A material picking method, device, system and electronic device

Abstract

An embodiment of the present application provides a material picking method, device, system and electronic device, relating to the technical field of material picking. When receiving a material order, the control platform can generate a first handling task for a first target material box based on the materials included in the material order, the quantity of the materials, and the inventory information of the materials, and schedule a bin handling robot to move the first target material box from the position of the first storage bin to the position of the first picking bin based on the first handling task; determine the lighting prompt information of the first picking bin and control the display device on the first picking bin to display the lighting prompt information based on the materials included in the material order, the quantity of the materials, and the inventory information of the materials, so that the operator can perform material picking based on the lighting prompt information. In this way, the operator can directly perform material picking at the corresponding picking bin according to the lighting display prompt information, thereby improving the efficiency and accuracy of material picking.

Description

Technical Field

[0001] The present application relates to the technical field of material picking, and particularly to a material picking method, device, system and electronic device. Background Art

[0002] In flexible multi-model production, materials such as automotive parts need to be picked according to the changing workshop assembly requirements. In the traditional material picking method, after the operator obtains the material order, the operator manually determines the bin location of the parts required in the material order and picks the corresponding quantity of materials in the bin.

[0003] Since there are usually many shelves for storing bins in the warehouse, the manual operation area is large, the walking distance of the operator is long, and the picking operation is difficult. At the same time, it is highly dependent on the operator's operation proficiency, and it is difficult to ensure the accuracy of the picked materials. Summary of the Invention

[0004] The purpose of the embodiments of the present application is to provide a material picking method, device, system and electronic device to improve the efficiency and accuracy of material picking. The specific technical solutions are as follows:

[0005] In a first aspect, the embodiments of the present application provide a material picking method, which is applied to a control platform in a picking system. The picking system further includes a bin handling robot. The method includes:

[0006] When receiving a material order, based on the materials included in the material order, the quantity of the materials, and the inventory information of the materials, generate a first handling task for a first target material bin, where the first handling task at least includes the location of the first storage bin where the first target material bin is located and the location of the first picking bin in the picking bin;

[0007] Dispatch the bin handling robot to move the first target material bin from the first storage bin location to the first picking bin location;

[0008] Based on the materials included in the material order, the quantity of the materials, and the inventory information of the materials, determine the lighting prompt information of the first picking bin, and control the display device on the first picking bin to display the lighting prompt information, so that the operator can pick materials in the first target material bin placed in the first picking bin based on the lighting prompt information. The lighting prompt information includes a picking prompt information and lighting information, and the picking prompt information is used to prompt the materials and the quantity of the materials.

[0009] Second aspect, an embodiment of the present application provides a material picking device, which is applied to a control platform in a picking system. The picking system includes a bin handling robot and an AGV (Automated Guided Vehicle). The device includes:

[0010] A first task generation module, configured to generate a first handling task corresponding to a first target bin based on the materials included in the material order, the quantity of the materials, and the inventory information of the materials when receiving the material order. The first handling task at least includes the position of the first storage bin where the first target bin is located and the position of the first picking bin in the picking bin;

[0011] A first bin handling module, configured to dispatch the bin handling robot to move the first target bin from the position of the first storage bin to the position of the first picking bin;

[0012] A lighting prompt information determination module, configured to determine the lighting prompt information of the first picking bin based on the materials included in the material order, the quantity of the materials, and the inventory information of the materials, and control the display device on the first picking bin to display the lighting prompt information, so that the operator can pick materials in the first target bin placed in the first picking bin based on the lighting prompt information. The lighting prompt information includes a picking prompt information and lighting information, and the picking prompt information is used to prompt the materials and the quantity of the materials.

[0013] Third aspect, an embodiment of the present application provides a material picking system. The picking system includes a control platform and a bin handling robot. The control platform includes an upstream control device, a robot control device, and a lighting control device, where:

[0014] The upstream control device is configured to send a material order to the robot control device;

[0015] The robot control device is configured to generate a first handling task corresponding to a first target bin based on the materials included in the material order, the quantity of the materials, and the inventory information of the materials when receiving the material order, and send the first handling task to the bin handling robot; determine the lighting prompt information of the first picking bin based on the materials included in the material order, the quantity of the materials, and the inventory information of the materials, and send the lighting prompt information to the lighting control device;

[0016] The bin handling robot is configured to move the first target bin from the position of the first storage bin to the position of the first picking bin, and move the materials to the storage position of the first material waiting area for shipment.

[0017] The lighting control device is configured to control a display device on the first picking bin to display the lighting prompt information based on the lighting prompt information, so that an operator can pick materials from the first target material box placed in the first picking bin based on the lighting prompt information. The lighting prompt information includes a picking prompt information and lighting information, and the picking prompt information is used to prompt the material and the quantity of the material.

[0018] In a fourth aspect, an embodiment of the present application provides an electronic device, including:

[0019] A memory for storing a computer program;

[0020] A processor for implementing the method described in the first aspect above when executing the program stored on the memory.

[0021] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, in which a computer program is stored, and the computer program, when executed by a processor, implements the method described in the first aspect above.

[0022] Advantages of the embodiments of the present application:

[0023] In the solution provided by the embodiment of the present application, in the picking system, the control platform can, when receiving a material order, generate a first handling task for the first target material box based on the materials included in the material order, the quantity of the materials, and the inventory information of the materials. Wherein, the first handling task at least includes the position of the first storage bin where the first target material box is located and the position of the first picking bin in the picking bin; dispatch the material box handling robot to move the first target material box from the position of the first storage bin to the position of the first picking bin; determine the lighting prompt information of the first picking bin based on the materials included in the material order, the quantity of the materials, and the inventory information of the materials, and control the display device on the first picking bin to display the lighting prompt information, so that the operator can perform material picking in the first target material box placed in the first picking bin based on the lighting prompt information. Wherein, the lighting prompt information includes picking prompt information and lighting information, and the picking prompt information is used to prompt the materials and the quantity of the materials; when the picking of the material order is completed, generate a second handling task for the material based on the storage location information of the material waiting area. Wherein, the second handling task at least includes the position of the first storage location in the material waiting area; dispatch the latent handling robot to move the material to the position of the first storage location in the material waiting area. Since a display device for displaying lighting prompt information is provided on the picking bin, when the control platform generates corresponding lighting prompt information based on the materials, the quantity of the materials, and the inventory information in the material order, control the display device on the picking bin to display the lighting prompt information. Based on this, the operator can perform material picking according to the picking prompt information and lighting information included in the lighting prompt information displayed by the display device. In this way, the operator can directly perform material picking at the corresponding picking bin according to the lighting display prompt information, thereby improving the efficiency and accuracy of material picking. Of course, it is not necessary for any product or method implementing the present application to achieve all the above-mentioned advantages simultaneously. Description of the Drawings

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present application, and those of ordinary skill in the art can also obtain other embodiments based on these drawings.

[0025] Figure 1 It is a flowchart of a material picking method provided by an embodiment of the present application;

[0026] Figure 2 For Figure 1 It is a schematic diagram of a material order in the illustrated embodiment;

[0027] Figure 3 For Figure 1 a schematic diagram of the automated storage rack and the picking rack in the illustrated embodiment;

[0028] Figure 4 For Figure 3 a schematic structural diagram of the picking rack in the illustrated embodiment;

[0029] Figure 5 For Figure 1 a schematic diagram of material picking in the illustrated embodiment;

[0030] Figure 6 For Figure 1 a specific flowchart of step S102 in the illustrated embodiment;

[0031] Figure 7(a) is Figure 1 a schematic diagram of the first lighting prompt information in the illustrated embodiment;

[0032] Figure 7(b) is Figure 1 a schematic diagram of the second lighting prompt information in the illustrated embodiment;

[0033] Figure 7(c) is Figure 1 a schematic diagram of the third lighting prompt information in the illustrated embodiment;

[0034] Figure 7(d) is Figure 1 a schematic diagram of the fourth lighting prompt information in the illustrated embodiment;

[0035] Figure 8 For Figure 1 a specific flowchart of step S103 in the illustrated embodiment;

[0036] Figure 9 For Figure 1 a schematic diagram of the fifth lighting prompt information in the illustrated embodiment;

[0037] Figure 10 Based on Figure 1 a flowchart of exchanging and transporting the full material cart and the empty material cart in the illustrated embodiment;

[0038] Figure 11(a) is Figure 1 a specific flowchart of picking according to the lighting prompt information and transporting the picked materials to the side of the production line in the illustrated embodiment;

[0039] Figure 11(b) is Figure 1 another specific flowchart of picking according to the lighting prompt information and transporting the picked materials to the side of the production line in the illustrated embodiment;

[0040] Figure 12 Based on Figure 1A flowchart of storing empty bins in an automated storage and retrieval system (AS / RS) according to the illustrated embodiment;

[0041] Figure 13 For the Figure 1 A flowchart of palletizing empty bins according to the illustrated embodiment;

[0042] Figure 14 For the Figure 1 A flowchart of stacking empty pallets and discharging empty bins from the AS / RS according to the illustrated embodiment;

[0043] Figure 15 For the Figure 13 A detailed flowchart of step S1303 in the illustrated embodiment;

[0044] Figure 16(a) is Figure 14 The first detailed flowchart of discharging empty bins from the AS / RS according to the illustrated embodiment;

[0045] Figure 16(b) is Figure 14 The second detailed flowchart of discharging empty bins from the AS / RS according to the illustrated embodiment;

[0046] Figure 16(c) is Figure 14 The third detailed flowchart of discharging empty bins from the AS / RS according to the illustrated embodiment;

[0047] Figure 17 For the Figure 1 A flowchart of depalletizing an empty pallet stack for storage and exchanging and transporting the rack with the empty pallet and the empty rack according to the illustrated embodiment;

[0048] Figure 18 For the Figure 17 A flowchart of replenishing empty pallets in an empty pallet stacker according to the illustrated embodiment;

[0049] Figure 19(a) is Figure 17 The first detailed flowchart of transporting an empty pallet to the empty pallet buffer area for storage according to the illustrated embodiment;

[0050] Figure 19(b) is Figure 17 The second detailed flowchart of transporting an empty pallet to the empty pallet buffer area for storage according to the illustrated embodiment;

[0051] Figure 20 For the Figure 17 A flowchart of transporting materials at the inbound connection position to the AS / RS according to the illustrated embodiment;

[0052] Figure 21 For the Figure 20 The detailed flowchart of transporting palletized materials on the bin conveyor line to the AS / RS according to the illustrated embodiment;

[0053] Figure 22 A flowchart for depalletizing palletized materials based on the Figure 21 illustrated embodiment;

[0054] Figure 23 A Figure 22 specific flowchart for transferring palletized materials to the depalletizing station through a material conveyor line for depalletizing based on the illustrated embodiment;

[0055] Figure 24 A Figure 1 specific flowchart for transporting materials to a flat storage for storage in the illustrated embodiment;

[0056] Figure 25 A Figure 1 specific flowchart for material picking in the illustrated embodiment;

[0057] Figure 26 A schematic structural diagram of a material picking device provided by an embodiment of the present application;

[0058] Figure 27 A schematic structural diagram of a material picking system provided by an embodiment of the present application;

[0059] Figure 28 A schematic structural diagram of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0060] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art based on the present application belong to the scope of protection of the present application.

[0061] To improve the efficiency and accuracy of material picking, an embodiment of the present application provides a material picking method, device, system, electronic device, storage medium, computer-readable storage medium, and computer program product. First, a material picking method provided by an embodiment of the present application will be introduced below.

[0062] The material picking method provided by an embodiment of the present application can be applied to any control platform that needs to perform material picking. For example, it can be an automobile production line control platform, an assembly line control platform, a logistics management control platform device, etc., without specific limitation here. For the sake of clear description, it will be referred to as the control platform hereinafter in this article.

[0063] As Figure 1 shown, a material picking method is applied to a control platform in a picking system. The picking system includes a bin handling robot and a latent handling robot. The method includes:

[0064] S101, when receiving a material order, generate a first handling task corresponding to a first target material bin based on the materials included in the material order, the quantity of the materials, and the inventory information of the materials;

[0065] Wherein, the first handling task at least includes the position of a first storage bin where the first target material bin is located and the position of a first picking bin in the picking bin.

[0066] S102, dispatch a bin handling robot to move the first target material bin from the position of the first storage bin to the position of the first picking bin;

[0067] S103, determine the lighting prompt information of the first picking bin based on the materials included in the material order, the quantity of the materials, and the inventory information of the materials, and control a display device on the first picking bin to display the lighting prompt information, so that an operator can pick materials from the first target material bin placed in the first picking bin based on the lighting prompt information.

[0068] Wherein, the lighting prompt information includes a picking prompt information and lighting information, and the picking prompt information is used to prompt the materials and the quantity of the materials.

[0069] It can be seen that in the embodiment of the present application, in the picking system, the control platform can, when receiving a material order, generate a first handling task for the first target material box based on the materials included in the material order, the quantity of the materials, and the inventory information of the materials. Wherein, the first handling task at least includes the position of the first storage bin where the first target material box is located and the position of the first picking bin in the picking bin; dispatch the bin handling robot to move the first target material box from the position of the first storage bin to the position of the first picking bin; determine the lighting prompt information of the first picking bin based on the materials included in the material order, the quantity of the materials, and the inventory information of the materials, and control the display device on the first picking bin to display the lighting prompt information, so that the operator can perform material picking in the first target material box placed in the first picking bin based on the lighting prompt information. Wherein, the lighting prompt information includes picking prompt information and lighting information, and the picking prompt information is used to prompt the materials and the quantity of the materials; when the picking of the material order is completed, generate a second handling task for the material based on the storage location information of the material waiting area. Wherein, the second handling task at least includes the position of the first storage location in the material waiting area; dispatch the AGV to move the material to the position of the first storage location in the material waiting area. Since a display device for displaying lighting prompt information is provided on the picking bin, when the control platform generates corresponding lighting prompt information based on the materials, the quantity of the materials, and the inventory information in the material order, control the display device on the picking bin to display the lighting prompt information. Based on this, the operator can perform material picking according to the picking prompt information and lighting information included in the lighting prompt information displayed by the display device. In this way, the operator can directly perform material picking in the corresponding picking bin according to the lighting display prompt information, thereby improving the efficiency and accuracy of material picking.

[0070] In flexible multi-model production, materials such as automotive parts need to be picked according to the changing workshop assembly requirements. For example, when assembling a car door in the workshop, door handles are used, so it is necessary to pick the door handles required for different continuously produced cars in the corresponding bin according to the production line requirements, in the same container according to the agreed quantity, and supply them to the production line in sequence; when assembling the interior lights in the workshop, ceiling lights are used, so it is necessary to pick the ceiling lights required for different continuously produced cars in the corresponding bin according to the production line requirements, in the same container according to the agreed quantity, and supply them to the production line in sequence, and so on. Such materials supplied in sequence according to the requirements order of the production line are sequencing parts (Just In Sequence, JIS). Through sequencing parts, suppliers supply parts according to the requirements order of the production line, ensuring that the production line can be assembled continuously and efficiently, thereby reducing inventory and waiting time and improving production efficiency.

[0071] During the automobile production process, when there is a material requirement on the production line, a material order is generated according to the material requirement and sent to the control platform. In step S101, when the control platform receives the material order, based on the materials included in the material order, the quantity of the materials, and the inventory information of the materials, a first handling task corresponding to the first target material box is generated, where the above-mentioned material order can be received by the information interaction module in the control platform.

[0072] According to the material range rules preset by the picking system, the material types in the material order are material types within the material range rules. The material types can be part family materials, such as exterior rearview mirrors, door handles, wiring harnesses, ceiling lights, etc., which are not specifically limited here.

[0073] As Figure 2 For the material order shown, after the operator in the workshop generates the material order according to the demand for the left exterior rearview mirror in the production line, the operator can sign and confirm at the spare part confirmation position. Among them, the material order can include order number, part family ticket number, part family name, delivery batch, serial number, delivery date, delivery time, input number, vehicle type derivative code, body number, part short number, part number, quantity, stage, remarks. This material order is a demand order for the left exterior rearview mirror. The part family ticket number in the material order is LERM, and the part family name is left exterior rearview mirror. After the operator in the warehouse picks the corresponding left exterior rearview mirror according to the material order, the operator can sign and confirm at the shipment confirmation position. When the operator on the production line side receives the left exterior rearview mirror corresponding to the material order, the operator can sign and confirm at the side confirmation position.

[0074] The warehouse where the operator picks materials usually includes an automated storage and retrieval system (AS / RS) rack and a picking rack. The AS / RS rack and the picking rack are composed of multiple shelf units. Among them, the AS / RS rack includes multiple storage positions for storing materials. The picking rack is the rack for the operator to pick materials. As Figure 3 shown, the picking rack can be an L-shaped rack and a U-shaped rack. Each part family is allocated a corresponding individual L-shaped rack or U-shaped rack according to the quantity of the material part number.

[0075] Since the picking rack is composed of multiple shelf units, and each bin in each multi-layer shelf unit contains 1 material box, the number of shelf layers that the operator can pick materials from the material boxes in the picking rack is limited. The operator cannot pick materials from the material boxes on the upper shelves and can only pick materials from the material boxes in the lower shelf units. Therefore, to facilitate the operator to pick materials, as Figure 4As shown, the multi-layer shelf units in the picking shelf can be divided into an upper storage bin and a lower picking bin. Among them, the upper storage bin is used to store materials, and the lower picking bin is used for operators to pick materials.

[0076] In one implementation, when receiving a material order, a first handling task corresponding to the first target material box can be generated based on the materials included in the material order, the quantity of the materials, and the inventory information of the materials. Among them, the first handling task at least includes the first storage bin position in the upper storage bin where the first target material box is located, and the first picking bin position in the lower picking bin, so that the first target material box in the picking shelf can be transported from the first storage bin position in the upper storage bin to the first picking bin position in the lower picking bin that is convenient for operators to pick materials by the material box handling robot.

[0077] For example, there are 50 vehicle handlebars placed in the material boxes stored on the shelf. The materials included in the material order received by the control platform are vehicle handlebars, and the quantity of vehicle handlebars is 400. Based on the vehicle handlebars, the quantity of vehicle handlebars 30, and the inventory quantity of vehicle handlebars 2000, a first handling task corresponding to the first target material box containing vehicle handlebars is generated. Among them, the first handling task at least includes the first storage bin position A1 in the upper storage bin where the first target material box is located, and the first picking bin position X1 in the lower picking bin, so that the first target material box can be transported from the A1 storage bin position in the upper storage bin to the X1 picking bin position in the lower picking bin that is convenient for operators to pick materials by the material box handling robot.

[0078] In one implementation, when receiving a material order, a first handling task corresponding to the first target material box can be generated based on the materials included in the material order, the quantity of the materials, and the inventory information of the materials. Among them, the first handling task at least includes the first storage bin position in the automated storage and retrieval system (AS / RS) shelf where the first target material box is located, and the first picking bin position in the lower picking bin of the picking shelf, so that the first target material box in the AS / RS shelf can be transported from the first storage bin position in the AS / RS shelf to the first picking bin position in the lower picking bin of the picking shelf that is convenient for operators to pick materials by the material box handling robot.

[0079] For example, there are 50 vehicle handlebars placed in a material box stored on a shelf. The material order received by the control platform includes vehicle handlebars, and the quantity of vehicle handlebars is 400. Based on the vehicle handlebars, the quantity of vehicle handlebars being 30, and the inventory quantity of vehicle handlebars being 2000, a first handling task corresponding to the first target material box storing vehicle handlebars is generated. Among them, the first handling task at least includes the first storage bin position C1 in the vertical storage shelf where the first target material box is located, and the first picking bin position X1 in the lower picking bin, so that the first target material box is transported by the material box handling robot from the C1 storage bin position in the vertical storage shelf to the X1 picking bin position of the picking shelf that is convenient for operators to pick materials.

[0080] In the case where the control platform generates the first handling task, in step S102, the control platform schedules the material box handling robot to transport the first target material box from the first storage bin position to the first picking bin position.

[0081] Among them, the material box handling robot can transport the first target material box in the picking shelf from the first storage bin position in the upper storage bin to the first picking bin position in the lower picking bin, or transport the first target material box in the vertical storage shelf from the first storage bin position in the vertical storage shelf to the first picking bin position in the lower picking bin of the picking shelf that is convenient for operators to pick materials. Both are reasonable and are not specifically limited here.

[0082] Specifically, in order to avoid transporting too many materials to the picking shelf and occupying the bins of the picking shelf, if there are remaining materials in the upper storage bin of the picking shelf and the quantity of the remaining materials meets the requirements of the current material order, the first target material box can be preferentially transported from the upper storage bin to the lower picking bin. If the quantity of the remaining materials in the upper storage bin of the picking shelf cannot meet the requirements of the current material order, or there are no materials included in the current material order in the upper storage bin of the picking shelf, then the first target material box can be transported from the vertical storage shelf to the lower picking bin.

[0083] The quantity of materials included in the above material order can be the quantity of materials included in one material order, or the quantity of materials included in multiple consecutive material orders, which is not specifically limited here. If multiple consecutive material orders all include material A, the quantities of material A included in the multiple material orders can be added together to obtain the required quantity of material A. Whether to transport the first target material box from the upper storage bin of the picking shelf or from the vertical storage shelf can be determined based on the added quantity, which can avoid frequent handling of material boxes and optimize the material picking process.

[0084] It should be noted that the process of determining whether to move the first target material box from the upper storage bin or from the automated storage and retrieval system (AS / RS) shelves, and moving the first target material box to the lower picking bin is generally completed before the operator picks the materials. That is to say, when the operator picks the materials, the materials to be picked are generally already present in the lower picking bin, which can improve the efficiency of material picking.

[0085] Since the operator directly determines the materials to be picked and the picking bin where the materials are located based on the material order, it is not only difficult to quickly and accurately determine the location of the picking bin, but also prone to picking errors. Therefore, in order to facilitate the operator to pick the materials, a display device can be set on the picking bin to display a lighting prompt message, such as Figure 5 As shown, the display device can be set above the picking bin, and the display device can include an electronic display screen and an indicator light.

[0086] After the bin handling robot moves the first target material box to the position of the first picking bin, in step S103, based on the materials included in the material order, the quantity of the materials, and the inventory information of the materials, determine the lighting prompt message of the first picking bin, and control the display device on the first picking bin to display the lighting prompt message. The lighting prompt message on the display device can guide the operator to quickly and accurately find the first picking bin, and directly determine whether to pick the materials according to the picking prompt message and the lighting message included in the lighting prompt message. In the case where material picking is required, the operator directly picks the materials based on the materials and the quantity of the materials included in the lighting prompt message, thereby helping the operator reduce the time to find the first picking bin where the materials are located and improve the picking efficiency.

[0087] Among them, the lighting prompt message can include a picking prompt message and a lighting message, and the picking prompt message is used to prompt the materials and the quantity of the materials.

