CN113911614B - Material box processing method and equipment - Google Patents
Material box processing method and equipment Download PDFInfo
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- CN113911614B CN113911614B CN202111227031.7A CN202111227031A CN113911614B CN 113911614 B CN113911614 B CN 113911614B CN 202111227031 A CN202111227031 A CN 202111227031A CN 113911614 B CN113911614 B CN 113911614B
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- 239000000463 material Substances 0.000 title claims abstract description 198
- 238000003672 processing method Methods 0.000 title abstract description 6
- 238000000034 method Methods 0.000 claims abstract description 94
- 238000003860 storage Methods 0.000 claims description 80
- 230000005540 biological transmission Effects 0.000 claims description 11
- 238000005520 cutting process Methods 0.000 claims description 9
- 230000003139 buffering effect Effects 0.000 claims description 8
- 238000012958 reprocessing Methods 0.000 claims description 7
- 238000002203 pretreatment Methods 0.000 claims description 5
- 238000007781 pre-processing Methods 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 9
- 238000005096 rolling process Methods 0.000 description 7
- 238000012545 processing Methods 0.000 description 5
- 238000004590 computer program Methods 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0485—Check-in, check-out devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0258—Trays, totes or bins
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Abstract
The application provides a material box processing method and equipment, and relates to the technical field of cargo handling equipment. The method may include: determining a sorting requirement of at least one bin to be sorted on a buffer device; determining at least one first bin to be pretreated from at least one bin to be sorted according to sorting requirements; and executing a first operation and a second operation in parallel, wherein the first operation is used for controlling the first operation table to pretreat the first material box, the second operation is used for controlling the second operation table to sort at least one second material box, and the second material box is a material box except the first material box in at least one material box to be sorted. According to the method and the device, the sorting process of the second material box which does not need to be preprocessed and the preprocessing process of the first material box which needs to be preprocessed can be performed in parallel, so that when the first operation is avoided, the sorted operation table is in an idle state, and sorting efficiency is improved.
Description
Technical Field
The embodiment of the application relates to the technical field of cargo handling, in particular to a material box processing method and equipment.
Background
Intelligent warehousing is an important link in the logistics process. The robot can replace a manual carrying bin and plays an important role in intelligent storage. The robot can get the goods process to the workbin, includes: the material box is taken out from the goods shelf and put into the goods shelf. After picking the bins from the racks, the bins are transported to a console to sort out the material needed for the order.
It can be seen that the sorting efficiency affects the length of time required to complete an order, so how to improve the sorting efficiency is a problem to be solved.
Disclosure of Invention
The embodiment of the application provides a material box processing method and equipment for improving sorting efficiency.
In a first aspect, an embodiment of the present application provides a method for processing a tank, including:
determining a sorting requirement of at least one bin to be sorted on a buffer device;
determining at least one first bin to be pretreated from the at least one bin to be sorted according to the sorting requirement;
and executing a first operation and a second operation in parallel, wherein the first operation is used for controlling a first operation table to conduct pretreatment on the first material boxes, the second operation is used for controlling a second operation table to conduct sorting operation on at least one second material box, and the second material box is a material box except the first material box in the at least one material box to be sorted.
Optionally, the buffering device includes at least one of the following: the transmission device is arranged on the buffer storage shelf of the second operation table and connected with the first operation table and the second operation table.
Optionally, the buffering device is provided with a material dividing component, and the method further includes:
and controlling the material dividing component to move the at least one first bin to a first area of the caching device and to move the at least one second bin to a second area of the caching device.
Optionally, when the buffer device is a buffer shelf disposed on the second operation table, before the first operation is performed, the method further includes:
and controlling a first robot to transport a first bin in the first area to the first operation table.
Optionally, after the performing the first operation, the method further includes: controlling a second robot to transport the first bin from the first station to a second region of the cache shelf;
and controlling the second operation platform to sort the first material box in the second area.
Optionally, the first operation table is movable, and when the buffer device is a buffer shelf provided on the second operation table, before the first operation is performed, the method further includes:
and controlling the first operation platform to move to the cache goods shelf.
