Material box carrying system and method

Abstract

The embodiment of the invention provides a workbin carrying system and method, and relates to the technical field of robots, the system comprises a dispatching device, a carrying robot, a workbin robot and a connection multi-layer goods shelf, the dispatching device dispatches the carrying robot to carry the connection multi-layer goods shelf to a warehousing connection point; under the condition that the dispatching equipment triggers a box placing task, a target bin for placing a material box is searched according to the bin structure connected with the multi-layer goods shelf, the target bin is a first target empty bin searched according to a box placing column direction searching rule and a box placing row direction searching rule in sequence, and the target empty bin is a second target empty bin searched according to a box placing column direction searching rule and a box placing row direction searching rule; the box placing column direction searching rule is that searching is carried out from the middle column to the two sides in sequence, and the box placing row direction searching rule is that searching is carried out from the lowest column to the upper column in sequence after each column is determined; and the dispatching equipment dispatches the work bin robot to place the work bin at the target bin position. According to the embodiment of the invention, the unbalance loading of the goods shelf is reduced.

Description

Technical Field

[0001] The present application relates to the field of robot control technology, and in particular to a material box handling system and method. Background Art

[0002] Material production lines often utilize bin robots docked with multi-layer racks to retrieve and place bins, enabling material handling between the production line and the racks. In related technologies, bin robots docking with multi-layer racks typically perform this process randomly, or from left to right or right to left. These methods can cause the multi-layer racks to lose their center of gravity, leading to uneven loading. This can easily cause the racks to topple over when subsequently handled by handling robots, potentially damaging the materials, the racks, and the handling robots. Summary of the Invention

[0003] The purpose of the embodiments of the present application is to provide a material box handling system and method to reduce the occurrence of unbalanced loading on shelves.

[0004] The specific technical solutions are as follows:

[0005] In a first aspect, an embodiment of the present application provides a container handling system, including a dispatching device, a handling robot, a container robot, and a docking multi-layer shelf:

[0006] The dispatching equipment dispatches the handling robot to transport the multi-layer shelves to the storage docking point;

[0007] When a box placement task is triggered, the dispatching device searches for a target location for the box based on the location structure of the connected multi-layer shelves. The target location is the first empty location found in the order of the column and row search rules. The column search rule is to search sequentially from the middle column to both sides, and the row search rule is to search sequentially from the bottom row upward after each column is determined.

[0008] The dispatching equipment dispatches the material box robot to place the material box at the target location.

[0009] In one embodiment of the present application,

[0010] When a box picking task is triggered, the scheduling device searches for a target box to be picked up placed on the storage location according to the storage location structure of the connected multi-layer shelf. The target box to be picked up is the first box to be picked up that is found in sequence according to the box picking column direction search rule and the box picking row direction search rule. The box picking column direction search rule is: start from the middle column and search in sequence toward both sides. The box picking row direction search rule is: after each column is determined, search in sequence from the top row downwards.

[0011] The dispatching device dispatches the material box robot to take out the target material box to be taken.

[0012] In one embodiment of the present application,

[0013] The target location is the first target empty location found in the order of searching for the column direction and searching for the row direction, specifically including:

[0014] Search the n±i columns of the docking multi-layer shelf for a target empty location according to the search rule starting from the middle column and moving toward the two sides, where the nth column is the middle column of the docking multi-layer shelf, and i is a natural number with an initial value of 0;

[0015] If not, i is increased by 1, and the process returns to step 1: Search the n±i columns of the connected multi-layer shelf in the order of the box placement columns starting from the middle column to both sides to see if there is a target empty position, until the n±i columns of the connected multi-layer shelf have a target empty position or all columns of the connected multi-layer shelf do not have a target empty position;

[0016] The step of searching whether there is a target empty storage location in the n±i columns of the docking multi-layer shelf specifically includes:

[0017] Search the jth row of the n±i columns of the docking multi-layer shelf according to the bottom-to-top direction of the container placement row search rule to see if there is a target empty storage location, where the jth row is the bottom row of the n±i columns, and j is a natural number with an initial value of 1;

[0018] If it does not exist, j increases by 1 and returns to the execution step: search in the order of the box placement row search rules from bottom to top to see whether there is a target empty storage location in the j-th row of the n±i-th column of the connected multi-layer shelf, until there is a target empty storage location in the j-th row of the n±i-th column or there is no target empty storage location in any row of the n±i-th column.

[0019] In one embodiment of the present application, the target to-be-collected bin is the first to-be-collected bin found in sequence according to the bin column search rule and the bin row search rule, specifically including:

[0020] According to the search rule of the box-picking column direction starting from the middle column and moving toward both sides, it is sequentially searched whether there is a box to be picked up in the n±i columns of the docking multi-layer shelf, where the nth column is the middle column of the docking multi-layer shelf, i is a natural number, and the initial value is 0;

[0021] If not, i is increased by 1, and the process returns to the following step: searching for boxes to be picked up in the n±i columns of the connected multi-layer shelf in the order of box picking columns starting from the middle column to both sides, until there are boxes to be picked up in the n±i columns of the connected multi-layer shelf or there are no boxes to be picked up in all columns of the connected multi-layer shelf;

[0022] The step of searching whether there is a box to be picked up in the n±i columns of the docking multi-layer shelf specifically includes:

[0023] According to the top-down box-picking row search rule, search for a box to be picked up in the jth row of the n±i columns of the docking multi-layer shelf, where the jth row is the top row of the n±i columns, j is a natural number, and its initial value is the row value of the docking multi-layer shelf;

[0024] If it does not exist, j is reduced by 1, and the execution step is returned: according to the search rules from top to bottom, search in order whether there is a box to be picked up in the jth row of the n±ith column of the connected multi-layer shelf, until there is a box to be picked up in the jth row of the n±ith column or there is no box to be picked up in each row of the n±ith column.

[0025] In one embodiment of the present application,

[0026] The system further comprises: a management device;

[0027] The management device is configured to obtain a current first working status of the material production line and, based on the first working status, issue a work instruction corresponding to the first working status to the scheduling device, wherein the first working status includes at least one of a production line start state, a production line pause state, a production line switch state, and a production line end state;

[0028] The scheduling device triggers the task corresponding to the work instruction and schedules the material box robot to execute it, wherein the task corresponding to the work instruction includes a box picking task and / or a box placing task.

[0029] In one embodiment of the present application, the management device is specifically configured to, upon receiving a start-of-shift signal, determine that the current first working state of the material production line is a production line start-of-shift state, and issue a start-of-shift instruction to the scheduling device; and, when the material delivery connection point produces a full material box, issue a warehousing task to the scheduling device;

[0030] The scheduling device is specifically used to trigger the box picking task corresponding to the shift start instruction and schedule the material box robot to execute it; when the material box robot is on standby at the material conveying connection point, the box picking and placing task is triggered and the material box robot is scheduled to execute it;

[0031] The material box robot is used to, when arriving at the pick-up and placement position of the docking multi-layer shelf, take out the empty material box to be taken from the docking multi-layer shelf, go to the material conveying docking point of the material production line to place the empty material box to be taken, and stand by at the material conveying docking point; perform the pick-up and placement task, take out the full material box from the material conveying docking point, go to the pick-up and placement position of the docking multi-layer shelf, and place the full material box at the target empty position of the docking multi-layer shelf;

[0032] or,

[0033] The management device is specifically configured to, when a material delivery connection point of the material production line fails to produce a full material box for more than a first preset time period, determine that the first working state is a production line pause state and issue a pause instruction to the scheduling device; and when a full material box is produced at the material delivery connection point, issue a warehousing task to the scheduling device;

[0034] The scheduling device is specifically configured to obtain the current power level of the material box robot according to the pause instruction; if the current power level of the material box robot is lower than a preset power threshold, determine the material box robot as a low-power robot, trigger a charging task, and schedule the low-power robot to execute; if the current power level of the material box robot is not lower than the preset power threshold, determine the material box robot as a high-power robot, schedule the high-power robot to stand by at a material delivery connection point of the material production line; trigger a pick-and-place task, and schedule the high-power robot to execute;

[0035] The low-battery robot is configured to, while currently carrying a material box, reach the pick-up and placement position of the docking multi-layer shelf, place all the material boxes currently carried at the target empty position of the docking multi-layer shelf, and proceed to the charging area for charging;

