Processing method, device, equipment and storage medium for workpiece filling information

Abstract

The present application provides a method, device, equipment and storage medium for processing workpiece replenishment information, the method comprising: upon receiving a replenishment confirmation message, displaying a first interface; the first interface comprising first information and a first control, the first information being graphic information associated with the missing target workpiece, and the first control being an option for confirming replenishment; in response to a user triggering the operation of the first control, sending an instruction message to a server, the instruction message being used to instruct the server to send a replenishment instruction to a target replenishment robot; upon receiving a confirmation message from the server, displaying a second interface, the second interface comprising second information generated based on the confirmation message indicating that replenishment is complete, the confirmation message being a message generated based on a first image captured by a humanoid robot and a second image captured by a target replenishment robot. In the present application, confirmation is made on the terminal device side that the robot is allowed to replenish, and the humanoid robot and the replenishment robot collaborate to confirm that replenishment is complete, thereby improving replenishment efficiency.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a method, device, equipment and storage medium for processing workpiece replenishment information. Background Art

[0002] With the development of society, robots are widely used in various fields, such as industrial manufacturing and logistics, to further improve production efficiency. However, in existing technologies, for example, robots used to sort workpieces in workpiece warehouses in industrial manufacturing must independently perform workpiece sorting, restocking, and loading operations, resulting in low restocking efficiency. Summary of the Invention

[0003] The present application provides a method, device, equipment, and storage medium for processing workpiece refill information. The method can instruct a robot to refill via a terminal device, and confirm the completion of refilling by a humanoid robot in collaboration with the refilling robot, thereby improving refilling efficiency.

[0004] In a first aspect, an embodiment of the present application provides a method for processing workpiece replenishment information, which is applied to a terminal device of a robot system, wherein the robot system includes the terminal device, a server connected to the terminal device, a humanoid robot connected to the server, and at least one replenishment robot, the method comprising:

[0005] Upon receiving a material replenishment confirmation message, a first interface is displayed; the first interface includes first information and a first control, the first information being graphic information associated with the missing target workpiece generated according to the material replenishment confirmation message, and the first control being an option for confirming material replenishment;

[0006] In response to a user triggering an operation of the first control in the first interface, sending an instruction message to the server, wherein the instruction message is used to instruct the server to send a refilling instruction to a target refilling robot to control the target refilling robot to refill, wherein the target refilling robot is an idle robot among the at least one refilling robot;

[0007] When a confirmation message is received from the server, a second interface is displayed, the second interface including second information, the second information being graphic information indicating that the material replenishment is completed generated based on the confirmation message, the confirmation message being a message from the humanoid robot forwarded by the server, the confirmation message being a message generated based on a first image and a second image, the first image being an image including the workpiece placed on the workbench by the target material replenishment robot, collected by the humanoid robot after receiving the material replenishment completion message, the material replenishment completion message including the second image, the second image being an image including the target workpiece, collected by the target material replenishment robot when placing the target workpiece on the workbench according to the material replenishment instruction.

[0008] In a second aspect, an embodiment of the present application provides a device for processing workpiece replenishment information, which is applied to a terminal device of a robot system, wherein the robot system includes the terminal device, a server connected to the terminal device, a humanoid robot connected to the server, and at least one replenishment robot, and the device includes:

[0009] A first display unit displays a first interface upon receiving a material replenishment confirmation message; the first interface includes first information and a first control, the first information being graphic information associated with the missing target workpiece generated according to the material replenishment confirmation message, and the first control being an option for confirming material replenishment;

[0010] a sending unit, configured to send an instruction message to the server in response to a user triggering an operation of the first control in the first interface, wherein the instruction message is used to instruct the server to send a refilling instruction to a target refilling robot to control the target refilling robot to refill, wherein the target refilling robot is an idle robot among the at least one refilling robot;

[0011] The second display unit is used to display a second interface when receiving a confirmation message from the server, the second interface includes second information, the second information is a graphic information prompting that the feeding is completed generated according to the confirmation message, the confirmation message is a message from the humanoid robot forwarded by the server, the confirmation message is a message generated according to the first image and the second image, the first image is an image of the workpiece placed on the workbench by the target feeding robot, which is collected by the humanoid robot after receiving the feeding completion message, the feeding completion message includes the second image, and the second image is an image of the target workpiece collected by the target feeding robot when placing the target workpiece on the workbench according to the feeding instruction.

[0012] In a third aspect, an embodiment of the present application provides a terminal device, which includes at least one processor, a communication interface and a memory, wherein the communication interface is used to send and / or receive data, the memory is used to store computer programs, and the at least one processor is used to call the computer program stored in the memory to implement any method as described in the first aspect of the present application.

[0013] In a fourth aspect, an embodiment of the present application provides an electronic device comprising a processor and a memory, wherein the memory is used to store computer program code, and the computer program code comprises computer instructions. When the processor executes the computer instructions, the electronic device executes instructions such as the steps in any method of the first aspect of the present application.

[0014] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, in which a computer program is stored. The computer program includes program instructions, and when the program instructions are executed by a processor, the processor executes part or all of the steps described in any method of the first aspect of the embodiment of the present application.

[0015] In a sixth aspect, the present application provides a computer program, wherein the computer program is operable to cause a computer to execute some or all of the steps described in any method of the first aspect of the embodiment of the present application. The computer program can be a software installation package.

[0016] As can be seen, in this embodiment of the present application, upon receiving a refill confirmation message, a first interface is displayed. The first interface includes first information and a first control. The first information is graphic information associated with the missing target workpiece, generated based on the refill confirmation message, and the first control is an option to confirm refilling. In response to a user triggering the first control within the first interface, an instruction message is sent to the server, instructing the server to send a refill instruction to a target refilling robot, thereby controlling the target refilling robot to refill. The target refilling robot is an idle robot among the at least one refilling robot.

