Bin robot scheduling method and device

Abstract

Embodiments of the present disclosure disclose a method and device for scheduling a bin robot, applied to a bin robot scheduling system. The specific implementation of the method comprises: obtaining the priority of empty bin ports and the priority of bin inlet ports of a conveying line; detecting whether the parking space corresponding to the empty bin port is occupied in order of high to low priority of the empty bin port, and controlling the empty bin robot to travel to the parking space of the empty bin port that is not occupied to perform a bin placing operation; controlling the line body to detect whether the bin inlet port is occupied in order of high to low priority of the bin inlet port, and controlling the line body to convey the bin to the bin inlet port that is not occupied. Detecting whether the parking space corresponding to the bin inlet port is occupied in order of high to low priority of the bin inlet port, and controlling the bin taking robot to travel to the parking space of the bin inlet port that is not occupied to perform a bin taking operation. The implementation improves the bin storage efficiency of the conveying line.

Description

TECHNICAL FIELD

[0001] Embodiments of the present disclosure relate to the technical field of logistics, and in particular to a method and device for scheduling a bin robot. BACKGROUND

[0002] Robots are widely used in existing logistics to carry out outbound and inbound operations of goods. A multi-layer bin robot is a device carrying a backpack and forks, and the forks are used to pick up and place bins. When a single robot is fully loaded, the backpack contains 8 bins. When performing a delivery task, the robot moves empty bins from the shelves in the machine area to the empty bin port of the conveying line. The inbound operator adds inventory to the empty bin at the empty bin port and places the bin on the conveying line. The bin is automatically transported to the bin inlet of the conveying line, and the robot takes the bin from the bin inlet and sends it to the shelves in the machine area.

[0003] The conveying line structure of the inbound workstation has upper and lower layers. The upper layer stores empty bins from the machine area, and the lower layer stores bins to be inbound. The upper layer outputs empty bins, and the lower layer receives inbound bins. The overall flow direction defaults to the end of the drum. The capacity of the line body of the existing conveying line is limited, which limits the amount of empty bin replenishment and affects the inbound efficiency. The bin flow of a single empty bin outlet and bin inlet line body is small, which affects the inbound efficiency. A single empty bin outlet and bin inlet limit the number of robots working, and multiple layers cannot work simultaneously. SUMMARY

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

[0005] In a first aspect, embodiments of the present disclosure provide a method for scheduling a bin robot, applied to a bin robot scheduling system, wherein the bin robot scheduling system includes a line body, at least two empty bin robots, and at least two inbound bin taking robots. The line body has at least two empty bin ports and at least two bin inlets. The method includes: obtaining the priority of the empty bin ports and the priority of the bin inlets of the conveying line, wherein the priority of the outer empty bin port is lower than that of the inner empty bin port, and the priority of the outer bin inlet is higher than that of the inner bin inlet; detecting whether the parking space corresponding to the empty bin port is occupied in order of the priority of the empty bin port from high to low, and controlling the empty bin robot to travel to the parking space corresponding to the unoccupied empty bin port for bin placement; detecting whether the bin inlet is occupied in order of the priority of the bin inlet from high to low, and controlling the line body to transport the bin to the unoccupied bin inlet; and detecting whether the parking space corresponding to the bin inlet is occupied in order of the priority of the bin inlet from high to low, and controlling the inbound bin taking robot to travel to the parking space corresponding to the unoccupied bin inlet for bin taking.

[0006] In some embodiments, the empty box port priority is detected from high to low, and the empty box robot is controlled to travel to the unoccupied parking space corresponding to the empty box port for box delivery, including: taking the parking space corresponding to the lowest priority empty box port as the terminal point of the empty box robot; and determining whether the parking space corresponding to the higher priority empty box port is occupied after the empty box robot reaches the terminal point.

[0007] In some embodiments, the empty box port priority is detected from high to low, and the empty box robot is controlled to travel to the unoccupied parking space corresponding to the empty box port for box delivery, including: taking the parking space corresponding to the lowest priority empty box port as the terminal point of the empty box robot; and determining whether the parking space corresponding to the higher priority empty box port is occupied after the empty box robot reaches the terminal point.

[0008] In some embodiments, the empty box port priority is detected from high to low, and the empty box robot is controlled to travel to the unoccupied parking space corresponding to the empty box port for box delivery, including: taking the parking space corresponding to the lowest priority empty box port as the terminal point of the empty box robot; and determining whether the parking space corresponding to the higher priority empty box port is occupied after the empty box robot reaches the terminal point.

[0009] In some embodiments, the empty box port priority is detected from high to low, and the empty box robot is controlled to travel to the unoccupied parking space corresponding to the empty box port for box delivery, including: taking the parking space corresponding to the lowest priority empty box port as the terminal point of the empty box robot; and determining whether the parking space corresponding to the higher priority empty box port is occupied after the empty box robot reaches the terminal point.

