Material taking and placing device, control method of material taking and placing device and computer program product

Abstract

The invention relates to a material taking and placing device, a control method of the material taking and placing device and a computer program product. The device comprises a single-rotor module, a first mechanical arm, a second mechanical arm, at least one working platform and a control device, the first mechanical arm and the second mechanical arm are both mounted on the single-mover module and synchronously move along with the single-mover module; the working platform is provided with a bearing face used for bearing materials and can move at least between a material receiving station and a discharging station in a controllable mode. The control device is used for generating a production signal according to the state information of the at least one working platform, the first material holding state of the first mechanical arm and the second material holding state of the second mechanical arm; the production signal is used for indicating the single-mover module to drive the first mechanical arm and the second mechanical arm to synchronously move to the working platform and cooperatively control the first mechanical arm and the second mechanical arm to execute material taking operation and / or material placing operation. By the adoption of the device, a rotor module can be omitted, the overall programming logic is simplified, and the material taking and placing efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of automated equipment control technology, and in particular to a material handling device, a control method for the material handling device, and a computer program product. Background Technology

[0002] Currently, dual-arm automated equipment is commonly used for material handling and product transfer. The robotic arms of dual-arm automated equipment are primarily driven by a dual-actuator structure. Each actuator can independently drive a corresponding robotic arm. For example, one actuator can drive one robotic arm specifically for loading onto the platform, while the other actuator drives another robotic arm specifically for unloading from the platform.

[0003] However, when using the aforementioned dual-arm automated equipment, it is necessary to add avoidance logic to prevent collisions between the two moving parts, resulting in a more complex overall programming logic. Therefore, the aforementioned dual-arm automated equipment exhibits lower operational smoothness and efficiency during the material handling process of executing the programmed logic. Summary of the Invention

[0004] Therefore, it is necessary to provide a material handling device, a control method for the material handling device, a computer-readable storage medium, and a computer program product that can improve the efficiency of material handling operations, in response to the above-mentioned technical problems.

[0005] In a first aspect, this application provides a material handling device, including a single-action sub-module, a first robotic arm, a second robotic arm, at least one working platform, and a control device;

[0006] Both the first robotic arm and the second robotic arm are mounted on the single-action sub-module, and the first robotic arm and the second robotic arm move synchronously with the single-action sub-module;

[0007] The work platform has a bearing surface for carrying materials and can be moved in a controlled manner at least between the receiving station and the discharging station;

[0008] The control device is electrically connected to the single-action sub-module, the first robotic arm, the second robotic arm, and at least one of the work platforms, respectively. It is used to acquire the status information of at least one work platform, the first material holding status of the first robotic arm, and the second material holding status of the second robotic arm. The status information includes the current work position of the work platform and whether the work platform is carrying material. Based on the status information, the first material holding status, and the second material holding status, a production signal is generated and sent to the single-action sub-module to instruct the single-action sub-module to drive the first robotic arm and the second robotic arm to move synchronously to the work platform. Furthermore, it coordinates the control of the first robotic arm and / or the second robotic arm to perform material picking and / or material unloading operations at the work platform.

[0009] In one embodiment, the at least one work platform includes a first work platform and a second work platform arranged sequentially along the material process flow direction;

[0010] The control device is also used for:

[0011] Obtain the first status information of the first operating platform and the second status information of the second operating platform;

[0012] At least based on the first material holding state, the second material holding state, and the first state information, a first production signal is generated and sent to the single-action sub-module to instruct the single-action sub-module to drive the first robotic arm and the second robotic arm to move synchronously to the first work platform in the first time period, and to coordinately control the first robotic arm and / or the second robotic arm to perform material picking and / or material unloading operations at the first work platform.

[0013] Furthermore, after the operation at the first work platform is completed, at least a second production signal is generated based on the first material holding state, the second material holding state, and the second state information. The second production signal is sent to the single-action sub-module to instruct the single-action sub-module to drive the first robotic arm and the second robotic arm to move synchronously to the second work platform in the second time period. In addition, the first robotic arm and / or the second robotic arm are coordinated to perform material picking and / or material unloading operations at the second work platform.

[0014] The second time period is later than the first time period.

[0015] In one embodiment, when the control device generates the first production signal, it is specifically used for:

[0016] When the first state information matches the unloading state, the unloading robot arm is determined from the first robot arm and the second robot arm according to the first holding state and the second holding state. The unloading state is used to characterize the state that the current work station of the first work platform is the unloading work station and the first work platform is carrying material.

[0017] Based on the material discharge status and the material pick-up robotic arm, the first production signal is generated and sent to the single-action sub-module to instruct the single-action sub-module to drive the material pick-up robotic arm to perform a material pick-up operation at the first work platform.

[0018] In one embodiment, when the control device generates the second production signal, it is specifically used for:

[0019] The robotic arm that has completed the material picking operation at the first working platform will be used as the robotic arm that is ready to release material at the second working platform.

[0020] When the second state information matches the material discharge state, the other mechanical arm between the first mechanical arm and the second mechanical arm, excluding the material discharge mechanical arm, is selected as the material pick-up mechanical arm corresponding to the second working platform.

[0021] The second production signal is generated based on the material-to-receive robotic arm, the material-to-discharge status, and the material-to-release robotic arm. The second production signal is sent to the single-action sub-module to instruct the single-action sub-module to drive the material-to-receive robotic arm to perform a material-receiving operation at the second work platform. The module then waits for the second work platform to move to the receiving station and drives the material-to-release robotic arm to perform a material-releasing operation at the second work platform.

[0022] In one embodiment, when the control device generates the first production signal, it is specifically used for:

[0023] When the first state information matches the material receiving state, the material receiving robot arm is determined from the first robot arm and the second robot arm according to the first material holding state and the second material holding state. The material receiving state is used to characterize the state that the current work station of the first work platform is the material receiving work station and there is no material on the first work platform.

[0024] Based on the material receiving status and the material unloading robot arm, the first production signal is generated and sent to the single-action sub-module to instruct the single-action sub-module to drive the material unloading robot arm to perform a material unloading operation at the first work platform.