[0017] Upon receiving a confirmation message from the server, a second interface is displayed, wherein the second interface includes second information, which is a graphic information generated based on the confirmation message indicating that the feeding is complete. The confirmation message is a message from the humanoid robot forwarded by the server, and the confirmation message is a message generated based on the first image and the second image. The first image is an image of the workpiece placed on the workbench by the target feeding robot, which is collected by the humanoid robot after receiving the feeding completion message. The feeding completion message includes the second image, which is a second image of the target workpiece collected by the target feeding robot when placing the target workpiece on the workbench according to the feeding instruction. In the present application, the robot can be instructed to perform feeding operations through the terminal device to improve interaction efficiency, and the feeding efficiency is improved based on the collaborative confirmation of the completion of feeding by the humanoid robot and the feeding robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0019] Figure 1 A schematic diagram of the structure of a robot system provided in an embodiment of the present application;

[0020] Figure 2 A flowchart of a method for processing workpiece replenishment information provided in an embodiment of the present application;

[0021] Figure 3 A schematic diagram of a first display interface provided in an embodiment of the present application;

[0022] Figure 4 A schematic diagram of another first display interface provided in an embodiment of the present application;

[0023] Figure 5 A schematic diagram of a second display interface provided in an embodiment of the present application;

[0024] Figure 6 A schematic diagram of a humanoid robot receiving a single target workpiece from a target feeding robot according to an embodiment of the present application;

[0025] Figure 7 A block diagram of the functional units of a device for processing workpiece replenishment information provided in an embodiment of the present application;

[0026] Figure 8 A schematic diagram of the structure of a server provided in an embodiment of the present application. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0028] The terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish between different objects, not to describe a particular order. Furthermore, the terms "including," "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or elements is not limited to the listed steps or elements but may optionally include steps or elements not listed, or may optionally include other steps or elements inherent to the process, method, product, or apparatus.

[0029] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0030] See also Figure 1 , Figure 1 This is a schematic diagram of the structure of a robot system provided in an embodiment of the present application. Figure 1 As shown, the robot system includes a terminal device, a server, a humanoid robot, and at least one feeding robot. The server is connected to the terminal device, the humanoid robot, and the at least one feeding robot, respectively, to facilitate data exchange between the server and the terminal device, the humanoid robot, and the at least one feeding robot.

[0031] It is understood that the number of the at least one refilling robot can be set according to actual needs, for example, two or more refilling robots can be connected, and there is no specific limitation here. Furthermore, the at least one refilling robot can also be a humanoid robot, and there is no limitation here on the type of refilling robot.

[0032] The terminal device in this application can be a smartphone, tablet computer, laptop computer, desktop computer, wearable device, head-mounted device, vehicle-mounted terminal or other terminal device installed with a control application (i.e., application client). The specific type of terminal device is not limited here.

[0033] It should be understood that when the application client runs on the terminal device, it can Figure 1 The server shown performs data interaction.

[0034] Please combine the following Figure 2 The method in the embodiment of the present application is described in detail:

[0035] See also Figure 2 , Figure 2 A flowchart of a method for processing workpiece replenishment information provided in an embodiment of the present application.

[0036] like Figure 2 As shown, a method for processing workpiece replenishment information is applied to a terminal device of a robot system, wherein the robot system includes the terminal device, a server connected to the terminal device, a humanoid robot connected to the server, and at least one replenishment robot, and the method includes:

[0037] S201, when receiving the material replenishment confirmation message, display the first interface.

[0038] The first interface includes first information and a first control, wherein the first information is graphic information associated with the missing target workpiece generated according to the material replenishment confirmation message, and the first control is an option for confirming material replenishment.

[0039] For details, please combine Figure 3 , Figure 3 A schematic diagram of a first display interface provided in an embodiment of the present application.

[0040] When the terminal device receives the refill confirmation message sent by the server, it displays the first interface, such as Figure 3 As shown, the first interface includes a first display area 31 and a second display area 32. The first display area 31 is used to display fixed icons of the terminal device, such as the time icon: XX:XX on the left side of the first display area 31 and the battery icon on the right side of the first display area 31 to represent the battery level. It is understood that the fixed icons in the first display area 31 can be set according to actual needs and are not limited here.

[0041] The second display area 32 includes a first message, a first control 324, and a second control 325. The first message includes a first sub-message 321, a second sub-message 322, and a third sub-message 323. The first sub-message 321 specifically reads: "Hello, I am a robot." This indicates the identity of the message sender to the user on the terminal device, thereby improving the user experience. It is understood that the number of sub-messages included in the second display area 32 can be set according to actual needs and is not limited here.

[0042] For example, the second sub-message 322 may contain an image associated with the missing target workpiece. The image includes a workbench and a material box with the missing workpiece on it. This facilitates the user on the terminal device to detect material shortages without having to physically check, improving interaction efficiency. The third sub-message 323 may contain the following: "Hello, I see the target part is missing. Please refill it." This prompts the user to refill the parts. The first message, which indicates the material shortage through a combination of image and text, enhances the credibility of the first message and improves interaction efficiency. The second display area 32 also includes a prompt, "Confirm to refill," prompting the user to confirm whether to refill the parts. If the user agrees to refill the parts, a first control 324 is triggered; if the user refuses, a second control 325 is triggered. This eliminates the need for manual user input, improves operational convenience, and ultimately enhances the user experience. It is understood that the text content within the first message can be customized based on actual needs. For example, it may include text information such as the specific model of the target workpiece. The specific content is not limited here. This further facilitates user confirmation and improves confirmation efficiency.

[0043] In a possible example, after the user triggers different controls, corresponding update information may be generated. The update information includes text content of the user confirming or rejecting the replenishment. The update information is used to update the first interface.

[0044] For example, see Figure 4 , Figure 4 A schematic diagram of another first display interface provided in an embodiment of the present application.