[0088] As an implementation manner, in the case where multiple quantities of the same material correspond in the material order, the control platform can sum up these multiple quantities to obtain the total quantity, and thus determine the lighting prompt message of the first picking bin based on the materials included in the material order, the total quantity of the materials, and the inventory information of the materials.

[0089] Such as Figure 6As shown, upon receiving a material order, the control platform generates a first handling task. The first handling task includes at least the first storage bin location A1 in the upper storage bin of the picking shelf where the first target material bin is located, and the first picking bin location X1 in the lower picking bin of the picking shelf. Then, the control platform schedules the bin handling robot to move the first target material bin from the A1 storage bin location in the upper storage bin to the X1 picking bin location in the lower picking bin that is convenient for operators to pick materials.

[0090] Based on the materials included in the material order, the quantity of the materials, and the inventory information of the materials, the control platform determines the lighting prompt information for the first picking bin and controls the display device on the first picking bin to display the lighting prompt information. In this way, after seeing the lighting prompt information displayed on the first picking bin, the operator can pick the materials according to the materials and the quantity of the materials prompted by the display device, and then place the picked materials on the trolley.

[0091] Among them, the display device may include an electronic display screen and an indicator light. The electronic display screen is used to display the picking prompt information, and the indicator light is used to light up according to the lighting information. The indicator light can be an LED (light emitting diode), or a fluorescent lamp, etc. This is reasonable and will not be specifically limited here.

[0092] It can be seen that since there is a display device on the picking bin for displaying the lighting prompt information, when the control platform generates the corresponding lighting prompt information based on the materials, the quantity of the materials, and the inventory information in the material order, it controls the display device on the picking bin to display the lighting prompt information. Based on this, the operator can perform material picking according to the picking prompt information and the lighting information included in the lighting prompt information displayed by the display device. In this way, the operator can directly pick materials at the corresponding picking bin according to the lighting display prompt information, thereby improving the efficiency and accuracy of material picking.

[0093] As an implementation manner of the embodiment of the present application, the above material order includes at least one line of material information. The material information includes at least the target material and the picking quantity of the target material. The lighting information is the color information of the indicator light;

[0094] The above step of determining the lighting prompt information for the first picking bin based on the materials, the quantity of the materials, and the inventory information included in the material order may include:

[0095] Traverse the material information of each line in the material order. For the material information of the current line being traversed, when the picking quantity of the target material included in the material information of the current line is not 0 and the target material inventory of the target material is greater than the picking quantity, determine the first lighting prompt information of the target picking bin where the target material is located. The first lighting prompt information includes the first picking prompt information and the first color information of the indicator light. The first picking prompt information is used to prompt the identification of the target material and the picking quantity.

[0096] When the picking quantity of the target material included in the material information of the current line is not 0 and the target material inventory of the target material is equal to the picking quantity, determine the second lighting prompt information of the target picking bin where the target material is located. The second lighting prompt information includes the second picking prompt information and the second color information of the indicator light. The second picking prompt information is used to prompt the identification of the target material and the picking quantity. The second color information is different from the first color information.

[0097] When the picking quantity of the target material included in the material information of the current line is 0 or the target material inventory of the target material is less than the picking quantity, determine the third lighting prompt information of the target picking bin where the target material with the first non-zero picking quantity in the material order and the target material inventory not less than the picking quantity is located.

[0098] When a closing signal for the indicator light is received, continue to traverse the material information of the next line and determine the lighting prompt information corresponding to the material information of the next line until all the material information in the material order has been traversed. The third lighting prompt information includes the third picking prompt information and the third color information of the indicator light. The third picking prompt information is used to prompt that there is no picking requirement.

[0099] The material order will include at least one line of material information. The control platform can traverse the material information of each line in the material order. When it is determined that the picking quantity of the target material included in the material information of the current line being traversed is not 0 and the target material inventory of the target material is greater than the picking quantity, it means that the target material needs to be picked. The target material inventory meets the picking quantity this time, and after the operator picks the target material with the picking quantity, there are still remaining target materials in the bin. Therefore, the lighting prompt information of the target picking bin where the target material is located can be determined as the first lighting prompt information.

[0100] As shown in Figure 7(a), the display device includes an electronic display screen and an indicator light. The electronic display screen is used to display the identification of the target material, such as the abbreviation AM310, and the corresponding picking quantity 30. The indicator light displays the corresponding first color based on the first color information, such as green. In Figure 7(a), diagonal filling is used to indicate that the color of the indicator light is green.

[0101] When the control platform determines that the picking quantity of the target material included in the current row material information is not 0, and the target material inventory of the target material is equal to the picking quantity, it indicates that the target material needs to be picked. The target material inventory also meets the picking quantity for this time. After the operator picks the target material of the picking quantity, there is no remaining target material in the bin, that is, the bin is an empty bin. Therefore, it can be determined that the lighting prompt information of the target picking bin where the target material is located is the second lighting prompt information.

[0102] As shown in Figure 7 (b), the display device includes an electronic display screen and an indicator light. The electronic display screen is used to display the identifier of the target material, such as the short number AM310, and the corresponding picking quantity 30. The indicator light displays the corresponding second color based on the second color information. The second color is a color different from the first color, such as red. In Figure 7 (b), vertical line filling is used to indicate that the color of the indicator light is red.

[0103] When the control platform determines that the picking quantity of the target material included in the current row material information is 0, it indicates that the target material corresponding to the current row material information does not need to be picked. Or when the target material inventory of the target material is less than the picking quantity, it indicates that the target material inventory cannot meet the picking quantity for this time. Then, the control platform will not pick the target material. Then, the control platform determines that the lighting prompt information of the target picking bin where the target material is located, which is the first in the material order with a picking quantity not 0 and the target material inventory of the target material not less than the picking quantity, is the third lighting prompt information. That is, it determines that the lighting prompt information of the target picking bin where the target material corresponding to the first material information in the material order needs to be picked and the target material inventory also meets the picking quantity for this time is the third lighting prompt information.

[0104] As shown in Figure 7 (c), the display device includes an electronic display screen and an indicator light. The electronic display screen shows that there is no picking requirement and the corresponding picking quantity 0. The indicator light displays the corresponding third color based on the third color information. The third color can be a color different from the first color and the second color, such as light green; or it can be the same color as the first color or the second color information.

[0105] When the control platform receives a closing signal for the indicator light, it indicates that the operator has executed the lighting prompt information corresponding to the current row material information and picked the material from the target picking bin corresponding to the current row material information. Therefore, the control platform can determine the lighting prompt information corresponding to the next row material information until it traverses each row of material information in the material order.

[0106] As an implementation manner, when the control platform receives a closing signal for the indicator light, the target material inventory corresponding to the target material can be updated.

[0107] As an implementation manner, when the control platform determines that an abnormal problem occurs, the control platform determines that the lighting prompt information for the target picking bin is the fifth lighting prompt information. As shown in FIG. 7(d), the display device includes an electronic display screen and an indicator light. The electronic display screen displays "Please view the log" and the corresponding picking quantity 0. The indicator light displays the corresponding fifth color based on the fifth color information, such as yellow, so that the operator can judge the reason by querying the interface log of the control platform and take corresponding measures.

[0108] It can be seen that in the embodiment of the present application, the control platform traverses the material information of each line in the material order, and determines the lighting prompt information for the target picking bin where the target material corresponding to the currently traversed current line material information and the picking quantity of the target material are located. Based on the target material, the picking quantity of the target material, and the target material inventory, the control platform can determine different lighting picking prompt information corresponding to the target picking bin in different situations, where the different lighting picking prompt information includes different picking prompt information and different colors of the indicator light. In this way, the operator can quickly locate the target picking bin for picking materials and the quantity of the target materials to be picked based on different visual lighting prompt information, thereby improving the efficiency of the operator in picking materials.

[0109] As an implementation manner of the embodiment of the present application, as Figure 8 shown, the above step of continuing to traverse the material information of the next line and determining the lighting prompt information corresponding to the material information of the next line may include:

[0110] S801, determining whether the target material corresponding to the material information of the next line meets the first preset condition, the second preset condition, and the third preset condition.

[0111] When receiving a closing signal for the indicator light, the control platform can continue to traverse the material information of the next line in the material order, and determine whether the target material corresponding to the material information of the next line meets the first preset condition, the second preset condition, and the third preset condition, so as to determine the lighting prompt information for the target picking bin corresponding to the material information of the next line.

[0112] Among them, the first preset condition is that the target material is in a transportation state, the second preset condition is that the picking quantity corresponding to the target material is 0, and the third preset condition is that the target material inventory corresponding to the target material is less than the picking quantity.

[0113] S802. When the target material corresponding to the material information in the next row meets the first preset condition, determine the fourth lighting prompt information for the target picking bin corresponding to the material information in the current row.

[0114] When the target material corresponding to the material information in the next row meets the first preset condition, that is, when the target material corresponding to the material information in the next row is in the transportation state, it indicates that the target material corresponding to the material information in the next row needs to be picked, and the target material inventory can meet the picking quantity this time. Therefore, the control platform can determine the fourth lighting prompt information for the target picking bin corresponding to the material information in the current row.

[0115] Among them, the fourth lighting prompt information includes the fourth picking prompt information and the fourth color information of the indicator light. The fourth picking prompt information is used to prompt the transportation state of the target bin corresponding to the target material in the next row.

[0116] As Figure 9 shown, the display device includes an electronic display screen and an indicator light. The electronic display screen shows that the bin has not arrived and the corresponding picking quantity is 0. The indicator light shows the corresponding third color based on the fourth color information. The fourth color can be a color different from the first color, the second color, and the third color, such as blue; it can also be the same color as the first color or the second color information.

[0117] When the operator sees the fourth lighting prompt information for the target picking bin corresponding to the material information in the current row, they can know that the target material corresponding to the material information in the next row is being transported by the bin handling robot. When the bin handling robot transports the target material corresponding to the material information in the next row to the corresponding target picking bin, the control platform can turn off the fourth lighting prompt information for the target picking bin corresponding to the material information in the current row, and control the display device on the target picking bin corresponding to the material information in the next row to display the first lighting prompt information, that is, it can display the identification of the target material, the picking quantity, and the indicator light can display green based on the first color information.

[0118] In this way, the operator can pick according to the first lighting prompt information displayed by the display device on the target picking bin corresponding to the material information in the next row and pick the material in the target picking bin.

[0119] For example, the control platform determines that the lighting prompt information for the X1 target picking bin corresponding to the material information in the second line of the material order is the first lighting prompt information. After the operator completes the material picking at the X1 target picking bin based on the first lighting prompt information, the operator can turn off the green indicator light on the X1 target picking bin. The control platform can receive the off signal for the indicator light, and then the control platform continues to traverse the material information in the next line of the material order. When the control platform determines that the target material corresponding to the material information in the next line of the material order is in the transportation state being carried by the material handling robot, the control platform can control the display device on the X1 target picking bin to display the fourth lighting prompt information.

[0120] When the target material corresponding to the material information in the next line is placed in the corresponding X2 target picking bin, the control platform can turn off the fourth lighting prompt information for the X1 target picking bin corresponding to the current line of material information, and control the display device on the X2 target picking bin corresponding to the material information in the next line to display the first lighting prompt information.

[0121] S803, when the target material corresponding to the material information in the next line meets the second preset condition or the third preset condition, determine that the lighting prompt information for the target picking bin corresponding to the current line of material information is the third lighting prompt information.

[0122] When the target material corresponding to the material information in the next line meets the second preset condition, it means that the target material corresponding to the material information in the next line does not need to be picked; when the target material corresponding to the material information in the next line meets the third preset condition, it means that the target material inventory cannot meet the picking quantity this time. Therefore, when the target material corresponding to the material information in the next line meets the second preset condition or the third preset condition, the target material corresponding to the material information in the next line will not be picked, and the control platform can determine the third lighting prompt information for the target picking bin corresponding to the current line of material information.

[0123] In this way, the operator can pick according to the third lighting prompt information displayed on the display device of the target picking bin corresponding to the current line of material information, and know that the target material corresponding to the material information in the next line will not be picked.

[0124] For example, the control platform determines that the lighting prompt information for the X1 target picking bin corresponding to the material information in the second line of the material order is the first lighting prompt information. After the operator completes the material picking at the X1 target picking bin based on the first lighting prompt information, the operator can turn off the green indicator light on the X1 target picking bin. The control platform can receive the off signal for the indicator light, and then the control platform continues to traverse the material information in the next line of the material order. When the control platform determines that the target material corresponding to the material information in the next line of the material order does not need to be picked, the control platform can control the display device on the X1 target picking bin to display the third lighting prompt information. When the operator turns off the light green indicator light on the X1 target picking bin, the control platform then continues to traverse the material information in the next line.

[0125] It can be seen that in the embodiment of the present application, by determining whether the target material corresponding to the material information in the next line meets the first preset condition, the second preset condition, and the third preset condition, the control platform can determine the lighting prompt information corresponding to the material information in the next line in different cases where the target material corresponding to the material information in the next line meets the first preset condition, the second preset condition, or the third preset condition. Thus, it is not necessary for the operator to perform picking according to the material information in the next line of the material order by himself, thereby improving the efficiency of the operator in picking materials.

[0126] As an implementation manner of the embodiment of the present application, after the step of generating the second handling task corresponding to the material based on the storage location information of the material waiting area, the method further includes:

[0127] When it is determined that there is no material included in the material order in the other material orders that have not been traversed, based on the picking bin location where the material is located and the inventory information of the material, a second handling task corresponding to the second target material bin is generated, where the second target material bin is the target material bin where the material that is not included in the material order in the other material orders that have not been picked is located. The second handling task at least includes the second picking bin location where the second target material bin is located and the second storage bin location in the storage bin; the bin handling robot is scheduled to move the second target material bin from the second picking bin location to the second storage bin location.

[0128] Since multiple material orders may include the same material, after the control platform traverses one material order, when it is determined that there is no material included in the material order that has been traversed in the material orders that have not been traversed yet, it means that for the material orders that have not been traversed, the materials that the operator needs to pick do not overlap with the materials picked according to the material orders that have been traversed, and the operator does not need to pick the materials currently stored in the first picking bin.

[0129] Therefore, in order to improve the utilization rate of the first picking bin in the picking shelf, the control platform can generate a second handling task corresponding to the second target material bin where the materials in the uncompleted other material orders are located based on the picking bin position where the materials are located and the inventory information of the materials, and schedule the bin handling robot to move the second target material bin from the second picking bin position to the second storage bin position.

[0130] For example, the control platform receives 4 material orders, namely material orders 1-4. Among them, the materials included in material order 1 are door handles, the materials included in material orders 2-3 are exterior rearview mirrors, and the materials included in material order 4 are dome lights. The control platform sequentially traverses material orders 1-4. After traversing material order 1, when it is determined that the door handles included in material order 1 do not exist in the remaining uncompleted material orders 2-4, it means that for material orders 2-4, the operator does not need to pick the door handles. The control platform can generate a second handling task corresponding to the second target material bin storing the door handles based on the picking bin position where the door handles are located and the inventory information of the door handles in the lower picking bin collection, and schedule the bin handling robot to move the second target material bin from the X1 picking bin position to the second storage bin position in the upper storage bin.

[0131] It can be seen that in the embodiment of the present application, the control platform can configure the depth of the material order document pool. When the current material order is traversed, if the materials in the lower picking bin do not exist in the subsequent uncompleted material orders, the bin handling robot is scheduled to move the materials in the lower picking bin to the upper storage bin. In this way, when the subsequent material orders have these materials, the bin handling robot is scheduled to move them to the lower picking bin again, thereby making full use of the effective space of the lower picking bin and also reducing the handling distance of the bin handling robot from replenishing materials from the automated storage and retrieval system in the warehouse to the lower picking bin of the picking shelf.

[0132] As an implementation manner of the embodiment of the present application, as Figure 10 shown, the above-mentioned picking system further includes an AGV (Automated Guided Vehicle), and the above method may further include:

[0133] S1001, when receiving a full cart handling instruction, generate a first empty-full exchange task based on the storage location information of the material waiting area and the cart docking position.

[0134] Among them, the position of the skip car connection position is used to store the first empty skip car and the full skip car with the picked materials placed in it. The first empty-full exchange task at least includes the storage position of the first material waiting area, the storage position of the second material waiting area, the position of the first target skip car connection position, and the position of the second target skip car connection position. The full skip car handling instruction is triggered after the operator places the picked materials in the skip car at the skip car connection position.

[0135] When the control platform has traversed each line of material information in the material order, the operator has also completed the picking of the materials in the material order according to the lit picking prompt information of the target picking bin corresponding to each line of material information. The operator can place the picked materials in the skip car, then push the full skip car with the materials placed in it to the skip car connection position, and press the call button corresponding to the skip car connection position to generate a full skip car handling instruction.

[0136] When the control platform receives the full skip car handling instruction, it means that there is a full skip car currently stored at the skip car connection position. The control platform can generate a first empty-full exchange task based on the storage information of the material waiting area and the position of the skip car connection position, so as to move the full skip car in the skip car connection position to the material waiting area, and move the empty skip car in the material waiting area to the skip car connection position, so as to be transported to the production line for production and manufacturing.

[0137] S1002, dispatch the latent handling robot to move the full skip car from the position of the first target skip car connection position to the storage position of the first material waiting area, and dispatch the latent handling robot to move the first empty skip car from the storage position of the second material waiting area to the position of the second target skip car connection position.

[0138] After generating the first empty-full exchange task, the control platform can dispatch the latent handling robot to move the full skip car corresponding to the position of the first target skip car connection position from the position of the first target skip car connection position to the storage position of the first material waiting area based on the storage position of the first material waiting area and the position of the first target skip car connection position included in the first empty-full exchange task, and dispatch the latent handling robot to move the first empty skip car corresponding to the storage position of the second material waiting area from the storage position of the second material waiting area to the position of the second target skip car connection position based on the storage position of the second material waiting area and the position of the second target skip car connection position.

[0139] Among them, the storage position of the first material waiting area and the storage position of the second material waiting area can be the same or different; the position of the first target skip car connection position and the position of the second target skip car connection position can be the same or different, which are all reasonable and are not specifically limited here.

[0140] As an implementation manner, the dispatching latent transfer robot transports the full material vehicle corresponding to the first target material vehicle connection position from the first target material vehicle connection position to the storage position of the first material waiting area for shipment, which is carried out simultaneously with the dispatching latent transfer robot transporting the first empty material vehicle corresponding to the storage position of the second material waiting area for shipment from the storage position of the second material waiting area for shipment to the second target material vehicle connection position.

[0141] That is to say, the control platform dispatches at least two latent transfer robots simultaneously. One latent transfer robot is used to transport the full material vehicle corresponding to the first target material vehicle connection position from the first target material vehicle connection position to the storage position of the first material waiting area for shipment, and the other latent transfer robot is used to transport the first empty material vehicle corresponding to the storage position of the second material waiting area for shipment from the storage position of the second material waiting area for shipment to the second target material vehicle connection position.

[0142] As an implementation manner, the control platform first dispatches the latent transfer robot to transport the full material vehicle corresponding to the first target material vehicle connection position from the first target material vehicle connection position to the storage position of the first material waiting area for shipment, and then dispatches the latent transfer robot to transport the first empty material vehicle corresponding to the storage position of the second material waiting area for shipment from the storage position of the second material waiting area for shipment to the second target material vehicle connection position.

[0143] That is to say, the control platform can dispatch only one latent transfer robot. After the latent transfer robot transports the full material vehicle corresponding to the first target material vehicle connection position from the first target material vehicle connection position to the storage position of the first material waiting area for shipment, it continues to dispatch the latent transfer robot to transport the first empty material vehicle corresponding to the storage position of the second material waiting area for shipment from the storage position of the second material waiting area for shipment to the second target material vehicle connection position.

[0144] S1003. In the case of receiving an empty material vehicle transfer instruction, based on the storage location information of the material waiting area and the storage location information of the production line side, generate a second empty-full exchange task.

[0145] Among them, the second empty-full exchange task at least includes the storage position of the third material waiting area for shipment, the storage position of the fourth material waiting area for shipment, the first production line side storage position, and the second production line side storage position.

[0146] Since there are materials stored in the material waiting area, they can be transported from the material waiting area to the production line for production and processing. After the operator on the production line side finishes taking the materials from the material vehicle, there is an empty material vehicle at the production line side work position. The operator can press the call button corresponding to the storage position on the production line side to generate an empty material vehicle transfer instruction, so as to transport the empty material vehicle at the production line side storage position to the material waiting area while transporting the full material vehicle in the material waiting area to the production line side storage position. [[ID=—19]]

[0147] S1004, dispatch the latent transfer robot to transfer the second empty cart from the storage location beside the first production line to the storage location in the fourth material waiting-to-be-dispatched area, and dispatch the latent transfer robot to transfer the full cart in the material waiting-to-be-dispatched area from the storage location in the third material waiting-to-be-dispatched area to the storage location beside the second production line.

[0148] After generating the second empty-full exchange task, the control platform can dispatch the latent transfer robot to transfer the second empty cart corresponding to the storage location beside the first production line from the storage location beside the first production line to the storage location in the third material waiting-to-be-dispatched area based on the storage location in the third material waiting-to-be-dispatched area and the storage location beside the first production line included in the second empty-full exchange task, and dispatch the latent transfer robot to transfer the full cart corresponding to the storage location in the fourth material waiting-to-be-dispatched area from the storage location in the fourth material waiting-to-be-dispatched area to the storage location beside the second production line based on the storage location in the fourth material waiting-to-be-dispatched area and the storage location beside the second production line.

[0149] Among them, the storage location in the third material waiting-to-be-dispatched area and the storage location in the fourth material waiting-to-be-dispatched area can be the same or different; the storage location beside the first production line and the storage location beside the second production line can be the same or different, which are all reasonable and are not specifically limited herein.

[0150] As an implementation, the dispatch of the latent transfer robot to transfer the second empty cart corresponding to the storage location beside the first production line from the storage location beside the first production line to the storage location in the third material waiting-to-be-dispatched area is carried out simultaneously with the dispatch of the latent transfer robot to transfer the full cart corresponding to the storage location in the fourth material waiting-to-be-dispatched area from the storage location in the fourth material waiting-to-be-dispatched area to the storage location beside the second production line.

[0151] That is to say, the control platform dispatches at least two latent transfer robots simultaneously. One latent transfer robot is used to transfer the second empty cart corresponding to the storage location beside the first production line from the storage location beside the first production line to the storage location in the third material waiting-to-be-dispatched area, and the other latent transfer robot is used to transfer the full cart corresponding to the storage location in the fourth material waiting-to-be-dispatched area from the storage location in the fourth material waiting-to-be-dispatched area to the storage location beside the second production line.