[0025] In one embodiment, when the control device generates the second production signal, it is specifically used for:

[0026] The robotic arm that has completed the material feeding operation at the first working platform will be used as the robotic arm to be picked up at the second working platform.

[0027] When the second state information matches the material-to-discharge state, the second production signal is generated based on the material-to-receive robotic arm and the material-to-discharge state, and the second production signal is sent to the single-action sub-module to instruct the single-action sub-module to drive the material-to-receive robotic arm to perform a material-receiving operation at the second work platform.

[0028] In one embodiment, the work platform is further configured to move to the detection station to perform material detection operation when material is received at the receiving station; and after the material detection operation is completed, move to the discharge station to wait for material discharge.

[0029] Secondly, this application also provides a control method for a material handling device, comprising:

[0030] Acquire the status information of at least one work platform, the first material holding status of the first robotic arm, and the second material holding status of the second robotic arm. The status information includes the current workstation of the work platform and whether the work platform is carrying materials.

[0031] Based on the status information, the first material holding state, and the second material holding state, a production signal is generated and sent to the single-action sub-module to instruct the single-action sub-module to drive the first robotic arm and the second robotic arm to move synchronously to the work platform. Furthermore, the single-action sub-module coordinates the first robotic arm and / or the second robotic arm to perform material picking and / or material unloading operations at the work platform.

[0032] In one embodiment, at least one working platform includes a first working platform and a second working platform arranged sequentially along the material process flow direction. The production signal generation step further includes: acquiring first state information of the first working platform and second state information of the second working platform. A first production signal is generated based at least on a first material holding state, a second material holding state, and the first state information. The first production signal is sent to a single-action sub-module to instruct the single-action sub-module to synchronously move the first robotic arm and the second robotic arm to the first working platform during a first time period, and to coordinately control the first robotic arm and / or the second robotic arm to perform material picking and / or material unloading operations at the first working platform. After the operation at the first working platform is completed, a second production signal is generated based at least on the first material holding state, the second material holding state, and the second state information. The second production signal is sent to the single-action sub-module to instruct the single-action sub-module to synchronously move the first robotic arm and the second robotic arm to the second working platform during a second time period, and to coordinately control the first robotic arm and / or the second robotic arm to perform material picking and / or material unloading operations at the second working platform, wherein the second time period is later than the first time period.

[0033] In one embodiment, the step of generating the first production signal may further include: when the first state information matches the unloading state, determining the robotic arm to be picked up from the first robotic arm and the second robotic arm based on the first holding state and the second holding state, wherein the unloading state is used to characterize the state that the current workstation of the first working platform is an unloading workstation and that the first working platform is carrying material. A first production signal is generated based on the unloading state and the robotic arm to be picked up, and the first production signal is sent to the single-action sub-module to instruct the single-action sub-module to drive the robotic arm to be picked up to perform a material picking operation at the first working platform.

[0034] In one embodiment, the step of generating the second production signal may further include: designating the robotic arm that has completed the material picking operation at the first work platform as the robotic arm to be unloaded corresponding to the second work platform. If the second state information matches the unloading state, another robotic arm from the first and second robotic arms (excluding the unloading robotic arm) is designated as the robotic arm to pick up material corresponding to the second work platform. A second production signal is generated based on the robotic arm to pick up material, the unloading state, and the unloading robotic arm. This second production signal is then sent to the single-action sub-module to instruct it to drive the robotic arm to pick up material at the second work platform to perform the material picking operation, and to wait for the second work platform to move to the receiving station, where the unloading robotic arm will then perform the unloading operation.

[0035] In one embodiment, the step of generating the first production signal may further include: if the first state information matches the material receiving state, determining the material-discharging robot arm from the first robot arm and the second robot arm based on the first material holding state and the second material holding state, wherein the material receiving state is used to characterize the state where the first working platform is currently located as a material receiving station and there is no material on the first working platform. A first production signal is generated based on the material receiving state and the material-discharging robot arm, and the first production signal is sent to the single-action sub-module to instruct the single-action sub-module to drive the material-discharging robot arm to perform a material discharging operation at the first working platform.

[0036] In one embodiment, the step of generating the second production signal may further include: designating the robotic arm that has completed the unloading operation at the first work platform as the robotic arm to be picked up at the second work platform. When the second state information matches the unloading state, a second production signal is generated based on the robotic arm to be picked up and the unloading state, and the second production signal is sent to the single-action sub-module to instruct the single-action sub-module to drive the robotic arm to be picked up to perform a picking operation at the second work platform.

[0037] Thirdly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, implements the control method for the material handling device described in any of the embodiments of the second aspect above.

[0038] Fourthly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, implements the control method for the material handling device described in any of the embodiments of the second aspect above.

[0039] The aforementioned material handling device, its control method, computer-readable storage medium, and computer program product, by mounting the first and second robotic arms on the same single-acting sub-module and using this module to drive their synchronous movement, not only reduce the number of actuators and eliminate the risk of collisions between the two actuators compared to traditional dual-acting sub-module driven dual-arm automated equipment, thus simplifying the overall programming logic and improving material handling efficiency, but also increase the hardware integration and reduce manufacturing costs. Furthermore, the aforementioned material handling device utilizes a control device based on the workstation location of the operating platform, the status information of whether it carries material, and the material holding status of the first and second robotic arms. This generates corresponding production signals to collaboratively control the first and / or second robotic arms to perform corresponding material handling and / or material unloading operations at the operating platform, improving the accuracy of material handling operations and increasing the utilization efficiency of the robotic arms. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 This is a structural block diagram of the material handling device 100 in one embodiment;

[0042] Figure 2 A schematic diagram of the work platform 108 in one embodiment. Figure 1 ;

[0043] Figure 3 A schematic diagram of the work platform 108 in one embodiment. Figure 2 ;

[0044] Figure 4 This is a schematic diagram of material handling on a modular dispensing platform 1083 in one embodiment;

[0045] Figure 5 This is a schematic diagram of material handling on the automated optical inspection platform 1085 in one embodiment;

[0046] Figure 6 This is a schematic diagram of material handling on the glue dispensing platform 1087 in one embodiment;

[0047] Figure 7 This is a flowchart illustrating the control method of the material handling device in one embodiment. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0049] It should be noted that the terms "first," "second," etc., used in this application can be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish the first element from the second element. The terms "comprising" and "having," and any variations thereof, used in this application, are intended to cover non-exclusive inclusion. The term "multiple" used in this application refers to two or more. The term "and / or" used in this application refers to one of the solutions, or any combination of multiple solutions. The user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use, and processing of related data must comply with relevant regulations.

