104 are described below respectively:

[0115] In step S101, when the incoming materials need to be stored in the warehouse, the scheduling device can send the storage instructions corresponding to the incoming materials to the handling robot, wherein the storage instructions may include the storage shelf location to which the incoming materials are to be transported, and the storage shelf may include the upper storage location and the lower docking layer.

[0116] After receiving the storage instruction, the handling robot can transport the incoming materials to the docking layer indicated by the storage instruction. Figure 4 Introduce the connection layer of storage shelves. Figure 4 This is a second schematic diagram of a storage shelf, in which the connecting layer 401 is located at the bottom layer of the storage shelf and is used for temporarily storing incoming materials.

[0117] Next, the dispatching device can control the material box overhead rail robot to move the incoming materials from the docking layer to the storage location on the upper layer of the storage shelf indicated by the warehousing instruction, that is, execute step S102.

[0118] The scheduling device responds to the picking instruction of the target material, indicating that the target material needs to be picked. At this time, the scheduling device can control the material box overhead rail robot to move the material box containing the target material from the storage location on the upper layer of the storage shelf to the flow shelf, and control the traction robot to go to the flow shelf where the target material is located, that is, execute step S103.

[0119] In one embodiment, the scheduling device can control the material box overhead rail robot to move the material box containing the target material from the storage position on the upper layer of the storage shelf to the flow shelf at the bottom of the storage shelf. That is, after taking the material box from the storage position on the upper layer of the storage shelf, the material box is placed on the flow shelf of the same storage shelf.

[0120] In another embodiment, if a material box overhead rail robot can be responsible for the storage shelves on both sides of the aisle, then the scheduling device can control the material box overhead rail robot to move the material box containing the target material from the storage position on the upper layer of the storage shelf to the flow rack at the bottom of the storage shelf, or to the flow rack at the bottom of other storage shelves. That is to say, after taking the material box from the storage position on the upper layer of the storage shelf, the material box can be placed on the flow rack at the bottom of the same storage shelf, or on the flow rack at the bottom of other storage shelves.

[0121] After the traction robot arrives at the storage shelf area, the operator can place the target material on the material vehicle towed by the traction robot. The target material is at least one of the incoming materials, and the flow shelf can be located at the bottom of the storage shelf.

[0122] For example, assuming that the scheduling device receives picking instructions for incoming material 1-incoming material 3, then incoming material 1-incoming material 3 are the target materials, and the traction robot can go to the storage shelves where incoming material 1-incoming material 3 are located in turn, so that the operator can place incoming material 1-incoming material 3 on the material cart towed by the traction robot.

[0123] Next, the scheduling device can control the traction robot to go to the online workstation corresponding to the target material, that is, execute step S104.

[0124] It can be seen that in the embodiment of the present application, the handling robot directly transports the incoming materials to the docking layer of the storage shelf, and the material box overhead rail robot transports the incoming materials from the docking layer to the storage position of the storage shelf without the need for multiple transfers between shelves. Therefore, the efficiency of logistics warehousing can be improved and the manufacturing cost can be reduced. When picking is required, the traction robot towing the material cart goes directly to the storage shelf for picking, rather than the designated material picking area, so the picking efficiency can be improved.

[0125] As an implementation of an embodiment of the present application, the storage shelf may include storage locations on the upper layer and a picking port on the lower layer. The picking port may be provided with a light prompt device. After the material box is placed on the flow shelf, it can slide to the picking port of the flow shelf.

[0126] In this case, if Figure 5 As shown, in response to the picking instruction for the target material, the step of controlling the material box overhead rail robot to move the material box containing the target material from the storage position to the flow shelf, and controlling the traction robot to go to the flow shelf where the target material is located so that the operator places the target material on the material vehicle towed by the traction robot may include:

[0127] S501, in response to obtaining a material requirement list, determining a location of a target picking port bound to a target material identifier included in the material requirement list;

[0128] First, the structure of the storage rack is described in conjunction with FIG6 (a) and FIG6 (b). FIG6 (a) is a third schematic diagram of the storage rack. The upper layer of the storage rack 601 has a plurality of storage positions 602, and the bottom of the storage rack 601 has a flow rack 603. The flow rack 603 has the same depth as the storage rack 601. For example, the storage rack 601 has a depth of two storage positions, and the flow rack 603 also has a depth of two storage positions.

[0129] The flow rack 603 has an upper cargo entry end 604, a transmission structure 605, and a picking port 606 at the bottom. The transmission structure 605 is used to transmit the material box from the cargo entry end 604 to the picking port 606. Specifically, the transmission structure 605 can be an inclined structure, and the material box is transmitted from the cargo entry end 604 to the picking port 606 by its own gravity. The transmission structure 605 can also be an automated conveyor belt or similar transmission equipment, which is not specifically limited here.

[0130] The picking port 606 is provided with a light prompting device 607, which is used to prompt the operator of the location of the target picking port where the target material is located. When material picking is required, the operator will take the target material from the picking port 606, and the target material can be transported from the storage position 602 to the picking port 606 by the material box overhead rail robot.

[0131] FIG6 (b) is a fourth schematic diagram of a storage rack, in which a flow rack 608 is provided at the bottom of the storage rack 601. The flow rack 608 also has an upper loading port 609, a transmission structure 610, a bottom picking port 611, and a light prompt device 612. The difference between the flow rack 603 in FIG6 (a) is that the depth of the flow rack 608 in FIG6 (b) is greater than that of the storage rack 601. For example, the storage rack 601 is two storage positions deep, and the flow rack 608 is three storage positions deep.

[0132] When the dispatching device obtains the bill of materials (BOM), the dispatching device can determine the location of the target picking port bound to the target material identifier based on the target material identifier included in the BOM and the pre-established binding relationship between the material identifier and the location of the picking port. The material identifier can be a material name, material number, etc., which is not specifically limited here. The binding relationship can be adjusted according to actual needs.

[0133] S502, controlling the material box overhead rail robot to take the material box containing the target material from the storage position on the upper layer of the storage shelf, and placing the taken material box on the flow shelf to which the target picking port belongs, so that the material box slides to the target picking port;

[0134] First, the flow rack is introduced in conjunction with Figure 6 (a) and Figure 6 (b). As shown in Figure 6 (a), a flow rack 603 is set at the bottom of the storage rack 601. After the material box is placed at the incoming goods end 604, it will be transferred to the picking port 606 through the transmission structure 605. As shown in Figure 6 (b), a flow rack 608 is set at the bottom of the storage rack 601. After the material box is placed at the incoming goods end 609, it will be transferred to the picking port 611 through the transmission structure 610.

[0135] After the dispatching device determines the location of the target picking port, it can control the bin overhead rail robot to take the bin containing the target material from the storage location on the upper layer of the storage shelf and place the taken bin on the flow shelf to which the target picking port belongs. In this way, the bin will be transported to the target picking port.