[0152] As an implementation, the control platform first dispatches the latent transfer robot to transfer the second empty cart corresponding to the storage location beside the first production line from the storage location beside the first production line to the storage location in the third material waiting-to-be-dispatched area, and then dispatches the latent transfer robot to transfer the full cart corresponding to the storage location in the fourth material waiting-to-be-dispatched area from the storage location in the fourth material waiting-to-be-dispatched area to the storage location beside the second production line.

[0153] That is to say, the control platform can schedule only one latent transfer robot. After the latent transfer robot transports the second empty cart from the first production line-side storage position corresponding to the first production line-side storage position to the third material waiting-to-be-dispatched area storage position, the control platform continues to schedule the latent transfer robot to transport the full cart from the fourth material waiting-to-be-dispatched area storage position corresponding to the fourth material waiting-to-be-dispatched area storage position to the second target cart connection position.

[0154] It can be seen that in the embodiment of the present application, when the control platform receives a full cart transfer instruction, it generates a first empty-full exchange task, schedules the latent transfer robot to transport the full cart from the first target cart connection position corresponding to the first target cart connection position to the first material waiting-to-be-dispatched area storage position, and transports the first empty cart from the second material waiting-to-be-dispatched area storage position corresponding to the second material waiting-to-be-dispatched area storage position to the second target cart connection position. When receiving an empty cart transfer instruction, it generates a second empty-full exchange task, schedules the latent transfer robot to transport the second empty cart from the first production line-side storage position corresponding to the first production line-side storage position to the third material waiting-to-be-dispatched area storage position, and transports the full cart from the fourth material waiting-to-be-dispatched area storage position corresponding to the fourth material waiting-to-be-dispatched area storage position to the second production line-side storage position. In this way, the materials at the production line-side storage position, the materials in the material waiting-to-be-dispatched area, and the empty carts can be replenished in a timely manner, so as to transport the materials from the material waiting-to-be-dispatched area to the production line for production and processing, and transport the empty carts from the material waiting-to-be-dispatched area to the cart connection position for the operators to place the picked materials, improving the utilization rate of the carts.

[0155] As an implementation manner, as shown in FIGS. 11(a) and 11(b), the above picking system may include a control platform, a bin transfer robot, and a latent transfer robot. The above control platform may include an upstream control device, a robot control device, and a lighting control device;

[0156] A method for the control platform to display a lighting prompt message based on a material order when receiving the material order, so that the operator picks the materials based on the lighting prompt message and transports the picked materials to the production line side may include:

[0157] S1101, the upstream control device issues the material order to the robot control device;

[0158] After receiving the material order, the upstream control device sends the material order to the robot control device.

[0159] S1102, the robot control device receives the material order and parses it;

[0160] S1103, the robot control device allocates the material inventory according to the parsing result and generates a first transfer task;

[0161] S1104, the robot control device schedules the bin handling robot to execute the first handling task;

[0162] S1105, the bin handling robot transports the first target material bin from the storage bin position in the automated storage and retrieval system (AS / RS) to the target material picking shelf position;

[0163] When the robot control device receives a material order, it parses the material order and generates a first handling task corresponding to the first target material bin based on the materials included in the parsed material order, the quantity of the materials, and the inventory information of the materials. The first handling task at least includes the position of the first storage bin where the first target material bin is located and the position of the first picking bin in the picking bin. Based on the first handling task, the bin handling robot is scheduled to transport the first target material bin from the first storage bin position to the first picking bin position.

[0164] S1106, the operator prints the material order document at the robot control device workstation;

[0165] S1107, the operator uses the information collection terminal to scan the document code and the ground code of the material picking shelf, and clicks to submit;

[0166] When the operator obtains a material order, the operator prints a material document at the robot control device workstation, then uses the information collection terminal to scan the document code and the ground code of the material picking shelf corresponding to the part family materials, and clicks to submit. In this way, the control device can identify the material order picked by the operator.

[0167] S1108, the device access module of the robot control device interacts with the lighting control device control center to transmit the lighting prompt information of the first picking bin to the lighting control device;

[0168] The robot control device determines the lighting prompt information of the first picking bin based on the materials included in the material order, the quantity of the materials, and the inventory information of the materials, and sends the determined lighting prompt information of the first picking bin to the lighting control device. The lighting prompt information may include material identification, picking quantity, and the first color information of the indicator light.

[0169] S1109, the lighting control device controls the first picking bin to display the lighting prompt information;

[0170] S1110, the operator picks the materials according to the lighting prompt information, places the picked materials in the trolley, and extinguishes the indicator light;

[0171] S1111, the lighting control device control center reports the closing signal of the indicator light through the device access module of the robot control device;

[0172] S1112, after the robot control device receives the signal to turn off the indicator light, it updates the material inventory;

[0173] S1113, the robot control device conducts information interaction with the lighting control device again through the device access module, and transmits the lighting prompt information of the first picking bin corresponding to the material information of the next line until all the material information in the material order is traversed;

[0174] S1114, the operator verifies the materials and the material order until the picking of the entire material order is completed, and then clicks to submit;

[0175] S1115, the robot control device reports the outbound data to the upstream control device;

[0176] S1116, the operator pushes the full material cart to the cart connection position and presses the call button corresponding to the cart connection position;

[0177] S1117, after the robot control device receives the call signal, it allocates a storage location in the material waiting area for shipment and an empty material cart in the material waiting area for shipment, and generates a first empty-full exchange task;

[0178] S1118, the robot control device schedules the latent handling robot to execute the first empty-full exchange task;

[0179] S1119, the latent handling robot transports the full material cart from the first target cart connection position to the first storage location in the material waiting area for shipment;

[0180] S1120, the latent handling robot transports the first empty cart from the second storage location in the material waiting area for shipment to the second target cart connection position;

[0181] After the robot control device receives the call signal, based on the storage location information in the material waiting area for shipment and the cart connection position, it generates a first empty-full exchange task, where the first empty-full exchange task includes at least the first storage location in the material waiting area for shipment, the second storage location in the material waiting area for shipment, the first target cart connection position, and the second target cart connection position. Then, it schedules the latent handling robot to transport the full material cart from the first target cart connection position to the first storage location in the material waiting area for shipment, and schedules the latent handling robot to transport the first empty cart from the second storage location in the material waiting area for shipment to the second target cart connection position.

[0182] S1121, the robot control device updates the inventory in the material waiting area for shipment.

[0183] S1122, when the picking of the materials in the full material cart at the in-line workstation is completed, the operator presses the call button corresponding to the storage location at the in-line to call for an empty material cart to be transported;

[0184] S1123, after the robot control device receives the pager signal, it allocates the material inventory in the material waiting area and the storage locations in the material waiting area, and generates a second empty-full exchange task;

[0185] S1124, the robot control device schedules the AGV to execute the second empty-full exchange task;

[0186] S1125, the AGV transports the second empty cart from the first production line side storage location to the fourth material waiting area storage location;

[0187] S1126, the AGV transports the full material cart from the third material waiting area storage location to the second production line side storage location.

[0188] After the robot control device receives the pager signal, based on the storage location information in the material waiting area and the production line side storage location information, it generates a second empty-full exchange task. Among them, the second empty-full exchange task at least includes the third material waiting area storage location, the fourth material waiting area storage location, the first production line side storage location, and the second production line side storage location. Then, it schedules the AGV to transport the second empty cart from the first production line side storage location to the fourth material waiting area storage location, and schedules the AGV to transport the full material cart in the material waiting area from the third material waiting area storage location to the second production line side storage location.

[0189] As an implementation manner of the embodiment of the present application, as Figure 12 shown, the above method may further include:

[0190] S1201, when receiving the off signal of the indicator light for the second color information, update the target material inventory in the target picking bin corresponding to the second color information to 0.

[0191] The indicator light of the second color corresponds to the above second lighting prompt information, and the second lighting prompt information is determined by the control platform when the picking quantity of the target material included in the current row of material information is not 0 and the target material inventory of the target material is equal to the picking quantity. Since the second lighting prompt information corresponds to the target material inventory of the target material being equal to the picking quantity, after the operator picks the material in the target picking bin and extinguishes the indicator light of the second color information, there is no longer any target material in the target picking bin, and only an empty bin remains. Therefore, when the control platform receives the off signal of the indicator light for the second color information, it updates the target material inventory in the target picking bin corresponding to the second color information to 0.

[0192] S1202, based on the target picking bin location where the first empty bin is located and the AS / RS bin location information, generate a first empty bin handling task.

[0193] Among them, the first empty bin is an empty bin with a target material inventory of 0 in the target picking bin. The first empty bin handling task includes at least the position of the first AS / RS rack bin and the position of the target picking bin where the first empty bin is located.

[0194] When the control platform determines that the target material inventory in the target picking bin is 0, based on the position of the target picking bin where the first empty bin is located and the AS / RS rack bin information, a first empty bin handling task can be generated so that the first empty bin is transported to the AS / RS rack bin for storage.

[0195] S1203, dispatch the bin handling robot to transport the first empty bin to the position of the first AS / RS rack bin.

[0196] After the control platform generates the first empty bin handling task, dispatch the bin handling robot to transport the first empty bin from the corresponding target picking bin position to the position of the first AS / RS rack bin, so as to store the first empty bin in the AS / RS rack.

[0197] It can be seen that in the embodiment of the present application, when the control platform receives the closing signal of the indicator light for the second color information, based on the position of the target picking bin corresponding to the second color information and the AS / RS rack bin information, a first empty bin handling task can be generated, so as to dispatch the bin handling robot to transport the first empty bin corresponding to the first empty bin handling task from the target picking bin where it is located to the AS / RS rack bin for storage. In this way, it is possible to avoid storing empty bins in the picking rack bins, so that more materials can be stored in the lower picking bins, improving the utilization rate of the lower picking bins.

[0198] As an implementation manner of the embodiment of the present application, as Figure 13 shown, the above picking system may further include an empty bin palletizing station, and the method further includes:

[0199] S1301, when there is no second empty bin at the empty bin conveying connection position corresponding to the empty bin conveying line, based on the empty bin conveying connection position information and the AS / RS rack bin information, generate a second empty bin handling task.

[0200] Among them, the second empty bin handling task includes at least the target position of the empty bin conveying connection and the position of the second AS / RS rack bin.

[0201] Since when the control platform receives the closing signal of the indicator light for the second color information, it controls the bin handling robot to transport the first empty bin in the target picking bin to the AS / RS rack bin for storage. Storing too many empty bins in the AS / RS rack bin will cause the bins with materials to have no storage space. Therefore, it is necessary to transfer the second empty bin stored in the AS / RS rack out of the AS / RS rack through the empty bin conveying line.

[0202] As an implementation manner, an image acquisition device is installed at the connection position of the empty box conveyor line. The control platform can view the videos collected by the image acquisition devices at the connection positions of each empty box conveyor line in turn. When it is determined that there is no second empty bin in the connection position of the empty box conveyor line in the video, the control platform generates a second empty box handling task based on the connection position of the empty box conveyor and the storage rack bin information.

[0203] As an implementation manner, a detection device, such as a gravity sensing device, is provided at the connection position of the empty box conveyor line. When the gravity sensing device or other detection devices detect that there is no second empty bin in the connection position of the empty box conveyor line, the control platform generates a second empty box handling task based on the connection position of the empty box conveyor and the storage rack bin information.

[0204] S1302, dispatch the bin handling robot to move and place the second empty bin from the position of the second storage rack bin on the empty box conveyor corresponding to the target connection position of the empty box conveyor.

[0205] After generating the second empty box handling task, the control platform can move and place the second empty bin corresponding to the position of the second storage rack bin on the empty box conveyor corresponding to the target connection position of the empty box conveyor.

[0206] Since when the empty box conveyor line is transferring empty bins, the running speed of the empty box conveyor line is usually relatively fast. If the bin handling robot directly places the second empty bin on the empty box conveyor line when the empty box conveyor line is running at a high speed, it may cause a collision between the bin handling robot and the empty box conveyor line, resulting in failures of the bin handling robot and the empty box conveyor line.

[0207] To avoid a collision between the bin handling robot and the empty box conveyor line, as an implementation manner, the above control platform may further include a conveyor line control device. After generating the second empty box handling task, the control platform can dispatch the bin handling robot to move the second empty bin corresponding to the position of the second storage rack bin to the target connection position of the empty box conveyor, and then the device access module in the control platform performs a safety interaction with the conveyor line control device.

[0208] The process of the device access module in the control platform interacting securely with the conveyor line control device can be specifically as follows: The control platform sends an application for placing an empty bin to the conveyor line control device through the device access module. When the conveyor line control device permits the placement of the empty bin, it sends empty bin placement permission information to the device access module of the control platform. When the control platform receives the empty bin placement permission information, it schedules the bin handling robot to continue executing the second empty bin handling task, that is, placing the second empty bin on the empty bin conveyor line corresponding to the empty bin conveyor connection target position. After the bin handling robot places the second empty bin on the empty bin conveyor line corresponding to the empty bin conveyor connection target position, the control platform can control the bin handling robot to leave the empty bin conveyor line.

[0209] Among them, when the conveyor line control device receives the application for placing an empty bin, the conveyor line control device can reduce the running speed of the empty bin conveyor line to a preset running speed, or temporarily stop the operation of the empty bin conveyor line, and then send empty bin placement permission information to the device access module of the control platform.

[0210] S1303. When there is a second empty bin on the empty bin conveyor line, schedule the empty bin conveyor line to transfer the second empty bin to the empty bin palletizing station position so that the second empty bin undergoes pallet palletizing at the empty bin palletizing station position to obtain a pallet with empty bins.

[0211] In order to facilitate the handling of empty bins while preventing empty bins from being damaged, a preset number of empty bins can be palletized together and placed on a pallet to obtain a pallet with empty bins. Therefore, when there is a second empty bin on the empty bin conveyor line, schedule the empty bin conveyor line to transfer the second empty bin to the empty bin palletizing station position so that the second empty bin undergoes pallet palletizing at the empty bin palletizing station position to obtain a pallet with empty bins. Among them, the preset number of empty bins palletized together can be set according to the size of the empty bin. For example, if the empty bin is a large-sized bin, the preset number can be 3; if the empty bin is a medium-sized bin, the preset number can be 5; if the empty bin is a small-sized bin, the preset number can be 7. These are all reasonable and are not specifically limited here.

[0212] It can be seen that in the embodiment of the present application, when there is no second empty bin at the empty bin conveyor connection position corresponding to the empty bin conveyor line, the control platform generates a second empty bin handling task, and based on the second empty bin handling task, schedules the bin handling robot to move the second empty bin in the second position of the automated storage and retrieval system (AS / RS) rack and place it on the empty bin conveyor line corresponding to the empty bin conveyor connection target position to reduce the storage positions occupied by the empty bins in the AS / RS rack. When there is a second empty bin on the empty bin conveyor line, schedule the empty bin conveyor line to transfer the second empty bin to the empty bin palletizing station position so that the second empty bin is pallet palletized, thereby ensuring the stability of the empty bin during the handling by the robot and preventing the empty bin from being damaged.

[0213] As an implementation manner of an embodiment of the present application, as Figure 14 shown, the above method may further include:

[0214] S1401. When the palletizing of the second empty bin is completed to obtain a pallet with empty bins, based on the storage location information of the empty bin palletizing, the storage location information of the empty bin buffer area, the storage location information of the empty pallet buffer area, and the storage location information of the empty bin palletizing, generate a third empty / full exchange task.

[0215] Among them, the storage location information of the empty bin palletizing is the storage location information corresponding to the position of the empty bin palletizing station. The third empty / full exchange task includes at least the first empty bin palletizing storage location, the second empty bin palletizing storage location, the storage location of the empty bin buffer area, and the empty pallet position in the empty pallet buffer area.

[0216] When the palletizing of the second empty bin is completed to obtain a pallet with empty bins, it indicates that there are empty bins on the pallet that need to be transported to the empty pallet buffer area in this empty bin palletizing station, and at the same time, this empty bin palletizing station needs to be replenished with empty pallets for palletizing.

[0217] As an implementation manner, an operator palletizes the second empty bin and the pallet at the position of the empty bin palletizing station to obtain a pallet with empty bins, and can store the pallet with empty bins at the storage location corresponding to this empty bin palletizing station, and then press the call button at the position of this empty bin palletizing station. The call signal generated by the call button notifies the control platform that the palletizing of the second empty bin is completed, and a latent handling robot is needed to handle the pallet with empty bins in the storage location corresponding to this empty bin palletizing station.

[0218] As an implementation manner, the control platform can determine that an operator palletizes the second empty bin and the pallet at the empty bin palletizing station through the video collected by the image acquisition device corresponding to the empty bin palletizing station to obtain a pallet with empty bins.

[0219] Based on this, the control platform can generate a third empty / full exchange task based on the storage location information of the empty bin palletizing, the storage location information of the empty bin buffer area, the storage location information of the empty pallet buffer area, and the storage location information of the empty bin palletizing. Thus, while transporting the pallet materials in the storage location of the empty bin palletizing to the empty bin buffer area for storage, it also transports the empty pallets in the empty bin buffer area to the empty bin palletizing station for palletizing.

[0220] S1402. Dispatch the latent handling robot to transport the pallet with empty bins from the first empty bin palletizing storage location to the storage location of the empty bin buffer area, and dispatch the latent handling robot to transport the empty pallet from the empty pallet position in the empty pallet buffer area to the second empty bin palletizing storage location.

[0221] After generating the third empty-full exchange task, the control platform can dispatch the latent transport robot to transport the empty pallet corresponding to the first empty box pallet storage position from the first empty box pallet storage position to the empty box buffer storage position based on the first empty box pallet storage position and the empty box buffer storage position included in the third empty-full exchange task, and dispatch the latent transport robot to transport the empty pallet corresponding to the empty pallet position of the empty pallet buffer from the empty pallet buffer to the second empty box pallet storage position based on the empty pallet position and the second empty box pallet storage position. The first empty box pallet storage position and the second empty box pallet storage position can be the same or different, which is reasonable and is not specifically limited here.

[0222] As an implementation method, the latent handling robot is dispatched to transport the empty box on the pallet corresponding to the first empty box stack storage position from the first empty box stack storage position to the empty box buffer area storage position, and the latent handling robot is dispatched to transport the empty pallet corresponding to the empty pallet position in the empty pallet buffer area from the empty pallet buffer area to the second empty box stack storage position.

[0223] That is to say, the control platform dispatches at least two latent transport robots at the same time, one of which is used to transport the empty box on the pallet corresponding to the first empty box pallet storage position from the first empty box pallet storage position to the empty box buffer area storage position, and the other latent transport robot is used to transport the empty pallet corresponding to the empty pallet position in the empty pallet buffer area from the empty pallet buffer area to the second empty box pallet storage position.

[0224] As an implementation method, the control platform first dispatches the latent transport robot to transport the empty box on the pallet corresponding to the first empty box pallet storage position from the first empty box pallet storage position to the empty box buffer area storage position, and then dispatches the latent transport robot to transport the empty pallet corresponding to the empty pallet position in the empty pallet buffer area from the empty pallet buffer area to the second empty box pallet storage position.

[0225] That is to say, the control platform can only dispatch one latent transport robot. After the latent transport robot transports the empty box on the pallet corresponding to the first empty box code storage position from the first empty box code storage position to the empty box buffer area storage position, it continues to dispatch the latent transport robot to transport the empty pallet corresponding to the empty pallet position in the empty pallet buffer area from the empty pallet buffer area to the second empty box code storage position.

[0226] S1403, when there is no empty pallet to be shipped at the empty container shipping docking location, a pallet empty container handling task is generated based on the empty container buffer storage location information and the empty container shipping docking location information.

[0227] Among them, the storage location information of the empty box buffer area may include the empty bins stored in the empty box buffer area and the storage location of the empty bins. The empty box of the outbound pallet is the pallet empty box transported from the storage location of the empty box buffer area to the empty box outbound connection position. The pallet empty box handling task at least includes the storage location of the empty box buffer area and the pallet empty box at the empty box outbound connection position.

[0228] The empty box outbound connection position is used to temporarily store the pallet empty boxes to be outbound. When there is no pallet empty box to be outbound at the empty box outbound connection position, it means that the pallet empty boxes at the empty box outbound connection position need to be replenished.

[0229] As an implementation, an image acquisition device is installed at the empty box outbound connection position. The control platform can view the videos collected by the image acquisition devices at each empty box outbound connection position in turn. When it is determined that there is no pallet empty box to be outbound at the empty box outbound connection position in the video, the control platform generates a pallet empty box handling task based on the empty box transfer connection position and the storage location information of the empty box buffer area, so as to replenish the pallet empty boxes at the empty box outbound connection position.

[0230] As an implementation, a detection device, such as a gravity sensing device, is set at the empty box outbound connection position. When the gravity sensing device or other detection devices detect that there is no pallet empty box to be outbound at the empty box outbound connection position, the control platform generates a pallet empty box handling task based on the empty box transfer connection position and the storage location information of the empty box buffer area.

[0231] S1404, schedule the AGV to transport the pallet empty box from the storage location of the empty box buffer area to the empty box outbound connection position.

[0232] After generating the pallet empty box handling task, the AGV can transport the pallet empty box corresponding to the storage location of the empty box buffer area to the empty box outbound connection position, so as to replenish the pallet empty boxes to be outbound at the empty box outbound connection position.

[0233] It can be seen that in the embodiment of the present application, when the palletizing of the second empty bin is completed to obtain the pallet empty bin, a third empty / full exchange task is generated, and the latent handling robot is scheduled to move the pallet empty bin from the storage position of the first empty bin palletizing to the storage position of the empty bin buffer area, and move the empty pallet from the empty pallet position of the empty pallet buffer area to the storage position of the second empty bin palletizing. Thereby, it is possible to avoid the pallet empty bin occupying the empty bin palletizing storage position, improve the utilization rate of the empty bin palletizing storage position, and at the same time, it is also possible to timely supplement the empty pallets required for palletizing in the empty bin palletizing station, thereby improving the efficiency of palletizing the second empty bin. When there is no pallet empty bin to be shipped at the empty bin outbound connection position, a pallet empty bin handling task is generated, and the latent handling robot is scheduled to move the pallet empty bin from the storage position of the empty bin buffer area to the empty bin outbound connection position, improving the utilization rate of the empty bin outbound connection position.

[0234] As an implementation manner of the embodiment of the present application, as Figure 15 shown, the above picking system further includes a scheduling conveyor line mechanism. The step of the above scheduling empty bin conveyor line transporting the second empty bin to the empty bin palletizing station position may include:

[0235] S1501, collect the bin code information of the second empty bin, and parse the collected bin code information to obtain the first conveying information.

[0236] Since the bins used by different material suppliers are different. For example, there are differences in the type, structure, or size of the bins. Therefore, it is necessary to distinguish the empty bins corresponding to different material suppliers, and then allocate the empty bins of the same material supplier to the empty bin return conveyor line corresponding to the material supplier, so that the empty bin return conveyor line transports the empty bins of the same material supplier to the empty bin palletizing station, so as to palletize the same empty bins together.