Optionally, after the performing the first operation, the method further includes:
controlling a third robot to transport the first bin after the pretreatment from the first operation table to the second operation table;
and controlling the second operation platform to carry out sorting operation on the first material box.
Optionally, the pre-treatment comprises at least one of: cutting the materials in the first material box, splitting the first material box, and reprocessing the materials in the first material box.
Optionally, when the material in the first bin is a chip, the preprocessing is to cut the material in the first bin.
In a second aspect, embodiments of the present application provide a tank processing apparatus, including:
a sorting requirement determining module for determining a sorting requirement of at least one bin to be sorted on the buffer device;
a first bin determination module for determining at least one first bin to be pretreated from the at least one bin to be sorted according to the sorting demand;
the parallel operation module is used for executing a first operation and a second operation in parallel, wherein the first operation is used for controlling a first operation table to conduct pretreatment on the first material box, the second operation is used for controlling a second operation table to conduct sorting operation on at least one second material box, and the second material box is a material box except the first material box in the at least one material box to be sorted.
Optionally, the buffering device includes at least one of the following: the transmission device is arranged on the buffer storage shelf of the second operation table and connected with the first operation table and the second operation table.
Optionally, the buffering device is provided with a material dividing component, and the bin processing device further includes:
and the material dividing module is used for controlling the material dividing component to move the at least one first material box to a first area of the caching device and move the at least one second material box to a second area of the caching device.
Optionally, when the buffer device is a buffer shelf set on the second operation table, the bin handling device further includes:
and the first transportation module is used for controlling a first robot to transport the first bin in the first area to the first operation table before the first operation is performed.
Optionally, the bin handling device further comprises:
a second transport module for controlling a second robot to transport the first bin from the first station to a second region of the cache shelf after performing the first operation;
and controlling the second operation platform to sort the first material box in the second area.
Optionally, the first operation table is movable, and when the buffer device is a buffer shelf provided on the second operation table, the bin handling device further includes:
and the operation platform moving module is used for controlling the first operation platform to move to the cache goods shelf before the first operation is executed.
Optionally, the bin handling device further comprises:
a third transporting module for controlling a third robot to transport the first bin after the pretreatment from the first operation table to the second operation table after the first operation is performed;
and the sorting module is used for controlling the second operation platform to carry out sorting operation on the first material box.
Optionally, the pre-treatment comprises at least one of: cutting the materials in the first material box, splitting the first material box, and reprocessing the materials in the first material box.
Optionally, when the material in the first bin is a chip, the preprocessing is to cut the material in the first bin.
In a third aspect, an embodiment of the present application provides an electronic device, including: at least one processor and memory;
the memory stores computer-executable instructions;
the at least one processor executes computer-executable instructions stored by the memory to cause the electronic device to implement a method as described in the foregoing first aspect.
In a fourth aspect, embodiments of the present application provide a computer-readable storage medium having stored therein computer-executable instructions that, when executed by a processor, cause a computing device to implement a method as in the first aspect.
In a fifth aspect, embodiments of the present application provide a computer program for implementing the method of the foregoing first aspect.
The bin processing method and the bin processing device provided by the embodiment can determine the sorting requirement of at least one bin to be sorted on the buffer device; determining at least one first bin to be pretreated from at least one bin to be sorted according to sorting requirements; and executing a first operation and a second operation in parallel, wherein the first operation is used for controlling the first operation table to pretreat the first material box, the second operation is used for controlling the second operation table to sort at least one second material box, and the second material box is a material box except the first material box in at least one material box to be sorted. According to the method and the device, the sorting process of the second material box which does not need to be preprocessed and the preprocessing process of the first material box which needs to be preprocessed can be performed in parallel, so that when the first operation is avoided, the sorted operation table is in an idle state, and sorting efficiency is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief description will be given below of the drawings that are needed in the embodiments or the prior art descriptions, it being obvious that the drawings in the following description are some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort to a person skilled in the art.