[0050] In one exemplary embodiment, such as Figure 1 As shown, a schematic diagram of a material handling device 100 is provided, including: a single-action sub-module 102, a first robotic arm 104, a second robotic arm 106, at least one working platform 108, and a control device 110.

[0051] Among them, the single-motor module 102 can be used to characterize a module driven by a single motor.

[0052] Both the first robotic arm 104 and the second robotic arm 106 are mounted on the single-action sub-module 102, and move synchronously with the single-action sub-module 102. Optionally, in some embodiments, the first robotic arm 104 and the second robotic arm 106 may be directly fixedly connected to the single-action sub-module 102. Alternatively, in other embodiments, the first robotic arm 104 and the second robotic arm 106 may be indirectly connected to the single-action sub-module 102 via a transmission mechanism.

[0053] The work platform 108 has a bearing surface for carrying materials and can be moved in a controlled manner, at least between a receiving station and a discharging station. For example, when the work platform 108 is carrying materials, it can move to the discharging station to wait for discharging. When the work platform 108 is not carrying materials, it can move to the receiving station to wait for receiving materials.

[0054] The control device 110 is electrically connected to the single-action sub-module 102, the first robotic arm 104, the second robotic arm 106, and at least one work platform 108. The control device 110 may be equipped with a processor chip, which stores material handling control logic and has data processing capabilities.

[0055] The control device 110 can be used to acquire status information of at least one work platform 108, a first material-holding state of the first robotic arm 104, and a second material-holding state of the second robotic arm 106. The status information includes the current workstation of the work platform 108 and whether the work platform 108 is carrying material. The first material-holding state can be used to characterize whether the first robotic arm 104 holds material. The second material-holding state can be used to characterize whether the second robotic arm 106 holds material. Optionally, in some embodiments, the control device 110 can collect status signals from the first robotic arm 104, the second robotic arm 106, and at least one work platform 108, and analyze and process the collected status signals using a processor chip to obtain the status information of at least one work platform 108, the first material-holding state of the first robotic arm 104, and the second material-holding state of the second robotic arm 106.

[0056] The control device 110 can generate a production signal based on status information, a first material holding state, and a second material holding state, and send the production signal to the single-action sub-module 102. The production signal can be used to instruct the single-action sub-module 102 to synchronously move the first robotic arm 104 and the second robotic arm 106 to the work platform 108, and to coordinately control the first robotic arm 104 and / or the second robotic arm 106 to perform material picking and / or material unloading operations at the work platform 108. Optionally, in some embodiments, the control device 110 can use a processor chip to determine the status information, the first material holding state, and the second material holding state according to the material picking and unloading control logic. If the material picking conditions are met (e.g., the work platform 108 is located at the discharge station and carries material), a production signal for performing the material picking operation is generated; if the material unloading conditions are met (e.g., the work platform 108 is located at the receiving station and there is no material), a production signal for performing the material unloading operation is generated.

[0057] Compared to traditional dual-arm automated equipment driven by a dual-movement sub-module, the aforementioned material handling device 100 mounts the first robotic arm 104 and the second robotic arm 106 on the same single-movement sub-module 102. Furthermore, the single-movement sub-module 102 drives the first robotic arm 104 and the second robotic arm 106 to move synchronously. This not only reduces the number of moving parts and eliminates the risk of collision between the two moving parts, thus simplifying the overall programming logic and improving material handling efficiency, but also increases the hardware integration of the device and reduces manufacturing costs. Moreover, the aforementioned material handling device 100 uses the control device 110 to generate corresponding production signals based on the workstation location of the work platform 108, the status information of whether it carries material, and the holding status of the first robotic arm 104 and the second robotic arm 106. This signals the first robotic arm 104 and / or the second robotic arm 106 to perform corresponding material handling and / or material unloading operations at the work platform 108, improving the accuracy of material handling operations and increasing the utilization efficiency of the robotic arms.

[0058] In one exemplary embodiment, such as Figure 2 As shown, at least one work platform 108 may include components along the material process flow direction ( Figure 2 The first working platform 1082 and the second working platform 1084 are arranged sequentially (in the direction of the arrows in the diagram). Optionally, in some other embodiments, if the number of working platforms 108 is three or more, they can still be decomposed into the first working platform 1082 and the second working platform 1084 that are passed through in sequence according to the execution order of the material process flow.

[0059] The control device 110 is also used for:

[0060] The system acquires first status information of the first work platform 1082 and second status information of the second work platform 1084. The first status information describes the current workstation of the first work platform 1082 and whether it is carrying materials. The second status information describes the current workstation of the second work platform 1084 and whether it is carrying materials.

[0061] A first production signal is generated based at least on the first material holding state, the second material holding state, and the first state information. This first production signal is sent to the single-action sub-module 102 to instruct it to synchronously move the first robotic arm 104 and the second robotic arm 106 to the first work platform 1082 during a first time period. Furthermore, the single-action sub-module 102 coordinates the first robotic arm 104 and / or the second robotic arm 106 to perform material handling and / or material release operations at the first work platform 1082. The phrase "generating a first production signal based at least on the first material holding state, the second material holding state, and the first state information" is used to characterize the first material holding state, the second material holding state, and the first state information, which are necessary bases for generating the first production signal in this embodiment. Optionally, in some embodiments, based on the actual production environment or device configuration, other state information (such as operations completed by the first robotic arm 104 and / or the second robotic arm 106 in the previous time period before the first time period, whether the work platform is currently working normally, etc.) can also be combined to generate the first production signal, which still does not exceed the technical scope covered by this application.