[0036] The high-power robot is used to perform the pick-and-place task, taking out a full box from the material delivery docking point, going to the pick-and-place position of the docking multi-layer shelf, and placing the full box at the target empty position of the docking multi-layer shelf;

[0037] Alternatively, the system further comprises a calibration camera;

[0038] The management device is specifically configured to, upon receiving a shift-ending signal, determine that the first working state is a production line shift-ending state, and issue a shift-ending instruction to the scheduling device;

[0039] The verification camera is used to scan the full material boxes currently produced by the material delivery connection point of the material production line;

[0040] The scheduling device is specifically configured to trigger a box placement task and schedule the material box robot to execute the task when receiving the shift end instruction and the material delivery connection point has not produced a full material box for more than a second preset time period and the material box robot is currently carrying a material box;

[0041] The material box robot is used to perform the box placement task, arrive at the pick-up and placement position of the docking multi-layer shelf, and place the material box currently carried at the target empty position of the docking multi-layer shelf;

[0042] The transport robot is used to transport the docking multi-layer shelves to the warehouse;

[0043] or,

[0044] The verification camera is used to scan the full material box currently produced by the material delivery connection point of the material production line to obtain the first material number of the current full material box;

[0045] The management device is specifically configured to determine that the first working state is a production line switching state when the first material number is inconsistent with the second material number of the last full box produced, and issue a switching instruction to the scheduling device;

[0046] The scheduling device is specifically configured to trigger, when the material box currently carried by the material box robot is not empty and / or there is a non-empty box on the docking multi-layer shelf, a box placement task corresponding to the second material number and a box retrieval task corresponding to the docking multi-layer shelf of the first material number, and schedule the material box robot to execute the tasks;

[0047] The material box robot is used to place the material box it is currently carrying on the target empty position of the multi-layer shelf corresponding to the second material number, and to take out the empty material box to be taken from the multi-layer shelf corresponding to the first material number, and carry the empty material box to be taken to the material conveying docking point of the material production line.

[0048] In a second aspect, an embodiment of the present application provides a container handling method, which is applied to a scheduling device of a container handling system, comprising:

[0049] Dispatch the handling robot to transport the multi-layer shelves to the storage docking point;

[0050] When a box placement task is triggered, the target location for placing the box is searched based on the location structure of the connected multi-layer shelves. The target location is the first empty location found in the order of the column and row search rules. The column search rule is to search from the middle column to both sides, and the row search rule is to search from the bottom row upwards after each column is determined.

[0051] The dispatching container robot places the container in the target location.

[0052] In one embodiment of the present application, the method further includes:

[0053] When a box picking task is triggered, the target box to be picked up placed on the storage location is searched according to the storage location structure of the connected multi-layer shelf, wherein the target box to be picked up is the first box to be picked up found in the order of searching rules for box picking columns and searching rules for box picking rows. The searching rule for box picking columns is: starting from the middle column and searching toward both sides in sequence, and the searching rule for box picking rows is: after each column is determined, searching from the top row downwards in sequence;

[0054] The material box robot is dispatched to take out the target material box to be taken.

[0055] In one embodiment of the present application, when a box placement task is triggered, searching for a target location for placing the box according to the location structure of the connected multi-layer shelves includes:

[0056] Search the n±i columns of the docking multi-layer shelf for a target empty location according to the search rule starting from the middle column and moving toward the two sides, where the nth column is the middle column of the docking multi-layer shelf, and i is a natural number with an initial value of 0;

[0057] If not, i is increased by 1, and the process returns to step 1: Search the n±i columns of the connected multi-layer shelf in the order of the box placement columns starting from the middle column to both sides to see if there is a target empty position, until the n±i columns of the connected multi-layer shelf have a target empty position or all columns of the connected multi-layer shelf do not have a target empty position;

[0058] The step of searching whether there is a target empty storage location in the n±i columns of the docking multi-layer shelf specifically includes:

[0059] Search the jth row of the n±i columns of the docking multi-layer shelf according to the bottom-to-top direction of the container placement row search rule to see if there is a target empty storage location, where the jth row is the bottom row of the n±i columns, and j is a natural number with an initial value of 1;

[0060] If it does not exist, j increases by 1 and returns to the execution step: search in the order of the box placement row search rules from bottom to top to see whether there is a target empty storage location in the j-th row of the n±i-th column of the connected multi-layer shelf, until there is a target empty storage location in the j-th row of the n±i-th column or there is no target empty storage location in any row of the n±i-th column.

[0061] In one embodiment of the present application, when a box retrieval task is triggered, searching for a target box to be retrieved placed in a storage location according to the storage location structure of the connected multi-layer shelf includes:

[0062] According to the search rule of the box-picking column direction starting from the middle column and moving toward both sides, it is sequentially searched whether there is a box to be picked up in the n±i columns of the docking multi-layer shelf, where the nth column is the middle column of the docking multi-layer shelf, i is a natural number, and the initial value is 0;

[0063] If not, i is increased by 1, and the process returns to the following step: searching for boxes to be picked up in the n±i columns of the connected multi-layer shelf in the order of box picking columns starting from the middle column to both sides, until there are boxes to be picked up in the n±i columns of the connected multi-layer shelf or there are no boxes to be picked up in all columns of the connected multi-layer shelf;

[0064] The step of searching whether there is a box to be picked up in the n±i columns of the docking multi-layer shelf specifically includes:

[0065] According to the top-down box-picking row search rule, search for a box to be picked up in the jth row of the n±i columns of the docking multi-layer shelf, where the jth row is the top row of the n±i columns, j is a natural number, and its initial value is the row value of the docking multi-layer shelf;

[0066] If it does not exist, j is reduced by 1, and the execution step is returned: according to the search rules from top to bottom, search in order whether there is a box to be picked up in the jth row of the n±ith column of the connected multi-layer shelf, until there is a box to be picked up in the jth row of the n±ith column or there is no box to be picked up in each row of the n±ith column.

[0067] In one embodiment of the present application, the method further includes:

[0068] Trigger the task corresponding to the work instruction and schedule the material box robot to execute it, wherein the task corresponding to the work instruction includes a box picking task and / or a box placing task, and the work instruction is for the management device of the material box handling system to obtain the current first working status of the material production line, and based on the first working status, the work instruction corresponding to the first working status is issued to the scheduling device, and the first working status includes at least one of the production line start status, production line pause status, production line switching status, and production line end status.

[0069] Beneficial effects of the embodiments of the present application:

[0070] The material box handling system and method provided by the embodiment of the present application, when a box placement task is triggered, the scheduling device sequentially searches for the target empty storage location in the order of the box placement columns starting from the middle column to the two sides, and the box placement rows starting from the bottom row upwards, and places the currently transported material box in the target empty storage location; when a box retrieval task is triggered, the scheduling device sequentially searches for the material box to be retrieved in the order of the box retrieval columns starting from the middle column to the two sides, and the box retrieval rows starting from the top row downwards, and retrieves the material box to be retrieved from the docking multi-layer shelf. As a result, the center of gravity of the docking multi-layer shelf is always close to the middle and the bottom during the process of retrieval and placement, minimizing the occurrence of overloading problems on the docking multi-layer shelf. The stability of the docking multi-layer shelf is improved, and the possibility of the docking multi-layer shelf tipping over during the subsequent handling robot handling the docking multi-layer shelf is reduced, thereby reducing damage to the goods, the docking multi-layer shelf, and the robot.

[0071] Of course, it is not necessary to achieve all the advantages described above at the same time when implementing any product or method of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0073] Figure 1 A schematic diagram of the first structure of the material box handling system provided in an embodiment of the present application;

[0074] Figure 2 A second structural diagram of the material box handling system provided in an embodiment of the present application;

[0075] Figure 3 A third structural diagram of the material box handling system provided in an embodiment of the present application;

[0076] Figure 4 A fourth structural schematic diagram of the material box handling system provided in an embodiment of the present application;

[0077] Figure 5-1 A front view of a shelf provided in an embodiment of the present application;

[0078] Figure 5-2 A top view of a shelf provided in an embodiment of the present application;

[0079] Figure 6-1 A front view of a material box robot provided in an embodiment of the present application;

[0080] Figure 6-2 A top view of a material box robot provided in an embodiment of the present application;

[0081] Figure 7-1 A front view of a transport robot provided in an embodiment of the present application;

[0082] Figure 7-2 A top view of a transport robot provided in an embodiment of the present application;

[0083] Figure 8 A schematic diagram of a first flow chart of a material box handling method provided in an embodiment of the present application;

[0084] Figure 9 This is a second flow chart of the material box handling method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0085] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field based on this application are within the scope of protection of this application.