[0136] Specifically, if a material box overhead rail robot can be responsible for the storage shelves on both sides of the lane, in one embodiment, the scheduling device can control the material box overhead rail robot to pick up material boxes from the storage position on the upper layer of the storage shelf above the flow shelf to which the target picking port belongs, and place the picked up material boxes on the flow shelf to which the target picking port belongs. In another embodiment, the scheduling device can control the material box overhead rail robot to pick up material boxes from the storage position on the upper layer of the storage shelf above other flow shelves, and place the picked up material boxes on the flow shelf to which the target picking port belongs.

[0137] S503, controlling the traction robot to go to the position of the target picking port, and turning on the target lighting prompt device corresponding to the target picking port, so that the operator can determine the target picking port based on the target lighting prompt device, take the target material from the target picking port and place it in the material cart towed by the traction robot.

[0138] Next, combine Figure 7 The specific structures of the traction robot and the material cart are described. The traction robot 701 tows three material carts 702, and the material carts 702 can be used to load target materials.

[0139] After the dispatching device determines the location of the target picking port, it can control the traction robot to go to the location of the target picking port. In order to remind the operator of the location of the target picking port, the dispatching device can turn on the target lighting reminder device corresponding to the target picking port. In this way, the operator can determine the picking port corresponding to the turned-on target lighting reminder device as the target picking port, and take the target material from the target picking port and place it in the material vehicle towed by the traction robot. Afterwards, the operator can turn off the target lighting reminder device.

[0140] For example, if the material demand list includes the identification of picking port 1, the dispatching device will control the traction robot to go to the position of picking port 1 and turn on the lighting prompt device corresponding to picking port 1. Based on the target lighting prompt device in the turned-on state, the operator can determine that picking port 1 is the target picking port, and then take the target material from picking port 1 and place it in the material vehicle towed by the traction robot.

[0141] It can be seen that in the embodiment of the present application, in response to obtaining the material demand list, the scheduling device can determine the position of the target picking port bound to the target material identifier included in the material demand list; control the material box overhead rail robot to take the material box containing the target material from the storage position on the upper layer of the storage shelf, and place the taken material box on the flow shelf to which the target picking port belongs, so that the material box slides to the target picking port; control the traction robot to go to the position of the target picking port, and turn on the target lighting prompt device corresponding to the target picking port, so that the operator can determine the target picking port based on the target lighting prompt device, take the target material from the target picking port and place it in the material vehicle towed by the traction robot, wherein the target material is transported from the storage position to the target picking port by the material box overhead rail robot. Since the picking of the target material is carried out directly on the storage shelf, rather than in the designated material picking area, the picking efficiency can be improved. In addition, through the lighting prompt device, the operator can quickly determine the position of the target picking port, which can also improve the picking efficiency.

[0142] As an implementation method of the present application, Figure 8 As shown, the step of turning on the target lighting prompt device corresponding to the target picking port may include:

[0143] S801, determining the production line corresponding to the material requirement list executed by the traction robot;

[0144] There are usually multiple production lines in a warehousing system. When a production line has material requirements, the scheduling device will receive the material requirement list. Then, the scheduling device can complete the picking of the target material through the traction robot. When the traction robot executes the material requirement list, the scheduling device can determine the production line corresponding to the material requirement list executed by the traction robot, that is, the production line that needs to use the target material indicated by the material requirement list.

[0145] S802, using the light prompting device of the target picking port corresponding to the determined production line as the target light prompting device, and turning on the target light prompting device.

[0146] Next, the scheduling device can, based on the predetermined correspondence between the production line and the picking port, use the lighting prompt device of the target picking port corresponding to the determined production line as the target lighting prompt device, and turn on the target lighting prompt device.

[0147] The above correspondence can be determined based on the material demand of the production line and the materials stored on the storage shelf. For example, assuming that production line 1 requires target material 1 and target material 1 is stored on storage shelf 1, then a correspondence between production line 1 and the picking port of storage shelf 1 can be established.

[0148] In one embodiment, the storage shelves are arranged in rows, and there are aisles between adjacent storage shelves. It is assumed that multiple production lines have different material requirements at the same time, and the target materials required by the multiple production lines are stored in storage shelves adjacent to the same aisle.

[0149] If a traction robot is only used to execute the material requirement list corresponding to one production line, then when the traction robot reaches the channel corresponding to the target picking port, the operator only needs to pick up the target material indicated by the material requirement list executed by the traction robot. If the lighting prompt devices of the target picking ports corresponding to multiple production lines are lit at the same time, the operator will not be able to determine which picking port has the target material indicated by the material requirement list executed by the traction robot.

[0150] Therefore, the production line corresponding to the material requirement list executed by the traction robot can be determined, and the light prompt device of the target picking port corresponding to the determined production line is used as the target light prompt device, and then the target light prompt device is turned on. In this way, the operator can clearly know the target picking port where the target material indicated by the material requirement list executed by the traction robot is located.

[0151] Continue as Figure 7 As shown, assuming that production line 1 corresponds to the first picking port 711 and the second picking port 712, production line 2 corresponds to the third picking port 713 and the fourth picking port 714, and the traction robot 701 is executing the material requirement list corresponding to production line 1, then only the light prompting devices of the first picking port 711 and the second picking port 712 can be turned on. Later, if other traction robots executing the material requirement list corresponding to production line 2 arrive here, then only the light prompting devices of the third picking port 713 and the fourth picking port 714 can be turned on.

[0152] It can be seen that in the embodiment of the present application, the scheduling device can determine the production line corresponding to the material demand list executed by the traction robot; use the lighting prompt device of the target picking port corresponding to the determined production line as the target lighting prompt device, and turn on the target lighting prompt device, wherein the correspondence between the production line and the picking port is determined based on the material demand of the production line and the materials stored in the storage shelf. In this way, the target lighting prompt device that needs to be turned on can be quickly and accurately determined according to the production line corresponding to the material demand list executed by the traction robot.

[0153] As an implementation of an embodiment of the present application, there may be multiple material demand orders. In this case, the step of controlling the traction robot to go to the on-line station corresponding to the target material may include:

[0154] The traction robot that controls the transport of the target material included in each material requirement list goes to the on-line station corresponding to the target material in sequence according to the preset priority order of the production line corresponding to each material requirement list.

[0155] There may be preset priorities between multiple production lines. For example, the preset priorities may be determined based on the importance of multiple production lines, and production lines with higher importance have higher preset priorities. If multiple production lines have material requirements, the scheduling device will control multiple traction robots to execute the material requirement orders corresponding to these production lines.

[0156] After multiple traction robots have completed picking, the traction robots that carry the target materials included in each material requirement list can be controlled to go to the online workstations corresponding to the target materials in turn according to the preset priority order of the production line corresponding to each material requirement list.

