CN114476482B

CN114476482B - Method, device, equipment, system, medium and product for controlling bin conveying

Info

Publication number: CN114476482B
Application number: CN202210296518.9A
Authority: CN
Inventors: 宋桐娟; 杨穗梅; 曹董锋; 林翰
Original assignee: Hai Robotics Co Ltd
Current assignee: Hai Robotics Co Ltd
Priority date: 2022-03-24
Filing date: 2022-03-24
Publication date: 2022-12-20
Anticipated expiration: 2042-03-24
Also published as: CN114476482A

Abstract

The embodiment of the disclosure provides a method, a device, equipment, a system, a medium and a product for controlling the transportation of a material box, wherein the method comprises the following steps: determining the type of a target bin on the conveying line; determining a box taking conveying line corresponding to the target material box according to the type of the target material box; and controlling the first robot or the second robot to convey the target bin on the corresponding bin taking conveying line. According to the workbin conveying control method, the first robot and the second robot are controlled to be mutually cooperated with the box taking conveying line of the workstation, and corresponding conveying strategies can be executed according to different target workbin types, so that the integral conveying efficiency of the workbin is improved, and the integral ex-warehouse efficiency is improved.

Description

Method, device, equipment, system, medium and product for controlling bin conveying

Technical Field

The embodiment of the disclosure relates to the technical field of intelligent warehousing, in particular to a method, a device, equipment, a system, a medium and a product for controlling the transportation of a material box.

Background

With the continuous development of intelligent warehousing technology, the social demand for warehousing is also continuously increasing. Workstation and robot can assist the processing of realizing all kinds of goods, promote goods treatment effeciency, reduce cost. In current intelligent warehousing system, when the order of customer system issue is obtained, can send the order to the workstation earlier, then according to the goods demand of workstation, the feed box robot becomes the task of getting goods, and the workbin that the workbin robot contains the goods transports corresponding workstation, is accomplished by the personnel of choosing goods and chooses goods.

Typically, the items for each order may be the same or different, and thus, each workstation may need to pick the same item. If the goods required by a plurality of workstations are in the same bin, the bin is a cross-station bin and needs to be picked by a plurality of workstations.

Only transport through the workbin robot and stride the workbin that stops at present, because the workbin robot once can transport a plurality of workbins, when the workbin robot carries simultaneously and strides the workbin that stops and returns the storehouse workbin, can reduce workbin robot's whole conveying efficiency to it is lower to lead to holistic efficiency of leaving warehouse.

Disclosure of Invention

The disclosure provides a method, a device, equipment, a system, a medium and a product for controlling bin conveying, which are used for solving the problem that when a bin robot carries a cross-station bin and a warehouse returning bin at the same time, the overall conveying efficiency of the bin robot is reduced, so that the overall warehouse-out efficiency is low.

A first aspect of the disclosed embodiment provides a bin transportation control method, which is applied to a warehousing system, wherein the warehousing system comprises at least two workstations, each workstation comprises a transportation line, each transportation line comprises a junction transportation line and a branch transportation line, each branch transportation line comprises a box placing transportation line and at least two box taking transportation lines, each at least two box taking transportation lines comprises at least one first box taking transportation line matched with a first robot and at least one second box taking transportation line matched with a second robot, and the junctions of the first box taking transportation line and the junction transportation line and the junctions of the second box taking transportation lines and the junction transportation lines are located at the downstream of the junction of the box placing transportation lines and the junction transportation lines;

the method comprises the following steps:

determining the type of a target bin on the conveying line;

determining a box taking conveying line corresponding to the target material box according to the type of the target material box;

and controlling the first robot or the second robot to convey the target bin on the corresponding bin taking conveying line.

Optionally, the method for determining the box taking conveying line corresponding to the target bin according to the type of the target bin includes:

if the target bin is a bin to be returned, determining that the target bin corresponds to the first bin taking conveying line, wherein the bin to be returned is a bin to be conveyed back to a warehouse area by the first bin taking conveying line by the first robot;

and if the target workbin is the workbin to be spanned, determining that the target workbin corresponds to the first box taking conveying line or the second box taking conveying line, wherein the workbin to be spanned is the workbin to be spanned, which is conveyed to other workstations by the first box taking conveying line or the second box taking conveying line of the first robot or the second robot.

Optionally, the method, as described above, if the target bin is a bin to be transshipped, determining that the target bin corresponds to the first bin fetching conveyor line or the second bin fetching conveyor line, includes:

if the target workbin is a workbin to be crossed, determining the types and the number corresponding to the types of a plurality of workbins which do not enter the box taking conveying line in the preset area of the target workbin;

according to the type that does not get into in the preset area of target workbin and the quantity that the type corresponds of a plurality of workbins of getting the case transfer chain confirm that the target workbin corresponds first get the case transfer chain or the case transfer chain is got to the second to make the workstation will the target workbin transports extremely first get the case transfer chain or the case transfer chain is got to the second.

Optionally, as described above, the determining, according to the type and the number corresponding to the type of the multiple bins that do not enter the bin fetching conveyor line in the preset area of the target bin, the first bin fetching conveyor line or the second bin fetching conveyor line corresponding to the target bin includes:

if all the work bins which do not enter the bin taking conveying line in the preset area of the target work bin are to-be-returned work bins, determining that the target work bin corresponds to the second bin taking conveying line;

if all the workbins which do not enter the box taking conveying line in the preset area of the target workbin are to-be-transstation workbins, determining that the target workbin corresponds to the first box taking conveying line;

and if the plurality of bins which do not enter the bin taking conveying line in the preset area of the target bin comprise the bins to be spanned and the bins to be restored, determining the first bin taking conveying line or the second bin taking conveying line corresponding to the target bin according to the determined number of the bins to be spanned in the plurality of bins.

Optionally, the method for determining the first box taking conveying line or the second box taking conveying line corresponding to the target box according to the determination of the number of the to-be-crossed boxes in the plurality of boxes includes:

if the number of the work bin to be crossed in the work bins is smaller than a first preset number threshold value, determining that the target work bin corresponds to the second bin taking conveying line;

and if the number of the bins to be crossed in the bins is larger than or equal to a first preset number threshold, determining that the target bin corresponds to the first bin taking conveying line.

if the target material box is a material box to be crossed, determining whether the number of all material boxes on the second box taking conveying line is larger than a second preset number threshold value;

and if the number of all the bins on the second bin taking conveying line is larger than a second preset number threshold, determining that the target bin corresponds to the first bin taking conveying line.

Optionally, in the method described above, the box placing conveyor lines are multiple, and the box placing conveyor lines include at least one first box placing conveyor line matched with the first robot and at least one second box placing conveyor line matched with the second robot, and the method further includes:

determining whether a target material box to be transported to the converging transportation line on the second box placing transportation line is a material box to be crossed;

if the target material box is determined to be a material box to be crossed, determining whether a plurality of continuously arranged material boxes to be crossed exist on the converging conveying line;

if the plurality of continuously arranged to-be-strided station workbins exist, enabling the target workstation to combine the target workbin with the plurality of continuously arranged to-be-strided station workbins on the combining conveying line to form a plurality of new continuously arranged to-be-strided station workbins;

if the target material box is determined to be a material box to be returned, enabling the target workstation to merge the target material box into the converging conveying line; wherein, when a plurality of continuously arranged to-be-straddled bins are present on the converging conveyor line, the target bin is arranged before or after the plurality of continuously arranged to-be-straddled bins.

Optionally, the method as described above, further comprising:

determining a first robot in a box placing area of the first box placing conveying line and the number of the work bin to be crossed carried by the first robot, wherein the first robot is in a state of preparing to place each carried target work bin into a box placing opening of the box placing area;

and controlling the first robot to place the carried target workbins into the box placing openings of the box placing area according to the number of the workbins to be spanned in the first robot and a third preset number threshold value.

Optionally, as for the method described above, the controlling, by the first robot, the number of the bins to be spanned carried by the first robot to the stock placing opening of the stock placing area according to the third preset number threshold includes:

if the number of the to-be-cross station feed boxes carried by the first robot is larger than or equal to a third preset number threshold value, controlling the first robot to continuously place all the to-be-cross station feed boxes carried by the first robot into box placing openings of a box placing area;

if the number of the work bin to be crossed carried by the first robot is smaller than a third preset number threshold, determining the priority of each target work bin carried by the first robot corresponding to the goods taking task:

and controlling the first robot to place the carried target material boxes into the box placing openings of the box placing area according to the priority.

Optionally, the method described above, after controlling the first robot to place the carried target bins into the bin opening of the bin placement area according to the number of the bins to be spanned carried by the first robot and a third preset number threshold, further includes:

judging whether other first robots exist in a box taking area of the first box taking conveying line;

and controlling the first robot to move to a box taking waiting area of the first box taking conveying line or a box taking area of the first box taking conveying line according to the judgment result of whether other first robots exist.

