CN113213053A

CN113213053A - Empty box warehousing method, system, equipment, electronic equipment and readable storage medium

Info

Publication number: CN113213053A
Application number: CN202110517211.2A
Authority: CN
Inventors: 杨穗梅
Original assignee: Shenzhen Hairou Innovation Technology Co Ltd
Current assignee: Hai Robotics Co Ltd
Priority date: 2021-05-12
Filing date: 2021-05-12
Publication date: 2021-08-06
Anticipated expiration: 2041-05-12
Also published as: CN113213053B

Abstract

The embodiment of the disclosure provides a method, a system, equipment, electronic equipment and a readable storage medium for warehousing empty boxes, wherein the method comprises the steps of acquiring set information of an empty box set, wherein the empty box set comprises at least two empty boxes, and the set information comprises size information of each empty box in the empty box set; controlling a backflow device to perform backflow sorting processing on the empty box set according to the size information of each empty box to obtain sorted empty boxes; controlling a gripping device in the backflow equipment to stack the sorted empty boxes to obtain a stacked empty box set; and controlling the warehousing robot to warehouse the stacked empty boxes in a gathering manner. This openly can be based on the size information of a plurality of empty casees, retrieve after carrying out the coincide with these a plurality of empty casees, promoted recovery efficiency.

Description

Empty box warehousing method, system, equipment, electronic equipment and readable storage medium

Technical Field

The disclosure relates to the technical field of intelligent warehousing, in particular to an empty box warehousing method, an empty box warehousing system, empty box warehousing equipment, electronic equipment and a readable storage medium.

Background

The warehousing system based on the warehousing robot adopts an intelligent operating system, realizes automatic extraction and storage of goods through system instructions, can continuously operate for 24 hours, improves the warehousing efficiency, and is widely applied and favored.

In the daily operation of the warehousing system, empty boxes in the warehouse need to be recovered so as to be warehoused again, and subsequent loading is facilitated.

However, the recycling of the empty boxes is usually accomplished by manual sorting or robot transportation, wherein the manual sorting of the empty boxes is time and labor consuming, and the robot can transport a plurality of bins at one time, but the loading and unloading of the bins are still one-box-by-one, and the recycling rate is slow, so the recycling efficiency is low when the empty boxes are recycled at present.

Disclosure of Invention

The embodiment of the disclosure provides a method, a system, equipment, electronic equipment and a readable storage medium for warehousing empty boxes, which realize that a plurality of empty boxes are automatically overlapped and then recovered, and improve the recovery efficiency.

In a first aspect, an embodiment of the present disclosure provides an empty box warehousing method, where the method includes:

acquiring set information of an empty box set, wherein the empty box set comprises at least two empty boxes, and the set information comprises size information of each empty box in the empty box set;

controlling a backflow device to perform backflow sorting processing on the empty box set according to the size information of each empty box to obtain sorted empty boxes;

controlling a gripping device in the backflow equipment to stack the sorted empty boxes to obtain a stacked empty box set;

and controlling the warehousing robot to warehouse the stacked empty boxes in a gathering manner.

Optionally, the reflow apparatus further comprises a handling robot, a discharger and a reflow conveying line; according to the size information of each empty box, controlling a backflow device to perform backflow sorting processing on the empty box set to obtain sorted empty boxes, and the method comprises the following steps:

controlling a carrying robot to transport each empty box in an empty box set to a discharging machine, wherein each empty box in the empty box set is sequentially discharged on the carrying robot according to size information;

and controlling the unloader to push each empty box in the empty box set to the backflow conveying line so as to transmit the empty boxes to the grabbing device.

Optionally, the transfer robot includes a plurality of storage cargo spaces, each storage cargo space in the plurality of storage cargo spaces is provided with an empty box, and the size information of each empty box in the empty box set is positively or negatively correlated with the height of each storage cargo space in the plurality of storage cargo spaces.

Optionally, the unloader comprises a multi-layer shelf, and the multi-layer storage goods positions correspond to the multi-layer shelf one by one; control transfer robot with each empty case transportation in the empty case collection to the unloader on, include:

controlling the carrying robot to transport the empty boxes of each layer of storage cargo space in the multilayer storage cargo space to the corresponding goods shelf of the unloader;

correspondingly, control the unloader with each empty case propelling movement to the backward flow conveying line on to transmit for grabbing device, include:

and controlling the unloader to sequentially push the empty boxes on the shelves of each layer to the backflow conveying line according to the ascending or descending sequence of the heights of the shelves.

Optionally, the reflow apparatus further comprises a discharger and a reflow conveying line; according to the size information of each empty box, controlling a backflow device to perform backflow sorting processing on the empty box set to obtain sorted empty boxes, and the method comprises the following steps:

and controlling the unloader to sequentially push each empty box in the empty box set to the backflow conveying line according to the size information of each empty box so as to transmit the empty boxes to the grabbing device.

Optionally, the unloader comprises a plurality of shelves and a lifter, and each shelf in the plurality of shelves is respectively provided with an empty box; according to the size information of each empty case, control the unloader in proper order with each empty case propelling movement to the backward flow conveying line in the empty case collection on to transmit for grabbing device, include:

identifying the size information of empty boxes placed on each layer of goods shelves in the multi-layer goods shelves;

and controlling the elevator to sequentially take out the empty boxes from the corresponding shelves according to the size information of the empty boxes from large to small or from small to large, and transmitting the empty boxes to the return flow conveying line.

Optionally, each of the plurality of shelves includes a pressure sensor that identifies size information of empty boxes placed on each of the plurality of shelves, including:

acquiring weight information of an empty box through a pressure sensor;

and determining the size information of the empty box according to the weight information of the empty box.

Optionally, the reflow apparatus further includes a discharger, a reflow conveying line and a buffer area; according to the size information of each empty box, controlling a backflow device to perform backflow sorting processing on the empty box set to obtain sorted empty boxes, and the method comprises the following steps:

controlling the unloader to push each empty box to the backflow conveying line so as to cache each empty box in the empty box set to the cache region;

and sequencing the empty boxes on the cache region according to the size information of each empty box to obtain the sequenced empty boxes.

Optionally, sorting the empty boxes on the buffer area according to the size information of each empty box to obtain sorted empty boxes, including:

and controlling the gripping device to sort the empty boxes according to the size information of each empty box to obtain the sorted empty boxes.

Optionally, the reflow apparatus further comprises an image acquisition device; before sorting the empty boxes on the cache area according to the size information of each empty box to obtain the sorted empty boxes, the method further comprises the following steps:

acquiring image information of an empty box on a cache region through an image acquisition device;

and determining the size information of the empty box according to the image information of the empty box.

Optionally, the reflow apparatus further comprises a scanning device; before sorting the empty boxes on the cache area according to the size information of each empty box to obtain the sorted empty boxes, the method further comprises the following steps:

acquiring identification information of an empty box on a cache region through a scanning device;

and determining the size information of the empty box according to the identification information of the empty box.