[0157] For example, the preset priorities of the production lines are in the order from high to low: production line 2, production line 3, production line 1. Assuming that traction robot 1-traction robot 3 execute the material requirement orders corresponding to production lines 1-production line 3 respectively, then these traction robots can be controlled to go to the online workstations of the corresponding production lines in the order of traction robot 2, traction robot 3, and traction robot 1.

[0158] It can be seen that in the embodiment of the present application, the scheduling device can control the traction robot that carries the target material included in each material demand order to go to the corresponding on-line station of the target material in sequence according to the preset priority order of the production line corresponding to each material demand order. In this way, each traction robot can be controlled to go to the corresponding on-line station of the production line in an orderly manner according to the preset priority order corresponding to each production line.

[0159] As an implementation method of an embodiment of the present application, the above-mentioned incoming materials can be contained in material boxes, the storage shelves can include storage positions on the upper layer, and the flow shelves can include picking ports on the bottom layer. After being placed on the flow shelves, the material boxes slide to the picking ports of the flow shelves.

[0160] In this case, after the operator places the target material on the material vehicle towed by the towing robot, the method may further include at least one of the following two implementations:

[0161] After the materials in the material box located at the picking port are taken away, the cumulative material taking quantity corresponding to the picking port is increased by the material demand quantity; when the cumulative material taking quantity corresponding to the picking port reaches a preset quantity, the material box overhead rail robot is controlled to take the material box from the storage position on the upper layer of the storage shelf corresponding to the flow shelf to which the picking port belongs, and the taken material box is placed on the flow shelf so that the material box slides to the picking port of the flow shelf; and / or,

[0162] In response to a replenishment instruction issued by the operator when the material box is empty, the material box overhead rail robot is controlled to pick up the material box from the storage position on the upper layer of the storage shelf corresponding to the flow rack to which the picking port belongs, and place the picked material box on the flow rack so that the material box slides to the picking port of the flow rack.

[0163] In the first embodiment, every time the material in the material box of the picking port is taken away, the scheduling device can increase the cumulative material taking quantity corresponding to the picking port by the material demand quantity. The material demand quantity is the demand quantity corresponding to the material included in the material demand list. For example, the material demand quantity can be 1, 2, 3, and so on. If the cumulative material taking quantity corresponding to the picking port reaches the preset quantity, it means that the material quantity stored in the picking port is insufficient and the picking port needs to be replenished.

[0164] Next, the scheduling device can control the material box overhead rail robot to pick up the material box from the storage position on the upper layer of the storage shelf corresponding to the flow shelf to which the picking port belongs, and place the picked material box on the flow shelf, and the material box will slide to the picking port of the flow shelf.

[0165] The preset number can be set according to actual needs, and can be the maximum number of materials that the material box can accommodate, or can be less than the maximum number, which is reasonable. For example, the preset number can be 5, 4, 3, and so on.

[0166] For example, suppose the preset quantity is 5, and the current cumulative number of materials taken from a certain picking port is 4. If the operator takes 1 material from the picking port, the cumulative number of materials taken from the picking port will be 5. When the preset quantity is reached, the dispatching device will control the material box overhead rail robot to take the material box from the storage position on the upper layer of the storage shelf to which the picking port belongs, and place the taken material box on the flow shelf of the storage shelf, so that the material box slides to the picking port of the flow shelf, thereby completing the replenishment.

[0167] In the second embodiment, when the operator finds that the material box in the picking port is empty, he can actively send a replenishment instruction to the scheduling device. In response to the replenishment instruction, the scheduling device can control the material box overhead rail robot to take away the empty material box, and then take the material box from the storage position on the upper layer of the storage shelf corresponding to the flow shelf to which the picking port belongs, and place the taken material box on the flow shelf, and the material box will slide to the picking port of the flow shelf.

[0168] It can be seen that in the embodiment of the present application, after the material in the material box located at the picking port is taken away, the cumulative material taking quantity corresponding to the picking port is increased by the material demand quantity, wherein the material demand quantity is the demand quantity corresponding to the material included in the material demand list; when the cumulative material taking quantity corresponding to the picking port reaches the preset quantity, the material box overhead rail robot is controlled to take the material box from the storage position on the upper layer of the storage shelf corresponding to the flow shelf to which the picking port belongs, and the taken material box is placed on the flow shelf so that the material box slides to the picking port of the flow shelf; and / or, in response to the replenishment instruction issued by the operator when the material box is empty, the material box overhead rail robot is controlled to take the material box from the storage position on the upper layer of the storage shelf corresponding to the flow shelf to which the picking port belongs, and the taken material box is placed on the flow shelf so that the material box slides to the picking port of the flow shelf. In this way, the scheduling device can realize the replenishment of materials through at least one of the above two implementation modes.

[0169] As an implementation of the embodiment of the present application, the above method may also include:

[0170] Control the empty return conveyor line to transport the empty material box to the empty material box docking port; control the robotic arm to grab the empty material box located at the empty material box docking port, and stack the empty material box on the pallet; after the stacking is completed, control the transport robot to transport the stacked pallet to the empty return area.

[0171] The above steps are explained below: During material picking, if the operator takes out the materials contained in a bin, an empty bin will be generated. After the empty bin is generated, the operator can place the empty bin on the empty return conveyor line. Next, the dispatching device can control the empty return conveyor line to transport the empty bin to the empty bin docking port.

[0172] After the empty material box is transported to the empty material box docking port, the dispatching device can control the robot arm to grab the empty material box at the empty material box docking port and stack the empty material box on the pallet. After the stacking is completed, the dispatching device can control the handling robot to transport the stacked pallet to the empty return area. The handling robot used to transport the pallet here can be the handling robot used for picking up materials mentioned above, or it can be other handling robots, which are not specifically limited here.

[0173] Subsequently, after receiving new incoming materials, the incoming materials can be contained in the empty material boxes stored in the return area.

[0174] It can be seen that in the embodiment of the present application, the scheduling device can control the empty return conveyor line to transport the empty material box to the empty material box docking port, wherein the empty material box is placed on the empty return conveyor line by the operator; control the robotic arm to grab the empty material box located at the empty material box docking port, and stack the empty material box on the pallet; after the stacking is completed, control the handling robot to transport the stacked pallet to the empty return area, wherein the empty return area is used to store the empty material box. In the above process, after the empty material box is generated, the empty material box can be transported to the empty return area. In this way, after the new incoming materials are received later, the incoming materials can be contained in the empty material boxes stored in the empty return area, thereby realizing the cycle of material box use.

[0175] As an implementation of an embodiment of the present application, the material picking system may further include a conveyor line, which may be used to transport incoming materials from a unloading point to a docking point. In this case, the step of sending an incoming instruction corresponding to the incoming material to the handling robot so that the handling robot transports the incoming material to a docking layer at the bottom of the storage shelf indicated by the incoming instruction may include:

[0176] The storage instruction corresponding to the storage material is sent to the transport robot, so that the transport robot goes to the docking point of the conveyor line to pick up the storage material, and transports the storage material to the docking layer of the bottom layer of the storage shelf indicated by the storage instruction.

