Material distribution method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a material distribution method and device, electronic equipment and a storage medium. The method comprises the steps that at least one target material indicated by a distribution task instruction and target stations corresponding to the target materials are determined; determining a to-be-delivered station storing the target material; the first robot is controlled to establish connection with a first traction mechanism of the first distribution trolley, and the multiple distribution trolleys are pulled to move to all the waiting stations in sequence; determining a target trolley corresponding to the target material from the candidate trolleys; a second robot is controlled to carry the target material from the waiting station to a corresponding target trolley; in response to the fact that the target materials are carried from the to-be-delivered stations, the first robot is controlled to pull the multiple delivery trolleys to move to target stations corresponding to the target materials; and a third robot is controlled to carry the target materials from the corresponding target trolleys to the corresponding target stations. And resource waste can be reduced.

Description

Technical Field

[0001] This application relates to the field of logistics technology for manufacturing enterprises, and particularly to a method, device, electronic device, and storage medium for material distribution. Background Art

[0002] In a manufacturing workshop, raw materials, parts, and other materials required for producing a certain product are usually placed at fixed positions in the workshop, and the materials are distributed to the positions where they are needed according to production requirements. Currently, it is usually manual labor that distributes the materials to the positions where they are needed, resulting in a relatively high labor cost for material distribution and resource waste. Summary of the Invention

[0003] The purpose of the embodiments of this application is to provide a method, device, electronic device, and storage medium for material distribution, so as to reduce the labor cost required for material distribution and reduce resource waste. The specific technical solutions are as follows:

[0004] The embodiments of this application provide a method for material distribution, and the method includes:

[0005] In response to a distribution task instruction, determine at least one target material indicated by the distribution task instruction and the target workstations corresponding to each of the target materials;

[0006] For each of the target materials, determine the waiting-for-dispatch workstation storing the target material;

[0007] Control the first robot to establish a connection between its automatic hitching mechanism and the first traction mechanism of the first distribution trolley among multiple distribution trolleys, and tow the multiple distribution trolleys to move to each of the waiting-for-dispatch workstations in sequence; wherein, each of the distribution trolleys includes the first traction mechanism and the second traction mechanism; the first traction mechanism of the nth distribution trolley is connected to the second traction mechanism of the (n - 1)th distribution trolley, and the second traction mechanism of the nth distribution trolley is connected to the first traction mechanism of the (n + 1)th distribution trolley, and n is an integer greater than 1;

[0008] For each of the target materials, determine the target trolley corresponding to the target material from each candidate trolley; wherein, the candidate trolley is a distribution trolley among the multiple distribution trolleys that is not loaded with materials and has not been assigned to load materials;

[0009] For each of the target materials, control the second robot to carry the target material from the waiting-for-dispatch workstation to the corresponding target trolley;

[0010] For each of the target materials, in response to the completion of the handling of the target material from the to-be-dispatched station, control the first robot to tow the multiple distribution trolleys to the target station corresponding to the target material;

[0011] For each of the target materials, control the third robot to move the target material from the corresponding target trolley to the corresponding target station.

[0012] In a possible embodiment, the method further includes:

[0013] For each of the target materials, in response to the completion of the handling of the target material from the corresponding target trolley and upon receiving the message that an empty container is placed at the target station corresponding to the target material, control the third robot to move the empty container to the corresponding target trolley of the target material;

[0014] In response to the completion of the handling of the empty container, control the first robot to tow the multiple distribution trolleys to the trolley temporary storage area;

[0015] In response to the first robot moving to the trolley temporary storage area, control the fourth robot to move the empty container to the trolley temporary storage area.

[0016] In a possible embodiment, initially, the multiple distribution trolleys are located in the trolley temporary storage area;

[0017] The control for the first robot to establish a connection between its own automatic coupling mechanism and the first towing mechanism of the first distribution trolley among the multiple distribution trolleys and tow the multiple distribution trolleys to move to each of the to-be-dispatched stations in sequence includes:

[0018] Control the first robot to move to the trolley temporary storage area;

[0019] Control the first robot to establish a connection between its own automatic coupling mechanism and the first towing mechanism of the first distribution trolley among the multiple distribution trolleys;

[0020] Control the first robot to tow the multiple distribution trolleys to move to each of the to-be-dispatched stations in sequence.

[0021] In a possible embodiment, after the step of, for each of the target materials, controlling the third robot to move the target material from the corresponding target trolley to the corresponding target station, the method further includes:

[0022] Control the first robot to move to the trolley temporary storage area;

[0023] Control the first robot to disconnect the connection between its own automatic coupling mechanism and the first towing mechanism of the first distribution trolley among the multiple distribution trolleys.

[0024] In a possible embodiment, the second robot includes a first sensor;

[0025] Controlling the second robot to transport the target material from the to-be-dispatched station to the corresponding target trolley includes:

[0026] Determine a first distance between the target trolley corresponding to the target material and the first robot according to the sequence number of the target trolley corresponding to the target material;

[0027] Determine the position of the target trolley corresponding to the target material as a first candidate position when the first robot pulls multiple distribution trolleys to move to the to-be-dispatched station according to the position of the to-be-dispatched station and the first distance;

[0028] Control the second robot to transport the target material from the to-be-dispatched station to the first candidate position;

[0029] Determine the position where the central area of the target trolley corresponding to the target material is located as a first target position according to the image scanned by the first sensor when the first robot pulls multiple distribution trolleys to move to the to-be-dispatched station;

[0030] Control the second robot to move from the first candidate position to the first target position;

[0031] Control the second robot to load the target material onto the target trolley corresponding to the target material;

[0032] The third robot includes a second sensor;

[0033] Controlling the third robot to transport the target material from the corresponding target trolley to the corresponding target station includes:

[0034] Determine the position of the target trolley corresponding to the target material as a second candidate position when the first robot pulls multiple distribution trolleys to move to the target station according to the position of the target station corresponding to the target material and the first distance;

[0035] Control the third robot to move to the second candidate position;

[0036] Determine the position where the central area of the target trolley corresponding to the target material is located as a second target position according to the image scanned by the second sensor when the first robot pulls multiple distribution trolleys to move to the target station;

[0037] Control the third robot to move from the second candidate position to the second target position;

[0038] Control the third robot to carry the target material from the target trolley located at the second target position to the corresponding target work station.

[0039] In a possible embodiment, the first sensor is a first laser sensor, and the second sensor is a second laser sensor; the second robot further includes a first fork mechanism;

[0040] The control of the second robot to carry the target material from the to-be-dispatched station to the first candidate position includes:

[0041] Control the second robot to fork the target material stored at the to-be-dispatched station through the first fork mechanism;

[0042] Control the second robot to carry the forked target material to the first candidate position;

[0043] The control of the second robot to load the target material onto the target trolley corresponding to the target material includes:

[0044] Control the second robot to load the forked target material onto the target trolley corresponding to the target material;

[0045] The third robot further includes a second fork mechanism;

[0046] The control of the third robot to carry the target material from the target trolley located at the second target position to the corresponding target work station includes:

[0047] Control the third robot to fork the target material loaded on the target trolley located at the second target position through the second fork mechanism;

[0048] Control the third robot to carry the forked target material to the target work station.

[0049] In a possible embodiment, the determining of the target trolley corresponding to the target material from among the candidate trolleys includes:

[0050] Respectively determine the order of each of the candidate trolleys as the candidate order;

[0051] According to the second distance between the to-be-dispatched station and the target work station corresponding to the target material, determine the target order among the candidate orders, where the target order is positively correlated with the second distance;

[0052] Among the multiple distribution trolleys, determine the distribution trolley with the order being the target order as the target trolley corresponding to the target material.

[0053] An embodiment of the present application further provides a material distribution device, the device includes:

[0054] A target material determination module, configured to determine at least one target material indicated by the distribution task instruction and respective target workstations corresponding to each of the target materials in response to the distribution task instruction;

[0055] A to-be-dispatched workstation determination module, configured to determine, for each of the target materials, a to-be-dispatched workstation storing the target material;

[0056] A connection module, configured to control a first robot to establish a connection between its own automatic connection mechanism and a first traction mechanism of the first distribution trolley among a plurality of distribution trolleys, and to tow the plurality of distribution trolleys to move to each of the to-be-dispatched workstations in sequence; wherein, each of the distribution trolleys includes the first traction mechanism and a second traction mechanism; the first traction mechanism of the nth distribution trolley is connected to the second traction mechanism of the (n - 1)th distribution trolley, and the second traction mechanism of the nth distribution trolley is connected to the first traction mechanism of the (n + 1)th distribution trolley, and n is an integer greater than 1;

[0057] A target trolley determination module, configured to determine, for each of the target materials, a target trolley corresponding to the target material from among each candidate trolley; wherein, the candidate trolley is a distribution trolley among the plurality of distribution trolleys that is not loaded with materials and has not been assigned to load materials;

[0058] A first handling module, configured to control a second robot to handle each of the target materials from the to-be-dispatched workstation to the corresponding target trolley for each of the target materials;

[0059] A first movement module, configured to control the first robot to tow the plurality of distribution trolleys to move to the target workstation corresponding to the target material in response to completion of handling of the target material from the to-be-dispatched workstation for each of the target materials;

[0060] A second handling module, configured to control a third robot to handle each of the target materials from the corresponding target trolley to the corresponding target workstation for each of the target materials.

[0061] In a possible embodiment, the device further includes:

[0062] An empty container handling module, configured to control the third robot to handle the empty container to the target trolley corresponding to the target material in response to completion of handling of the target material from the corresponding target trolley and receipt of a message that an empty container is placed at the target workstation corresponding to the target material for each of the target materials;

[0063] A second moving module, configured to, in response to the completion of the handling of the empty containers, control the first robot to tow the plurality of distribution trolleys to move to the trolley temporary storage area;

[0064] A third handling module, configured to, in response to the first robot moving to the trolley temporary storage area, control the fourth robot to handle the empty containers to the trolley temporary storage area.

[0065] In a possible embodiment, initially, the plurality of distribution trolleys are located in the trolley temporary storage area;

[0066] The control for the first robot to establish a connection between its own automatic coupling mechanism and the first towing mechanism of the first distribution trolley among the plurality of distribution trolleys, and to tow the plurality of distribution trolleys to move to each of the waiting-for-dispatch workstations in sequence, includes:

[0067] Control the first robot to move to the trolley temporary storage area;

[0068] Control the first robot to establish a connection between its own automatic coupling mechanism and the first towing mechanism of the first distribution trolley among the plurality of distribution trolleys;

[0069] Control the first robot to tow the plurality of distribution trolleys to move to each of the waiting-for-dispatch workstations in sequence.

[0070] In a possible embodiment, after the step of controlling the third robot to handle the target material from the corresponding target trolley to the corresponding target workstation for each of the target materials, the method further includes:

[0071] Control the first robot to move to the trolley temporary storage area;

[0072] Control the first robot to disconnect the connection between its own automatic coupling mechanism and the first towing mechanism of the first distribution trolley among the plurality of distribution trolleys.

[0073] In a possible embodiment, the second robot includes a first sensor;

[0074] The control for the second robot to handle the target material from the waiting-for-dispatch workstation to the corresponding target trolley includes:

[0075] Determine a first distance between the target trolley corresponding to the target material and the first robot according to the sequence number of the target trolley corresponding to the target material;

[0076] Determine the position of the target trolley corresponding to the target material as a first candidate position in the case where the first robot tows the plurality of distribution trolleys to move to the waiting-for-dispatch workstation according to the position of the waiting-for-dispatch workstation and the first distance;

[0077] Control the second robot to transport the target material from the to-be-dispatched station to the first candidate position;

[0078] According to the image scanned by the first sensor, determine the position of the central area of the target trolley corresponding to the target material as the first target position when the first robot towes multiple distribution trolleys to the to-be-dispatched station;

[0079] Control the second robot to move from the first candidate position to the first target position;

[0080] Control the second robot to load the target material onto the target trolley corresponding to the target material;

[0081] The third robot includes a second sensor;

[0082] The control to make the third robot transport the target material from the corresponding target trolley to the corresponding target station includes:

[0083] According to the position of the target station corresponding to the target material and the first distance, determine the position of the target trolley corresponding to the target material as the second candidate position when the first robot towes multiple distribution trolleys to the target station;

[0084] Control the third robot to move to the second candidate position;

[0085] According to the image scanned by the second sensor, determine the position of the central area of the target trolley corresponding to the target material as the second target position when the first robot towes multiple distribution trolleys to the target station;

[0086] Control the third robot to move from the second candidate position to the second target position;

[0087] Control the third robot to transport the target material from the target trolley located at the second target position to the corresponding target station.