Optionally, the set information further includes order information; the grabbing device in the control flow back equipment stacks the empty case after the sequencing, obtains the empty case set after stacking, includes:

determining the upper limit of the stacking quantity according to the order information, wherein the upper limit of the stacking quantity is smaller than the quantity of the empty boxes of the empty box set;

according to the upper limit of the stacking quantity, a gripping device in the backflow equipment is controlled to stack the sorted empty boxes to obtain at least two empty box subsets, wherein the number of the empty boxes of each empty box subset in the at least two empty box subsets is smaller than or equal to the upper limit of the stacking quantity;

and obtaining a stacked empty box set based on the at least two empty box subsets.

In a second aspect, the present disclosure further provides an empty box warehousing system, including: the device comprises backflow equipment and a storage robot, wherein the backflow equipment is in butt joint with the storage robot and comprises a grabbing device; wherein:

the reflow equipment is used for acquiring the set information of the empty box set, wherein the empty box set comprises at least two empty boxes, and the set information comprises the size information of each empty box in the empty box set;

the backflow equipment is also used for performing backflow sorting processing on the empty box set according to the size information of each empty box to obtain sorted empty boxes;

the backflow equipment is also used for stacking the sorted empty boxes through the gripping device to obtain a stacked empty box set;

and the warehousing robot is used for gathering the stacked empty boxes for warehousing.

In a third aspect, the present disclosure further provides an empty box warehousing device, including:

the system comprises a set information acquisition module, a storage module and a processing module, wherein the set information acquisition module is used for acquiring set information of an empty box set, the empty box set comprises at least two empty boxes, and the set information comprises size information of each empty box in the empty box set;

the sorting control module is used for controlling the backflow equipment to perform backflow sorting processing on the empty box set according to the size information of each empty box to obtain sorted empty boxes;

the stacking control module is used for controlling a gripping device in the backflow equipment to stack the sorted empty boxes to obtain a stacked empty box set;

and the warehousing control module is used for controlling the warehousing robot to warehouse the stacked empty boxes in a set.

Optionally, the reflow apparatus further comprises a handling robot, a discharger and a reflow conveying line;

the sequencing control module comprises a first control unit and a second control unit,

the first control unit is used for controlling the transfer robot to transport each empty box in the empty box set to the unloading machine, wherein each empty box in the empty box set is sequentially discharged on the transfer robot according to the size information;

and the second control unit is used for controlling the unloading machine to push each empty box in the empty box set to the backflow conveying line so as to transmit the empty boxes to the grabbing device.

Optionally, the unloader comprises a multi-layer shelf, and the multi-layer storage goods positions correspond to the multi-layer shelf one by one;

the first control unit is specifically configured to:

correspondingly, the second control unit is specifically configured to:

Optionally, the reflow apparatus further comprises a discharger and a reflow conveying line; the sequencing control module further comprises:

and the third control unit is used for controlling the unloading machine to sequentially push each empty box in the empty box set to the backflow conveying line according to the size information of each empty box so as to transmit the empty boxes to the grabbing device.

Optionally, the unloader comprises a plurality of shelves and a lifter, and each shelf in the plurality of shelves is respectively provided with an empty box; the third control unit is specifically configured to:

Optionally, the third control unit is further specifically configured to:

acquiring weight information of an empty box through a pressure sensor;

Optionally, the reflow apparatus further includes a discharger, a reflow conveying line and a buffer area; the sequencing control module further comprises:

the fourth control unit is used for controlling the unloader to push each empty box to the backflow conveying line so as to cache each empty box in the empty box set to the cache region;

Optionally, the fourth control unit is specifically configured to:

Optionally, the reflow apparatus further comprises an image acquisition device; an aggregate information acquisition module comprising:

the first determining unit is used for acquiring image information of an empty box on the cache region through the image acquisition device; and determining the size information of the empty box according to the image information of the empty box.

Optionally, the reflow apparatus further comprises a scanning device; the set information acquisition module further comprises:

the second determining unit is used for acquiring identification information of the empty boxes on the cache region through the scanning device; and determining the size information of the empty box according to the identification information of the empty box.

Optionally, the set information further includes order information; the stacking control module is specifically configured to:

and obtaining a stacked empty box set based on the at least two empty box subsets. In a fourth aspect, the present disclosure also provides an electronic device, including: a memory and a processor; wherein the memory is used for storing the memory of the executable instruction of the processor; wherein the processor is configured to execute the empty box warehousing method provided in any embodiment corresponding to the first aspect of the present disclosure.

In a fifth aspect, the present disclosure also provides a computer-readable storage medium, where computer-executable instructions are stored in the computer-readable storage medium, and when the computer-executable instructions are executed by a processor, the computer-readable storage medium is configured to implement the empty box warehousing method provided in any embodiment corresponding to the first aspect of the present disclosure.

In a sixth aspect, the present disclosure further provides a computer program product, including a computer program, where the computer program, when executed by a processor, implements the empty box warehousing method provided in any embodiment corresponding to the first aspect of the present disclosure.

According to the empty box warehousing method, the empty box warehousing system, the empty box warehousing equipment, the electronic equipment and the readable storage medium, set information of an empty box set is obtained, wherein the empty box set comprises at least two empty boxes, the set information comprises size information of each empty box in the empty box set, the backflow equipment is controlled to perform backflow sorting processing on the empty box set according to the size information of each empty box to obtain sorted empty boxes, and then a grabbing device in the backflow equipment is controlled to stack the sorted empty boxes to obtain a stacked empty box set; and finally, controlling the warehousing robot to warehouse the stacked empty boxes in a gathering manner. Thereby can let the automatic a plurality of empty casees coincide together in gathering of empty case of flow back equipment, make things convenient for the storage robot to carry the warehouse entry with the empty case once only that coincide together to retrieve the empty case, loaded down with trivial details when having avoided artifical recovery, and need load and unload the process of empty case one by one when having avoided storage robot to retrieve the empty case, improved recovery efficiency.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.

Fig. 1 is an application scenario diagram of an empty box warehousing method according to an embodiment of the present disclosure;

fig. 2 is a schematic structural view of a transfer robot according to an embodiment of the present disclosure;

fig. 3 is a flowchart of an empty box warehousing method according to an embodiment of the present disclosure;

FIG. 4 is a schematic diagram illustrating the ordering of each empty box in the empty box set according to an embodiment of the present disclosure;

fig. 5 is a flowchart of an empty box warehousing method according to another embodiment of the disclosure;

fig. 6 is a flowchart of an empty box warehousing method according to another embodiment of the present disclosure;

FIG. 7 is a flowchart of step 302 in the embodiment of FIG. 6 of the present disclosure;

fig. 8 is a flowchart of an empty box warehousing method according to still another embodiment of the present disclosure;

FIG. 9 is a flowchart of step 404 in the embodiment of FIG. 8 of the present disclosure;

fig. 10 is a schematic structural diagram of an empty box warehousing device according to an embodiment of the present disclosure;

fig. 11 is a schematic structural diagram of an empty box warehousing device according to another embodiment of the present disclosure;

fig. 12 is a block diagram of an electronic device provided by an embodiment of the disclosure.