[0010] In some embodiments, the empty box port priority is detected from high to low, and the empty box robot is controlled to travel to the unoccupied parking space corresponding to the empty box port for box delivery, including: taking the parking space corresponding to the lowest priority empty box port as the terminal point of the empty box robot; and determining whether the parking space corresponding to the higher priority empty box port is occupied after the empty box robot reaches the terminal point.

[0011] In some embodiments, the in-box port priority from high to low order detects whether the parking space applied by the in-box port is occupied, and controls the in-warehouse box taking robot to drive to the parking space corresponding to the unoccupied in-box port for box taking operation, including: if it is not occupied and there is a box at a higher priority in-box port, the parking space corresponding to the higher priority in-box port is taken as the new terminal of the in-warehouse box taking robot; the in-warehouse box taking robot reaches the new terminal and performs the box taking operation.

[0012] In some embodiments, the in-box port priority from high to low order detects whether the parking space applied by the in-box port is occupied, and controls the in-warehouse box taking robot to drive to the parking space corresponding to the unoccupied in-box port for box taking operation, including: if it is not occupied and there is no box at the current in-box port, the parking space corresponding to the higher priority in-box port is taken as the new terminal of the in-warehouse box taking robot; the in-warehouse box taking robot reaches the new terminal and waits for detection of a box at the in-box port corresponding to the new terminal before performing the box taking operation.

[0013] In the second aspect, embodiments of the present disclosure provide a box robot scheduling device applied to a box robot scheduling system, wherein the box robot scheduling system includes a line body, at least two out-of-box robots, and at least two in-warehouse box taking robots, the line body has at least two out-of-box ports and at least two in-box ports, and the device includes: an acquisition unit configured to acquire the priority of the out-of-box ports and the priority of the in-box ports of the conveying line, wherein the priority of the outer out-of-box port is lower than that of the inner out-of-box port, and the priority of the outer in-box port is higher than that of the inner in-box port; an out-of-box robot control unit configured to detect whether the parking space corresponding to the out-of-box port is occupied in the order of the out-of-box port priority from high to low, and control the out-of-box robot to drive to the parking space corresponding to the unoccupied out-of-box port for box taking operation; a line body control unit configured to detect whether the in-box port is occupied in the order of the in-box port priority from high to low, and control the line body to convey the box to the unoccupied in-box port; and an in-box robot control unit configured to detect whether the parking space applied by the in-box port is occupied in the order of the in-box port priority from high to low, and control the in-warehouse box taking robot to drive to the parking space corresponding to the unoccupied in-box port for box taking operation.

[0014] In some embodiments, the out-of-box robot control unit is further configured to take the parking space corresponding to the lowest priority out-of-box port as the terminal of the out-of-box robot, and judge whether the parking space corresponding to the higher priority out-of-box port is occupied after the out-of-box robot reaches the terminal; if the parking space corresponding to the higher priority out-of-box port is occupied, wait for detection of no box at the current out-of-box port before performing the box taking operation.

[0015] In some embodiments, the outbound box robot control unit is further configured to: if the parking space corresponding to the higher-priority empty box port is not occupied, take the parking space corresponding to the higher-priority empty box port as a new terminal point of the outbound empty box robot; and after the outbound empty box robot reaches the new terminal point, wait for detection that the empty box port corresponding to the new terminal point is empty before performing the box depositing operation.

[0016] In some embodiments, the inbound box robot control unit is further configured to: sequentially detect whether each inbound box port is occupied in order of inbound box port priority from high to low; and if all inbound box ports are occupied, transport the material box to the highest-priority inbound box port for queuing.

[0017] In some embodiments, the inbound box robot control unit is further configured to: take the parking space corresponding to the lowest-priority inbound box port as a terminal point of the inbound box taking robot; after the inbound box taking robot reaches the terminal point, determine whether the parking space corresponding to a higher-priority inbound box port is occupied; and if the parking space is occupied, wait for detection that the current inbound box port has a box before performing the box taking operation.

[0018] In some embodiments, the inbound box robot control unit is further configured to: if the parking space is not occupied and a higher-priority inbound box port has a box, perform the box taking operation at the current inbound box port.

[0019] In some embodiments, the inbound box robot control unit is further configured to: if the parking space is not occupied and a higher-priority inbound box port has a box, take the parking space corresponding to the higher-priority inbound box port as a new terminal point of the inbound box taking robot; and after the inbound box taking robot reaches the new terminal point, perform the box taking operation.

[0020] In some embodiments, the inbound box robot control unit is further configured to: if the parking space is not occupied and the current inbound box port has no box, take the parking space corresponding to the higher-priority inbound box port as a new terminal point of the inbound box taking robot; and after the inbound box taking robot reaches the new terminal point, wait for detection that the inbound box port corresponding to the new terminal point has a box before performing the box taking operation.