[0177] The above-mentioned storage instruction may also include the current docking point location of the storage material. In this way, after receiving the storage instruction, the handling robot can go to the docking point of the conveyor line indicated by the storage instruction to pick up the storage material, and then transport the storage material to the docking layer of the bottom layer of the storage shelf indicated by the storage instruction.

[0178] It can be seen that in the embodiment of the present application, the dispatching device can send the storage instruction corresponding to the incoming material to the handling robot, so that the handling robot goes to the docking point of the conveyor line to pick up the incoming material and transports the incoming material to the docking layer of the bottom layer of the storage shelf indicated by the storage instruction. In this way, the handling robot can pick up the material from the docking point of the conveyor line.

[0179] As an implementation method of an embodiment of the present application, the above-mentioned conveyor line may be provided with an image acquisition device, and the conveyor line may include a trunk conveyor line and multiple branch conveyor lines, and a connection point is provided at the end of each branch conveyor line.

[0180] In this case, if Fig. 9As shown, before the step of sending the storage instruction corresponding to the storage material to the handling robot, the method may further include:

[0181] S901, obtaining category information obtained by the image acquisition device identifying a label corresponding to an incoming material on the conveyor line;

[0182] First combine Fig.10 The specific structure of the conveyor line is introduced. The conveyor line includes a main conveyor line 1001 and multiple branch conveyor lines 1002. A connection point 1004 is set at the end of each branch conveyor line 1002. The end of the branch conveyor line 1002 refers to the end of the conveyor line in the moving direction. The moving direction of the conveyor line is along the arrow direction marked in the figure. The conveyor line is also provided with multiple image acquisition devices 1003.

[0183] After the material box is unloaded, inspected, and received, the operator or robot arm can remove the pallet of the material box and place the material box on the conveyor line. Then, the image acquisition device can identify the label corresponding to the incoming material on the conveyor line and obtain the material category information. The dispatching device can then obtain the material category information. Among them, the label corresponding to the incoming material can be pasted on the surface of the incoming material.

[0184] S902, matching the category information with the incoming document to determine the target storage location corresponding to the incoming material;

[0185] After obtaining the category information of the material, the dispatching device can match the category information with the incoming document to determine the target storage location corresponding to the incoming material. The incoming document may include the corresponding relationship between the category information of the material and the storage location.

[0186] S903, based on the correspondence between the storage position and the branch conveying line, determining the branch conveying line corresponding to the target storage position;

[0187] Next, the scheduling device may determine the branch conveyor line corresponding to the target storage location based on the predetermined correspondence between the storage location and the branch conveyor line.

[0188] S904: transport the incoming materials to the determined connecting point of the branch conveyor line.

[0189] Furthermore, the dispatching equipment can transport the incoming materials to the designated connection point of the branch conveyor line, thereby realizing the incoming material diversion.

[0190] For example, if the category information of a certain incoming material is 001, then the category information 001 can be matched with the incoming document to obtain that the storage location corresponding to the category information 001 is the 4th storage shelf in the 5th column. Assuming that the branch conveyor line corresponding to the storage location of the 4th storage shelf in the 5th column is branch conveyor line 3, the dispatching device can transport the incoming material to the docking point corresponding to branch conveyor line 3.

[0191] It can be seen that in the embodiment of the present application, the scheduling device can obtain the category information obtained by the image acquisition device identifying the label corresponding to the incoming material on the conveyor line; match the category information with the incoming document to determine the target storage location corresponding to the incoming material, wherein the incoming document includes the corresponding relationship between the category information of the material and the storage location; based on the corresponding relationship between the storage location and the branch conveyor line, determine the branch conveyor line corresponding to the target storage location; and transport the incoming material to the connection point of the determined branch conveyor line. In this way, the incoming materials can be diverted quickly and accurately, thereby improving the efficiency of warehousing.

[0192] In the technical solution of this application, the operations involved in obtaining, storing, using, processing, transmitting, providing and disclosing user personal information are all carried out with the user's authorization.

[0193] Corresponding to the above-mentioned material picking method, the embodiment of the present application further provides a material picking device. The material picking device provided by the embodiment of the present application is introduced below.

[0194] like Fig.11 As shown, a material picking device is applied to a dispatching device in a material picking system. The material picking system also includes a robot, and the robot includes a handling robot, a material box overhead rail robot, and a traction robot. The traction robot is used to tow a material vehicle. The device includes:

[0195] The instruction sending module 1101 is used to send a storage instruction corresponding to the storage material to the handling robot, so that the handling robot transports the storage material to the docking layer of the bottom layer of the storage shelf indicated by the storage instruction;

[0196] The first control module 1102 is used to control the material box overhead rail robot to move the incoming materials from the docking layer to the storage location on the upper layer of the storage shelf indicated by the incoming instruction;

[0197] The second control module 1103 is used to control the bin overhead rail robot to move the bin containing the target material from the storage location to the flow shelf in response to the picking instruction for the target material, and control the traction robot to go to the flow shelf where the target material is located, so that the operator can place the target material on the material vehicle towed by the traction robot, wherein the target material is at least one of the incoming materials, and the flow shelf is located at the bottom of the storage shelf;

[0198] The third control module 1104 is used to control the traction robot to go to the online workstation corresponding to the target material.

[0199] It can be seen that in the scheme provided by the embodiment of the present application, the scheduling device can send the warehousing instruction corresponding to the incoming material to the handling robot, so that the handling robot will transport the incoming material to the docking layer of the bottom layer of the storage shelf indicated by the warehousing instruction; control the material box overhead rail robot to transport the incoming material from the docking layer to the storage position on the upper layer of the storage shelf indicated by the warehousing instruction; in response to the picking instruction for the target material, control the material box overhead rail robot to transport the material box containing the target material from the storage position to the flow shelf, and control the traction robot to go to the flow shelf where the target material is located, so that the operator can place the target material on the material vehicle towed by the traction robot, wherein the target material is at least one of the incoming materials, and the flow shelf is located at the bottom of the storage shelf; control the traction robot to go to the corresponding on-line station of the target material. In the above scheme, the handling robot directly transports the incoming material to the docking layer of the storage shelf, and the material box overhead rail robot transports the incoming material from the docking layer to the storage position of the storage shelf without the need for multiple transfers between shelves. Therefore, the efficiency of logistics warehousing can be improved and the manufacturing cost can be reduced. When picking is required, the traction robot towing a material cart goes directly to the storage shelves for picking, rather than to the designated material picking area, thus improving picking efficiency.

