Workbin robot scheduling method and device

Abstract

The embodiment of the invention discloses a workbin robot scheduling method and device which are applied to a workbin robot scheduling system. The specific implementation mode of the method comprises the steps that the priority of an empty box opening and the priority of a box inlet of the conveying line are obtained; whether the parking spaces corresponding to the empty box openings are occupied or not is detected according to the priority of the empty box openings from high to low, and the empty box outlet robot is controlled to run to the parking spaces of the unoccupied empty box openings to conduct box placing operation; and the line bodies are controlled to detect whether the box inlets are occupied or not according to the priority of the box inlets from high to low, and the line bodies are controlled to convey the material boxes to the unoccupied box inlets. And whether the parking spaces corresponding to the box inlets are occupied or not is detected according to the sequence of the box inlet priorities from high to low, and the garage entering and box taking robot is controlled to run to the parking spaces of the unoccupied box inlets to carry out box taking operation. According to the implementation mode, the warehousing efficiency of the conveying line is improved.

Description

Technical Field

[0001] The embodiments of the present disclosure relate to the field of logistics technology, and in particular to a method and device for dispatching a container robot. Background Art

[0002] Robots are widely used in existing logistics to carry out the warehousing and storage of goods. The multi-layer material box robot is a device that carries a backpack and a fork. The fork grabs and places the material box by lifting and lowering. When a single robot is fully loaded, the backpack is full of 8 material boxes. When performing the task of picking and warehousing, the robot takes out the empty box from the shelf in the machine area and transports the empty box to the empty box port of the conveyor line. After the warehousing worker loads the empty box at the empty box port and adds inventory, the material box is placed on the conveyor line. The material box will be automatically transported by the conveyor line to the box inlet of the conveyor line. The robot takes the material box from the box inlet and sends it to the shelf in the machine area.

[0003] The conveyor line structure of the warehousing workstation consists of an upper and lower layer line body. The upper layer stores empty boxes from the machine area, and the lower layer stores the material boxes that are about to be stored. The upper layer discharges empty boxes, and the lower layer receives the incoming material boxes. The overall flow direction defaults to the end of the roller. The capacity of the existing conveyor line is limited, which limits the replenishment of empty boxes and affects the warehousing efficiency. The material box flow of a single empty box outlet and box inlet line body is small, which affects the warehousing efficiency. A single empty box outlet and box inlet limit the number of robots working, and multiple layers cannot work simultaneously. Summary of the invention

[0004] The embodiments of the present disclosure provide a method and device for scheduling a bin robot.

[0005] In a first aspect, an embodiment of the present disclosure provides a material box robot scheduling method, which is applied to a material box robot scheduling system, wherein the material box robot scheduling system includes a line body, at least two empty box delivery robots, and at least two inbound box retrieval robots, wherein the line body has at least two empty box ports and at least two inbound box ports, and the method includes: obtaining the priority of the empty box port and the priority of the inbound box port of the conveyor line, wherein the priority of the outer empty box port is lower than the priority of the inner empty box port, and the priority of the outer inbound box port is higher than the priority of the inner inbound box port; detecting whether the parking space corresponding to the empty box port is occupied in order of the empty box port priority from high to low, and controlling the empty box delivery robot to drive to the parking space corresponding to the unoccupied empty box port for box placement operation; detecting whether the inbound box port is occupied in order of the inbound box port priority from high to low, and controlling the line body to transport the material box to the unoccupied inbound box port; detecting whether the parking space corresponding to the inbound box port is occupied in order of the inbound box port priority from high to low, and controlling the inbound box retrieval robot to drive to the parking space corresponding to the unoccupied inbound box port for box retrieval operation.

[0006] In some embodiments, the parking spaces corresponding to the empty container ports are detected in descending order of priority of the empty container ports, and the empty container robot is controlled to drive to the parking spaces corresponding to the unoccupied empty container ports to perform container placement operations, including: taking the parking space corresponding to the empty container port with the lowest priority as the end point of the empty container robot; after the empty container robot reaches the end point, determining whether the parking space corresponding to the empty container port with a higher priority is occupied; if the parking space corresponding to the empty container port with a higher priority is occupied, then waiting to detect that there is no container at the current empty container port before performing the container placement operation.

[0007] In some embodiments, the parking spaces corresponding to the empty container ports are detected in descending order of priority to see if they are occupied, and the empty container outlet robot is controlled to drive to the parking spaces corresponding to the unoccupied empty container ports to perform container placement operations, including: if the parking space corresponding to the empty container port with a higher priority is not occupied, the parking space corresponding to the empty container port with a higher priority is used as the new destination of the empty container outlet robot; after the empty container outlet robot arrives at the new destination, it waits to detect that there is no container at the empty container port corresponding to the new destination, and then performs a container placement operation.