[0021] In a third aspect, embodiments of the present disclosure provide an electronic device for controlling a line body, comprising: one or more processors; a storage device having one or more computer programs stored thereon, wherein when the one or more computer programs are executed by the one or more processors, the one or more processors implement the method of any one of the first aspect.

[0022] In a fourth aspect, embodiments of the present disclosure provide a computer readable medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the method of any one of the first aspect is implemented.

[0023] The embodiment of the present disclosure provides a bin robot scheduling method and device. The conveying line dynamically controls the storage of bins to supplement, and greater efficiency is used to take goods by all vehicles. The empty bin robot and the bin taking robot are dynamically queued according to the situation and the photoelectric signal to intelligently determine whether to wait or directly leave to move the position for subsequent robots. The external n empty bin ports and the bin ports increase the upper limit of the workload of a workstation to n*8 (8 is the number of full bins in the robot backpack).

[0024] It should be understood that the content described in this part 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 apparent through the following description. BRIEF DESCRIPTION OF DRAWINGS

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

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

[0027] Figure 2 is a flowchart of a bin robot scheduling method according to an embodiment of the present disclosure;

[0028] Figure 3a is a flowchart of intelligent selection of a bin port by a conveying line;

[0029] Figure 3b is a flowchart of intelligent following of an empty bin robot;

[0030] Figure 3c is a flowchart of intelligent following of a bin taking robot;

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

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

[0033] The present disclosure will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are merely intended to explain the related application, but not to limit the application. In addition, it should be noted that only parts related to the application are shown in the drawings for ease of description.

[0034] It should be noted that the embodiments in the present disclosure and the features in the embodiments can be combined with each other in the case of no conflict. The present disclosure will be described in detail below with reference to the drawings and in combination with the embodiments.

[0035] Figure 1 An exemplary system architecture of an embodiment of the bin robot scheduling method or bin robot scheduling device of the present disclosure is shown.

[0036] As shown in Figure 1 , the system architecture can include a server, an empty bin robot, a line body, and a warehouse bin robot. Only two empty bin robots and two warehouse bin robots are shown in the figure, and the actual number is not limited. There are also robots in transit in the machine area. The warehouse bin robot can be converted into an empty bin robot after delivering the bin to the machine area, and the empty bin is taken out from the machine area and delivered to the bin outlet of the line body. The empty bin robot that has delivered the empty bin can also be converted into a warehouse bin robot and moved to the bin inlet to take the bin and then transported to the machine area.

[0037] The number of bin outlets and bin inlets in the line body is not limited and can be two or more.

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

[0039] Continuing to refer to Figure 2 , a flow 200 of one embodiment of the bin robot scheduling method according to the present disclosure is shown. The bin robot scheduling method includes the following steps:

[0040] Step 201, obtaining the priority of the empty bin outlet and the priority of the bin inlet of the conveying line.

[0041] In this embodiment, the execution subject of the bin robot scheduling method (for example, the server shown in Figure 1 ) can obtain the priority of the empty bin outlet and the priority of the bin inlet of the conveying line which are set in advance.

[0042] The priority is explained as follows: the priority of the outer empty bin outlet is the lowest, which facilitates the robot to gradually enter the inner side by judging the priority and leaving a position for the subsequent robot to enter; and the priority of the inner bin inlet is the lowest, which facilitates the robot to gradually enter the outer side by judging the priority, and the bin is preferentially supplied to the outer side, and the outer bin inlet robot can quickly leave to leave a position for the subsequent robot.

[0043] The outer side refers to a position far from the center of the line body, such as Figure 1 The priority of the empty bin outlet 2 is lower than that of the empty bin outlet 1.

[0044] The inner side refers to a position closer to the center of the line body, such as Figure 1 The priority of the middle in-box port 2 is higher than that of the in-box port 1.

[0045] In step 202, it is detected whether the parking space corresponding to the empty box port is occupied in the order of the priority of the empty box port from high to low, and the empty box robot is controlled to drive to the parking space corresponding to the empty box port which is not occupied to perform the box placing operation.

[0046] In this embodiment, the empty box robot is controlled to deliver the empty box to the highest priority out-box port, if other robots are already delivering at the highest priority out-box port and the second highest priority out-box port is idle, the second highest priority out-box port is delivered. If all the out-box ports are occupied, the waiting area at the highest priority out-box port can be excluded.