FIG. 1 is a top view of a warehouse suitable for use with embodiments of the present application;
FIG. 2 is a side view of a pallet to which embodiments of the present application are applicable;
FIG. 3 is a schematic view of a robot according to the present application;
FIG. 4 is a flow chart of steps of a bin handling method provided in an embodiment of the present application;
FIG. 5 is a schematic diagram of a relationship among a conveyor belt, a first console, and a second console according to an embodiment of the present disclosure;
FIGS. 6 and 7 are schematic diagrams illustrating elevator positions on a buffer device provided by embodiments of the present disclosure;
FIG. 8 is a block diagram of a bin handling apparatus according to an embodiment of the present application;
fig. 9 is a block diagram of an electronic device according to an embodiment of the present application.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
The embodiment of the application can be used in the technical field of intelligent warehousing. In the field of intelligent warehousing technology, materials may be stored on shelves in warehouses, which may be individual goods or a material box containing goods. Fig. 1 is a top view of a warehouse to which embodiments of the present application are applicable. Referring to fig. 1, six racks 102 are provided in the warehouse 101, and two racks 102 are arranged in parallel in one row, and three rows of racks 102 are provided in the warehouse 101. The shelves 102 may have a material 103 disposed thereon.
Of course, multiple layers of storage may be provided on the pallet 102, each layer of storage may be provided with multiple storage locations, each of which may hold a material 103. As such, the multi-deck, multiple storage levels increase the storage capacity of the racks 102 for the material 103. In fig. 1, it can be seen that each material 103 occupies one bin. FIG. 2 is a side view of a pallet to which embodiments of the present application are applicable. Referring to FIG. 2, the pallet 102 includes 3 storage tiers 105, each storage tier 105 including five bins, one material 103 being placed on each bin.
To improve material handling efficiency, material handling is typically performed by robots. The robot can take materials from the storage layer in the goods shelf to the storage layer of the robot, and can put the materials from the storage layer of the robot to the storage layer on the goods shelf.
A free space is required between the shelves 102 in fig. 1, which may be referred to as a tunnel, to facilitate access of the robot to the shelves through the tunnel. It can be seen that there are 4 lanes 104 in fig. 1. When a robot needs to place material into a pallet 102, the robot may move into the corresponding lane 104 to place material on the robot's storage level into the pallet 102. When the robot needs to take material from the pallet 102, the robot may also move into the corresponding lane 104 to take material from the storage level of the pallet 102 and place it on the storage level of the robot.
Fig. 3 is a schematic structural diagram of a robot according to an embodiment of the present application. As shown in fig. 3, the robot includes a support assembly 210, a mobile chassis 220, a pick-and-place device 230, and a storage rack 240, wherein the support assembly 210 is mounted on the mobile chassis 220, and the storage rack 240 and the pick-and-place device 230 are mounted on the support assembly 210. The storage shelves 240 may be provided with a plurality of storage levels for one or more materials to be transported. The support assembly 210 is provided with a lifting assembly for driving the pick and place device 230 to move up and down so that the pick and place device 230 is aligned with any one of the storage units on the storage racks 240 or with the racks and/or materials of the warehouse. The pick and place device 230 can be rotated about a vertical axis to adjust the orientation for alignment to a storage unit or for alignment of racks and/or materials. The pick and place device 230 is used to perform loading or unloading of materials for material handling between the racks and the storage units.
The robot can carry the bin to the operation table to sort the materials needed by the order. Typically, the material in the bin carried by the robot to the station can be sorted directly. However, in some special situations, the material in the bin requires some pre-treatment before sorting, which cannot be done in advance, but only when it is carried to the station to be sorted. For example, chips in the bin are cut, when an order is not received, it cannot be determined how many chips are needed, so that when sorting is performed according to the order, the number of chips is determined, then the chips are cut, and sorting is performed after the cutting is completed.
It can be seen that, when the pretreatment is performed, the operation table for sorting needs to be in a waiting state, and the sorting efficiency of the operation table is low. The duration of the waiting state, that is, the duration consumed for preprocessing the material, results in a larger duration required for completing the order.
In order to solve the problems, the sorting process of the feed box which does not need to be pretreated and the pretreatment process of the feed box which needs to be pretreated can be performed in parallel, so that the operation table for sorting is prevented from being in an idle state, and the sorting efficiency of the operation table is improved. Thereby increasing the average length of time required to complete the order.