[0088] In a possible embodiment, the first sensor is a first laser sensor, the second sensor is a second laser sensor; the second robot further includes a first fork-taking mechanism;

[0089] The control to make the second robot transport the target material from the to-be-dispatched station to the first candidate position includes:

[0090] Control the second robot to fork and take the target material stored at the to-be-dispatched station through the first fork-taking mechanism;

[0091] Control the second robot to carry the target material picked up to the first candidate position;

[0092] The control of the second robot to load the target material onto the target trolley corresponding to the target material includes:

[0093] Control the second robot to load the picked-up target material onto the target trolley corresponding to the target material;

[0094] The third robot further includes a second picking mechanism;

[0095] The control of the third robot to carry the target material from the target trolley located at the second target position to the corresponding target work station includes:

[0096] Control the third robot to pick up the target material loaded on the target trolley located at the second target position through the second picking mechanism;

[0097] Control the third robot to carry the picked-up target material to the target work station.

[0098] In a possible implementation, the determination of the target trolley corresponding to the target material from the candidate trolleys includes:

[0099] Determine the order of each of the candidate trolleys as the candidate order;

[0100] Determine the target order among the candidate orders according to the second distance between the to-be-dispatched work station and the target work station corresponding to the target material, where the target order is positively correlated with the second distance;

[0101] Determine the distribution trolley with the order of the target order among the multiple distribution trolleys as the target trolley corresponding to the target material.

[0102] An embodiment of the present application further provides an electronic device, including:

[0103] A memory for storing a computer program;

[0104] A processor for implementing the material distribution method described in any one of the above when executing the program stored in the memory.

[0105] An embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the material distribution method described in any one of the above is implemented.

[0106] The embodiment of the present application also provides a computer program product including instructions, which, when running on a computer, causes the computer to execute any one of the above-mentioned material distribution methods.

[0107] Beneficial effects of the embodiment of the present application:

[0108] A material distribution method, device, electronic device and storage medium provided by the embodiment of the present application can, in response to a distribution task instruction, determine at least one target material indicated by the distribution task instruction and the target workstations corresponding to the respective target materials; for each target material, determine the to-be-dispatched workstation storing the target material; control the first robot to establish a connection between its automatic connection mechanism and the first traction mechanism of the first distribution trolley among a plurality of distribution trolleys, and traction the plurality of distribution trolleys to move to each to-be-dispatched workstation in sequence; wherein each distribution trolley includes a first traction mechanism and a second traction mechanism; the first traction mechanism of the nth distribution trolley is connected to the second traction mechanism of the (n - 1)th distribution trolley, and the second traction mechanism of the nth distribution trolley is connected to the first traction mechanism of the (n + 1)th distribution trolley, where n is an integer greater than 1; for each target material, determine the target trolley corresponding to the target material from among the candidate trolleys; wherein the candidate trolleys are the distribution trolleys among the plurality of distribution trolleys that are not loaded with materials and have not been assigned to load materials; for each target material, control the second robot to carry the target material from the to-be-dispatched workstation to the corresponding target trolley; for each target material, in response to the completion of the handling of the target material from the to-be-dispatched workstation, control the first robot to traction the plurality of distribution trolleys to move to the target workstation corresponding to the target material; for each target material, control the third robot to carry the target material from the corresponding target trolley to the corresponding target workstation. Through the automatic connection mechanism of the first robot and the first traction mechanism and the second traction mechanism included in each distribution trolley, the connection between the first robot and the distribution trolleys and between the distribution trolleys is realized, so that the first robot can perform material distribution by traction the plurality of distribution trolleys to move. And through the second robot, the process of carrying the target material from the to-be-dispatched workstation to the corresponding target trolley can be realized. Through the traction of the plurality of distribution trolleys by the first robot, the movement of the target trolley from the to-be-dispatched workstation to the target workstation can be realized, that is, the process of moving the target material from the to-be-dispatched workstation to the corresponding target workstation can be realized. Through the third robot, the process of carrying the target material from the corresponding target trolley to the corresponding target workstation can be realized, and the distribution of the target material is realized. In the process of distributing the target material as described above, there is no need for manual handling and distribution of the target material, reducing the labor cost required for target material distribution and reducing resource waste.

[0109] Of course, implementing any product or method of the present application does not necessarily require achieving all of the above-mentioned advantages simultaneously. Description of the Drawings

[0110] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description 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.

[0111] Figure 1 It is the first flow schematic diagram of the material distribution method provided by the embodiment of the present application;

[0112] Figure 2a It is a schematic structural diagram of the first robot provided by the embodiment of the present application;

[0113] Figure 2b It is a schematic structural diagram of the distribution trolley provided by the embodiment of the present application;

[0114] Figure 2c It is a schematic connection diagram between the distribution trolleys provided by the embodiment of the present application;

[0115] Figure 2d It is a schematic diagram of the first robot towing the distribution trolley provided by the embodiment of the present application;

[0116] Figure 3 It is a schematic structural diagram of the second robot provided by the embodiment of the present application;

[0117] Figure 4 It is a schematic flow diagram of the empty container recycling method provided by the embodiment of the present application;

[0118] Figure 5a It is the second flow schematic diagram of the material distribution method provided by the embodiment of the present application;

[0119] Figure 5b It is a schematic diagram of the automatic connection mechanism of the first robot provided by the embodiment of the present application;

[0120] Figure 6 It is the third flow schematic diagram of the material distribution method provided by the embodiment of the present application;

[0121] Figure 7a It is the fourth flow schematic diagram of the material distribution method provided by the embodiment of the present application;

[0122] Figure 7b It is the fifth flow schematic diagram of the material distribution method provided by the embodiment of the present application;

[0123] Figure 8a It is the sixth flow schematic diagram of the material distribution method provided by the embodiment of the present application;

[0124] Figure 8bThe seventh process schematic diagram of the material distribution method provided by the embodiments of this application;

[0125] Figure 9 A process schematic diagram of the method for determining the target trolley corresponding to the target material provided by the embodiments of this application;

[0126] Figure 10a The eighth process schematic diagram of the material distribution method provided by the embodiments of this application;

[0127] Figure 10b A schematic diagram of the second robot in the embodiments of this application for transporting the target material from the to-be-sent station to the corresponding target trolley;

[0128] Figure 10c A schematic diagram of the second robot in the embodiments of this application for transporting the target material from the corresponding target trolley to the corresponding target station;

[0129] Figure 10d A scenario schematic diagram of the material distribution method provided by the embodiments of this application;

[0130] Figure 11 The ninth process schematic diagram of the material distribution method provided by the embodiments of this application;

[0131] Figure 12 A structural schematic diagram of the material distribution device provided by the embodiments of this application;

[0132] Figure 13 A structural schematic diagram of the electronic device provided by the embodiments of this application. Detailed implementation manners

[0133] Next, the technical solutions in the embodiments of this application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art based on this application belong to the scope of protection of this application.

[0134] To more clearly illustrate the material distribution method provided by this application, the possible application scenarios of the material distribution method provided by this application will be described by way of example. It can be understood that the following examples are only possible application scenarios of the material distribution method provided by this application. In other possible embodiments, the material distribution method provided by this application can be applied to other possible application scenarios, and the following examples do not impose any restrictions on this.

[0135] In the production workshop of manufacturing products, raw materials, parts and other materials required for producing products are usually placed at fixed positions in the workshop, and the materials are delivered to the positions where they are needed according to production requirements. For the convenience of description in the following text, the fixed positions in the workshop for placing materials are called waiting-to-be-dispatched workstations, and the positions where the materials are needed are called target workstations. Currently, the delivery of materials from the waiting-to-be-dispatched workstations to the target workstations can generally be achieved through the following three methods:

[0136] Method 1: Traditional manual mode, where workers deliver materials from the waiting-to-be-dispatched workstations to the target workstations.

[0137] Although the reliability of Method 1 is relatively high, in Method 1, a large amount of human resources need to be invested to achieve the delivery of materials, resulting in a relatively high labor cost for material delivery.

[0138] Method 2: Workers connect multiple racks for loading materials one by one. An automatic tractor is connected to the first or the last rack among the multiple connected racks. Workers carry the materials from the waiting-to-be-dispatched workstations to the racks, the automatic tractor pulls the multiple racks to move from the waiting-to-be-dispatched workstations to the target workstations, and workers carry the materials from the racks to the target workstations, thereby achieving the delivery of materials.

[0139] Although compared with Method 1, Method 2 can achieve the automated movement process of materials from the waiting-to-be-dispatched workstations to the target workstations by the way that an automatic tractor pulls multiple racks to move from the waiting-to-be-dispatched workstations to the target workstations, in Method 2, manual labor is still required for the process of carrying materials from the waiting-to-be-dispatched workstations to the racks and the process of carrying materials from the racks to the target workstations, which will also result in a relatively high labor cost for material delivery and cause waste of resources.

[0140] Method 3: A latent robot automatically moves to the waiting-to-be-dispatched workstation, carries one material from the waiting-to-be-dispatched workstation to the target workstation each time, and places the material at the target workstation to achieve material delivery.

[0141] Although the automated material delivery process can be achieved through the latent robot in Method 3, in Method 3, limited by the handling capacity of the latent robot, a latent robot can only achieve the delivery of one material at a time. If the types and quantities of materials to be delivered are large, Method 3 will require the latent robot to make multiple round trips between the waiting-to-be-dispatched workstation and the target workstation, resulting in a relatively long time required to complete material delivery and reducing the efficiency of material delivery. If it is necessary to improve the efficiency of material delivery, multiple latent robots need to be used in Method 3, resulting in a relatively large demand for latent robot equipment and a relatively high cost required for material delivery.

[0142] Based on this, in order to reduce the cost required for material distribution and improve the material distribution efficiency reduced by the repeated round trips of the latent robot, the present application provides a material distribution method, as Figure 1 shown, the method includes:

[0143] S101, in response to a distribution task instruction, determine at least one target material indicated by the distribution task instruction and the target workstations corresponding to the respective target materials.

[0144] S102, for each target material, determine the to-be-dispatched workstation storing the target material.

[0145] S103, control the first robot to establish a connection between its own automatic hitching mechanism and the first traction mechanism of the first distribution trolley among a plurality of distribution trolleys, and tow the plurality of distribution trolleys to move to each to-be-dispatched workstation in sequence.

[0146] Wherein, each distribution trolley includes a first traction mechanism and a second traction mechanism; the first traction mechanism of the nth distribution trolley is connected to the second traction mechanism of the (n - 1)th distribution trolley, and the second traction mechanism of the nth distribution trolley is connected to the first traction mechanism of the (n + 1)th distribution trolley, and n is an integer greater than 1.

[0147] S104, for each target material, determine the target trolley corresponding to the target material from among the candidate trolleys.

[0148] Wherein, the candidate trolleys are the distribution trolleys among the plurality of distribution trolleys that are not loaded with materials and have not been assigned to load materials.

[0149] S105, for each target material, control the second robot to carry the target material from the to-be-dispatched workstation to the corresponding target trolley.

[0150] S106, for each target material, in response to the completion of the transfer of the target material from the to-be-dispatched workstation, control the first robot to tow the plurality of distribution trolleys to move to the target workstation corresponding to the target material.

[0151] S107, for each target material, control the third robot to carry the target material from the corresponding target trolley to the corresponding target workstation.