Optionally, in the method as described above, the branch conveying lines include at least two box placing conveying lines and at least two box taking conveying lines; the at least two box placing conveying lines comprise at least one first box placing conveying line and at least one second box placing conveying line; the at least two box taking conveying lines at least comprise a first box taking conveying line and a second box taking conveying line; the lengths of the branch conveying lines are the same; the first box placing conveying line is connected with the starting point of the converging conveying line; the second box placing conveying line is adjacent to the first box placing conveying line; the second box taking conveying line is connected with the end point of the converging conveying line; the first box taking conveying line is adjacent to the second box taking conveying line;

the controlling the first robot to move to the box taking waiting area of the first box taking conveying line or the box taking area of the first box taking conveying line according to the judgment result of whether other first robots exist comprises the following steps:

judging whether a second robot exists in the box placing area of the second box placing conveying line;

and controlling the first robot to move to the box taking waiting area of the first box taking conveying line or the box taking area of the first box taking conveying line according to the judgment result of whether the second robot exists in the box placing area of the second box placing conveying line and the judgment result of whether other first robots exist in the box taking area of the first box taking conveying line.

Optionally, as described above, the method for controlling the first robot to move to the box taking waiting area of the first box taking conveyor line or the box taking area of the first box taking conveyor line according to the judgment result of whether the second robot exists in the box placing area of the second box placing conveyor line and the judgment result of whether other first robots exist in the box taking area of the first box taking conveyor line includes:

if the judgment result shows that other first robots exist in the box taking area and a second robot exists in the box placing area of the second box placing conveyor line, the first robot is controlled to move to the box taking waiting area of the first box taking conveyor line in a moving mode that the first robot bypasses the box placing area of the second box placing conveyor line in the warehouse direction;

if the judgment result shows that other first robots exist in the box taking area and a second robot does not exist in the box placing area of the second box placing conveying line, the first robot is controlled to move to the box taking waiting area of the first box taking conveying line in a moving mode of penetrating through the box placing area of the second box placing conveying line;

if the judgment result shows that no other first robot exists in the box taking area and a second robot exists in the box placing area of the second box placing conveyor line, the first robot is controlled to move to the box taking area of the first box taking conveyor line in a moving mode that the first robot bypasses the box placing area of the second box placing conveyor line in the warehouse direction;

and if the judgment result shows that no other first robot exists in the box taking area and no second robot exists in the box placing area of the second box placing conveying line, controlling the first robot to move to the box taking area of the first box taking conveying line in a moving mode of penetrating through the box placing area of the second box placing conveying line.

Optionally, the method as described above, further comprising:

a second robot for determining a box placing area of the second box placing conveyor line; the second robot puts the carried work bin to be strided into a bin putting opening of a bin putting area of the second bin putting conveying line;

judging whether a first robot exists in a box taking area of the first box taking conveying line and whether other second robots exist in a box taking area of the second box taking conveying line;

and controlling the second robot to move to the box taking area of the second box taking conveying line or the box taking waiting area of the second box taking conveying line according to the judgment result of whether the first robot exists in the box taking area of the first box taking conveying line or not and whether other second robots exist in the box taking area of the second box taking conveying line or not.

Optionally, the method, as described above, controlling the second robot to move to the box taking area of the second box taking conveyor line or the box taking waiting area of the second box taking conveyor line according to the judgment result of whether the first robot exists in the box taking area of the first box taking conveyor line and whether another second robot exists in the box taking area of the second box taking conveyor line, includes:

if the judgment result shows that other second robots exist and the box taking area of the first box taking conveying line exists in the first robot, controlling the second robot to move to the box taking waiting area of the second box taking conveying line in a moving mode of bypassing the box taking area of the first box taking conveying line in the warehouse direction;

if the judgment result shows that other second robots exist and the first robot does not exist in the box taking area of the first box taking conveying line, controlling the second robot to move to the box taking waiting area of the second box taking conveying line in a moving mode of penetrating through the box taking area of the first box taking conveying line;

if the judgment result shows that other second robots do not exist and the first robot exists in the box taking area of the first box taking conveying line, the second robot is controlled to move to the box taking area of the second box taking conveying line in a moving mode of bypassing the box taking area of the first box taking conveying line in the warehouse direction;

and if the judgment result shows that other second robots do not exist and the first robot does not exist in the box taking area of the first box taking conveying line, controlling the second robot to move to the box taking area of the second box taking conveying line in a moving mode of penetrating through the box taking area of the first box taking conveying line.

Optionally, in the method as described above, the branch conveying lines include at least two box placing conveying lines and at least two box taking conveying lines; the at least two box placing conveying lines comprise at least one first box placing conveying line and at least one second box placing conveying line; the at least two box taking conveying lines at least comprise a first box taking conveying line and a second box taking conveying line; the length of the first box placing conveying line is the same as that of the first box taking conveying line; the length of the second box placing conveying line is the same as that of the second box taking conveying line; the difference value between the length of the first box placing conveying line and the length of the second box placing conveying line is a preset length; the preset length is at least greater than the length of the second robot;

the first box placing conveying line is connected with the starting point of the converging conveying line; the second box placing conveying line is adjacent to the first box placing conveying line; the first box taking conveying line is connected with the end point of the converging conveying line; the second box taking conveying line is adjacent to the first box taking conveying line;

if the other first robots exist in the first robot, controlling the first robot to move from the box placing area of the first box placing conveying line to the box taking waiting area of the first box taking conveying line in a straight moving mode;

and if the judgment result shows that no other first robot exists, controlling the first robot to move from the box placing area of the first box placing conveying line to the box taking area of the first box taking conveying line in a straight moving mode.

Optionally, the method as described above, further comprising:

judging whether other second robots exist in the box taking area of the second box taking conveying line;

if the judgment result shows that other second robots exist, the second robot is controlled to move from the box placing area of the second box placing conveying line to the box taking waiting area of the second box taking conveying line in a straight moving mode;

and if the judgment result shows that no other second robot exists, controlling the second robot to move from the box placing area of the second box placing conveyor line to the box taking area of the second box taking conveyor line in a straight moving mode.

A second aspect of the disclosed embodiment provides a bin transportation control device, which is located in a warehousing system, wherein the warehousing system comprises at least two workstations, each workstation comprises a transportation line, each transportation line comprises a converging transportation line and a branch transportation line, each branch transportation line comprises a box placing transportation line and at least two box taking transportation lines, each at least two box taking transportation lines comprises at least one first box taking transportation line matched with a first robot and at least one second box taking transportation line matched with a second robot, and the junctions of the first box taking transportation line and the converging transportation line and the junctions of the second box taking transportation lines and the converging transportation lines are located at the downstream of the junctions of the box placing transportation lines and the converging transportation lines;

the device comprises:

the type determining module is used for determining the type of a target bin on the conveying line;

the conveying line determining module is used for determining a box taking conveying line corresponding to the target material box according to the type of the target material box;

and the control module is used for controlling the first robot or the second robot to convey the target bin on the corresponding bin taking conveying line.

Optionally, in the above apparatus, the conveyor line determining module is specifically configured to:

if the target bin is a bin to be returned, determining that the target bin corresponds to the first bin taking conveying line, wherein the bin to be returned is a bin to be conveyed back to the warehouse area by the first bin taking conveying line by the first robot; and if the target workbin is the workbin to be spanned, determining that the target workbin corresponds to the first box taking conveying line or the second box taking conveying line, wherein the workbin to be spanned is the workbin to be spanned, which is conveyed to other workstations by the first box taking conveying line or the second box taking conveying line of the first robot or the second robot.

Optionally, in the apparatus described above, the conveyor line determining module, when determining that the target bin corresponds to the first bin fetching conveyor line or the second bin fetching conveyor line if the target bin is a bin to be transshipped, is specifically configured to:

if the target workbin is a workbin to be crossed, determining the types and the number corresponding to the types of a plurality of workbins which do not enter the box taking conveying line in the preset area of the target workbin; according to the types and the number corresponding to the types of a plurality of workbins which do not enter the box taking conveying line in the preset area of the target workbin, determining the first box taking conveying line or the second box taking conveying line corresponding to the target workbin, so that the workstation transports the target workbin to the first box taking conveying line or the second box taking conveying line.

Optionally, as for the apparatus described above, when the conveyor line determining module determines the first box taking conveyor line or the second box taking conveyor line corresponding to the target bin according to the type and the number corresponding to the type of the multiple bins that do not enter the box taking conveyor line in the preset area of the target bin, the conveyor line determining module is specifically configured to:

if all the work bins which do not enter the bin taking conveying line in the preset area of the target work bin are to-be-returned work bins, determining that the target work bin corresponds to the second bin taking conveying line; if all the work bins which do not enter the bin taking conveying line in the preset area of the target work bin are to-be-cross station work bins, determining that the target work bin corresponds to the first bin taking conveying line; and if the plurality of bins which do not enter the bin taking conveying line in the preset area of the target bin comprise the bins to be spanned and the bins to be restored, determining the first bin taking conveying line or the second bin taking conveying line corresponding to the target bin according to the determined number of the bins to be spanned in the plurality of bins.

Optionally, in the apparatus described above, when determining the number of the bins to be crossed in the multiple bins according to the determined number of the bins, the conveyor line determining module is specifically configured to:

if the number of the work bin to be crossed in the work bins is smaller than a first preset number threshold value, determining that the target work bin corresponds to the second bin taking conveying line; and if the number of the bins to be crossed in the bins is larger than or equal to a first preset number threshold, determining that the target bin corresponds to the first bin taking conveying line.

Optionally, in the apparatus as described above, when the conveyor line determining module determines that the target bin corresponds to the first bin fetching conveyor line or the second bin fetching conveyor line if the target bin is a to-be-transshipped bin, the conveyor line determining module is specifically configured to:

if the target material box is a material box to be crossed, determining whether the number of all material boxes on the second box taking conveying line is larger than a second preset number threshold value; and if the number of all the workbins on the second box taking conveying line is larger than a second preset number threshold, determining that the target workbin corresponds to the first box taking conveying line.