[0047] In the robot control system, all robots can check 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 waiting for placing goods can be performed, if it is not the highest priority, it is continuously judged whether the parking space corresponding to the empty box port with higher priority than the current empty box port where the robot is located is occupied by other robots, if it is not occupied by other robots, the robot enters the inner side to place the goods, and the position is left for the subsequent robot to place the goods. If it is occupied by other robots, the robot places the goods at the low priority empty box port. The line body empty box port has a photoelectric signal, if the full box or the material box does not leave, the empty box port will be prompted, at this time, the goods cannot be placed, and the goods are placed after the photoelectric information prompts that there is no box. After the robot places the single box, it is continuously judged whether there is a higher priority empty box port, if there is, the robot can move to the higher priority empty box port to place other empty boxes in the backpack (usually there are 8 empty boxes in a backpack).

[0048] In step 203, it is detected whether the in-box port is occupied in the order of the priority of the in-box port from high to low, and the line body is controlled to deliver the material box to the in-box port which is not occupied.

[0049] In this embodiment, the warehouse worker fills the empty box at the empty box port with goods to become a material box, and then places the material box on the line body. The line body can control the flow direction of the material box, and preferentially deliver the material box to the highest priority in-box port, so that the material box can be taken away first. Figure 1 12345 at the middle right in-box port refers to the flow direction of the in-box line body. The priority of the in-box port 1 is the highest, the priority of the in-box port 2 is the second highest, and if all the in-box ports are occupied, the waiting area at the highest priority in-box port is sequentially excluded, such as Figure 1 as shown in the waiting areas 3, 4 and 5.

[0050] The bin robot schedules the bin to enter which bin inlet, the bin inlet with high priority is preferentially supplied, so that the robot can also take goods when queuing, and the bin inlet on the outside can be taken as soon as possible and then leave. The bin inlets are all behind the bins, and the bins are queued in the bin inlet with the highest priority, so that the subsequent robot can continuously take bins.

[0051] In step 204, whether the parking space corresponding to the bin inlet is occupied is detected in the order from high to low priority of the bin inlet, and the bin inlet robot is controlled to drive to the parking space corresponding to the unoccupied bin inlet to take the bin.

[0052] In the embodiment, the bin inlet robot is controlled to take the bin from the bin inlet with the highest priority, if other robots are taking the bin from the bin inlet with the highest priority, and the bin inlet with the second highest priority is idle, then the bin inlet with the second highest priority is taken. If all the bin inlets are occupied, the robot can be excluded from the waiting at the bin inlet with the highest priority.

[0053] The bin inlet robot judges whether it is at the bin inlet with the highest priority in the control system, the highest priority is the last bin inlet, and the bin can be taken. If it is not the bin inlet with the highest priority, whether the parking space corresponding to the bin inlet with higher priority than the current bin inlet is occupied by other bin inlet robots is judged, if no other bin inlet robot occupies the parking space, whether the bin inlet with higher priority has a bin and whether the current bin inlet has a bin are judged. If the bin inlet with the current priority has a bin, and the bin inlet with higher priority has no bin, the bin in the bin inlet with the current priority is temporarily taken. If the bin inlet with low priority has no bin, and the bin inlet with high priority has a bin, the bin inlet with high priority is entered by default. The photoelectricity of the bin inlet of the conveying line is checked, and the bin is taken after the bin is detected. After the single bin is taken, whether the bin inlet with high priority has a bin is judged, if the bin inlet with high priority has no bin, and the bin inlet with low priority has a bin and no other robot, the bin inlet with low priority can be taken.

[0054] The method provided by the above embodiments of the present disclosure solves the defects of the prior art and optimizes the prior art by proposing three solutions

[0055] 1. From the physical structure of the conveying line, a plurality of empty bin outlets and a plurality of bin inlets are added, a plurality of robots can be used to simultaneously put empty bins and grab bins in the warehouse, and the capacity of the back of the plurality of empty bin robots is increased to increase the empty bin capacity of the container n*8 of the line body.

[0056] 2. The conveying line intelligently selects the bin in the line body to enter the corresponding bin inlet according to the occupation of the plurality of bin inlets, so that the bin inlet robot can take the bin in real time, and the bin is taken at the same time. The flow of the line body of the conveying line is increased.

[0057] 3. Intelligent control of robot following, the robot dynamically adjusts the current position according to the current queuing condition of the team. Reach multiple unloading ports simultaneously unload, multiple loading ports simultaneously take out. Increase the flow of the conveying line body out and inflow.

[0058] Continuing to refer to Figure 3a , Figure 3a is a flowchart of intelligent selection of a loading port by the conveying line. The intelligent selection of the loading port flow 300 includes the following steps:

[0059] Step 301, detect whether each loading port is occupied in order of high to low priority of the loading port.

[0060] Step 302, in response to detecting an unoccupied loading port, conveying the bin to the unoccupied loading port.

[0061] Step 303, if all loading ports are occupied, conveying the bin to the highest priority loading port for queuing.