[0008] In some embodiments, the method of detecting whether the box entry port is occupied in order of high to low priority and controlling the line to transport the material box to an unoccupied box entry port includes: detecting whether each box entry port is occupied in order of high to low priority; if all the box entry ports are occupied, transporting the material box to the highest priority box entry port to queue.

[0009] In some embodiments, the parking space corresponding to the box entry port is detected in order of priority from high to low to see if it is occupied, and the warehouse box retrieval robot is controlled to drive to the parking space corresponding to the unoccupied box entry port to perform the box retrieval operation, including: taking the parking space corresponding to the lowest priority box entry port as the end point of the warehouse box retrieval robot; after the warehouse box retrieval robot reaches the end point, it determines whether the parking space corresponding to the box entry port with a higher priority is occupied; if occupied, wait for the photoelectric signal to detect that there is a box at the current box entry port before performing the box retrieval operation.

[0010] In some embodiments, the parking space corresponding to the box entry port is detected in descending order of priority, and the warehouse box-picking robot is controlled to drive to the parking space corresponding to the unoccupied box entry port to perform the box-picking operation, including: if there is no box at the unoccupied and higher-priority box entry port, and there is a box at the current box entry port, then the box-picking operation is performed at the current box entry port.

[0011] In some embodiments, the parking space corresponding to the box entry port is detected in order of priority from high to low whether it is occupied, and the warehouse box retrieval robot is controlled to drive to the parking space corresponding to the unoccupied box entry port to perform the box retrieval operation, including: if it is not occupied and there is a box at the box entry port with a higher priority, the parking space corresponding to the box entry port with the higher priority is used as the new end point of the warehouse box retrieval robot; the warehouse box retrieval robot performs the box retrieval operation after reaching the new end point.

[0012] In some embodiments, the parking space corresponding to the box entry port is detected in order of priority from high to low whether it is occupied, and the warehouse box retrieval robot is controlled to drive to the parking space corresponding to the unoccupied box entry port to perform the box retrieval operation, including: if it is not occupied and there is no box at the current box entry port, the parking space corresponding to the higher priority box entry port is used as the new end point of the warehouse box retrieval robot; after the warehouse box retrieval robot arrives at the new end point, it waits to detect that there is a box at the box entry port corresponding to the new end point, and then performs the box retrieval operation.

[0013] In a second aspect, an embodiment of the present disclosure provides a material box robot scheduling device, which is applied to a material box robot scheduling system, wherein the material box robot scheduling system includes a line body, at least 2 empty box outgoing robots, and at least 2 incoming box robots, wherein the line body has at least 2 empty box openings and at least 2 inlet openings, and the device includes: an acquisition unit, configured to acquire the priority of the empty box opening and the priority of the inlet opening of the conveyor line, wherein the priority of the outer empty box opening is lower than the priority of the inner empty box opening, and the priority of the outer inlet opening is higher than the priority of the inner inlet opening; a box outgoing robot control unit, configured to The parking spaces corresponding to the empty container ports are detected in descending order of priority to see if they are occupied, and the empty container robot is controlled to drive to the parking spaces corresponding to the unoccupied empty container ports to place containers; the line control unit is configured to detect whether the container ports are occupied in descending order of priority to see if they are occupied, and control the line to transport the container to the unoccupied container ports; the container entry robot control unit is configured to detect whether the parking spaces corresponding to the container ports are occupied in descending order of priority to see if they are occupied, and control the container entry robot to drive to the parking spaces corresponding to the unoccupied container ports to take containers.

[0014] In some embodiments, the box-outlet robot control unit is further configured to: use the parking space corresponding to the lowest priority empty box port as the end point of the empty box-outlet robot; after the empty box-outlet robot reaches the end point, determine whether the parking space corresponding to the empty box port with a higher priority is occupied; if the parking space corresponding to the empty box port with a higher priority is occupied, wait until it is detected that there is no box at the current empty box port before performing the box release operation.

[0015] In some embodiments, the box-outlet robot control unit is further configured to: if the parking space corresponding to a higher priority empty box port is not occupied, the parking space corresponding to the higher priority empty box port will be used as the new destination of the empty box-outlet robot; after the empty box-outlet robot arrives at the new destination, it will wait for the empty box port corresponding to the new destination to detect that there is no box before placing the box.

[0016] In some embodiments, the box entry robot control unit is further configured to: detect whether each box entry port is occupied in order of priority from high to low; if all box entry ports are occupied, the material box is transported to the highest priority box entry port to queue.

[0017] In some embodiments, the box entry robot control unit is further configured to: use the parking space corresponding to the lowest priority box entry port as the end point of the warehouse entry and box retrieval robot; after the warehouse entry and box retrieval robot reaches the end point, it determines whether the parking space corresponding to the higher priority box entry port is occupied; if occupied, it waits to detect that there is a box at the current box entry port before performing the box retrieval operation.