[0086] First, the professional terms that may appear in the embodiments of this application are explained:

[0087] Carton robot: A logistics robot used to transport cartons. It can be a CTU (Carton Transfer Unit) or an STU (Sorting Transfer Unit).

[0088] Dispatching equipment: A centralized system used to carry the dispatching subsystem (RCS, Robotic Control System) to perform task allocation, vehicle dispatching, and path planning for infield logistics robots;

[0089] Production line start-up: When the production line equipment is turned on and the production line and workers begin production, it is called the start of the shift;

[0090] Production line switching: refers to the production line currently producing material A. Switching from producing material A to producing material B is called switching;

[0091] Production line pause for a break: The production line equipment is not shut down, but the production line and workers temporarily suspend production, such as during a lunch break;

[0092] Production line shift closing: The production line equipment is about to shut down, the production line and workers have finished production, and the production line no longer produces materials.

[0093] Backpack: The material box robot can store multiple material boxes at the same time. The place where the material boxes are stored is called the backpack;

[0094] Pre-dispatch: Call the robot to the target location in advance to wait for the task to be executed. At this time, the actual task has not yet been issued, which serves as an advance call for the car.

[0095] Inbound docking point: refers to the point where the handling robot transports and connects multi-layer shelves from the warehouse area to the inbound docking point near the production line;

[0096] The conveyor line connection point is the point where the box robot takes empty boxes from the connected multi-layer shelves and waits near the upper conveyor line of the production line. This allows the box robot to quickly perform the task of picking up and placing boxes into the warehouse.

[0097] Standby: The state of the container robot when it is waiting for a task is called standby;

[0098] Mixed line production: The production line can produce both material A (product) and material B (product). Producing material A and material B at the same time on the production line is called mixed line production.

[0099] In order to reduce the occurrence of unbalanced loading on shelves, a first aspect of an embodiment of the present application provides a container handling system, such as Figure 1 As shown, Figure 1 This is a schematic diagram of the first structure of the container handling system according to an embodiment of the present application, including: a dispatching device 101, a container robot 102, a docking multi-layer shelf 103, and a handling robot 104:

[0100] The dispatching device 101 dispatches the transport robot 104 to transport the docking multi-layer shelf 103 to the storage docking point;

[0101] When a container placement task is triggered, the scheduling device 101 searches for a target location for the container based on the location structure of the connected multi-layer shelf 103. The target location is the first empty location found in the order of the column-wise search rule and the row-wise search rule. The column-wise search rule is to search sequentially from the middle column to both sides, and the row-wise search rule is to search sequentially from the bottom row upward after each column is determined.

[0102] The dispatching device 101 dispatches the container robot 102 to place the container at the target location.

[0103] The handling robot 104 is used to transport shelves. When the production line starts or new empty boxes are needed to connect the multi-layer shelves, the handling robot 104 transports the empty connecting multi-layer shelves 103 from the storage location of the warehouse to the warehousing docking point, and waits for the material box robot 102 to place the material box on the empty location of the connecting multi-layer shelves 103. After the connecting multi-layer shelves 103 are full or the production line is closed, the handling robot 104 transports the connecting multi-layer shelves 103 from the warehousing docking point back to the warehouse.

[0104] When the box placement task is triggered, the scheduling device 101 searches for the target location for placing the box according to the location structure of the connected multi-layer shelf 103, and schedules the box robot 102 to place the currently transported box at the target location.

[0105] In one embodiment of the present application, the target location is the first target empty location found in the order of searching for the column direction and searching for the row direction, specifically including:

[0106] According to the search rule starting from the middle column and moving toward the two sides of the container placement column direction, a search is performed to determine whether there is a target empty storage location in the n±i columns of the docking multi-layer shelf 103, where the nth column is the middle column of the docking multi-layer shelf 103, and i is a natural number with an initial value of 0;

[0107] If it does not exist, i increases by 1 and returns to the execution step: search in order from the middle column to the two sides in the direction of the box placement column to see whether there is a target empty position in the n±i columns of the connected multi-layer shelf 103, until there is a target empty position in the n±i columns of the connected multi-layer shelf or there is no target empty position in all columns of the connected multi-layer shelf.

[0108] When the box placement task is triggered, the scheduling device 101 obtains the number of columns c and rows m of the currently connected multi-layer shelf 103. The connected multi-layer shelf has a total of m×c spaces where boxes can be placed.

[0109] Get whether there is a vacancy in the middle column (i.e., when i is the initial value). Specifically, the calculation formula for the middle column can be:

[0110]

[0111] The number of columns that can hold boxes is:

[0112]

[0113] Wherein, c is the total number of rows of the connected multi-layer shelves 103, and c≥1. If the calculated n is a decimal, it is rounded up; if the calculated n2 is a decimal, it is rounded down.

[0114] If there is no vacant space in the middle column, determine whether there is a vacant space in the n+1 column and the n-1 column. If there is still no vacant space, continue to determine whether there is a vacant space in the n+2 column and the n-2 column, until the determination of the n+n2 column and the n-n2 column is completed. The n+n2 column and the n-n2 column are the outermost columns of the docking multi-layer shelf 103, and it is possible to determine whether there is a vacant space in the docking multi-layer shelf 103 from the middle to both sides and from the inside to the outside, so that the material box can be placed on the docking multi-layer shelf 103 from the middle to both sides.

[0115] For example, the initial value of i can be 0, that is, the middle column is numbered 0, and the columns of the connected multi-layer shelf 103 from the middle to the left and right sides can be numbered 0, ±1, ±2, .... When searching for a target empty storage location, first check whether there is an empty storage location in the middle column numbered 0. If not, check whether there is an empty storage location in the columns numbered ±1 adjacent to the middle column. If not, check whether there is an empty storage location in the columns numbered ±2 adjacent to the two columns numbered ±1 and farther from the middle column. This process continues until a target empty storage location is found in a column, or until the two outermost columns of the connected multi-layer shelf 103 are searched and no empty storage location is found.

[0116] The initial value of i only provides a starting point in the code loop, and is used to provide a search basis for the middle column and other two side columns in sequence. It has no actual numerical meaning. Similar to the initial value of i being 0, the initial value of i can also be 1, that is, the middle column is numbered 1, and the two side columns adjacent to the middle column are numbered 0 and 2 respectively; it can also be other values that can represent a code loop.

[0117] The step of searching whether there is a target empty storage location in the n±i columns of the docking multi-layer shelf specifically includes:

[0118] Searching for a target empty location in the jth row of the n±ith column of the docking multi-layer shelf 103 according to the bottom-to-top placement row search rule, wherein the jth row is the bottom row of the n±ith column, and j is a natural number with an initial value of 1;

[0119] If it does not exist, j increases by 1 and returns to the execution step: search in the order of the box placement row search rules from bottom to top to see whether there is a target empty storage location in the j-th row of the n±i-th column of the connected multi-layer shelf 103, until there is a target empty storage location in the j-th row of the n±i-th column or there is no target empty storage location in any row of the n±i-th column.

[0120] If there is a vacant space in the middle column, the row where the vacant space is located is determined in order from top to bottom among the rows in the middle column. If there are vacant spaces in multiple rows, the material box can be placed in the lowest vacant space first, so that the material box can be placed from bottom to top.

[0121] The formula for placing the box is:

[0122] r=1,2,3,…,m

[0123] Here, m is the total number of rows of connected multi-layer shelves 103, and r is the total number of rows from which boxes can be retrieved.

[0124] Specifically, the initial value of j only represents the bottom row of the connected multi-layer shelf 103, providing a basis for the code loop to search sequentially from bottom to top. When the bottom row is numbered 1, the second-to-last row is numbered 2, and so on, the top row is numbered m, then the initial value of j is 1, and the code loop searches for vacancies in rows 1, 2, 3, ..., m. When the bottom row is numbered 0, the initial value of j is 0, the second-to-last row is numbered 1, and so on, the top row is numbered m, then the initial value of j is 1, and the code loop searches for vacancies in rows 0, 1, 2, ..., m. The initial value of j can be any number that can represent the bottom row and has no actual numerical meaning.