[0200] As an implementation of the embodiment of the present application, the storage shelf may include storage locations on the upper layer, and the flow shelf may include a picking port on the bottom layer, and the picking port is provided with a light prompt device, and the material box may slide to the picking port of the flow shelf after being placed on the flow shelf. In this case, the second control module 1103 may include:

[0201] A position determination submodule, configured to determine, in response to obtaining a material requirement list, a position of a target picking port bound to a target material identifier included in the material requirement list;

[0202] The first control submodule is used to control the material box overhead rail robot to take the material box containing the target material from the storage position on the upper layer of the storage shelf, and place the taken material box on the flow shelf to which the target picking port belongs, so that the material box slides to the target picking port;

[0203] The device opening submodule is used to control the traction robot to go to the position of the target picking port, and turn on the target lighting prompt device corresponding to the target picking port, so that the operator can determine the target picking port based on the target lighting prompt device, take the target material from the target picking port and place it in the material cart towed by the traction robot.

[0204] As an implementation of the embodiment of the present application, the above-mentioned device opening submodule may include:

[0205] A production line determination unit, used to determine the production line corresponding to the material requirement list executed by the traction robot;

[0206] The device starts a unit, which is used to use the lighting prompt device of the target picking port corresponding to the determined production line as the target lighting prompt device, and turns on the target lighting prompt device, wherein the correspondence between the production line and the picking port is determined based on the material demand of the production line and the materials stored in the storage shelves.

[0207] As an implementation of the embodiment of the present application, the material requirement list may be multiple. In this case, the third control module 1104 may include:

[0208] The second control submodule is used to control the traction robot that transports the target material included in each material requirement list, and go to the online workstation corresponding to the target material in sequence according to the preset priority order of the production line corresponding to each material requirement list.

[0209] As an implementation method of the embodiment of the present application, the above-mentioned incoming materials can be contained in a material box, the storage shelf can include a storage position on the upper layer, the flow shelf can include a picking port on the bottom layer, and the material box can slide to the picking port of the flow shelf after being placed on the flow shelf. In this case, the above-mentioned device can also include:

[0210] A counting module, used for increasing the accumulated material taking quantity corresponding to the picking port by the material demand quantity after the material in the material box located at the picking port is taken away, wherein the material demand quantity is the demand quantity corresponding to the material included in the material demand list;

[0211] The fourth control module is used to control the material box overhead rail robot to pick up the material box from the storage position on the upper layer of the storage shelf corresponding to the flow shelf to which the picking port belongs, and place the picked material box on the flow shelf, so that the material box slides to the picking port of the flow shelf when the cumulative material picking quantity corresponding to the picking port reaches a preset quantity;

[0212] The fifth control module is used to respond to the replenishment instruction issued by the operator when the material box is empty, control the material box overhead rail robot to pick up the material box from the storage position on the upper layer of the storage shelf corresponding to the flow rack to which the picking port belongs, and place the picked material box on the flow rack so that the material box slides to the picking port of the flow rack.

[0213] As an implementation of the embodiment of the present application, the above device may further include:

[0214] a sixth control module, configured to control the empty return conveyor line to transport the empty material box to the empty material box docking port, wherein the empty material box is placed on the empty return conveyor line by the operator;

[0215] a seventh control module, used for controlling the robot arm to grab the empty material box located at the empty material box docking port and stack the empty material box on a pallet;

[0216] The eighth control module is used to control the transport robot to transport the stacked pallets to the empty return area after the stacking is completed, wherein the empty return area is used to store empty material boxes.

[0217] As an implementation of an embodiment of the present application, the material picking system may further include a conveyor line, which may be used to transport incoming materials from a unloading point to a docking point. In this case, the instruction sending module 1101 may include:

[0218] The instruction sending submodule is used to send the storage instruction corresponding to the incoming material to the handling robot, so that the handling robot goes to the docking point of the conveyor line to pick up the incoming material and transport the incoming material to the docking layer of the bottom layer of the storage shelf indicated by the storage instruction.

[0219] As an implementation of an embodiment of the present application, the above-mentioned conveyor line may be provided with an image acquisition device, and the conveyor line may include a trunk conveyor line and a plurality of branch conveyor lines, and a connection point may be provided at the end of each branch conveyor line. In this case, the above-mentioned device may also include:

[0220] A category information acquisition module, used to acquire category information obtained by the image acquisition device identifying the label corresponding to the incoming material on the conveyor line;

[0221] A storage location determination module, used to match the category information with the incoming document to determine the target storage location corresponding to the incoming material, wherein the incoming document includes the correspondence between the category information of the material and the storage location;

[0222] A branch conveyor line determination module, used to determine the branch conveyor line corresponding to the target storage position based on the corresponding relationship between the storage position and the branch conveyor line;

[0223] The transport module is used to transport the incoming materials to the determined connection point of the branch conveyor line.

[0224] The present application also provides a storage system. Fig.12 As shown, the material picking system includes a dispatching device 1201 and a robot 1202. The robot 1202 includes a handling robot 1211, a material box overhead rail robot 1212, and a traction robot 1213. The traction robot 1213 is used to traction a material vehicle, wherein:

[0225] The dispatching device 1201 is used to send the storage instruction corresponding to the storage material to the handling robot 1211;

[0226] The transport robot 1211 is used to respond to the warehousing instruction and transport the incoming materials to the docking layer of the bottom layer of the storage shelf indicated by the warehousing instruction;

[0227] The dispatching device 1201 is also used to send a storage location handling instruction to the material box overhead rail robot 1212;

[0228] The material box overhead rail robot 1212 is used to respond to the storage position transport instruction and transport the incoming materials from the docking layer to the storage position on the upper layer of the storage shelf indicated by the storage instruction;

[0229] The dispatching device 1201 is further used to send a material replenishment instruction to the material box overhead rail robot 1212 and a material fetching instruction to the traction robot 1213 in response to a picking instruction for a target material;

[0230] The material box overhead rail robot 1212 is further used to move the material box containing the target material from the storage position to the flow rack in response to the material replenishment instruction, wherein the flow rack is located at the bottom of the storage rack;

[0231] The traction robot 1213 is used to respond to the material fetching instruction and go to the flow shelf where the target material is located, so that the operator can place the target material on the material vehicle towed by the traction robot 1213, wherein the target material is at least one of the warehoused materials;

[0232] The dispatching device 1201 is also used to send a feeding instruction to the traction robot 1213;

[0233] The traction robot 1213 is also used to respond to the feeding instruction and go to the online workstation corresponding to the target material.

[0234] It can be seen that in the scheme provided by the embodiment of the present application, the scheduling device can send the warehousing instruction corresponding to the incoming material to the handling robot, so that the handling robot will transport the incoming material to the docking layer of the bottom layer of the storage shelf indicated by the warehousing instruction; control the material box overhead rail robot to transport the incoming material from the docking layer to the storage position on the upper layer of the storage shelf indicated by the warehousing instruction; in response to the picking instruction for the target material, control the material box overhead rail robot to transport the material box containing the target material from the storage position to the flow shelf, and control the traction robot to go to the flow shelf where the target material is located, so that the operator can place the target material on the material vehicle towed by the traction robot, wherein the target material is at least one of the incoming materials, and the flow shelf is located at the bottom of the storage shelf; control the traction robot to go to the corresponding on-line station of the target material. In the above scheme, the handling robot directly transports the incoming material to the docking layer of the storage shelf, and the material box overhead rail robot transports the incoming material from the docking layer to the storage position of the storage shelf without the need for multiple transfers between shelves. Therefore, the efficiency of logistics warehousing can be improved and the manufacturing cost can be reduced. When picking is required, the traction robot towing a material cart goes directly to the storage shelves for picking, rather than to the designated material picking area, thus improving picking efficiency.