[0018] In some embodiments, the box entry robot control unit is further configured to: if there is no box at an unoccupied box entry port with a higher priority, and there is a box at the current box entry port, perform a box retrieval operation at the current box entry port.

[0019] In some embodiments, the box entry robot control unit is further configured to: if it is not occupied and there is a box at the higher priority box entry port, the parking space corresponding to the higher priority box entry port will be used as the new end point of the warehouse entry and box retrieval robot; the warehouse entry and box retrieval robot will perform the box retrieval operation after reaching the new end point.

[0020] In some embodiments, the box entry robot control unit is further configured to: if it is not occupied and there is no box at the current box entry port, the parking space corresponding to the higher priority box entry port will be used as the new destination of the warehouse entry and box retrieval robot; after the warehouse entry and box retrieval robot arrives at the new destination, it will wait for the detection of a box at the box entry port corresponding to the new destination before performing the box retrieval operation.

[0021] In a third aspect, an embodiment of the present disclosure provides an electronic device for controlling a line body, comprising: one or more processors; a storage device on which one or more computer programs are stored, and when the one or more computer programs are executed by the one or more processors, the one or more processors implement a method as described in any one of the first aspects.

[0022] In a fourth aspect, an embodiment of the present disclosure provides a computer-readable medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the method as described in any one of the first aspects.

[0023] The disclosed embodiments provide a method and device for dispatching a material box robot, which dynamically controls the incoming boxes to replenish the conveyor line, and utilizes all vehicles for picking up goods with greater efficiency. Dynamically decide whether to wait or leave directly to make room for subsequent robots based on the queue situation and photoelectric signals of the empty box robot and the incoming box robot. With n external empty box ports and inlet ports, the upper limit of the workload of a workstation is increased to n*8 (8 is the number of fully loaded material boxes in the robot's backpack).

[0024] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Other features, objects and advantages of the present disclosure will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0026] Figure 1 is an exemplary system architecture diagram in which an embodiment of the present disclosure may be applied;

[0027] Figure 2 is a flow chart of an embodiment of a method for dispatching a bin robot according to the present disclosure;

[0028] Figure 3a This is a flow chart of the intelligent selection of the box entry port for the conveyor line;

[0029] Figure 3b This is the flow chart of the robot intelligently following the empty box delivery;

[0030] Figure 3c This is a flowchart of the intelligent following of the robot for picking up boxes from the warehouse;

[0031] Figure 4 is a structural schematic diagram of an embodiment of a material box robot scheduling device according to the present disclosure;

[0032] Figure 5 It is a structural diagram of a computer system of an electronic device suitable for implementing an embodiment of the present disclosure. DETAILED DESCRIPTION

[0033] The present disclosure is further described in detail below in conjunction with the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It is also necessary to explain that, for ease of description, only the parts related to the relevant invention are shown in the accompanying drawings.

[0034] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present disclosure may be combined with each other. The present disclosure will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0035] Figure 1 An exemplary system architecture is shown to which an embodiment of a material box robot scheduling method or a material box robot scheduling device of the present disclosure can be applied.

[0036] like Figure 1 As shown, the system architecture may include a server, an empty box delivery robot, a line body, and an inbound box retrieval robot. The figure shows only two empty box delivery robots and two inbound box retrieval robots, and the actual number is not limited. There are also robots on the way in the machine area. After delivering the material box to the machine area, the inbound box retrieval robot can be converted into an empty box delivery robot, take out the empty box from the machine area and deliver it to the outbound box port of the line body. After delivering the empty box, the empty box robot can also be converted into an inbound box retrieval robot, move to the inbound box port to take the box, and then transport it to the machine area.

[0037] There is no limit on the number of box outlets and box inlets in the line body, and the number can be 2 or more.

[0038] The server sends control instructions through wireless signals to control the empty box delivery robot, line body, and inbound box retrieval robot. The empty box delivery robot, line body, and inbound box retrieval robot also feed back various detected data to the server so that the server can schedule resources.

[0039] Continue to refer Figure 2 , shows a process 200 of an embodiment of a material box robot scheduling method according to the present disclosure. The material box robot scheduling method comprises the following steps:

[0040] Step 201, obtaining the priority of the empty box port and the priority of the incoming box port of the conveyor line.

[0041] In this embodiment, the execution body of the material box robot scheduling method (for example Figure 1 The server shown) can obtain the priority of the empty box port and the priority of the incoming box port of the pre-set conveyor line.