[0045] like Figure 4 As shown, if the user triggers the first control 324, the first update information is generated. After the first update information updates the first interface, as shown in Figure 4 As shown, the first sub-message 321 of the second display area 32 reads: "Hello, I am a robot." The second sub-message 322 reads: "An image associated with the missing target workpiece." This image includes a workbench and a material box with the missing workpiece on it. The third sub-message 323 reads: "Hello, I see the target part is missing. Please refill it." The prompt "Confirm to refill" disappears along with the first control 324 and second control 325. User confirmation information 326 is displayed instead. This allows the user to easily check whether to refill the material, improving the user experience.

[0046] S202: In response to the user triggering the operation of the first control in the first interface, sending an indication message to the server.

[0047] The instruction message is used to instruct the server to send a feeding instruction to a target feeding robot to control the target feeding robot to feed, and the target feeding robot is an idle robot among the at least one feeding robot.

[0048] Specifically, when a user triggers the first control, an instruction message is sent to the server based on the user's actions within the first interface. Upon receiving the instruction message, the server first retrieves the pending tasks for each of at least one refueling robot and prioritizes the robot with zero pending tasks as the target refueling robot. If no robot has zero pending tasks, the robot with the least pending tasks is prioritized as the target refueling robot, improving control intelligence and refueling efficiency. After determining the target refueling robot, the server sends a refueling instruction to the target refueling robot, controlling it to refuel.

[0049] S203: When a confirmation message is received from the server, a second interface is displayed.

[0050] In which, the second interface includes second information, which is a graphic information prompting the completion of material replenishment generated according to the confirmation message, the confirmation message is a message from the humanoid robot forwarded by the server, and the confirmation message is a message generated according to the first image and the second image, the first image is an image of the workpiece placed on the workbench by the target material replenishment robot, which is collected by the humanoid robot after receiving the material replenishment completion message, and the material replenishment completion message includes the second image, and the second image is an image of the target workpiece collected by the target material replenishment robot when placing the target workpiece on the workbench according to the material replenishment instruction.

[0051] For details, please combine Figure 5 , Figure 5 A schematic diagram of a second display interface provided in an embodiment of the present application.

[0052] like Figure 5 As shown, when the target material replenishing robot places the target workpiece on the workbench according to the material replenishing instruction, it captures a second image including the target workpiece and generates a material replenishing completion message including the second image to provide data support for subsequent confirmation of whether the material replenishing is completed.

[0053] The server sends the received refill completion message to the humanoid robot. Upon receiving the refill completion message, the humanoid robot captures a second image of the workpiece placed on the workbench by the target refill robot and generates a confirmation message based on the first and second images. Upon receiving the confirmation message from the server, the terminal device displays a second interface.

[0054] like Figure 5 As shown, the second interface includes a third display area 41 and a fourth display area 42. The third display area 41 is used to display fixed icons of the terminal device, such as the time icon "XX:XX" on the left side of the third display area 41 and a battery icon on the right side of the third display area 41 to represent the battery level. It is understood that the fixed icons in the third display area 41 can be set according to actual needs and are not limited here.

[0055] The fourth display area 42 displays the second information. The second information includes a fourth sub-information 421, a fifth sub-information 422, and a sixth sub-information 423, thereby prompting the user that the material replenishment is complete. The content of the fourth sub-information 421 is: Hello, I am a robot. It is used to indicate the source of the message. The specific content of the fifth sub-information 422 is: an image associated with the target workpiece after replenishment. Among them, the image includes a workbench, a manipulator, and a replenishment box including the target workpiece on the workbench. It is convenient for users on the terminal device side to confirm whether the material replenishment is completed, without the need for users to go and check by themselves, thereby improving interaction efficiency. The specific content of the sixth sub-information 423 is: Hello, the target parts have been replenished and sorting has begun. It is used to prompt users that the material replenishment is complete and to start subsequent operations.

[0056] As can be seen, in this example, the user can immediately detect material shortages through the terminal device and instruct the robot to refill, improving interaction efficiency. Furthermore, the humanoid robot and the refilling robot collaborate to confirm the completion of refilling, improving both the accuracy of the confirmation result and the efficiency of refilling.

[0057] In a possible example, the material replenishment confirmation message is obtained through the following steps: the humanoid robot scans multiple material boxes located on the workbench to obtain workpiece identification information of the workpieces in the multiple material boxes; determines the target workpiece and the target identification of the target workpiece based on the workpiece identification information and the workpiece set, and the workpiece set includes a preset correspondence between required workpieces and identifications; obtains basic information of the target workpiece from a preset database based on the target identification, and the basic information includes a third image of the target workpiece; and generates the material replenishment confirmation message based on the basic information.

[0058] In a specific example, each workpiece has a corresponding identifier. A humanoid robot is located at the workbench location, and the humanoid robot scans the workpieces in multiple material boxes located on the workbench, thereby obtaining the workpiece identification information of the workpieces in the multiple material boxes. A workpiece set is obtained, and the workpiece set includes the workpiece identifications of the workpieces required for the operation. Based on the workpiece identification information and the workpiece set, the workpiece identification that does not appear in the workpiece identification information is found, and the workpiece corresponding to the workpiece identification that does not appear in the workpiece identification information is determined as the target workpiece. Then, based on the target identification, the basic information of the target workpiece is obtained from a preset database, wherein the basic information includes a third image of the target workpiece. Finally, a material replenishment confirmation message is generated based on the basic information, so that the material replenishment confirmation message includes the third image of the target workpiece.

[0059] It can be seen that in this example, the workpiece existing on the workbench is confirmed by scanning the humanoid robot, and the target workpiece is determined based on the existing workpiece and the required workpiece in the workpiece set, thereby improving the accuracy of the determined target workpiece and thereby improving the credibility of the material replenishment confirmation message.

[0060] For one possible example, see Figure 6 , Figure 6 This is a schematic diagram of a humanoid robot receiving a single target workpiece from a target replenishment robot provided in an embodiment of the present application.