[0235] As an implementation of the embodiment of the present application, the storage shelf may include storage positions on the upper layer, and the flow shelf may include a picking port on the bottom layer, and the picking port is provided with a light prompt device, and the material box slides to the picking port of the flow shelf after being placed on the flow shelf;

[0236] The dispatching device is specifically used to determine the position of the target picking port bound to the target material identifier included in the material demand list in response to obtaining the material demand list; send a material replenishment instruction to the material box overhead rail robot, send a material fetching instruction to the traction robot and turn on the target lighting prompt device corresponding to the target picking port;

[0237] The material box overhead rail robot is specifically used to respond to the material replenishment instruction, take the material box containing the target material from the storage position on the upper layer of the storage shelf, and place the taken material box on the flow shelf to which the target picking port belongs, so that the material box slides to the target picking port;

[0238] The traction robot is specifically used to respond to the material picking instruction and go to the position of the target picking port, so that the operator can determine the target picking port based on the target lighting prompt device, pick up the target material from the target picking port and place it in the material cart towed by the traction robot.

[0239] As an implementation mode of an embodiment of the present application, the above-mentioned scheduling device is specifically used to determine the production line corresponding to the material requirement list executed by the traction robot; use the lighting prompt device of the target picking port corresponding to the determined production line as the target lighting prompt device, and turn on the target lighting prompt device, wherein the correspondence between the production line and the picking port is determined based on the material demand of the production line and the materials stored in the storage shelves.

[0240] As an implementation method of the embodiment of the present application, there are multiple material demand orders;

[0241] The dispatching device is specifically used to send a material delivery instruction to a traction robot of a target material included in each material demand list;

[0242] The traction robot is specifically used to respond to the feeding instruction and go to the online workstation corresponding to the target material in sequence according to the preset priority order of the production line corresponding to each material demand order.

[0243] As an implementation method of the embodiment of the present application, the above-mentioned incoming materials are contained in a material box, the storage shelf includes a storage position on the upper layer, the flow shelf includes a picking port on the bottom layer, and the material box slides to the picking port of the flow shelf after being placed on the flow shelf;

[0244] The scheduling device is further used to increase the cumulative material taking quantity corresponding to the picking port by the material demand quantity after the material in the material box located at the picking port is taken away; when the cumulative material taking quantity corresponding to the picking port reaches a preset quantity, send a replenishment instruction to the material box overhead rail robot, wherein the material demand quantity is the demand quantity corresponding to the material included in the material demand list;

[0245] The material box overhead rail robot is further used to respond to the replenishment instruction, take the material box from the storage position on the upper layer of the storage shelf corresponding to the flow shelf to which the picking port belongs, and place the taken material box on the flow shelf so that the material box slides to the picking port of the flow shelf; and / or,

[0246] The dispatching device is further used to send a replenishment instruction to the material box overhead rail robot in response to a replenishment instruction issued by an operator when the material box is an empty material box;

[0247] The material box overhead rail robot is also used to respond to the replenishment instruction, take the material box from the storage position on the upper layer of the storage shelf corresponding to the flow shelf to which the picking port belongs, and place the taken material box on the flow shelf so that the material box slides to the picking port of the flow shelf.

[0248] As an implementation method of the embodiment of the present application, the dispatching device is also used to send a transport instruction to the empty return conveyor line;

[0249] The empty return conveyor line is used to transport the empty material box to the empty material box docking port in response to the transport instruction, wherein the empty material box is placed on the empty return conveyor line by the operator;

[0250] The scheduling device is also used to send a stacking instruction to the robotic arm;

[0251] The robot arm is used to grab the empty material box located at the empty material box docking port in response to the stacking instruction, and stack the empty material box on the pallet;

[0252] The dispatching device is also used to send a pallet handling instruction to the handling robot after the stacking is completed;

[0253] The transport robot is used to respond to the pallet transport instruction to transport the pallet after stacking to the empty return area, wherein the empty return area is used to store empty material boxes.

[0254] As an implementation method of the embodiment of the present application, the material picking system further includes a conveyor line, which is used to transport the incoming materials from the unloading point to the docking point;

[0255] The dispatching device is specifically used to send a storage instruction corresponding to the storage material to the handling robot;

[0256] The transport robot is specifically used to respond to the warehousing instruction, go to the docking point of the conveyor line to pick up the warehousing materials, and transport the warehousing materials to the docking layer of the bottom layer of the storage shelf indicated by the warehousing instruction.

[0257] As an implementation method of the embodiment of the present application, the above-mentioned conveyor line is provided with an image acquisition device, and the conveyor line includes a trunk conveyor line and a plurality of branch conveyor lines, and a connection point is provided at the end of each branch conveyor line;

[0258] The scheduling device is also used to obtain the category information obtained by the image acquisition device when identifying the label corresponding to the incoming material on the conveyor line; match the category information with the incoming document to determine the target storage location corresponding to the incoming material, wherein the incoming document includes the correspondence between the category information of the material and the storage location; based on the correspondence between the storage location and the branch conveyor line, determine the branch conveyor line corresponding to the target storage location; and transport the incoming material to the determined connection point of the branch conveyor line.

[0259] The present application also provides a scheduling device, such as Fig.13 As shown, including:

[0260] Memory 1301, used for storing computer programs;

[0261] The processor 1302 is used to implement the material picking method described in any of the above embodiments when executing the program stored in the memory 1301.

[0262] In addition, the above-mentioned scheduling device may further include a communication bus and / or a communication interface, and the processor 1302, the communication interface, and the memory 1301 communicate with each other via the communication bus.

[0263] It can be seen that in the scheme provided by the embodiment of the present application, the scheduling device can send the warehousing instruction corresponding to the incoming material to the handling robot, so that the handling robot will transport the incoming material to the docking layer of the bottom layer of the storage shelf indicated by the warehousing instruction; control the material box overhead rail robot to transport the incoming material from the docking layer to the storage position on the upper layer of the storage shelf indicated by the warehousing instruction; in response to the picking instruction for the target material, control the material box overhead rail robot to transport the material box containing the target material from the storage position to the flow shelf, and control the traction robot to go to the flow shelf where the target material is located, so that the operator can place the target material on the material vehicle towed by the traction robot, wherein the target material is at least one of the incoming materials, and the flow shelf is located at the bottom of the storage shelf; control the traction robot to go to the corresponding on-line station of the target material. In the above scheme, the handling robot directly transports the incoming material to the docking layer of the storage shelf, and the material box overhead rail robot transports the incoming material from the docking layer to the storage position of the storage shelf without the need for multiple transfers between shelves. Therefore, the efficiency of logistics warehousing can be improved and the manufacturing cost can be reduced. When picking is required, the traction robot towing a material cart goes directly to the storage shelves for picking, rather than to the designated material picking area, thus improving picking efficiency.