Optionally, as for the apparatus described above, the box-placing conveyor lines are multiple, and the box-placing conveyor lines include at least one first box-placing conveyor line matched with the first robot and at least one second box-placing conveyor line matched with the second robot, where the conveyor line determining module is further configured to:

determining whether a target material box to be transported to the converging transportation line on the second box placing transportation line is a material box to be crossed; if the target material box is determined to be a material box to be spanned, determining whether a plurality of continuously arranged material boxes to be spanned exist on the converging conveying line; if the plurality of continuously arranged to-be-strided station workbins are determined to exist, enabling the target workstation to enable the target workbin to be confluent with the plurality of continuously arranged to-be-strided station workbins on the confluent conveying line so as to form a plurality of new continuously arranged to-be-strided station workbins; if the target material box is determined to be a material box to be returned, enabling the target workstation to merge the target material box into the converging conveying line; wherein, when a plurality of to-be-crossed work bins are arranged on the converging conveying line in series, the target work bin is arranged before or after the plurality of to-be-crossed work bins arranged in series.

Optionally, in the apparatus described above, the control module is further configured to:

determining a first robot in a box placing area of the first box placing conveying line and the number of the work bin to be crossed carried by the first robot, wherein the first robot is in a state of preparing to place each carried target work bin into a box placing opening of the box placing area; and controlling the first robot to place the carried target workbins into the box placing openings of the box placing area according to the number of the workbins to be spanned in the first robot and a third preset number threshold value.

Optionally, in the apparatus as described above, when the control module controls the first robot to put each carried target bin into the bin opening of the bin putting area according to the number of the bins to be spanned carried by the first robot and a third preset number threshold, the control module is specifically configured to:

if the number of the work bin to be cross carried by the first robot is larger than or equal to a third preset number threshold value, controlling the first robot to continuously place all the work bin to be cross carried into a bin placing opening of a bin placing area; if the number of the work bin to be crossed carried by the first robot is smaller than a third preset number threshold, determining the priority of each target work bin carried by the first robot corresponding to the goods taking task: and controlling the first robot to place the carried target material boxes into the box placing openings of the box placing area according to the priority.

judging whether other first robots exist in a box taking area of the first box taking conveying line; and controlling the first robot to move to a box taking waiting area of the first box taking conveying line or a box taking area of the first box taking conveying line according to the judgment result of whether other first robots exist.

Optionally, in the apparatus as described above, the branch conveying lines include at least two box placing conveying lines and at least two box taking conveying lines; the at least two box placing conveying lines comprise at least one first box placing conveying line and at least one second box placing conveying line; the at least two box taking conveying lines at least comprise a first box taking conveying line and a second box taking conveying line; the lengths of the branch conveying lines are the same; the first box placing conveying line is connected with the starting point of the converging conveying line; the second box placing conveying line is adjacent to the first box placing conveying line; the second box taking conveying line is connected with the end point of the converging conveying line; the first box taking conveying line is adjacent to the second box taking conveying line;

the control module is specifically configured to, when controlling the first robot to move to the box taking waiting area of the first box taking conveyor line or the box taking area of the first box taking conveyor line according to the judgment result of whether other first robots exist:

judging whether a second robot exists in the box placing area of the second box placing conveying line; and controlling the first robot to move to the box taking waiting area of the first box taking conveying line or the box taking area of the first box taking conveying line according to the judgment result of whether the second robot exists in the box placing area of the second box placing conveying line and the judgment result of whether other first robots exist in the box taking area of the first box taking conveying line.

Optionally, in the apparatus described above, when the control module controls the first robot to move to the box taking waiting area of the first box taking conveyor line or the box taking area of the first box taking conveyor line according to the judgment result of whether the second robot exists in the box placing area of the second box placing conveyor line and the judgment result of whether other first robots exist in the box taking area of the first box taking conveyor line, the control module is specifically configured to:

if the judgment result shows that other first robots exist in the box taking area and a second robot exists in the box placing area of the second box placing conveyor line, the first robot is controlled to move to the box taking waiting area of the first box taking conveyor line in a moving mode that the first robot bypasses the box placing area of the second box placing conveyor line in the warehouse direction; if the judgment result shows that other first robots exist in the box taking area and a second robot does not exist in the box placing area of the second box placing conveying line, the first robot is controlled to move to the box taking waiting area of the first box taking conveying line in a moving mode of penetrating through the box placing area of the second box placing conveying line; if the judgment result shows that no other first robot exists in the box taking area and a second robot exists in the box placing area of the second box placing conveyor line, the first robot is controlled to move to the box taking area of the first box taking conveyor line in a moving mode that the first robot bypasses the box placing area of the second box placing conveyor line in the warehouse direction; and if the judgment result shows that no other first robot exists in the box taking area and no second robot exists in the box placing area of the second box placing conveying line, controlling the first robot to move to the box taking area of the first box taking conveying line in a moving mode of penetrating through the box placing area of the second box placing conveying line.

a second robot for determining a box placing area of the second box placing conveyor line; the second robot puts the carried work bin to be strided into a bin putting opening of a bin putting area of the second bin putting conveying line; judging whether a first robot exists in a box taking area of the first box taking conveying line and whether other second robots exist in a box taking area of the second box taking conveying line; and controlling the second robot to move to the box taking area of the second box taking conveying line or the box taking waiting area of the second box taking conveying line according to the judgment result of whether the first robot exists in the box taking area of the first box taking conveying line and whether other second robots exist in the box taking area of the second box taking conveying line.

Optionally, in the apparatus as described above, when the control module controls the second robot to move to the box taking area of the second box taking conveyor line or the box taking waiting area of the second box taking conveyor line according to the judgment result of whether the first robot exists in the box taking area of the first box taking conveyor line and whether other second robots exist in the box taking area of the second box taking conveyor line, the control module is specifically configured to:

if the judgment result shows that other second robots exist and the box taking area of the first box taking conveying line exists in the first robot, controlling the second robot to move to the box taking waiting area of the second box taking conveying line in a moving mode of bypassing the box taking area of the first box taking conveying line in the warehouse direction; if the judgment result shows that other second robots exist and the first robot does not exist in the box taking area of the first box taking conveying line, controlling the second robot to move to the box taking waiting area of the second box taking conveying line in a moving mode of penetrating through the box taking area of the first box taking conveying line; if the judgment result shows that no other second robot exists and the first robot exists in the box taking area of the first box taking conveying line, controlling the second robot to move to the box taking area of the second box taking conveying line in a moving mode of bypassing the box taking area of the first box taking conveying line in the warehouse direction; and if the judgment result shows that other second robots do not exist and the first robot does not exist in the box taking area of the first box taking conveying line, controlling the second robot to move to the box taking area of the second box taking conveying line in a moving mode of penetrating through the box taking area of the first box taking conveying line.

Optionally, in the apparatus as described above, the branch conveying lines include at least two box placing conveying lines and at least two box taking conveying lines; the at least two box placing conveying lines comprise at least one first box placing conveying line and at least one second box placing conveying line; the at least two box taking conveying lines at least comprise a first box taking conveying line and a second box taking conveying line; the length of the first box placing conveying line is the same as that of the first box taking conveying line; the length of the second box placing conveying line is the same as that of the second box taking conveying line; the difference value between the length of the first box placing conveying line and the length of the second box placing conveying line is a preset length; the preset length is at least greater than the length of the second robot;

if the judgment result shows that other first robots exist, controlling the first robot to move from the box placing area of the first box placing conveying line to the box taking waiting area of the first box taking conveying line in a straight moving mode; and if the judgment result shows that no other first robot exists, controlling the first robot to move from the box placing area of the first box placing conveying line to the box taking area of the first box taking conveying line in a straight moving mode.

a second robot for determining a box placing area of the second box placing conveyor line; the second robot puts the carried work bin to be strided into a bin putting opening of a bin putting area of the second bin putting conveying line; judging whether other second robots exist in the box taking area of the second box taking conveying line; if the judgment result shows that other second robots exist, controlling the second robot to move from the box placing area of the second box placing conveying line to the box taking waiting area of the second box taking conveying line in a straight moving mode; and if the judgment result shows that no other second robot exists, controlling the second robot to move from the box placing area of the second box placing conveyor line to the box taking area of the second box taking conveyor line in a straight moving mode.

A third aspect of embodiments of the present disclosure provides a control apparatus, including: a memory, a processor;

a memory; a memory for storing the processor-executable instructions;

wherein the processor is configured to execute the bin transport control method of any one of the first aspect by the processor.

A fourth aspect of an embodiment of the present disclosure provides a warehousing system, including: the control apparatus, workstation, first robot and second robot of the third aspect;

the workstation, the first robot and the second robot are used for executing corresponding operations under the control of the control equipment.

A fifth aspect of the embodiments of the present disclosure provides a computer-readable storage medium, in which computer-executable instructions are stored, and when the computer-executable instructions are executed by a processor, the computer-executable instructions are used to implement the bin transportation control method according to any one of the first aspect.

A sixth aspect of embodiments of the present disclosure provides a computer program product including a computer program, which when executed by a processor, implements the bin transport control method according to any one of the first aspects.