[0062] Furthermore, after the operation at the first working platform 1082 is completed, a second production signal is generated based at least on the first material holding state, the second material holding state, and the second state information. This second production signal is sent to the single-action sub-module 102 to instruct it to synchronously move the first robotic arm 104 and the second robotic arm 106 to the second working platform 1084 during a second time period. The single-action sub-module 102 then coordinates the control of the first robotic arm 104 and / or the second robotic arm 106 to perform material handling and / or material release operations at the second working platform 1084. The second time period is later than the first time period. The technical means of "generating a second production signal based at least on the first material holding state, the second material holding state, and the second state information," as described above, is merely a necessary basis for generating the first production signal in this embodiment. Those skilled in the art, based on the same inventive concept, can also generate a second production signal by combining other state information with the actual production environment or device configuration.

[0063] In this embodiment, by following the material process flow sequence, the following operations are performed sequentially: a first production signal is generated based at least on the first material holding state, the second material holding state, and the first state information; after the operation at the first work platform is completed, a second production signal is generated based at least on the first material holding state, the second material holding state, and the second state information. This enables coordinated control of the first robotic arm 104 and / or the second robotic arm 106 to sequentially perform material picking and / or material releasing operations at the first work platform 1082 and the second work platform 1084, achieving precise material picking and releasing in stages and on different platforms, ensuring that the material process flow on the production line is strictly executed according to the time sequence, and improving production stability.

[0064] In an exemplary embodiment, when the control device 110 generates the first production signal, it is specifically used for:

[0065] If the first state information matches the unloading state, the robotic arm to be retrieved is determined from the first robotic arm 104 and the second robotic arm 106 based on the first holding state and the second holding state. The unloading state indicates that the first working platform 1082 is currently at an unloading station and that it is carrying material. Optionally, in some embodiments, if only one of the first holding state and the second holding state is without material, the robotic arm without material is selected as the robotic arm to be retrieved. Alternatively, in other embodiments, if both the first holding state and the second holding state are without material, the robotic arm is selected according to the historical feeding order; for example, if the first robotic arm 104 feeds first, then the first robotic arm 104 is selected as the robotic arm to be retrieved; otherwise, the second robotic arm 106 is selected as the robotic arm to be retrieved.

[0066] Based on the material discharge status and the robotic arm to be picked up, a first production signal is generated and sent to the single-action sub-module 102 to instruct the single-action sub-module 102 to drive the robotic arm to be picked up to perform a material picking operation at the first working platform 1082. Optionally, in some embodiments, the control device 110 can obtain the coordinate information of the discharge station where the first working platform 1082 is located based on the material discharge status, obtain the current spatial position of the robotic arm to be picked up, determine the robotic arm motion planning trajectory using the coordinate information of the first working platform 1082 and the current spatial position of the robotic arm to be picked up, and generate the first production signal according to the motion planning trajectory, the robotic arm joint control parameters (such as the angle and force of grasping the material), and the identifier of the robotic arm to be picked up. After receiving the first production signal, the single-action sub-module 102 can determine the robotic arm to be driven based on the identifier of the robotic arm to be picked up, and drive the robotic arm to be picked up to the discharge station of the first working platform 1082 according to the motion planning trajectory, and pick up the material from the first working platform 1082 according to the joint control parameters of the robotic arm to complete the material picking operation.

[0067] In this embodiment, by using the first state information to determine whether the first working platform 1082 is currently in a state of waiting to unload material, and by determining the robotic arm to perform the material picking operation based on the first material holding state and the second material holding state, a corresponding first production signal is generated based on the waiting-to-unload state of the first working platform 1082 and the robotic arm to be picked up. This not only improves the accuracy of the robotic arm's material picking operation, but also ensures that the material picking operation is triggered only when there is material available on the first working platform 1082, avoiding empty runs due to lack of material and significantly improving the operating efficiency of the device.

[0068] In an exemplary embodiment, when the control device 110 generates the second production signal, it is specifically used for:

[0069] The robotic arm that has completed the material picking operation at the first working platform 1082 will be designated as the robotic arm to be unloaded at the second working platform 1084. Optionally, in some embodiments, since the first working platform 1082 and the second working platform 1084 are platforms that the material needs to pass through sequentially according to the material process flow, the material picked up at the first working platform 1082 needs to be placed on the second working platform 1084 for processing. The control device 110 can store the identifier of the robotic arm that has completed the material picking operation at the first working platform 1082, and during the generation of the second production signal, the identifier of the robotic arm to be picked up will be determined as the identifier of the robotic arm to be unloaded at the second working platform 1084.

[0070] When the second state information matches the unloading state, the other robotic arm among the first robotic arm 104 and the second robotic arm 106 (excluding the unloading robotic arm) is selected as the unloading robotic arm corresponding to the second working platform 1084. Optionally, in some embodiments, if the second state information of the second working platform 1084 includes information that the current station of the second working platform 1084 is the unloading station and that the second working platform 1084 is carrying material, then the second state information matches the unloading state. In this case, in order to place the material taken from the first working platform 1082 onto the second working platform 1084, it is necessary to first remove the material already carried on the second working platform 1084. Therefore, the control device 110 can select the other robotic arm among the first robotic arm 104 and the second robotic arm 106 (excluding the unloading robotic arm) as the unloading robotic arm corresponding to the second working platform 1084.