[0062] As shown in the loading port in Figure 1 , the staff fills the empty box with goods and places the bin on the loading line. The line determines whether the outer loading port (highest priority) has a box, if not, it is conveyed to the highest priority loading port, otherwise it is conveyed to the low priority loading port. Multiple loading ports are sequentially determined in order of high to low priority, and enter the corresponding loading port. The bin is preferentially completed 1, 2 position (see Figure 1 loading port schematic position). The subsequent bin is completed 3, 4, 5 position (see Figure 1 loading port schematic position)

[0063] Continuing to refer to Figure 3b , Figure 3b is a flowchart of intelligent following of the empty box unloading robot. The intelligent following flow 400 of the empty box unloading robot includes the following steps:

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

[0065] Step 402, after the empty box unloading robot reaches the end point, determining whether the parking space corresponding to the higher priority empty box port is occupied;

[0066] Step 403, if the parking space corresponding to the higher priority empty box port is occupied, waiting for the current empty box port to be detected without a box to perform the unloading operation.

[0067] Step 404, if the parking space corresponding to the higher priority empty box port is not occupied, taking the parking space corresponding to the higher priority empty box port as the new end point of the empty box unloading robot;

[0068] Step 405, the empty container machine reaches the new terminal point and waits to detect that the empty container port corresponding to the new terminal point has no container before performing the container placing operation.

[0069] The server issues an instruction to the empty container machine to use the empty container port with the lowest priority as the terminal point. After the empty container machine reaches the terminal point, it determines whether the current point is the empty container port with the highest priority. If it is the empty container port with the highest priority, it means that it is at the last position of the empty container port, and it waits for the photoelectric signal to perform the goods placing operation. If the current point is not the empty container port with the highest priority, it determines whether the position of the empty container port with a higher priority is occupied by another empty container machine. If it is not occupied, it moves to the position of the empty container port with a higher priority to make room for the subsequent empty container machine. After the empty container machine reaches the terminal point, it continues to place empty containers. After placing a single container, it continues to determine where the other empty containers should be placed according to the above steps.

[0070] Continuing to refer to Figure 3c , Figure 3c is a flowchart of the intelligent following of the warehouse-in picking robot. The intelligent following flowchart 500 of the warehouse-in picking robot includes the following steps:

[0071] Step 501, using the parking space corresponding to the empty container port with the lowest priority as the terminal point of the warehouse-in picking robot;

[0072] Step 502, after the warehouse-in picking robot reaches the terminal point, determining whether the parking space corresponding to the empty container port with a higher priority is occupied;

[0073] Step 503, if it is occupied, waiting to detect that the current empty container port has a container before performing the container picking operation.

[0074] Step 504, if it is not occupied and the empty container port with a higher priority has no container, but the current empty container port has a container, performing the container picking operation at the current empty container port.

[0075] Step 505, if it is not occupied and the empty container port with a higher priority has a container, using the parking space corresponding to the empty container port with a higher priority as the new terminal point of the warehouse-in picking robot;

[0076] Step 506, after the warehouse-in picking robot reaches the new terminal point, performing the container picking operation.

[0077] Step 507, if it is not occupied and the current empty container port has no container, using the parking space corresponding to the empty container port with a higher priority as the new terminal point of the warehouse-in picking robot;

[0078] Step 508, after the warehouse-in picking robot reaches the new terminal point, waiting to detect that the empty container port corresponding to the new terminal point has a container before performing the container picking operation.

[0079] The server issues an instruction to the inbound box taking robot, with the lowest priority inbound port corresponding to the parking space as the terminal. After the inbound box taking robot reaches the terminal, it determines whether the current point is the highest priority. If it is the highest priority inbound port, it represents the outermost inbound port, and continues to take the box. If the current terminal is not the highest priority inbound port, it checks whether the parking space corresponding to the higher level inbound port is occupied by other inbound box taking robots. If it is not occupied by other inbound box taking robots, it determines whether the current point has a box and the high priority has no box. If the above conditions are met, the current robot continues to take the box. If the above conditions are not met, the terminal is replaced to enter the higher level inbound port to continue taking the box. After taking a single box, it continues to determine which inbound port to take the box according to the above steps.

[0080] The method provided by the above embodiments of the present disclosure dynamically controls the inbound box to be replenished on the conveying line, and all the robots are used more efficiently to take the goods. The outbound box and the inbound box taking robot dynamically determine whether to wait or directly leave according to the robot queuing condition and the optical signal to make way for the subsequent robot. Multiple outbound box ports and inbound box ports are externally arranged, and the flow is combined to improve the upper limit of the work load of a workstation to n*8 from the limited line body container and the number of robot backpacks.

[0081] Further referring to Figure 4 , as an implementation of the method shown in the above figures, the present disclosure provides an embodiment of a box robot scheduling device, which corresponds to the method embodiment shown in Figure 2 , and the device can be applied to various electronic devices.