[0042] The priorities are as follows: the outer empty box opening has the lowest priority, which allows the robot to gradually enter the inner side through priority judgment, leaving room for subsequent robots to enter; the inner box entry opening has the lowest priority, which allows the robot to gradually enter the outer side through priority judgment. The material box is supplied to the outside first, and the robot at the outer box entry opening can leave quickly to leave room for subsequent robots.

[0043] The outside refers to the position farther from the center of the line, such as Figure 1 The priority of empty box port 2 is lower than that of empty box port 1.

[0044] The inside refers to the position closer to the center of the line, such as Figure 1 The priority of box entry 2 is higher than that of box entry 1.

[0045] Step 202, detect whether the parking space corresponding to the empty container port is occupied in order of priority from high to low, and control the empty container robot to drive to the parking space corresponding to the unoccupied empty container port to place the container.

[0046] In this embodiment, the empty box delivery robot is controlled to deliver empty boxes to the highest priority delivery port. If another robot has delivered to the highest priority delivery port and the second highest priority delivery port is free, the robot will deliver to the second highest priority delivery port. If all delivery ports are occupied, the robot can go to the highest priority delivery port to eliminate the waiting time.

[0047] In the robot control system, all robots can view the positions of other robots. The control system detects whether the current empty box port where the robot is located is the highest priority empty box port. The highest priority is the last empty box port, and the robot can wait to release the goods. If it is not the highest priority, it will continue to determine whether the parking space corresponding to the empty box port with a higher priority than the current empty box port where the current robot is located is occupied by other robots. If there are no other robots occupying, the robot will enter the inner side to place the box, leaving space for subsequent robots to place the box. If there are other robots occupying, the current robot will place the box at the low-priority empty box port. There is a photoelectric signal at the empty box port of the conveyor line. If the box is full or the material box has not left, the empty box port will be prompted. At this time, the box cannot be placed. Wait until the photoelectric information indicates that there is no box before placing it. After the robot places a single box, it will continue to determine whether there is an empty box port with a higher priority. If there is, it can move to the higher priority box port to place other empty boxes in the backpack (usually there are 8 empty boxes in a backpack).

[0048] Step 203, detecting whether the box entry ports are occupied in descending order of priority, and controlling the line to transport the material box to an unoccupied box entry port.

[0049] In this embodiment, the warehouse staff fills the empty boxes with goods at the empty box entrance to turn them into material boxes, and then places the material boxes on the line body. The line body can control the flow direction of the material boxes and transport the material boxes to the highest priority box entrance first, so that they can be taken away first. Figure 1 The 12345 at the right side of the box entrance refers to the order of the incoming line flow. Box entrance 1 has the highest priority, and box entrance 2 has the second highest priority. If all the box entrances are occupied, the highest priority box entrance will be excluded in turn, such as Figure 1 Waiting areas 3, 4, and 5 are shown.

[0050] The material box robot schedules the material box to enter which box entrance, giving priority to the entrance with a high priority, ensuring that the robots can also pick up goods together when queuing, and the outer entrances can be filled and leave as soon as possible. When all the entrances are filled with boxes, they will queue at the entrance with the highest priority by default, so that subsequent robots can pick up boxes continuously.

[0051] Step 204, detect whether the parking space corresponding to the box entry port is occupied in descending order of priority of the box entry port, and control the warehouse box retrieval robot to drive to the parking space corresponding to the unoccupied box entry port to perform the box retrieval operation.

[0052] In this embodiment, the warehouse box-picking robot is controlled to pick up boxes from the highest priority box-picking port. If another robot is already picking up boxes from the highest priority box-picking port, and the second highest priority box-picking port is free, the robot will pick up boxes from the second highest priority box-picking port. If all the box-picking ports are occupied, the robot will go to the highest priority box-picking port to eliminate the waiting time.

[0053] The robot for picking up boxes in the warehouse determines whether it is at the highest priority box entrance in the control system. The highest priority is the last box entrance, and it can wait to pick up boxes. If it is not the highest priority, continue to determine whether the parking space corresponding to the box entrance with a higher priority than the current box entrance is occupied by other box-picking robots. If there is no other box-picking robot, continue to determine whether there are boxes at the higher priority box entrance and whether there are boxes at the current priority. If there are boxes at the box entrance of the current priority, but no boxes at the box entrance of the higher priority, temporarily pick up all the boxes at the box entrance of the current priority. If there are no boxes at the low priority, but there are boxes at the high priority, it will enter the high priority end by default. Check whether there is a photoelectric signal at the box entrance of the conveyor line, and pick up the box if there is a box. After taking a single box, continue to determine whether there is a box at the box entrance of the high priority. If there is no box at the box entrance of the high priority, but there is a box at the box entrance of the low priority and there are no other robots, you can go to the box entrance of the low priority to pick up the box.