[0237] When there is a second empty bin on the empty bin conveyor line, the second empty bin conveyor line on the empty bin conveyor line is scheduled to be transferred to the information collection terminal, so that the information collection terminal collects the bin code on the second empty bin, and then the information collection terminal uploads the collected bin code information to the control platform through the device access module of the control platform. When the control platform receives the bin code information, the received bin code information is parsed into the first conveying information.

[0238] Among them, the first conveying information is used to indicate the target sorting empty bin return conveyor line corresponding to the second empty bin. The first conveying information may include the correspondence between the bin code and the target sorting empty bin return conveyor line, the correspondence between the supplier information and the target sorting empty bin return conveyor line identifier, etc. These are all reasonable and are not specifically limited here.

[0239] S1502. Based on the first conveying information, the conveying line mechanism is scheduled to distribute the second empty bin to the corresponding target sorting empty bin return conveying line.

[0240] Among them, the sorting empty bin return conveying line can be divided based on the material supplier. For example, the sorting empty bin return conveying line corresponding to material supplier A is sorting empty bin return conveying line a, the sorting empty bin return conveying line corresponding to material supplier B is sorting empty bin return conveying line b, and the sorting empty bin return conveying line corresponding to material supplier C is sorting empty bin return conveying line c.

[0241] After the control platform parses the received bin code information into the first conveying information, the first conveying information can be sent to the conveying line mechanism, so that based on the first conveying information, the conveying line mechanism is scheduled to distribute the second empty bin to the target sorting empty bin return conveying line corresponding to its affiliated material supplier.

[0242] S1503. Schedule the target sorting empty bin return conveying line to transfer the second empty bin to the empty bin palletizing station position.

[0243] When the second empty bin is distributed to the target sorting empty bin return conveying line, schedule the target empty bin return conveying line to transfer the empty bins of the same material supplier to the empty bin palletizing station beside the empty bin return conveying line, so as to palletize the empty bins of the same material supplier at the empty bin palletizing station to obtain palletized empty bins.

[0244] It can be seen that in the embodiment of the present application, the bin code information of the second empty bin is collected, the control platform parses the collected bin code information to obtain the first conveying information, and based on the first conveying information, the conveying line mechanism is scheduled to distribute the second empty bin to the corresponding target sorting empty bin return conveying line, so that the target sorting empty bin return conveying line transfers the second empty bin to the empty bin palletizing station position, thereby ensuring that the palletized empty bins belong to the same material supplier.

[0245] As an implementation manner of the embodiment of the present application, the above method may further include:

[0246] When the empty shelf ground code information at the empty bin outbound connection position is received, based on the storage location information of the empty pallet buffer area and the empty bin outbound connection position information, generate an empty shelf handling task for the target empty shelf, where the target empty shelf is the empty shelf corresponding to the empty shelf ground code information, and the empty shelf handling task at least includes the target empty bin outbound connection position and the storage location of the first empty pallet buffer area; schedule the latent handling robot to move the target empty shelf from the target empty bin outbound connection position to the storage location of the first empty pallet buffer area.

[0247] After the latent transfer robot transports the empty pallet box from the storage position in the empty box buffer area to the empty box outbound connection position, the operator can use an electric forklift to move the empty box pallet away from the shelf where the empty box pallet is stored, and then the shelf becomes an empty shelf. Then, the operator can use the information collection terminal to scan the floor code at the location of the empty shelf and bind the empty shelf to the floor code. When the control platform receives the floor code information of the empty shelf scanned and sent by the information collection terminal, based on the storage location information of the empty pallet buffer area and the empty box outbound connection position information, it generates an empty shelf handling task corresponding to the target empty shelf. Based on the empty shelf handling task, it schedules the latent transfer robot to transport the target empty shelf at the target empty box outbound connection position to the storage position of the first empty pallet buffer area.

[0248] It can be seen that in the embodiment of the present application, when the control platform receives the floor code information of the empty shelf at the empty box outbound connection position, based on the storage location information of the empty pallet buffer area and the empty box outbound connection position information, it generates an empty shelf handling task corresponding to the target empty shelf. Based on the empty shelf handling task, the control platform schedules the latent transfer robot to transport the target empty shelf included in the empty shelf handling task at the target empty box outbound connection position to the storage position of the first empty pallet buffer area, so as to store empty pallets in the empty pallet buffer area, avoid the idle of the empty shelf at the empty box outbound connection position, and improve the utilization rate of the empty shelf.

[0249] As an implementation manner, as shown in FIGS. 16(a), 16(b), and 16(c), the above picking system may include a control platform, a bin handling robot, and a latent transfer robot. The above control platform may include an upstream control device, a robot control device, and a lighting control device; when there is an empty bin in the picking bin, the method for transporting the empty bin out of the warehouse may include:

[0250] S1601, after the operator picks the material and the bin is empty, turn off the second color indicator light.

[0251] When the robot control device determines that the picking quantity of the target material included in the current line material information in the material order is not 0 and the target material inventory of the target material is equal to the picking quantity, it determines the second lighting prompt information of the target picking bin where the target material is located, where the second lighting prompt information includes the second picking prompt information and the second color information of the indicator light.

[0252] S1602, the lighting control device reports a closing signal for the second color indicator light to the robot control device;

[0253] S1603, after the robot control device receives the closing signal for the second color indicator light, it updates the material inventory;

[0254] S1604. The robot control device allocates a storage bin position in the automated storage and retrieval system (AS / RS) and generates a first empty bin handling task.

[0255] S1605. The robot control device schedules the bin handling robot to execute the first empty bin handling task.

[0256] S1606. The bin handling robot transports the first empty bin from this position to the position of the first storage bin in the AS / RS rack.

[0257] When the robot control device receives the closing signal of the indicator light for the second color information, it updates the target material inventory in the target picking bin corresponding to the second color information to 0, and then generates a first empty bin handling task based on the position of the target picking bin where the first empty bin is located and the AS / RS rack bin position information. Here, the first empty bin is an empty bin with a target material inventory of 0 in the target picking bin. The first empty bin handling task includes at least the position of the first storage bin in the AS / RS rack and the position of the target picking bin where the first empty bin is located. Based on the first empty bin handling task, the bin handling robot is scheduled to transport the first empty bin to the position of the first storage bin in the AS / RS rack.

[0258] S1607. When the robot control device polls that the empty bin conveying connection position is empty, it generates a second empty bin handling task.

[0259] S1608. The robot control device triggers the bin handling robot to execute the second empty bin handling task.

[0260] S1609. The bin handling robot transports the second empty bin from the second storage bin position in the AS / RS rack to the target position of the empty bin conveying connection.

[0261] S1610. The robot control device performs a safety interaction with the conveyor line control device through the device access module.

[0262] S1611. Perform a safety interaction with the robot control device.

[0263] S1612. The robot control device schedules the bin handling robot to execute the second empty bin handling task.

[0264] S1613. After the bin handling robot puts down the empty bin, it leaves.

[0265] When the robot control device polls that the empty container transfer connection position is empty, based on the empty container transfer connection position information and the vertical warehouse shelf position information, a second empty container handling task is generated. Based on the second empty container handling task, the bin handling robot is scheduled to carry and place the second empty bin from the second vertical warehouse shelf position to the empty container transfer connection target position, and perform a safety interaction with the conveyor line control device. After the safety interaction passes, the bin handling robot is scheduled to place the second empty bin on the empty container conveyor line corresponding to the empty container transfer connection target position, and then the bin handling robot is scheduled to leave.

[0266] S1614, after the information collection terminal on the empty container conveyor line detects the second empty bin, it reports to the conveyor line control device;

[0267] S1615, the conveyor line control device controls the empty container conveyor line to transfer the second empty bin to the information collection terminal station of the empty container conveyor line;

[0268] S1616, the information collection terminal collects the bin code information of the second empty bin, and uploads the collected information to the robot control device through the device access module of the robot control device;

[0269] S1617, the robot control device analyzes the information received from the information collection terminal;

[0270] S1618, the robot control device converts the analysis result into the first conveyor information and issues it to the conveyor line control device through the device access module;

[0271] S1619, the conveyor line control device performs bin sorting according to the first conveyor information, and sorts the bins of different suppliers to the target sorting empty bin return conveyor line;

[0272] S1620, the operator sorts and palletizes the empty bins at the empty bin palletizing station where the target sorting empty bin returns to the conveyor line;

[0273] S1621, when the operator completes the palletizing of the empty bins of the second empty bin, press the call button corresponding to the palletizing station;

[0274] S1622, after the robot control device receives the call signal, it allocates storage positions in the empty bin buffer area and empty pallets in the empty pallet buffer area, and generates a third empty-full exchange task;

[0275] S1623, the robot control device schedules the AGV to execute the third empty-full exchange task;

[0276] S1624, the AGV transports the pallet empty bin from the first empty bin palletizing storage position to the storage position in the empty bin buffer area;

[0277] S1625, The latent transfer robot transfers an empty pallet from the empty pallet position in the empty pallet buffer area to the second empty box palletizing storage position.

[0278] After receiving the signal from the pager, the robot control device generates a third empty / full exchange task based on the empty box palletizing storage location information, the storage location information of the empty box buffer area, the storage location information of the empty pallet buffer area, and the empty box palletizing storage location information. Among them, the empty box palletizing storage location information is the storage location information corresponding to the empty box palletizing station position. The third empty / full exchange task includes at least the first empty box palletizing storage position, the second empty box palletizing storage position, the storage position in the empty box buffer area, and the empty pallet position in the empty pallet buffer area. Based on the third empty / full exchange task, the latent transfer robot is scheduled to transfer the pallet with empty boxes from the first empty box palletizing storage position to the storage position in the empty box buffer area, and the latent transfer robot is scheduled to transfer the empty pallet from the empty pallet position in the empty pallet buffer area to the second empty box palletizing storage position.

[0279] S1626, When the robot control device polls that the empty box outbound connection position is empty, it allocates the full empty box pallet in the empty box buffer area and issues a pallet with empty boxes transfer task.

[0280] S1627, The robot control device schedules the latent transfer robot to execute the pallet with empty boxes transfer task.

[0281] S1628, The latent transfer robot transfers the pallet with empty boxes to the empty box outbound connection position.

[0282] In the case that there is no pallet with empty boxes to be outbound at the empty box outbound connection position, the robot control device generates a pallet with empty boxes transfer task based on the storage location information of the empty box buffer area and the position information of the empty box outbound connection position. Based on the pallet with empty boxes transfer task, the latent transfer robot transfers the pallet with empty boxes from the storage position in the empty box buffer area to the empty box outbound connection position.

[0283] S1629, The operator uses an electric forklift to move the pallet with empty boxes away from the shelf.

[0284] S1630, The operator uses an information collection terminal to scan the floor code to bind the shelf, triggering an empty shelf transfer task.

[0285] S1631, After receiving the bound shelf information, the robot control device allocates a storage position in the empty pallet buffer area and issues an empty shelf transfer task.

[0286] S1632, The robot control device schedules the latent transfer robot to execute the empty shelf transfer task.

[0287] S1633, The latent transfer robot transfers the empty shelf to the first storage position in the empty pallet buffer area.

[0288] After the operator uses an electric forklift to move the empty pallet box away from the shelf, the information collection terminal is used to scan the floor code where the shelf is located, bind the floor code to the empty shelf, and trigger the empty shelf handling task. When the robot control device receives the empty shelf floor code information at the empty box outbound connection position, based on the storage location information of the empty pallet buffer area and the empty box outbound connection position information, an empty shelf handling task corresponding to the target empty shelf is generated, where the target empty shelf is the empty shelf corresponding to the empty shelf floor code information, and the empty shelf handling task at least includes the position of the target empty box outbound connection position and the storage position of the first empty pallet buffer area. Based on the empty shelf handling task, the latent handling robot moves the target empty shelf from the target empty box outbound connection position to the storage position of the first empty pallet buffer area.

[0289] As an implementation manner of the embodiment of the present application, as Figure 17 shown, the above picking system may further include an empty pallet stacker station and an empty pallet palletizer / depalletizer station, and the above method may further include:

[0290] S1701, when the pallet material is depalletized to obtain the first empty pallet, schedule the empty pallet conveyor line to transfer the first empty pallet to the position of the empty pallet stacker station, so that the first empty pallet is stacked by the empty pallet stacker to obtain an empty pallet stack.

[0291] Wherein, the first empty pallet is obtained by depalletizing the pallet material, and the pallet material includes a bin containing materials placed on the pallet, and the bin includes a target bin.

[0292] Since the materials provided by the material supplier are usually bins containing materials placed on the pallet, that is, pallet materials. In order to facilitate the storage of materials in the storage positions of the shelf, it is necessary to depalletize the bins containing materials and the pallet in the pallet materials to obtain the bins containing materials and the first empty pallet. When the operator depalletizes the pallet material at the depalletizing position and moves the bin placed on the pallet away, the first empty pallet can be obtained. When the first empty pallet is obtained, in order to facilitate the handling of the first empty pallet, a preset number of the first empty pallets can be stacked together and then stacked by the empty pallet stacker to obtain an empty pallet stack.

[0293] As an implementation, when the operator completes the pallet removal to obtain the first empty pallet, the button for the pallet removal vacancy is pressed, thereby notifying the control platform that the pallet material has been removed to obtain the first empty pallet. Then, the control platform schedules the empty pallet conveyor line to transfer the first empty pallet placed on the empty pallet conveyor line to the working position of the empty pallet stacker for empty pallet stacking. Among them, the number of the first empty pallets in the empty pallet stack can be set according to the size of the empty pallets. For example, if the first empty pallet is a large-sized empty pallet, the preset number can be 5; if the first empty pallet is a medium-sized empty pallet, the preset number can be 8; if the first empty pallet is a small-sized empty pallet, the preset number can be 10. All of these are reasonable and are not specifically limited here.

[0294] S1702. When there is no empty pallet stack to be unstacked at the working position of the empty pallet stack unstacker, the empty pallet conveyor line is scheduled to transfer the empty pallet stack to the working position of the empty pallet stack unstacker, so that the empty pallet stack unstacker unstacks the empty pallet stack to obtain the second empty pallet.

[0295] Since empty pallets are usually stored in the form of empty pallet stacks, and materials are usually placed on individual empty pallets, it is necessary to use an empty pallet stack unstacker to unstack the empty pallet stack. When there is no empty pallet stack to be unstacked at the working position of the empty pallet stack unstacker, it means that all the empty pallet stacks at the working position of this empty pallet stack unstacker have been unstacked into empty pallets, and empty pallet stacks need to be replenished. In this case, the control platform can schedule the empty pallet conveyor line to transfer the empty pallet stack to the working position of the empty pallet stack unstacker, so that the empty pallet stack unstacker unstacks the empty pallet stack to obtain the second empty pallet.

[0296] S1703. Based on the position information of the working position of the empty pallet stack unstacker and the storage location information of the empty pallet buffer area, a fourth empty / full exchange task is generated.

[0297] Among them, the fourth empty / full exchange task at least includes the storage location of the second empty pallet buffer area, the storage location of the third empty pallet buffer area, the working position of the first empty pallet stack unstacker, and the working position of the second empty pallet stack unstacker.

[0298] After the empty pallet stack depalletizer finishes depalletizing an empty pallet stack, an empty pallet handling signal can be sent to the device access module of the control platform, so that the control platform generates a fourth empty / full exchange task based on the position information of the empty pallet stack depalletizer work position and the storage location information of the empty pallet buffer area. Thus, while transporting and placing the empty shelf in the empty pallet buffer area at the first empty pallet stack depalletizer work position to replenish the empty shelf at the first empty pallet stack depalletizer work position for storing the second empty pallet, the shelf with the second empty pallet placed at the second empty pallet stack depalletizer work position is also transported to the storage position in the third empty pallet buffer area, preventing the second empty pallet that has been depalletized from occupying the second empty pallet stack depalletizer work position.

[0299] S1704, dispatch the latent handling robot to transport and place the empty shelf in the empty pallet buffer area from the storage position in the second empty pallet buffer area to the first empty pallet stack depalletizer work position, and dispatch the latent handling robot to transport the shelf with the second empty pallet placed at the second empty pallet stack depalletizer work position to the storage position in the third empty pallet buffer area.

[0300] After generating the fourth empty / full exchange task, the control platform can dispatch the latent handling robot to transport the empty shelf corresponding to the storage position in the second empty pallet buffer area from the storage position in the second empty pallet buffer area to the first empty pallet stack depalletizer work position based on the storage position in the second empty pallet buffer area and the first empty pallet stack depalletizer work position included in the fourth empty / full exchange task, and dispatch the latent handling robot to transport the shelf with the second empty pallet placed at the second empty pallet stack depalletizer work position corresponding to the second empty pallet stack depalletizer work position to the storage position in the third empty pallet buffer area based on the second empty pallet stack depalletizer work position and the storage position in the third empty pallet buffer area.

[0301] Among them, the first empty pallet stack depalletizer work position and the second empty pallet stack depalletizer work position can be the same or different; the storage position in the second empty pallet buffer area and the storage position in the third empty pallet buffer area can be the same or different, which are all reasonable and not specifically limited here.

[0302] As an implementation method, the dispatch of the latent handling robot to transport the empty shelf corresponding to the storage position in the second empty pallet buffer area from the storage position in the second empty pallet buffer area to the first empty pallet stack depalletizer work position and the dispatch of the latent handling robot to transport the shelf with the second empty pallet placed at the second empty pallet stack depalletizer work position corresponding to the second empty pallet stack depalletizer work position to the storage position in the third empty pallet buffer area are carried out simultaneously.

[0303] That is to say, the control platform schedules at least two latent handling robots simultaneously. One latent handling robot is used to move the empty shelf corresponding to the storage location in the second empty pallet buffer area from the storage location in the second empty pallet buffer area to the working position of the first empty pallet stacker - unstacker. Another latent handling robot is used to move the shelf with the second empty pallet corresponding to the working position of the second empty pallet stacker - unstacker from the working position of the second empty pallet stacker - unstacker to the storage location in the third empty pallet buffer area.

[0304] As an implementation manner, the control platform first schedules the latent handling robot to move the empty shelf corresponding to the storage location in the second empty pallet buffer area from the storage location in the second empty pallet buffer area to the working position of the first empty pallet stacker - unstacker, and then schedules the latent handling robot to move the shelf with the second empty pallet corresponding to the working position of the second empty pallet stacker - unstacker from the working position of the second empty pallet stacker - unstacker to the storage location in the third empty pallet buffer area.

[0305] That is to say, the control platform can schedule only one latent handling robot. After the latent handling robot moves the empty shelf corresponding to the storage location in the second empty pallet buffer area from the storage location in the second empty pallet buffer area to the working position of the first empty pallet stacker - unstacker, continue to schedule the latent handling robot to move the shelf with the second empty pallet corresponding to the working position of the second empty pallet stacker - unstacker from the working position of the second empty pallet stacker - unstacker to the storage location in the third empty pallet buffer area.

[0306] As an implementation manner, since the empty pallet stacker - unstacker working position is located around the empty pallet conveyor line, in order to avoid the latent handling robot colliding with the empty pallet conveyor line around the working position of the first empty pallet stacker - unstacker during the process of moving and placing the empty shelf from the storage location in the second empty pallet buffer area to the working position of the first empty pallet stacker - unstacker, the device access module in the control platform can perform safe interaction with the conveyor line control device.

[0307] Specifically, the control platform sends an application for placing an empty shelf to the conveyor line control device through the device access module. When the conveyor line control device permits the placement of the empty shelf, it sends an empty shelf placement permission message to the device access module of the control platform. When the control platform receives the empty shelf placement permission message, it schedules the bin handling robot to continue executing the fourth empty - full exchange task, that is, placing the empty shelf at the working position of the first empty pallet stacker - unstacker.

[0308] Among them, when the conveyor line control device receives the application for placing an empty shelf, the conveyor line control device can reduce the running speed of the empty pallet conveyor line to a preset running speed, or temporarily stop the operation of the empty pallet conveyor line, and then send an empty shelf placement permission message to the device access module of the control platform.

[0309] It can be seen that in the embodiment of the present application, when the pallet material is unloaded to obtain the first empty pallet, the empty pallet conveyor line is scheduled to transfer the first empty pallet to the position of the empty pallet stacker station, so that the first empty pallet is stacked by the empty pallet stacker to obtain an empty pallet stack. Stacking the first empty pallet increases the number of empty pallets that can be transferred by the empty pallet conveyor line at one time, thereby improving the transfer efficiency. When there is no empty pallet stack to be unstacked at the empty pallet stack unstacker station position, the empty pallet conveyor line is scheduled to transfer the empty pallet stack to the empty pallet stack unstacker station position, so that the empty pallet stack unstacker unstacks the empty pallet stack to obtain the second empty pallet, so that the second empty pallet can be used to store materials. Based on the position information of the empty pallet stack unstacker station position and the storage location information of the empty pallet buffer area, a fourth empty-full exchange task is generated, and the latent handling robot is scheduled to move the empty shelf corresponding to the storage location of the second empty pallet buffer area from the storage location of the second empty pallet buffer area to the position of the first empty pallet stack unstacker station, and move the shelf with the second empty pallet placed at the position of the second empty pallet stack unstacker station from the position of the second empty pallet stack unstacker station to the storage location of the third empty pallet buffer area, so as to replenish the empty shelf for storing the second empty pallet at the first empty pallet stack unstacker station, and avoid the second empty pallet after unstacking occupying the position of the second empty pallet stack unstacker station, improving the utilization rate of the empty shelf.

[0310] As an implementation manner of the embodiment of the present application, as Figure 18 shown, before the step of scheduling the empty pallet conveyor line to transfer the empty pallet stack to the empty pallet stack unstacker station position, the method may further include:

[0311] S1801, when the number of the first empty pallets in the empty pallet stack reaches the first preset number, schedule the empty pallet conveyor line to transfer the empty pallet stack to the empty pallet stack buffer area.

[0312] After the information acquisition terminal on the empty pallet stacker collects the first empty pallet, the empty pallet stacker stacks the first empty pallet. When the number of the first empty pallets in the empty pallet stack reaches the first preset number, it means that the empty pallet stack has been stacked, and it can be transferred to the empty pallet stack buffer area for storage through the empty pallet conveyor line.

[0313] S1802, based on the storage location information of the empty pallet stack buffer area and the position information of the empty pallet stack unstacker station, generate an empty pallet stack transfer task, so that the empty pallet conveyor line transfers the empty pallet stack from the target storage location of the empty pallet stack buffer area to the position of the empty pallet stack unstacker station.

[0314] Among them, the empty pallet stack transfer task includes at least the target storage location of the empty pallet stack buffer area and the position of the empty pallet stack unstacker station.