[0082] As shown in Figure 4 , the box robot scheduling device 400 of the present embodiment comprises an acquisition unit 401, an outbound box robot control unit 402, a line body control unit 403, and an inbound box robot control unit 404. The acquisition unit 401 is configured to acquire the priority of the outbound box port and the priority of the inbound port of the conveying line, wherein the priority of the outer outbound box port is lower than the priority of the inner outbound box port, and the priority of the outer inbound port is higher than the priority of the inner inbound port. The outbound box robot control unit 402 is configured to detect whether the parking space corresponding to the outbound box port is occupied in the order of the priority of the outbound box port from high to low, and control the outbound box robot to drive to the parking space corresponding to the outbound box port which is not occupied to perform the box placing operation. The line body control unit 403 is configured to detect whether the inbound port is occupied in the order of the priority of the inbound port from high to low, and control the line body to convey the box to the inbound port which is not occupied. The inbound box robot control unit 404 is configured to detect whether the parking space corresponding to the inbound port is occupied in the order of the priority of the inbound port from high to low, and control the inbound box taking robot to drive to the parking space corresponding to the inbound port which is not occupied to perform the box taking operation.

[0083] In the present embodiment, the specific processing of the acquisition unit 401, the out-box robot control unit 402, the line control unit 403, and the in-box robot control unit 404 of the magazine robot scheduling device 400 can refer to the processing of the acquisition unit 101, the out-box robot control unit 102, the line control unit 103, and the in-box robot control unit 104 in the corresponding embodiment. Figure 2 The step 201, the step 202, the step 203, and the step 204 in the corresponding embodiment.

[0084] In some optional implementations of the present embodiment, the out-box robot control unit 402 is further configured to: take the parking space corresponding to the empty-box port with the lowest priority as the terminal point of the empty-box robot; after the empty-box robot reaches the terminal point, determine whether the parking space corresponding to the empty-box port with a higher priority is occupied; and if the parking space corresponding to the empty-box port with the higher priority is occupied, wait for detection of no box in the current empty-box port to perform the box placing operation.

[0085] In some optional implementations of the present embodiment, the out-box robot control unit 402 is further configured to: if the parking space corresponding to the empty-box port with the higher priority is not occupied, take the parking space corresponding to the empty-box port with the higher priority as the new terminal point of the empty-box robot; and after the empty-box robot reaches the new terminal point, wait for detection of no box in the new terminal point to perform the box placing operation.

[0086] In some optional implementations of the present embodiment, the in-box robot control unit 404 is further configured to: sequentially detect whether each in-box port is occupied in the order from high to low of the in-box port priority; if all the in-box ports are occupied, transport the magazine to the in-box port with the highest priority for queuing.

[0087] In some optional implementations of the present embodiment, the in-box robot control unit 404 is further configured to: take the parking space corresponding to the in-box port with the lowest priority as the terminal point of the in-box robot; after the in-box robot reaches the terminal point, determine whether the parking space corresponding to the in-box port with a higher priority is occupied; and if the parking space corresponding to the in-box port with the higher priority is occupied, wait for detection of a box in the current in-box port to perform the box taking operation.

[0088] In some optional implementations of the present embodiment, the in-box robot control unit 404 is further configured to: if the parking space corresponding to the in-box port with the higher priority is not occupied, check whether there is another in-box robot waiting at the in-box port with the higher priority; if there is no other in-box robot waiting and there is no box at the in-box port with the higher priority while there is a box at the current in-box port, perform the box taking operation at the current in-box port.

[0089] In some optional implementations of the present embodiment, the in-box robot control unit 404 is further configured to: if the parking space corresponding to the in-box port with the higher priority is not occupied, take the parking space corresponding to the in-box port with the higher priority as the new terminal point of the in-box robot; and after the in-box robot reaches the new terminal point, perform the box taking operation.

[0090] In some optional implementations of the embodiment, the bin entry robot control unit 404 is further configured to: if the bin entry port is not occupied and there is no bin at the current bin entry port, take the parking space corresponding to the bin entry port with higher priority as the new destination of the bin retrieval robot; and after the bin retrieval robot reaches the new destination, wait for the bin retrieval operation to be performed when a bin is detected at the bin entry port corresponding to the new destination.

[0091] It should be noted that in the technical solutions of the present disclosure, the collection, collection, updating, analysis, processing, use, transmission, storage, etc. of user personal information involved in the technical solutions comply with relevant laws and regulations, are used for legal purposes, and do not violate public order and good customs. Necessary measures are taken on user personal information to prevent illegal access to user personal information data, and the safety of user personal information, network security and national security are maintained.

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

[0093] An electronic device includes one or more processors; a storage device having stored thereon one or more computer programs that, when executed by the one or more processors, cause the one or more processors to implement the method described in flow 200 or 400.

[0094] A computer readable medium having stored thereon a computer program, wherein the computer program is executed by a processor to implement the method described in flow 200, 300, 400 or 500.