[0054] The method provided by the above embodiments of the present disclosure proposes three solutions to solve the shortcomings of the current technology and optimize the

[0055] 1. From the perspective of the physical structure of the conveyor line, multiple empty box outlets and multiple box inlets are added, and multiple robots can be used to simultaneously deliver empty boxes and grab incoming boxes to increase the flow of the line. The backpack capacity of multiple empty box delivery robots increases the empty box volume of the empty box line container n*8.

[0056] 2. The conveyor line intelligently selects the material boxes on the line body to enter the corresponding box entry according to the occupancy of multiple box entry ports, so that the warehouse-entry box-picking robot can pick up the material boxes in real time and pick up the boxes at the same time as they arrive. This increases the outflow of the line body material boxes of the conveyor line.

[0057] 3. Intelligent control robot follows, and the robot dynamically adjusts the current position according to the queue status of the current team. It can achieve simultaneous unloading of boxes at multiple outlets and simultaneous unloading of boxes at multiple inlets. It increases the outflow and inflow flow of the conveyor line.

[0058] Continue to see Figure 3a , Figure 3a 300 is a flow chart of intelligently selecting a box entry port for a conveyor line. The process 300 of intelligently selecting a box entry port includes the following steps:

[0059] Step 301 , checking whether each box entry port is occupied in descending order of priority.

[0060] Step 302: In response to detecting an unoccupied box entry, the material box is transported to the unoccupied box entry.

[0061] Step 303: If all the box entrances are occupied, the material box is transported to the highest priority box entrance to queue.

[0062] like Figure 1 As shown in the middle box entrance, after the staff fills the empty box with goods, they place the box on the storage line. The line determines whether there is a box at the outer box entrance (the highest priority). If there is no box, it is transported to the highest priority box entrance, otherwise it is transported to the lower priority box entrance. For multiple box entrances, they are judged in order from high to low priority and enter the corresponding box entrance. Boxes are filled first in positions 1 and 2 (see Figure 1 The subsequent material boxes will fill positions 3, 4, and 5 (see Figure 1 (Indicative location of box entry)

[0063] Continue to see Figure 3b , Figure 3b 400 is a flow chart of the intelligent following of the empty box delivery robot. The process 400 of the intelligent following of the empty box delivery robot includes the following steps:

[0064] Step 401, taking the parking space corresponding to the empty container port with the lowest priority as the end point of the empty container delivery robot;

[0065] Step 402, after the empty box delivery robot reaches the end point, it determines whether the parking space corresponding to the empty box port with a higher priority is occupied;

[0066] Step 403: If the parking space corresponding to the empty container port with a higher priority is occupied, wait until it is detected that there is no container at the current empty container port before placing the container.

[0067] Step 404: If the parking space corresponding to the higher priority empty container port is not occupied, the parking space corresponding to the higher priority empty container port is used as the new destination of the empty container delivery robot;

[0068] Step 405, after the empty box delivery robot arrives at the new destination, it waits to detect that there is no box at the empty box opening corresponding to the new destination and then performs a box delivery operation.

[0069] The server sends an instruction to the empty box discharging robot to use the lowest priority empty box port as the end point. After reaching the end point, the empty box discharging robot determines whether the current point is the highest priority empty box port. If it is the highest priority empty box port, it means it is at the last position of the empty box port and waits for the photoelectric signal to release the goods. If the current point is not the highest priority empty box port, determine whether there are no other empty box discharging robots at the higher priority empty box ports. If there are no other empty box discharging robots, move to the higher priority position to make way for the subsequent empty box discharging robots. After reaching the end point, the empty box discharging robot continues to discharge empty boxes. After completing the discharge of a single box, it continues to determine which outlet the other empty boxes should be delivered to according to the above steps.

[0070] Continue to see Figure 3c , Figure 3c The flowchart of the intelligent following of the warehouse-entry box-retrieving robot is shown in Figure 5. The intelligent following process 500 of the warehouse-entry box-retrieving robot includes the following steps:

[0071] Step 501, taking the parking space corresponding to the lowest priority box entry port as the end point of the robot for entering and retrieving boxes;

[0072] Step 502: After the warehousing and box-picking robot reaches the end point, it determines whether the parking space corresponding to the box-picking entrance with a higher priority is occupied;

[0073] Step 503: If it is occupied, wait until it is detected that there is a box at the current box entry and then perform a box-taking operation.

[0074] Step 504: If there is no box at the box entrance that is not occupied and has a higher priority, and there is a box at the current box entrance, then a box-taking operation is performed at the current box entrance.

[0075] Step 505: If the parking space is not occupied and there is a box at the box entry with a higher priority, the parking space corresponding to the box entry with a higher priority is used as the new destination of the robot for picking up boxes from the warehouse;

[0076] Step 506: The warehousing box-picking robot performs a box-picking operation after arriving at the new destination.