[0125] In an example, during the loop search process, you can first check whether there are empty positions in the middle column. If not, continue to search whether there are empty positions in the adjacent two side columns. If there are empty positions in the middle column, then search each row of the middle column from bottom to top to see whether there are empty positions, that is, first search according to the column order and then according to the row order to see whether there are empty positions; you can also search only according to the column order or only according to the row order to see whether there are empty positions; you can also first judge according to the row order and then search according to the column order to see whether there are empty positions.

[0126] Specifically, the material box robot 102 can use a backpack to carry multiple full material boxes at one time, and place the multiple full boxes in the docking multi-layer shelf 103 in sequence.

[0127] In one embodiment of the present application, when the box picking task is triggered, the scheduling device 101 searches for a target box to be picked up placed on the storage location according to the storage location structure of the docking multi-layer shelf 103. The target box to be picked up is the first box to be picked up that is found in sequence according to the box picking column direction search rule and the box picking row direction search rule. The box picking column direction search rule is: start from the middle column and search in sequence toward both sides. The box picking row direction search rule is: after each column is determined, search in sequence from the top row downwards.

[0128] The scheduling device 101 schedules the material box robot 102 to take out the target material box to be taken.

[0129] The target to-be-picked box is the first to-be-picked box found in sequence according to the box-picking column direction search rule and the box-picking row direction search rule, specifically including:

[0130] According to the rule of searching for boxes in the direction of the boxes to be picked up starting from the middle column and moving toward both sides, it is sequentially searched whether there is a box to be picked up in the n±i columns of the docking multi-layer shelf 103, wherein the nth column is the middle column of the docking multi-layer shelf 103, i is a natural number, and its initial value is 0;

[0131] If not, i is increased by 1, and the process returns to the following step: searching for boxes to be picked up in the n±i columns of the docking multi-layer shelf 103 in the order of box picking columns starting from the middle column to both sides, until boxes to be picked up exist in the n±i columns of the docking multi-layer shelf 103 or no boxes to be picked up exist in any columns of the docking multi-layer shelf 103;

[0132] The step of searching whether there is a box to be picked up in the n±i columns of the docking multi-layer shelf specifically includes:

[0133] According to the top-down box-picking row search rule, a search is performed to determine whether there is a box to be picked up in the jth row of the n±ith column of the docking multi-layer shelf 103, wherein the jth row is the top row of the n±ith column, and j is a natural number whose initial value is the row value of the docking multi-layer shelf;

[0134] If it does not exist, j is reduced by 1, and the execution step is returned: according to the search rules from top to bottom, search in order whether there is a box to be picked up in the jth row of the n±ith column of the connected multi-layer shelf, until there is a box to be picked up in the jth row of the n±ith column or there is no box to be picked up in each row of the n±ith column.

[0135] The logic for unloading boxes is similar to that for placing boxes, but the order of row-wise search rules is different. Boxes are unloaded from the docking multi-layer shelf 103 in the order of columns from the middle column to the sides and rows from top to bottom. In this embodiment, the initial value of i is only used to represent the middle column and can be any number such as 0 or 1. The initial value of j is only used to represent the top row and can be any row value representing the top row. For example, when the bottom row is numbered 1, the initial value of j is the number corresponding to the row value (e.g., if there are 6 rows in total, the initial value of j is 6); when the bottom row is numbered 0, the initial value of j is the number corresponding to the row value minus one (e.g., if there are 6 rows in total, the initial value of j is 5). The initial values of i and j do not have actual numerical meaning.

[0136] Specifically, the material box robot 102 can take out multiple empty material boxes at one time and place them in a backpack, and then go to the material production line to wait for the materials to be shipped out.

[0137] The material box handling system provided by the embodiment of the present application, when a box placing task is triggered, searches for the target empty storage location in sequence according to the direction of the box placing columns from the middle column to both sides, and the direction of the box placing rows from the lowest row to the top, through the scheduling device, and places the currently transported material box in the target empty storage location; when a box picking task is triggered, searches for the material box to be picked up in sequence according to the direction of the box picking columns from the middle column to both sides, and the direction of the box picking rows from the highest row to the bottom, and takes the material box to be picked up from the docking multi-layer shelf. As a result, the center of gravity of the docking multi-layer shelf is always close to the middle and the lower end during the process of picking up and placing boxes, minimizing the occurrence of overloading problems of the docking multi-layer shelf. The stability of the docking multi-layer shelf is improved, and the possibility of the docking multi-layer shelf tipping over during the subsequent handling robot handling the docking multi-layer shelf is reduced, thereby reducing damage to the goods, the docking multi-layer shelf, and the robot.

[0138] In one embodiment of the present application, Figure 2 As shown, the system further includes: a management device 105;

[0139] The management device 105 is configured to obtain a current first working state of the material production line and, based on the first working state, issue a work instruction corresponding to the first working state to the scheduling device 101, wherein the first working state includes at least one of a production line start state, a production line pause state, a production line switch state, and a production line end state;

[0140] The scheduling device 101 is used to trigger the task corresponding to the work instruction and schedule the material box robot to perform it, wherein the task corresponding to the work instruction includes a box picking task and / or a box placing task.

[0141] To adapt to different production scenarios on the production line, such as starting a shift, switching, pausing for a break, and ending a shift, the bin robot 102 needs to be in different task execution states, such as immediately executing a bin pick-up and drop-off task, pausing a task, or ending a task. Related technologies use a manual mode to determine the current production scenario and manually set the bin robot 102's task state. However, this approach is not only inefficient but also prone to problems such as manual misjudgment and delayed judgment, negatively impacting material handling on the production line.

[0142] In the embodiment of the present application, the management device 105 is used to carry the management system, determine the current working status of the material production line, and determine the logic and actions that the material box robot 102 should currently execute based on the current working status, and issue work instructions to the scheduling device 101 so that the scheduling device 101 schedules the material box robot 102 to perform the tasks corresponding to the work instructions. Specifically, the first working state is the production line start state, the production line pause state, the production line switch state, and the production line end state, and the corresponding work instructions include start-up instructions, start-up instructions, pause instructions, switch instructions, and end-of-shift instructions. The tasks that the material box robot 102 needs to perform include box picking tasks, box placing tasks, parallel box picking and placing tasks, and charging tasks.

[0143] In the material bin handling system provided in the embodiment of the present application, the management device sends work instructions to the scheduling device according to the current working status of the material production line, so that the scheduling device schedules the material bin robot to perform the tasks corresponding to the work instructions, thereby enabling the material bin robot to perform different tasks according to different working logics in different production scenarios, further improving the intelligence of the handling system and achieving precise coordination with the working status of the material production line.

[0144] In one embodiment of the present application,

[0145] The management device 105 is specifically configured to, upon receiving a start-of-shift signal, determine that the current first working state of the material production line is a production line start-of-shift state, and issue a start-of-shift instruction to the scheduling device 101; and, when the material delivery connection point produces a full material box, issue a warehousing task to the scheduling device;

[0146] The scheduling device 101 is specifically used to trigger the box picking task corresponding to the shift start instruction and schedule the box robot 102 to execute it; when receiving the warehousing task, it triggers the box picking and placing task and schedules the box robot 102 to execute it;

[0147] The material box robot 102 is used to, when arriving at the pick-up and placement position of the docking multi-layer shelf, take out the empty material box to be taken from the docking multi-layer shelf, go to the material conveying docking point of the material production line to place the empty material box to be taken, and stand by at the material conveying docking point; execute the pick-up and placement task, take out the full material box from the material conveying docking point, go to the pick-up and placement position of the docking multi-layer shelf, and place the full material box at the target empty position of the docking multi-layer shelf.

[0148] The start-of-shift signal refers to a pre-scheduling signal for the start of a shift triggered by a manual operation terminal, or a material warehousing document pushed by the upper-level system of the material production line. When the management device 105 receives the start-of-shift signal, it indicates that the upper conveyor line of the production line is about to unload a full material box. At this time, the management device 105 sends a start-of-shift instruction to the scheduling device 101, so that the scheduling device 101 schedules the material box robot 102 to perform the unloading task according to the start-of-shift instruction. The material box robot 102 goes to the pick-up and placement position of the multi-layer shelf 103, and according to the above-mentioned search rules starting from the middle column to the unloading column direction on both sides, and the search order starting from the top row to the bottom of the unloading row direction, it retrieves the empty material box to be picked up from the target row of the multi-layer shelf 103, and carries the empty material box to the material conveying docking point of the material production line, that is, the offline docking point of the upper conveyor line of the production line, places the empty material box, and waits at the material conveying docking point, waiting for the material production line to produce material.