[0095] Figure 5 A schematic block diagram of an example electronic device 500 that can be used to implement embodiments of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not intended to limit the implementations of the present disclosure described and / or claimed in this document.

[0096] As Figure 5As shown, the device 500 includes a computing unit 501 that can perform various appropriate actions and processes in accordance with 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. Various programs and data required for the operation of the device 500 can also be stored in the RAM 503. The computing unit 501, the ROM 502, and the RAM 503 are connected to each other through a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0097] A plurality 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 magnetic 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 can be various general and / or special purpose processing components having 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 special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The computing unit 501 performs various methods and processes described above, such as the bin robot scheduling method. For example, in some embodiments, the bin robot scheduling method can be implemented as a computer software program that is tangibly embodied in a machine-readable medium, such as the storage unit 508. In some embodiments, part or all of the computer program can 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 can be performed. Alternatively, in other embodiments, the computing unit 501 can be configured to perform the bin robot scheduling method by any other appropriate means, such as by means of firmware.

[0099] The various embodiments of the systems and techniques described above can be implemented in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a load programmable logic device (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0100] Program code for carrying out methods of the present disclosure can be written in any combination of one or more programming languages. The program code can be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the program code, when executed by the processor or controller, produces the functions / operations specified in the flowcharts and / or the block diagrams. The program code can be executed entirely on a machine, partially on a machine, partially on a 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 can be a tangible medium that contains or stores a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include but is not limited to an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of the machine-readable storage medium will include one or more lines of electrical conductors, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or Flash memory), optical fibers, portable compact disc read-only memories (CD-ROMs), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0102] To provide for interaction with a user, the systems and techniques described here 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 a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds of devices can be used to provide for interaction with a user as well; for example, 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, speech, or tactile input.

[0103] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can 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] The computer system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server is generally established by computer programs running on the respective computers and having a client-server relationship to each other. The servers can be distributed servers, or servers combined with blockchains. The servers can also be cloud servers, or intelligent cloud computing servers or intelligent cloud hosts with artificial intelligence technology.

[0105] It should be understood that various forms of flow shown above can be used, with steps reordered, added, or removed. For example, the steps recited in the present disclosure can be performed in parallel, in series, or in a different order, as long as the desired results of the technology disclosed in the present disclosure are achieved, and the present disclosure is not limited herein.

[0106] The above detailed description does not limit the scope of the disclosure. Various modifications, combinations, sub-combinations and alternatives can be made to the detailed description. Any modification, equivalent replacement and improvement etc. made within the spirit and principle of the disclosure shall be included in the scope of the disclosure.