The embodiment of the disclosure provides a method, a device, equipment, a system, a medium and a product for controlling the transportation of a material box, wherein the method comprises the following steps: determining the type of a target bin on the conveying line; determining a box taking conveying line corresponding to the target material box according to the type of the target material box; and controlling the first robot or the second robot to convey the target bin on the corresponding bin taking conveying line. The bin conveying control method is applied to a warehousing system, the warehousing system comprises at least two workstations, a first robot and a second robot, the workstations comprise at least two bin taking conveying lines, when a target bin is conveyed to the conveying lines, the bin taking conveying lines corresponding to the target bin can be determined according to the type of the target bin, and the first robot or the second robot is controlled to convey the target bin on the corresponding bin taking conveying lines. According to the method, the first robot and the second robot are controlled to be cooperated with the box taking conveying line of the workstation, and corresponding conveying strategies can be executed according to different target material box types, so that the overall conveying efficiency of the material boxes is improved, and the overall delivery efficiency is improved.

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 a scene diagram of a bin transportation control method that can implement the embodiment of the present disclosure;

fig. 2 is a schematic flow chart of a bin conveying control method according to a first embodiment of the disclosure;

FIG. 3 is a schematic flow chart of a bin conveying control method according to a second embodiment of the disclosure;

FIG. 4 is a schematic flow chart of step 203 of a bin transportation control method according to a second embodiment of the disclosure;

FIG. 5 is a schematic flow chart of a bin conveying control method according to a third embodiment of the disclosure;

fig. 6 is a scene diagram corresponding to a bin transportation control method according to a fourth embodiment of the disclosure;

fig. 7 is a view of a scenario corresponding to a bin conveying control method according to a fifth embodiment of the disclosure;

fig. 8 is a schematic structural diagram of a bin conveying control device according to a sixth embodiment of the disclosure;

fig. 9 is a schematic structural diagram of a control device according to a seventh embodiment of the present disclosure.

With the foregoing drawings in mind, certain embodiments of the disclosure have been shown and described in more detail below. The drawings and written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the disclosed concepts 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. The following description refers to the accompanying drawings in which the same 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.

The technical solution of the present disclosure is explained in detail below with specific examples. These several specific embodiments may be combined with each other below, 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.

For a clear understanding of the technical solutions of the present application, a detailed description of the prior art solutions will be given first. The current intelligent warehousing system is composed of a control device, a robot, a workstation and the like. The control equipment can acquire orders issued by the client system in real time and distribute the orders to each workstation. Meanwhile, according to the goods requirements of each workstation, the feeding box robot generates goods taking tasks so as to control the feeding box robot to convey the material boxes containing goods to each workstation. The bin robot may transport bins from one workstation to another or to and from between warehouses and workstations. Only transport through the workbin robot at present and stride the workbin that stands, because the workbin robot once can transport a plurality of workbins, when the workbin robot carries simultaneously and strides the workbin that stands and time feed box that returns the storehouse, can reduce workbin robot's whole efficiency of transporting to lead to holistic ex warehouse efficiency lower.

So carry when striding the station workbin and returning storehouse workbin simultaneously to the workbin robot among the prior art at present, can reduce workbin robot's whole efficiency of transporting to lead to the lower technical problem of holistic efficiency of leaving warehouse, the inventor finds in studying, can adopt two kinds of robots to transport the workbin on prior art's basis, and carries out improvement to a certain extent to the workstation, distributes according to the workbin type and does not get the case transfer chain, transports the workbin with cooperation two kinds of robots. Thereby improving the overall conveying efficiency of the material box.

Specifically, the warehousing system comprises at least two workstations, a first robot and a second robot after improvement, the workstations comprise a converging conveying line, a box placing conveying line and at least two box taking conveying lines, when a target material box is conveyed to the conveying line, the box taking conveying line corresponding to the target material box is determined according to the type of the target material box, and the first robot or the second robot is controlled to convey the target material box on the corresponding box taking conveying line. According to the method, the first robot and the second robot are controlled to cooperate with the box taking and conveying line of the workstation, and corresponding conveying strategies can be executed according to different target box types, so that the overall conveying efficiency of the boxes is improved, and the overall ex-warehouse efficiency is improved.

The inventor proposes a technical scheme of the application based on the creative discovery.

The following describes an application scenario of the bin transportation control method provided by the embodiment of the disclosure. As shown in fig. 1, 1 is a control apparatus, 2 is a second robot, 3 is a first robot, 4 is a work station, 5 is a bin, and 6 is a warehouse area. The network architecture of the application scenario corresponding to the bin transportation control method provided by the embodiment of the disclosure comprises: control equipment 1, second robot 2, first robot 3, workstation 4, bin 5 and warehouse area 6. The number of the first robot 3 and the second robot 2 may be plural, and a pallet for carrying goods may be provided to move the goods. In the application scenario of the embodiment of the present disclosure, two workstations are used, and each workstation 4 includes a confluence conveying line, a box placing conveying line, and two box taking conveying lines for illustration, and the number of the box taking conveying lines in practical application may be greater than two. Meanwhile, as shown in fig. 1, the movement of the bin in the work station 4 is indicated by arrows, and the bin is moved from the bin placing conveyor line on the left side of the work station 4 to the two bin taking conveyor lines on the right side. Two get case transfer chain and workbin type relevant, and first get case transfer chain and match with first robot 3, the second gets case transfer chain and matches with second robot 2. In this disclosed embodiment application scenario, the second is got the case transfer chain and is corresponded and treat striding the station workbin, and the first case transfer chain of getting corresponds and treats feed box of reserveing, and the first case transfer chain of getting gets in the case transfer chain and the second which can set up according to the actual demand with putting the case transfer chain adjacent, for example in fig. 1 the left side workstation is that the second gets the case transfer chain adjacent, and the right side workstation is that the first case transfer chain of getting is adjacent.

The control device 1 is in communication connection with the first robot 3, the second robot 2 and the workstation 4. The control device 1 determines the bin type on the conveying line of the workstation 4 in real time, and if the currently determined bin type is the bin type on the conveying line of the left workstation in fig. 1 and the bin type is a bin to be crossed, determines the corresponding bin taking conveying line as a second bin taking conveying line. At this time, the control apparatus 1 controls the second robot 2 to the second box taking conveyor line to convey the to-be-cross-station bin to the box placing conveyor line of the right workstation. And if the bin type is the bin to be returned, determining that the corresponding bin taking conveying line is the first bin taking conveying line. At this time, the control apparatus 1 controls the first robot 3 to the first box taking conveyor line to convey the box to be restored to the warehouse area 6.

The embodiments of the present disclosure are described below with reference to the drawings.

Fig. 2 is a schematic flow diagram of a bin transportation control method according to a first embodiment of the disclosure, and as shown in fig. 2, in this embodiment, an execution main body of the embodiment of the disclosure is a bin transportation control device, which may be integrated in an electronic device and applied to a warehousing system. The bin conveying control method provided by the embodiment comprises the following steps:

it should be noted that the warehousing system includes two at least workstations, the workstation includes the transfer chain, the transfer chain is including joining transfer chain and branch transfer chain, branch transfer chain is including putting case transfer chain and two at least get the case transfer chain, two at least get the case transfer chain include with first robot match one at least first get the case transfer chain, get the case transfer chain with second robot match one at least second, first get case transfer chain and second get the case transfer chain and join the intersection of transfer chain and all be located the low reaches of putting the case transfer chain and joining the intersection of transfer chain.

And step S101, determining the type of the target bin on the conveying line.

In this embodiment, the target bin may be any bin on the conveying line, and the type of the target bin is a bin to be returned to the storage or a bin to be crossed. The bin to be returned refers to a bin of a warehouse area to which the next delivery destination is after the bin is picked at the workstation, and the bin to be crossed refers to a bin of other workstations to which the next delivery destination is after the bin is picked at the workstation.

And S102, determining a box taking conveying line corresponding to the target material box according to the type of the target material box.

In this embodiment, the workstation includes at least that the first case transfer chain of getting gets and the case transfer chain is got to the second, and the first case transfer chain of getting matches with first robot, and the case transfer chain is got to the second matches with the second robot.

Simultaneously, the first case transfer chain of getting can with wait to return storehouse workbin and match, the second get the case transfer chain can with wait to stride the station workbin and match, also can set up according to actual demand. For example, the first box-taking conveying line can be matched with the material box to be restored and the material box to be crossed. In practical application, the number of the bins to be returned is relatively large, the first robot can adopt a robot with the function of conveying a plurality of bins at a time, and the second robot can adopt a robot which can only convey one bin at a time, such as a belt type single-bin robot, a jacking type robot and the like. Therefore, the second robot mainly transports the material box to be striden, the first robot mainly transports the material box to be returned, and the overall transport efficiency of the material box to be returned and the material box to be striden is improved.

And step S103, controlling the first robot or the second robot to convey the target bin on the corresponding bin taking conveying line.

In this embodiment, the first robot is used for transporting the workbin on the first get case transfer chain, and the second robot is used for transporting the workbin on the second get case transfer chain, through the division of work of first robot and second robot when transporting the workbin to improve the holistic transport efficiency of workbin.

In an actual application scenario, the number of robots is large, and the first robot may be arranged and wait, and at this time, the first robot may be arranged to wait in a direction from the workstation to the warehouse area, or in a direction perpendicular to the direction from the workstation to the warehouse area, so that the robots are more coordinated and ordered.