[0149] When a full box is produced at the material conveying connection point, the management device 105 sends a warehousing task to the scheduling device 101. The scheduling device 101 schedules the box robot 102 to perform the box picking and placing task, takes out the full box from the material conveying connection point, and goes to the pick-up and placement position of the docking multi-layer shelf 103. According to the above-mentioned search rules starting from the middle column to the box placement column on both sides, and the search rules starting from the bottom row to the top, the full box is placed in the empty space of the docking multi-layer shelf 103.

[0150] Specifically, the pick-up and placement position of the multi-layer shelf 103 is the pre-set position where the material box robot 102 picks and places the box.

[0151] The material box handling system provided in the embodiment of the present application has a fast production line cycle for full material boxes. In order to avoid the production line stopping due to waiting for material boxes to be handled, when a start-up signal is received, the material box robot is dispatched to take empty boxes from the docking multi-layer shelves in advance and go to the material conveying docking point to wait for the material production line to produce materials, thereby improving the docking efficiency of the material production line.

[0152] In one embodiment of the present application,

[0153] The management device 105 is specifically configured to determine that the first working state is a production line pause state when the material delivery connection point of the material production line does not produce a full material box for more than a first preset time, and issue a pause instruction to the scheduling device 101; and issue a warehousing task to the scheduling device 101 when the material delivery connection point produces a full material box;

[0154] The scheduling device 101 is specifically configured to obtain the current power level of the material box robot 102 according to the pause instruction; if the current power level of the material box robot 102 is lower than a preset power threshold, determine the material box robot 102 as a low-power robot, trigger a charging task, and schedule the low-power robot to execute; if the current power level of the material box robot 102 is not lower than the preset power threshold, determine the material box robot 102 as a high-power robot, schedule the high-power robot to stand by at a material delivery connection point of the material production line; trigger a pick-and-place task, and schedule the high-power robot to execute it;

[0155] The low-battery robot is configured to, while currently carrying a container, reach the pick-up and placement position of the docking multi-layer shelf 103, place the currently carried containers at the target empty positions of the docking multi-layer shelf 103, and proceed to the charging area for charging;

[0156] The high-power robot is used to perform the box picking and placing task, take out the full box from the material conveying docking point, go to the pick-up and placement position of the docking multi-layer shelf 103, and place the full box at the target empty position of the docking multi-layer shelf 103.

[0157] If the material delivery connection point of the material production line does not produce a full material box (no warehousing task is triggered) for more than a first preset time, the management device 105 determines that the first working state is a production line pause state. Specifically, the first preset time is pre-set and can be 10 minutes, 20 minutes, etc. At this time, the end-of-shift button on the production line manual operation terminal is not manually triggered, and the connected multi-layer shelf does not need to be returned to the warehouse and can be used again when production resumes.

[0158] The management device 105 issues a pause command to the scheduling device 101, causing the scheduling device 101 to obtain the current battery level of the material box robot 102. If the current battery level of the material box robot 102 is lower than a preset battery level threshold, the robot is determined to be a low-battery robot and is scheduled to perform a charging task. If the current battery level of the material box robot 102 is not lower than the preset battery level threshold, the robot is determined to be a high-battery robot and is scheduled to stand by at the material delivery connection point of the material production line. Specifically, the preset battery level threshold is pre-set and can be 50% battery level, 30% battery level, etc.

[0159] If the low-battery robot is currently carrying a container, it will first go to the pick-up and drop-off position of the docking multi-layer shelf 103, put the container back to the target empty position of the docking multi-layer shelf 103, and then go to the charging area to charge. If it is not currently carrying a container, it will go directly to the charging area to charge.

[0160] When the material production line resumes production (the material delivery connection point produces full boxes again), the management device 105 issues a warehousing task to the scheduling device 101, instructing the scheduling device 101 to dispatch the high-power robot to perform the box pick-up and placement task. The high-power robot performs the box pick-up and placement task, retrieves the full box from the material delivery connection point, goes to the pick-up and placement position of the connected multi-layer shelf 103, and places the full box at the target empty storage location of the connected multi-layer shelf 103.

[0161] Specifically, a plurality of material box robots 102 cooperate to carry material boxes at the material production site. When a low-power robot goes to charge, a high-power robot replaces the low-power robot to go to the material production line and wait at the material transportation connection point.

[0162] The material box handling system provided in the embodiment of the present application schedules low-power material box robots to charge during the period when the material production line is suspended, avoiding insufficient power and the inability to effectively perform subsequent tasks. At the same time, high-power material box robots are scheduled to stand by at the material delivery docking point to ensure that the handling tasks can be performed in a timely manner after production is resumed. This ensures that there are always material box robots waiting for warehousing tasks at the docking point, ensuring that the production line continues to produce, thereby improving the efficiency of production and docking. Moreover, when the production line is suspended, the docked multi-layer shelves do not need to be returned to the warehouse and can be used again during production, thereby improving the utilization rate of the docked multi-layer shelves.

[0163] In one embodiment of the present application, Figure 3 As shown, the system further includes a verification camera 106;

[0164] The management device 105 is specifically configured to, upon receiving a shift-ending signal, determine that the first working state is a production line shift-ending state, and issue a shift-ending instruction to the scheduling device 101;

[0165] The verification camera 106 is used to scan the full material boxes currently produced at the material delivery connection point of the material production line;

[0166] The scheduling device 101 is specifically configured to trigger a box placement task and schedule the box robot 102 to execute the task when receiving the shift end instruction and the material delivery connection point has not produced a full box for more than a second preset time period and the box robot 102 is currently carrying a box;

[0167] The container robot 102 is configured to perform the container placement task, arrive at the pick-up and placement position of the docking multi-layer shelf 103, and place the container currently being carried at the target empty position of the docking multi-layer shelf 103;

[0168] The transport robot 104 is used to transport the connected multi-layer shelves to the warehouse.

[0169] The shift-end signal occurs when a manual operation terminal on a production line triggers the shift-end button. Upon receiving the shift-end signal, management device 105 determines that the first working state is the production line shift-end state and issues a shift-end instruction to scheduling device 101. Verification camera 106 scans the full bins currently being produced at the material delivery connection point of the material production line to confirm whether the material delivery connection point is still producing full bins. Specifically, the material production line may have completed production, but the produced materials may still be being boxed.

[0170] If the material delivery connection point fails to produce a full container after a second preset time period, i.e., there are no full containers to be picked up, the dispatching device 101 determines whether the container robot 102 is currently carrying a container. Specifically, the second preset time period may be a pre-set time period representing the time it takes for the production line to complete a shift and for all existing containers to be loaded.

[0171] If the container robot 102 is currently carrying a container, the dispatching device 101 dispatches the container robot 102 to place the container back to the target empty location of the docking multi-layer shelf 103, and the container robot 102 is released. The handling robot 104 moves the docking multi-layer shelf 103 back to the warehouse.

[0172] In one example, after a shift ends, the scheduling device 101 can determine whether the container robot 102 needs to be charged, thereby directing the container robot with a battery level below a threshold to go to the charging area for charging. The container robot 102 that does not need to be charged will remain in the material production line area on standby until the production line starts again.

[0173] In one example, if the production line opens again, the material box robot 102 needs to take an empty box, but the manual operation terminal of the production line did not trigger the end-of-shift button when the last shift ended, resulting in the connected multi-layer shelf 103 not being returned to the warehouse. In this case, it is first determined whether the material number of the material produced by the current material production line is consistent with the connected multi-layer shelf 103, so that the material box robot 102 takes out an empty box that matches the current material.

[0174] The material box handling system provided in the embodiment of the present application is such that, when the production line is completed and the production line equipment needs to be shut down and production is stopped, the scheduling equipment dispatches the material box robot to dock with the multi-layer shelves to place the material boxes, and the handling robot transports the multi-layer shelves back to the warehouse, thereby realizing the coordinated cooperation of the management equipment, scheduling equipment and material box robot, and being able to respond to the production line closing scenario in a more flexible, flexible and automatic manner.