[0264] The communication bus mentioned in the above scheduling device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0265] The communication interface is used for communication between the above-mentioned scheduling device and other devices.

[0266] 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.

[0267] 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.

[0268] 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 picking methods are implemented.

[0269] 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 picking methods in the above embodiments.

[0270] 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.

[0271] 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.

[0272] 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 the device, system, scheduling device, computer-readable storage medium, and computer program product embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0273] 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 picking method, characterized in that: A dispatching device applied to a material picking system, wherein the material picking system further comprises a robot, wherein the robot comprises a handling robot, a material box overhead rail robot and a traction robot, wherein the traction robot is used to traction a material vehicle, and the method comprises: Sending a storage instruction corresponding to the storage material to the transport robot, so that the transport robot transports the storage material to the docking layer of the bottom layer of the storage shelf indicated by the storage instruction; Control the material box overhead rail robot to move the incoming materials from the docking layer to the storage location on the upper layer of the storage shelf indicated by the incoming instruction; In response to a picking instruction for a target material, the material box overhead rail robot is controlled to move the material box containing the target material from the storage location to the flow shelf, and the traction robot is controlled to go to the flow shelf where the target material is located, so that the operator places the target material on the material vehicle towed by the traction robot, wherein the target material is at least one of the incoming materials, and the flow shelf is located at the bottom of the storage shelf; The traction robot is controlled to go to the on-line station corresponding to the target material.

2. The method according to claim 1, characterized in that The storage shelf includes storage positions on the upper layer, and the flow shelf includes a picking port on the bottom layer. The picking port is provided with a light prompt device, and the material box slides to the picking port of the flow shelf after being placed on the flow shelf; The step of controlling the bin overhead rail robot to move the bin containing the target material from the storage location to the flow shelf in response to the picking instruction for the target material, and controlling the traction robot to go to the flow shelf where the target material is located so that the operator places the target material on the material vehicle towed by the traction robot includes: In response to obtaining a material requirement list, determining a location of a target picking port bound to a target material identifier included in the material requirement list; Control the material box overhead rail robot to take the material box containing the target material from the storage position on the upper layer of the storage shelf, and place the taken material box on the flow shelf to which the target picking port belongs, so that the material box slides to the target picking port; The traction robot is controlled to go to the position of the target picking port, and the target lighting prompt device corresponding to the target picking port is turned on, so that the operator can determine the target picking port based on the target lighting prompt device, take the target material from the target picking port and place it in the material cart towed by the traction robot.

3. The method according to claim 2, characterized in that The step of turning on the target lighting prompt device corresponding to the target picking port includes: Determine the production line corresponding to the material requirement list executed by the traction robot; The lighting prompt device of the target picking port corresponding to the determined production line is used as the target lighting prompt device, and the target lighting prompt device is turned on, wherein the correspondence between the production line and the picking port is determined based on the material demand of the production line and the materials stored in the storage shelves.

4. The method according to claim 2, characterized in that: There are multiple material demand orders; The step of controlling the traction robot to go to the on-line station corresponding to the target material includes: The traction robot that controls the transport of the target material included in each material requirement list goes to the on-line station corresponding to the target material in sequence according to the preset priority order of the production line corresponding to each material requirement list.

5. The method according to any one of claims 1 to 4, characterized in that: The incoming materials are contained in a material box, the storage shelf includes a storage position on the upper layer, the flow shelf includes a picking port on the bottom layer, and the material box slides down to the picking port of the flow shelf after being placed on the flow shelf; After the operator places the target material on the material vehicle towed by the towing robot, the method further includes: After the material in the material box at the picking port is taken away, the accumulated material taking quantity corresponding to the picking port is increased by the material demand quantity, wherein the material demand quantity is the demand quantity corresponding to the material included in the material demand list; When the accumulated material picking quantity corresponding to the picking port reaches a preset quantity, the material box overhead rail robot is controlled to pick up the material box from the storage position on the upper layer of the storage shelf corresponding to the flow shelf to which the picking port belongs, and the picked up material box is placed on the flow shelf so that the material box slides to the picking port of the flow shelf; and / or, In response to a replenishment instruction issued by the operator when the material box is empty, the material box overhead rail robot is controlled to pick up the material box from the storage position on the upper layer of the storage shelf corresponding to the flow rack to which the picking port belongs, and place the picked material box on the flow rack so that the material box slides to the picking port of the flow rack.

6. The method according to claim 5, characterized in that The method further comprises: Controlling the empty return conveyor line to transport the empty material box to the empty material box docking port, wherein the empty material box is placed on the empty return conveyor line by the operator; Controlling the robot arm to grab the empty material box located at the empty material box docking port, and stacking the empty material box on a pallet; After the stacking is completed, the transport robot is controlled to transport the stacked pallet to the emptying area, wherein the emptying area is used to store empty material boxes.

7. The method according to any one of claims 1 to 4, characterized in that: The material picking system also includes a conveyor line, which is used to transport the incoming materials from the unloading point to the docking point; The step of sending a storage instruction corresponding to the storage material to the transport robot so that the transport robot transports the storage material to the docking layer of the bottom layer of the storage shelf indicated by the storage instruction includes: The storage instruction corresponding to the storage material is sent to the transport robot, so that the transport robot goes to the docking point of the conveyor line to pick up the storage material, and transports the storage material to the docking layer of the bottom layer of the storage shelf indicated by the storage instruction.

8. The method according to claim 7, characterized in that The conveyor line is provided with an image acquisition device, and the conveyor line includes a trunk conveyor line and a plurality of branch conveyor lines, and a connection point is provided at the end of each branch conveyor line; Before the step of sending the storage instruction corresponding to the storage material to the handling robot, the method further includes: Acquire category information obtained by the image acquisition device identifying labels corresponding to incoming materials on the conveyor line; Matching the category information with the incoming document to determine the target storage location corresponding to the incoming material, wherein the incoming document includes the correspondence between the category information of the material and the storage location; Based on the correspondence between the storage position and the branch conveying line, determining the branch conveying line corresponding to the target storage position; The incoming materials are transported to the determined connection point of the branch conveyor line.