[0071] Based on the status of the robotic arm waiting to pick up material, the status of the robotic arm waiting to unload material, and the status of the robotic arm waiting to unload material, a second production signal is generated and sent to the single-action sub-module 102 to instruct the single-action sub-module 102 to drive the robotic arm waiting to pick up material to perform a material picking operation at the second working platform 1084. After waiting for the second working platform 1084 to move to the receiving station, the robotic arm waiting to unload material is driven to perform a material unloading operation at the second working platform 1084. Optionally, in some embodiments, the control device 110 can determine the motion planning trajectory of the robotic arm to be picked up based on the spatial position of the robotic arm to be picked up and the coordinate information of the second working platform 1084 in the planned unloading state, determine the motion planning trajectory of the robotic arm to be unloaded based on the spatial position of the robotic arm to be unloaded and the coordinate information of the receiving station of the second working platform 1084, generate a production signal for picking up the material using the motion planning trajectory of the robotic arm to be picked up and the robotic arm joint control parameters corresponding to the picking operation, generate a production signal for unloading the material using the motion planning trajectory of the robotic arm to be unloaded and the robotic arm joint control parameters corresponding to the unloading operation, and combine the production signal for picking up the material and the production signal for unloading the material in a time sequence to obtain a second production signal. Optionally, in some embodiments, the operation of "waiting for the second working platform 1084 to move to the receiving station" can be achieved by pre-storing the time interval required for the second working platform 1084 to move from the receiving station to the discharging station in the control device 110, and adding this time interval to the second production signal. This allows the single-action sub-module 102 to wait for this time interval after completing the material picking operation with the robotic arm to be picked up before executing the material discharging operation with the robotic arm to be unloaded. Alternatively, in other embodiments, the control device 110 can first send the production signal for the material picking operation in the second production signal to the single-action sub-module 102, continuously monitor the second status information of the second working platform 1084, and send the production signal for the material discharging operation in the second production signal to the single-action sub-module 102 when the second status information satisfies that the second working platform 1084 has moved to the receiving station.

[0072] Optionally, in other embodiments, if the material holding state of the robotic arm to be picked up is holding material, a production signal can be generated first to control the robotic arm to be picked up to perform a material release operation at the first working platform 1082. After the robotic arm to be picked up places the material it holds at the first working platform 1082, the single-action sub-module 102 is instructed to move to the second working platform 1084, so that the robotic arm to be picked up without holding material can perform a material picking operation at the second working platform 1084.

[0073] In this embodiment, the robotic arm that has completed the material picking operation at the first working platform 1082 is used as the robotic arm to be released at the second working platform 1084. If the second state information matches the material release state, the other robotic arm besides the material release robotic arm is used as the robotic arm to pick up material at the second working platform 1084. A second production signal is generated based on the robotic arm to pick up material, the material release state, and the material release robotic arm. The material taken out from the first working platform 1082 can be placed at the second working platform 1084 in strict accordance with the material process flow sequence. The first robotic arm 104 and the second robotic arm 106 are alternately controlled to pick up and release material, thereby improving the accuracy of picking up and releasing material.

[0074] In an exemplary embodiment, when the control device 110 generates the first production signal, it is specifically used for:

[0075] When the first state information matches the material receiving state, the robotic arm to be released is determined from the first robotic arm 104 and the second robotic arm 106 based on the first material holding state and the second material holding state. The material receiving state indicates that the current workstation of the first work platform 1082 is a material receiving station and there is no material on the first work platform 1082. The first material holding state indicates whether the first robotic arm 104 holds material. The second material holding state indicates whether the second robotic arm 106 holds material. Optionally, in some embodiments, the control device 110 can be used to select the robotic arm holding material from the first robotic arm 104 and the second robotic arm 106 as the robotic arm to be released based on the first material holding state and the second material holding state. In other embodiments, if both the first and second material holding states are states of holding material, the robotic arm can be selected according to the historical material picking order; for example, if the first robotic arm 104 picks material first, then the first robotic arm 104 is selected as the robotic arm to be released; otherwise, the second robotic arm 106 is selected as the robotic arm to be released.

[0076] Based on the material receiving status and the material unloading robot arm, a first production signal is generated and sent to the single-action sub-module 102 to instruct the single-action sub-module 102 to drive the material unloading robot arm to perform a material unloading operation at the first working platform 1082. Optionally, in some embodiments, the control device 110 can obtain the coordinate information of the current receiving station of the first working platform 1082 based on the material receiving status of the first working platform 1082, perform motion planning using the spatial position of the material unloading robot arm and the coordinate information of the first working platform 1082 to obtain a motion planning trajectory, obtain the robot arm joint control parameters corresponding to the material unloading operation, and generate the first production signal using the motion planning trajectory, the robot arm joint control parameters, and the identifier of the material unloading robot arm.

[0077] In this embodiment, by using the first state information to determine whether the first working platform 1082 is currently in a waiting-to-receive state, and determining the robotic arm to perform the current material release operation based on the first material holding state and the second material holding state, a corresponding first production signal is generated based on the waiting-to-receive state of the first working platform 1082 and the robotic arm to be released. This not only improves the accuracy of the robotic arm's material release operation, but also ensures that the material release operation is triggered only when the first working platform 1082 is idle and has no material, avoiding empty runs due to material occupying the space, and significantly improving the operating efficiency of the device.

[0078] In an exemplary embodiment, when the control device 110 generates the second production signal, it is specifically used for:

[0079] The robotic arm that has completed the feeding operation at the first working platform 1082 is designated as the robotic arm to be picked up at the second working platform 1084. Optionally, in some embodiments, the control device 110 may store a history of feeding and picking operations, and retrieve the identifier of the robotic arm that has completed the feeding operation at the first working platform 1082 from the history as the identifier of the robotic arm to be picked up at the second working platform 1084.

[0080] When the second state information matches the unloading state, a second production signal is generated based on the unloading state and the unloading robotic arm. This second production signal is sent to the single-action sub-module 102 to instruct the single-action sub-module 102 to drive the unloading robotic arm to perform a material-picking operation at the second work platform 1084. Optionally, in some embodiments, when the second state information of the second work platform 1084 matches the unloading state, the control device 110 can obtain the coordinate information of the unloading station where the second work platform 1084 is located based on the unloading state, obtain the spatial position of the unloading robotic arm, and generate a second production signal based on the spatial position, coordinate information, and robotic arm joint control parameters corresponding to the material-picking operation.

[0081] In this embodiment, after the material picking operation is completed at the first working platform 1082, the robotic arm holding the material at the first working platform 1082 is controlled to perform the material unloading operation at the second working platform 1084. This allows the material picked up at the first working platform 1082 to be placed at the second working platform 1084 in strict accordance with the material process flow sequence, thereby improving the accuracy of picking and unloading.