The following describes in detail, with specific embodiments, a technical solution of an embodiment of the present application and how the technical solution of the present application solves the foregoing technical problems. The following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.
Fig. 4 is a flowchart illustrating a step of a bin handling method according to an embodiment of the present application. The method shown in fig. 4 may be performed by an electronic device that may act as a remote controller to control the caching device, the console, the robot. Referring to fig. 4, the method may include:
s201: a sorting requirement of at least one bin to be sorted on the buffer is determined.
In the prior art, the bins to be sorted are transported from the pallet directly to the operating table for sorting thereof.
In the embodiment of the application, the bins to be sorted are firstly conveyed from the goods shelf to the buffer device to determine the first bin and the second bin, then the first bin is conveyed from the buffer device to the first operation table for pretreatment, and the second bin is conveyed from the buffer device to the second operation table for sorting operation.
It can be seen that the buffer device in the embodiment of the present application is configured to temporarily store a bin to be sorted, so as to divide the bin to be sorted into a first bin and a second bin. Thus, the buffer device may be any device having a storage function, which is not limited by the embodiments of the present application.
Optionally, the buffering device may include at least one of: the transmission device is arranged on the buffer storage shelf of the second operation table and connected with the first operation table and the second operation table.
Wherein, the buffer storage goods shelves can be the goods shelves that have one deck or multilayer storage goods layer, and each layer storage goods layer can be installed on the support frame of buffer storage goods shelves, and every layer storage goods layer all can be used for the storage to wait to sort workbin.
The transfer device may be a transfer belt for transferring the first magazine to the first station and the second magazine to the second station. Fig. 5 is a schematic diagram of a relationship among a conveyor belt, a first console, and a second console according to an embodiment of the present application. Referring to fig. 5, the transfer device may include three parts, the first, second and third parts forming a chevron structure. Wherein the second portion is coupled to the first station for transferring the first bin to the first station and the third portion is coupled to the second station for transferring the second bin to the second station.
When the material box to be sorted arrives at the caching device, a delivery list corresponding to the material box to be sorted can be obtained, whether the material box to be sorted needs to be preprocessed or not is displayed in the delivery list, namely the sorting requirement of the material box to be sorted is distinguished, the material box to be sorted belongs to the first material box or the second material box, the sorting requirement is determined on the caching device in advance, the first material box and the second material box can be determined in advance, and time delay when the sorting requirement is determined only by the operation table is avoided.
S202: at least one first bin requiring pretreatment is determined from at least one bin to be sorted according to sorting requirements.
Specifically, a bin to be sorted that includes pretreatment in the sorting demand is determined as a first bin, and a bin to be sorted that does not include pretreatment in the sorting demand is determined as a second bin.
Wherein the pretreatment is any treatment required to be performed before sorting, and can comprise at least one of the following: cutting materials in the first material box, splitting the first material box, and reprocessing the materials in the first material box.
In one example, certain materials may need to be cut according to the number or size specified in the delivery form, e.g., chips. Thus, when the material in the first bin is chips, the pretreatment may be cutting the rolls of chips in the first bin.
In another example, some materials support customization, so that a particular form of reprocessing of the material may be specified in the delivery sheet. For example, machining the material into a specified shape, adding additional decorations to the material, etc.
S203: and executing a first operation and a second operation in parallel, wherein the first operation is used for controlling the first operation table to pretreat the first material box, the second operation is used for controlling the second operation table to sort at least one second material box, and the second material box is a material box except the first material box in at least one material box to be sorted.
Wherein, the first workbin needs to be pretreated and then sorted, and the second workbin needs to be sorted. It can be seen that the embodiments of the present application may perform the pretreatment of the first bin and the sorting process of the second bin in parallel. Therefore, when the first material box is pretreated, the second operation table is also used for sorting the second material box, so that the second operation table is prevented from being in an idle state, and the sorting efficiency is improved.
In order to distinguish the first bin from the second bin, the buffer device may be provided with a material dividing member. In this way, the material dividing means may be controlled to move the at least one first bin to a first region of the buffer means and to move the at least one second bin to a second region of the buffer means.