[0315] When there is no empty pallet stack to be disassembled at the working position of the empty pallet stack disassembling machine, it indicates that the working position of the empty pallet stack disassembling machine needs to be replenished with an empty pallet stack. Since the empty pallet stack is stored in the empty pallet stack buffer area, the control platform generates an empty pallet stack transfer task based on the storage location information of the empty pallet stack buffer area and the working position of the empty pallet stack disassembling machine.

[0316] In this way, after the control platform generates an empty pallet stack transfer task, the empty pallet conveyor line is scheduled to transfer the empty pallet stack from the target storage location in the empty pallet stack buffer area to the working position of the empty pallet stack disassembling machine that needs to be replenished with an empty pallet stack, so that the working position of the empty pallet stack disassembling machine can be replenished with an empty pallet stack in a timely manner.

[0317] It can be seen that in the embodiment of the present application, when the number of the first empty pallets in the empty pallet stack reaches the first preset number, the control platform schedules the empty pallet conveyor line to transfer the empty pallet stack to the empty pallet stack buffer area for storage, avoiding the completed empty pallet stack occupying the working position of the empty pallet stacker. And, based on the storage location information of the empty pallet stack buffer area and the working position information of the empty pallet stack disassembling machine, an empty pallet stack transfer task is generated, so that the empty pallet conveyor line transfers the empty pallet stack from the target storage location in the empty pallet stack buffer area to the working position of the empty pallet stack disassembling machine, thereby timely replenishing the working position of the empty pallet stack disassembling machine lacking an empty pallet stack and avoiding the idleness of the empty pallet stack disassembling machine position, thus improving the efficiency of disassembling the empty pallet stack.

[0318] As an implementation manner of the embodiment of the present application, as shown in FIGS. 19(a) and 19(b), the picking system includes a control platform, a bin handling robot, an AGV (Automated Guided Vehicle), an empty pallet stacker working position, and an empty pallet stack disassembling machine working position. The control platform includes a robot control device and a conveyor line control device; a method for transporting an empty pallet to the empty pallet buffer area for storage after disassembling a pallet bin to obtain an empty pallet may include:

[0319] S1901, when an operator disassembles the pallet material at the disassembling station, finishes taking the bins, and generates the first empty pallet, presses the button to notify the conveyor line control device;

[0320] S1902, the conveyor line control device controls the conveyor line to transfer the empty pallet to the empty pallet stacker;

[0321] S1903, after the information acquisition terminal of the empty pallet stacker collects the first empty pallet, an empty pallet stack is formed;

[0322] S1904, when the empty pallet stacker stacks to the set number, that is, when a stack of empty pallet stacks is completed, the stacker reports a completion signal to the conveyor line control device;

[0323] S1905, the conveyor line control device controls the empty pallet conveyor line to transfer the empty pallet stack to the buffer area;

[0324] S1906, when the empty pallet stack dismantling machine station is empty, report a signal to supplement the empty pallet stack to the conveyor line control device;

[0325] S1907, the conveyor line control device controls the empty pallet conveyor line to transfer the empty pallet stack to the target empty pallet stack dismantling machine station;

[0326] S1908, after the dismantling machine completes the dismantling of an empty pallet, send an empty pallet handling signal through the device access module of the robot control device;

[0327] S1909, after the robot control device receives the signal, allocate storage locations in the empty pallet buffer area and generate a fourth empty / full exchange task;

[0328] Among them, the fourth empty / full exchange task at least includes the storage location of the second empty pallet buffer area, the storage location of the third empty pallet buffer area, the location of the first empty pallet stack dismantling machine station, and the location of the second empty pallet stack dismantling machine station.

[0329] S1910, the robot control device schedules the latent handling robot to execute the fourth empty / full exchange task;

[0330] S1911, the latent handling robot transports the empty shelf from the storage location of the second empty pallet buffer area to the location of the first empty pallet stack dismantling machine station;

[0331] S1912, the device access module of the robot control device conducts a safety interaction with the conveyor line control device;

[0332] S1913, conduct a safety interaction with the device access module of the robot control device;

[0333] The control platform sends an application to place an empty shelf to the conveyor line control device through the device access module. When the conveyor line control device allows the placement of the empty shelf, it sends empty shelf placement permission information to the device access module of the control platform. When the control platform receives the empty shelf placement permission information, it schedules the bin handling robot to continue executing the fourth empty / full exchange task, that is, placing the empty shelf at the location of the first empty pallet stack dismantling machine station.

[0334] S1914, the robot control device schedules the latent handling robot to execute the fourth empty / full exchange task;

[0335] S1915, the latent handling robot reaches the goods placement position at the first empty pallet stack dismantling machine station and puts down the empty shelf;

[0336] S1916, the device access module of the robot control device conducts an information interaction with the conveyor line control device;

[0337] S1917, perform information interaction with the device access module of the robot control device.

[0338] The control platform sends the information of reaching the first empty pallet stack depalletizing machine station and the information of completing the placement of the empty shelf to the conveyor line control device through the device access module.

[0339] S1918, the latent handling robot transports the shelf with the second empty pallet to the storage position in the third empty pallet buffer area.

[0340] As an implementation manner of the embodiment of the present application, as Figure 20 shown, the above picking system further includes a dimension measuring device station. Before the step of based on the materials included in the material order, the quantity of the materials, and the inventory information of the materials, the above method may further include:

[0341] S2001, when there is a first incoming bin on the bin conveyor line, schedule the bin conveyor line to transfer the first incoming bin to the position of the dimension measuring device station, so as to collect the specification information and box code information of the first incoming bin at the position of the dimension measuring device station.

[0342] After the operator depalletizes the pallet materials at the depalletizing station to obtain the bin placed on the pallet and the first empty pallet, the operator places the bin on the bin conveyor line, that is, there is a first incoming bin on the bin conveyor line. The control platform schedules the bin conveyor line to transfer the first incoming bin to the position of the dimension measuring device station, so as to collect the specification information and box code information of the first incoming bin at the position of the dimension measuring device station. After the specification information and box code information of the first incoming bin are collected at the dimension measuring device station, the specification information and box code information of the first incoming bin are sent to the control platform.

[0343] Among them, the specification information may include the volume information and weight information of the first incoming bin, etc., which are all reasonable and will not be specifically limited here.

[0344] S2002, analyze the specification information and box code information to obtain the second conveying information.

[0345] After the control platform receives the specification information and box code information of the first incoming bin collected at the dimension measuring device station, analyze the specification information and box code information to obtain the second conveying information. Among them, the second conveying information is used to indicate the target bin conveyor line corresponding to the bin for transferring the first incoming bin. The second conveying information may include the correspondence between the bin box code and the target bin conveyor line, the correspondence between the supplier information and the target bin conveyor line identifier, etc., which are all reasonable and will not be specifically limited here.

[0346] In S2003, based on the second conveying information, the conveying line mechanism schedules to distribute the first bin to be warehoused to the corresponding target bin conveying line, so that the target bin conveying line transfers the first bin to be warehoused to the first warehousing connection position in the warehousing connection position.

[0347] Since usually the same type of materials manufactured by the same material supplier are stored, after receiving the second conveying information, the first bin to be warehoused can be stored at the corresponding warehousing connection position through the target bin conveying lines corresponding to each first bin to be warehoused.

[0348] In one implementation, the target bin conveying lines can be divided based on the material suppliers. For example, the bin conveying line corresponding to material supplier A is the target bin conveying line a, the bin conveying line corresponding to material supplier B is the target bin conveying line b, and the bin conveying line corresponding to material supplier C is the target bin conveying line c.

[0349] In another implementation, the target bin conveying lines can also be divided based on the material outbound area corresponding to the production line that consumes the materials; of course, the target bin conveying lines can also be divided based on the box size of the bins storing the materials. For example, the bin conveying line corresponding to large-sized bins is the target bin conveying line a, the bin conveying line corresponding to medium-sized bins is the target bin conveying line b, and the bin conveying line corresponding to small-sized bins is the target bin conveying line c.

[0350] After the control platform parses the received specification information and box code information into the second conveying information, it can send the second conveying information to the conveying line mechanism, so as to schedule the conveying line mechanism to distribute the first bin to be warehoused to the target bin conveying line corresponding to its material supplier based on the second conveying information, so that the target bin conveying line transfers the first bin to be warehoused to the first warehousing connection position in the warehousing connection position.

[0351] In S2004, when there is a second bin to be warehoused at the first warehousing connection position, based on the position information of the warehousing connection position and the position information of the automated storage and retrieval system (AS / RS) rack positions, generate an inbound bin handling task corresponding to the second bin to be warehoused.

[0352] Among them, the inbound bin handling task includes at least the first warehousing connection position and the position of the third AS / RS rack position.

[0353] When there is a second bin to be warehoused at the first warehousing connection position, it means that the second bin to be warehoused needs to be stored in the AS / RS rack positions. Therefore, the control platform can generate an inbound bin handling task corresponding to the second bin to be warehoused based on the position information of the warehousing connection position and the position information of the AS / RS rack positions, so that the second bin to be warehoused can be stored in the AS / RS.

[0354] In 2005, the scheduling bin handling robot transports the second bin to be warehoused from the first warehousing connection position to the third vertical warehouse shelf position and updates the material inventory.

[0355] After the control platform generates the warehousing bin handling task, the scheduling bin handling robot transports the second bin to be warehoused in the first warehousing connection position included in the warehousing bin handling task to the third vertical warehouse shelf position to store the second bin to be warehoused and updates the material inventory.

[0356] It can be seen that in the embodiment of the present application, when there is a first bin to be warehoused on the bin conveyor line, the control platform schedules the bin conveyor line to transfer the first bin to be warehoused to the dimension measuring equipment work position for collecting specification information and box code information. After the control platform receives the specification information and box code information of the first bin to be warehoused, it parses them to obtain the second conveyor information, and based on the second conveyor line information, schedules the conveyor line mechanism to distribute the first bin to be warehoused to the corresponding target bin conveyor line, so that the target bin conveyor line transfers the first bin to be warehoused to the first warehousing connection position in the warehousing connection position. Further, when there is a second bin to be warehoused in the first warehousing connection position, the control platform can generate a warehousing bin handling task corresponding to the second bin to be warehoused, schedule the bin handling robot to transport the second bin to be warehoused to the third vertical warehouse shelf position corresponding to the warehousing bin handling task, and update the material inventory, so that the second bin to be warehoused can be stored in the vertical warehouse shelf position, and the control platform can generate a first handling task corresponding to the first target material bin according to the updated material inventory and determine the lighted picking prompt information.

[0357] As an implementation manner of the embodiment of the present application, as Figure 21 shown, the picking system includes a control platform, a bin handling robot, an AGV robot, and a dimension measuring equipment work position. The control platform includes a robot control device and a conveyor line control device; a method for transporting the pallet materials on the bin conveyor line to the vertical warehouse shelf for storage may include

[0358] S2101, an operator unpacks the pallet materials at the unpacking station and places the bins into the bin conveyor line;

[0359] S2102, the bin conveyor line transfers the bins to the dimension measuring equipment work position;

[0360] S2103, the dimension measuring equipment measures the volume, weighs, and collects the box code information of the bins, and transmits the collected information to the robot control device;

[0361] S2104, the robot control device parses the information collected by the dimension measuring equipment and the warehousing information;

[0362] S2105, the robot control device converts the parsing result into second conveying information and sends it to the conveying line control device;

[0363] S2106, the conveying line control device performs bin sorting according to the second conveying information and sorts different bins to the target bin conveying line;

[0364] S2107, the target bin conveying line transfers the bin materials to the inbound connection position;

[0365] S2108, the conveying line control device reports the bin arrival signal to the device access module of the robot control device;

[0366] S2109, the robot control device receives the target inbound connection position information, allocates the AS / RS storage positions, and generates an inbound bin handling task;

[0367] Among them, the inbound bin handling task includes at least the position of the first inbound connection position and the position of the third AS / RS rack storage position.

[0368] S2110, the robot control device schedules the bin handling robot to execute the inbound bin handling task;

[0369] S2111, the bin handling robot transports the second bin to be inbound to the position of the third AS / RS rack storage position;

[0370] S2112, the robot control device updates the inventory and reports the inbound data to the upstream system through the system information interaction module.

[0371] As an implementation manner of the embodiment of the present application, as Figure 22 shown, the above picking system further includes a depalletizing station. Before the step of the above scheduling bin conveying line transferring the first bin to be inbound to the weighing equipment station position, the above method may further include:

[0372] S2201, in the case that there is no pallet material at the pallet handover position corresponding to the pallet depalletizing conveying line, based on the storage location information of the planar buffer and the position of the pallet handover position, generate a first pallet material handling task.

[0373] In the case that there is no pallet material at the pallet handover position corresponding to the pallet depalletizing conveying line, it indicates that the depalletizing station beside the pallet depalletizing conveying line needs to replenish the pallet material. Therefore, the control platform can generate a first pallet material handling task based on the storage location information of the planar buffer and the position of the pallet handover position. Among them, the storage location information of the planar buffer may include the pallet materials stored in the planar buffer and the storage locations of the pallet materials. The first pallet material handling task includes the first planar buffer storage position and the first pallet handover position. The pallet depalletizing conveying line is used to transfer the pallet materials from the corresponding connection position of the pallet depalletizing conveying line to the depalletizing station.

[0374] S2202, schedule the latent transfer robot to transfer the first pallet material from the storage position in the first planar buffer area to the first pallet handover position.

[0375] After generating the first pallet material transfer task, the control platform schedules the latent transfer robot to transfer the corresponding first pallet material in the storage position of the first planar buffer area to the first pallet handover position, so as to transfer the pallet material to the corresponding de-palletizing station position through the de-palletizing conveyor line corresponding to the first pallet handover position. Among them, the first pallet material is transferred to the planar buffer area by the latent transfer robot.

[0376] S2203, schedule the conveyor line mechanism to distribute the on-rail pallet material on the pallet de-palletizing conveyor line to the target de-palletizing conveyor line, so that the target de-palletizing conveyor line transfers the on-rail pallet material on the target de-palletizing conveyor line to the de-palletizing station position, so that the on-rail pallet material is de-palletized by the bin at the de-palletizing station to obtain the first bin to be warehoused and an empty pallet.

[0377] When the de-palletizing station needs to replenish the pallet material, the control platform can schedule the conveyor line mechanism to distribute the on-rail pallet material on the pallet de-palletizing conveyor line to the target de-palletizing conveyor line, so that the target de-palletizing conveyor line transfers the on-rail pallet material on it to the de-palletizing station position to replenish the pallet material at the de-palletizing station.

[0378] It can be seen that in the embodiment of the present application, when there is no pallet material at the pallet handover position corresponding to the pallet de-palletizing conveyor line, the control platform generates the first pallet material transfer task based on the storage information of the planar buffer area and the position of the pallet handover position, and the latent transfer robot replenishes the pallet material in the first pallet handover position based on the first pallet material transfer task. Moreover, the control platform schedules the conveyor line mechanism to distribute the on-rail pallet material on the pallet de-palletizing conveyor line to the target de-palletizing conveyor line, so that the target de-palletizing conveyor line transfers the on-rail pallet material on the target de-palletizing conveyor line to the de-palletizing station position, timely replenishes the pallet material at the de-palletizing station, and avoids the de-palletizing station from being idle due to lack of pallet material, thereby improving the efficiency of de-palletizing the pallet material at the de-palletizing station.

[0379] As an implementation manner of the embodiment of the present application, the above picking system further includes a forklift transfer robot. Before the step of scheduling the bin conveyor line to transfer the first bin to be warehoused to the weighing equipment station position, the above method may further include:

[0380] When the number of on-orbit pallet materials is not greater than the second preset number, a second pallet material handling task is generated based on the position information of the pallet handover position and the corresponding connection position information of the pallet de-palletizing conveyor line. The second pallet material handling task includes the position of the second pallet handover position and the target connection position corresponding to the pallet de-palletizing conveyor line. The on-orbit pallet materials are those that the forklift handling robot transports the pallet materials from the pallet handover position to the pallet de-palletizing conveyor line; the forklift handling robot is scheduled to transport the pallet materials corresponding to the second pallet handover position from the second pallet handover position and place them at the target connection position corresponding to the pallet de-palletizing conveyor line.

[0381] When the number of on-orbit pallet materials is not greater than the second preset number, it indicates that the on-orbit pallet materials of the de-palletizing conveyor line have been consumed up to the second preset number, and it is necessary to replenish the on-orbit pallet materials of the de-palletizing conveyor line. In this case, the control device generates a second pallet material handling task based on the position information of the pallet handover position and the corresponding connection position information of the pallet de-palletizing conveyor line. Based on the second pallet material handling task, the forklift handling robot is scheduled to transport the pallet materials in the second pallet handover position to the target connection position corresponding to the pallet de-palletizing conveyor line.

[0382] Among them, the second preset number can be set according to the running speed of the de-palletizing conveyor line, the speed of de-palletizing pallet materials at the de-palletizing station, the moving speed of the forklift handling robot, etc. This is all reasonable and no specific limitation is made here.

[0383] To avoid collisions between the forklift handling robot and the pallet de-palletizing conveyor line, as an implementation method, the above control platform may further include a conveyor line control device. After generating the second pallet material handling task, the control platform can schedule the forklift handling robot to transport the pallet materials corresponding to the second pallet handover position to the target connection position corresponding to the pallet de-palletizing conveyor line, and then the device access module in the control platform performs safe interaction with the conveyor line control device.

[0384] The process of the device access module in the control platform interacting securely with the conveyor line control device can specifically be that the control platform sends a request to place pallet materials to the conveyor line control device through the device access module. When the conveyor line control device permits the placement of pallet materials, it sends pallet material placement permission information to the device access module of the control platform. When the control platform receives the pallet material placement permission information, it schedules the forklift handling robot to continue executing the second pallet material handling task, that is, placing the pallet materials at the target connection position corresponding to the pallet de-palletizing conveyor line. After the forklift handling robot places the pallet materials at the target connection position, the control platform sends a notice of completion of pallet material placement to the conveyor line control device, and then the conveyor line control device controls the pallet de-palletizing conveyor line corresponding to the target connection position to transfer, and the control platform sends a command to leave to the conveyor line control device, scheduling the forklift handling robot to leave the pallet de-palletizing conveyor line.

[0385] Among them, when the conveyor line control device receives the request to place pallet materials, the conveyor line control device can reduce the running speed of the pallet de-palletizing conveyor line to a preset running speed, or temporarily stop the operation of the pallet de-palletizing conveyor line, and then send pallet material placement permission information to the device access module of the control platform.

[0386] It can be seen that in the embodiment of the present application, when the number of in-rail pallet materials is not greater than the second preset number, the control platform generates a second pallet material handling task, and schedules the forklift handling robot to transport the pallet materials corresponding to the second pallet handover position in the second pallet material handling task to the target connection position corresponding to the pallet de-palletizing conveyor line, so as to timely supplement the in-rail pallet materials on the de-palletizing conveyor line.

[0387] As an implementation manner of the embodiment of the present application, as Figure 23 shown, the picking system includes a control platform, a bin handling robot, an AGV (Automated Guided Vehicle) and a forklift handling robot. The control platform includes a robot control device and a conveyor line control device. The method of transferring pallet materials to the de-palletizing station through a material conveyor line for de-palletizing may include:

[0388] S2301, when the robot control device polls that the pallet handover position corresponding to the pallet de-palletizing conveyor line is empty, it allocates the material inventory in the planar buffer area and generates a first pallet material handling task;

[0389] S2302, the robot control device schedules the AGV to execute the first pallet material handling task;

[0390] S2303, the AGV transports the first pallet material from the planar buffer area to the first pallet handover position;

[0391] S2304. When the conveying line control device determines, according to the number of on-rail pallet materials on the pallet depalletizing conveying line, that the number of pallets has reached the set value, it sends a signal for replenishing the pallet materials at the target connection port to the robot control device.

[0392] S2305. After receiving the signal for replenishing the target pallet materials, the robot control device allocates the material inventory at the pallet handover position and generates a second pallet material handling task.

[0393] S2306. The robot control device triggers the forklift handling robot to execute the second pallet material handling task.

[0394] S2307. The forklift handling robot transports the pallet materials corresponding to the second pallet handover position to the target connection position corresponding to the pallet depalletizing conveying line.

[0395] S2308. The device access module of the robot control device conducts a safety interaction with the conveying line control device.

[0396] S2309. Conduct a safety interaction with the device access module of the robot control device.

[0397] The control platform sends an application for placing pallet materials to the conveying line control device through the device access module. When the conveying line control device permits the placement of pallet materials, it sends pallet material placement permission information to the device access module of the control platform. When the control platform receives the pallet material placement permission information, it schedules the bin handling robot to continue executing the second pallet material handling task.

[0398] S2310. The robot control device schedules the forklift handling robot to execute the second pallet material handling task.

[0399] S2311. The forklift handling robot arrives at the target connection position and puts down the pallet materials.

[0400] S2312. The device access module of the robot control device conducts an information interaction with the conveying line control device.

[0401] S2313. Conduct an information interaction with the device access module of the robot control device.

[0402] The control platform sends the pallet material placement completion information and the leaving information to the conveying line control device through the device access module.

[0403] S2314. The conveying line control device distributes the pallets to the target pallet depalletizing conveying line according to the number of on-rail pallet materials on the depalletizing sub-conveying line.

[0404] S2315. The target pallet depalletizing conveying line transfers the pallet materials to the depalletizing station.

[0405] As an implementation manner of the embodiment of the present application, before the step of based on the position information of the pallet handover position and the connection position information corresponding to the pallet unpacking and conveying line when the number of materials on the on-orbit pallet is not greater than the second preset number, the above method may further include:

[0406] When there is a bin shelf at the inbound connection position, generate a bin shelf handling task based on the position information of the inbound connection position and the storage position information of the planar buffer area, where the bin shelf is a shelf for storing pallet materials, and the bin shelf handling task at least includes the position of the second inbound connection position and the storage position of the second planar buffer area; dispatch the latent handling robot to move the bin shelf from the second inbound connection position to the storage position of the second planar buffer area.

[0407] When there is a bin shelf at the inbound connection position, it means that these bin shelves need to be stored in the planar buffer area. Therefore, the control platform can generate a bin shelf handling task based on the position information of the inbound connection position and the storage position information of the planar buffer area, and then dispatch the latent handling robot to move the bin shelf corresponding to the second inbound connection position included in the bin shelf handling task to the storage position of the second planar buffer area for storage, where the position information of the inbound connection position includes the position where the bin shelf is located; the storage position information of the planar buffer area includes the storage positions in the planar buffer area where there is no bin shelf.

[0408] As an implementation manner, when the materials provided by the material supplier arrive at the inbound connection position, the operator can use an electric forklift to move the bin pallet with the materials to the empty shelf at the inbound connection position, and then the operator uses the information collection terminal to scan the ground code, shelf code, and box code of the position where the shelf storing the bin pallet is located for material binding. When the control platform receives the material binding information sent by the information collection terminal, it is determined that there is a bin shelf at the inbound connection position.