[0152] Applying the embodiments of the present application, on the one hand, in response to a distribution task instruction, at least one target material indicated by the distribution task instruction and the target workstations corresponding to each target material can be determined; for each target material, the to-be-dispatched workstation storing the target material can be determined; the first robot is controlled to establish a connection between its automatic coupling mechanism and the first traction mechanism of the first distribution trolley among a plurality of distribution trolleys, and to tow the plurality of distribution trolleys to move to each to-be-dispatched workstation in sequence; wherein each distribution trolley includes a first traction mechanism and a second traction mechanism; the first traction mechanism of the nth distribution trolley is connected to the second traction mechanism of the (n - 1)th distribution trolley, and the second traction mechanism of the nth distribution trolley is connected to the first traction mechanism of the (n + 1)th distribution trolley, where n is an integer greater than 1; for each target material, the target trolley corresponding to the target material is determined from among the candidate trolleys; wherein the candidate trolleys are the distribution trolleys among the plurality of distribution trolleys that are not loaded with materials and have not been assigned to load materials; for each target material, the second robot is controlled to carry the target material from the to-be-dispatched workstation to the corresponding target trolley; for each target material, in response to the completion of the handling of the target material from the to-be-dispatched workstation, the first robot is controlled to tow the plurality of distribution trolleys to move to the target workstation corresponding to the target material; for each target material, the third robot is controlled to carry the target material from the corresponding target trolley to the corresponding target workstation. Through the automatic coupling mechanism of the first robot and the first traction mechanism and the second traction mechanism included in each distribution trolley, the connection between the first robot and the distribution trolleys and between the distribution trolleys is realized, so that the first robot can perform material distribution by towing the plurality of distribution trolleys to move. And through the second robot, the process of carrying the target material from the to-be-dispatched workstation to the corresponding target trolley can be realized. Through the towing of the plurality of distribution trolleys by the first robot, the movement of the target trolley from the to-be-dispatched workstation to the target workstation can be realized, that is, the process of moving the target material from the to-be-dispatched workstation to the corresponding target workstation can be realized. Through the third robot, the process of carrying the target material from the corresponding target trolley to the corresponding target workstation can be realized, thus realizing the distribution of the target material. In the process of distributing the target material described above, there is no need for manual handling and distribution of the target material, reducing the labor cost required for target material distribution and reducing resource waste.

[0153] On the other hand, the plurality of distribution trolleys towed by the first robot can achieve the loading of multiple target materials at one time, so that the material distribution method of the present application can achieve the distribution of multiple target materials at one time, increasing the quantity of target materials for a single distribution and improving the efficiency of target material distribution. And through the first robot, the second robot, and the third robot, the distribution of the target material is realized, improving the safety of target material distribution and reducing the uncontrollable situation of manual tractors.

[0154] The foregoing S101 - S107 will be described exemplarily as follows:

[0155] In S101, the distribution task instruction can be input by the user on the execution entity according to actual needs, or sent to the execution entity by other devices. The execution entity is any electronic device for executing any of the material distribution methods provided in this application. For example, it can be a server, a laptop, etc.; other devices can refer to PDAs (Personal Digital Assistants, handheld computers), desktop computers, etc.

[0156] All the materials indicated by the distribution task instruction can be used as target materials, or some of the materials indicated by the distribution task instruction can be used as target materials. Exemplarily, if the materials indicated by the distribution task instruction are: Material 1, Material 2, Material 3, Material 4, Material 5, then the above 5 materials, namely Material 1 - Material 5, can all be used as target materials; or only Material 1 can be used as the target material; or Materials 2 and 3 can be used as target materials. In this example, Material 1 and Material 5 can be of the same type of material or different types of materials.

[0157] It can be understood that the positions of different production lines in the production and manufacturing workshop are different, and the materials required for different production lines can be of the same type or different types. Therefore, in order to meet the material usage requirements of different production lines, different types of materials need to be distributed to different production lines, and the same type of materials also need to be distributed to the same production line. The position where the materials need to be distributed is the target work station. Therefore, the target work stations corresponding to each target material may be different. Based on this, in order to determine the positions where each target material needs to be distributed, the distribution task instruction also needs to indicate the target work station corresponding to each target material.

[0158] In S102, different types of target materials may be placed at different positions in the production and manufacturing workshop. The position where the target material is placed is the waiting-to-be-dispatched work station. Therefore, the waiting-to-be-dispatched work stations corresponding to different types of target materials are different. Then, it is necessary to determine the waiting-to-be-dispatched work station corresponding to each target material, that is, it is necessary to determine the waiting-to-be-dispatched work station storing the target material for each target material. The target material is placed at the waiting-to-be-dispatched work station by being placed in a container. Specifically, the container can refer to a shelf, a pallet, a box, etc.

[0159] In S103, the structure of the first robot can be as Figure 2aAs shown in the figure, it includes: a chassis mechanism 201 and an automatic coupling mechanism 202. The chassis mechanism 201 can be regarded as the vehicle body of the first robot. Since the first robot can establish a connection between the automatic coupling mechanism 202 and the first traction mechanism of the first distribution trolley among multiple distribution trolleys, the first robot can realize the traction of the first distribution trolley among multiple distribution trolleys through the automatic coupling mechanism 202. Therefore, the automatic coupling mechanism 202 of the first robot can also be called a traction mechanism. It can be understood that Figure 2a This is only a schematic structural diagram of a possible first robot. In other possible embodiments, in addition to including the chassis mechanism 201 and the automatic coupling mechanism 202, the structure of the first robot may also include other structures such as a robotic arm.

[0160] The number of distribution trolleys towed by the first robot can be set according to the user's needs. For example, the number of distribution trolleys can be 5, 6, 7, etc. The structure of the distribution trolley can be as Figure 2b shown, including: a chassis mechanism 211, a first traction mechanism 212, and a second traction mechanism 213. The chassis mechanism 211 can be regarded as the vehicle body of the distribution trolley. Assume that the first robot towes m distribution trolleys, and the connection method between each distribution trolley is: the first traction mechanism of the nth distribution trolley is connected to the second traction mechanism of the (n - 1)th distribution trolley, and the second traction mechanism of the nth distribution trolley is connected to the first traction mechanism of the (n + 1)th distribution trolley, where n is an integer greater than 1. When n is 1, the second traction mechanism of the first distribution trolley is connected to the first traction mechanism of the second distribution trolley, and the first traction mechanism of the first distribution trolley is connected to the automatic coupling mechanism of the first robot. When n is m, since there is no (m + 1)th distribution trolley, the first traction mechanism of the mth distribution trolley is connected to the second traction mechanism of the (m - 1)th distribution trolley, and the second traction mechanism of the mth distribution trolley is not connected to other devices. Each distribution trolley is connected manually.

[0161] Exemplarily, assume that the number of distribution trolleys towed by the first robot is 3, and the connection between each distribution trolley can be as Figure 2c shown. Refer to Figure 2c , denote the first distribution trolley as 21-1, the second distribution trolley as 21-2, and the third distribution trolley as 21-3. The first traction mechanism 212-2 of the second distribution trolley 21-2 is connected to the second traction mechanism 213-1 of the first distribution trolley 21-1, the second traction mechanism 213-2 of the second distribution trolley 21-2 is connected to the first traction mechanism 212-3 of the third distribution trolley 21-3, and the second traction mechanism 213-3 of the third distribution trolley 21-3 is not connected to other devices.

[0162] In this example, a schematic diagram of the first robot towing three delivery trolleys can be as follows Figure 2d as shown. Refer to Figure 2d , denote the first robot as 20. On the basis of Figure 2c , the automatic coupling mechanism 202 of the first robot 20 is connected to the first towing mechanism 212-1 of the first delivery trolley 21-1.

[0163] It can be understood that Figure 2b Figure 2b is only a schematic diagram of the structure of a possible delivery trolley. In other possible embodiments, in addition to including the chassis mechanism 211, the first towing mechanism 212, and the second towing mechanism 213, the structure of the delivery trolley may further include other structures such as a telescopic mechanism.

[0164] After determining the respective to-be-dispatched workstations corresponding to each target material in the foregoing S102, the first robot towes a plurality of delivery trolleys to move to the respective to-be-dispatched workstations corresponding to each target material in sequence.

[0165] In S104, when determining the target trolley corresponding to each target material, if all the target trolleys corresponding to all target materials are determined simultaneously, it may lead to a situation where the target trolleys corresponding to multiple target materials placed in different containers are the same. However, this target trolley may not be able to load multiple target materials placed in different containers at the same time, resulting in the target materials that cannot be loaded by this target trolley not being able to be delivered to the corresponding target workstations. To avoid the above situation, it is necessary to determine the target trolley corresponding to each target material for each target material in sequence.

[0166] When determining the target trolley corresponding to different target materials, the candidate trolleys may be different. For a certain target material, any one of the candidate trolleys can be used as the target trolley corresponding to the target material. Exemplarily, assume that the target materials are Material 1 - Material 3, and the 5 distribution trolleys are respectively denoted as Distribution Trolley 1 - Distribution Trolley 5. When controlling the first robot to tow the 5 distribution trolleys to the staging station, none of the 5 distribution trolleys is loaded with materials. If, in the order of Material 1 - Material 3, the target trolley corresponding to each target material is determined in turn, then for Material 1, since none of the 5 distribution trolleys is loaded with materials and none of them has been assigned to load materials, the distribution trolleys that are not loaded with materials and have not been assigned to load materials are Distribution Trolley 1 - Distribution Trolley 5, that is, the candidate trolleys are Distribution Trolley 1 - Distribution Trolley 5. Any one of the candidate trolleys among Distribution Trolley 1 - Distribution Trolley 5 can be used as the target trolley corresponding to Material 1, that is, the execution entity can randomly select one of the candidate trolleys among Distribution Trolley 1 - Distribution Trolley 5 as the target trolley corresponding to Material 1. Assume that the target trolley corresponding to Material 1 is Distribution Trolley 1. Since although Material 1 has not been loaded onto Distribution Trolley 1 yet, Distribution Trolley 1 has been assigned for loading Material 1, for Material 2, the distribution trolleys that are not loaded with materials are Distribution Trolley 1 - Distribution Trolley 5, and Distribution Trolley 1 has been assigned to load Material 1. Then, the candidate trolleys for Material 2 are Distribution Trolley 2 - Distribution Trolley 5. Any one of the candidate trolleys among Distribution Trolley 2 - Distribution Trolley 5 can be used as the target trolley corresponding to Material 2. Assume that the target trolley corresponding to Material 2 is Distribution Trolley 2. Then for Material 3, similar to the foregoing description, the distribution trolleys that are not loaded with materials are Distribution Trolley 1 - Distribution Trolley 5. However, Distribution Trolley 1 has been assigned to load Material 1, and Distribution Trolley 2 has been assigned to load Material 2. Then, the candidate trolleys for Material 3 are Distribution Trolley 3 - Distribution Trolley 5. Any one of the candidate trolleys among Distribution Trolley 3 - Distribution Trolley 5 can be used as the target trolley corresponding to Material 3.

[0167] In S105, the second robot can transfer the target material from the staging station to the corresponding target trolley in the following manner: for each target material, use the fork teeth to pick up the tray containing the target material, and carry the picked-up target material to the location of the target trolley corresponding to the target material, place the picked-up target material in the target trolley, and retract the fork teeth. In this embodiment, the structure of the second robot can be as Figure 3 shown, including: a chassis mechanism 31 and a picking mechanism 32, and the aforementioned fork teeth are the picking mechanism 32.

[0168] The second robot can also move the target material from the waiting-to-be-dispatched station to the corresponding target trolley in the following way: for each target material, use the robotic arm to pick up the target material, carry the picked-up target material and move to the position of the target trolley corresponding to the target material, place the target material in the target trolley, and retract the robotic arm. In this embodiment, the structure of the second robot may include: a chassis mechanism and a robotic arm. In other possible embodiments, the second robot can also move the target material from the waiting-to-be-dispatched station to the corresponding target trolley in other ways, and the present application does not impose any restrictions on this.