The material dividing component can be any component for conveying materials in two directions. One of which (called the first direction) is directed towards the first area and the other (called the second direction) is directed towards the second area. The material dividing means may be located at a boundary between the first region and the second region. The remote controller may control the material dividing part to convey the first material box in the first direction to move the first material box to the first area if the material box to be sorted is determined to be the first material box when the material box to be sorted is placed in the material dividing part, and control the material dividing part to convey the second material box in the second direction to move the second material box to the second area if the material box to be sorted is determined to be the second material box.
In one example, the material dividing means may be an elevator and a rolling device provided at the bottom of each storage layer of the buffer device. Fig. 6 and 7 are schematic diagrams of elevator positions on a buffer device according to an embodiment of the present disclosure. It will be appreciated that the lifts B1 and B2 are used to collate bins in each storage layer so that a first bin is located in a first zone and a second bin is located in a second zone.
Referring to fig. 6, the buffer device includes three layers of stock layers L1 to L3, and regions L11, L21, L31 located on the left side of the broken line in the stock layers L1 to L3 constitute a first region A1, and regions L12, L22, L32 located on the right side of the broken line in the stock layers L1 to L3 constitute a second region A2. The lifter B1 is disposed on the left side of the first area A1, and the lifter B2 is disposed on the right side of the second area A2.
Based on fig. 6 above, the robot can place the bin into either of the storage beds A1 or A2. Thus, B1 may be used to move a first bin between different storage levels in A1, or a second bin between different storage levels in A1. Similarly, B2 may be used to move a first bin between different storage levels in A2, or a second bin between different storage levels in A2.
The rolling device at the bottom of the storage layer is used for conveying the first bin from one storage layer in A1 to the same storage layer in A2 or conveying the second bin from one storage layer in A2 to the same storage layer in A1. L31 and L32 in FIG. 6 are co-layer cargo layers, L21 and L22 are co-layer cargo layers, and L11 and L12 are co-layer cargo layers.
The following illustrates a process of moving the second bin in L11 of the buffer apparatus in fig. 6 into the A2 region.
If there is no first bin to the right of the second bin in the layer L11 and at least the leftmost position in the layer L12 that is the same as the layer L11 is empty, then the rolling device provided at the bottom of the layer L11 can be controlled to roll in the direction of A2 and the rolling device provided at the bottom of the layer L12 can be controlled to roll away from the direction of A1 to move the second bin from the layer L11 to the layer L12.
If there is a first bin to the right of the second bin in layer L11, or if the left position of L12 is not empty, then B1 may move the second bin from layer L11 into the exchange layer of first area A1 to move the second bin from A1 to area A2 through the exchange layer, and B2 may remove the second bin from the exchange layer and place it into the normal storage layer with empty space. The exchange layer here is a storage layer in the caching device only for exchanging bins between A1 and A2, the exchange layer not being used for storing bins. For example, the exchange layer may be layer L3 where L31 and L32 are located, such that L11 and L21 are common storage layers in A1 and L12 and L22 are common storage layers in A2.
The following illustrates a process of moving the first bin in L12 of the buffer apparatus in fig. 6 into the A1 region.
If there is no second bin to the left of the first bin in the layer L12 and at least the rightmost position in the layer L11 that is the same as the layer L12 is empty, then the rolling device provided at the bottom of the layer L12 can be controlled to roll in the direction of A1 and the rolling device provided at the bottom of the layer L11 can be controlled to roll in the direction of A2 to move the first bin from the layer L12 to the layer L11.
If there is a second bin to the left of the first bin in the L12 layer, or if the right position of L11 is not empty, then B2 may move the first bin from the L12 layer into the exchange layer of the second area A2 to move the first bin from A2 to the A1 area through the exchange layer, B1 may remove the first bin from the exchange layer and place it in the normal storage layer with empty space.
Referring to fig. 7, the buffer is divided into two parts, and the left part of the elevator B3 includes storage layers L11, L21, L31, which constitute a first area A1. The right part of the lift B3 comprises the storage levels L12, L22, L32, which three levels constitute the second area A2.