Claims

1. A method for scheduling a bin robot, applied to a bin loading and unloading system, wherein, The method comprises the following steps of: acquiring the priority of the empty box outlet of the conveying line and the priority of the box inlet, wherein the priority of the outer empty box outlet is lower than that of the inner empty box outlet, and the priority of the outer box inlet is higher than that of the inner box inlet; detecting whether the parking space corresponding to the empty box outlet is occupied in the order of the priority of the empty box outlet from high to low, and controlling the empty box outlet robot to travel to the parking space corresponding to the empty box outlet which is not occupied to perform the empty box outlet operation; detecting whether the box inlet is occupied in the order of the priority of the box inlet from high to low, and controlling the conveying line to convey the material box to the box inlet which is not occupied; and detecting whether the parking space corresponding to the box inlet is occupied in the order of the priority of the box inlet from high to low, and controlling the box inlet robot to travel to the parking space corresponding to the box inlet which is not occupied to perform the box inlet operation. The method comprises the following steps of: acquiring the priority of the empty box outlet of the conveying line and the priority of the box inlet, wherein the priority of the outer empty box outlet is lower than that of the inner empty box outlet, and the priority of the outer box inlet is higher than that of the inner box inlet; detecting whether the parking space corresponding to the empty box outlet is occupied in the order of the priority of the empty box outlet from high to low, and controlling the empty box outlet robot to travel to the parking space corresponding to the empty box outlet which is not occupied to perform the empty box outlet operation; detecting whether the box inlet is occupied in the order of the priority of the box inlet from high to low, and controlling the conveying line to convey the material box to the box inlet which is not occupied; and detecting whether the parking space corresponding to the box inlet is occupied in the order of the priority of the box inlet from high to low, and controlling the box inlet robot to travel to the parking space corresponding to the box inlet which is not occupied to perform the box inlet operation. The method comprises the following steps of: acquiring the priority of the empty box outlet of the conveying line and the priority of the box inlet, wherein the priority of the outer empty box outlet is lower than that of the inner empty box outlet, and the priority of the outer box inlet is higher than that of the inner box inlet; detecting whether the parking space corresponding to the empty box outlet is occupied in the order of the priority of the empty box outlet from high to low, and controlling the empty box outlet robot to travel to the parking space corresponding to the empty box outlet which is not occupied to perform the empty box outlet operation; detecting whether the box inlet is occupied in the order of the priority of the box inlet from high to low, and controlling the conveying line to convey the material box to the box inlet which is not occupied; and detecting whether the parking space corresponding to the box inlet is occupied in the order of the priority of the box inlet from high to low, and controlling the box inlet robot to travel to the parking space corresponding to the box inlet which is not occupied to perform the box inlet operation. The method comprises the following steps of: acquiring the priority of the empty box outlet of the conveying line and the priority of the box inlet, wherein the priority of the outer empty box outlet is lower than that of the inner empty box outlet, and the priority of the outer box inlet is higher than that of the inner box inlet; detecting whether the parking space corresponding to the empty box outlet is occupied in the order of the priority of the empty box outlet from high to low, and controlling the empty box outlet robot to travel to the parking space corresponding to the empty box outlet which is not occupied to perform the empty box outlet operation; detecting whether the box inlet is occupied in the order of the priority of the box inlet from high to low, and controlling the conveying line to convey the material box to the box inlet which is not occupied; and detecting whether the parking space corresponding to the box inlet is occupied in the order of the priority of the box inlet from high to low, and controlling the box inlet robot to travel to the parking space corresponding to the box inlet which is not occupied to perform the box inlet operation. The method comprises the following steps of: acquiring the priority of the empty box outlet of the conveying line and the priority of the box inlet, wherein the priority of the outer empty box outlet is lower than that of the inner empty box outlet, and the priority of the outer box inlet is higher than that of the inner box inlet; detecting whether the parking space corresponding to the empty box outlet is occupied in the order of the priority of the empty box outlet from high to low, and controlling the empty box outlet robot to travel to the parking space corresponding to the empty box outlet which is not occupied to perform the empty box outlet operation; detecting whether the box inlet is occupied in the order of the priority of the box inlet from high to low, and controlling the conveying line to convey the material box to the box inlet which is not occupied; and detecting whether the parking space corresponding to the box inlet is occupied in the order of the priority of the box inlet from high to low, and controlling the box inlet robot to travel to the parking space corresponding to the box inlet which is not occupied to perform the box inlet operation.

2. The method of claim 1, wherein, ​ ​ ​ ​ 3. The method of claim 2, wherein, ​ ​ ​ 4. The method of claim 1, wherein, ​ ​ ​ 5. The method of claim 1, wherein, ​ ​ ​ ​ 6. The method of claim 5, wherein, ​ If the current bin port is not occupied and there is no bin at the bin port with higher priority, the bin taking operation is performed at the current bin port.

7. The method of claim 6, wherein, The bin port priority is detected in descending order to determine whether the parking space corresponding to the bin port is occupied, and the bin taking robot is controlled to travel to the parking space corresponding to the unoccupied bin port to perform the bin taking operation, comprising: If the current bin port is not occupied and there is no bin at the bin port with higher priority, the bin taking operation is performed at the current bin port. The bin taking robot reaches the new destination and performs the bin taking operation.

8. The method of claim 6, wherein, The bin port priority is detected in descending order to determine whether the parking space corresponding to the bin port is occupied, and the bin taking robot is controlled to travel to the parking space corresponding to the unoccupied bin port to perform the bin taking operation, comprising: If the current bin port is not occupied and there is no bin at the bin port with higher priority, the bin taking operation is performed at the current bin port. The bin taking robot reaches the new destination and performs the bin taking operation.

9. A picking device applied to a bin robot dispatching system, wherein, The bin robot scheduling system comprises a line, at least two empty bin robots, and at least two bin taking robots, the line has at least two empty bin ports and at least two bin ports, and the device comprises: An acquisition unit configured to acquire the priority of the empty bin ports and the priority of the bin ports of the conveying line, wherein the priority of the outer empty bin ports is lower than that of the inner empty bin ports, and the priority of the outer bin ports is higher than that of the inner bin ports; An empty bin robot control unit configured to detect the parking space corresponding to the empty bin port in descending order of the empty bin port priority, and control the empty bin robot to travel to the unoccupied parking space corresponding to the empty bin port to perform the bin taking operation; A line control unit configured to detect whether the bin port is occupied in descending order of the bin port priority, and control the line to convey the bins to the unoccupied bin port; A bin robot control unit configured to detect whether the parking space corresponding to the bin port is occupied in descending order of the bin port priority, and control the bin taking robot to travel to the unoccupied parking space corresponding to the bin port to perform the bin taking operation.

10. An electronic device for controlling a line, 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 of any one of claims 1-8.

11. A computer readable medium having stored thereon a computer program, wherein, The computer program is executed by the processor to implement the method of any one of claims 1-8. The computer program is executed by the processor to implement the method of any one of claims 1-8.

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