[0169] In S106, for each target material, if the transportation of the target material from the waiting-to-be-dispatched station is completed, it means that the target material has been loaded on the multiple delivery trolleys towed by the first robot. Therefore, for each target material, when the transportation of the target material from the waiting-to-be-dispatched station is completed, it is necessary to control the first robot to tow the multiple delivery trolleys to move to the target station corresponding to the target material, so as to realize the movement process of the target material from the waiting-to-be-dispatched station to the corresponding target station.

[0170] In S107, the third robot is a robot that can achieve the same material handling method as the second robot. The structure of the third robot can be the same as that of the second robot or different from that of the second robot. The method of the third robot for handling the target material is the same as that of the second robot, and will not be elaborated here.

[0171] Exemplarily, assume that both the second robot and the third robot move the target material from the waiting-to-be-dispatched station to the corresponding target trolley in the following way: for each target material, use the fork teeth to fork the tray containing the target material, carry the forked target material and move to the position of the target trolley corresponding to the target material, place the target material in the target trolley, and retract the fork teeth. Then the structure of the second robot can be as Figure 3 shown, including: a chassis mechanism 31 and a forking mechanism 32. The structure of the third robot can be the same as that of the second robot, including: a chassis mechanism 31 and a forking mechanism 32; the structure of the third robot can be different from that of the second robot. For example, the structure of the third robot includes: a chassis mechanism 31, a forking mechanism 32, and a robotic arm.

[0172] In the embodiment where the structure of the third robot is the same as that of the second robot, the third robot and the second robot can be the same robot or different robots with the same structure.

[0173] In the above S103 - S107, the two steps of transporting the target materials to the corresponding target trolleys and the first robot towing multiple distribution trolleys to move to the target workstations can be executed successively. That is to say, after all the target materials are transported to the corresponding target trolleys, the first robot can be controlled to tow multiple distribution trolleys to move to the target workstation corresponding to a certain target material.

[0174] Exemplarily, assume that the target materials are Material 1 - Material 3, the to-be-dispatched workstations corresponding to the target materials are To-be-dispatched Workstation 1 - To-be-dispatched Workstation 3, and the target workstations corresponding to the target materials are Target Workstation 1 - Target Workstation 3. Then the first robot tows multiple distribution trolleys to move to To-be-dispatched Workstation 1, To-be-dispatched Workstation 2, and To-be-dispatched Workstation 3 in sequence. The second robot transports Material 1, Material 2, and Material 3 to the corresponding target trolleys respectively. After that, the first robot tows multiple distribution trolleys to move to Target Workstation 1, and the third robot transports Material 1 to Target Workstation 1. The first robot tows multiple distribution trolleys to move to Target Workstation 2, and the third robot transports Material 2 to Target Workstation 2. The first robot tows multiple distribution trolleys to move to Target Workstation 3, and the third robot transports Material 3 to Target Workstation 3.

[0175] In other possible embodiments, the two steps of transporting the target materials to the corresponding target trolleys and the first robot towing multiple distribution trolleys to move to the target workstations can also be executed alternately. That is to say, some of the target materials can be first transported to the corresponding target trolleys, and the first robot is controlled to tow multiple distribution trolleys to move to the target workstations corresponding to the above-mentioned part of the target materials respectively. After that, the first robot is controlled to tow multiple distribution trolleys to move to the to-be-dispatched workstations corresponding to the remaining target materials, transport the remaining target materials to the corresponding target trolleys, and control the first robot to tow multiple distribution trolleys to move to the target workstations corresponding to the remaining target materials respectively.

[0176] Exemplarily, assume that the target materials are Material 1 - Material 3, the to-be-dispatched workstations corresponding to Material 1 and Material 2 are To-be-dispatched Workstation 1, the to-be-dispatched workstation corresponding to Material 3 is To-be-dispatched Workstation 2, the target workstation corresponding to Material 1 is Target Workstation 1, and the target workstations corresponding to Material 2 and Material 3 are Target Workstation 2. Then the first robot tows multiple distribution trolleys to move to To-be-dispatched Workstation 1, and the second robot transports Material 1 and Material 2 to the corresponding target trolleys respectively. The first robot tows multiple distribution trolleys to move to Target Workstation 1, and the third robot transports Material 1 to Target Workstation 1. After that, the first robot tows multiple distribution trolleys to move to To-be-dispatched Workstation 2, the second robot transports Material 3 to the corresponding target trolley, the first robot tows multiple distribution trolleys to move to Target Workstation 2, and the third robot transports Material 2 and Material 3 to Target Workstation 2.

[0177] The above S101 - S107 have been described exemplarily. It can be understood that for the same kind of target material, it may not be that one target material is placed in one container, but multiple target materials are placed in the same container. For example, 50 parts are stored in one box (i.e., the container), etc. In the above situation, the second robot or the third robot transporting the target material means that the second robot or the third robot transports the container in which the target material is placed. And, in the above situation, if all the target materials in a certain container at the target station are used up, then this container is an empty container. Since the target station is generally set near the production line, if the empty container is always placed at the target station, it will cause the space near the production line to be occupied, resulting in waste of the space near the production line. The accumulation of empty containers will also cause many containers to be in an idle state, thus resulting in waste of container resources.

[0178] Based on this, in order to reduce the waste of the space near the production line and the waste of container resources caused by the accumulation of empty containers, in a possible embodiment, refer to Figure 4 , the material distribution method provided by this application further includes a method for recycling empty containers, specifically including:

[0179] S401, for each target material, in response to the completion of the transportation of the target material from the corresponding target trolley, and receiving the message that there is an empty container placed at the target station corresponding to the target material, control the third robot to transport the empty container to the target trolley corresponding to the target material.

[0180] The message that there is an empty container placed at the target station corresponding to the target material can be input by the user on the execution body when observing that there is an empty container placed at the target station, or can be sent to the execution body by the user through other devices when observing that there is an empty container placed at the target station.

[0181] The message that there is an empty container placed at the target station corresponding to the target material can also be sent to the execution body by the sensor when detecting that there is an empty container placed at the target station corresponding to the target material. Exemplarily, if the image sensor does not detect the target material in the captured image of the container, it is considered that there is an empty container placed at the target station corresponding to the target material, and a message that there is an empty container placed at the target station corresponding to the target material is sent to the execution body.

[0182] When the gravity sensor below the container detects that the gravity is less than or equal to the preset gravity threshold, it is considered that there is an empty container placed at the target station corresponding to the target material, and a message that there is an empty container placed at the target station corresponding to the target material is sent to the execution entity. Among them, the preset gravity threshold can be set according to the weight of each target material and the weight of the container. Exemplarily, the preset gravity threshold can be equal to the weight of the container, and the preset gravity threshold can also be greater than the weight of the container and less than the sum of the weight of the container and the weight of a target material.

[0183] For each target material, if the handling of the target material from the corresponding target trolley is completed and a message that there is an empty container placed at the target station corresponding to the target material is received, it means that all of the target materials loaded in the multiple distribution trolleys towed by the first robot have been transported to the target station. At this time, the target trolley corresponding to the target material is empty, and there is an empty container placed at the target station corresponding to the target material. Therefore, the third robot can be controlled to transport the empty container to the target trolley corresponding to the target material. Since the target material is placed in the container, the second robot transports the target material by transporting the container with the target material placed in it. Then, it can be considered that the way the second robot transports the target material is equivalent to the way the second robot transports the container. The way the third robot transports the empty container is the same as the way the second robot transports the container, that is, the way the third robot transports the empty container is the same as the way the second robot transports the target material mentioned above, which will not be elaborated here.

[0184] S402. In response to the completion of transporting the empty container, control the first robot to tow the multiple distribution trolleys to move to the trolley temporary storage area.

[0185] The completion of transporting the empty container means that for each target material, all of the target materials loaded in all of the distribution trolleys towed by the first robot have been transported to the corresponding target stations, and all of the empty containers at each target station with an empty container placed there have been transported to the corresponding target trolleys. Therefore, if the transportation of the empty container is completed, it means that the distribution of each target material is completed, and all of the empty containers at each target station with an empty container placed there have been transported to the corresponding target trolleys. At this time, the first robot can be controlled to tow the multiple distribution trolleys to move to the trolley temporary storage area. The trolley temporary storage area refers to the area used to place the distribution trolleys.

[0186] S403. In response to the first robot moving to the trolley temporary storage area, control the fourth robot to transport the empty container to the trolley temporary storage area.

[0187] When the first robot moves to the trolley storage area, it can send a message indicating that it has moved to the trolley storage area to the execution entity. When the execution entity receives the message that the first robot has moved to the trolley storage area, that is, in response to the first robot moving to the trolley storage area, it controls the fourth robot to carry an empty container to the trolley storage area.

[0188] The fourth robot is a robot that can achieve the same material handling method as the second robot. The structure of the fourth robot can be the same as that of the second robot or different from that of the second robot. Similarly, the fourth robot is a robot that can achieve the same material handling method as the third robot. The structure of the fourth robot can be the same as that of the third robot or different from that of the third robot. That is to say, the second robot, the third robot, and the fourth robot are robots that can achieve the same material handling method, and the structures of the second robot, the third robot, and the fourth robot can be the same or different. The fact that the structures of the second robot, the third robot, and the fourth robot are different can mean that the structures of these three types of robots are all different, or it can mean that the structures of two of these three types of robots are the same, and the structure of the remaining one type of robot is different from the structures of the other two types of robots. The way the fourth robot handles the target material is the same as that of the second robot and will not be elaborated here.

[0189] Exemplarily, assume that the second robot, the third robot, and the fourth robot all achieve the handling of the target material from the to-be-dispatched station to the corresponding target trolley in the following way: for each target material, use the fork teeth to pick up the tray containing the target material, and carry the picked-up target material to the location of the target trolley corresponding to the target material, place the target material in the target trolley, and retract the fork teeth. Then the structures of the second robot, the third robot, and the fourth robot can be the same. For example, the structures of the second robot, the third robot, and the fourth robot are all as Figure 3 shown, including: a chassis mechanism 31 and a fork picking mechanism 32. The structures of the second robot, the third robot, and the fourth robot can also be different. For example, the structure of the second robot is as Figure 3 shown, including: a chassis mechanism 31 and a fork picking mechanism 32; the structure of the third robot includes: a chassis mechanism 31, a fork picking mechanism 32, and a robotic arm; the structure of the fourth robot includes: a chassis mechanism 31, a fork picking mechanism 32, and a lifting mechanism. Or, the structures of the second robot and the fourth robot are both as Figure 3 shown, including: a chassis mechanism 31 and a fork picking mechanism 32; the structure of the third robot includes: a chassis mechanism 31, a fork picking mechanism 32, and a robotic arm.

[0190] In an embodiment where the structure of the fourth robot is the same as that of the second robot, the fourth robot and the second robot can be the same robot or different robots with the same structure. Similarly, in an embodiment where the structure of the fourth robot is the same as that of the third robot, the fourth robot and the third robot can be the same robot or different robots with the same structure. Similarly, in an embodiment where the structures of the second robot, the third robot, and the fourth robot are all the same, the second robot, the third robot, and the fourth robot can be the same robot or different robots with the same structure.

[0191] By selecting this embodiment, for each target material, in response to the completion of the handling of the target material from the corresponding target trolley and receiving the message that there is an empty container at the target station corresponding to the target material, the third robot can be controlled to move the empty container to the target trolley corresponding to the target material. And when all the target materials loaded in all the distribution trolleys towed by the first robot have been moved to their respective target stations and all the empty containers at all the target stations with empty containers have been moved to their respective target trolleys, it is considered that the handling of the empty containers is completed. Then, in response to the completion of the handling of the empty containers, the first robot can be controlled to tow multiple distribution trolleys to move to the trolley temporary storage area. In response to the first robot moving to the trolley temporary storage area, the fourth robot can be controlled to move the empty container to the trolley temporary storage area. This can avoid the situation where the target station is continuously occupied by the empty container, reduce the waste of space at the target station, and also avoid the situation where there is no space to place the newly distributed target material due to the accumulation of empty containers at the target station. Moreover, while replenishing the target material (i.e., filling up) for the target station, the recovery of the empty container (i.e., emptying) can be realized, without the need to control the first robot to tow multiple distribution trolleys to move to the target station again from other positions in order to realize the recovery of the empty container, thereby improving the efficiency of emptying and filling the target station. And while conducting material distribution, the recovery of the empty container can be realized, flexibly controlling the first robot to tow multiple distribution trolleys to achieve different tasks, and improving the flexibility of the first robot to tow multiple distribution trolleys to achieve tasks.