Under a strategy, based on the above-mentioned fig. 7, the robot can put the bin directly on B3, and the B3 can include a device such as a code scanner, and when on B3, the bin code can be scanned to determine whether the material is the first bin or the second bin. If the first bin is a first bin, B3 places it in the empty reservoir in A1, and if the second bin is a second bin, B3 places it in the empty reservoir in A2.
Under a second strategy, the robot places the bin into a storage layer with empty space in either A1 or A2. As such, B3 may be used to move the second bin in A1 to a storage tier having empty space in A2, and to move the first bin in A2 to a storage tier having empty space in A1.
In the second strategy described above, if there is no first bin to the right of the second bin in A1, B3 may move the second bin directly into the empty storage layer in A2. If a first bin is present to the right of the second bin, the first bin may be moved to the remaining empty storage levels in A1 before the second bin is moved to the empty storage level in A2. The remaining empty reservoirs herein may be any of the empty reservoirs in A1 or the designated reservoir in A1 for temporary storage of bins.
Likewise, if there is no second bin to the left of the first bin in A2, B3 may move the first bin directly into the empty storage layer in A1. If a second bin is present to the left of the first bin, the second bin may be moved to the remaining empty storage levels in A2 before the first bin is moved to the empty storage level in A1. The remaining empty reservoirs herein may be any of the empty reservoirs in A2 or the designated reservoir in A2 for temporary storage of bins.
In the process of docking B1, B2 or B3 with any storage layer to take or put the material into the material box, the rolling device at the bottom of the storage layer needs to roll to transport the material.
It can be seen that the first area is an area for storing a first bin and the second area is an area for storing a second bin.
When the caching device is a cache shelf, the first region and the second region may be two regions on a storage layer. When the buffer device is a transmission device, the first area may be the second portion in fig. 5, and the second area may be the third portion in fig. 5.
According to the embodiment of the application, the first material box and the second material box on the caching device are divided through the material dividing component, the first area and the second area.
It is understood that when the buffer devices are different, the transmission process of the first bin and the second bin are different, and the embodiment of the present application describes the transmission process of the different buffer devices in detail below.
When the buffer device is a buffer storage rack arranged on the second operation table, if the first operation table is not movable, firstly, the first robot can be controlled to transport the first material box in the first area to the first operation table; then, a first operation is performed, namely, the first workbin is preprocessed through a first operation table; then, controlling a second robot to transport the first bin from the first operation table to a second area of the cache shelf; finally, the second operation table is controlled to sort the first material box in the second area.
When the buffer device is a buffer storage rack arranged on the second operation table, the other robot can be controlled to convey the second material box in the second area of the buffer storage rack to the second operation table so as to sort the second material box. The process of transporting the first bin in the first area to the first operation table by the first robot is referred to as a first sub-process, the process of performing the first operation is referred to as a second sub-process, and the first sub-process and the second sub-process are performed in series and form a first serial process. The process of transporting the second bin in the second area of the cache shelf onto the second operation table by the other robot is referred to as a third sub-process, the process of sorting the second bin is referred to as a fourth sub-process, and the third sub-process and the fourth sub-process are performed in series and form a second serial process. The first serial process and the second serial process overlap in part or in whole time. That is, the first sub-process may partially or entirely overlap the third sub-process, and/or the first sub-process may partially or entirely overlap the fourth sub-process, and/or the second sub-process may partially or entirely overlap the third sub-process, and/or the second sub-process may partially or entirely overlap the fourth sub-process.
When the buffer device is a buffer storage rack arranged on the second operation platform, if the first operation platform is movable, for the first workbin, the first operation platform can be controlled to move to the buffer storage rack, and then a first operation is executed, namely the first workbin on the buffer storage rack is preprocessed through the first operation platform, or the first workbin on the buffer storage rack is conveyed to the first operation platform for preprocessing; then, controlling a third robot to transport the pretreated first bin from the cache shelf or the first operation table to a second operation table; finally, the second operation table is controlled to carry out sorting operation on the first material box.