[0061] like Figure 6As shown, the material replenishment instruction includes the target identification, the third image and the position information of the workbench, and the material replenishment instruction is used to instruct the target material replenishment robot to obtain the target number information of the target material rack for storing the target workpiece from a preset workpiece database according to the target identification, and the workpiece database includes the corresponding relationship between the identification of the workpiece and the number information of the material rack storing the workpiece; instruct the target material replenishment robot to confirm the target position of the target workpiece in the target material rack according to the target number information and the third image; instruct the target material replenishment robot to remove a preset number of the target workpieces from the target material rack The target position is transferred to the feeding box; the target feeding robot is instructed to move the feeding box to the workbench corresponding to the position information; when the feeding box is placed on the workbench by the first manipulator 53 of the target feeding robot, the second manipulator 52 of the target feeding robot is instructed to grab the single target workpiece in the feeding box to the first reference position, and the target feeding robot is instructed to capture the second image, wherein the first reference position is determined according to the position of the target feeding robot, the position of the humanoid robot, the arm length value of the target feeding robot and the arm length value of the humanoid robot. Wherein, the feeding instruction is also used to: instruct the target feeding robot to obtain the material rack position corresponding to the target number information; instruct the target feeding robot to move to the material rack position; instruct the target feeding robot to capture a fourth image of the material rack at the material rack position; instruct the target feeding robot to determine the target position of the target workpiece on the target material rack based on the fourth image and the third image.

[0062] In a specific example, in response to the user triggering the operation of the first control in the first interface, the terminal device sends an instruction message to the server. After receiving the instruction message, the server sends a refilling instruction to the target refilling robot. Under the instruction of the refilling instruction, the target refilling robot performs the following operations:

[0063] The target replenishing robot searches a preset workpiece database for target number information corresponding to the target identifier. The target number information is the number information of the target material rack used to store the target workpiece. The target replenishing robot then confirms the target workpiece's target position on the target material rack based on the number information and the third image.

[0064] Specifically, the target refilling robot can search the database for the material rack location corresponding to the target number information. The target refilling robot then moves to the material rack location to facilitate the acquisition of the target workpiece. After the target refilling robot reaches the material rack location, it captures a fourth image of the material rack at that location. Based on the fourth image and the third image, the target position of the target workpiece in the target material rack is determined. This increases the reliability of the determined target position, thereby improving the accuracy of the target refilling robot's grasping.

[0065] After confirming the target position, the target feeding robot transfers the preset number of target workpieces from the target position to the feeding box, and then moves the feeding box to the workbench corresponding to the position information. Figure 6 As shown, when the target feeding robot places the feeding box on the workbench, the target feeding robot uses the first manipulator 53 to place the feeding box on the workbench, and uses the second manipulator 52 to grab the single target workpiece in the feeding box to the first reference position, and at the same time the target feeding robot collects the second image.

[0066] It can be seen that in this example, the target feeding robot uses one hand to place the feeding box on the workbench, and uses the other hand to move a single workpiece to the first reference position, thereby directly loading the humanoid robot, avoiding the humanoid robot waiting for the feeding box to be placed before taking the workpiece from the feeding box, making the connection between each link of the feeding more streamlined and improving efficiency.

[0067] In a possible example, the first reference position is determined according to the following steps: obtaining the position of the target feeding robot, the position of the humanoid robot, the arm length value of the target feeding robot and the arm length value of the humanoid robot through the target feeding robot; controlling the target feeding robot to obtain a first distance value between the target feeding robot and the humanoid robot according to the position of the target feeding robot and the position of the humanoid robot; if the sum of the arm length value of the target feeding robot and the arm length value of the humanoid robot is greater than or equal to the first distance value, obtaining a first difference value of the first distance value minus the arm length value of the humanoid robot through the target feeding robot; controlling the target feeding robot to obtain the first reference position according to the first difference value, the position of the humanoid robot and the position of the target feeding robot.

[0068] In a specific example, the target feeding robot obtains the location of the target feeding robot, the location of the humanoid robot, the arm length value of the target feeding robot, and the arm length value of the humanoid robot. The target feeding robot obtains the first distance value between the target feeding robot and the humanoid robot based on the location of the target feeding robot and the location of the humanoid robot. The sum of the arm length value of the target feeding robot and the arm length value of the humanoid robot is calculated. If the sum is greater than or equal to the first distance value, it means that the target feeding robot and the humanoid robot can hand over a single target workpiece. If the sum is less than the first distance value, the target feeding robot needs to move toward the direction of the humanoid robot. Specifically, the difference between the sum and the first distance value is calculated, and the target feeding robot is controlled to move toward the direction of the humanoid robot by a distance value equal to the difference.

[0069] If the sum of the arm lengths of the target refueling robot and the humanoid robot is determined to be greater than or equal to the first distance, the target refueling robot obtains a first difference value, which is the difference between the first distance value and the arm length of the humanoid robot. A distance value greater than the first difference value but less than the arm length of the target refueling robot can then be randomly determined, and a first reference position is determined based on the position of the target refueling robot, the position of the humanoid robot, and the distance value.

[0070] It can be seen that in this example, after determining the first distance value between the target feeding robot and the humanoid robot, the first reference position is determined by combining the arm length value of the target feeding robot and the arm length value of the humanoid robot, making the determined first reference position more reasonable, thereby improving the feeding efficiency.

[0071] In one possible example, see again Figure 6 , the confirmation message is generated according to the following steps: when the humanoid robot receives the feeding completion message, the humanoid robot collects the first image; the humanoid robot obtains the second image in the feeding completion message; the humanoid robot confirms whether the target feeding robot places the target workpiece on the workbench based on the first image and the second image; if it is confirmed that the target feeding robot places the target workpiece on the workbench, the humanoid robot controls the third manipulator 51 of the humanoid robot close to the target feeding robot to move to a second reference position, and obtains a single target workpiece on the second manipulator 52 by the third manipulator 51 of the humanoid robot, the second reference position is determined according to the position of the humanoid robot, the arm length value of the humanoid robot, the first reference position and the workpiece length value of the target workpiece, and the distance value between the second reference position and the first reference position is less than the workpiece length value; when it is monitored that the third manipulator 51 obtains the single target workpiece on the second manipulator 52, the confirmation message is generated by the humanoid robot.