[0192] An exemplary description of the method for recovering the empty container has been given above. Refer to the foregoing Figure 1In the illustrated embodiment, the material distribution method provided by the present application relies on the first robot to tow multiple distribution trolleys. If the connection between the first robot and the distribution trolleys is achieved through manual connection, relevant personnel need to be notified to connect the first robot and the distribution trolleys. After receiving the notice, the relevant personnel will go to the location where the distribution trolleys are located, and when the first robot moves to the location where the distribution trolleys are located, connect the first robot and the distribution trolleys. Among them, it takes a certain amount of time for the relevant personnel to receive the notice and go to the location where the distribution trolleys are located, which may result in untimely manual connection, thus causing line congestion. Based on this, the present application also provides a method for connecting the first robot and the distribution trolleys. Initially, multiple distribution trolleys are located in the trolley temporary storage area; see Figure 5a The foregoing S103 includes:

[0193] S1031, controlling the first robot to move to the trolley temporary storage area.

[0194] The connection between multiple distribution trolleys generally will not be disconnected. Since the first robot can automatically establish a connection with the first traction mechanism of the first distribution trolley among multiple distribution trolleys through its own automatic hitching mechanism, the connection between the first robot and the first distribution trolley among multiple distribution trolleys is relatively flexible. Then, the first robot can establish a connection with the first distribution trolley among multiple distribution trolleys when material distribution is required, and can disconnect the connection with the first distribution trolley among multiple distribution trolleys when no material distribution is carried out.

[0195] And since multiple distribution trolleys are located in the trolley temporary storage area initially, therefore, in response to the distribution task instruction, that is, when material distribution is required, it is necessary to control the first robot to move to the trolley temporary storage area so that the first robot can establish a connection between its own automatic hitching mechanism and the first traction mechanism of the first distribution trolley among multiple distribution trolleys, and realize the towing of multiple distribution trolleys by the first robot.

[0196] S1032, controlling the first robot to establish a connection between its own automatic hitching mechanism and the first traction mechanism of the first distribution trolley among multiple distribution trolleys.

[0197] The schematic diagram of the automatic hitching mechanism of the first robot can be as Figure 5bAs shown in the structural schematic diagram within the dashed box. The first robot can move in front of the first traction mechanism of the first delivery trolley among multiple delivery trolleys, such that its automatic coupling mechanism faces the first traction mechanism of the first delivery trolley, and runs in the direction close to the first delivery trolley. When it detects the first traction mechanism at its automatic coupling mechanism, it closes the automatic connection mechanism to establish a connection between its automatic coupling mechanism and the first traction mechanism of the first delivery trolley among multiple delivery trolleys.

[0198] S1033. Control the first robot to tow multiple delivery trolleys to move to each waiting-for-dispatch station in sequence.

[0199] Through the aforementioned S1031 - S1032, the first robot can tow multiple delivery trolleys. At this time, the first robot can tow multiple delivery trolleys to move to the waiting-for-dispatch stations corresponding to their respective target materials in sequence.

[0200] Selecting this embodiment, through the automatic coupling mechanism of the first robot, an automatic and flexible connection between the first robot and the first delivery trolley among multiple delivery trolleys is realized, making the material delivery process more automated. At the same time, when the first robot moves to the position where the delivery trolley is located, that is, the trolley temporary storage area, it can automatically connect and disconnect from the first delivery trolley among multiple delivery trolleys through its automatic coupling mechanism without manual intervention, reducing the time consumed in the process of manually receiving notifications and going to the position where the delivery trolley is located, thus avoiding line congestion caused by the untimely connection and disconnection of the first robot and the delivery trolley by manual labor.

[0201] It can be understood that if, after the material delivery is completed, the delivery trolley is placed at any position, it may cause the situation that the delivery trolley obstructs the operation of other robots or equipment, thus resulting in line congestion in the workshop. To avoid the situation of line congestion in the workshop, in a possible embodiment, refer to Figure 6 , after the aforementioned S107, the material delivery method provided by this application further includes:

[0202] S108. Control the first robot to move to the trolley temporary storage area.

[0203] The trolley temporary storage area should be set at a position that does not obstruct the passage of robots or personnel in the operation line in the production and manufacturing workshop. The trolley temporary storage area is an area for placing delivery trolleys. Therefore, the first robot can be controlled to move to the trolley temporary storage area so that multiple delivery trolleys can be placed in the trolley temporary storage area.

[0204] S109. Control the first robot to disconnect the connection between its automatic coupling mechanism and the first traction mechanism of the first delivery trolley among multiple delivery trolleys.

[0205] After S108, the first robot activates the automatic connection mechanism and disconnects the connection between its own automatic hitch mechanism and the first traction mechanism of the first delivery trolley among the multiple delivery trolleys. At this time, the first robot can stay in the trolley staging area or move to the area for placing the first robot.

[0206] By selecting this embodiment, after the material delivery is completed, the multiple delivery trolleys can be placed in the trolley staging area by controlling the first robot to move to the trolley staging area and disconnecting the connection between its own automatic hitch mechanism and the first traction mechanism of the first delivery trolley among the multiple delivery trolleys, thus avoiding the situation where the delivery trolleys hinder the operation of other robots or equipment due to random placement, and further avoiding line congestion in the workshop.

[0207] In the foregoing, an exemplary description has been given of the method for the first robot to establish and disconnect the connection with the delivery trolley. It can be understood that when the first robot pulls multiple delivery trolleys to move to the staging station or the target station, it may not be able to accurately stop at a certain fixed position, but there is a certain position error. This error may cause the second robot or the third robot to be unable to determine the accurate position of the target trolley, resulting in the second robot being unable to transport the target material from the staging station to the target trolley, and the third robot being unable to transport the target material from the target trolley to the target station, thus preventing the material delivery from being achieved.

[0208] Based on this, in order for the second robot or the third robot to accurately determine the position of the target trolley and achieve material delivery, in a possible embodiment, the second robot includes a first sensor; refer to Figure 7a , and the foregoing S105 includes:

[0209] S701. For each target material, according to the sequence number of the target trolley corresponding to the target material, determine the first distance between the target trolley corresponding to the target material and the first robot.

[0210] The sequence number of the target trolley refers to: starting from the delivery trolley connected to the first robot, the order of the target trolley among the multiple delivery trolleys pulled by the first robot. The first distance = (the sequence number of the target trolley corresponding to the target material - 1) × the length of the delivery trolley + the length of the first robot. Here, the length of the delivery trolley refers to: in the connection direction between the delivery trolleys, the distance between the two ends of the delivery trolley, that is, the distance between the first traction mechanism and the second traction mechanism of the delivery trolley. The length of the first robot refers to: in the connection direction between the delivery trolleys, the distance between the two ends of the first robot. Refer to Figure 2d the shown connection method of the delivery trolleys, in Figure 2dIn the example, the connection direction refers to the horizontal direction.

[0211] In a possible embodiment, the execution subject includes a map of the production and manufacturing workshop, and the positions of the distribution trolleys can be shown on the map.

[0212] S702. For each target material, according to the position of the to-be-dispatched station and the first distance, determine the position of the target trolley corresponding to the target material when the first robot pulls multiple distribution trolleys to move to the to-be-dispatched station, and use it as the first candidate position.

[0213] When the first robot pulls multiple distribution trolleys to move to the to-be-dispatched station and the position of the first robot is near the position of the to-be-dispatched station, the possible position where the target trolley corresponding to the target material may be located when the first robot pulls multiple distribution trolleys to move to the to-be-dispatched station can be determined by the sum of the position of the to-be-dispatched station and the first distance, and used as the first candidate position.

[0214] S703. For each target material, control the second robot to transport the target material from the to-be-dispatched station to the first candidate position.

[0215] The way for the second robot to transport the target material can refer to the relevant description in the foregoing S105, and will not be elaborated here.

[0216] S704. For each target material, according to the image scanned by the first sensor, determine the position of the central area of the target trolley corresponding to the target material when the first robot pulls multiple distribution trolleys to move to the to-be-dispatched station, and use it as the first target position.

[0217] The first sensor can be any one of an image sensor, a laser sensor, etc. According to the image scanned by the first sensor, the contour of the target trolley corresponding to the target material in the image can be detected, so as to determine the position of the central area of the target trolley corresponding to the target material when the first robot pulls multiple distribution trolleys to move to the to-be-dispatched station, and use it as the first target position. This first target position is the accurate position of the target trolley corresponding to the target material when the first robot pulls multiple distribution trolleys to move to the to-be-dispatched station.

[0218] S705. For each target material, control the second robot to move from the first candidate position to the first target position.

[0219] S706. For each target material, control the second robot to load the target material onto the target trolley corresponding to the target material.

[0220] By selecting this embodiment, when the first robot pulls multiple distribution trolleys to move to the to-be-dispatched station, the possible position (i.e., the first candidate position) of the target trolley corresponding to the target material can be determined according to the first distance between the target trolley corresponding to the target material and the first robot and the position of the to-be-dispatched station. Then, when the second robot moves to the first candidate position with the target material, the position of the central area of the target trolley corresponding to the target material (i.e., the first target position) can be accurately determined through the image scanned by the first sensor on the second robot, thereby reducing or even eliminating the influence of the error between the position of the first robot and the to-be-dispatched station on the determined first target position, so that the second robot can accurately transport the target material from the to-be-dispatched station to the target trolley.

[0221] Specifically, in practical applications, assuming the execution entity is a robot system, Figure 7a The embodiment shown can be implemented in the following manner: For a certain target material, the operator places the target material at the corresponding to-be-dispatched station. The robot system sends a task of transporting the target material to the robot, and determines the position of the target trolley corresponding to the target material in the manner shown in S701 - S702, that is, determines the first candidate position, and sends the second candidate position and the position of the to-be-dispatched station to the second robot. After receiving the task of transporting the target material, the position of the to-be-dispatched station, and the first candidate position, the second robot moves to the to-be-dispatched station and adjusts its own position through the first sensor so that it can pick up the target material from the to-be-dispatched station, carry it and move to the first candidate position, and adjust its own position through the second sensor, that is, move to the first target position in the manner of S704 - S705, so that the target material can be placed in the corresponding target trolley.

[0222] And in this embodiment, the third robot includes a second sensor; see Figure 7b , the foregoing S107 includes:

[0223] S711, for each target material, according to the position of the target station corresponding to the target material and the first distance, determine the position of the target trolley corresponding to the target material when the first robot pulls multiple distribution trolleys to move to the target station, as the second candidate position.

[0224] When the first robot pulls multiple distribution trolleys to move to the target station, the position of the first robot is near the position of the target station, then the possible position of the target trolley corresponding to the target material when the first robot pulls multiple distribution trolleys to move to the target station can be determined by the sum of the position of the target station and the first distance, as the second candidate position.

[0225] S712. For each target material, control the third robot to move to the second candidate position.

[0226] S713. For each target material, based on the image scanned by the second sensor, determine the position of the central area of the target trolley corresponding to the target material as the second target position when the first robot pulls multiple distribution trolleys to move to the target station.

[0227] The second sensor can be any one of an image sensor, a laser sensor, etc. Based on the image scanned by the second sensor, the outline of the target trolley corresponding to the target material in the image can be detected, so as to determine the position of the central area of the target trolley corresponding to the target material as the second target position when the first robot pulls multiple distribution trolleys to move to the target station. This second target position is the accurate position of the target trolley corresponding to the target material when the first robot pulls multiple distribution trolleys to move to the target station.

[0228] S714. For each target material, control the third robot to move from the second candidate position to the second target position.