When the buffer device is a buffer storage rack arranged on the second operation table, the other robot can be controlled to convey the second material box in the second area of the buffer storage rack to the second operation table so as to sort the second material box. The process of moving the first operation table to the cache shelf is called a first sub-process, the process of executing the first operation is called a second sub-process, and the first sub-process and the second sub-process are executed in series, and a first serial process is formed. The process of transporting the second bin in the second area of the cache shelf onto the second operation table by the other robot is referred to as a third sub-process, the process of sorting the second bin is referred to as a fourth sub-process, and the third sub-process and the fourth sub-process are performed in series and form a second serial process. The first serial process and the second serial process overlap in part or in whole time. That is, the first sub-process may partially or entirely overlap the third sub-process, and/or the first sub-process may partially or entirely overlap the fourth sub-process, and/or the second sub-process may partially or entirely overlap the third sub-process, and/or the second sub-process may partially or entirely overlap the fourth sub-process.
When the buffer device is a transmission device connected with the first operation table and the second operation table, firstly, the transmission device is controlled to transmit the first material box to the first operation table through the second part so as to enable the first operation table to pretreat the first material box, and the transmission device is controlled to transmit the second material box to the second operation table through the third part so as to enable the second operation table to sort the second material box; then, a robot is controlled to carry the pretreated first bin from the first operation table to the second operation table so that the second operation table sorts the pretreated first bin.
Of course, the first and second stations may also be connected by a transfer device to transfer the pretreated first headbox to the second station. Thus, the robot is not required to carry, and the robot is saved.
Regardless of the above-described transfer procedure, there may be a first and/or a second bin remaining sorted on the last second station, so that the first and/or the second bin remaining sorted needs to be carried away from the second station, which can be carried out by a transfer device or a robot.
Corresponding to the bin handling method of the above embodiments, fig. 8 is a block diagram of a bin handling device according to an embodiment of the present application. For convenience of explanation, only portions relevant to the embodiments of the present application are shown. Referring to fig. 8, the bin handling apparatus 300 includes: a sorting requirement determination module 301, a first bin determination module 302 and a parallel operation module 303.
Wherein the sorting requirement determining module 301 is configured to determine a sorting requirement of at least one bin to be sorted on the buffer device.
A first bin determination module 302 for determining at least one first bin requiring pretreatment from the at least one bin to be sorted according to the sorting demand.
And the parallel operation module 303 is used for executing a first operation and a second operation in parallel, wherein the first operation is used for controlling a first operation table to conduct the pretreatment on the first material box, and the second operation is used for controlling a second operation table to conduct sorting operation on at least one second material box, and the second material box is a material box except the first material box in the at least one material box to be sorted.
Optionally, the buffering device includes at least one of the following: the transmission device is arranged on the buffer storage shelf of the second operation table and connected with the first operation table and the second operation table.
Optionally, the buffering device is provided with a material dividing component, and the bin processing device further includes:
and the material dividing module is used for controlling the material dividing component to move the at least one first material box to a first area of the caching device and move the at least one second material box to a second area of the caching device.
Optionally, when the buffer device is a buffer shelf set on the second operation table, the bin handling device further includes:
and the first transportation module is used for controlling a first robot to transport the first bin in the first area to the first operation table before the first operation is performed.
Optionally, the bin handling device further comprises:
a second transport module for controlling a second robot to transport the first bin from the first station to a second region of the cache shelf after performing the first operation;
and controlling the second operation platform to sort the first material box in the second area.
Optionally, the first operation table is movable, and when the buffer device is a buffer shelf provided on the second operation table, the bin handling device further includes:
and the operation platform moving module is used for controlling the first operation platform to move to the cache goods shelf before the first operation is executed.
Optionally, the bin handling device further comprises:
a third transporting module for controlling a third robot to transport the first bin after the pretreatment from the first operation table to the second operation table after the first operation is performed;
and the sorting module is used for controlling the second operation platform to carry out sorting operation on the first material box.
Optionally, the pre-treatment comprises at least one of: cutting the materials in the first material box, splitting the first material box, and reprocessing the materials in the first material box.
Optionally, when the material in the first bin is a chip, the preprocessing is to cut the material in the first bin.