Meanwhile, a plurality of channels, such as high-speed passing channels, can be divided in the area between the workstation and the warehouse area and used for the movement of the first robot or the second robot, and the queuing channel is used for queuing of the first robot or the second robot, so that the movement areas of the first robot and the second robot are not overlapped, and the two robots are not interfered with each other.

The embodiment of the disclosure provides a method for controlling the transportation of a material box, which comprises the following steps: the type of target bin on the conveyor line is determined. And determining a box taking conveying line corresponding to the target material box according to the type of the target material box. And controlling the first robot or the second robot to convey the target bin on the corresponding bin taking conveying line.

The bin conveying control method is applied to a storage system, the storage system comprises at least two workstations, a first robot and a second robot, the workstations comprise at least two bin taking conveying lines, when a target bin is conveyed to the conveying lines, the bin taking conveying lines corresponding to the target bin can be determined according to the type of the target bin, and the first robot or the second robot is controlled to convey the target bin on the corresponding bin taking conveying lines. According to the method, the first robot and the second robot are controlled to be cooperated with the box taking conveying line of the workstation, and corresponding conveying strategies can be executed according to different target material box types, so that the overall conveying efficiency of the material boxes is improved, and the overall delivery efficiency is improved.

Fig. 3 is a schematic flow chart of a bin transportation control method according to a second embodiment of the disclosure, and as shown in fig. 3, the bin transportation control method according to this embodiment is further described on the basis of the bin transportation control method according to the previous embodiment of the disclosure. The bin conveying control method provided by the embodiment comprises the following steps.

Step S201, determining the type of the target bin on the conveying line.

In this embodiment, the implementation manner of step 201 is similar to that of step 101 in the previous embodiment of the present disclosure, and is not described in detail here.

And S202, if the target bin is the bin to be returned, determining that the target bin corresponds to the first bin taking conveying line, wherein the bin to be returned is the bin to be conveyed back to the warehouse area by the first robot through the first bin taking conveying line.

In this embodiment, the next destination of delivery of the bin to be returned to the warehouse is the warehouse area, and the first robot delivers the bin to the warehouse area from the first bin-taking conveyor line. Under the general condition, the first robot adopts a material box robot with a large specification, can convey a plurality of material boxes to be returned to the warehouse at one time, and improves the conveying efficiency.

Step S203, if the target bin is a bin to be crossed, determining that the target bin corresponds to a first bin taking conveying line or a second bin taking conveying line, wherein the bin to be crossed is a bin to be conveyed to other workstations by the first bin taking conveying line or the second bin taking conveying line of the first robot or the second robot.

In this embodiment, the whole quantity of the feed bins to be returned to the warehouse is more, the corresponding box-taking conveying line is the first box-taking conveying line, the whole quantity of the station bins to be crossed is relatively less, and the corresponding first box-taking conveying line or the second box-taking conveying line can be determined according to the condition of the station bins to be crossed, such as whether the station bins to be crossed are continuously arranged, whether the current quantity of the station bins to be crossed is more, and the like.

For example, when the number of the station bins to be crossed is large and the station bins to be crossed are arranged continuously, the corresponding box taking conveying line is determined to be the first box taking conveying line, so that the plurality of station bins to be crossed are conveyed through the first robot, and the conveying efficiency is improved.

For example, a specific process of determining the corresponding first box taking conveying line or second box taking conveying line may be as shown in fig. 4, that is, the following steps S2031 to S2034:

step S2031, if the target bin is a bin to be crossed, determining the types and the number corresponding to the types of a plurality of bins which do not enter the bin taking conveying line in the preset area of the target bin. And executing the steps S2032 to S2034 according to the types of the plurality of bins and the number corresponding to the types.

A non-entering of a get bin conveyor line means that the target bin is still on the put bin conveyor line or the merge conveyor line, waiting to be allocated to the first get bin conveyor line or the second get bin conveyor line. The type of the plurality of bins within the preset area of the target bin and the number corresponding to the type may be determined at this time.

Illustratively, 3 bins arranged in front of the target bin are a bin to be strided, a bin to be strided and a bin to be restored respectively, and 3 bins arranged behind the target bin are all bins to be restored, with reference to the direction from the bin placing conveyor line to the bin taking conveyor line. Assuming that the preset area of the target bin is the first two bins and the last two bins which take the target bin as the center, the number of the types and the types of the bins in the preset area is three bins to be strided, two bins to be returned and the arrangement sequence is two bins to be returned-three bins to be strided.

The preset area may also be the first two bins centered on the target bin, or the last two bins centered on the target bin, and the like, which is not limited in this embodiment.

After determining the types and the number corresponding to the types of the multiple bins, a first bin taking conveying line or a second bin taking conveying line corresponding to the target bin can be determined according to the types and the number corresponding to the types of the multiple bins which do not enter the bin taking conveying line in the preset area of the target bin, so that the target bin is conveyed to the first bin taking conveying line or the second bin taking conveying line by the workstation. Specifically, the procedure goes from step S2032 to step S2034.

Step S2032, if all the work bins which do not enter the bin taking conveying line in the preset area of the target work bin are to-be-returned work bins, determining that the target work bin corresponds to the second bin taking conveying line.

If all the work bins which do not enter the bin taking conveying line in the preset area of the target work bin are to-be-returned work bins, the work bin representing that only the target work bin is to-be-strided work bin in the preset area, and the number of the to-be-strided work bins is small, and the fact that the target work bin corresponds to the second bin taking conveying line can be determined.

Step S2033, if a plurality of workbins which do not enter the box taking conveying line in the preset area of the target workbin are all to-be-cross station workbins, determining that the target workbin corresponds to the first box taking conveying line.

If a plurality of workbins which do not enter the box taking conveying line in the preset area of the target workbin are to-be-crossed workbins, the number of the to-be-crossed workbins in the preset area is large, the target workbins including the target workbins are arranged continuously, the target workbins can be determined to correspond to the first box taking conveying line, and therefore the plurality of to-be-crossed workbins are conveyed to the first box taking conveying line and are conveyed by the first robot.

Step S2034, if a plurality of bins which do not enter the bin taking conveying line in the preset area of the target bin include the bin to be spanned and the bin to be restored, determining a first bin taking conveying line or a second bin taking conveying line corresponding to the target bin according to the number of the bins to be spanned in the plurality of bins.

In this embodiment, a quantity threshold may be preset, so that a first box taking conveying line or a second box taking conveying line corresponding to a target bin is determined according to a relationship between the quantity of the bins to be spanned in a preset area and the quantity threshold, specifically as follows:

and if the number of the work bin to be crossed in the work bins is smaller than a first preset number threshold value, determining that the target work bin corresponds to the second box taking conveying line.

And if the number of the bins to be crossed in the bins is larger than or equal to a first preset number threshold value, determining that the target bin corresponds to the first bin taking conveying line.

In this embodiment, assuming that the types and the numbers corresponding to the types of the plurality of bins in the preset area are three bins to be taken from the station, two bins to be returned from the station are arranged in an order of two bins to be returned to the station-three bins to be taken from the station, and the preset number threshold is 3, it may be determined that the target bin corresponds to the first bin taking conveying line.

Meanwhile, in the embodiment, since the bins on the second bin taking conveying line are conveyed by the second robot, the second robot generally adopts a lifting type or belt type robot with a smaller specification, only one bin can be conveyed at a time, and the bin conveying efficiency is relatively low. Therefore, the box taking conveying line corresponding to the target box can be determined according to the number of all the boxes on the second box taking conveying line, so that the situation that the boxes on the second box taking conveying line are stacked seriously is avoided. The method comprises the following specific steps:

and if the target material box is a material box to be crossed, determining whether the number of all material boxes on the second box taking conveying line is larger than a second preset number threshold value.

And if the number of all the bins on the second bin taking conveying line is larger than a second preset number threshold value, determining that the target bin corresponds to the first bin taking conveying line.

When the second box taking conveying line is used for feeding the box and is seriously stacked, the box taking conveying line corresponding to the target box is determined to be the first box taking conveying line, and therefore the overall conveying efficiency of the box is improved. The second is preset quantity threshold value and can be got the length of case transfer chain, actual demand etc. and set up according to actual second, and this embodiment does not do the restriction to this.

And S204, controlling the first robot or the second robot to convey the target bin on the corresponding bin taking conveying line.

In this embodiment, the implementation manner of step 204 is similar to that of step 103 in the previous embodiment of the present disclosure, and is not described in detail here.

According to the bin conveying control method, the first bin taking conveying line or the second bin taking conveying line corresponding to the target bin can be determined according to the type and the number corresponding to the type of the bin in the preset area of the target bin, and when the target bin is a bin to be strided, the first bin taking conveying line or the second bin taking conveying line corresponding to the target bin can be determined according to the number of the bins of the second bin taking conveying line, so that the bin taking conveying lines corresponding to the target bin can be matched with different application scenes, and the overall conveying efficiency of the bin to be returned and the bin to be strided is improved.

Fig. 5 is a schematic flow chart of a bin conveying control method according to a third embodiment of the disclosure. As shown in fig. 5, the bin transportation control method provided in this embodiment is supplemented on the basis of the bin transportation control method provided in the previous embodiment of the present disclosure. The bin conveying control method provided by the embodiment further comprises the following steps.

The box placing conveyor lines comprise at least one first box placing conveyor line matched with the first robot and at least one second box placing conveyor line matched with the second robot. Different from the previous embodiment, in the present embodiment, when the first robot transports the bin from the warehouse area or other work station to the target work station, the first robot is not located at the same position as the second robot, so that the bin placement efficiency of the target work station is improved.