[0082] For example, in some other embodiments, if the second state information of the second work platform 1084 matches the waiting-to-receive state after the material picking operation is completed at the first work platform 1082, the robotic arm that has completed the material picking operation at the first work platform 1082 can be used as the corresponding material-placing robotic arm of the second work platform 1084. The second production signal for controlling the material-placing robotic arm to perform the material-placing operation at the second work platform 1084 can be directly generated based on the material-placing robotic arm and the waiting-to-receive state of the second work platform 1084.

[0083] Alternatively, in other embodiments, if after the material feeding operation is completed at the first working platform 1082, the second state information of the second working platform 1084 matches the material receiving state, then the second production signal can be generated according to the material receiving robot arm, the material receiving state, and the material feeding robot arm, as described above, and sent to the single-action sub-module 102 to instruct the single-action sub-module 102 to first drive the material feeding robot arm corresponding to the second working platform 1084 to perform the material feeding operation at the first working platform 1082, and then drive the material feeding robot arm corresponding to the second working platform 1084 to place the material taken out by the first working platform 1082 at the second working platform 1084 which is in the material receiving position.

[0084] In an exemplary embodiment, the work platform 108 is further configured to move to the detection station to perform material detection operations when material is received at the receiving station; after completing the material detection operations, it moves to the discharge station to wait for material discharge. In this embodiment, by moving the movable work platform 108 between the receiving station, the detection station, and the discharge station, the entire process of receiving, detecting, and discharging material can be automated, thereby improving the operating efficiency of the device.

[0085] In one exemplary embodiment, such as Figure 3 As shown, at least one work platform 108 may include components along the material process flow direction ( Figure 3 The three groups of dispensing platforms (1083, 1085, and 1087) are arranged sequentially (in the direction of the arrows). That is, the dispensing platform 1083 and the automatic optical inspection platform 1085 form a first and second set of opposing working platforms. The automatic optical inspection platform 1085 and the refill dispensing platform 1087 form another set of opposing first and second working platforms.

[0086] Among them, the modular dispensing platform 1083 is used for dispensing materials.

[0087] The automated optical inspection platform 1085 is used to perform optical inspection on the materials after dispensing by the group-type dispensing platform 1083 to determine whether the dispensing quality is qualified.

[0088] The glue dispensing platform 1087 is used to re-apply glue to materials whose glue dispensing quality is found to be substandard by the automated optical inspection platform 1085.

[0089] For example, the control device 110 can send an upstream material picking signal to the single-action sub-module 102 to instruct the single-action sub-module 102 to drive the first robotic arm 104 and the second robotic arm 106 to move synchronously to the material picking position of the upstream platform, and drive the first robotic arm 104 to pick up the original material 1 from the upstream platform.

[0090] like Figure 4 As shown, the control device 110 can generate corresponding production signals based on the status information of the grouped dispensing platform 1083, the first material holding state of the first robotic arm 104, and the second material holding state of the second robotic arm 106. For example, if the status information of the grouped dispensing platform 1083 matches the material waiting to be discharged state, the production signal is used to drive the second robotic arm 106 to take out the dispensing material 0 from the grouped dispensing platform 1083 located at the discharge station. If the status information of the grouped dispensing platform 1083 matches the material waiting to be received state, a corresponding production signal is generated to drive the first robotic arm 104 to place the material 1 taken out from the upstream platform at the grouped dispensing platform 1083 located at the receiving station, so that after the material receiving operation is completed, the grouped dispensing platform 1083 moves to the processing station to dispense the material 1, and after dispensing, it moves back to the discharge station to wait for the dispensing material 1 to be output.

[0091] Similarly, such as Figure 5 As shown, the control device 110 can generate corresponding production signals based on the status information of the automated optical inspection platform 1085, the first material holding state of the first robotic arm 104, and the second material holding state of the second robotic arm 106. For example, if the status information of the automated optical inspection platform 1085 matches the material waiting to be discharged state, the production signal is used to drive the first robotic arm 104 to take out the material 2 after its dispensing quality inspection from the automated optical inspection platform 1085 located at the discharge station. If the status information of the automated optical inspection platform 1085 matches the material waiting to be received state, the production signal is used to drive the second robotic arm 106 to place the material 0 at the automated optical inspection platform 1085 located at the receiving station, so that after the material receiving operation is completed, the automated optical inspection platform 1085 moves to the inspection station to perform optical inspection on the dispensing quality of the material 0, and after the inspection is completed, it moves to the discharge station to wait for the output of the inspected material 0.

[0092] Similarly, such as Figure 6As shown, the control device 110 can generate corresponding production signals based on the status information of the glue dispensing platform 1087, the first material holding state of the first robotic arm 104, and the second material holding state of the second robotic arm 106. For example, if the status information of the glue dispensing platform 1087 matches the material waiting to be discharged state, the production signal is used to drive the second robotic arm 106 to take out the glue-processed material 3 from the glue dispensing platform 1087 located at the discharge station. If the status information of the glue dispensing platform 1087 matches the material waiting to be received state, the production signal is used to drive the first robotic arm 104 to place the glue-dispensing material 2 with unqualified dispensing quality at the glue dispensing platform 1087 located at the receiving station, so that after the receiving operation is completed, the glue dispensing platform 1087 moves to the processing station to perform glue dispensing processing on the material 2, and after the glue dispensing processing is completed, it moves to the discharge station to wait for the glue-processed material 2 to be output.

[0093] Subsequently, the control device 110 can send a downstream unloading signal to the single-action sub-module 102 to instruct the single-action sub-module 102 to drive the first robotic arm 104 and the second robotic arm 106 to move synchronously to the unloading position of the downstream platform, and drive the second robotic arm 106 to place the material 3 after glue application on the downstream platform. If the material 2 taken out by the first robotic arm 104 from the automatic optical inspection platform 1085 is a material with qualified glue application quality, the downstream unloading signal is used to instruct the first robotic arm 104 to place the material 2 with qualified glue application quality on the downstream platform.