[0229] S715. For each target material, control the third robot to carry the target material from the target trolley located at the second target position to the corresponding target station.

[0230] The way the third robot carries the target material is the same as that of the second robot carrying the target material. For the relevant description, reference can be made to the aforementioned S105 and will not be elaborated here.

[0231] Selecting this embodiment can, when the first robot pulls multiple distribution trolleys to move to the target station, determine the possible position of the target trolley corresponding to the target material (i.e., the second candidate position) based on the first distance between the target trolley corresponding to the target material and the first robot and the position of the target station. Then, when the third robot moves to the first candidate position, the position of the central area of the target trolley corresponding to the target material (i.e., the second target position) can be accurately determined through the image scanned by the second sensor on the third robot, thereby reducing or even eliminating the influence of the error between the position of the first robot and the position of the target station on the determined second target position, so that the third robot can accurately carry the target material from the target trolley to the target station.

[0232] Specifically, in practical applications, assume that the execution entity is a robot system. Figure 7bThe illustrated embodiments can be implemented in the following manner: For a certain target material, the robot system determines the position of the target trolley corresponding to the target material, that is, determines the second candidate position, in the manner shown in S711, and sends the second candidate position to the third robot. After receiving the second candidate position, the third robot moves to the second candidate position and adjusts its position through the second sensor, that is, moves to the second target position in the manner of S713 - S714. Then, the third robot enters the target trolley corresponding to the target material and transports the target material from the corresponding target trolley to the corresponding target workstation.

[0233] In Figure 7a the illustrated embodiments, the first sensor can be any one of sensors such as an image sensor, a laser sensor, etc. The second robot can implement the handling of the target material through a fork - taking mechanism or through a robotic arm. In the following, taking the first sensor as the first laser sensor and the second robot implementing the handling of the target material through the fork - taking mechanism as an example, the method by which the second robot transports the target material from the waiting - to - dispatch workstation to the corresponding target trolley will be described. In this example, referring to Figure 8a , the material distribution method provided in this application includes:

[0234] S701, For each target material, according to the sequence number of the target trolley corresponding to the target material, determine the first distance between the target trolley corresponding to the target material and the first robot.

[0235] S701 has been described exemplarily in the foregoing text and will not be elaborated here.

[0236] S702, For each target material, according to the position of the waiting - to - dispatch workstation and the first distance, determine the position of the target trolley corresponding to the target material as the first candidate position when the first robot pulls multiple distribution trolleys to move to the waiting - to - dispatch workstation.

[0237] S702 has been described exemplarily in the foregoing text and will not be elaborated here.

[0238] S7031, For each target material, control the second robot to fork - take the target material stored at the waiting - to - dispatch workstation through the first fork - taking mechanism.

[0239] For each target material, the second robot forks - takes the tray containing the target material stored at the waiting - to - dispatch workstation through the first fork - taking mechanism.

[0240] S7032, For each target material, control the second robot to transport the forked - taken target material to the first candidate position.

[0241] For each target material, the second robot carries the picked target material and moves it to the first candidate position.

[0242] S7031 - S7032 is equivalent to the aforementioned S703.

[0243] S7041. For each target material, based on the image scanned by the first laser sensor, determine the position of the central area of the target cart corresponding to the target material as the first target position when the first robot pulls multiple delivery carts to the to - be - dispatched station.

[0244] S7041 is similar to the aforementioned S704, with the only difference being that the first sensor in the aforementioned S704 is replaced by the first laser sensor. For the relevant description of S704, refer to the foregoing and will not be elaborated here.

[0245] S705. For each target material, control the second robot to move from the first candidate position to the first target position.

[0246] An exemplary description of S705 has been given in the foregoing and will not be elaborated here.

[0247] S7061. For each target material, control the second robot to load the picked target material onto the target cart corresponding to the target material.

[0248] For each target material, the second robot places the picked target material on the target cart and retracts the fork teeth.

[0249] In Figure 7b In the illustrated embodiment, the second sensor can be any one of an image sensor, a laser sensor, a visible light sensor, etc. The third robot can carry the target material through a fork - picking mechanism or through a robotic arm. In the following, taking the second sensor as the second laser sensor and the third robot carrying the target material through the fork - picking mechanism as an example, the method for the third robot to carry the target material from the corresponding target cart to the corresponding target station will be described. In this example, refer to Figure 8b , the material delivery method provided by this application includes:

[0250] S711. For each target material, based on the position of the target station corresponding to the target material and the first distance, determine the position of the target cart corresponding to the target material as the second candidate position when the first robot pulls multiple delivery carts to the target station.

[0251] An exemplary description of S711 has been given in the foregoing and will not be elaborated here.

[0252] S712. For each target material, control the third robot to move to the second candidate position.

[0253] S712 has been exemplarily described above and will not be elaborated here.

[0254] S7131. For each target material, based on the image scanned by the second laser sensor, determine the position of the central area of the target trolley corresponding to the target material as the second target position when the first robot pulls multiple delivery trolleys to move to the target station.

[0255] S7131 is similar to the foregoing S713, except that the second sensor in the foregoing S713 is replaced by a second laser sensor. For the relevant description of S713, refer to the foregoing and will not be elaborated here.

[0256] S714. For each target material, control the third robot to move from the second candidate position to the second target position.

[0257] S714 has been exemplarily described above and will not be elaborated here.

[0258] S7151. For each target material, control the third robot to pick up the target material loaded on the target trolley located at the second target position through the second picking mechanism.

[0259] For each target material, the third robot picks up the tray containing the target material loaded in the target trolley located at the second target position through the second picking mechanism.

[0260] S7152. For each target material, control the third robot to carry the picked-up target material to the target station.

[0261] For each target material, the third robot moves to the target station with the picked-up target material, places the picked-up target material on the target station, and retracts the second picking mechanism.

[0262] S7151 - S7152 is equivalent to the foregoing S715.

[0263] The specific ways for the second robot or the third robot to carry the target material have been exemplarily described above. Refer to the foregoing Figure 1 shown embodiments. During the process of realizing material distribution, it depends on the target trolleys assigned to each target material. Based on this, the present application provides a method for determining the target trolley corresponding to the target material. Refer to Figure 9 , the foregoing S104 includes:

[0264] S1041. For each target material, respectively determine the order of each candidate trolley as the candidate order.

[0265] The sequence of the candidate trolley refers to: starting from the delivery trolley connected to the first robot, the order of the candidate trolleys among the multiple delivery trolleys towed by the first robot.

[0266] Exemplarily, see Figure 2d , if the delivery trolley connected to the first robot is delivery trolley 21-1, then the sequence of delivery trolley 21-1 is 1, the sequence of delivery trolley 21-2 is 2, and the sequence of delivery trolley 21-3 is 3.

[0267] S1042. For each target material, determine the target sequence in the candidate sequences according to the second distance between the to-be-dispatched station and the target station corresponding to the target material, where the target sequence is positively correlated with the second distance.

[0268] The second distance between the to-be-dispatched station and the target station corresponding to the target material refers to: according to the line planning of the workshop, the line length of any running line from the to-be-dispatched station to the target station corresponding to the target material.

[0269] The target sequence being positively correlated with the second distance means that: under the condition that other factors except the second distance remain unchanged, the target sequence increases with the increase of the second distance and decreases with the decrease of the second distance. Among them, the increase can refer to monotonic increase or non-monotonic increase; the decrease can refer to monotonic decrease or non-monotonic decrease, and the present application does not make any restrictions on this.

[0270] Exemplarily, assume that two target materials are respectively denoted as material 1 and material 2, and the candidate sequences are 4, 5, 6, 7, 8. If the second distance between the to-be-dispatched station corresponding to material 1 and the target station corresponding to material 1 is 2m, and the second distance between the to-be-dispatched station corresponding to material 2 and the target station corresponding to material 2 is 10m, then the target sequence corresponding to material 1 can be determined as 4, and the target sequence corresponding to material 2 can be determined as 8.

[0271] S1043. For each target material, determine the delivery trolley with the sequence being the target sequence among the multiple delivery trolleys as the target trolley corresponding to the target material.

[0272] Exemplarily, for a certain target material, if the target sequence is 3, then the target trolley corresponding to this target material is the 3rd delivery trolley among the multiple delivery trolleys. If the target sequence is 5, then the target trolley corresponding to this target material is the 5th delivery trolley among the multiple delivery trolleys.

[0273] By selecting this embodiment, the target position can be determined from the candidate positions based on the second distance between the target position and the target station corresponding to the material to be dispatched and the target material, such that the target material with a greater second distance is loaded onto the target trolley farther from the first robot, and the target material with a shorter second distance is loaded onto the target trolley closer to the first robot. This facilitates the management of the target material and the distribution trolleys, thereby realizing fully automated distribution of the target material, reducing the labor cost required for target material distribution, and minimizing resource waste.

[0274] An exemplary description of the method for determining the target trolley corresponding to the target material has been provided above. Referring to the foregoing description, the material distribution method provided in this application requires the mutual cooperation among the user, the execution entity, and each robot to be realized. Therefore, taking a target material as an example, the material distribution method provided in this application will be exemplarily described below through the interaction among user operations, execution entity processing, and operations executed by each robot. Refer to Figure 10a , the material distribution method provided in this application includes:

[0275] S1001. An operator places the goods at the connection point, and the PDA triggers a task.

[0276] The operator is the aforementioned user, the goods are the containers holding the target material, the connection point is the aforementioned station to be dispatched, the task is the aforementioned distribution task instruction, and the PDA triggering the task means that the PDA sends the distribution task instruction to the robot system (i.e., the aforementioned execution entity).

[0277] S1002. The robot system accepts the task.

[0278] S1002 is equivalent to the execution entity receiving the distribution task instruction.

[0279] S1003. The robot system schedules the first robot to tow the distribution trolley group to the station to be dispatched.

[0280] S1004. The first robot goes to the temporary storage area for empty distribution trolleys.

[0281] S1005. The first robot automatically connects to the empty trolley group and transports it to the station to be dispatched.

[0282] In S1003 - S1005, the station to be dispatched is the aforementioned station to be dispatched, the temporary storage area for empty distribution trolleys is the aforementioned temporary storage area for trolleys, and the empty trolley group is the aforementioned multiple distribution trolleys. S1003 - S1005 is equivalent to the aforementioned S1031 - S1033. For the relevant descriptions, reference can be made to the relevant descriptions in S1031 - S1033, which will not be elaborated here.

[0283] S1006. The robot system schedules the second robot to transport the goods to the distribution trolley.

[0284] S1007, the second robot transports the goods at the transfer point to the distribution trolley.

[0285] In S1006 - S1007, the transfer point is the aforementioned to-be-dispatched station, and the distribution trolley is the target trolley corresponding to the target material. S1006 - S1007 is equivalent to the aforementioned S105. For the relevant description of S105, please refer to the previous content and will not be elaborated here. The schematic diagram of the second robot transporting the target material from the to-be-dispatched station to the corresponding target trolley in S1007 can be as Figure 10b shown. Figure 10b In the figure, 20 is the first robot, 21 is the distribution trolley, 22 is the second robot. The dashed box 11 is the distribution trolley corresponding to a certain target material, and the dashed box 12 is the to-be-dispatched station storing the target material.

[0286] S1008, the robot system schedules the first robot to tow the distribution trolley in front of the target station.

[0287] S1009, the first robot tows the distribution trolley in front of the target station.

[0288] S1008 - S1009 is equivalent to the aforementioned S106. For the relevant description of S106, please refer to the previous content and will not be elaborated here.

[0289] S1010, the robot system schedules the second robot to transport the goods from the distribution trolley to the target station.

[0290] S1011, the second robot transports the goods from the distribution trolley to the target station.