[0072] In a specific example, the refill completion message includes a second image. When the humanoid robot receives the refill completion message from the target refilling robot forwarded from the server, the humanoid robot captures the first image and obtains the second image within the refill completion message. The humanoid robot detects whether the first image includes the refill box, workbench, and workpiece. Furthermore, the humanoid robot detects whether the second image includes the refill box, workbench, target workpiece, and a manipulator picking up the refill box. If the first image includes the refill box, workbench, and workpiece, and the second image includes the refill box, workbench, target workpiece, and a manipulator picking up the refill box, the robot further detects whether the workpiece in the first image is identical to the target workpiece in the second image. If they are identical, the robot confirms that the target refilling robot has placed the target workpiece on the workbench. If the robot confirms that the target refilling robot has placed the target workpiece on the workbench, the robot controls the third manipulator 51 on the side of the humanoid robot closest to the target refilling robot to move to a second reference position, and the third manipulator 51 of the humanoid robot picks up the single target workpiece from the second manipulator 52.

[0073] As can be seen in this example, the humanoid robot further determines the target refilling robot and adds the target workpiece to the workbench, ensuring accurate placement. Furthermore, the humanoid robot receives a single target workpiece from the target refilling machine, eliminating the need to wait for the target refilling robot to place the workpiece before retrieving it from the refill box. This allows the robot to use the workpiece directly in the next task, streamlining the refilling process and improving efficiency.

[0074] In a possible example, the second reference position is determined according to the following steps: obtaining the position of the humanoid robot, the first reference position and the workpiece length value of the target workpiece by the humanoid robot; obtaining the second distance value between the position of the humanoid robot and the first reference position by the humanoid robot; and controlling the humanoid robot to obtain the second reference position according to the position of the humanoid robot, the second distance value and the workpiece length value.

[0075] In a specific example, a humanoid robot obtains the humanoid robot's position, a first reference position, and the workpiece length of a target workpiece. A second distance value is calculated between the humanoid robot's position and the first reference position. To enable the humanoid robot to obtain a single target workpiece at the first reference position, the workpiece length of the target workpiece must be considered. Specifically, a preset ratio of workpiece length values ​​is determined, and the difference between the second distance value and the preset ratio of workpiece length values ​​is calculated. The second reference position is determined based on this difference and the humanoid robot's position. For example, if the second distance value is 20 cm, the preset ratio is 1 / 2, the workpiece length value is 6 cm, and the obtained 1 / 2 workpiece length value is 3 cm. The difference between the second distance value and the preset ratio of workpiece length values ​​is calculated to be 17 cm. The second reference position is between the humanoid robot's position and the first reference position, i.e., starting from the humanoid robot's position and 17 cm away from the humanoid robot's position.

[0076] It can be seen that in this example, when the humanoid robot determines the second reference position, the workpiece length value of the target workpiece is combined to make the determined second reference position more reasonable, thereby improving the efficiency of the humanoid robot in acquiring the target workpiece.

[0077] In one possible example, after the humanoid robot's third manipulator 51 reaches the second reference position, it captures an image of the third manipulator 51 and the second manipulator 52, analyzes the image, and determines the relative heights of the third manipulator 51 and the second manipulator 52. If the third manipulator 51 is positioned below the second manipulator 52 of the target refilling robot, it performs an action to receive the target workpiece within the second manipulator 52, thereby retrieving the target workpiece. If the third manipulator 51 is positioned above the second manipulator 52 of the target refilling robot, it performs an action to grasp the target workpiece within the second manipulator 52, thereby retrieving the target workpiece. This improves the intelligence of the refilling process.

[0078] In one possible example, a humanoid robot is positioned at a workbench and periodically scans workpieces within multiple material boxes on the workbench to obtain workpiece identification information for the workpieces within the multiple material boxes and the real-time quantity value of the workpieces within each material box. A workpiece set is acquired, comprising the workpiece identifications of the workpieces required for the job and the alarm quantity value corresponding to each workpiece identification. Specifically, when the real-time quantity of the workpiece corresponding to the workpiece identification is less than or equal to the alarm quantity value, the workpiece whose real-time quantity value is equal to or less than the alarm quantity value is determined as the target workpiece. Then, based on the target workpiece identification, basic information of the target workpiece is retrieved from a preset database, wherein the basic information includes an image of the target workpiece and the required quantity value. Finally, a restocking confirmation message is generated based on the basic information and the real-time quantity value, such that the restocking confirmation message includes an image of the target workpiece and the required quantity.

[0079] Upon receiving the refill confirmation message, the terminal device displays a third interface, which includes third information and a first control. The third information may include an image associated with the target workpiece. The image includes a workbench and a material box containing the target workpiece on the workbench. This facilitates the user on the terminal device to detect whether there is a shortage of material, eliminating the need for the user to conduct the inspection themselves, thereby improving interaction efficiency. The first control may be a control indicating confirmation of refilling, allowing the user on the terminal device to quickly confirm, improving operational convenience, and thereby improving refill efficiency. If the user triggers the first control, the terminal device sends an indication message to the server.

[0080] After receiving the instruction message, the server will first obtain the work tasks to be performed by each of the at least one feeding robot, and will give priority to setting the feeding robot with zero work tasks to be performed as the target feeding robot. After the server confirms the target feeding robot, it sends a feeding instruction to the target feeding robot. The feeding instruction is used to instruct the target feeding robot to obtain the target number information of the target material rack for storing the target workpiece from the preset workpiece database according to the target identification. The workpiece database includes the correspondence between the identification of the workpiece and the number information of the material rack storing the workpiece. The target feeding robot obtains the material rack position corresponding to the target number information according to the instruction of the feeding instruction, and then moves to the material rack position. The target feeding robot collects the image of the material rack at the material rack position to determine the target position of the target workpiece in the target material rack based on the image of the material rack at the material rack position and the image of the target workpiece in the basic information.