[0409] As an implementation manner, after the latent handling robot moves the bin shelf from the second inbound connection position to the storage position of the second planar buffer area, the control platform can update the material inventory information in the planar buffer area.

[0410] It can be seen that in the embodiment of the present application, when there is a bin shelf at the inbound connection position, generate a bin shelf handling task based on the position information of the inbound connection position and the storage position information of the planar buffer area, and dispatch the latent handling robot to move the bin shelf at the inbound connection position to the storage position of the planar buffer area for storage, which can prevent the bin shelf from staying in the inbound connection position for too long and improve the utilization rate of the inbound connection position.

[0411] As an implementation manner of the embodiment of the present application, the above method may further include:

[0412] When there is no empty storage rack for inbound at the inbound connection position, based on the location information of the inbound connection position and the storage location information of the planar buffer area, generate a task for replenishing the empty storage rack for inbound, where the task for replenishing the empty storage rack for inbound at least includes the position of the third inbound connection position and the position of the third storage location in the planar buffer area; dispatch the latent handling robot to move the empty storage rack for inbound corresponding to the third storage location in the planar buffer area from the position of the third storage location in the planar buffer area to the position of the third inbound connection position.

[0413] When there is no empty storage rack for inbound at the inbound connection position, the materials provided by the material supplier cannot be stored at the inbound connection position. Therefore, when there is no empty storage rack for inbound at the inbound connection position, the control platform can generate a task for replenishing the empty storage rack for inbound based on the location information of the inbound connection position and the storage location information of the planar buffer area, and then dispatch the latent handling robot to move the empty storage rack for inbound corresponding to the third storage location in the planar buffer area included in the task for replenishing the empty storage rack for inbound to the position of the third inbound connection position for storing the pallet materials. Among them, the storage location information of the planar buffer area may include the storage location where the empty storage rack is located in the planar buffer area.

[0414] It can be seen that in the embodiment of the present application, when there is no empty storage rack for inbound at the inbound connection position, the control platform generates a task for replenishing the empty storage rack for inbound based on the location information of the inbound connection position and the storage location information of the planar buffer area, and dispatches the latent handling robot to move the empty storage rack in the planar buffer area to the position of the inbound connection position, avoiding the problem that the pallet materials cannot be stored due to the absence of an empty storage rack at the inbound connection position, thereby improving the efficiency of storing pallet materials.

[0415] As an implementation manner of the embodiment of the present application, as Figure 24 shown, the picking system includes a control platform, a bin handling robot, a latent handling robot, and a forklift handling robot, and the control platform includes a robot control device and an upstream control device; the method for transporting materials to the flat warehouse for storage may include:

[0416] S2401, the upstream control device sends the receiving data to the information interaction module of the robot control device;

[0417] S2402, the robot control device receives the receiving data through the information interaction module;

[0418] S2403, the operator uses an electric forklift to transport the pallet materials onto the empty storage rack at the material inbound connection position;

[0419] S2404, the operator uses the information collection terminal to scan the floor code, the rack code, and the box code to bind the materials, triggering the task of handling the bin rack;

[0420] S2405. The robot control device receives the information of the bound shelves, allocates storage locations in the planar buffer area, and issues the handling task of the bin shelf to the robot.

[0421] S2406. The robot control device schedules the latent handling robot to execute the handling task of the bin shelf.

[0422] Among them, the handling task of the bin shelf includes at least the position of the second inbound connection position and the position of the second storage location in the planar buffer area.

[0423] S2407. The latent handling robot transports the pallet shelf to the position of the second storage location in the planar buffer area.

[0424] S2408. The robot control device updates the inventory and reports the inbound data to the upstream control device through the system information interaction module.

[0425] S2409. The upstream control device receives the inbound data and updates the inventory data.

[0426] S2410. When the robot control device polls that the inbound connection position is empty, it allocates an empty shelf in the planar buffer area and issues the replenishment task of the inbound empty shelf.

[0427] Among them, the replenishment task of the inbound empty shelf includes at least the position of the third inbound connection position and the position of the third storage location in the planar buffer area.

[0428] S2411. The robot control device schedules the latent handling robot to execute the replenishment task of the inbound empty shelf.

[0429] S2412. The latent handling robot transports the empty shelf to the position of the third inbound connection position for replenishment.

[0430] As an implementation manner of the embodiment of the present application, the general process schematic of pallet materials entering the planar buffer area, bin pallet materials entering the pallet depalletizing conveyor line and being transported to the depalletizing station, bin pallet depalletizing and entering the bin conveyor line and being transported to the vertical warehouse, picking with lights on and being transported to the side of the production line, empty bin palletizing and returning empty, and empty pallet transfer is as Figure 25 shown:

[0431] S2501. Unload pallet materials.

[0432] The operator uses an electric forklift to transport the pallet materials to the inbound connection position.

[0433] S2502. Inbound connection position of pallet materials.

[0434] The latent handling robot transports the pallet materials from the inbound connection position to the planar buffer area for storage.

[0435] S2503. Transport pallet materials to the planar buffer area.

[0436] The forklift handling robot transports the pallet materials to the entrance of the bin conveyor line.

[0437] S2504, Entrance of the bin conveyor line;

[0438] Through the conveyor line, the pallet materials are transported to the conveyor line mechanism.

[0439] S2505, Conveyor line mechanism;

[0440] Through the conveyor line, the pallet materials are transported to the pallet dismantling station.

[0441] S2506, Pallet dismantling station;

[0442] The pallet materials are sorted through the conveyor line to the pallet dismantling station for pallet dismantling, obtaining bins and empty pallets.

[0443] S2507, Bin conveyor line;

[0444] The bins are transported to the bin conveyor line by manually taking the bins and feeding them into the bins.

[0445] S2508, Cubage measuring equipment station;

[0446] Through the conveyor line, the bins are transported to the cubage measuring equipment station.

[0447] S2509, Bin sorting;

[0448] Through the conveyor line, the bins are transported to the bin sorting location.

[0449] S2510, Inbound connection position;

[0450] Through the conveyor line, the bins are transported to the inbound connection position.

[0451] S2511, Store materials in the automated storage and retrieval system (AS / RS) rack;

[0452] The bins on the bin conveyor line are transported by the bin conveyor line to the cubage measuring equipment station for collecting specification information and box code information. Then, according to the collected specification information and box code information, the bins containing materials are sorted to the target bin conveyor line. The target bin conveyor line transports the bins containing materials to the inbound connection position, and the bin handling robot transports the bins containing materials to the automated storage and retrieval system (AS / RS) rack for storage.

[0453] S2512, Picking shelf;

[0454] The bin handling robot transports the bins containing materials to the picking shelf.

[0455] S2513, Light-up picking;

[0456] Through the light-up control device, the operator is instructed to perform light-up picking.

[0457] S2514, placed on the skip;

[0458] Manually pick up and drop off materials, and place the material box on the material cart.

[0459] S2515, material waiting area;

[0460] The latent handling robot transports the material box to the material waiting area.

[0461] S2516, production line side;

[0462] After receiving the material order, the control platform determines the light prompt information in the picking bin shelf, so that the operator can perform light picking according to the light prompt information. The operator places the picked materials on the material cart, and the latent handling robot transports the full material cart to the material waiting area, and then transports it from the material waiting area to the side of the production line.

[0463] S2517, empty container conveyor line outbound connection port;

[0464] The box handling robot transports the empty box to the outbound connection port of the empty box conveyor line.

[0465] S2518, empty box conveyor line;

[0466] The empty boxes are transported to the empty box conveyor line through the conveyor line.

[0467] S2519, the information collection terminal scans the box code;

[0468] The empty boxes are transported to the information collection terminal through the conveyor line, and the box codes of the empty boxes are scanned.

[0469] S2520, conveyor line sorting branch line;

[0470] The empty boxes are transported to the conveyor line sorting branch line through the conveyor line.

[0471] S2521, empty pallet conveyor line;

[0472] The empty pallets are transported to the empty pallet conveyor line through the conveyor line.

[0473] S2522, empty pallet stacker;

[0474] The empty pallets are transported to the empty pallet stacker via the conveyor line.

[0475] S2523, empty pallet stack buffer area;

[0476] The empty pallets are transported to the empty pallet stacking buffer area via the conveyor line.

[0477] S2524, empty pallet depalletizer;

[0478] The empty pallets are transported to the empty pallet stacker - reclaimer via a conveyor line.

[0479] S2525, empty pallet buffer area;

[0480] The stealth transfer robot transports the empty pallets to the empty pallet buffer area.

[0481] S2526, empty - box palletizing station;

[0482] The stealth transfer robot transports the empty pallets to the empty - box palletizing station.

[0483] S2527, empty - box buffer area;

[0484] The stealth transfer robot transports the pallet - mounted empty boxes to the empty - box buffer area.

[0485] S2528, empty - box outbound connection position.

[0486] After obtaining the empty pallets in S2506, the empty pallets are transferred to the empty pallet stacker via the empty pallet conveyor line for stacking. The stacked empty pallet stacks are transferred to the empty pallet buffer area via the conveyor line. When the empty - box palletizing station needs to use empty pallets, the empty pallet stacks are transferred to the empty pallet stacker - reclaimer via the conveyor line for depalletizing to obtain empty pallets. Then, the stealth transfer robot transports the empty pallets to the empty - box palletizing station. The empty - box palletizing station palletizes the empty bins and empty pallets together. The stealth transfer robot transports the pallet - mounted empty boxes to the empty - box buffer area, and then the stealth transfer robot transports the pallet - mounted empty boxes in the empty - box buffer area to the empty - box outbound connection position for outbound.

[0487] Corresponding to the above - mentioned material picking method, an embodiment of the present application further provides a material picking device. The following introduces a material picking device provided by an embodiment of the present application.

[0488] As Figure 26 shown, a material picking device is applied to a control platform in a picking system. The picking system further includes a bin transfer robot. The device includes:

[0489] A first task generation module 2601, configured to generate a first handling task corresponding to a first target material bin based on the materials included in the material order, the quantity of the materials, and the inventory information of the materials when receiving the material order, where the first handling task at least includes the position of the first storage bin where the first target material bin is located and the position of the first picking bin in the picking bin;

[0490] A first material - bin handling module 2602, configured to dispatch the bin transfer robot to transport the first target material bin from the position of the first storage bin to the position of the first picking bin;

[0491] The lighting prompt information determination module 2603 is configured to determine the lighting prompt information for the first picking bin based on the materials included in the material order, the quantity of the materials, and the inventory information of the materials, and control the display device on the first picking bin to display the lighting prompt information, so that the operator can pick the materials in the first target material box placed in the first picking bin based on the lighting prompt information. The lighting prompt information includes a picking prompt information and lighting information, and the picking prompt information is used to prompt the materials and the quantity of the materials.

[0492] It can be seen that in the embodiment of the present application, the control platform in the picking system can, when receiving a material order, generate a first handling task corresponding to the first target material box based on the materials included in the material order, the quantity of the materials, and the inventory information of the materials. The first handling task at least includes the position of the first storage bin where the first target material box is located and the position of the first picking bin in the picking bin; dispatch the bin handling robot to move the first target material box from the position of the first storage bin to the position of the first picking bin; determine the lighting prompt information for the first picking bin based on the materials included in the material order, the quantity of the materials, and the inventory information of the materials, and control the display device on the first picking bin to display the lighting prompt information, so that the operator can pick the materials in the first target material box placed in the first picking bin based on the lighting prompt information. The lighting prompt information includes a picking prompt information and lighting information, and the picking prompt information is used to prompt the materials and the quantity of the materials; when the picking of the material order is completed, generate a second handling task corresponding to the material based on the storage location information of the material waiting area. The second handling task at least includes the position of the first storage location in the first material waiting area; dispatch the latent handling robot to move the material to the position of the first storage location in the first material waiting area. Since a display device for displaying lighting prompt information is provided on the picking bin, when the control platform generates corresponding lighting prompt information based on the materials, the quantity of the materials, and the inventory information in the material order, control the display device on the picking bin to display the lighting prompt information. Based on this, the operator can perform material picking according to the picking prompt information and lighting information included in the lighting prompt information displayed by the display device. In this way, the operator can directly perform material picking in the corresponding picking bin according to the lighting display prompt information, thereby improving the efficiency and accuracy of material picking.

[0493] As an implementation manner of an embodiment of the present application, the above material order includes at least one line of material information. The material information at least includes a target material and the picking quantity of the target material. The above lighting information is the color information of the indicator light. The above lighting prompt information determination module 2603 includes:

[0494] The first lighting prompt information determination sub-module is configured to traverse the material information of each line in the material order. For the current line of material information being traversed currently, when the picking quantity of the target material included in the current line of material information is not 0 and the target material inventory of the target material is greater than the picking quantity, determine the first lighting prompt information of the target picking bin where the target material is located. The first lighting prompt information includes the first picking prompt information and the first color information of the indicator light. The first picking prompt information is used to prompt the identification of the target material and the picking quantity.

[0495] The second lighting prompt information determination sub-module is configured to determine the second lighting prompt information of the target picking bin where the target material is located when the picking quantity of the target material included in the current line of material information is not 0 and the target material inventory of the target material is equal to the picking quantity. The second lighting prompt information includes the second picking prompt information and the second color information of the indicator light. The second picking prompt information is used to prompt the identification of the target material and the picking quantity, and the second color information is different from the first color information.

[0496] The third lighting prompt information determination sub-module is configured to determine the third lighting prompt information of the target picking bin where the target material is located, which is the first target material with a non-zero picking quantity in the material order and whose target material inventory is not less than the picking quantity, when the picking quantity of the target material included in the current line of material information is 0 or the target material inventory of the target material is less than the picking quantity. The third lighting prompt information includes the third picking prompt information and the third color information of the indicator light. The third picking prompt information is used to prompt that there is no picking requirement.

[0497] The material information traversing sub-module is configured to continue traversing the next line of material information and determine the lighting prompt information corresponding to the next line of material information until all lines of material information in the material order have been traversed when a closing signal for the indicator light is received.

[0498] As an implementation manner of an embodiment of the present application, the above material information traversing sub-module may include:

[0499] A target material determination unit, configured to determine whether the target material corresponding to the next line of material information meets a first preset condition, a second preset condition, and a third preset condition, where the first preset condition is that the target material is in a transportation state, the second preset condition is that the picking quantity corresponding to the target material is 0, and the third preset condition is that the target material inventory corresponding to the target material is less than the picking quantity;

[0500] A fourth lighting prompt information determination unit, configured to determine the fourth lighting prompt information of the target picking bin corresponding to the current line of material information when the target material corresponding to the next line of material information meets the first preset condition, where the fourth lighting prompt information includes a fourth picking prompt information and a fourth color information of the indicator light, and the fourth picking prompt information is used to prompt the transportation state of the target bin corresponding to the target material of the next line;

[0501] A fifth lighting prompt information determination unit, configured to determine that the lighting prompt information of the target picking bin corresponding to the current line of material information is the third lighting prompt information when the target material corresponding to the next line of material information meets the second preset condition or the third preset condition.

[0502] As an implementation manner of an embodiment of the present application, the above device may further include:

[0503] A second task generation module, configured to generate a second handling task corresponding to a second target bin based on the picking bin position where the material is located and the inventory information of the material when it is determined that there is no material included in the material order in the other material orders that have not been traversed, where the second target bin is the target bin where the material that is not included in the material order in the other material orders that have not been picked is located, and the second handling task at least includes the second picking bin position where the second target bin is located and the second storage bin position in the storage bin;

[0504] A second bin handling module, configured to dispatch a bin handling robot to move the second target bin from the second picking bin position to the second storage bin position.

[0505] As an implementation manner of an embodiment of the present application, the above picking system may further include an AGV robot, and the above device may further include:

[0506] The first empty-full exchange task generation module is used to generate a first empty-full exchange task based on the storage location information of the material waiting area and the position of the trolley connection position when receiving a full trolley handling instruction. The trolley connection position is used to store the first empty trolley and the full trolley with the picked materials. The first empty-full exchange task at least includes the storage location position of the first material waiting area, the storage location position of the second material waiting area, the position of the first target trolley connection position, and the position of the second target trolley connection position. The full trolley handling instruction is triggered after the operator places the picked materials in the trolley at the trolley connection position;

[0507] The first empty-full exchange task execution module is used to dispatch the latent handling robot to move the full trolley from the first target trolley connection position to the storage location position of the first material waiting area, and dispatch the latent handling robot to move the first empty trolley from the storage location position of the second material waiting area to the second target trolley connection position;

[0508] The second empty-full exchange task generation module is used to generate a second empty-full exchange task based on the storage location information of the material waiting area and the storage location information beside the production line when receiving an empty trolley handling instruction. The second empty-full exchange task at least includes the storage location position of the third material waiting area, the storage location position of the fourth material waiting area, the first storage location position beside the production line, and the second storage location position beside the production line;

[0509] The second empty-full exchange task execution module is used to dispatch the latent handling robot to move the second empty trolley from the first storage location position beside the production line to the storage location position of the fourth material waiting area, and dispatch the latent handling robot to move the full trolley in the material waiting area from the storage location position of the third material waiting area to the second storage location position beside the production line.

[0510] As an implementation manner of the embodiment of the present application, the above device may further include:

[0511] The inventory update module is used to update the target material inventory in the target picking bin corresponding to the second color information to 0 when receiving a closing signal for the indicator light of the second color information;

[0512] The first empty bin handling task generation module is used to generate a first empty bin handling task based on the position of the target picking bin where the first empty bin is located and the storage location information of the automated storage and retrieval system rack. The first empty bin is an empty bin with a target material inventory of 0 in the target picking bin. The first empty bin handling task at least includes the position of the first automated storage and retrieval system rack bin and the position of the target picking bin where the first empty bin is located;

[0513] The first empty bin handling module is used to dispatch the bin handling robot to move the first empty bin to the position of the first automated storage and retrieval system rack bin.

[0514] As an implementation manner of an embodiment of the present application, the above picking system may further include an empty box palletizing station, and the above device may further include:

[0515] A second empty box handling task generation module, configured to generate a second empty box handling task based on the empty box conveying connection position information and the automated storage and retrieval system (AS / RS) rack position information when there is no second empty bin at the empty box conveying connection position corresponding to the empty box conveying line. The second empty box handling task includes at least the target position of the empty box conveying connection and the position of the second AS / RS rack bin;

[0516] A second empty bin handling module, configured to dispatch a bin handling robot to move the second empty bin from the position of the second AS / RS rack bin and place it on the empty box conveying line corresponding to the target position of the empty box conveying connection;

[0517] An empty box conveying line transfer module, configured to dispatch the empty box conveying line to transfer the second empty bin to the empty box palletizing station position when there is a second empty bin on the empty box conveying line, so that the second empty bin undergoes palletizing at the empty box palletizing station position to obtain a palletized empty box.

[0518] As an implementation manner of an embodiment of the present application, the above device may further include:

[0519] A third empty / full exchange task generation module, configured to generate a third empty / full exchange task based on the empty box palletizing storage position information, the storage position information of the empty box buffer area, the storage position information of the empty pallet buffer area, and the empty box palletizing storage position information when the palletizing of the second empty bin is completed to obtain a palletized empty box. The empty box palletizing storage position information is the storage position information corresponding to the empty box palletizing station position. The third empty / full exchange task includes at least the first empty box palletizing storage position, the second empty box palletizing storage position, the storage position of the empty box buffer area, and the empty pallet position in the empty pallet buffer area;

[0520] A third empty / full exchange task execution module, configured to dispatch an automated guided vehicle (AGV) to move the palletized empty box from the first empty box palletizing storage position to the storage position of the empty box buffer area, and dispatch an AGV to move the empty pallet from the empty pallet position in the empty pallet buffer area to the second empty box palletizing storage position;

[0521] A palletized empty box handling task generation module, configured to generate a palletized empty box handling task based on the storage position information of the empty box buffer area and the empty box outbound connection position information when there is no palletized empty box to be outbound at the empty box outbound connection position. The palletized empty box to be outbound is the palletized empty box moved from the storage position of the empty box buffer area to the empty box outbound connection position. The palletized empty box handling task includes at least the storage position of the empty box buffer area and the palletized empty box at the empty box outbound connection position;

[0522] The empty pallet box handling module is used to dispatch a latent handling robot to transport the empty pallet box from the storage position in the empty box buffer area to the empty box outbound connection position.

[0523] As an implementation manner of an embodiment of the present application, the above picking system may further include a conveyor line mechanism. The above empty box conveyor line transfer module may include:

[0524] The first information parsing sub-module is used to collect the box code information of the second empty bin, and parse the collected box code information to obtain the first conveyor information. Among them, the first conveyor information is used to instruct the target sorting empty box corresponding to the second empty bin to return to the conveyor line;

[0525] The first sorting sub-module is used to dispatch the conveyor line mechanism to sort the second empty bin to the corresponding target sorting empty box return conveyor line based on the first conveyor information;

[0526] The second empty bin transfer sub-module is used to dispatch the target sorting empty box return conveyor line to transfer the second empty bin to the empty box palletizing station position.

[0527] As an implementation manner of an embodiment of the present application, the above device may further include:

[0528] The empty shelf handling task generation module is used to generate an empty shelf handling task for the target empty shelf based on the storage position information of the empty pallet buffer area and the empty box outbound connection position information when receiving the empty shelf ground code information at the empty box outbound connection position. Among them, the target empty shelf is the empty shelf corresponding to the empty shelf ground code information, and the empty shelf handling task includes at least the target empty box outbound connection position and the storage position of the first empty pallet buffer area;

[0529] The empty shelf handling module is used to dispatch a latent handling robot to transport the target empty shelf from the target empty box outbound connection position to the storage position of the first empty pallet buffer area.

[0530] As an implementation manner of an embodiment of the present application, the above picking system may further include an empty pallet stacker station and an empty pallet pallet de-stacker station. The above device may further include:

[0531] The first empty pallet conveyor line transfer module is used to dispatch the empty pallet conveyor line to transfer the first empty pallet to the empty pallet stacker station position when the pallet material is de-palletized to obtain the first empty pallet, so that the first empty pallet is palletized by the empty pallet stacker to obtain an empty pallet stack. Among them, the first empty pallet is obtained by de-palletizing the pallet material, and the pallet material includes a bin containing materials placed on the pallet, and the bin includes the target bin;

[0532] The second empty pallet conveying line transfer module is used to schedule the empty pallet conveying line to transfer the empty pallet stack to the position of the empty pallet stack depalletizer station when there is no empty pallet stack to be depalletized at the empty pallet stack depalletizer station position, so that the empty pallet stack depalletizer can depalletize the empty pallet stack to obtain the second empty pallet;

[0533] The fourth empty / full exchange task generation module is used to generate the fourth empty / full exchange task based on the position information of the empty pallet stack depalletizer station position and the storage location information of the empty pallet buffer area. The fourth empty / full exchange task at least includes the storage location position of the second empty pallet buffer area, the storage location position of the third empty pallet buffer area, the position of the first empty pallet stack depalletizer station, and the position of the second empty pallet stack depalletizer station;

[0534] The fourth empty / full exchange task execution module is used to schedule the latent handling robot to move the empty shelf in the empty pallet buffer area from the storage location position of the second empty pallet buffer area and place it at the position of the first empty pallet stack depalletizer station, and schedule the latent handling robot to move the shelf with the second empty pallet from the position of the second empty pallet stack depalletizer station to the storage location position of the third empty pallet buffer area.