[0175] In one embodiment of the present application,

[0176] The verification camera 106 is used to scan the full material box currently produced by the material delivery connection point of the material production line to obtain the first material number of the current full material box;

[0177] The management device 105 is specifically configured to determine that the first working state is a production line switching state when the first material number is inconsistent with the second material number of the last full box produced, and issue a switching instruction to the scheduling device 101;

[0178] The scheduling device 101 is specifically configured to trigger, when the box currently carried by the material box robot 102 is not empty and / or there is a non-empty box on the docking multi-layer shelf 103, a box placement task corresponding to the second material number on the docking multi-layer shelf 103 and a box retrieval task corresponding to the first material number on the docking multi-layer shelf 103, and schedule the material box robot 102 to execute the tasks;

[0179] The material box robot 102 is used to place the material box it is currently carrying at the target empty position of the multi-layer shelf 103 corresponding to the second material number, and take out the empty material box to be taken from the multi-layer shelf 103 corresponding to the first material number, and carry the empty material box to be taken to the material conveying docking point of the material production line.

[0180] The verification camera 106 scans the full bin currently being produced at the material delivery docking point and obtains the first material number of the current full bin. The management device 105 determines whether the first material number of the currently produced material is consistent with the second material number of the last produced material. If they are consistent, it indicates that the production line has not been switched, and the scheduling device 101 is instructed to schedule the bin robot 102 to continue the warehousing task. If they are inconsistent, it indicates that the production line needs to be switched. At this time, the bin robot 102 does not perform the warehousing task temporarily, but instead puts the bin corresponding to the second material number back on the corresponding docking multi-layer shelf 103, and then takes out the empty bin to be picked up from the docking multi-layer shelf 103 corresponding to the first material number, and performs the warehousing task again.

[0181] Specifically, it can be divided into the following application scenarios:

[0182] Scenario 1: During the docking process of empty and full containers, the container robot 102 generates a switching demand. The container robot 102 temporarily stops executing the warehousing task of the currently switched container. The container robot 102 puts the empty and full containers (the second material number) back to the original positions of the corresponding docking multi-layer shelf 103, allowing the docking multi-layer shelf 103 corresponding to the second material number to return to the warehouse. The container robot 102 then takes several empty containers from the same column from another new docking multi-layer shelf 103 that is full of empty containers (corresponding to the first material number) and goes to the docking point to wait for the warehousing task.

[0183] Scenario 2: The container robot 102 is on its way back to place full containers (corresponding to the second material number) on the docking multi-layer shelf 103, and a switching requirement occurs. The container robot 102 needs to place all the full containers on the docking multi-layer shelf 103, then automatically take several empty containers from the same row on another new docking multi-layer shelf 103 that is full of empty containers (corresponding to the first material number) and go to the docking point to wait for the warehousing task;

[0184] Scenario 3: When the container robot 102 places a full container (corresponding to the second material number) on the docking multi-layer shelf 103, a switching demand is generated. The processing method is the same as that of Scenario 2.

[0185] Scenario 4: While retrieving an empty box (corresponding to the second material number) from the docking multi-layer shelf 103, the container robot 102 generates a switching requirement. The container robot 102 needs to place the retrieved empty box back to its original position on the docking multi-layer shelf 103, then automatically retrieve several empty boxes from the same row on another new docking multi-layer shelf 103 that is full of empty boxes (corresponding to the first material number), and then go to the docking point to wait for the warehousing task.

[0186] Scenario 5: While delivering an empty box (the second material number) to the docking point, the container robot 102 generates a switching requirement. Instead of delivering the empty box, the container robot 102 must place the already retrieved empty box (corresponding to the second material number) back to its original location on the docking multi-layer shelf 103. It then automatically retrieves several empty boxes from the same row on another new docking multi-layer shelf 103 that is full of empty boxes (corresponding to the first material number) and returns them to the docking point to await storage.

[0187] Scenario 6: If the current warehousing task is material A, and the previous warehousing task is material B, and the docking multi-layer shelf happens to be full and has been returned to the warehouse when the switch is required, then the material box robot 102's backpack and the docking multi-layer shelf are all empty boxes, and there are no full boxes on the docking multi-layer shelf 103. Then the empty box docking multi-layer shelf 103 does not need to be returned to the warehouse, and the material box robot 102 can perform the empty delivery and full pick-up tasks normally.

[0188] Specifically, the material boxes and the docking multi-layer shelves 103 may not be able to distinguish between different material numbers, that is, materials with different numbers can be placed on material boxes and docking multi-layer shelves 103 of the same shape, but the material boxes on the same docking multi-layer shelf 103 are only used to place materials with the same number to avoid confusion between different materials.

[0189] The material box handling system provided in the embodiment of the present application controls the material box robot to put the material box corresponding to the second material number back on the corresponding connecting multi-layer shelf when the production line is switched, and then takes out the empty box from the connecting multi-layer shelf corresponding to the first material number to perform the warehousing task, thereby realizing accurate and intelligent material box handling when the production line is switched.

[0190] In an example, Figure 4 As shown, the material box handling system 100 includes: an upper system 107; a production line system 108; a production line execution MES (Manufacturing Execution System) 109; a conveyor line PLC (controller) 110; a production line upper conveyor line 111; a production line lower conveyor line 112; a binding camera 113; a verification camera 106; an intelligent warehouse scheduling management system (equipped with management equipment) 105; an intelligent warehouse system 114; a production line manual operation terminal 115; a scheduling device (equipped with a scheduling subsystem) 101; a warehousing docking point 116; a handling robot 104; a material box robot 102; a peripheral interaction system 117; a storage storage area 118; and a docking multi-layer shelf 103.

[0191] Among them, the scheduling device 101 dispatches the handling robot 104 to automatically replenish the empty box docking multi-layer shelves 103 in the storage area 118 to the storage docking point 116 according to the instructions of the management device 105. The material box robot 102 docks the multi-layer shelves 103 and the upper conveyor line 111 of the production line and the lower conveyor line 112 of the production line to complete the exchange of empty and full material boxes among the three. When the docking multi-layer shelves 103 are full / the production line is switched / the production line is closed, the handling robot 104 will transport the docking multi-layer shelves 103 to the empty storage position in the target storage area 118, and the intelligent warehousing system 114 will perform inventory management of the materials.

[0192] In the embodiment of the present application, a front view and a top view of a multi-layer shelf 103 are also provided. Figure 5-1 and Figure 5-2 As shown, and a front view and a top view of a container robot 102 are shown as Figure 6-1 and Figure 6-2 As shown, and a front view and a top view of a transport robot 104 are shown Figure 7-1 and Figure 7-2 shown.

[0193] See also Figure 8 , provides a flow diagram of a bin handling method, the bin handling method being applied to a scheduling device of a bin handling system, including:

[0194] Step S101: dispatching a transport robot to transport the docked multi-layer shelf to a storage docking point;

[0195] Step S102: When a container placement task is triggered, a target location for placing the container is searched based on the location structure of the connected multi-layer shelves;

[0196] The target location is the first empty location found in the order of column and row search rules. The column search rule is to search from the middle column to both sides. The row search rule is to search from the bottom row upward after each column is determined.

[0197] Step S103: dispatching the material box robot to place the material box at the target location.

[0198] In one embodiment of the present application, Figure 9 As shown, the method further includes:

[0199] Step S201, when a box picking task is triggered, searching for a target box to be picked up placed in a storage location according to the storage location structure of the connected multi-layer shelf;

[0200] The target bin to be picked up is the first bin to be picked up that is found in the order of the bin column search rule and the bin row search rule. The bin column search rule is to search sequentially from the middle column to both sides. The bin row search rule is to search sequentially from the top row downwards after each column is determined.

[0201] Step S202: dispatching a material box robot to take out the target material box to be taken.

[0202] In one embodiment of the present application, when the box placement task is triggered, step S102 searches for a target location for placing the box based on the location structure of the connected multi-layer shelf, including:

[0203] Step 1: Searching for a target empty position in the n±i columns of the docking multi-layer shelf in the order of searching for the container placement columns starting from the middle column to both sides;

[0204] Wherein, the nth column is the middle column of the multi-layered shelf, i is a natural number, and its initial value is 0;

[0205] Step 2: If it does not exist, i is increased by 1, and the execution step is returned: according to the search rule starting from the middle column and moving toward the box placement columns on both sides, the target empty position is searched in the n±i columns of the connected multi-layer shelf in order, until the target empty position exists in the n±i columns of the connected multi-layer shelf or no target empty position exists in any column of the connected multi-layer shelf;

[0206] The step of searching whether there is a target empty storage location in the n±i columns of the docking multi-layer shelf specifically includes:

[0207] Step 3: Search the row of the n±i columns of the docking multi-layer shelf in the order of searching rules from bottom to top to find out whether there is a target empty position;

[0208] Wherein, the jth row is the bottom row of the n±ith column, j is a natural number, and its initial value is 1;

[0209] Step 4: If it does not exist, j increases by 1 and returns to the execution step: search in the order of the box placement row search rules from bottom to top to see whether there is a target empty warehouse position in the j-th row of the n±i-th column of the connected multi-layer shelf, until there is a target empty warehouse position in the j-th row of the n±i-th column or there is no target empty warehouse position in all rows of the n±i-th column.