[0291] In Figure 10a the illustrated embodiment, the second robot and the third robot have the same structure. Therefore, both the second robot and the third robot are regarded as the second robot. Thus, the second robot in S1010 - S1011 is equivalent to the aforementioned third robot, and S1010 - S1011 is equivalent to the aforementioned S107. For the relevant description of S107, please refer to the previous content and will not be elaborated here. The schematic diagram of the second robot transporting the target material from the corresponding target trolley to the corresponding target station in S1011 can be as Figure 10c shown. Figure 10c In the figure, 20 is the first robot, 21 is the distribution trolley, 22 is the second robot. The dashed boxes 13, 14, and 15 are the distribution trolleys corresponding to a certain target material, and the dashed box 16 is the target station corresponding to the target material.

[0292] S1012, the robot system schedules the first robot to tow the distribution trolley to the temporary storage area.

[0293] S1013, the first robot automatically towes the empty distribution trolley group.

[0294] The temporary storage area is the aforementioned trolley temporary storage area. The first robot automatically towing an empty distribution trolley group is equivalent to the first robot disconnecting the connection between its own automatic coupling mechanism and the first traction mechanism of the first distribution trolley among the multiple distribution trolleys. S1012 - S1013 is equivalent to the aforementioned S108 - S109. For the relevant descriptions of S108 - S109, please refer to the previous content and will not be elaborated here. The scenario schematic diagram of the material distribution method provided in this application can be as Figure 10d shown.

[0295] Refer to Figure 11 , the material distribution method provided in this application includes:

[0296] S1101, the robot system schedules the first robot to tow the distribution trolley to in front of the target workstation.

[0297] The robot system is the aforementioned execution subject. S1101 is equivalent to the aforementioned S106. For the relevant descriptions of S106, please refer to the previous content and will not be elaborated here.

[0298] S1102, the robot system schedules the second robot to carry the goods from the distribution trolley to the target workstation.

[0299] In the Figure 11 shown example, the second robot and the third robot have the same structure. Therefore, both the second robot and the third robot are regarded as the second robot. Thus, the second robot in S1102 is equivalent to the aforementioned third robot, and S1102 is equivalent to the aforementioned S107. For the relevant descriptions of S107, please refer to the previous content and will not be elaborated here.

[0300] S1103, the robot system determines whether there is an empty goods recycling task at the target workstation.

[0301] S1103 is equivalent to the robot system determining whether it receives the message that there is an empty container placed at the target workstation corresponding to the target material. If so, that is, it receives the message that there is an empty container placed at the target workstation corresponding to the target material, then execute S1104; if not, that is, it does not receive the message that there is an empty container placed at the target workstation corresponding to the target material, then execute S1105.

[0302] S1104, the robot system schedules the second robot to carry the empty goods from the target workstation to the distribution trolley.

[0303] The second robot in S1104 is equivalent to the aforementioned third robot, and S1104 is equivalent to the aforementioned S401. For the relevant descriptions of S401, please refer to the previous content and will not be elaborated here.

[0304] S1105, the robot system schedules the first robot to tow the distribution trolley to the temporary storage area.

[0305] The temporary storage area is the aforementioned trolley temporary storage area. S1105 is equivalent to the aforementioned S402. For the relevant description of S402, reference can be made to the foregoing, and details will not be repeated here.

[0306] Corresponding to the foregoing material distribution method, the present application further provides a material distribution device. Refer to Figure 12 , the device includes:

[0307] A target material determination module 121, configured to determine at least one target material indicated by the distribution task instruction and respective target workstations corresponding to each of the target materials in response to the distribution task instruction;

[0308] A to-be-dispatched workstation determination module 122, configured to determine, for each of the target materials, a to-be-dispatched workstation storing the target material;

[0309] A connection module 123, configured to control a first robot to establish a connection between its own automatic coupling mechanism and a first traction mechanism of the first distribution trolley among a plurality of distribution trolleys, and traction the plurality of distribution trolleys to move to each of the to-be-dispatched workstations in sequence; wherein, each of the distribution trolleys includes the first traction mechanism and a second traction mechanism; the first traction mechanism of the nth distribution trolley is connected to the second traction mechanism of the (n - 1)th distribution trolley, and the second traction mechanism of the nth distribution trolley is connected to the first traction mechanism of the (n + 1)th distribution trolley, where n is an integer greater than 1;

[0310] A target trolley determination module 124, configured to determine, for each of the target materials, a target trolley corresponding to the target material from among candidate trolleys; wherein, the candidate trolleys are distribution trolleys among the plurality of distribution trolleys that are not loaded with materials and have not been assigned to load materials;

[0311] A first handling module 125, configured to control a second robot to handle each of the target materials from the to-be-dispatched workstation to the corresponding target trolley;

[0312] A first movement module 126, configured to control the first robot to traction the plurality of distribution trolleys to move to the target workstation corresponding to each of the target materials in response to completion of handling of each of the target materials from the to-be-dispatched workstation;

[0313] A second handling module 127, configured to control a third robot to handle each of the target materials from the corresponding target trolley to the corresponding target workstation.

[0314] In a possible embodiment, the device further includes:

[0315] An empty container handling module, which is used for each of the target materials. In response to the completion of the handling of the target material from the corresponding target trolley and receiving the message that there is an empty container placed at the target station corresponding to the target material, it controls the third robot to move the empty container to the target trolley corresponding to the target material;

[0316] A second moving module, which is used in response to the completion of the handling of the empty container, to control the first robot to tow the multiple distribution trolleys to the trolley temporary storage area;

[0317] A third handling module, which is used in response to the first robot moving to the trolley temporary storage area, to control the fourth robot to move the empty container to the trolley temporary storage area;

[0318] and / or,

[0319] Initially, the multiple distribution trolleys are located in the trolley temporary storage area;

[0320] The control of the first robot to establish the connection between its own automatic coupling mechanism and the first traction mechanism of the first distribution trolley among the multiple distribution trolleys and tow the multiple distribution trolleys to move to each of the waiting-for-dispatch stations in sequence includes:

[0321] Controlling the first robot to move to the trolley temporary storage area;

[0322] Controlling the first robot to establish the connection between its own automatic coupling mechanism and the first traction mechanism of the first distribution trolley among the multiple distribution trolleys;

[0323] Controlling the first robot to tow the multiple distribution trolleys to move to each of the waiting-for-dispatch stations in sequence;

[0324] and / or,

[0325] After the step of controlling the third robot to move each of the target materials from the corresponding target trolley to the corresponding target station, the method further includes:

[0326] Controlling the first robot to move to the trolley temporary storage area;

[0327] Controlling the first robot to disconnect the connection between its own automatic coupling mechanism and the first traction mechanism of the first distribution trolley among the multiple distribution trolleys;

[0328] and / or,

[0329] The second robot includes a first sensor;

[0330] The control of the second robot to move the target material from the waiting-for-dispatch station to the corresponding target trolley includes:

[0331] Determine a first distance between the target cart corresponding to the target material and the first robot according to the sequence number of the target cart corresponding to the target material;

[0332] Determine the position of the target cart corresponding to the target material as a first candidate position when the first robot pulls multiple delivery carts to move to the to-be-dispatched station according to the position of the to-be-dispatched station and the first distance;

[0333] Control the second robot to carry the target material from the to-be-dispatched station to the first candidate position;

[0334] Determine the position where the central area of the target cart corresponding to the target material is located as a first target position when the first robot pulls multiple delivery carts to move to the to-be-dispatched station according to the image scanned by the first sensor;

[0335] Control the second robot to move from the first candidate position to the first target position;

[0336] Control the second robot to load the target material onto the target cart corresponding to the target material;

[0337] The third robot includes a second sensor;

[0338] The control for the third robot to carry the target material from the corresponding target cart to the corresponding target station includes:

[0339] Determine the position of the target cart corresponding to the target material as a second candidate position when the first robot pulls multiple delivery carts to move to the target station according to the position of the target station corresponding to the target material and the first distance;

[0340] Control the third robot to move to the second candidate position;

[0341] Determine the position where the central area of the target cart corresponding to the target material is located as a second target position when the first robot pulls multiple delivery carts to move to the target station according to the image scanned by the second sensor;

[0342] Control the third robot to move from the second candidate position to the second target position;

[0343] Control the third robot to carry the target material from the target cart located at the second target position to the corresponding target station;

[0344] and / or

[0345] The first sensor is a first laser sensor, and the second sensor is a second laser sensor; the second robot further includes a first fork mechanism;

[0346] Controlling the second robot to transport the target material from the to-be-dispatched station to the first candidate position includes:

[0347] Controlling the second robot to fork the target material stored at the to-be-dispatched station through the first fork mechanism;

[0348] Controlling the second robot to transport the forked target material to the first candidate position;

[0349] Controlling the second robot to load the target material onto the target trolley corresponding to the target material includes:

[0350] Controlling the second robot to load the forked target material onto the target trolley corresponding to the target material;

[0351] The third robot further includes a second fork mechanism;

[0352] Controlling the third robot to transport the target material from the target trolley located at the second target position to the corresponding target station includes:

[0353] Controlling the third robot to fork the target material loaded on the target trolley located at the second target position through the second fork mechanism;

[0354] Controlling the third robot to transport the forked target material to the target station;

[0355] And / or,

[0356] Determining the target trolley corresponding to the target material from the candidate trolleys includes:

[0357] Respectively determining the sequence numbers of the candidate trolleys as candidate sequence numbers;

[0358] Determining a target sequence number from the candidate sequence numbers according to a second distance between the to-be-dispatched station and the target station corresponding to the target material, wherein the target sequence number is positively correlated with the second distance;

[0359] Determining, from the multiple distribution trolleys, the distribution trolley with the sequence number being the target sequence number as the target trolley corresponding to the target material.

[0360] An embodiment of the present application further provides an electronic device, as Figure 13 shown, including:

[0361] A memory 131 for storing computer programs;

[0362] A processor 132, when executing the programs stored on the memory 131, implements the following steps:

[0363] In response to a distribution task instruction, determine at least one target material indicated by the distribution task instruction and the target workstations corresponding to each target material;

[0364] For each target material, determine the workstations to be dispatched where the target material is stored;

[0365] Control the first robot to establish a connection between its own automatic coupling mechanism and the first traction mechanism of the first distribution trolley among multiple distribution trolleys, and tow the multiple distribution trolleys to move to each workstation to be dispatched in sequence; wherein, each distribution trolley includes a first traction mechanism and a second traction mechanism; the first traction mechanism of the nth distribution trolley is connected to the second traction mechanism of the n-1th distribution trolley, and the second traction mechanism of the nth distribution trolley is connected to the first traction mechanism of the n+1th distribution trolley, and n is an integer greater than 1;

[0366] For each target material, determine the target trolley corresponding to the target material from each candidate trolley; wherein, the candidate trolley is a distribution trolley among multiple distribution trolleys that is not loaded with materials and has not been assigned to load materials;

[0367] For each target material, control the second robot to transport the target material from the workstation to be dispatched to the corresponding target trolley;

[0368] For each target material, in response to the completion of transporting the target material from the workstation to be dispatched, control the first robot to tow the multiple distribution trolleys to move to the target workstation corresponding to the target material;

[0369] For each target material, control the third robot to transport the target material from the corresponding target trolley to the corresponding target workstation.

[0370] And the above electronic device may further include a communication bus and / or a communication interface, and the processor 132, the communication interface, and the memory 131 complete communication with each other through the communication bus.

[0371] 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 control bus, etc. For the sake of simplicity, only a thick line is used in the figure to represent it, but it does not mean that there is only one bus or one type of bus.

[0372] The communication interface is used for communication between the above-mentioned electronic device and other devices.

[0373] 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.

[0374] The above-mentioned 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.

[0375] In another embodiment provided by the present application, a computer-readable storage medium is further provided. A computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the steps of any of the above-mentioned material distribution methods are implemented.

[0376] In another embodiment provided by the present application, a computer program product containing instructions is further provided. When it runs on a computer, the computer is made to execute any of the material distribution methods in the above embodiments.

[0377] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the 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 instructions 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 instructions 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 wireless (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 (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a DVD), or a solid-state drive (SSD), etc.

[0378] 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, such that a process, method, article, or device that includes a series of elements includes not only those elements but also other elements that are not explicitly listed, or also includes elements that are inherent to such process, method, article, or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article, or device that includes the element.