[0094] In this embodiment, the material handling device described above can rationally allocate the production process of the first and second robotic arms at each work platform during the material handling process, thereby improving the working efficiency of the material handling device, reducing the manufacturing and operating costs of the device, and simplifying the overall programming logic.

[0095] Based on the same inventive concept, this application also provides a control method for the aforementioned material handling device. The solution provided by this method is similar to the solution described in the aforementioned device; therefore, the specific limitations in the control method embodiments of the one or more material handling devices provided below can be found in the limitations of the material handling device described above, and will not be repeated here.

[0096] In one exemplary embodiment, such as Figure 7 As shown, a control method for a material handling device is provided, used in the control device 110 of each of the above-mentioned material handling devices, including the following steps S702 to S704. Wherein:

[0097] Step S702: Obtain the status information of at least one work platform, the first material holding status of the first robotic arm, and the second material holding status of the second robotic arm. The status information includes the current workstation of the work platform and whether the work platform is carrying materials.

[0098] Step S704: Generate a production signal based on the status information, the first material holding state, and the second material holding state, and send the production signal to the single-action sub-module to instruct the single-action sub-module to drive the first robotic arm and the second robotic arm to move synchronously to the work platform, and coordinate the control of the first robotic arm and / or the second robotic arm to perform material picking and / or material unloading operations at the work platform.

[0099] In the control method of the above-mentioned material handling device, by using the control device 110 to generate corresponding production signals based on the workstation of the work platform 108, the status information of whether it carries materials, and the holding status of the first robotic arm 104 and the second robotic arm 106, the corresponding material handling operation and / or material unloading operation are executed at the work platform 108, the accuracy of material handling operation can be improved, and the utilization efficiency of the robotic arms can be improved.

[0100] In one exemplary embodiment, at least one work platform includes a first work platform and a second work platform arranged sequentially along the material process flow direction.

[0101] Step S704 may further include: acquiring first state information of the first working platform and second state information of the second working platform. A first production signal is generated based at least on the first material holding state, the second material holding state, and the first state information. The first production signal is sent to the single-action sub-module to instruct the single-action sub-module to synchronously move the first robotic arm and the second robotic arm to the first working platform during a first time period, and to collaboratively control the first robotic arm and / or the second robotic arm to perform material picking and / or material unloading operations at the first working platform. Furthermore, after the operation at the first working platform is completed, a second production signal is generated based at least on the first material holding state, the second material holding state, and the second state information. The second production signal is sent to the single-action sub-module to instruct the single-action sub-module to synchronously move the first robotic arm and the second robotic arm to the second working platform during a second time period, and to collaboratively control the first robotic arm and / or the second robotic arm to perform material picking and / or material unloading operations at the second working platform, wherein the second time period is later than the first time period.

[0102] In an exemplary embodiment, the step of generating the first production signal may further include: if the first state information matches the unloading state, determining the robotic arm to be picked up from the first robotic arm and the second robotic arm based on the first holding state and the second holding state, wherein the unloading state is used to characterize the state that the current workstation of the first working platform is an unloading workstation and that the first working platform is carrying material. The first production signal is generated based on the unloading state and the robotic arm to be picked up, and the first production signal is sent to the single-action sub-module to instruct the single-action sub-module to drive the robotic arm to be picked up to perform a material picking operation at the first working platform.

[0103] In an exemplary embodiment, the step of generating the second production signal may further include: designating the robotic arm that has completed the material picking operation at the first work platform as the robotic arm to be unloaded corresponding to the second work platform. If the second state information matches the unloading state, another robotic arm from the first and second robotic arms (excluding the unloading robotic arm) is designated as the robotic arm to pick up material corresponding to the second work platform. A second production signal is generated based on the robotic arm to pick up material, the unloading state, and the unloading robotic arm. This second production signal is then sent to the single-action sub-module to instruct it to drive the robotic arm to pick up material at the second work platform to perform the material picking operation, and to wait for the second work platform to move to the receiving station, where the unloading robotic arm will then perform the unloading operation.

[0104] In an exemplary embodiment, the step of generating the first production signal may further include: if the first state information matches the material receiving state, determining the material-releasing robotic arm from the first robotic arm and the second robotic arm based on the first material holding state and the second material holding state, wherein the material receiving state is used to characterize the state where the first working platform is currently located as a material receiving station and there is no material on the first working platform. A first production signal is generated based on the material receiving state and the material-releasing robotic arm, and the first production signal is sent to the single-action sub-module to instruct the single-action sub-module to drive the material-releasing robotic arm to perform a material-releasing operation at the first working platform.

[0105] In an exemplary embodiment, the step of generating the second production signal may further include: designating the robotic arm that has completed the unloading operation at the first work platform as the robotic arm to be picked up at the second work platform. When the second state information matches the unloading state, a second production signal is generated based on the robotic arm to be picked up and the unloading state, and the second production signal is sent to the single-action sub-module to instruct the single-action sub-module to drive the robotic arm to be picked up to perform a picking operation at the second work platform.

[0106] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages in other steps. It is understood that the steps in different embodiments can be freely combined as needed, and all non-contradictory solutions formed by such combinations are within the scope of protection of this application.

[0107] Those skilled in the art will understand that the structures shown in the accompanying drawings of this application are merely block diagrams of some structures related to the solution of this application, and do not constitute a limitation on the computer device to which the solution of this application is applied. Specific computer devices may include more or fewer components than shown in the figures, or combine certain components, or have different component arrangements.

[0108] In one exemplary embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0109] In one exemplary embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps in the above-described method embodiments.

[0110] In one exemplary embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above-described method embodiments.