[0077] Step 507: If the parking space is not occupied and there is no box at the current box entrance, the parking space corresponding to the box entrance with a higher priority is used as the new destination of the robot for picking up boxes from the warehouse;

[0078] Step 508: After the warehouse box-picking robot reaches the new destination, it waits to detect that there is a box at the box-picking port corresponding to the new destination and then performs the box-picking operation.

[0079] The server sends an instruction to the inbound box retrieval robot to use the parking space corresponding to the lowest priority box entrance as the end point. After reaching the end point, the inbound box retrieval robot determines whether the current point is the highest priority. If it is the highest priority box entrance, it means that it belongs to the outermost box entrance and continues to retrieve boxes. If the current end point is not the highest priority box entrance, check whether the parking space corresponding to the higher-level box entrance is occupied by other inbound box retrieval robots. If there is no other inbound box retrieval robot occupied, determine whether there is a box at the current point, and there is no box at a high priority. If this condition is met, the current robot continues to retrieve boxes. If the above conditions are not met, change the end point to enter the higher-level machine box entrance to continue to retrieve boxes. After taking a single box, continue to determine which box entrance to retrieve the box from according to the above steps.

[0080] The method provided by the above-mentioned embodiment of the present disclosure dynamically controls the replenishment of the storage box on the conveyor line, and utilizes all robots to pick up goods with greater efficiency. The robots for empty box delivery and storage box pickup dynamically decide whether to wait or leave directly to make room for subsequent robots based on the robot queue situation and photoelectric signals. Multiple empty box ports and box inlet ports are externally installed, combined with flow, from limited line containers, combined with the number of robot backpacks, the upper limit of the workload of a workstation is increased to n*8.

[0081] Further references Figure 4 As an implementation of the methods shown in the above figures, the present disclosure provides an embodiment of a material box robot scheduling device, and the device embodiment is Figure 2 Corresponding to the method embodiment shown, the device can be specifically applied to various electronic devices.

[0082] like Figure 4 As shown, the material box robot scheduling device 400 of this embodiment includes: an acquisition unit 401, an out-of-box robot control unit 402, a line control unit 403 and an in-box robot control unit 404. Among them, the acquisition unit 401 is configured to acquire the priority of the empty box port and the priority of the box entry port of the conveyor line, wherein the priority of the outer empty box port is lower than the priority of the inner empty box port, and the priority of the outer box entry port is higher than the priority of the inner box entry port; the outbound robot control unit 402 is configured to detect whether the parking space corresponding to the empty box port is occupied in the order of the empty box port priority from high to low, and control the empty box outbound robot to drive to the parking space corresponding to the unoccupied empty box port to perform the box release operation; the line body control unit 403 is configured to detect whether the box entry port is occupied in the order of the box entry port priority from high to low, and control the line body to transport the material box to the unoccupied box entry port; the inbound robot control unit 404 is configured to detect whether the parking space corresponding to the box entry port is occupied in the order of the box entry port priority from high to low, and control the inbound box retrieval robot to drive to the parking space corresponding to the unoccupied box entry port to perform the box retrieval operation.

[0083] In this embodiment, the specific processing of the acquisition unit 401, the out-of-box robot control unit 402, the line control unit 403 and the in-box robot control unit 404 of the material box robot scheduling device 400 can be referred to Figure 2 Corresponding to step 201, step 202, step 203, and step 204 in the embodiment.

[0084] In some optional implementations of the present embodiment, the box-outlet robot control unit 402 is further configured to: take the parking space corresponding to the lowest priority empty box port as the end point of the empty box-outlet robot; after the empty box-outlet robot reaches the end point, determine whether the parking space corresponding to the higher priority empty box port is occupied; if the parking space corresponding to the higher priority empty box port is occupied, wait until it is detected that there is no box at the current empty box port before performing the box release operation.

[0085] In some optional implementations of the present embodiment, the box-outgoing robot control unit 402 is further configured to: if the parking space corresponding to a higher priority empty box port is not occupied, the parking space corresponding to the higher priority empty box port is used as the new destination of the empty box-outgoing robot; after the empty box-outgoing robot arrives at the new destination, it waits to detect that there is no box at the empty box port corresponding to the new destination and then performs a box placement operation.

[0086] In some optional implementations of this embodiment, the box entry robot control unit 404 is further configured to: detect whether each box entry port is occupied in order of priority from high to low; if all box entry ports are occupied, the material box is transported to the highest priority box entry port to queue.

[0087] In some optional implementations of the present embodiment, the box entry robot control unit 404 is further configured to: use the parking space corresponding to the lowest priority box entry port as the end point of the warehouse entry and box retrieval robot; after the warehouse entry and box retrieval robot reaches the end point, it determines whether the parking space corresponding to the higher priority box entry port is occupied; if occupied, it waits to detect that there is a box at the current box entry port before performing the box retrieval operation.