With the foregoing drawings in mind, certain embodiments of the disclosure have been shown and described in more detail below. These drawings and written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the concepts of the disclosure to those skilled in the art by reference to specific embodiments.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

In the fields of automation plants and intelligent warehousing, goods need to be boxed and then put in storage, returned to storage, taken out of storage and the like, and during processing, most of the goods need to be transported to a workstation or carried out of the workstation by a transport line, a transport robot or a transport line matched with the transport robot, and empty goods boxes (hereinafter, empty boxes) after being taken out of storage, managed and sorted are recycled.

In the conventional art, when empty boxes are collected, the empty boxes are often collected manually or by a transfer robot.

In one example, the empty box recycling staff receives the empty boxes at the empty box backflow conveying line, arranges the received empty boxes one by one and then places the empty boxes in the empty box storage area.

In the above-mentioned mode, need the staff to watch on the empty case that empty case backward flow transfer chain carried to in time remove case backward flow transfer chain with the empty case and arrange in order, whole process is very consuming time power, and the empty case that works as the backward flow is in large quantity moreover, still makes mistakes easily, leads to recovery efficiency low.

In another example, the loader may load a plurality of empty cases into the transfer robot having a plurality of storage spaces, transport the plurality of empty cases to the empty case storage area by the transfer robot, and unload the plurality of empty cases from the transfer robot by the unloader.

In the above manner, although the transfer robot can transfer a plurality of empty boxes at one time, the loader still needs to load the empty boxes one by one when loading the empty boxes on the transfer robot, and the unloader also needs to unload the empty boxes one by one when unloading the empty boxes from the transfer robot, so that the transfer robot can stay in the loader and the unloader for a long time, the transfer robot may jam in the loader and the unloader, and the recovery efficiency of the empty boxes is reduced.

In yet another example, if the empty bin needs to be recovered to a different level, for example, the empty bin of a lower level needs to be recovered to an upper level, a cross-floor hoist is required to lift the empty bin from the lower level to the upper level for recovery.

In the mode, because the space that the cross-floor hoisting machine can hold is limited, if a plurality of empty boxes are to be hoisted to the upper floor, the empty boxes need to be hoisted repeatedly for many times, so that the recovery rate is slow, and the recovery efficiency of the empty boxes is reduced.

The embodiment of the disclosure provides an empty box warehousing method, an empty box warehousing system, an empty box warehousing device, an electronic device and a readable storage medium, and aims to solve the technical problems in the prior art.

The following describes the technical solutions of the present disclosure and how to solve the above technical problems in specific embodiments. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present disclosure will be described below with reference to the accompanying drawings.

The following explains an application scenario of the embodiment of the present disclosure:

fig. 1 is an application scenario diagram of the empty box warehousing method provided by the embodiment of the present disclosure, as shown in fig. 1, the application scenario may include a reflow device 11, a warehousing robot 12, and a server 13, where the server 13 may establish a communication link between the reflow device 11 and the warehousing robot 12, respectively, so as to control the reflow device 11 and the warehousing robot 12.

The reflow apparatus 11 can perform a series of processes such as conveying, transporting, loading, unloading, grasping, and the like on the empty boxes, thereby realizing an overall empty box set by stacking a plurality of empty boxes.

Alternatively, the reflow apparatus 11 may include a transfer robot 111, a discharger 112, a reflow conveyance line 113, a gripper 114, a buffer area 115, and the like. The number of the handling robot 111, the unloader 112, the reflow conveying line 113, the gripper 114, and the buffer area 115 in the reflow apparatus 11 may be one or more, and may be specifically set according to actual requirements, which is not limited herein.

Wherein the transfer robot 111 may load empty boxes and transfer the empty boxes to different locations, wherein the number of empty boxes that may be loaded by one transfer robot may be one or more. Alternatively, as shown in fig. 2, the transfer robot 111 includes a moving chassis 1113, a storage bay 1112, a transfer device 1114, and a lift assembly 1111. Wherein, storage cargo space 1112, handling device 1114 and lifting assembly 1111 are all installed on mobile chassis 1113, wherein the number of storage cargo space 1112 may be plural. The lifting assembly 1111 is configured to drive the carrying device 1114 to move up and down, such that the carrying device 1114 is aligned with any one of the plurality of storage bays 1112, or aligned with a rack and/or a cargo. The handling device 1114 can be rotated about a vertical axis to adjust its orientation for alignment to the storage bay 1112 or for alignment with a shelf and/or product. The handling device 1114 is used to perform loading or unloading of goods for handling of goods between the shelves and the storage bays 1112.

For example, the storage bay 1112 may be selectively configured or not configured, and when the storage bay 1112 is not configured, the transfer robot 111 stores the goods in the accommodating space of the transfer device 1114 during the transfer of the goods.

Wherein the unloader 112 can unload the empty boxes loaded on the transfer robot 111, for example, the unloader 112 can unload the empty boxes so that the transfer robot 111 is unloaded onto the return flow conveyor line, optionally, the unloader 112 may further include a plurality of shelves and a lifter, which can be lifted to different heights to take out the goods from the shelves of different heights.

The return flow line 113 may be used for conveying empty boxes, and optionally, the return flow line may be a belt line, a roller line, a chain plate line, or the like, which is not limited herein.

Wherein the gripping device 114 may be used to grip the empty box, optionally, the gripping device 114 may include a claw type gripping device (such as a mechanical claw, a mechanical clamp, etc.), a negative pressure suction type gripping device (such as a mechanical arm with a negative pressure suction cup), a magnetic suction type gripping device (such as a mechanical arm with an electromagnet), an internal expanding type gripping device (such as a mechanical arm with an internal expanding chuck), etc.

Optionally, the reflow apparatus 11 may further include a cross-level elevator 116, the cross-level elevator 116 being used to recycle empty boxes to a different level.

It is understood that when the server 13 establishes the communication link with the reflow apparatus 11, the server 13 may establish the communication link with each of the reflow apparatus 11, so that the server 13 may also control each of the reflow apparatus, for example, the transfer robot 111, the unloader 112, the reflow conveying line 113, the gripper 114, and the buffer 115.

Wherein the warehousing robot 12 loads one or more empty containers and transports the one or more empty containers to different locations, wherein the warehousing robot 12 and the above-mentioned transfer robot 111 may be the same robot.

Fig. 3 is a flowchart of an empty box warehousing method according to an embodiment of the present disclosure, where the empty box warehousing method may be applied to a server in the application environment, and as shown in fig. 3, the empty box warehousing method according to the embodiment may include the following steps:

101. acquiring set information of an empty box set, wherein the empty box set comprises at least two empty boxes, and the set information comprises size information of each empty box in the empty box set.