[0535] As an implementation manner of the embodiment of the present application, the above device may further include:

[0536] The third empty pallet conveying line transfer module is used to schedule the empty pallet conveying line to transfer the empty pallet stack to the empty pallet stack buffer area when the number of the first empty pallets in the empty pallet stack reaches the first preset number;

[0537] The empty pallet stack transfer task generation module is used to generate an empty pallet stack transfer task based on the storage location information of the empty pallet stack buffer area and the position information of the empty pallet stack depalletizer station, so that the empty pallet conveying line transfers the empty pallet stack from the target storage location of the empty pallet stack buffer area to the position of the empty pallet stack depalletizer station. The empty pallet stack transfer task at least includes the target storage location of the empty pallet stack buffer area and the position of the empty pallet stack depalletizer station.

[0538] As an implementation manner of the embodiment of the present application, the above picking system may further include a dimension measuring device station, and the above device may further include:

[0539] The first bin conveying line transfer module is used to schedule the bin conveying line to transfer the first bin to be warehoused to the position of the dimension measuring device station when there is a first bin to be warehoused on the bin conveying line, so as to collect the specification information and box code information of the first bin to be warehoused at the position of the dimension measuring device station;

[0540] A second information parsing module, configured to parse the specification information and the case code information to obtain the second conveying information, where the second conveying information is used to indicate a target case conveying line corresponding to a first to-be-instored case for transferring cases;

[0541] A second sorting module, configured to, based on the second conveying information, schedule the conveying line mechanism to sort the first to-be-instored case to the corresponding target case conveying line, so that the target case conveying line transfers the first to-be-instored case to a first in-storage connection position in the in-storage connection position;

[0542] An in-storage case handling task generation module, configured to, when there is a second to-be-instored case at the first in-storage connection position, generate an in-storage case handling task corresponding to the second to-be-instored case based on the position information of the in-storage connection position and the position information of the storage positions in the automated storage and retrieval system rack, where the in-storage case handling task at least includes the first in-storage connection position and the position of the third storage position in the automated storage and retrieval system rack;

[0543] An in-storage case handling module, configured to schedule the case handling robot to transfer the second to-be-instored case from the first in-storage connection position to the position of the third storage position in the automated storage and retrieval system rack, and update the material inventory.

[0544] As an implementation manner of an embodiment of the present application, the above picking system may further include a pallet unpacking station, and the above device may further include:

[0545] A first pallet material handling task generation module, configured to, when there is no pallet material at the pallet handover position corresponding to the pallet unpacking conveying line, generate a first pallet material handling task based on the storage position information of the planar buffer area and the position of the pallet handover position, where the first pallet material handling task includes the position of the first storage position in the planar buffer area and the position of the first pallet handover position, and the pallet unpacking conveying line is used to transfer the pallet material from the connection position corresponding to the pallet unpacking conveying line to the unpacking station;

[0546] A first pallet material handling module, configured to schedule the latent handling robot to transfer the first pallet material from the position of the first storage position in the planar buffer area to the position of the first pallet handover position, where the first pallet material is transferred to the planar buffer area by the latent handling robot;

[0547] A third sorting module, configured to schedule the conveying line mechanism to sort the on-rail pallet material on the pallet unpacking conveying line to the target unpacking conveying line, so that the target unpacking conveying line transfers the on-rail pallet material on the target unpacking conveying line to the unpacking station position, so that the on-rail pallet material undergoes case unpacking at the unpacking station to obtain a first to-be-instored case and an empty pallet.

[0548] As an implementation manner of an embodiment of the present application, the above picking system may further include a forklift handling robot, and the above device may further include:

[0549] A second pallet material handling task generation module, configured to generate a second pallet material handling task based on the position information of the pallet handover position and the connection position information corresponding to the pallet depalletizing conveyor line when the number of in-rail pallet materials is not greater than a second preset number, where the second pallet material handling task includes the position of the second pallet handover position and the target connection position corresponding to the pallet depalletizing conveyor line, and the in-rail pallet materials are those that the forklift handling robot transports the pallet materials from the pallet handover position to the pallet depalletizing conveyor line;

[0550] A second pallet material handling module, configured to dispatch the forklift handling robot to transport and place the pallet materials corresponding to the second pallet handover position from the second pallet handover position to the target connection position corresponding to the pallet depalletizing conveyor line.

[0551] As an implementation manner of an embodiment of the present application, the above device may further include:

[0552] A bin rack handling task generation module, configured to generate a bin rack handling task based on the position information of the inbound connection position and the storage position information of the planar buffer area when there is a bin rack at the inbound connection position, where the bin rack is a rack for storing pallet materials, and the bin rack handling task at least includes the position of the second inbound connection position and the position of the second planar buffer area storage location;

[0553] A bin rack handling module, configured to dispatch an AGV to transport the bin rack from the second inbound connection position to the second planar buffer area storage location.

[0554] As an implementation manner of an embodiment of the present application, the above device may further include:

[0555] An inbound empty rack replenishment task generation module, configured to generate an inbound empty rack replenishment task based on the position information of the inbound connection position and the storage position information of the planar buffer area when there is no inbound empty rack at the inbound connection position, where the inbound empty rack replenishment task at least includes the position of the third inbound connection position and the position of the third planar buffer area storage location;

[0556] An inbound empty rack replenishment module, configured to dispatch an AGV to transport the inbound empty rack corresponding to the third planar buffer area storage location from the third planar buffer area storage location to the third inbound connection position.

[0557] Corresponding to the above material picking method, an embodiment of the present application further provides a material picking system. The following introduces a material picking system provided by an embodiment of the present application.

[0558] As Figure 27 shown, a material picking system, the picking system includes a control platform and a bin handling robot, and the control platform includes an upstream control device, a robot control device, and a lighting control device, where:

[0559] The upstream control device 2701 is configured to send a material order to the robot control device;

[0560] The robot control device 2702 is configured to, upon receiving the material order, generate a first handling task for a first target bin based on the material included in the material order, the quantity of the material, and the inventory information of the material, and send the first handling task to the bin handling robot; determine lighting prompt information for a first picking position based on the material included in the material order, the quantity of the material, and the inventory information of the material, and send the lighting prompt information to the lighting control device;

[0561] The bin handling robot 2703 is configured to move the first target bin from the first storage position to the first picking position, and move the material to the first storage position in the first material waiting-to-be-shipped area.

[0562] The lighting control device 2704 is configured to control a display device on the first picking position to display the lighting prompt information based on the lighting prompt information, so that an operator can pick the material from the first target bin placed at the first picking position based on the lighting prompt information, where the lighting prompt information includes a picking prompt information and lighting information, and the picking prompt information is used to prompt the material and the quantity of the material.

[0563] It can be seen that in the embodiment of the present application, when the control platform in the picking system receives a material order, it can generate a first handling task corresponding to the first target material box based on the materials included in the material order, the quantity of the materials, and the inventory information of the materials. The first handling task at least includes the position of the first storage bin where the first target material box is located and the position of the first picking bin in the picking bin; dispatch the material box handling robot to move the first target material box from the position of the first storage bin to the position of the first picking bin; based on the materials included in the material order, the quantity of the materials, and the inventory information of the materials, determine the lighting prompt information of the first picking bin, and control the display device on the first picking bin to display the lighting prompt information, so that the operator can pick materials in the first target material box placed in the first picking bin based on the lighting prompt information. The lighting prompt information includes picking prompt information and lighting information, and the picking prompt information is used to prompt the materials and the quantity of the materials; when the picking of the material order is completed, based on the storage location information of the material waiting area, generate a second handling task corresponding to the material. The second handling task at least includes the position of the first storage location in the material waiting area; dispatch the AGV to move the material to the position of the first storage location in the material waiting area. Since a display device for displaying lighting prompt information is provided on the picking bin, when the control platform generates corresponding lighting prompt information based on the materials, the quantity of the materials, and the inventory information in the material order, control the display device on the picking bin to display the lighting prompt information. Based on this, the operator can perform material picking according to the picking prompt information and lighting information included in the lighting prompt information displayed by the display device. In this way, the operator can directly pick materials in the corresponding picking bin according to the lighting display prompt information, thereby improving the efficiency and accuracy of material picking.

[0564] As an implementation manner of the embodiment of the present application, the above material order includes at least one line of material information. The above material information at least includes target materials and the picking quantity of the target materials. The above lighting information is the color information of the indicator light;

[0565] The step of the robot control device 2702 determining the lighting prompt information of the first picking bin based on the materials included in the material order, the quantity of the materials, and the inventory information of the materials may include:

[0566] The robot control device 2702 traverses the material information of each line in the material order. For the material information of the current line being traversed, when the picking quantity of the target material included in the material information of the current line is not 0 and the target material inventory of the target material is greater than the picking quantity, it determines the first lighting prompt information of the target picking bin where the target material is located. The first lighting prompt information includes the first picking prompt information and the first color information of the indicator light. The first picking prompt information is used to prompt the identification and picking quantity of the target material;

[0567] When the picking quantity of the target material included in the material information of the current line by the robot control device 2702 is not 0 and the target material inventory of the target material is equal to the picking quantity, it determines the second lighting prompt information of the target picking bin where the target material is located. The second lighting prompt information includes the second picking prompt information and the second color information of the indicator light. The second picking prompt information is used to prompt the identification and picking quantity of the target material, and the second color information is different from the first color information;

[0568] When the picking quantity of the target material included in the material information of the current line by the robot control device 2702 is 0 or the target material inventory of the target material is less than the picking quantity, it determines the third lighting prompt information of the target picking bin where the target material with the first non-zero picking quantity in the material order and the target material inventory of the target material not less than the picking quantity is located. The third lighting prompt information includes the third picking prompt information and the third color information of the indicator light. The third picking prompt information is used to prompt that there is no picking requirement;

[0569] When the robot control device 2702 receives a closing signal for the indicator light, it continues to traverse the material information of the next line and determines the lighting prompt information corresponding to the material information of the next line until it has traversed the material information of each line in the material order.

[0570] As an implementation manner of an embodiment of this application, the step where the robot control device 2702 continues to traverse the material information of the next line and determines the lighting prompt information corresponding to the material information of the next line may include:

[0571] The robot control device 2702 determines whether the target material corresponding to the material information of the next line meets the first preset condition, the second preset condition, and the third preset condition. The first preset condition is that the target material is in a transportation state, the second preset condition is that the picking quantity corresponding to the target material is 0, and the third preset condition is that the target material inventory corresponding to the target material is less than the picking quantity;

[0572] When the target material corresponding to the material information of the next row satisfies the first preset condition, the robot control device 2702 determines the fourth light-on prompt information of the target picking bin corresponding to the material information of the current row, where the fourth light-on prompt information includes the fourth picking prompt information and the fourth color information of the indicator light, and the fourth picking prompt information is used to prompt the transportation status of the target bin corresponding to the target material of the next row;

[0573] When the target material corresponding to the material information of the next row satisfies the second preset condition or the third preset condition, the robot control device 2702 determines that the light-on prompt information of the target picking bin corresponding to the material information of the current row is the third light-on prompt information.

[0574] As an implementation manner of the embodiment of the present application, among them,

[0575] The robot control device 2702 is further configured to, when it is determined that there is no material included in the material order in the other material orders that have not been traversed, generate a second handling task for the second target bin based on the picking bin position where the material is located and the inventory information of the material, and send the second handling task to the bin handling robot 2703, where the second target bin is the target bin where the material that is not included in the material order in the other material orders that have not been picked up is located, and the second handling task includes at least the second picking bin position where the second target bin is located and the second storage bin position in the storage bin;

[0576] The bin handling robot 2703 is further configured to move the second target bin from the second picking bin position to the second storage bin position.

[0577] As an implementation manner of the embodiment of the present application, the above picking system may further include an AGV robot, where,

[0578] The robot control device 2702 is further configured to, when receiving a full cart handling instruction, generate a first empty-full exchange task based on the storage location information of the material waiting area and the cart connection position, and send the first empty-full exchange task to the autonomous mobile robot; when receiving an empty cart handling instruction, generate a second empty-full exchange task based on the storage location information of the material waiting area and the storage location information beside the production line, and send the second empty-full exchange task to the autonomous mobile robot; wherein, the cart connection position is used to store the first empty cart and the full cart with the picked materials, the first empty-full exchange task at least includes the first storage location position in the material waiting area, the second storage location position in the material waiting area, the first target cart connection position, and the second target cart connection position, and the full cart handling instruction is triggered after the operator places the picked materials in the cart at the cart connection position; the second empty-full exchange task at least includes the third storage location position in the material waiting area, the fourth storage location position in the material waiting area, the first storage location position beside the production line, and the second storage location position beside the production line;

[0579] The autonomous mobile robot is further configured to move the full cart from the first target cart connection position to the first storage location position in the material waiting area, and move the first empty cart from the second storage location position in the material waiting area to the second target cart connection position; move the second empty cart from the first storage location position beside the production line to the fourth storage location position in the material waiting area, and move the full cart in the material waiting area from the third storage location position in the material waiting area to the second storage location position beside the production line.

[0580] As an implementation manner of the embodiment of the present application, wherein,

[0581] The robot control device 2702 is further configured to, when receiving a closing signal for the indicator light corresponding to the second color information, update the target material inventory in the target picking bin corresponding to the second color information to 0; generate a first empty bin handling task based on the target picking bin position where the first empty bin is located and the warehouse rack bin information, and send the first empty bin handling task to the bin handling robot 2703; wherein, the first empty bin is an empty bin with a target material inventory of 0 in the target picking bin, and the first empty bin handling task at least includes the first warehouse rack bin position and the position of the target picking bin where the first empty bin is located;

[0582] The bin handling robot 2703 is further configured to move the first empty bin to the first warehouse rack bin position.

[0583] As an implementation manner of the embodiment of the present application, the above picking system may further include an empty bin palletizing station, and the above control platform may further include a conveyor line control device, wherein,

[0584] The robot control device 2702 is further configured to generate a second empty container handling task based on the empty container delivery docking position information and the vertical warehouse rack position information when there is no second empty container at the empty container delivery docking position corresponding to the empty container delivery line, and send the second empty container handling task to the generating second empty container handling task, wherein the second empty container handling task at least includes the empty container delivery docking target position and the second vertical warehouse rack position;

[0585] The container transport robot 2703 is further configured to transport the second empty container from the second vertical warehouse shelf location and place it on the empty container conveyor line corresponding to the empty container transport docking target location;

[0586] The conveyor line control equipment is used to dispatch the empty box conveyor line to transfer the second empty box to the empty box stacking station when there is a second empty box on the empty box conveyor line, so that the second empty box can be stacked on a pallet at the empty box stacking station to obtain a pallet empty box.

[0587] As an implementation of the embodiment of the present application,

[0588] The robot control device 2702 is also used to generate a third empty-full exchange task based on the empty box pallet storage location information, the empty box buffer area storage location information, the empty pallet buffer area storage location information and the empty box pallet storage location information when the second empty material box pallet is completed to obtain an empty pallet, and send the third empty-full exchange task to the latent handling robot; in the case that there is no empty pallet to be shipped at the empty box outbound docking position, based on the empty box buffer area storage location information and the empty box outbound docking position information, and send the third empty-full exchange task to the latent handling robot; in the case that there is no empty pallet to be shipped at the empty box outbound docking position, the empty box handling task of the pallet is generated based on the empty box buffer area storage location information and the empty box outbound docking position information, and send the third empty-full exchange task to the latent handling robot The empty box handling task of the pallet is sent to the latent handling robot; wherein, the empty box pallet storage location information is the storage location information corresponding to the empty box pallet workstation location, the third empty and full exchange task includes at least the first empty box pallet storage location, the second empty box pallet storage location, the empty box buffer area storage location, and the empty pallet location of the empty pallet buffer area. The empty box of the pallet to be shipped out is the empty box of the pallet that is transported from the empty box buffer area storage location to the empty box shipping docking location. The empty box handling task of the pallet includes at least the empty box buffer area storage location and the empty box of the pallet at the empty box shipping docking location.

[0589] The latent handling robot is also used to transport empty pallets from the empty box stacking storage position to the empty box buffer area storage position, and to transport empty pallets from the empty pallet position in the empty pallet buffer area to the second empty box stacking storage position; and to transport empty pallets from the empty box buffer area storage position to the empty box outbound docking position.

[0590] As an implementation of an embodiment of the present application, the picking system may further include a conveyor line mechanism, and the step of the conveyor line control device scheduling the empty box conveyor line to transfer the second empty material box to the empty box pallet station may include:

[0591] A conveyor line control device is used to collect the box code information of the second empty bin and send the collected box code information to the robot control device 2702;

[0592] The robot control device 2702 is further configured to parse the box code information to obtain the first conveying information and send the first conveying information to the conveyor line mechanism; schedule the target sorting empty box to return to the conveyor line to transfer the second empty bin to the empty box code palletizing station position, where the first conveying information is used to instruct the target sorting empty box corresponding to the second empty bin to return to the conveyor line;

[0593] The conveyor line mechanism is configured to allocate the second empty bin to the corresponding target sorting empty box to return to the conveyor line based on the first conveying information.

[0594] As an implementation manner of the embodiment of the present application,

[0595] The robot control device 2702 is further configured to, when receiving the empty shelf ground code information at the empty box outbound connection position, generate an empty shelf handling task for the target empty shelf based on the storage location information of the empty pallet buffer area and the empty box outbound connection position information, and send the empty shelf handling task to the latent handling robot, where the target empty shelf is the empty shelf corresponding to the empty shelf ground code information, and the empty shelf handling task at least includes the target empty box outbound connection position and the storage location of the first empty pallet buffer area;

[0596] The latent handling robot is further configured to move the target empty shelf from the target empty box outbound connection position to the storage location of the first empty pallet buffer area.

[0597] As an implementation manner of the embodiment of the present application, the above picking system may further include an empty pallet stacker station and an empty pallet palletizer / depalletizer station, and the above system may further include:

[0598] The conveyor line control device is further configured to, when the pallet material is depalletized to obtain the first empty pallet, schedule the empty pallet conveyor line to transfer the first empty pallet to the empty pallet stacker station position, so that the first empty pallet is palletized by the empty pallet stacker to obtain an empty pallet stack; when there is no empty pallet stack to be depalletized at the empty pallet palletizer / depalletizer station position, schedule the empty pallet conveyor line to transfer the empty pallet stack to the empty pallet palletizer / depalletizer station position, so that the empty pallet palletizer / depalletizer depalletizes the empty pallet stack to obtain the second empty pallet; where the first empty pallet is obtained by depalletizing the pallet material, and the pallet material includes a bin containing materials placed on the pallet, and the bin includes the target bin;

[0599] The robot control device 2702 is further configured to generate a fourth empty / full exchange task based on the position information of the empty pallet stack depalletizer station and the storage location information of the empty pallet buffer area, and send the fourth empty / full exchange task to the latent handling robot; wherein, the fourth empty / full exchange task at least includes the storage location of the second empty pallet buffer area, the storage location of the third empty pallet buffer area, the position of the first empty pallet stack depalletizer station, and the position of the second empty pallet stack depalletizer station;

[0600] The latent handling robot is further configured to move the empty shelf in the empty pallet buffer area from the storage location of the second empty pallet buffer area and place it at the position of the first empty pallet stack depalletizer station, and move the shelf with the second empty pallet from the position of the second empty pallet stack depalletizer station to the storage location of the third empty pallet buffer area.

[0601] As an implementation manner of the embodiment of the present application, wherein,

[0602] The conveyor line control device is further configured to, when the number of the first empty pallets in the empty pallet stack reaches the first preset number, dispatch the empty pallet conveyor line to transfer the empty pallet stack to the empty pallet stack buffer area; generate an empty pallet stack transfer task based on the storage location information of the empty pallet stack buffer area and the position information of the empty pallet stack depalletizer station, so that the empty pallet conveyor line transfers the empty pallet stack from the target storage location of the empty pallet stack buffer area to the position of the empty pallet stack depalletizer station, wherein the empty pallet stack transfer task at least includes the target storage location of the empty pallet stack buffer area and the position of the empty pallet stack depalletizer station.

[0603] As an implementation manner of the embodiment of the present application, the above picking system may further include a dimension measuring device station, wherein,

[0604] The conveyor line control device is further configured to, when there is a first incoming storage bin on the bin conveyor line, dispatch the bin conveyor line to transfer the first incoming storage bin to the position of the dimension measuring device station;

[0605] The dimension measuring device station is configured to collect the specification information and the box code information of the first incoming storage bin, and send the specification information and the box code information to the robot control device 2702;

[0606] The robot control device 2702 is further configured to parse the specification information and the box code information to obtain the second conveying information; when there is a second incoming storage bin at the first incoming connection position, generate an incoming storage bin handling task corresponding to the second incoming storage bin based on the position information of the incoming connection position and the warehouse rack bin position information, send the incoming storage bin handling task to the bin handling robot 2703, and update the material inventory; wherein, the second conveying information is used to indicate the target bin conveyor line corresponding to the transfer bin of the first incoming storage bin, and the incoming storage bin handling task at least includes the position of the first incoming connection position and the position of the third warehouse rack bin;

[0607] The conveyor line control device is further configured to schedule the conveyor line mechanism to allocate the first bin to be warehoused to the corresponding target bin conveyor line based on the second conveying information, so that the target bin conveyor line transfers the first bin to be warehoused to the first warehousing connection position in the warehousing connection position;

[0608] The bin handling robot 2703 is further configured to transport the second bin to be warehoused from the first warehousing connection position to the third vertical warehouse shelf position.

[0609] As an implementation manner of the embodiment of the present application, the above picking system may further include a pallet disassembling station, wherein,

[0610] The robot control device 2702 is further configured to generate a first pallet material handling task based on the storage location information of the planar buffer area and the position of the pallet handover position when there is no pallet material at the pallet handover position corresponding to the pallet disassembling conveyor line, and send the first pallet material handling task to the latent handling robot; wherein, the first pallet material handling task includes the first planar buffer area storage location and the first pallet handover position, and the pallet disassembling conveyor line is used to transfer the pallet material from the corresponding connection position of the pallet disassembling conveyor line to the pallet disassembling station;

[0611] The latent handling robot is further configured to transport the first pallet material from the first planar buffer area storage location to the first pallet handover position, wherein the first pallet material is transported to the planar buffer area by the latent handling robot;

[0612] The conveyor line mechanism is further configured to allocate the on-rail pallet material on the pallet disassembling conveyor line to the target disassembling conveyor line, so that the target disassembling conveyor line transfers the on-rail pallet material on the target disassembling conveyor line to the pallet disassembling station position, so that the on-rail pallet material undergoes bin disassembling at the pallet disassembling station to obtain the first bin to be warehoused and an empty pallet.