[0081] Based on the instructions of the replenishment instruction, the target replenishment robot determines the target position of the target workpiece on the target material rack, transfers the target workpieces to be replenished from the target position to the replenishment box, and then moves the replenishment box to the workbench.

[0082] When the first manipulator 53 of the target replenishing robot places the replenishing box on the workbench, the target replenishing robot captures an image including the humanoid robot's manipulator and detects whether the target workpiece is on the manipulator within the image. If not, the target replenishing robot's second manipulator 52 grasps the single target workpiece in the replenishing box and moves it to the first reference position. When the target replenishing robot places the target workpiece on the workbench according to the replenishing instruction, it captures a first captured image including the target workpiece and generates a replenishing completion message including the first captured image.

[0083] The server sends the received restocking completion message to the humanoid robot. After receiving the restocking completion message, the humanoid robot captures a second captured image of the workpiece placed on the workbench by the target restocking robot, and then generates a confirmation message based on the first and second captured images. Specifically, the robot determines whether the workpiece in the first and second captured images is the target workpiece, and counts a first number of target workpieces in the first image and a second number of target workpieces in the second image. A confirmation message is generated when the first and second numbers are equal or differ by 1. Upon receiving the confirmation message from the server, the terminal device displays a fourth interface.

[0084] It can be seen that in this example, when the number of workpieces is lower than the alarm quantity value, the material replenishment is started, which further improves the efficiency of the material replenishment.

[0085] The above mainly introduces the solution of the embodiment of the present application from the perspective of the execution process of the method side. It is understandable that, in order to realize the above functions, the electronic device includes a hardware structure and / or software module corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiment provided herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in a hardware or computer software driven hardware manner depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0086] The embodiment of the present application can divide the functional units of the electronic device according to the above method example. For example, each functional unit can be divided according to each function, or two or more functions can be integrated into one processing unit. The above integrated unit can be implemented in the form of hardware or in the form of software functional units. It should be noted that the division of units in the embodiment of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0087] In the case of dividing each functional module into corresponding functional modules, the following Figure 7 A device for processing workpiece replenishment information in an embodiment of the present application is described in detail. Figure 7 This is a block diagram of the functional units of a device for processing workpiece replenishment information provided in an embodiment of the present application. The device is applied to a terminal device of a robot system, wherein the robot system includes the terminal device, a server connected to the terminal device, a humanoid robot connected to the server, and at least one replenishment robot. The device includes:

[0088] The first display unit 601 displays a first interface upon receiving a material replenishment confirmation message; the first interface includes first information and a first control, wherein the first information is graphic information associated with the missing target workpiece generated according to the material replenishment confirmation message, and the first control is an option for confirming material replenishment;

[0089] a sending unit 602 configured to send an instruction message to the server in response to a user triggering an operation of the first control in the first interface, wherein the instruction message is used to instruct the server to send a refilling instruction to a target refilling robot to control the target refilling robot to refill, wherein the target refilling robot is an idle robot among the at least one refilling robot;

[0090] The second display unit 603 is used to display a second interface when receiving a confirmation message from the server, the second interface includes second information, the second information is a graphic information prompting the completion of feeding generated according to the confirmation message, the confirmation message is a message from the humanoid robot forwarded by the server, the confirmation message is a message generated according to the first image and the second image, the first image is an image of the workpiece placed on the workbench by the target feeding robot, which is collected by the humanoid robot after receiving the feeding completion message, and the feeding completion message includes the second image, and the second image is an image of the target workpiece collected by the target feeding robot when placing the target workpiece on the workbench according to the feeding instruction.

[0091] In one possible example, the device includes a first processing unit, which is used to: obtain workpiece identification information of the workpieces in the multiple material boxes by scanning the multiple material boxes located on the workbench by the humanoid robot; and determine the target workpiece and the target identification of the target workpiece based on the workpiece identification information and the workpiece set, and the workpiece set includes a preset correspondence between required workpieces and identifications; and obtain basic information of the target workpiece from a preset database based on the target identification, and the basic information includes a third image of the target workpiece; and generate the material replenishment confirmation message based on the basic information.

[0092] In a possible example, the replenishment instruction includes the target identification, the third image and the position information of the workbench, and the replenishment instruction is used to instruct the target replenishment robot to obtain the target number information of the target material rack for storing the target workpiece from a preset workpiece database according to the target identification, and the workpiece database includes the correspondence between the identification of the workpiece and the number information of the material rack storing the workpiece; instruct the target replenishment robot to confirm the target position of the target workpiece in the target material rack according to the target number information and the third image; instruct the target replenishment robot to transfer a preset number of the target workpieces from the target position to the replenishment box; instruct the target replenishment robot to move the replenishment box to the workbench corresponding to the position information; when the replenishment box is placed on the workbench by the first manipulator of the target replenishment robot, the second manipulator of the target replenishment robot is instructed to grab a single target workpiece in the replenishment box to a first reference position, and instruct the target replenishment robot to capture the second image, where the first reference position is determined according to the position of the target replenishment robot, the position of the humanoid robot, the arm length value of the target replenishment robot and the arm length value of the humanoid robot.

[0093] In a possible example, the replenishing instruction is also used to: instruct the target replenishing robot to obtain the material rack position corresponding to the target number information; instruct the target replenishing robot to move to the material rack position; instruct the target replenishing robot to collect a fourth image of the material rack at the material rack position; instruct the target replenishing robot to determine the target position of the target workpiece on the target material rack based on the fourth image and the third image.

[0094] In a possible example, the device includes a second processing unit, which is used to: obtain the position of the target feeding robot, the position of the humanoid robot, the arm length value of the target feeding robot and the arm length value of the humanoid robot through the target feeding robot; and control the target feeding robot to obtain a first distance value between the target feeding robot and the humanoid robot according to the position of the target feeding robot and the position of the humanoid robot; and if the sum of the arm length value of the target feeding robot and the arm length value of the humanoid robot is greater than or equal to the first distance value, obtain a first difference value of the first distance value minus the arm length value of the humanoid robot through the target feeding robot; and control the target feeding robot to obtain the first reference position according to the first difference value, the position of the humanoid robot and the position of the target feeding robot.