The empty box set may be a set composed of a plurality of empty boxes, and optionally, the size of each empty box in the empty box set is different, and the empty box cavity with a large size may accommodate the empty box with a small size.

The size information may include length information, width information, height information, model information, volume information, and the like, and for example, the size information may be 700 × 900 × 230 mm.

In some embodiments, the size information of the empty box can be obtained by acquiring, by the image acquisition device, image information of each empty box in the empty box set, uploading the image information to the server, and then identifying the image information by the server. As an example, for example, a server is provided with a first size recognition model trained in advance, the first size recognition model being trained in advance from a plurality of pieces of sample image information and a plurality of pieces of sample size information, and when image information is input to the first size recognition model, size information corresponding to the image information can be obtained.

Alternatively, the image capturing device may be a high-definition camera, a depth camera, or the like, and the image capturing device may be disposed on a line that the empty box flows back, for example, on the side, above, or the like of a conveying line for flowing back the empty box.

In other embodiments, the surface of each empty box in the empty box set may be preset with identification information, when the empty box reflows, the identification information on the empty box may be scanned by the scanning device and uploaded to the server, and the server finds the corresponding size information according to the identification information, where the server stores mapping relationships between a plurality of identification information and a plurality of size information in advance, and the corresponding size information may be searched through the mapping relationships and the obtained identification information.

Alternatively, the identification information may include a two-dimensional code, a bar code, or the like, and each empty box corresponds to different identification information. Accordingly, the scanning device may be a two-dimensional code scanning device, a bar code scanning device, or the like, and the image acquisition device may be disposed on a line that the empty box must pass through during the backflow, for example, disposed beside, above, or the like a conveying line for the backflow of the empty box, and a specific disposition position thereof is not limited herein.

In still other embodiments, the size information of the empty boxes can be obtained by collecting weight information of each empty box in the empty box set through the pressure sensor, uploading the weight information to the server, and determining size information corresponding to the weight information by the server according to the weight information. As an example, for example, a server is provided with a second size recognition model trained in advance, the second size recognition model being trained in advance from a plurality of pieces of sample weight information and a plurality of pieces of sample size information, and when weight information is input to the second size recognition model, size information corresponding to the weight information can be obtained.

102. And controlling the backflow equipment to perform backflow sorting processing on the empty box set according to the size information of each empty box to obtain sorted empty boxes.

In some embodiments, the reflow apparatus may include a reflow conveying line and a plurality of gripping devices, the plurality of gripping devices may be disposed beside the reflow conveying line, each empty box in the set of empty boxes is placed on the reflow conveying line, the server may control the pause operation of the reflow conveying line, and then control the plurality of gripping devices to reorder and place each empty box on the reflow conveying line according to the size, as an example, the empty boxes may be sequentially discharged on the reflow conveying line according to the order of size from large to small or from small to large, so as to obtain the ordered empty boxes. The empty boxes sorted by size from larger to smaller on the return conveyor line may be as shown in fig. 4, with the size of the empty boxes arranged from left to right on the conveyor line decreasing.

103. And controlling a gripping device in the backflow equipment to stack the sorted empty boxes to obtain a stacked empty box set.

In some embodiments, after the empty boxes in the empty box set are sorted on the backflow conveying line, the server may control the backflow conveying line to work, and control the gripping device located at the end of the conveying direction of the backflow conveying line to stack the empty boxes conveyed by the backflow conveying line in sequence, so as to obtain a stacked empty box set.

As an example, if the return flow line is used to transport empty boxes in the order of their sizes, the gripping device can sequentially place the next empty box into the currently stacked empty box. Alternatively, if the direction of the opening of each empty box is not consistent, the gripping device can firstly adjust the opening of each empty box to be consistent and then stack the empty boxes.

As another example, if the return flow line is used to transport empty boxes in the order of their sizes from small to large, the gripping device can sequentially nest the next empty box to the currently stacked empty box.

Optionally, when the gripping device stacks empty boxes, the server may control the reflow conveyor to switch between different working states (such as pause, deceleration, acceleration, start, etc.) so as to cooperate with the gripping device to effectively stack empty boxes.

104. And controlling the warehousing robot to warehouse the stacked empty boxes in a gathering manner.

In some embodiments, the server may control the warehousing robot to move the stacked empty box set to load the stacked empty box set, and load the stacked empty box set to be transported to an area for storing the empty boxes for warehousing.

Optionally, the warehousing robot comprises a plurality of storage goods spaces, and each storage goods space can be used for placing a stacked empty box set, so that the stacked empty box sets can be carried at one time.

In this embodiment, set information of an empty box set is obtained, where the empty box set includes at least two empty boxes, the set information includes size information of each empty box in the empty box set, a backflow device is controlled to perform backflow sorting processing on the empty box set according to the size information of each empty box to obtain sorted empty boxes, and then a gripping device in the backflow device is controlled to stack the sorted empty boxes to obtain a stacked empty box set; and finally, controlling the warehousing robot to warehouse the stacked empty boxes in a gathering manner. Therefore, the backflow equipment can automatically overlap a plurality of empty boxes in the empty box set, the storage robot can conveniently carry and store the overlapped empty boxes in a warehouse at one time to recover the empty boxes, the trouble in manual recovery is avoided, the fact that the storage robot needs to carry, load and unload the empty boxes for multiple times when recovering the empty boxes is avoided, the storage robot cannot jam at a discharge gathering point, and the carrying, loading and unloading speed is improved; even if the empty boxes are required to be recycled to different layers, the overlapped empty boxes are only required to be lifted once by the cross-layer lifter, and the recycling efficiency is improved.

Fig. 5 is a flowchart of an empty box warehousing method according to another embodiment of the present disclosure, where the empty box warehousing method may be applied to a server in the application environment, in this embodiment, the reflow apparatus may include a transfer robot, a discharger, a reflow conveying line, and a gripping device, and as shown in fig. 5, the empty box warehousing method according to this embodiment may include the following steps:

201. acquiring set information of an empty box set, wherein the empty box set comprises at least two empty boxes, and the set information comprises size information of each empty box in the empty box set.

The detailed implementation of step 201 may refer to step 101, and therefore is not described herein.

202. And controlling the carrying robot to transport each empty box in the empty box set to the unloading machine, wherein each empty box in the empty box set is sequentially discharged on the carrying robot according to the size information.

In some embodiments, the transfer robot may include a plurality of storage cargo spaces, each of the plurality of storage cargo spaces is provided with an empty box, and the size information of each empty box in the empty box set is positively or negatively correlated to the height of each storage cargo space in the plurality of storage cargo spaces.

As an example, the multi-story storage cargo space of the transfer robot is arranged in a vertical direction, that is, the multi-story storage cargo space is arranged in order of height from low to high, wherein the size of empty boxes placed on the storage cargo space having a higher height in the transfer robot is smaller. Alternatively, the size of the empty box placed on the storage space having the higher height in the transfer robot is larger.