Step S301, determining whether a target bin to be transported to the confluence transport line on the second bin placing transport line is a bin to be crossed. If yes, go to step S302, otherwise go to step S304.

Since the work station bins of other work stations to be crossed may not need to be continuously crossed and need to be returned to the warehouse when the second robot is conveyed to the target work station. Thus, the second emptying conveyor line and the bins to be transported to the merging conveyor line may be bins to be returned to stock or bins to be transgressed.

Step S302, determining whether there are multiple to-be-spanned work bin arranged in series on the converging conveying line, if yes, executing step S303, and if no, executing step S305.

And step S303, enabling the target work station to combine the target material box with the plurality of continuously arranged material boxes to be spanned on the combining and conveying line to form a plurality of new continuously arranged material boxes to be spanned.

In this embodiment, when there are a plurality of to-be-strided station bins continuously arranged on the converging conveyor line, the target bin and the plurality of to-be-strided station bins may be converged to generate a larger number of continuously arranged to-be-strided station bins, so that the to-be-strided station bins are concentrated as much as possible, and the continuously arranged to-be-strided station bins may be conveyed to the first bin-taking conveyor line and conveyed by the first robot, thereby improving the conveying efficiency of the to-be-strided station bins.

And step S304, enabling the target work station to merge the target workbin into the converging conveying line. Wherein, when a plurality of to-be-crossed work bins are arranged on the converging conveying line in series, the target work bin is arranged before or after the plurality of to-be-crossed work bins arranged in series.

If the target workbin is a workbin to be restored, when the target workbin is merged into the confluence conveying line, the target workbin can be prevented from being inserted among a plurality of continuously arranged workbins to be crossed, the influence on the finally determined box taking conveying lines corresponding to the plurality of continuously arranged workbins to be crossed is avoided, and at the moment, the target workbin can be arranged before or after the plurality of continuously arranged workbins to be crossed.

Step S305, the target work station flows the target bin into the confluence conveying line.

Meanwhile, in order to arrange the material boxes on the converging conveying line more orderly, the first robot can be controlled to be placed according to a preset sequence when the first robot places the material boxes. The method specifically comprises the following steps:

and determining a first robot in a box placing area of a first box placing conveying line and the number of the work bin to be crossed carried by the first robot, wherein the first robot is in a state of preparing to place each carried target work bin into a box placing opening of the box placing area.

And controlling the first robot to place the carried target workbins into the box placing openings of the box placing area according to the number of the workbins to be spanned carried by the first robot and a third preset number threshold value.

The first robot can move to and from the warehouse area and the work stations, so that the bin placed by the first robot at the target work station can be the warehouse area or other work stations, and the bin type can be a bin to be spanned and a bin to be returned. When the number of the work bin to be crossed carried by the first robot is larger than or equal to a third preset number threshold value, the first robot can be controlled to continuously place the work bin to be crossed so as to provide a basis for continuous arrangement of subsequent work bins to be crossed. When the number of the workbins to be spanned carried by the first robot is smaller than a third preset number threshold value, the first robot can be controlled to place all the carried workbins according to an acquisition time sequence, a random placement sequence and the like.

For example, if the number of the station-to-be-crossed workbins carried by the first robot is larger than or equal to a third preset number threshold, the first robot is controlled to continuously place all the carried station-to-be-crossed workbins into the box placing openings of the box placing area.

By controlling the sequence of the first robot for placing the material boxes, the continuously arranged material boxes to be strided on the converging conveying line can be increased, and the continuously arranged material boxes to be strided are conveyed by the first robot, so that the conveying efficiency of the continuously arranged material boxes to be strided is improved.

For example, a further determination may be made as to the next work station that the bin to be spanned carried by the first robot will move to determine the order in which the first robot places all of the bins to be spanned. Assuming that the number of the station-to-be-strided bins carried by the first robot is 5, wherein 3 of the station-to-be-strided bins are the next workstation to be moved to is the workstation a,1 of the station-to-be-strided bins is the workstation B, and 1 of the station-to-be-strided bins is the next workstation to be moved to is the workstation C, the first robot may be controlled to place the 3 station-to-be-strided bins of which the next workstation is the workstation a first, and then place the 1 station-to-be-strided bin of which the next workstation is the workstation B or place the 1 station-to-be-strided bin of which the next workstation is the workstation C first. The placing sequence of the work stations C and B to-be-crossed workbins can be determined according to the distance between the work stations C and B and the target work station.

After controlling the first robot to place each carried target bin into the bin placing opening of the bin placing area, the first robot can be controlled to move to a bin taking waiting area of the first bin taking conveying line or a bin taking area of the first bin taking conveying line, and the method comprises the following specific steps:

and judging whether other first robots exist in the box taking area of the first box taking conveying line.

In this embodiment, if there are other first robots in the first area of getting the case transfer chain, then control first robot removes and waits to the first case waiting area of getting the case transfer chain, if there are not other first robots in the first area of getting the case transfer chain of getting the case, then control first robot and remove and get the case area of getting of case transfer chain to first to reduce the jam condition of first robot when getting the case and putting the case.

Fig. 6 is a scene diagram corresponding to the bin transportation control method according to the fourth embodiment of the disclosure. As shown in fig. 6, the work station is improved based on the bin transportation control method provided in the previous embodiment of the disclosure.

The branch conveyor lines of the workstation may comprise at least two case placing conveyor lines and at least two case taking conveyor lines. The at least two box placing conveying lines comprise at least one first box placing conveying line and at least one second box placing conveying line. At least two get case transfer chain and get case transfer chain including first getting the case transfer chain and second at least.

In the embodiment shown in fig. 6, the work station includes only two box placing conveying lines and two box taking conveying lines for illustration. In this embodiment, the lengths of the branch conveyor lines are the same. The first box placing conveying line is connected with the starting point of the converging conveying line. The second box placing conveyor line is adjacent to the first box placing conveyor line. And the second box taking conveying line is connected with the terminal of the converging conveying line. The first box taking conveying line is adjacent to the second box taking conveying line.

After the workstation changes as above, the first robot and the second robot move to the mode that corresponds and get the case transfer chain and changed after the workbin is placed to the corresponding case transfer chain of putting.

The moving process of the first robot is as follows:

and judging whether a second robot exists in the box placing area of the second box placing conveying line.

And controlling the first robot to move to a box taking waiting area of the first box taking conveying line or a box taking area of the first box taking conveying line according to the judgment result of whether the second robot exists in the box placing area of the second box placing conveying line and the judgment result of whether other first robots exist in the box taking area of the first box taking conveying line.

Because the workstation puts case transfer chain for the first in proper order, the case transfer chain is put to the second to the direction of getting the case transfer chain, the first case transfer chain of getting and the case transfer chain is got to the second. After the first robot places the workbin to the box placing opening of the first box placing conveying line, whether a second robot exists in a box placing area of the second box placing conveying line and whether other first robots exist in a box taking area of the first box taking conveying line need to be judged, and therefore the moving mode and the moving path of the first robot are determined.

The method comprises the following specific steps:

if the judgment result shows that other first robots exist in the box taking area and a second robot exists in the box placing area of the second box placing conveyor line, the first robot is controlled to move to the box taking waiting area of the first box taking conveyor line in a moving mode that the warehouse direction bypasses the box placing area of the second box placing conveyor line.

And if the judgment result is that other first robots exist in the box taking area and a second robot does not exist in the box placing area of the second box placing conveying line, controlling the first robot to move to the box taking waiting area of the first box taking conveying line in a moving mode of penetrating through the box placing area of the second box placing conveying line.

And if the judgment result shows that no other first robot exists in the box taking area and the second robot exists in the box placing area of the second box placing conveyor line, controlling the first robot to move to the box taking area of the first box taking conveyor line in a moving mode that the first robot bypasses the box placing area of the second box placing conveyor line in the warehouse direction.

And if the judgment result shows that no other first robot exists in the box taking area and no second robot exists in the box placing area of the second box placing conveyor line, controlling the first robot to move to the box taking area of the first box taking conveyor line in a moving mode of penetrating through the box placing area of the second box placing conveyor line.

The moving flow of the second robot is as follows:

and a second robot for determining the box placing area of the second box placing conveying line. Wherein the second robot has placed the carried work bin to be transshipped into the bin put opening of the bin put area of the second bin put conveyor line.

And judging whether a first robot exists in the box taking area of the first box taking conveying line and whether other second robots exist in the box taking area of the second box taking conveying line.

And controlling the second robot to move to the box taking area of the second box taking conveying line or the box taking waiting area of the second box taking conveying line according to the judgment result of whether the first robot exists in the box taking area of the first box taking conveying line and whether other second robots exist in the box taking area of the second box taking conveying line.

Because the workstation puts case transfer chain for the first in proper order, the case transfer chain is put to the second to the direction of getting the case transfer chain, the first case transfer chain of getting gets and the case transfer chain is got to the second. Therefore, it is necessary to determine whether the first robot exists in the box taking area of the first box taking conveying line and whether other second robots exist in the box taking area of the second box taking conveying line, so as to determine the moving mode and the moving path of the second robot after placing the box in the box placing opening of the box placing area of the second box placing conveying line on the box. The method comprises the following specific steps:

and if the judgment result shows that other second robots exist and the first robot exists in the box taking area of the first box taking conveying line, controlling the second robot to move to the box taking waiting area of the second box taking conveying line in a moving mode that the second robot bypasses the box taking area of the first box taking conveying line in the warehouse direction.