[0210] In one embodiment of the present application, when a box retrieval task is triggered, step 201 searches for a target box to be retrieved placed in a storage location according to the storage location structure of the connected multi-layer shelf, including:

[0211] Step 1: Searching for boxes to be picked up in the n±i columns of the connected multi-layer shelves in the order of searching for boxes starting from the middle column and moving toward both sides;

[0212] Wherein, the nth column is the middle column of the multi-layered shelf, i is a natural number, and its initial value is 0;

[0213] Step 2: If it does not exist, i is increased by 1, and the execution step is returned to: according to the search rule starting from the middle column to the two sides of the box-picking column direction, search in order whether there is a box to be picked up in the n±i columns of the connected multi-layer shelf, until there is a box to be picked up in the n±i columns of the connected multi-layer shelf or there is no box to be picked up in each column of the connected multi-layer shelf;

[0214] The step of searching whether there is a box to be picked up in the n±i columns of the docking multi-layer shelf specifically includes:

[0215] Step 3: Search the row of the connected multi-layer shelf in the order of the top-down box-picking direction to see if there is a box to be picked up in the row of the n±i columns;

[0216] Wherein, the jth row is the top row of the n±ith column, j is a natural number, and the initial value is the row value of the docking multi-layer shelf;

[0217] Step 4. If it does not exist, j is reduced by 1, and the execution step is returned: according to the search rules from top to bottom, search in order whether there is a box to be picked up in the jth row of the n±ith column of the connected multi-layer shelf, until there is a box to be picked up in the jth row of the n±ith column or there is no box to be picked up in each row of the n±ith column.

[0218] The material box handling method provided by the embodiment of the present application, when a box placement task is triggered, the scheduling device sequentially searches for the target empty storage location in the order of the box placement columns starting from the middle column to the two sides, and the box placement rows starting from the bottom row upwards, and places the currently transported material box in the target empty storage location; when a box retrieval task is triggered, the scheduling device sequentially searches for the material box to be retrieved in the order of the box retrieval columns starting from the middle column to the two sides, and the box retrieval rows starting from the top row downwards, and retrieves the material box to be retrieved from the docking multi-layer shelf. As a result, the center of gravity of the docking multi-layer shelf is always close to the middle and the lower end during the process of retrieval and placement, minimizing the occurrence of overloading problems of the docking multi-layer shelf. The stability of the docking multi-layer shelf is improved, and the possibility of the docking multi-layer shelf tipping over during the subsequent handling robot handling the docking multi-layer shelf is reduced, thereby reducing damage to the goods, the docking multi-layer shelf, and the robot.

[0219] In one embodiment of the present application, the method further includes:

[0220] Trigger the task corresponding to the work instruction and schedule the material box robot to execute it, wherein the task corresponding to the work instruction includes a box picking task and / or a box placing task, and the work instruction is for the management device of the material box handling system to obtain the current first working status of the material production line, and based on the first working status, the work instruction corresponding to the first working status is issued to the scheduling device, and the first working status includes at least one of the production line start status, production line pause status, production line switching status, and production line end status.

[0221] The material box handling method provided in the embodiment of the present application is that the management device sends work instructions to the scheduling device according to the current working status of the material production line, so that the scheduling device schedules the material box robot to perform the tasks corresponding to the work instructions, thereby enabling the material box robot to perform different tasks according to different working logics in different production scenarios, further improving the intelligence of the handling system and realizing precise coordination with the working status of the material production line.

[0222] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0223] Each embodiment in this specification is described in a related manner. Similar portions between the embodiments can be referenced to each other. Each embodiment focuses on the differences from other embodiments. In particular, the method embodiment is generally similar to the method embodiment, so the description is relatively simple. For related portions, refer to the description of the method embodiment.

[0224] The above description is only a preferred embodiment of the present application and is not intended to limit the scope of protection of the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application are included in the scope of protection of the present application.

Claims

1. A material box handling system, characterized in that: Including dispatching equipment, handling robots, box robots and docking multi-layer shelves: The dispatching equipment dispatches the handling robot to transport the multi-layer shelves to the storage docking point; When a box placement task is triggered, the dispatching device searches for a target location for the box based on the location structure of the connected multi-layer shelves. The target location is the first empty location found in the order of the column and row search rules. The column search rule is to search sequentially from the middle column to both sides, and the row search rule is to search sequentially from the bottom row upward after each column is determined. The dispatching equipment dispatches the material box robot to place the material box at the target location.

2. The system according to claim 1, wherein: When a box picking task is triggered, the scheduling device searches for a target box to be picked up placed on the storage location according to the storage location structure of the connected multi-layer shelf. The target box to be picked up is the first box to be picked up that is found in sequence according to the box picking column direction search rule and the box picking row direction search rule. The box picking column direction search rule is: start from the middle column and search in sequence toward both sides. The box picking row direction search rule is: after each column is determined, search in sequence from the top row downwards. The dispatching device dispatches the material box robot to take out the target material box to be taken.

3. The system according to claim 1, wherein: The target location is the first target empty location found in the order of searching for the column direction and searching for the row direction, specifically including: Search the n±i columns of the docking multi-layer shelf for a target empty location according to the search rule starting from the middle column and moving toward the two sides, where the nth column is the middle column of the docking multi-layer shelf, and i is a natural number with an initial value of 0; If not, i is increased by 1, and the process returns to step 1: Search the n±i columns of the connected multi-layer shelf in the order of the box placement columns starting from the middle column to both sides to see if there is a target empty position, until the n±i columns of the connected multi-layer shelf have a target empty position or all columns of the connected multi-layer shelf do not have a target empty position; The step of searching whether there is a target empty storage location in the n±i columns of the docking multi-layer shelf specifically includes: Search the jth row of the n±i columns of the docking multi-layer shelf according to the bottom-to-top direction of the container placement row search rule to see if there is a target empty storage location, where the jth row is the bottom row of the n±i columns, and j is a natural number with an initial value of 1; If it does not exist, j increases by 1 and returns to the execution step: search in the order of the box placement row search rules from bottom to top to see whether there is a target empty storage location in the j-th row of the n±i-th column of the connected multi-layer shelf, until there is a target empty storage location in the j-th row of the n±i-th column or there is no target empty storage location in any row of the n±i-th column.

4. The system according to claim 2, wherein: The target to-be-picked box is the first to-be-picked box found in sequence according to the box-picking column direction search rule and the box-picking row direction search rule, specifically including: According to the search rule of the box-picking column direction starting from the middle column and moving toward both sides, it is sequentially searched whether there is a box to be picked up in the n±i columns of the docking multi-layer shelf, where the nth column is the middle column of the docking multi-layer shelf, i is a natural number, and the initial value is 0; If not, i is increased by 1, and the process returns to the following step: searching for boxes to be picked up in the n±i columns of the connected multi-layer shelf in the order of box picking columns starting from the middle column to both sides, until there are boxes to be picked up in the n±i columns of the connected multi-layer shelf or there are no boxes to be picked up in all columns of the connected multi-layer shelf; The step of searching whether there is a box to be picked up in the n±i columns of the docking multi-layer shelf specifically includes: According to the top-down box-picking row search rule, search for a box to be picked up in the jth row of the n±i columns of the docking multi-layer shelf, where the jth row is the top row of the n±i columns, j is a natural number, and its initial value is the row value of the docking multi-layer shelf; If it does not exist, j is reduced by 1, and the execution step is returned: according to the search rules from top to bottom, search in order whether there is a box to be picked up in the jth row of the n±ith column of the connected multi-layer shelf, until there is a box to be picked up in the jth row of the n±ith column or there is no box to be picked up in each row of the n±ith column.