Alternatively, when the empty box sets are arranged on the transfer robot, the empty boxes in the empty box sets can be manually and sequentially arranged in the storage cargo spaces of each layer on the transfer robot according to the size information.

Alternatively, the server may control the transfer robot to move to a corresponding position to receive the empty boxes according to the position information of each empty box in the empty box set and the size of each empty box, and place the received empty boxes into the storage cargo space layer by layer. For example, the empty box set includes a first empty box and a second empty box, the first empty box having a size larger than that of the second empty box, and the server may control the transfer robot to move to a position of the first empty box to receive the first empty box and place the first empty box in the storage bay of the lowest floor, and then receive the second empty box in a position of the transfer robot to move to the second empty box and place the second empty box in the storage bay of the upper floor above the first empty box. Therefore, when the carrying robot receives the empty box set, the orderly discharge of each empty box in the empty box set can be completed.

Wherein, the position information of each empty box in the empty box set can be stored in the server in advance. Or, each empty box can be provided with a positioning device, and the positioning device can upload the position information of the empty box to the server in real time.

Optionally, the unloader may include a multi-deck rack, the multi-deck storage positions and the multi-deck rack correspond one-to-one, for example, the multi-deck storage positions and the multi-deck rack may correspond in height, for example, a storage position at the lowest height in the multi-deck storage positions corresponds to a rack at the lowest height in the multi-deck rack, a storage position at a layer above the lowest storage position corresponds to a rack at a layer above the lowest rack, and so on.

In this example, the specific implementation of step 202 may include: and controlling the carrying robot to transport the empty boxes of each layer of the multi-layer storage cargo space to the corresponding goods shelf of the unloader.

Wherein, the server can control transfer robot with the empty case transportation of each layer storage goods position in its multilayer storage goods position to on the goods shelves of the correspondence of unloader, because the size information of each empty case in the empty case set with the height of each layer storage goods position in the multilayer storage goods position is positive correlation or negative correlation, just multilayer storage goods position with multilayer goods shelves one-to-one, so when each empty case in the empty case set was transported on each layer goods shelves on the unloader, the size information of each empty case in the empty case set also with the height of each layer goods shelves in the multilayer goods shelves is positive correlation or negative correlation.

203. And controlling the unloader to push each empty box in the empty box set to the backflow conveying line so as to transmit the empty boxes to the grabbing device.

Following the above example, the specific implementation of step 203 may include: and controlling the unloader to sequentially push the empty boxes on the shelves of each layer to the backflow conveying line according to the ascending or descending sequence of the heights of the shelves.

As one mode, the unloading machine may further include a lifter, and the lifter may be at the height of any layer of the rack lifted to the unloading machine, receive the empty boxes on the layer of the rack, then bear the empty boxes lifted to the height of the backflow conveying line, and drop the empty boxes onto the backflow conveying line. Specifically, the server can control a hoist on the unloader to take out empty boxes layer by layer according to the ascending or descending sequence of the heights of the shelves and place the empty boxes on the backflow conveying line, and since the size information of each empty box in the empty box set is positively or negatively correlated with the height of each shelf in the multilayer shelves, the hoist also places the empty boxes on the backflow conveying line according to the sequence of the sizes of the empty boxes from large to small or from small to large, and the backflow conveying line transmits the empty box set to the gripping device and also sequentially transmits the empty boxes to the gripping device according to the sequence of the sizes of the empty boxes from large to small or from small to large.

204. And controlling a gripping device in the backflow equipment to stack the sorted empty boxes to obtain a stacked empty box set.

205. And controlling the warehousing robot to warehouse the stacked empty boxes in a gathering manner.

The detailed implementation of steps 204 to 205 can refer to steps 103 to 104, and therefore will not be described herein.

In this embodiment, each empty box in the empty box set is transported to the unloading machine by controlling the handling robot, wherein each empty box in the empty box set is sequentially discharged on the handling robot according to size information, and then the unloading machine is controlled to push each empty box in the empty box set to the backflow conveying line so as to transmit the empty box set to the gripping device, so that the empty box set is sorted on the handling robot, and the sorted empty boxes are conveniently and correspondingly processed by the subsequent unloading machine, backflow conveying line and gripping device, thereby improving the recovery efficiency of the empty boxes.

Fig. 6 is a flowchart of an empty box warehousing method according to still another embodiment of the present disclosure, where the empty box warehousing method may be applied to a server in the application environment, in this embodiment, a reflow device may include an unloader and a reflow conveying line, and as shown in fig. 6, the empty box warehousing method according to this embodiment may include the following steps:

301. acquiring set information of an empty box set, wherein the empty box set comprises at least two empty boxes, and the set information comprises size information of each empty box in the empty box set.

The detailed implementation of step 301 may refer to step 101, and therefore is not described herein.

302. And controlling the unloader to sequentially push each empty box in the empty box set to the backflow conveying line according to the size information of each empty box so as to transmit the empty boxes to the grabbing device.

In some embodiments, the unloader may include a plurality of shelves and a hoist, each of the plurality of shelves being configured to receive an empty bin; in this embodiment, as shown in fig. 7, step 302 may specifically include:

3021. identifying size information of empty boxes placed on each of the plurality of shelves.

As a mode, each layer of shelf in the multi-layer shelf includes a pressure sensor, and the pressure sensor is disposed on the shelf and can detect weight information of an empty box placed on the shelf when the empty box is placed on the shelf. Optionally, the pressure sensor may also upload weight information of the object on the shelf to the server when detecting that the weight information exceeds a weight threshold, so as to save detection power consumption.

After the server obtains the weight information of the empty box, the size information of the empty box can be determined according to the weight information of the empty box. Alternatively, the server may store a mapping relationship table of the size information and the weight information of the empty boxes in advance, and the size information corresponding to the weight information may be searched from the mapping relationship table by using the weight information of the empty boxes. Optionally, the pressure sensors of the shelves on each layer of the unloader can be numbered in advance, when the pressure sensors upload weight information, the serial numbers of the pressure sensors can be uploaded to the server together, and the server can determine the shelf layer where the empty box corresponding to the weight information is placed according to the serial numbers of the pressure sensors and the uploaded weight information.

In the embodiment, the pressure sensors are arranged on the shelves of the unloader to acquire the weight information of the empty boxes, and the size information of the empty boxes is determined according to the weight information of the empty boxes, so that the size information of the empty boxes placed on the shelves of the unloader can be quickly and effectively detected, and the positions of the empty boxes with different size information on the unloader, such as the number of shelves.