And if the judgment result shows that other second robots exist and the first robot does not exist in the box taking area of the first box taking conveying line, controlling the second robot to move to the box taking waiting area of the second box taking conveying line in a moving mode of passing through the box taking area of the first box taking conveying line.

And if the judgment result shows that no other second robot exists and the first robot exists in the box taking area of the first box taking conveying line, controlling the second robot to move to the box taking area of the second box taking conveying line in a moving mode that the second robot bypasses the box taking area of the first box taking conveying line in the warehouse direction.

According to the work station structure improving method for controlling the work bin conveying, the work station structure is improved, the mode that the work station structure is provided with the double-inlet double-outlet branch conveying lines are identical in length is adopted, when the work bin is placed by the first robot or the second robot, the work station structure does not need to be crowded in an area, and when the work station takes the work bin, the work station structure does not need to be crowded in an area, so that the work station structure improving method improves the efficiency of the first robot and the second robot in queuing for placing the work bin and taking the work bin, and therefore the whole conveying efficiency of the work bin is improved.

Fig. 7 is a scene diagram of a bin transportation control method according to a fifth embodiment of the disclosure. As shown in FIG. 7, the work station is further improved by the bin conveying control method provided by the embodiment.

The branch conveying lines of the workstation comprise at least two box placing conveying lines and at least two box taking conveying lines. The at least two box placing conveying lines comprise at least one first box placing conveying line and at least one second box placing conveying line. At least two get case transfer chain and include first get case transfer chain and the case transfer chain is got to the second at least.

As shown in fig. 7, the work station of the present embodiment is illustrated as including two case placing conveyor lines and two case taking conveyor lines. Wherein, the length of first putting case transfer chain is the same with the length of first case transfer chain of getting. The length of the second box placing conveying line is the same as that of the second box taking conveying line. The difference value between the length of the first box placing conveying line and the length of the second box placing conveying line is a preset length. The preset length is at least greater than the length of the second robot.

The first box placing conveying line is connected with the starting point of the converging conveying line. The second box placing conveyor line is adjacent to the first box placing conveyor line. The first case transfer chain of getting is connected with the terminal point that joins the transfer chain. The second case transfer chain of getting is adjacent with the first case transfer chain of getting.

The workstation of this embodiment puts the length of case transfer chain longer than the length of second with the length setting of first case transfer chain of putting, and the length of case transfer chain is got longer than the second to the first length of getting that gets the case transfer chain that also sets up, and the length that differs is greater than the length of second robot. So that the second robot can be further separated from the active area of the first robot. As shown in fig. 7, there is a large degree of non-overlap between the active areas of the second robot and the first robot, and the second robot has a certain distance and a certain depth between the waiting area of the second box-placing conveyor line and the waiting area of the first robot on the first box-placing conveyor line. Therefore, the first robot and the second robot hardly affect each other to cause congestion when corresponding to the waiting area of the box placing conveyor line.

Meanwhile, the second box placing conveying line is adjacent to the second box taking conveying line, and the second robot can directly move to the second box taking conveying line after the second box placing conveying line places the workbin. And the first case transfer chain of putting is all longer than the second with the first length of getting the case transfer chain of putting the case transfer chain and the case transfer chain is got to the second, therefore, first robot is putting the case transfer chain and is placing the workbin the back, also can directly move to the first case transfer chain of getting.

The movement flow for the first robot is as follows:

and if the judgment result shows that other first robots exist, controlling the first robot to move from the box placing area of the first box placing conveying line to the box taking waiting area of the first box taking conveying line in a straight moving mode.

The second robot moves as follows:

And judging whether other second robots exist in the box taking area of the second box taking conveying line.

And if the second robot exists, controlling the second robot to move from the box placing area of the second box placing conveying line to the box taking waiting area of the second box taking conveying line in a straight moving mode.

Meanwhile, the height of the second robot may be smaller than the height of the workstation conveyor line so that the second robot may pass under the workstation conveyor line. When the second robot has taken a bin from the bin taking area of the second bin taking conveyor line, the second robot may be controlled to pass from the lower area of the conveyor line, such as the first bin taking conveyor line, the merging conveyor line, etc., to the bin placing area of the second bin placing conveyor line of the other workstation.

According to the work station structure improvement method, the mode that the work station structure is improved, the work station structure is adopted, the length of the first box placing conveying line and the length of the first box taking conveying line are both longer than that of the second box placing conveying line and that of the second box taking conveying line are adopted, when the work station is placed on the first robot or the second robot, the work station does not need to be crowded in one area, and when the work station is moved to the corresponding box taking conveying line, the first robot and the second robot can be prevented from influencing each other, the efficiency of queuing the work station for placing the work station and the work station for taking the work station by the first robot and the second robot is improved, and therefore the overall conveying efficiency of the work station is improved.

Fig. 8 is a schematic structural diagram of a bin transportation control device according to a sixth embodiment of the present disclosure, as shown in fig. 8, in this embodiment, a warehousing system includes at least two workstations, the workstations include transportation lines, the transportation lines include a converging transportation line and a branching transportation line, the branching transportation line includes a box placing transportation line and at least two box taking transportation lines, the at least two box taking transportation lines include at least one first box taking transportation line matched with a first robot, the at least one second box taking transportation line matched with a second robot, the intersection of the first box taking transportation line and the second box taking transportation line and the converging transportation line is located downstream of the intersection of the box placing transportation line and the converging transportation line, the bin transportation control device 400 includes:

and a type determining module 401, configured to determine the type of the target bin on the conveying line.

And the conveying line determining module 402 is used for determining a box taking conveying line corresponding to the target bin according to the type of the target bin.

And the control module 403 is used for controlling the first robot or the second robot to convey the target bin on the corresponding bin taking conveying line.

The bin conveying control device provided in this embodiment may implement the technical solution of the method embodiment shown in fig. 2, and the implementation principle and technical effect thereof are similar to those of the method embodiment shown in fig. 2, and are not described in detail herein.

Meanwhile, the bin conveying control device provided by the present disclosure further refines the bin conveying control device 400 on the basis of the bin conveying control device provided by the previous embodiment.

Optionally, in this embodiment, the conveying line determining module 402 is specifically configured to:

and if the target material box is the material box to be returned, determining that the target material box corresponds to the first box taking conveying line, wherein the material box to be returned is the material box to be conveyed back to the warehouse area by the first robot through the first box taking conveying line. And if the target bin is the bin to be crossed, determining that the target bin corresponds to a first bin taking conveying line or a second bin taking conveying line, wherein the bin to be crossed is the bin to be conveyed to other workstations by the first bin taking conveying line or the second bin taking conveying line of the first robot or the second robot.

Optionally, in this embodiment, when determining that the target bin corresponds to the first bin fetching conveyor line or the second bin fetching conveyor line if the target bin is the to-be-strided bin, the conveyor line determining module 402 is specifically configured to:

and if the target material box is a material box to be crossed, determining the types and the number corresponding to the types of a plurality of material boxes which do not enter the box taking conveying line in the preset area of the target material box. And determining a first box taking conveying line or a second box taking conveying line corresponding to the target workbin according to the types and the number corresponding to the types of the workbins which do not enter the box taking conveying line in the preset area of the target workbin, so that the target workbin is conveyed to the first box taking conveying line or the second box taking conveying line by the workstation.

Optionally, in this embodiment, when the conveyor line determining module 402 determines, according to the type and the number corresponding to the type of the multiple bins that do not enter the bin fetching conveyor line in the preset area of the target bin, a first bin fetching conveyor line or a second bin fetching conveyor line corresponding to the target bin, specifically configured to:

and if the plurality of bins which do not enter the bin taking conveying line in the preset area of the target bin are all bins to be returned, determining that the target bin corresponds to the second bin taking conveying line. And if the plurality of workbins which do not enter the box taking conveying line in the preset area of the target workbin are all to-be-cross station workbins, determining that the target workbin corresponds to the first box taking conveying line. And if the plurality of workbins which do not enter the box taking conveying line in the preset area of the target workbin comprise the workbins to be strided and the workbins to be restored, determining a first box taking conveying line or a second box taking conveying line corresponding to the target workbin according to the determined number of the workbins to be strided in the plurality of workbins.

Optionally, in this embodiment, when determining, according to the number of the to-be-crossed bins in the multiple bins, the conveyor line determining module 402 is specifically configured to:

and if the number of the work bin to be crossed in the work bins is smaller than a first preset number threshold value, determining that the target work bin corresponds to the second box taking conveying line. And if the number of the bins to be crossed in the bins is larger than or equal to a first preset number threshold value, determining that the target bin corresponds to the first bin taking conveying line.

and if the target material box is the material box to be crossed, determining whether the number of all the material boxes on the second box taking conveying line is larger than a second preset number threshold value. And if the number of all the workbins on the second box taking conveying line is larger than the second preset number threshold, determining that the target workbin corresponds to the first box taking conveying line.