5. The system according to claim 1, wherein: The system further comprises: a management device; The management device is configured to obtain a current first working status of the material production line and, based on the first working status, issue a work instruction corresponding to the first working status to the scheduling device, wherein the first working status includes at least one of a production line start state, a production line pause state, a production line switch state, and a production line end state; The scheduling device triggers the task corresponding to the work instruction and schedules the material box robot to execute it, wherein the task corresponding to the work instruction includes a box picking task and / or a box placing task.

6. The system according to claim 5, characterized in that The management device is specifically configured to, upon receiving a start-of-shift signal, determine that the current first working state of the material production line is a production line start-of-shift state, and issue a start-of-shift instruction to the scheduling device; and, when the material delivery connection point produces a full material box, issue a warehousing task to the scheduling device; The scheduling device is specifically used to trigger the box picking task corresponding to the shift start instruction and schedule the box robot to execute it; trigger the box picking and placing task when receiving the warehousing task, and schedule the box robot to execute it; The material box robot is used to, when arriving at the pick-up and placement position of the docking multi-layer shelf, take out the empty material box to be taken from the docking multi-layer shelf, go to the material conveying docking point of the material production line to place the empty material box to be taken, and stand by at the material conveying docking point; perform the pick-up and placement task, take out the full material box from the material conveying docking point, go to the pick-up and placement position of the docking multi-layer shelf, and place the full material box at the target empty position of the docking multi-layer shelf; or, The management device is specifically configured to, when a material delivery connection point of the material production line fails to produce a full material box for more than a first preset time period, determine that the first working state is a production line pause state and issue a pause instruction to the scheduling device; and when a full material box is produced at the material delivery connection point, issue a warehousing task to the scheduling device; The scheduling device is specifically configured to obtain the current power level of the material box robot according to the pause instruction; if the current power level of the material box robot is lower than a preset power threshold, determine the material box robot as a low-power robot, trigger a charging task, and schedule the low-power robot to execute; if the current power level of the material box robot is not lower than the preset power threshold, determine the material box robot as a high-power robot, schedule the high-power robot to stand by at a material delivery connection point of the material production line; trigger a pick-and-place task, and schedule the high-power robot to execute; The low-battery robot is configured to, while currently carrying a material box, reach the pick-up and placement position of the docking multi-layer shelf, place all the material boxes currently carried at the target empty position of the docking multi-layer shelf, and proceed to the charging area for charging; The high-power robot is used to perform the pick-and-place task, taking out a full box from the material delivery docking point, going to the pick-and-place position of the docking multi-layer shelf, and placing the full box at the target empty position of the docking multi-layer shelf; Alternatively, the system further comprises a calibration camera; The management device is specifically configured to, upon receiving a shift-ending signal, determine that the first working state is a production line shift-ending state, and issue a shift-ending instruction to the scheduling device; The verification camera is used to scan the full material boxes currently produced by the material delivery connection point of the material production line; The scheduling device is specifically configured to trigger a box placement task and schedule the material box robot to execute the task when receiving the shift end instruction and the material delivery connection point has not produced a full material box for more than a second preset time period and the material box robot is currently carrying a material box; The material box robot is used to perform the box placement task, arrive at the pick-up and placement position of the docking multi-layer shelf, and place the material box currently carried at the target empty position of the docking multi-layer shelf; The transport robot is used to transport the docking multi-layer shelves to the warehouse; or, The verification camera is used to scan the full material box currently produced by the material delivery connection point of the material production line to obtain the first material number of the current full material box; The management device is specifically configured to determine that the first working state is a production line switching state when the first material number is inconsistent with the second material number of the last full box produced, and issue a switching instruction to the scheduling device; The scheduling device is specifically configured to trigger, when the material box currently carried by the material box robot is not empty and / or there is a non-empty box on the docking multi-layer shelf, a box placement task corresponding to the second material number and a box retrieval task corresponding to the docking multi-layer shelf of the first material number, and schedule the material box robot to execute the tasks; The material box robot is used to place the material box it is currently carrying at the target empty position of the multi-layer shelf corresponding to the second material number, and take out the empty material box to be taken from the multi-layer shelf corresponding to the first material number, and carry the empty material box to be taken to the material conveying docking point of the material production line.

7. A material box handling method, characterized in that: Scheduling equipment used in bin handling systems includes: Dispatch the handling robot to transport the multi-layer shelves to the storage docking point; When a box placement task is triggered, the target location for placing the box is searched based on the location structure of the connected multi-layer shelves. The target location is the first empty location found in the order of the column and row search rules. The column search rule is to search from the middle column to both sides, and the row search rule is to search from the bottom row upwards after each column is determined. The dispatching container robot places the container in the target location.

8. The method according to claim 7, characterized in that The method further comprises: When a box picking task is triggered, the target box to be picked up placed on the storage location is searched according to the storage location structure of the connected multi-layer shelf, wherein the target box to be picked up is the first box to be picked up found in the order of searching rules for box picking columns and searching rules for box picking rows. The searching rule for box picking columns is: starting from the middle column and searching toward both sides in sequence, and the searching rule for box picking rows is: after each column is determined, searching from the top row downwards in sequence; The material box robot is dispatched to take out the target material box to be taken.

9. The method according to claim 7, characterized in that When the box placement task is triggered, searching for the target location for placing the box according to the location structure of the connected multi-layer shelves includes: Search the n±i columns of the docking multi-layer shelf for a target empty location according to the search rule starting from the middle column and moving toward the two sides, where the nth column is the middle column of the docking multi-layer shelf, and i is a natural number with an initial value of 0; If not, i is increased by 1, and the process returns to step 1: Search the n±i columns of the connected multi-layer shelf in the order of the box placement columns starting from the middle column to both sides to see if there is a target empty position, until the n±i columns of the connected multi-layer shelf have a target empty position or all columns of the connected multi-layer shelf do not have a target empty position; The step of searching whether there is a target empty storage location in the n±i columns of the docking multi-layer shelf specifically includes: Search the jth row of the n±i columns of the docking multi-layer shelf according to the bottom-to-top direction of the container placement row search rule to see if there is a target empty storage location, where the jth row is the bottom row of the n±i columns, and j is a natural number with an initial value of 1; If it does not exist, j increases by 1 and returns to the execution step: search in the order of the box placement row search rules from bottom to top to see whether there is a target empty storage location in the j-th row of the n±i-th column of the connected multi-layer shelf, until there is a target empty storage location in the j-th row of the n±i-th column or there is no target empty storage location in any row of the n±i-th column.

10. The method according to claim 8, characterized in that When the box picking task is triggered, searching for the target box to be picked up placed in the warehouse according to the warehouse structure of the connected multi-layer shelf includes: According to the search rule of the box-picking column direction starting from the middle column and moving toward both sides, it is sequentially searched whether there is a box to be picked up in the n±i columns of the docking multi-layer shelf, where the nth column is the middle column of the docking multi-layer shelf, i is a natural number, and the initial value is 0; If not, i is increased by 1, and the process returns to the following step: searching for boxes to be picked up in the n±i columns of the connected multi-layer shelf in the order of box picking columns starting from the middle column to both sides, until there are boxes to be picked up in the n±i columns of the connected multi-layer shelf or there are no boxes to be picked up in all columns of the connected multi-layer shelf; The step of searching whether there is a box to be picked up in the n±i columns of the docking multi-layer shelf specifically includes: According to the top-down box-picking row search rule, search for a box to be picked up in the jth row of the n±i columns of the docking multi-layer shelf, where the jth row is the top row of the n±i columns, j is a natural number, and its initial value is the row value of the docking multi-layer shelf; If it does not exist, j is reduced by 1, and the execution step is returned: according to the search rules from top to bottom, search in order whether there is a box to be picked up in the jth row of the n±ith column of the connected multi-layer shelf, until there is a box to be picked up in the jth row of the n±ith column or there is no box to be picked up in each row of the n±ith column.

11. The method according to claim 7, characterized in that The method further comprises: Trigger the task corresponding to the work instruction and schedule the material box robot to execute it, wherein the task corresponding to the work instruction includes a box picking task and / or a box placing task, and the work instruction is for the management device of the material box handling system to obtain the current first working status of the material production line, and based on the first working status, the work instruction corresponding to the first working status is issued to the scheduling device, and the first working status includes at least one of the production line start status, production line pause status, production line switching status, and production line end status.

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