[0379] 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 the embodiments of the device, electronic device, computer-readable storage medium, and computer program product containing instructions, since they are basically similar to the method embodiments, the description is relatively simple. For the relevant parts, reference can be made to the partial description of the method embodiments.

[0380] 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 distribution method, characterized in that, The method includes: In response to a delivery task instruction, determining at least one target material indicated by the delivery task instruction and respective target workstations corresponding to each of the target materials; For each of the target materials, determining a to-be-dispatched workstation storing the target material; Controlling a first robot to establish a connection between its automatic coupling mechanism and a first traction mechanism of a first delivery trolley among a plurality of delivery trolleys, and towing the plurality of delivery trolleys to move to each of the to-be-dispatched workstations in sequence; wherein each of the delivery trolleys includes the first traction mechanism and a second traction mechanism; the first traction mechanism of the nth delivery trolley is connected to the second traction mechanism of the (n - 1)th delivery trolley, and the second traction mechanism of the nth delivery trolley is connected to the first traction mechanism of the (n + 1)th delivery trolley, and n is an integer greater than 1; For each of the target materials, determining a target trolley corresponding to the target material from among candidate trolleys; wherein the candidate trolleys are delivery trolleys among the plurality of delivery trolleys that are not loaded with materials and have not been assigned to load materials; For each of the target materials, controlling a second robot to carry the target material from the to-be-dispatched workstation to the corresponding target trolley; For each of the target materials, in response to completion of carrying the target material from the to-be-dispatched workstation, controlling the first robot to tow the plurality of delivery trolleys to move to the target workstation corresponding to the target material; For each of the target materials, controlling a third robot to carry the target material from the corresponding target trolley to the corresponding target workstation.

2. The method according to claim 1, characterized in that, The method further includes: For each of the target materials, in response to completion of carrying the target material from the corresponding target trolley and receiving a message that an empty container is placed at the target workstation corresponding to the target material, controlling the third robot to carry the empty container to the target trolley corresponding to the target material; In response to completion of carrying the empty container, controlling the first robot to tow the plurality of delivery trolleys to move to a trolley temporary storage area; In response to the first robot moving to the trolley temporary storage area, controlling a fourth robot to carry the empty container to the trolley temporary storage area.

3. The method according to claim 1, characterized in that, Initially, the plurality of delivery trolleys are located in the trolley temporary storage area; The controlling the first robot to establish a connection between its automatic coupling mechanism and the first traction mechanism of the first delivery trolley among the plurality of delivery trolleys and towing the plurality of delivery trolleys to move to each of the to-be-dispatched workstations includes: Controlling the first robot to move to the trolley temporary storage area; Controlling the first robot to establish a connection between its automatic coupling mechanism and the first traction mechanism of the first delivery trolley among the plurality of delivery trolleys; Controlling the first robot to tow the plurality of delivery trolleys to move to each of the to-be-dispatched workstations in sequence.

4. The method according to claim 3, characterized in that, After the step of, for each of the target materials, controlling the third robot to carry the target material from the corresponding target trolley to the corresponding target workstation, the method further includes: Controlling the first robot to move to the trolley temporary storage area; Control the first robot to disconnect the connection between its automatic coupling mechanism and the first traction mechanism of the first distribution trolley among the multiple distribution trolleys.

5. The method according to claim 1, wherein The second robot includes a first sensor; The control to move the target material from the to-be-dispatched station to the corresponding target trolley by the second robot includes: Determine a first distance between the target trolley corresponding to the target material and the first robot according to the sequence number of the target trolley corresponding to the target material. Determine the position of the target trolley corresponding to the target material as a first candidate position when the first robot pulls multiple distribution trolleys to move to the to-be-dispatched station according to the position of the to-be-dispatched station and the first distance. Control the second robot to move the target material from the to-be-dispatched station to the first candidate position. Determine the position of the central area of the target trolley corresponding to the target material as a first target position when the first robot pulls multiple distribution trolleys to move to the to-be-dispatched station according to the image scanned by the first sensor. Control the second robot to move from the first candidate position to the first target position. Control the second robot to load the target material onto the target trolley corresponding to the target material. The third robot includes a second sensor; The control to move the target material from the corresponding target trolley to the corresponding target station by the third robot includes: Determine the position of the target trolley corresponding to the target material as a second candidate position when the first robot pulls multiple distribution trolleys to move to the target station according to the position of the target station corresponding to the target material and the first distance. Control the third robot to move to the second candidate position. Determine the position of the central area of the target trolley corresponding to the target material as a second target position when the first robot pulls multiple distribution trolleys to move to the target station according to the image scanned by the second sensor. Control the third robot to move from the second candidate position to the second target position. Control the third robot to move the target material from the target trolley located at the second target position to the corresponding target station.

6. The method according to claim 5, wherein The first sensor is a first laser sensor, and the second sensor is a second laser sensor; the second robot further includes a first fork-taking mechanism; The control to move the target material from the to-be-dispatched station to the first candidate position by the second robot includes: Control the second robot to fork the target material stored at the to-be-dispatched station through the first fork-taking mechanism. Control the second robot to move the forked target material to the first candidate position. The control to load the target material onto the target trolley corresponding to the target material by the second robot includes: Control the second robot to load the forked target material onto the target trolley corresponding to the target material. The third robot further includes a second fork-taking mechanism; Controlling the third robot to transport the target material from the target trolley located at the second target position to the corresponding target work station includes: Controlling the third robot to pick up the target material loaded on the target trolley located at the second target position through the second picking mechanism; Controlling the third robot to transport the picked-up target material to the target work station.

7. The method according to claim 1, characterized in that, Determining the target trolley corresponding to the target material from each candidate trolley includes: Respectively determining the sequence numbers of each candidate trolley as candidate sequence numbers; Determining a target sequence number from the candidate sequence numbers according to the second distance between the to-be-dispatched work station and the target work station corresponding to the target material, where the target sequence number is positively correlated with the second distance; Determining, from the multiple distribution trolleys, the distribution trolley with the sequence number being the target sequence number as the target trolley corresponding to the target material.

8. A material distribution device, characterized in that, The device includes: A target material determination module, configured to determine at least one target material indicated by the distribution task instruction and the target work station corresponding to each target material in response to the distribution task instruction; A to-be-dispatched work station determination module, configured to determine the to-be-dispatched work station storing the target material for each target material; A connection module, configured to control the first robot to establish a connection between its own automatic coupling mechanism and the first traction mechanism of the first distribution trolley among the multiple distribution trolleys, and traction the multiple distribution trolleys to move to each to-be-dispatched work station in sequence; wherein each distribution trolley includes the first traction mechanism and the second traction mechanism; the first traction mechanism of the nth distribution trolley is connected to the second traction mechanism of the (n - 1)th distribution trolley, and the second traction mechanism of the nth distribution trolley is connected to the first traction mechanism of the (n + 1)th distribution trolley, and n is an integer greater than 1; A target trolley determination module, configured to determine the target trolley corresponding to the target material from each candidate trolley for each target material; wherein the candidate trolley is a distribution trolley among the multiple distribution trolleys that is not loaded with materials and has not been assigned to load materials; A first handling module, configured to control the second robot to transport the target material from the to-be-dispatched work station to the corresponding target trolley for each target material; A first movement module, configured to, in response to the completion of the transportation of the target material from the to-be-dispatched work station, control the first robot to traction the multiple distribution trolleys to move to the target work station corresponding to the target material for each target material; A second handling module, configured to control the third robot to transport the target material from the corresponding target trolley to the corresponding target work station for each target material.

9. The device according to claim 8, characterized in that, The device further includes: An empty container handling module, configured to, in response to the completion of the transportation of the target material from the corresponding target trolley and receiving the message that an empty container is placed at the target work station corresponding to the target material, control the third robot to transport the empty container to the target trolley corresponding to the target material for each target material; The second moving module is configured to, in response to the completion of the handling of the empty containers, control the first robot to tow the plurality of distribution trolleys to the trolley temporary storage area; The third handling module is configured to, in response to the first robot moving to the trolley temporary storage area, control the fourth robot to handle the empty containers to the trolley temporary storage area; and / or, Initially, the plurality of distribution trolleys are located in the trolley temporary storage area; The control for the first robot to establish a connection between its own automatic coupling mechanism and the first towing mechanism of the first distribution trolley among the plurality of distribution trolleys and tow the plurality of distribution trolleys to move to each of the to-be-dispatched workstations in sequence includes: Controlling the first robot to move to the trolley temporary storage area; Controlling the first robot to establish a connection between its own automatic coupling mechanism and the first towing mechanism of the first distribution trolley among the plurality of distribution trolleys; Controlling the first robot to tow the plurality of distribution trolleys to move to each of the to-be-dispatched workstations in sequence; and / or, After the step of controlling the third robot to handle the target material from the corresponding target trolley to the corresponding target workstation for each of the target materials, the method further includes: Controlling the first robot to move to the trolley temporary storage area; Controlling the first robot to disconnect the connection between its own automatic coupling mechanism and the first towing mechanism of the first distribution trolley among the plurality of distribution trolleys; and / or, The second robot includes a first sensor; The control for the second robot to handle the target material from the to-be-dispatched workstation to the corresponding target trolley includes: Determining a first distance between the target trolley corresponding to the target material and the first robot according to the sequence number of the target trolley corresponding to the target material; Determining the position of the target trolley corresponding to the target material as a first candidate position according to the position of the to-be-dispatched workstation and the first distance when the first robot tows the plurality of distribution trolleys to move to the to-be-dispatched workstation; Controlling the second robot to handle the target material from the to-be-dispatched workstation to the first candidate position; Determining the position where the central area of the target trolley corresponding to the target material is located as a first target position according to the image scanned by the first sensor when the first robot tows the plurality of distribution trolleys to move to the to-be-dispatched workstation; Controlling the second robot to move from the first candidate position to the first target position; Controlling the second robot to load the target material onto the target trolley corresponding to the target material; The third robot includes a second sensor; The control for the third robot to handle the target material from the corresponding target trolley to the corresponding target workstation includes: Determining the position of the target trolley corresponding to the target material as a second candidate position according to the position of the target workstation corresponding to the target material and the first distance when the first robot tows the plurality of distribution trolleys to move to the target workstation; Controlling the third robot to move to the second candidate position; Based on the image scanned by the second sensor, determine the position of the central area of the target trolley corresponding to the target material when the first robot pulls multiple delivery trolleys to move to the target station, and use it as the second target position; Control the third robot to move from the second candidate position to the second target position; Control the third robot to carry the target material from the target trolley located at the second target position to the corresponding target station; And / or, The first sensor is a first laser sensor, and the second sensor is a second laser sensor; the second robot further includes a first picking mechanism; The control to make the second robot carry the target material from the to-be-dispatched station to the first candidate position includes: Control the second robot to pick up the target material stored at the to-be-dispatched station through the first picking mechanism; Control the second robot to carry the picked-up target material to the first candidate position; The control to make the second robot load the target material onto the target trolley corresponding to the target material includes: Control the second robot to load the picked-up target material onto the target trolley corresponding to the target material; The third robot further includes a second picking mechanism; The control to make the third robot carry the target material from the target trolley located at the second target position to the corresponding target station includes: Control the third robot to pick up the target material loaded on the target trolley located at the second target position through the second picking mechanism; Control the third robot to carry the picked-up target material to the target station; And / or, The determination of the target trolley corresponding to the target material from each candidate trolley includes: Respectively determine the sequence numbers of each candidate trolley as candidate sequence numbers; Based on the second distance between the to-be-dispatched station and the target station corresponding to the target material, determine the target sequence number among the candidate sequence numbers, where the target sequence number is positively correlated with the second distance; Among the multiple delivery trolleys, determine the delivery trolley with the sequence number being the target sequence number as the target trolley corresponding to the target material.

10. An electronic device, characterized in that, Includes: A memory for storing a computer program; A processor, when executing the program stored on the memory, implements the method according to any one of claims 1-7.

11. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, and when the computer program is executed by the processor, it implements the method according to any one of claims 1-7.

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