[0613] As an implementation manner of the embodiment of the present application, the above system may further include a forklift handling robot, wherein,

[0614] The robot control device 2702 is further configured to generate a second pallet material handling task based on the position information of the pallet handover position and the connection position information corresponding to the pallet disassembling conveyor line when the number of on-rail pallet materials is not greater than the second preset number, and send the second pallet material handling task to the forklift handling robot, wherein the second pallet material handling task includes the second pallet handover position and the target connection position corresponding to the pallet disassembling conveyor line, and the on-rail pallet material is transported by the forklift handling robot from the pallet handover position to the pallet disassembling conveyor line;

[0615] The forklift handling robot is used to transport and place the pallet materials corresponding to the second pallet handover position from the second pallet handover position to the target connection position corresponding to the pallet depalletizing conveyor line.

[0616] As an implementation manner of the embodiment of the present application, wherein,

[0617] The robot control device 2702 is further configured to, when there is a bin rack at the inbound connection position, generate a bin rack handling task based on the position information of the inbound connection position and the storage location information of the planar buffer area, and send the bin rack handling task to the latent handling robot, wherein the bin rack is a rack for storing pallet materials, and the bin rack handling task at least includes the second inbound connection position and the second planar buffer area storage location;

[0618] The latent handling robot is further configured to transport the bin rack from the second inbound connection position to the second planar buffer area storage location.

[0619] As an implementation manner of the embodiment of the present application, wherein:

[0620] The robot control device 2702 is further configured to, when there is no empty inbound rack at the inbound connection position, generate an empty inbound rack replenishment task based on the position information of the inbound connection position and the storage location information of the planar buffer area, and send the empty inbound rack replenishment task to the latent handling robot, wherein the empty inbound rack replenishment task at least includes the third inbound connection position and the third planar buffer area storage location;

[0621] The latent handling robot is further configured to transport the empty inbound rack corresponding to the third planar buffer area storage location from the third planar buffer area storage location to the third inbound connection position.

[0622] The embodiment of the present application further provides an electronic device, as Figure 28 shown, including:

[0623] A memory 2801 for storing a computer program;

[0624] A processor 2802, when executing the program stored on the memory 2801, implements the material picking method described in any of the above embodiments.

[0625] And the above electronic device may further include a communication bus and / or a communication interface, and the processor 2802, the communication interface, and the memory xx1 complete communication with each other through the communication bus.

[0626] It can be seen that in the embodiment of the present application, the control platform in the picking system can, when receiving a material order, generate a first handling task corresponding to a first target material box based on the materials included in the material order, the quantity of the materials, and the inventory information of the materials, where the first handling task at least includes the position of the first storage bin where the first target material box is located and the position of the first picking bin in the picking bin; dispatch the material box handling robot to move the first target material box from the position of the first storage bin to the position of the first picking bin; determine the lighting prompt information of the first picking bin based on the materials included in the material order, the quantity of the materials, and the inventory information of the materials, and control the display device on the first picking bin to display the lighting prompt information, so that the operator can perform material picking in the first target material box placed in the first picking bin based on the lighting prompt information, where the lighting prompt information includes picking prompt information and lighting information, and the picking prompt information is used to prompt the materials and the quantity of the materials; when the picking of the material order is completed, generate a second handling task corresponding to the material based on the storage location information of the material waiting area, where the second handling task at least includes the position of the first storage location in the material waiting area; dispatch the AGV robot to move the material to the position of the first storage location in the material waiting area. Since a display device for displaying lighting prompt information is provided on the picking bin, when the control platform generates corresponding lighting prompt information based on the materials, the quantity of the materials, and the inventory information in the material order, the display device on the picking bin is controlled to display the lighting prompt information. Based on this, the operator can perform material picking according to the picking prompt information and lighting information included in the lighting prompt information displayed by the display device. In this way, the operator can directly perform material picking in the corresponding picking bin according to the lighting display prompt information, thereby improving the efficiency and accuracy of material picking.

[0627] The communication bus mentioned in the above electronic device may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into an address bus, a data bus, a scheduling bus, etc. For the sake of simplicity, only a thick line is used to represent it in the figure, but it does not mean that there is only one bus or one type of bus.

[0628] The communication interface is used for communication between the above electronic device and other devices.

[0629] The memory may include a Random Access Memory (RAM), or may also include a Non-Volatile Memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0630] The aforementioned processor may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0631] In another embodiment provided by the present application, there is also provided a computer-readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, the steps of any of the above material picking methods are implemented.

[0632] In another embodiment provided by the present application, there is also provided a computer program product containing a signal, which when running on a computer causes the computer to execute any of the material picking methods in the above embodiments.

[0633] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer signals. When the computer program signal is loaded and executed on a computer, the processes or functions described in the embodiments of the present application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer signal can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer signal can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wirelessly (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or a data center that includes one or more integrated available media. The available medium can be a magnetic medium (such as a floppy disk, a hard disk, a magnetic tape), an optical medium (such as a DVD), or a solid-state disk (SSD), etc.

[0634] It should be noted that in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including", or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or device. Without further limitation, an element defined by the statement "comprising one..." does not exclude the presence of additional identical elements in the process, method, article, or device comprising the element.

[0635] Each embodiment in this specification is described in a related manner. For the same or similar parts among the embodiments, reference can be made to each other. Each embodiment focuses on the differences from other embodiments. In particular, for devices, systems, electronic devices, storage media, computer-readable storage media, and computer program products, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can refer to the partial description of the method embodiments.

[0636] The above are only the preferred embodiments of the present application and are not intended to limit the protection scope of the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application are all included in the protection scope of the present application.

Claims

1. A material picking method, characterized in that, A control platform applied to a picking system, the picking system further including a bin handling robot and an autonomous mobile robot. The method includes: Upon receiving a material order, generating a first handling task for a first target bin based on the materials included in the material order, the quantity of the materials, and the inventory information of the materials, where the first handling task at least includes the position of the first storage bin where the first target bin is located and the position of the first picking bin in the picking bin area; Scheduling the bin handling robot to move the first target bin from the first storage bin position to the first picking bin position; Based on the materials included in the material order, the quantity of the materials, and the inventory information of the materials, determining the lighting prompt information for the first picking bin, and controlling the display device on the first picking bin to display the lighting prompt information, so that the operator can pick materials from the first target bin placed in the first picking bin based on the lighting prompt information, where the lighting prompt information includes picking prompt information and lighting information, and the picking prompt information is used to prompt the materials and the quantity of the materials; Upon receiving a full trolley handling instruction, generating a first empty-full exchange task based on the storage location information of the material shipping area and the trolley connection position, where the trolley connection position is used to store the first empty trolley and the full trolley with the picked materials, and the first empty-full exchange task at least includes the position of the first material shipping area storage bin, the position of the second material shipping area storage bin, the position of the first target trolley connection position, and the position of the second target trolley connection position, and the full trolley handling instruction is triggered after the operator places the picked materials in the trolley at the trolley connection position; Scheduling the autonomous mobile robot to move the full trolley from the first target trolley connection position to the first material shipping area storage bin position, and scheduling the autonomous mobile robot to move the first empty trolley from the second material shipping area storage bin position to the second target trolley connection position; Upon receiving an empty trolley handling instruction, generating a second empty-full exchange task based on the storage location information of the material shipping area and the storage location information beside the production line, where the second empty-full exchange task at least includes the position of the third material shipping area storage bin, the position of the fourth material shipping area storage bin, the position of the first storage bin beside the production line, and the position of the second storage bin beside the production line; Scheduling the autonomous mobile robot to move the second empty trolley from the first storage bin beside the production line to the fourth material shipping area storage bin position, and scheduling the autonomous mobile robot to move the full trolley in the material shipping area from the third material shipping area storage bin position to the second storage bin beside the production line.

2. The method according to claim 1, characterized in that, The material order includes at least one line of material information, the material information at least includes the target material and the picking quantity of the target material, and the lighting information is the color information of the indicator light; The step of determining the lighting prompt information for the first picking bin based on the materials included in the material order, the quantity of the materials, and the inventory information of the materials includes: Traverse the material information of each line in the material order. For the current line of material information being traversed, when the picking quantity of the target material included in the current line of material information is not 0 and the target material inventory of the target material is greater than the picking quantity, determine the first lighting prompt information for the target picking bin where the target material is located. Among them, the first lighting prompt information includes the first picking prompt information and the first color information of the indicator light. The first picking prompt information is used to prompt the identification of the target material and the picking quantity; When the picking quantity of the target material included in the current line of material information is not 0 and the target material inventory of the target material is equal to the picking quantity, determine the second lighting prompt information for the target picking bin where the target material is located. Among them, the second lighting prompt information includes the second picking prompt information and the second color information of the indicator light. The second picking prompt information is used to prompt the identification of the target material and the picking quantity, and the second color information is different from the first color information; When the picking quantity of the target material included in the current line of material information is 0, or the target material inventory of the target material is less than the picking quantity, determine the third lighting prompt information for the target picking bin where the target material with the first non-zero picking quantity in the material order and the target material inventory of the target material not less than the picking quantity is located. Among them, the third lighting prompt information includes the third picking prompt information and the third color information of the indicator light. The third picking prompt information is used to prompt that there is no picking requirement; When a closing signal for the indicator light is received, continue to traverse the next line of material information and determine the lighting prompt information corresponding to the next line of material information until all lines of material information in the material order have been traversed.

3. The method according to claim 2, characterized in that, The step of continuing to traverse the next line of material information and determining the lighting prompt information corresponding to the next line of material information includes: Determine whether the target material corresponding to the next line of material information meets the first preset condition, the second preset condition, and the third preset condition. Among them, the first preset condition is that the target material is in a transportation state, the second preset condition is that the picking quantity corresponding to the target material is 0, and the third preset condition is that the target material inventory corresponding to the target material is less than the picking quantity; When the target material corresponding to the next line of material information meets the first preset condition, determine the fourth lighting prompt information for the target picking bin corresponding to the current line of material information. Among them, the fourth lighting prompt information includes the fourth picking prompt information and the fourth color information of the indicator light. The fourth picking prompt information is used to prompt the transportation state of the target bin corresponding to the target material in the next line; When the target material corresponding to the material information in the next line meets the second preset condition or the third preset condition, determine that the lighting prompt information of the target picking bin corresponding to the current line of material information is the third lighting prompt information.

4. The method according to claim 1, wherein The method further includes: When it is determined that there is no material included in the material order in other material orders that have not been traversed, generate a second handling task for the second target material bin based on the picking bin position where the material is located and the inventory information of the material, where the second target material bin is the target material bin where there is no material included in the material order in other material orders that have not been picked up, and the second handling task at least includes the second picking bin position where the second target material bin is located and the second storage bin position in the storage bin; Dispatch the bin handling robot to move the second target material bin from the second picking bin position to the second storage bin position.

5. The method according to claim 2, wherein The method further includes: When a closing signal for the indicator light corresponding to the second color information is received, update the target material inventory in the target picking bin corresponding to the second color information to 0; Generate a first empty bin handling task based on the target picking bin position where the first empty bin is located and the AS / RS bin position information, where the first empty bin is the empty bin with a target material inventory of 0 in the target picking bin, and the first empty bin handling task at least includes the first AS / RS bin position and the position of the target picking bin where the first empty bin is located; Dispatch the bin handling robot to move the first empty bin to the first AS / RS bin position.

6. The method according to claim 5, characterized in that The picking system further includes an empty bin palletizing station, and the method further includes: When there is no second empty bin at the empty bin conveying connection position corresponding to the empty bin conveying line, generate a second empty bin handling task based on the empty bin conveying connection position information and the AS / RS bin position information, where the second empty bin handling task at least includes the target position of the empty bin conveying connection and the second AS / RS bin position; Dispatch the bin handling robot to move and place the second empty bin from the second AS / RS bin position on the empty bin conveying line corresponding to the target position of the empty bin conveying connection; When there is the second empty bin on the empty bin conveying line, dispatch the empty bin conveying line to transfer the second empty bin to the empty bin palletizing station position so that the second empty bin undergoes pallet palletizing at the empty bin palletizing station position to obtain a palletized empty bin.

7. The method according to claim 6, wherein The method further includes: When the palletizing of the second empty bin is completed to obtain the palletized empty bin, generate a third empty / full exchange task based on the empty bin palletizing storage position information, the storage position information of the empty bin buffer area, the storage position information of the empty pallet buffer area, and the empty bin palletizing storage position information, where the empty bin palletizing storage position information is the storage position information corresponding to the empty bin palletizing station position, and the third empty / full exchange task at least includes the first empty bin palletizing storage position, the second empty bin palletizing storage position, the storage position of the empty bin buffer area, and the empty pallet position in the empty pallet buffer area; Dispatch the latent transfer robot to transfer the empty pallet box from the first empty pallet stacking storage position to the empty box buffer storage position, and dispatch the latent transfer robot to transfer the empty pallet from the empty pallet position in the empty pallet buffer area to the second empty pallet stacking storage position; In the case that there is no pallet empty box to be dispatched at the empty box outbound connection position, generate a pallet empty box transfer task based on the empty box buffer storage position information and the empty box outbound connection position information, where the pallet empty box to be dispatched is the pallet empty box transferred from the empty box buffer storage position to the empty box outbound connection position, and the pallet empty box transfer task at least includes the empty box buffer storage position and the pallet empty box at the empty box outbound connection position; Dispatch the latent transfer robot to transfer the pallet empty box from the empty box buffer storage position to the empty box outbound connection position.

8. The method according to claim 6, characterized in that, The picking system further includes a conveyor line mechanism. The step of dispatching the empty box conveyor line to transfer the second empty bin to the empty box palletizing station position includes: Collect the box code information of the second empty bin, and parse the collected box code information to obtain the first conveyor information, where the first conveyor information is used to instruct the target sorting empty box corresponding to the second empty bin to return to the conveyor line; Based on the first conveyor information, dispatch the conveyor line mechanism to allocate the second empty bin to the corresponding target sorting empty box to return to the conveyor line; Dispatch the target sorting empty box to return to the conveyor line to transfer the second empty bin to the empty box palletizing station position.

9. The method according to claim 1, wherein The picking system further includes an empty pallet stacker station and an empty pallet stack dismantling station. The method further includes: In the case that the pallet material is dismantled to obtain the first empty pallet, dispatch the empty pallet conveyor line to transfer the first empty pallet to the empty pallet stacker station position, so that the first empty pallet is stacked into an empty pallet stack by the empty pallet stacker, where the first empty pallet is obtained by dismantling the pallet material, and the pallet material includes a bin containing materials placed on the pallet, and the bin includes a target bin; In the case that there is no empty pallet stack to be dismantled at the empty pallet stack dismantling station position, dispatch the empty pallet conveyor line to transfer the empty pallet stack to the empty pallet stack dismantling station position, so that the empty pallet stack dismantling machine dismantles the empty pallet stack to obtain the second empty pallet; Generate a fourth empty-full exchange task based on the position information of the empty pallet stack dismantling station position and the storage position information of the empty pallet buffer area, where the fourth empty-full exchange task at least includes the second empty pallet buffer storage position, the third empty pallet buffer storage position, the first empty pallet stack dismantling station position, and the second empty pallet stack dismantling station position; Dispatch the latent transfer robot to transfer and place the empty shelf in the empty pallet buffer area from the second empty pallet buffer storage position to the first empty pallet stack dismantling station position, and dispatch the latent transfer robot to transfer the shelf with the second empty pallet from the second empty pallet stack dismantling station position to the third empty pallet buffer storage position.

10. The method according to claim 9, characterized in that, Before the step of transferring the empty pallet stack to the empty pallet stack unstacking machine station position by the scheduling empty pallet conveyor line, the method further includes: When the number of the first empty pallets in the empty pallet stack reaches a first preset number, the scheduling empty pallet conveyor line transfers the empty pallet stack to the empty pallet stack buffer area; Based on the storage location information of the empty pallet stack buffer area and the empty pallet stack unstacking machine station position information, an empty pallet stack transfer task is generated to enable the empty pallet conveyor line to transfer the empty pallet stack from the target storage location of the empty pallet stack buffer area to the empty pallet stack unstacking machine station position, wherein the empty pallet stack transfer task at least includes the target storage location of the empty pallet stack buffer area and the empty pallet stack unstacking machine station position.

11. The method according to claim 1, characterized in that, The picking system further includes a dimension measuring device station. Before the step of based on the materials included in the material order, the quantity of the materials, and the inventory information of the materials, the method further includes: When there is a first incoming storage bin on the bin conveyor line, the bin conveyor line is scheduled to transfer the first incoming storage bin to the dimension measuring device station position so as to collect the specification information and the bin code information of the first incoming storage bin at the dimension measuring device station position; The specification information and the bin code information are parsed to obtain second conveying information, wherein the second conveying information is used to indicate the target bin conveyor line corresponding to the bin for transferring the first incoming storage bin; Based on the second conveying information, the conveying line mechanism is scheduled to distribute the first incoming storage bin to the corresponding target bin conveyor line so that the target bin conveyor line transfers the first incoming storage bin to the position of the first incoming connection position in the incoming connection position; When there is a second incoming storage bin at the position of the first incoming connection position, based on the position information of the incoming connection position and the warehouse rack bin position information, an incoming storage bin handling task corresponding to the second incoming storage bin is generated, wherein the incoming storage bin handling task at least includes the position of the first incoming connection position and the position of the third warehouse rack bin; The bin handling robot is scheduled to transfer the second incoming storage bin from the position of the first incoming connection position to the position of the third warehouse rack bin and update the material inventory.

12. A material picking device, characterized in that, Applied to the control platform in the picking system, the picking system includes a bin handling robot and a latent handling robot, and the device includes: A first task generation module, configured to generate a first handling task corresponding to a first target material bin based on the materials included in the material order, the quantity of the materials, and the inventory information of the materials when receiving the material order, wherein the first handling task at least includes the position of the first storage bin where the first target material bin is located and the position of the first picking bin in the picking bin; A first material bin handling module, configured to schedule the bin handling robot to transfer the first target material bin from the first storage bin position to the first picking bin position; A lighting prompt information determination module, configured to determine the lighting prompt information for the first picking bin based on the materials included in the material order, the quantity of the materials, and the inventory information of the materials, and control a display device on the first picking bin to display the lighting prompt information, so that an operator picks the materials in the first target material box placed in the first picking bin based on the lighting prompt information, where the lighting prompt information includes a picking prompt information and lighting information, and the picking prompt information is used to prompt the materials and the quantity of the materials; The device further includes: A first empty-full exchange task generation module, configured to generate a first empty-full exchange task based on the storage location information of the material waiting area and the position of the vehicle connection position when receiving a full vehicle handling instruction, where the vehicle connection position is used to store the first empty vehicle and the full vehicle with the picked materials, and the first empty-full exchange task includes at least the storage location of the first material waiting area, the storage location of the second material waiting area, the position of the first target vehicle connection position, and the position of the second target vehicle connection position, and the full vehicle handling instruction is triggered after the operator places the picked materials in the vehicle at the vehicle connection position; A first empty-full exchange task execution module, configured to dispatch a latent handling robot to move the full vehicle from the first target vehicle connection position to the storage location of the first material waiting area, and dispatch the latent handling robot to move the first empty vehicle from the storage location of the second material waiting area to the second target vehicle connection position; A second empty-full exchange task generation module, configured to generate a second empty-full exchange task based on the storage location information of the material waiting area and the storage location information of the production line side when receiving an empty vehicle handling instruction, where the second empty-full exchange task includes at least the storage location of the third material waiting area, the storage location of the fourth material waiting area, the position of the first production line side storage location, and the position of the second production line side storage location; A second empty-full exchange task execution module, configured to dispatch a latent handling robot to move the second empty vehicle from the first production line side storage location to the storage location of the fourth material waiting area, and dispatch the latent handling robot to move the full vehicle in the material waiting area from the storage location of the third material waiting area to the second production line side storage location.

13. A material picking system, characterized in that, The picking system includes a control platform, a bin handling robot, and a latent handling robot, and the control platform includes an upstream control device, a robot control device, and a lighting control device, where: The upstream control device is configured to send a material order to the robot control device; The robot control device is configured to generate a first handling task corresponding to the first target material box based on the materials included in the material order, the quantity of the materials, and the inventory information of the materials when receiving the material order, and send the first handling task to the bin handling robot; determine the lighting prompt information for the first picking bin based on the materials included in the material order, the quantity of the materials, and the inventory information of the materials, and send the lighting prompt information to the lighting control device; The bin handling robot is used to move the first target bin from the first storage bin position to the first picking bin position, and move the materials to the storage position in the first material waiting-to-be-shipped area; The lighting control device is used to control the display device on the first picking bin to display the lighting prompt information based on the lighting prompt information, so that the operator can pick materials in the first target bin placed in the first picking bin based on the lighting prompt information. The lighting prompt information includes a picking prompt information and lighting information, and the picking prompt information is used to prompt the materials and the quantity of the materials; The robot control device is further used to generate a first empty-full exchange task based on the storage location information of the material waiting-to-be-shipped area and the position of the truck connection position and send the first empty-full exchange task to the latent handling robot when receiving a full truck handling instruction; generate a second empty-full exchange task based on the storage location information of the material waiting-to-be-shipped area and the storage location information beside the production line and send the second empty-full exchange task to the latent handling robot when receiving an empty truck handling instruction; the truck connection position is used to store the first empty truck and the full truck with the picked materials, the first empty-full exchange task at least includes the first storage position in the material waiting-to-be-shipped area, the second storage position in the material waiting-to-be-shipped area, the first target truck connection position, and the second target truck connection position, and the full truck handling instruction is triggered when the operator places the picked materials in the truck at the truck connection position; the second empty-full exchange task at least includes the third storage position in the material waiting-to-be-shipped area, the fourth storage position in the material waiting-to-be-shipped area, the first storage position beside the production line, and the second storage position beside the production line; The latent handling robot is further used to move the full truck from the first target truck connection position to the first storage position in the material waiting-to-be-shipped area, move the first empty truck from the second storage position in the material waiting-to-be-shipped area to the second target truck connection position; move the second empty truck from the first storage position beside the production line to the fourth storage position in the material waiting-to-be-shipped area, and move the full truck in the material waiting-to-be-shipped area from the third storage position in the material waiting-to-be-shipped area to the second storage position beside the production line.

14. An electronic device, characterized in that, Comprising: A memory for storing a computer program; A processor for implementing the method according to any one of claims 1-11 when executing the program stored on the memory.

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