[0095] In a possible example, the device includes a third processing unit, which is used to: when the humanoid robot receives the replenishment completion message, collect the first image through the humanoid robot; and obtain the second image in the replenishment completion message through the humanoid robot; and confirm through the humanoid robot whether the target replenishment robot places the target workpiece on the workbench based on the first image and the second image; and if it is confirmed that the target replenishment robot places the target workpiece on the workbench, control the third manipulator of the humanoid robot close to the side of the target replenishment robot to move to a second reference position through the humanoid robot, and obtain the single target workpiece on the second manipulator through the third manipulator of the humanoid robot, the second reference position is determined according to the position of the humanoid robot, the arm length value of the humanoid robot, the first reference position and the workpiece length value of the target workpiece, and the distance value between the second reference position and the first reference position is less than the workpiece length value; and when it is monitored that the third manipulator obtains the single target workpiece on the second manipulator, generate the confirmation message through the humanoid robot.

[0096] In a possible example, the third processing unit is also used to: obtain the position of the humanoid robot, the first reference position and the workpiece length value of the target workpiece through the humanoid robot; and obtain the second distance value between the position of the humanoid robot and the first reference position through the humanoid robot; and control the humanoid robot to obtain the second reference position according to the position of the humanoid robot, the second distance value and the workpiece length value.

[0097] See also Figure 8 , Figure 8 This is a schematic diagram of the structure of a server provided in an embodiment of the present application. Figure 8 As shown, the server includes a processor 701, a memory 703, a communication module 702, and a program 704. The processor 701 is communicatively connected to the memory 703 and the communication module 702 via an internal communication bus. It is understood that the number of processors 701 can be set according to actual needs, for example, one, two, or more, and the number of processors 701 is not specifically limited here. The number of programs 704 can be set according to actual needs, for example, one, two, or more, and the number of programs 704 is not specifically limited here.

[0098] The program 704 is stored in the memory 703 and executed by the processor 701 . The program 704 includes instructions for executing any step in the following method embodiments.

[0099] The processor 701 may be, for example, a central processing unit (CPU), a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic device, transistor logic device, hardware component, or any combination thereof. It may implement or execute the various exemplary logic blocks, units, and circuits described in conjunction with the disclosure of this application. The processor 701 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and so on. The communication unit may be a communication module 702, a transceiver, a transceiver circuit, etc., and the storage unit may be a memory 703.

[0100] Memory 703 may be volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. Nonvolatile memory may be read-only memory (ROM), programmable ROM (PROM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may be random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic random access memory (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), and direct RAM bus RAM (DR RAM).

[0101] The above embodiments can be implemented in whole or in part via software, hardware, firmware, or any other combination. When implemented using software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product comprises one or more computer instructions or computer programs. When loaded or executed on a computer, the processes or functions described in accordance with the embodiments of this application are fully or partially generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another. For example, the computer instructions can be transferred from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless means. The computer-readable storage medium can be any available medium accessible by a computer or a data storage device such as a server or data center that contains a collection of one or more available media. The available medium can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media. The semiconductor media can be a solid-state drive.

[0102] An embodiment of the present application also provides a computer storage medium, wherein the computer storage medium stores a computer program for electronic data exchange, and the computer program enables a computer to execute part or all of the steps of any method described in the above method embodiments, and the above computer includes an electronic device.

[0103] An embodiment of the present application further provides a computer program product, which includes a computer program. The computer program is operable to enable a computer to execute part or all of the steps of any method described in the above method embodiments.

[0104] The computer program product may be a software installation package, and the computer includes an electronic device.

[0105] It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0106] In the several embodiments provided in this application, it should be understood that the disclosed methods, devices, and systems can be implemented in other ways. For example, the device embodiments described above are merely schematic; for example, the division of the units is merely a logical function division, and there may be other division methods in actual implementation; for example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, indirect coupling or communication connection of devices or units, which may be electrical, mechanical, or other forms.

[0107] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0108] In addition, the functional units in various embodiments of the present invention may be integrated into a single processing unit, each unit may be physically included separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or hardware plus software functional units.

[0109] The above-mentioned integrated unit implemented as a software functional unit can be stored in a computer-readable storage medium. The above-mentioned software functional unit is stored in a storage medium and includes a number of instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) to perform some of the steps of the method described in various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a mobile hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0110] Although the present invention is disclosed above, it is not limited thereto. Any person skilled in the art may readily conceive of variations or substitutions, and may make various modifications and alterations without departing from the spirit and scope of the present invention. Combinations of the above-described functions and implementation steps, including software and hardware implementations, are all within the scope of protection of the present invention.

Claims

1. A method for processing workpiece material replenishment information, characterized in that: A terminal device applied to a robot system, the robot system comprising the terminal device, a server connected to the terminal device, a humanoid robot connected to the server, and at least one feeding robot, the method comprising: Upon receiving the material replenishment confirmation message, the terminal device displays a first interface; the first interface includes first information and a first control, wherein the first information is graphic information associated with the missing target workpiece generated according to the material replenishment confirmation message, and the first control is an option for confirming the material replenishment; In response to a user triggering an operation of the first control in the first interface, the terminal device sends an instruction message to the server, wherein the instruction message is used to instruct the server to send a refilling instruction to a target refilling robot to control the target refilling robot to refill, where the target refilling robot is an idle robot among the at least one refilling robot; When the terminal device receives a confirmation message from the server, the second interface is displayed, and the second interface includes second information. The second information is a graphic information prompting that the material replenishment is completed, which is generated according to the confirmation message. The confirmation message is a message from the humanoid robot forwarded by the server. The confirmation message is a message generated according to the first image and the second image. The first image is an image of the workpiece placed on the workbench by the target material replenishment robot, which is collected by the humanoid robot after receiving the material replenishment completion message. The material replenishment completion message includes the second image. The second image is an image of the target workpiece, which is collected by the target material replenishment robot when placing the target workpiece on the workbench according to the material replenishment instruction.