[0111] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0112] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0113] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A material handling device, characterized in that, The device includes a single-action sub-module, a first robotic arm, a second robotic arm, at least one working platform, and a control device. Both the first robotic arm and the second robotic arm are mounted on the single-action sub-module, and the first robotic arm and the second robotic arm move synchronously with the single-action sub-module; The work platform has a bearing surface for carrying materials and can be moved in a controlled manner at least between the receiving station and the discharging station; The control device is electrically connected to the single-action sub-module, the first robotic arm, the second robotic arm, and at least one of the work platforms, respectively. It is used to acquire the status information of at least one work platform, the first material holding status of the first robotic arm, and the second material holding status of the second robotic arm. The status information includes the current work position of the work platform and whether the work platform is carrying material. Based on the status information, the first material holding status, and the second material holding status, a production signal is generated and sent to the single-action sub-module to instruct the single-action sub-module to drive the first robotic arm and the second robotic arm to move synchronously to the work platform. Furthermore, it coordinates the control of the first robotic arm and / or the second robotic arm to perform material picking and / or material unloading operations at the work platform.

2. The apparatus according to claim 1, characterized in that, The at least one working platform includes a first working platform and a second working platform arranged sequentially along the material process flow direction; The control device is also used for: Obtain the first status information of the first operating platform and the second status information of the second operating platform; At least based on the first material holding state, the second material holding state, and the first state information, a first production signal is generated and sent to the single-action sub-module to instruct the single-action sub-module to drive the first robotic arm and the second robotic arm to move synchronously to the first work platform in the first time period, and to coordinately control the first robotic arm and / or the second robotic arm to perform material picking and / or material unloading operations at the first work platform. Furthermore, after the operation at the first work platform is completed, at least a second production signal is generated based on the first material holding state, the second material holding state, and the second state information. The second production signal is sent to the single-action sub-module to instruct the single-action sub-module to drive the first robotic arm and the second robotic arm to move synchronously to the second work platform in the second time period. In addition, the first robotic arm and / or the second robotic arm are coordinated to perform material picking and / or material unloading operations at the second work platform. The second time period is later than the first time period.

3. The apparatus according to claim 2, characterized in that, When the control device generates the first production signal, it is specifically used for: When the first state information matches the unloading state, the unloading robot arm is determined from the first robot arm and the second robot arm according to the first holding state and the second holding state. The unloading state is used to characterize the state that the current work station of the first work platform is the unloading work station and the first work platform is carrying material. Based on the material discharge status and the material pick-up robotic arm, the first production signal is generated and sent to the single-action sub-module to instruct the single-action sub-module to drive the material pick-up robotic arm to perform a material pick-up operation at the first work platform.

4. The apparatus according to claim 3, characterized in that, When the control device generates the second production signal, it is specifically used for: The robotic arm that has completed the material picking operation at the first working platform will be used as the robotic arm that is ready to release material at the second working platform. When the second state information matches the material discharge state, the other mechanical arm between the first mechanical arm and the second mechanical arm, excluding the material discharge mechanical arm, is selected as the material pick-up mechanical arm corresponding to the second working platform. The second production signal is generated based on the material-to-receive robotic arm, the material-to-discharge status, and the material-to-release robotic arm. The second production signal is sent to the single-action sub-module to instruct the single-action sub-module to drive the material-to-receive robotic arm to perform a material-receiving operation at the second work platform. The module then waits for the second work platform to move to the receiving station and drives the material-to-release robotic arm to perform a material-releasing operation at the second work platform.

5. The apparatus according to claim 2, characterized in that, When the control device generates the first production signal, it is specifically used for: When the first state information matches the material receiving state, the material receiving robot arm is determined from the first robot arm and the second robot arm according to the first material holding state and the second material holding state. The material receiving state is used to characterize the state that the current work station of the first work platform is the material receiving work station and there is no material on the first work platform. Based on the material receiving status and the material unloading robot arm, the first production signal is generated and sent to the single-action sub-module to instruct the single-action sub-module to drive the material unloading robot arm to perform a material unloading operation at the first work platform.

6. The apparatus according to claim 5, characterized in that, When the control device generates the second production signal, it is specifically used for: The robotic arm that has completed the material feeding operation at the first working platform will be used as the robotic arm to be picked up at the second working platform. When the second state information matches the material-to-discharge state, the second production signal is generated based on the material-to-receive robotic arm and the material-to-discharge state, and the second production signal is sent to the single-action sub-module to instruct the single-action sub-module to drive the material-to-receive robotic arm to perform a material-receiving operation at the second work platform.

7. The apparatus according to any one of claims 1 to 6, characterized in that, The work platform is also used to move to the detection station to perform material detection operation when the material is received at the receiving station; after the material detection operation is completed, it moves to the discharge station to wait for material discharge.

8. A control method for a material handling device, characterized in that, The control device applied in the material handling device according to any one of claims 1 to 7, the method comprising: Acquire status information of at least one work platform, a first material holding state of a first robotic arm, and a second material holding state of a second robotic arm. The status information includes the current workstation of the work platform and whether the work platform is carrying material. Based on the status information, the first material holding status, and the second material holding status, a production signal is generated and sent to the single-action sub-module to instruct the single-action sub-module to drive the first robotic arm and the second robotic arm to move synchronously to the work platform, and to coordinately control the first robotic arm and / or the second robotic arm to perform material picking and / or material unloading operations at the work platform.

9. The method according to claim 8, characterized in that, The at least one working platform includes a first working platform and a second working platform arranged sequentially along the material process flow direction; The step of generating a production signal based on the status information, the first material holding state, and the second material holding state, and sending the production signal to the single-action sub-module, includes: Obtain the first status information of the first operating platform and the second status information of the second operating platform; At least based on the first material holding state, the second material holding state, and the first state information, a first production signal is generated and sent to the single-action sub-module to instruct the single-action sub-module to drive the first robotic arm and the second robotic arm to move synchronously to the first work platform in the first time period, and to coordinately control the first robotic arm and / or the second robotic arm to perform material picking and / or material unloading operations at the first work platform. Furthermore, after the operation at the first work platform is completed, at least a second production signal is generated based on the first material holding state, the second material holding state, and the second state information. The second production signal is sent to the single-action sub-module to instruct the single-action sub-module to drive the first robotic arm and the second robotic arm to move synchronously to the second work platform in the second time period. In addition, the first robotic arm and / or the second robotic arm are coordinated to perform material picking and / or material unloading operations at the second work platform. The second time period is later than the first time period.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 8 or 9.

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