9. A material picking device, characterized in that: A dispatching device applied to a material picking system, wherein the material picking system further comprises a robot, wherein the robot comprises a handling robot, a material box overhead rail robot and a traction robot, wherein the traction robot is used to traction a material vehicle, and the device comprises: An instruction sending module is used to send a storage instruction corresponding to the storage material to the handling robot, so that the handling robot transports the storage material to the docking layer of the bottom layer of the storage shelf indicated by the storage instruction; A first control module is used to control the material box overhead rail robot to move the incoming materials from the docking layer to the storage position on the upper layer of the storage shelf indicated by the incoming instruction; The second control module is used to control the material box overhead rail robot to move the material box containing the target material from the storage position to the flow shelf in response to the picking instruction for the target material, and control the traction robot to go to the flow shelf where the target material is located, so that the operator can place the target material on the material vehicle towed by the traction robot, wherein the target material is at least one of the incoming materials, and the flow shelf is located at the bottom of the storage shelf; The third control module is used to control the traction robot to go to the online workstation corresponding to the target material.

10. A material picking system, characterized in that: The material picking system includes a dispatching device and a robot, wherein the robot includes a handling robot, a material box overhead rail robot and a traction robot, wherein the traction robot is used to traction a material vehicle, wherein: The dispatching device is used to send storage instructions corresponding to storage materials to the handling robot; The transport robot is used to transport the incoming materials to the docking layer of the bottom layer of the storage shelf indicated by the incoming materials instruction in response to the incoming materials instruction; The dispatching device is also used to send a storage location handling instruction to the material box overhead rail robot; The material box overhead rail robot is used to respond to the storage position handling instruction and transport the incoming materials from the docking layer to the storage position on the upper layer of the storage shelf indicated by the warehousing instruction; The dispatching device is further used to send a material replenishment instruction to the material box overhead rail robot and a material fetching instruction to the traction robot in response to a picking instruction for the target material; The material box overhead rail robot is further used to move the material box containing the target material from the storage position to the flow rack in response to the material replenishment instruction, wherein the flow rack is located at the bottom of the storage rack; The traction robot is used to respond to the material fetching instruction and go to the flow shelf where the target material is located, so that the operator can place the target material on the material vehicle towed by the traction robot, wherein the target material is at least one of the warehoused materials; The dispatching device is also used to send a feeding instruction to the traction robot; The traction robot is also used to respond to the feeding instruction and go to the online workstation corresponding to the target material.

11. The system according to claim 10, characterized in that The storage shelf includes storage positions on the upper layer, and the flow shelf includes a picking port on the bottom layer. The picking port is provided with a light prompt device, and the material box slides to the picking port of the flow shelf after being placed on the flow shelf; The dispatching device is specifically used to determine the position of the target picking port bound to the target material identifier included in the material demand list in response to obtaining the material demand list; send a material replenishment instruction to the material box overhead rail robot, send a material fetching instruction to the traction robot and turn on the target lighting prompt device corresponding to the target picking port; The material box overhead rail robot is specifically used to respond to the material replenishment instruction, take the material box containing the target material from the storage position on the upper layer of the storage shelf, and place the taken material box on the flow shelf to which the target picking port belongs, so that the material box slides to the target picking port; The traction robot is specifically used to respond to the material fetching instruction and go to the position of the target picking port, so that the operator can determine the target picking port based on the target lighting prompt device, take the target material from the target picking port and place it in the material vehicle towed by the traction robot; and / or, The scheduling device is specifically used to determine the production line corresponding to the material requirement list executed by the traction robot; use the lighting prompt device of the target picking port corresponding to the determined production line as the target lighting prompt device, and turn on the target lighting prompt device, wherein the correspondence between the production line and the picking port is determined based on the material demand of the production line and the materials stored in the storage shelf; and / or, There are multiple material demand orders; The dispatching device is specifically used to send a material delivery instruction to a traction robot of a target material included in each material demand list; The traction robot is specifically used to respond to the feeding instruction and go to the on-line station corresponding to the target material in sequence according to the preset priority order of the production line corresponding to each material demand list; and / or, The incoming materials are contained in a material box, the storage shelf includes a storage position on the upper layer, the flow shelf includes a picking port on the bottom layer, and the material box slides down to the picking port of the flow shelf after being placed on the flow shelf; The scheduling device is further used to increase the cumulative material taking quantity corresponding to the picking port by the material demand quantity after the material in the material box located at the picking port is taken away; when the cumulative material taking quantity corresponding to the picking port reaches a preset quantity, send a replenishment instruction to the material box overhead rail robot, wherein the material demand quantity is the demand quantity corresponding to the material included in the material demand list; The material box overhead rail robot is further used to respond to the replenishment instruction, take the material box from the storage position on the upper layer of the storage shelf corresponding to the flow shelf to which the picking port belongs, and place the taken material box on the flow shelf so that the material box slides to the picking port of the flow shelf; and / or, The dispatching device is further used to send a replenishment instruction to the material box overhead rail robot in response to a replenishment instruction issued by an operator when the material box is an empty material box; The material box overhead rail robot is further used to respond to the replenishment instruction, take the material box from the storage position on the upper layer of the storage shelf corresponding to the flow shelf to which the picking port belongs, and place the taken material box on the flow shelf so that the material box slides to the picking port of the flow shelf; and / or, The dispatching device is also used to send a transport instruction to the empty return conveyor line; The empty return conveyor line is used to transport the empty material box to the empty material box docking port in response to the transport instruction, wherein the empty material box is placed on the empty return conveyor line by the operator; The scheduling device is also used to send a stacking instruction to the robotic arm; The robot arm is used to grab the empty material box located at the empty material box docking port in response to the stacking instruction, and stack the empty material box on the pallet; The dispatching device is also used to send a pallet handling instruction to the handling robot after the stacking is completed; The transport robot is used to transport the pallet after stacking to the empty return area in response to the pallet transport instruction, wherein the empty return area is used to store empty material boxes; and / or The material picking system also includes a conveyor line, which is used to transport the incoming materials from the unloading point to the docking point; The dispatching device is specifically used to send a storage instruction corresponding to the storage material to the handling robot; The transport robot is specifically used to respond to the warehousing instruction, go to the docking point of the conveyor line to pick up the incoming materials, and transport the incoming materials to the docking layer of the bottom layer of the storage shelf indicated by the warehousing instruction; and / or, The conveyor line is provided with an image acquisition device, and the conveyor line includes a trunk conveyor line and a plurality of branch conveyor lines, and a connection point is provided at the end of each branch conveyor line; The scheduling device is also used to obtain the category information obtained by the image acquisition device when identifying the label corresponding to the incoming material on the conveyor line; match the category information with the incoming document to determine the target storage location corresponding to the incoming material, wherein the incoming document includes the correspondence between the category information of the material and the storage location; based on the correspondence between the storage location and the branch conveyor line, determine the branch conveyor line corresponding to the target storage location; and transport the incoming material to the determined connection point of the branch conveyor line.

12. A scheduling device, characterized in that: include: Memory, used to store computer programs; A processor, for implementing any of the methods described in claims 1-8 when executing a program stored in a memory.

13. 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 8 is implemented.

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