2. The method according to claim 1, characterized in that The feeding confirmation message is obtained by the following steps: Scanning a plurality of material boxes on the workbench by the humanoid robot to obtain workpiece identification information of the workpieces in the plurality of material boxes; Determining the target workpiece and the target identification of the target workpiece according to the workpiece identification information and a workpiece set, wherein the workpiece set includes a preset correspondence between required workpieces and identifications; Acquiring basic information of the target workpiece from a preset database according to the target identifier, wherein the basic information includes a third image of the target workpiece; The feeding confirmation message is generated according to the basic information.

3. The method according to claim 2, characterized in that The material replenishment instruction includes the target identification, the third image, and the position information of the workbench, and the material replenishment instruction is used to instruct the target material replenishment robot to obtain the target number information of the target material rack for storing the target workpiece from a preset workpiece database according to the target identification, and the workpiece database includes the correspondence between the identification of the workpiece and the number information of the material rack storing the workpiece; Instructing the target replenishing robot to confirm the target position of the target workpiece on the target material rack according to the target number information and the third image; Instructing the target feeding robot to transfer a preset number of the target workpieces from the target position to a feeding box; Instructing the target feeding robot to move the feeding box to the workbench corresponding to the position information; When the feeding box is placed on the workbench by the first manipulator of the target feeding robot, the second manipulator of the target feeding robot is instructed to grab the single target workpiece in the feeding box to the first reference position, and the target feeding robot is instructed to collect the second image. The first reference position is determined according to the position of the target feeding robot, the position of the humanoid robot, the arm length of the target feeding robot and the arm length of the humanoid robot.

4. The method according to claim 3, characterized in that The feeding instruction is also used to: Instruct the target feeding robot to obtain the material rack position corresponding to the target number information; Instructing the target feeding robot to move to the material rack position; instructing the target feeding robot to collect a fourth image of the material rack at the material rack position; The target replenishing robot is instructed to determine the target position of the target workpiece on the target material rack according to the fourth image and the third image.

5. The method according to claim 3, characterized in that The first reference position is determined according to the following steps: Obtaining the position of the target feeding robot, the position of the humanoid robot, the arm length of the target feeding robot, and the arm length of the humanoid robot through the target feeding robot; Controlling the target feeding robot to obtain a first distance value between the target feeding robot and the humanoid robot according to the position of the target feeding robot and the position of the humanoid robot; If the sum of the arm length value of the target feeding robot and the arm length value of the humanoid robot is greater than or equal to the first distance value, obtaining, by the target feeding robot, a first difference value obtained by subtracting the arm length value of the humanoid robot from the first distance value; The target feeding robot is controlled to obtain the first reference position according to the first difference, the position of the humanoid robot and the position of the target feeding robot.

6. The method according to any one of claims 3 to 5, characterized in that: The confirmation message is generated according to the following steps: When the humanoid robot receives the feeding completion message, collecting the first image by the humanoid robot; acquiring, by the humanoid robot, the second image in the feeding completion message; confirming, by the humanoid robot based on the first image and the second image, whether the target feeding robot places the target workpiece on the workbench; If it is confirmed that the target feeding robot places the target workpiece on the workbench, the humanoid robot controls the third manipulator of the humanoid robot close to the target feeding robot to move to a second reference position, and obtains the single target workpiece on the second manipulator through the third manipulator of the humanoid robot, wherein the second reference position is determined according to the position of the humanoid robot, the arm length of the humanoid robot, the first reference position and the workpiece length value of the target workpiece, and the distance between the second reference position and the first reference position is less than the workpiece length value; When it is monitored that the third manipulator obtains the single target workpiece on the second manipulator, the confirmation message is generated by the humanoid robot.

7. The method according to claim 6, characterized in that The second reference position is determined according to the following steps: Acquiring, by the humanoid robot, the position of the humanoid robot, the first reference position, and the workpiece length value of the target workpiece; obtaining, by the humanoid robot, a second distance value between the position of the humanoid robot and the first reference position; The humanoid robot is controlled to obtain the second reference position according to the position of the humanoid robot, the second distance value, and the length value of the workpiece.

8. A device for processing workpiece replenishment information, characterized in that: A terminal device applied to a robot system, the robot system comprising the terminal device, a server connected to the terminal device, a humanoid robot connected to the server, and at least one feeding robot, the device comprising: a first display unit, configured to display a first interface upon receiving a material replenishment confirmation message; the first interface including first information and a first control, wherein the first information is graphic information associated with the missing target workpiece generated according to the material replenishment confirmation message, and the first control is an option for confirming material replenishment; a sending unit, configured to send, by the terminal device, an instruction message to the server in response to a user triggering an operation of the first control in the first interface, wherein the instruction message is used to instruct the server to send a refilling instruction to a target refilling robot to control the target refilling robot to refill, wherein the target refilling robot is an idle robot among the at least one refilling robot; The second display unit is used for the terminal device to display a second interface when receiving a confirmation message from the server, the second interface includes second information, the second information is a graphic information prompting the completion of feeding generated according to the confirmation message, the confirmation message is a message from the humanoid robot forwarded by the server, the confirmation message is a message generated according to the first image and the second image, the first image is an image of the workpiece placed on the workbench by the target feeding robot, which is collected by the humanoid robot after receiving the feeding completion message, the feeding completion message includes the second image, and the second image is an image of the target workpiece collected by the target feeding robot when placing the target workpiece on the workbench according to the feeding instruction.

9. An electronic device, characterized in that: include: A processor and a memory, wherein the memory is used to store computer program code, the computer program code includes computer instructions, and when the processor executes the computer instructions, the electronic device performs the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, wherein the computer program includes program instructions. When the program instructions are executed by a processor, the processor is caused to perform the method according to any one of claims 1 to 7.

Images