The bin handling device provided in this embodiment may be used to implement the technical scheme of the method embodiment shown in fig. 4, and its implementation principle and technical effects are similar, and this embodiment is not repeated here.
Fig. 9 is a block diagram of an electronic device according to an embodiment of the present application. The electronic device 600 comprises a memory 602 and at least one processor 601;
wherein the memory 602 stores computer-executable instructions;
at least one processor 601 executes computer-executable instructions stored in a memory 602, causing the electronic device 601 to implement the method of fig. 4 described above.
The electronic device may further comprise a receiver 603 for receiving information from the remaining means or devices and forwarding to the processor 601, and a transmitter 604 for transmitting information to the remaining means or devices.
Embodiments of the present application also provide a computer-readable storage medium having stored therein computer-executable instructions that, when executed by a processor, cause a computing device to implement the method of fig. 4.
The embodiment of the application also provides a computer program for implementing the method in fig. 4.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.
Claims (11)
1. A method of bin handling comprising:
determining a sorting requirement of at least one bin to be sorted on a buffer device;
determining at least one first bin to be pretreated from the at least one bin to be sorted according to the sorting requirement; wherein the pretreatment comprises at least one of: cutting the materials in the first material box, splitting the first material box, and reprocessing the materials in the first material box;
executing a first operation and a second operation in parallel, wherein the first operation is used for controlling a first operation table to conduct pretreatment on the first material box, the second operation is used for controlling a second operation table to conduct sorting operation on at least one second material box, and the second material box is a material box except the first material box in the at least one material box to be sorted;
after the first operation is executed, the second operation is further used for controlling the second operation platform to sort the pretreated first material box.
2. The method of claim 1, wherein the caching device comprises at least one of: the transmission device is arranged on the buffer storage shelf of the second operation table and connected with the first operation table and the second operation table.
3. The method of claim 2, wherein the buffering device is provided with a material dividing part, and the method further comprises:
and controlling the material dividing component to move the at least one first bin to a first area of the caching device and to move the at least one second bin to a second area of the caching device.
4. The method of claim 3, wherein when the caching device is a cache shelf disposed on the second console, prior to the performing the first operation, further comprising:
and controlling a first robot to transport a first bin in the first area to the first operation table.
5. The method of claim 4, wherein after performing the first operation, further comprising:
controlling a second robot to transport the first bin from the first station to a second region of the cache shelf;
and controlling the second operation platform to sort the first material box in the second area.
6. The method of claim 3, wherein the first console is movable, and wherein when the caching device is a cache shelf disposed on the second console, prior to performing the first operation, further comprising:
and controlling the first operation platform to move to the cache goods shelf.
7. The method of claim 6, wherein after the performing the first operation, further comprising:
controlling a third robot to transport the first bin after the pretreatment from the first operation table to the second operation table;
and controlling the second operation platform to carry out sorting operation on the first material box.
8. The method of claim 1, wherein the pre-treatment is cutting the material in the first bin when the material in the first bin is chips.
9. A bin handling device, comprising:
a sorting requirement determining module for determining a sorting requirement of at least one bin to be sorted on the buffer device;
a first bin determination module for determining at least one first bin from the at least one bin to be sorted that requires pretreatment according to the sorting requirement, wherein the pretreatment comprises at least one of: cutting the materials in the first material box, splitting the first material box, and reprocessing the materials in the first material box;
the parallel operation module is used for executing a first operation and a second operation in parallel, wherein the first operation is used for controlling a first operation table to conduct pretreatment on the first material box, the second operation is used for controlling a second operation table to conduct sorting operation on at least one second material box, and the second material box is a material box except the first material box in the at least one material box to be sorted; after the first operation is executed, the second operation is further used for controlling the second operation platform to sort the pretreated first material box.
10. An electronic device, the electronic device comprising: at least one processor and memory;
the memory stores computer-executable instructions;
the at least one processor executing computer-executable instructions stored in the memory causes the electronic device to implement the method of any one of claims 1 to 8.
11. A computer readable storage medium having stored therein computer executable instructions which, when executed by a processor, cause a computing device to implement the method of any one of claims 1 to 8.
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