As another mode, each empty box in the empty box set may be configured with one piece of identification information in advance, and each piece of identification information corresponds to one piece of size information in advance, each layer of shelf in the multi-layer shelf includes a scanning device, the scanning device may identify the identification information on the empty box, and the scanning devices on the shelves on the unloader may be numbered in advance. After the scanning device scans the identification information, the identification information and the serial number of the scanning device can be uploaded to the server, and the server can determine the size information corresponding to the identification information according to the identification information and determine the position of the scanned empty box on the unloader, such as the number of shelf layers, according to the serial number of the scanning device.

In the embodiment, the scanning device is arranged on each layer of shelf of the unloader to collect the identification information of the empty boxes, and the size information of the empty boxes is determined according to the identification information of the empty boxes, so that the size information of the empty boxes placed on each shelf of the unloader can be quickly and effectively detected, and the positions of the empty boxes with different size information on the unloader can be detected.

3022. And controlling the elevator to sequentially take out the empty boxes from the corresponding shelves according to the sequence of the size information of the empty boxes from large to small or from small to large and transmit the empty boxes to the backflow conveying line.

As an example, taking the order of size information of the empty boxes from large to small as an example, for example, the unloader includes a first shelf, a second shelf and a third shelf, the height of which increases in sequence, a first empty box is placed on the first shelf, a second empty box is placed on the second shelf, and a third empty box is placed on the third shelf, where the size information of the second empty box is greater than the size information of the third empty box (for example, the volume of the second empty box is greater than the volume of the third empty box), and the size information of the third empty box is greater than the size information of the first empty box. At this moment, the server can control the lifting machine to move to the second goods shelf first, take out the second empty case and transmit to the backflow conveying line, then control the lifting machine to move to the third goods shelf, take out the third empty case and transmit to the backflow conveying line, finally control the lifting machine to move and obtain first goods shelf, take out the first empty case and transmit to the backflow conveying line.

303. And controlling a gripping device in the backflow equipment to stack the sorted empty boxes to obtain a stacked empty box set.

304. And controlling the warehousing robot to warehouse the stacked empty boxes in a gathering manner.

The detailed implementation of steps 303 to 304 may refer to steps 103 to 104, and therefore will not be described herein.

In this embodiment, through the size information according to each empty case, control the unloader with in proper order each empty case propelling movement in the empty case set extremely on the backward flow conveying line, in order to transmit for grabbing device to accomplish the sequencing of empty case set in unloader department, with make things convenient for subsequent backward flow conveying line and grabbing device to carry out corresponding processing in proper order to the empty case after the sequencing can, promoted the recovery efficiency of empty case.

Fig. 8 is a flowchart of an empty box warehousing method according to still another embodiment of the present disclosure, where the empty box warehousing method may be applied to a server in the application environment, in this embodiment, please refer to fig. 1 again, a reflow apparatus further includes an unloader, a reflow conveying line, and a cache area, and as shown in fig. 8, the empty box warehousing method according to this embodiment may include the following steps:

401. acquiring set information of an empty box set, wherein the empty box set comprises at least two empty boxes, and the set information comprises size information of each empty box in the empty box set.

As an example, the reflow apparatus further includes an image capturing device, the image capturing device may be disposed above the buffer area, beside the buffer area, or on the grabbing device, the specific setting position of the image capturing device is not limited here, and image information can be acquired for an empty box on the buffer area, in this example, the specific implementation manner of step 401 may be: acquiring image information of the empty box on the cache region through the image acquisition device, and determining size information of the empty box according to the image information of the empty box, wherein step 101 may be referred to for determining the size information of the empty box according to the image information of the empty box, and thus details are not repeated here.

As another example, the reflow apparatus further includes a scanning device, the scanning device may be disposed above the buffer area, may also be disposed beside the buffer area, and may also be disposed on the grasping device, a specific setting position of the scanning device is not limited herein, and image information acquisition may be performed on an empty box on the buffer area, in this example, the specific implementation manner of step 401 may be: acquiring identification information of the empty boxes on the cache region through the scanning device; determining the size information of the empty box according to the identification information of the empty box, wherein the step 101 may be referred to for determining the size information of the empty box according to the identification information of the empty box, and thus is not described herein again.

402. And controlling the unloading machine to push the empty boxes to the backflow conveying line so as to cache the empty boxes in the empty box set to the cache region.

In some embodiments, the server may control the unloader to push each empty box onto the return flow line, and the return flow line may be connected to the buffer area, and each empty box in the set of empty boxes may be buffered to the buffer area by the return flow line.

403. And sequencing the empty boxes on the cache region according to the size information of each empty box to obtain the sequenced empty boxes.

In some embodiments, the server may control the gripping device to sort the empty boxes according to the size information of each empty box, so as to obtain the sorted empty boxes. As an example, the gripping device may be arranged beside a buffer area, which may be a buffer line, and the buffer line may be in a stopped state when the gripping device sorts the empty boxes in the buffer area. When the cache conveying line is in a stop state, the gripping device can grip the empty boxes to adjust the positions of the empty boxes on the cache conveying line, so that the empty boxes on the cache conveying line can be arranged in the order of size from large to small or from small to large. When the empty box sorting is completed, the buffer conveying line can be started to convey the sorted empty boxes to the backflow conveying line.

In other embodiments, the buffer area and the gripping device may be disposed beside the reflow conveying line, and the gripping device may grip the empty boxes conveyed by the reflow conveying line into the buffer area for sorting, as an example, taking the size information of the empty boxes as sorting from large to small as an example, when the reflow conveying line sequentially conveys the first empty boxes and the second empty boxes to the gripping device, if the size of the first empty boxes is smaller than that of the second empty boxes, the gripping device may grip the first empty boxes into the buffer area, and after the second empty boxes pass through the gripping device, the gripping device places the first empty boxes onto the reflow conveying line, so that the first empty boxes are arranged behind the second empty boxes.

In still other embodiments, workers may be arranged in the cache area to order the empty boxes on the cache area.

404. And controlling a gripping device in the backflow equipment to stack the sorted empty boxes to obtain a stacked empty box set.

In some embodiments, the set information further includes order information, where the order information may be indication information made by a customer to the specification of the empty box set, for example, the order information may include information such as an upper stacking quantity limit of empty boxes, an empty box size threshold, and the like, as shown in fig. 9, step 404 may specifically include:

4041. and determining the upper limit of the stacking quantity according to the order information, wherein the upper limit of the stacking quantity is smaller than the quantity of the empty boxes of the empty box set.

4042. And controlling a gripping device in the reflow equipment to stack the sorted empty boxes according to the upper limit of the stacking quantity to obtain at least two empty box subsets, wherein the quantity of the empty boxes of each empty box subset in the at least two empty box subsets is less than or equal to the upper limit of the stacking quantity.

As an example, for example, the empty box set includes 10 empty boxes, and the 10 empty boxes have been sorted in descending order of size information and numbered, such as the empty box with the largest size information is numbered as 1, the empty box with the second largest size information is numbered as 2, and so on. If the upper limit of the stacking number is 5, the server may stack empty boxes numbered 1 to 5 among 10 empty boxes to obtain an empty box subset, and then stack empty boxes numbered 6 to 10 among 10 empty boxes to obtain another empty box subset.