[0088] In some optional implementations of the present embodiment, the box entry robot control unit 404 is further configured to: if it is not occupied, check whether there are other warehouse entry and box retrieval robots waiting at the higher priority box entry port; if there are no other warehouse entry and box retrieval robots waiting and there is no box at the higher priority box entry port, but there is a box at the current box entry port, then perform the box retrieval operation at the current box entry port.

[0089] In some optional implementations of this embodiment, the box entry robot control unit 404 is further configured to: if it is not occupied, use the parking space corresponding to the higher priority box entry port as the new end point of the warehouse entry and box retrieval robot; and perform the box retrieval operation after the warehouse entry and box retrieval robot reaches the new end point.

[0090] In some optional implementations of the present embodiment, the box entry robot control unit 404 is further configured to: if it is not occupied and there is no box at the current box entry port, then the parking space corresponding to the higher priority box entry port is used as the new destination of the warehouse entry and box retrieval robot; after the warehouse entry and box retrieval robot arrives at the new destination, it waits to detect that there is a box at the box entry port corresponding to the new destination before performing the box retrieval operation.

[0091] It should be noted that the collection, collection, updating, analysis, processing, use, transmission, storage and other aspects of user personal information involved in the technical solution of this disclosure are in compliance with the provisions of relevant laws and regulations, are used for legitimate purposes, and do not violate public order and good morals. Necessary measures are taken for user personal information to prevent illegal access to user personal information data and maintain the security of user personal information, network security and national security.

[0092] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device and a readable storage medium.

[0093] An electronic device comprises: one or more processors; a storage device on which one or more computer programs are stored, and when the one or more computer programs are executed by the one or more processors, the one or more processors implement the method described in process 200 or 400.

[0094] A computer-readable medium stores a computer program, wherein the computer program implements the method described in process 200, 300, 400 or 500 when executed by a processor.

[0095] Figure 5 A schematic block diagram of an example electronic device 500 that can be used to implement an embodiment of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or required herein.

[0096] like Figure 5As shown, the device 500 includes a computing unit 501, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 502 or a computer program loaded from a storage unit 508 into a random access memory (RAM) 503. In the RAM 503, various programs and data required for the operation of the device 500 can also be stored. The computing unit 501, the ROM 502, and the RAM 503 are connected to each other via a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0097] A number of components in the device 500 are connected to the I / O interface 505, including: an input unit 506, such as a keyboard, a mouse, etc.; an output unit 507, such as various types of displays, speakers, etc.; a storage unit 508, such as a disk, an optical disk, etc.; and a communication unit 509, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 509 allows the device 500 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0098] The computing unit 501 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 501 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 501 performs the various methods and processes described above, such as the bin robot scheduling method. For example, in some embodiments, the bin robot scheduling method may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 508. In some embodiments, part or all of the computer program may be loaded and / or installed on the device 500 via the ROM 502 and / or the communication unit 509. When the computer program is loaded into the RAM 503 and executed by the computing unit 501, one or more steps of the bin robot scheduling method described above may be performed. Alternatively, in other embodiments, the computing unit 501 may be configured to perform the bin robot scheduling method in any other appropriate manner (e.g., by means of firmware).

[0099] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0100] The program code for implementing the method of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0101] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0102] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0103] The systems and techniques described herein may be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0104] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship between the client and the server is generated by computer programs running on the respective computers and having a client-server relationship with each other. The server may be a server of a distributed system, or a server combined with a blockchain. The server may also be a cloud server, or an intelligent cloud computing server or intelligent cloud host with artificial intelligence technology. The server may be a server of a distributed system, or a server combined with a blockchain. The server may also be a cloud server, or an intelligent cloud computing server or intelligent cloud host with artificial intelligence technology.

[0105] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this document does not limit this.

[0106] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A material box robot scheduling method is applied to a material box in-and-out storage system, wherein: The material box storage and unloading system includes a line body, at least two empty box discharging robots, and at least two storage box picking robots. The line body has at least two empty box openings and at least two box entry openings. The method includes: Get the priority of the empty container port and the priority of the container inlet of the conveyor line. The priority of the outer empty container port is lower than that of the inner empty container port, and the priority of the outer container inlet is higher than that of the inner container inlet. Check whether the parking spaces corresponding to the empty container ports are occupied in descending order of priority, and control the empty container robot to drive to the parking spaces corresponding to the unoccupied empty container ports to place the containers; Check whether the box entry port is occupied in descending order of priority, and control the line to transport the material box to the unoccupied box entry port; The priority of the box entry port is determined in descending order to determine whether the parking space corresponding to the box entry port is occupied, and the warehouse box retrieval robot is controlled to drive to the parking space corresponding to the unoccupied box entry port to perform the box retrieval operation.