As another example, for example, the order information is a size threshold, and if the empty box set includes a first empty box, a second empty box, a third empty box and a fourth empty box, the size information of the first empty box and the second empty box is greater than the size threshold, and the size information of the third empty box and the fourth empty box is less than the size threshold, the first empty box and the second empty box may be stacked into a first empty box subset, and the third empty box and the fourth empty box may be stacked into a second empty box subset.

Optionally, the order information may further include a number of empty box subsets, and each empty box in the empty box set may be divided into the empty box subset with the number of empty box subsets according to the number of empty box subsets.

4043. And obtaining the stacked empty box set based on the at least two empty box subset sets.

In view of the above example, the first empty box subset and the second empty box subset obtained in the above embodiment are collectively used as a stacked empty box set.

In this embodiment, determining a stacking number upper limit according to the order information, where the stacking number upper limit is smaller than the number of empty boxes in the empty box set; controlling a gripping device in the reflow equipment to stack the sorted empty boxes according to the upper limit of the stacking quantity to obtain at least two empty box subsets; and finally, the stacked empty box sets are obtained based on the at least two empty box sub-sets, so that the number of the stacked empty box sets can be determined according to the specific requirements of customers, the customer requirements are met, and the recovery efficiency is improved.

405. And controlling the warehousing robot to warehouse the stacked empty boxes in a gathering manner.

The detailed implementation of step 405 may refer to step 104, and therefore is not described herein.

In this embodiment, the unloading machine is controlled to push each empty box to the backflow conveying line, so as to cache each empty box in the empty box set to the cache region; according to the size information of each empty box, the empty boxes are sorted on the cache region to obtain the sorted empty boxes, so that sorting of the empty box sets can be completed at the cache region, subsequent grabbing devices can conveniently and directly carry out superposition processing on the sorted empty boxes in sequence, and the recovery efficiency of the empty boxes is improved.

It will be appreciated that the server may choose to complete the sorting of the sets of empty boxes at the transfer robot, at the unloader, or at the buffer, depending on the circumstances. For example, the sorting method of the empty box set is selected according to the actual collection area, collection order, distribution position, and the like of the empty boxes. As an example, when the distribution of the empty boxes in the empty box set is more concentrated in position, one transfer robot can receive a plurality of empty boxes at the same time, and thus the sorting of the empty box set can be completed at the transfer robot. As another example, if the distribution of empty boxes in the empty box set is distributed at a relatively small position, sorting of the empty box set may be performed at the unloader to facilitate the use of multiple transfer robots to transfer the empty boxes to the unloader, respectively. As yet another example, if the number of empty boxes in the set of empty boxes is small, then the ordering of the set of empty boxes may be done at the cache. In addition, the three sorting modes of finishing the sorting of the empty box sets at the carrying robot, finishing the sorting of the empty box sets at the unloader and finishing the sorting of the empty box sets at the buffer area can be used in a matching way according to actual conditions, for example, in order to ensure the sorting accuracy, the empty box sets can be sorted at the buffer area after finishing the sorting of the empty box sets at the unloader.

Fig. 10 is a schematic structural diagram of an empty box warehousing device according to an embodiment of the present disclosure, and as shown in fig. 10, the empty box warehousing device includes:

the set information obtaining module 51 is configured to obtain set information of an empty box set, where the empty box set includes at least two empty boxes, and the set information includes size information of each empty box in the empty box set.

And the sorting control module 52 is configured to control the backflow device to perform backflow sorting processing on the empty box set according to the size information of each empty box, so as to obtain sorted empty boxes.

And the stacking control module 53 is used for controlling a gripping device in the reflow equipment to stack the sorted empty boxes to obtain a stacked empty box set.

And the warehousing control module 54 is used for controlling the warehousing robot to warehouse the stacked empty boxes.

Fig. 11 is a schematic structural diagram of an empty box warehousing device according to another embodiment of the present disclosure, and as shown in fig. 11, the sorting control module 52 includes a first control unit 521 and a second control unit 522. Wherein, the reflow equipment also comprises a carrying robot, a discharging machine and a reflow conveying line.

A first control unit 521 for controlling the transfer robot to transport each empty box of the empty box set onto the unloader, wherein each empty box of the empty box set is sequentially discharged on the transfer robot according to the size information.

A second control unit 522 for controlling the unloader to push each empty bin of the collection of empty bins onto the return conveyor line for transfer to the gripping device.

the first control unit 521 is specifically configured to:

accordingly, the second control unit 522 is specifically configured to:

Optionally, the reflow apparatus further comprises a discharger and a reflow conveying line; the sequencing control module 52 further includes:

a third control unit 523, configured to control the unloading machine to sequentially push each empty box in the empty box set to the reflow conveying line according to the size information of each empty box, so as to transmit the empty box to the gripping device.

Optionally, the unloader comprises a plurality of shelves and a lifter, and each shelf in the plurality of shelves is respectively provided with an empty box; the third control unit 523 is specifically configured to:

and identifying the size information of the empty boxes placed on each layer of the multi-layer shelf.

Optionally, the third control unit 523 is further specifically configured to:

and acquiring weight information of the empty box through a pressure sensor.

Optionally, the reflow apparatus further includes a discharger, a reflow conveying line and a buffer area; the sequencing control module 52 further includes:

a fourth control unit 524, configured to control the unloading machine to push each empty box onto the return conveying line, so as to cache each empty box in the empty box set to the cache region.

Optionally, the fourth control unit 524 is specifically configured to:

Optionally, the reflow apparatus further comprises an image acquisition device; the aggregate information acquisition module 51 includes:

the first determining unit 511 is used for acquiring image information of an empty box on the cache region through the image acquisition device; and determining the size information of the empty box according to the image information of the empty box.

Optionally, the reflow apparatus further comprises a scanning device; the collection information obtaining module 51 further includes:

a second determining unit 512, configured to collect, by using the scanning device, identification information of an empty box on the cache region; and determining the size information of the empty box according to the identification information of the empty box.

Optionally, the set information further includes order information; the stacking control module 53 is specifically configured to:

and controlling a gripping device in the reflow equipment to stack the sorted empty boxes according to the upper limit of the stacking quantity to obtain at least two empty box subsets, wherein the number of the empty boxes of each empty box subset in the at least two empty box subsets is less than or equal to the upper limit of the stacking quantity.

Fig. 12 is a block diagram of an electronic device, which may be a server, an industrial personal computer, a tablet device, or the like, according to an embodiment of the present disclosure.

The electronic device may include a memory 63 and a processor 62.

A memory 63 for storing instructions executable by the processor 62.

The processor 62 is configured to perform the methods provided by the above embodiments.

The electronic device further comprises a receiver 60 and a transmitter 61. The receiver 60 is used for receiving commands and data transmitted from an external device, and the transmitter 61 is used for transmitting commands and data to the external device.

The embodiment of the present disclosure further provides an empty box warehousing system, which includes:

the device comprises backflow equipment and a storage robot, wherein the backflow equipment is in butt joint with the storage robot and comprises a grabbing device; wherein:

the reflow device is used for acquiring the set information of the empty box set, wherein the empty box set comprises at least two empty boxes, and the set information comprises the size information of each empty box in the empty box set.

The backflow equipment is further used for performing backflow sorting processing on the empty box set according to the size information of each empty box to obtain sorted empty boxes.

The backflow equipment is further used for stacking the sorted empty boxes through the gripping device to obtain a stacked empty box set.

The backflow equipment in the empty box warehousing system may be the same as the backflow equipment in the application environment of fig. 1, and the warehousing robot in the empty box warehousing system may be the same as the warehousing robot in the application environment of fig. 1.

The embodiment of the present disclosure provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the empty box warehousing method provided in any one of the above embodiments of the present disclosure.

The computer readable storage medium may be, among others, ROM, Random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, and the like.

The disclosed embodiments also provide a computer program product, which includes: a computer program, stored in a readable storage medium, from which at least one processor of the electronic device can read the computer program, the at least one processor executing the computer program causing the electronic device to perform the solution provided by any of the embodiments described above.

In the several embodiments provided in the present disclosure, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of modules is merely a division of logical functions, and an actual implementation may have another division, for example, a plurality of modules or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or modules, and may be in an electrical, mechanical or other form.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. An empty box warehousing method is characterized by comprising the following steps:

and controlling the warehousing robot to warehouse the stacked empty boxes in a set.

2. The method of claim 1, wherein the reflow apparatus further comprises a handling robot, a unloader, and a reflow transfer line; the step of controlling the backflow equipment to perform backflow sorting processing on the empty box set according to the size information of each empty box to obtain sorted empty boxes comprises the following steps:

controlling the carrying robot to transport each empty box in the empty box set to the unloader, wherein each empty box in the empty box set is sequentially discharged on the carrying robot according to size information;

3. The method according to claim 2, wherein the transfer robot comprises a plurality of storage cargo spaces, each storage cargo space in the plurality of storage cargo spaces is provided with an empty box, and the size information of each empty box in the empty box set is positively or negatively correlated with the height of each storage cargo space in the plurality of storage cargo spaces.

4. The method of claim 3, wherein the unloader includes a multi-level rack, the multi-level storage positions and the multi-level rack corresponding one-to-one; the controlling the transfer robot to transport each empty box in the empty box set to the unloader includes:

controlling the carrying robot to transport the empty boxes of each layer of the multi-layer storage cargo space to corresponding shelves of the unloader;

the control the unloader with each empty case propelling movement to on the backward flow conveying line to transmit for grabbing device includes:

5. The method of claim 1, wherein the reflow apparatus further comprises a unloader and a reflow delivery line; the step of controlling the backflow equipment to perform backflow sorting processing on the empty box set according to the size information of each empty box to obtain sorted empty boxes comprises the following steps:

6. The method of claim 5, wherein said unloader includes a plurality of pallets and a hoist, each of said plurality of pallets being provided with an empty bin; the control according to the size information of each empty case, the unloader in proper order with each empty case propelling movement in the empty case collection to on the backward flow conveying line, in order to transmit for grabbing device, include:

identifying size information of empty boxes placed on each shelf in the multi-shelf;

and controlling the elevator to sequentially take out the empty boxes from the corresponding shelves according to the sequence of the size information of the empty boxes from large to small or from small to large and transmit the empty boxes to the backflow conveying line.

7. The method of claim 6, wherein each of the multi-level racks includes a pressure sensor, the identifying information of the size of the empty bin placed on each of the multi-level racks includes:

acquiring weight information of the empty box through the pressure sensor;

8. The method of claim 1, wherein the reflow apparatus further comprises a unloader, a reflow line, and a buffer area; the step of controlling the backflow equipment to perform backflow sorting processing on the empty box set according to the size information of each empty box to obtain sorted empty boxes comprises the following steps:

9. The method of claim 8, wherein the sorting the empty boxes on the buffer according to the size information of each empty box to obtain sorted empty boxes comprises:

10. The method of claim 8, wherein the reflow apparatus further comprises an image capture device; before the sorting the empty boxes on the cache region according to the size information of each empty box to obtain the sorted empty boxes, the method further includes:

acquiring image information of the empty box on the cache region through the image acquisition device;

11. The method of claim 8, wherein the reflow apparatus further comprises a scanning device; before the sorting the empty boxes on the cache region according to the size information of each empty box to obtain the sorted empty boxes, the method further includes:

acquiring identification information of the empty boxes on the cache region through the scanning device;

12. The method of any of claims 1 to 11, wherein the aggregate information further comprises order information; the control grabbing device in the reflow apparatus stacks the empty case after sequencing, obtains the empty case set after stacking, includes:

determining a stacking quantity upper limit according to the order information, wherein the stacking quantity upper limit is smaller than the empty box quantity of the empty box set;

according to the upper limit of the stacking quantity, controlling a gripping device in the reflow equipment to stack the sorted empty boxes to obtain at least two empty box subsets, wherein the number of the empty boxes of each empty box subset in the at least two empty box subsets is less than or equal to the upper limit of the stacking quantity;

and obtaining the stacked empty box set based on the at least two empty box subset sets.

13. An empty box warehousing system, the system comprising: the device comprises a backflow device and a storage robot, wherein the backflow device is in butt joint with the storage robot and comprises a grabbing device;

the reflow device is used for acquiring set information of an empty box set, wherein the empty box set comprises at least two empty boxes, and the set information comprises size information of each empty box in the empty box set;

the backflow equipment is further used for performing backflow sorting processing on the empty box set according to the size information of each empty box to obtain sorted empty boxes;

the backflow equipment is further used for stacking the sorted empty boxes through the gripping device to obtain a stacked empty box set;

and the warehousing robot is used for warehousing the stacked empty boxes.

14. The utility model provides an empty box warehouse entry equipment which characterized in that, equipment includes:

the device comprises a set information acquisition module, a storage module and a processing module, wherein the set information acquisition module is used for acquiring set information of an empty box set, the empty box set comprises at least two empty boxes, and the set information comprises size information of each empty box in the empty box set;

the stacking control module is used for controlling a gripping device in the reflow equipment to stack the sorted empty boxes to obtain a stacked empty box set;

15. An electronic device, comprising: a memory and a processor;

a memory for storing the processor-executable instructions;

wherein the processor is configured to perform the method of any one of claims 1 to 12.

16. A computer-readable storage medium having computer-executable instructions stored thereon, which when executed by a processor, are configured to implement the method of any one of claims 1 to 12.

17. A computer program product, characterized in that it comprises a computer program which, when executed by a processor, implements the method of any one of claims 1 to 12.