2. The method according to claim 1, wherein: The method of detecting whether the parking space corresponding to the empty container port is occupied in descending order of priority of the empty container port, and controlling the empty container robot to drive to the parking space corresponding to the unoccupied empty container port to place the container, includes: The parking space corresponding to the empty container port with the lowest priority is used as the destination of the empty container robot; After the empty container delivery robot reaches the destination, it determines whether the parking space corresponding to the empty container port with a higher priority is occupied; If the parking space corresponding to the empty container port with a higher priority is occupied, the container placement operation will be performed when it is detected that there is no container at the current empty container port.

3. The method according to claim 2, wherein: The method of detecting whether the parking space corresponding to the empty container port is occupied in descending order of priority of the empty container port, and controlling the empty container robot to drive to the parking space corresponding to the unoccupied empty container port to place the container, includes: If the parking space corresponding to the empty container port with a higher priority is not occupied, the parking space corresponding to the empty container port with a higher priority is used as the new destination of the empty container delivery robot; After the empty box delivery robot arrives at the new destination, it waits to detect that there is no box at the empty box opening corresponding to the new destination before releasing the box.

4. The method according to claim 1, wherein: The method of detecting whether the box entry port is occupied in descending order of priority of the box entry port and controlling the line body to transport the material box to the unoccupied box entry port includes: Check whether each box entry port is occupied in descending order of priority; If all the box entrances are occupied, the material box will be transported to the highest priority box entrance to queue.

5. The method according to claim 1, wherein: The method detects whether the parking space for the box entry port is occupied in descending order of priority of the box entry port, and controls the box entry and unloading robot to drive to the parking space corresponding to the unoccupied box entry port to perform the box unloading operation, including: The parking space corresponding to the lowest priority box entry port is used as the end point of the robot for picking up boxes from the warehouse; After the warehouse pickup robot reaches the end point, it determines whether the parking space corresponding to the higher priority box entry is occupied; If it is occupied, wait until it detects that there is a box at the current box entrance before taking the box.

6. The method according to claim 5, wherein: The method detects whether the parking space for the box entry port is occupied in descending order of priority of the box entry port, and controls the box entry and unloading robot to drive to the parking space corresponding to the unoccupied box entry port to perform the box unloading operation, including: If it is not occupied and there is no box at the higher priority box entrance, but there is a box at the current box entrance, the box will be taken at the current box entrance.

7. The method according to claim 6, wherein: The method detects whether the parking space for the box entry port is occupied in descending order of priority of the box entry port, and controls the box entry and unloading robot to drive to the parking space corresponding to the unoccupied box entry port to perform the box unloading operation, including: If it is not occupied and there is a box at the higher priority box entrance, the parking space corresponding to the higher priority box entrance will be used as the new destination of the robot for entering and retrieving boxes; The warehousing and box-picking robot will perform the box-picking operation after arriving at the new destination.

8. The method according to claim 6, wherein: The method detects whether the parking space for the box entry port is occupied in descending order of priority of the box entry port, and controls the box entry and unloading robot to drive to the parking space corresponding to the unoccupied box entry port to perform the box unloading operation, including: If it is not occupied and there is no box at the current box entrance, the parking space corresponding to the higher priority box entrance is used as the new destination of the robot for entering the warehouse and retrieving the box; After the warehouse box-picking robot arrives at the new end point, it waits to detect that there is a box at the box-picking port corresponding to the new end point before taking the box.

9. A cargo device, applied to a material box robot dispatching system, wherein: The material box robot scheduling system includes a line body, at least two empty box discharging robots, and at least two storage box picking robots. The line body has at least two empty box openings and at least two box entry openings. The device includes: an acquisition unit configured to acquire the priority of the empty box port and the priority of the box inlet of the conveying line, wherein the priority of the outer empty box port is lower than the priority of the inner empty box port, and the priority of the outer box inlet port is higher than the priority of the inner box inlet port; The unloading robot control unit is configured to detect whether the parking spaces corresponding to the empty container ports are occupied in descending order of priority of the empty container ports, and control the unloading robot to drive to the parking spaces corresponding to the unoccupied empty container ports to place the containers; The line control unit is configured to detect whether the box entry port is occupied in descending order of priority, and control the line to transport the material box to an unoccupied box entry port; The box entry robot control unit is configured to detect whether the parking space corresponding to the box entry port is occupied in order of priority from high to low, and control the warehouse box retrieval robot to drive to the parking space corresponding to the unoccupied box entry port to perform the box retrieval operation.

10. An electronic device for controlling a line body, comprising: one or more processors; a storage device having one or more computer programs stored thereon, When the one or more computer programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 8.

11. A computer readable medium having a computer program stored thereon, wherein: When the computer program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

Images