Optionally, in this embodiment, the box placing conveyor lines include at least one first box placing conveyor line matched with the first robot and at least one second box placing conveyor line matched with the second robot, and the conveyor line determining module 402 is further configured to:

and determining whether the target bin to be transported to the confluence transportation line on the second box placing transportation line is a bin to be crossed. And if the target material box is determined to be the station box to be crossed, determining whether a plurality of station boxes to be crossed are continuously arranged on the converging conveying line. And if the plurality of continuously arranged to-be-strided station workbins are determined to exist, enabling the target workstation to combine the target workbin with the plurality of continuously arranged to-be-strided station workbins on the converging conveying line to form a new plurality of continuously arranged to-be-strided station workbins. And if the target material box is determined to be the material box to be returned, enabling the target work station to merge the target material box into the converging conveying line. Wherein, when a plurality of to-be-crossed work bins are arranged on the converging conveying line in series, the target work bin is arranged before or after the plurality of to-be-crossed work bins arranged in series.

Optionally, in this embodiment, the control module 403 is further configured to:

and determining a first robot in a box placing area of a first box placing conveying line and the number of the work bin to be crossed carried by the first robot, wherein the first robot is in a state of preparing to place each carried target work bin into a box placing opening of the box placing area. And controlling the first robot to place the carried target workbins into the box placing openings of the box placing area according to the number of the workbins to be spanned in the first robot and a third preset number threshold value.

Optionally, in this embodiment, when controlling, according to the number of the bins to be spanned carried by the first robot and a third preset number threshold, the control module 403 is specifically configured to:

and if the number of the station work bins to be crossed carried by the first robot is larger than or equal to a third preset number threshold value, controlling the first robot to continuously place all the carried station work bins to be crossed into the bin placing openings of the bin placing area. If the number of the bins to be spanned carried by the first robot is smaller than a third preset number threshold, determining the priority of each target bin carried by the first robot corresponding to the goods taking task: and controlling the first robot to place the carried target material boxes into the box placing openings of the box placing area according to the priority.

and judging whether other first robots exist in the box taking area of the first box taking conveying line. And controlling the first robot to move to a box taking waiting area of the first box taking conveying line or a box taking area of the first box taking conveying line according to the judgment result of whether other first robots exist.

Optionally, in this embodiment, the branch conveying lines include at least two box placing conveying lines and at least two box taking conveying lines. The at least two box placing conveying lines comprise at least one first box placing conveying line and at least one second box placing conveying line. At least two get case transfer chain and include first get case transfer chain and the case transfer chain is got to the second at least. The lengths of the branch conveying lines are the same. The first box placing conveying line is connected with the starting point of the converging conveying line. The second box placing conveying line is adjacent to the first box placing conveying line. And the second box taking conveying line is connected with the terminal of the converging conveying line. The first box taking conveying line is adjacent to the second box taking conveying line.

The control module 403, when controlling the first robot to move to the box taking waiting area of the first box taking conveying line or the box taking area of the first box taking conveying line according to the determination result of whether there is another first robot, is specifically configured to:

and judging whether a second robot exists in the box placing area of the second box placing conveying line. And controlling the first robot to move to a box taking waiting area of the first box taking conveying line or a box taking area of the first box taking conveying line according to the judgment result of whether the second robot exists in the box placing area of the second box placing conveying line and the judgment result of whether other first robots exist in the box taking area of the first box taking conveying line.

Optionally, in this embodiment, when the control module 403 controls the first robot to move to the box taking waiting area of the first box taking conveying line or the box taking area of the first box taking conveying line according to the judgment result of whether the second robot exists in the box placing area of the second box placing conveying line and the judgment result of whether another first robot exists in the box taking area of the first box taking conveying line, specifically, the control module is configured to:

and if the judgment result shows that other first robots exist in the box taking area and a second robot exists in the box placing area of the second box placing conveyor line, controlling the first robot to move to the box taking waiting area of the first box taking conveyor line in a moving mode that the first robot bypasses the box placing area of the second box placing conveyor line in the warehouse direction. And if the judgment result is that other first robots exist in the box taking area and a second robot does not exist in the box placing area of the second box placing conveying line, controlling the first robot to move to the box taking waiting area of the first box taking conveying line in a moving mode of penetrating through the box placing area of the second box placing conveying line. And if the judgment result shows that no other first robot exists in the box taking area and the second robot exists in the box placing area of the second box placing conveyor line, controlling the first robot to move to the box taking area of the first box taking conveyor line in a moving mode that the first robot bypasses the box placing area of the second box placing conveyor line in the warehouse direction. And if the judgment result shows that no other first robot exists in the box taking area and no second robot exists in the box placing area of the second box placing conveying line, controlling the first robot to move to the box taking area of the first box taking conveying line in a moving mode of penetrating through the box placing area of the second box placing conveying line.

and a second robot for determining the box placing area of the second box placing conveying line. Wherein the second robot has placed the carried work bin to be transshipped into the bin put opening of the bin put area of the second bin put conveyor line. And judging whether a first robot exists in the box taking area of the first box taking conveying line and whether other second robots exist in the box taking area of the second box taking conveying line. And controlling the second robot to move to the box taking area of the second box taking conveying line or the box taking waiting area of the second box taking conveying line according to the judgment result of whether the first robot exists in the box taking area of the first box taking conveying line and whether other second robots exist in the box taking area of the second box taking conveying line.

Optionally, in this embodiment, when the control module 403 controls, according to the judgment result of whether the first robot exists in the box taking area of the first box taking conveyor line and whether other second robots exist in the box taking area of the second box taking conveyor line, that the second robot moves to the box taking area of the second box taking conveyor line or the box taking waiting area of the second box taking conveyor line, specifically, the control module is configured to:

and if the judgment result shows that other second robots exist and the first robot exists in the box taking area of the first box taking conveying line, controlling the second robot to move to the box taking waiting area of the second box taking conveying line in a moving mode that the second robot bypasses the box taking area of the first box taking conveying line in the warehouse direction. And if the judgment result shows that other second robots exist and the first robot does not exist in the box taking area of the first box taking conveying line, controlling the second robot to move to the box taking waiting area of the second box taking conveying line in a moving mode of passing through the box taking area of the first box taking conveying line. And if the judgment result shows that other second robots do not exist and the first robot exists in the box taking area of the first box taking conveying line, controlling the second robot to move to the box taking area of the second box taking conveying line in a moving mode that the second robot bypasses the box taking area of the first box taking conveying line in the warehouse direction. And if the judgment result shows that other second robots do not exist and the first robot does not exist in the box taking area of the first box taking conveying line, controlling the second robot to move to the box taking area of the second box taking conveying line in a moving mode of penetrating through the box taking area of the first box taking conveying line.

Optionally, in this embodiment, the branch conveying lines include at least two box placing conveying lines and at least two box taking conveying lines. The at least two box placing conveying lines comprise at least one first box placing conveying line and at least one second box placing conveying line. At least two get case transfer chain and include first get case transfer chain and the case transfer chain is got to the second at least. The length of the first box placing conveying line is the same as that of the first box taking conveying line. The length of the second box placing conveying line is the same as that of the second box taking conveying line. The difference value between the length of the first box placing conveying line and the length of the second box placing conveying line is a preset length. The preset length is at least greater than the length of the second robot.

and if the judgment result shows that other first robots exist, controlling the first robot to move from the box placing area of the first box placing conveying line to the box taking waiting area of the first box taking conveying line in a straight moving mode. And if the judgment result shows that no other first robot exists, controlling the first robot to move from the box placing area of the first box placing conveying line to the box taking area of the first box taking conveying line in a straight moving mode.

and a second robot for determining the box placing area of the second box placing conveying line. Wherein the second robot has placed the carried work bin to be transshipped into the bin put opening of the bin put area of the second bin put conveyor line. And judging whether other second robots exist in the box taking area of the second box taking conveying line. And if the second robot exists, controlling the second robot to move from the box placing area of the second box placing conveying line to the box taking waiting area of the second box taking conveying line in a straight moving mode. And if the judgment result shows that no other second robot exists, controlling the second robot to move from the box placing area of the second box placing conveyor line to the box taking area of the second box taking conveyor line in a straight moving mode.

The bin transportation control device provided in this embodiment may implement the technical solutions of the method embodiments shown in fig. 2 to 7, and the implementation principle and technical effects thereof are similar to those of the method embodiments shown in fig. 2 to 7, and are not described in detail herein.

The present disclosure also provides a control device, a warehousing system, a computer-readable storage medium, and a computer program product according to embodiments of the present disclosure.

As shown in fig. 9, fig. 9 is a schematic structural diagram of a control device according to a seventh embodiment of the present disclosure. The control device is intended for various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not intended to limit implementations of the disclosure described and/or claimed herein.

As shown in fig. 9, the control apparatus includes: a processor 501 and a memory 502. The various components are interconnected using different buses and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions executed within the control device. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, the buses in the figures of the present disclosure are not limited to only one bus or one type of bus.

Memory 502 is a non-transitory computer readable storage medium provided by the present disclosure. Wherein the memory stores instructions executable by the at least one processor to cause the at least one processor to perform the bin delivery control method provided by the present disclosure. The non-transitory computer-readable storage medium of the present disclosure stores computer instructions for causing a computer to execute the bin conveyance control method provided by the present disclosure.

The memory 502, which is a non-transitory computer readable storage medium, may be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules corresponding to the bin transport control method in the embodiments of the present disclosure (e.g., the type determination module 401, the conveyor line determination module 402, and the control module 403 shown in fig. 8). The processor 501 executes various functional applications of the server and data processing by running non-transitory software programs, instructions and modules stored in the memory 502, namely, implements the bin transportation control method in the above-described method embodiment.

The embodiment also provides a warehousing system, which comprises the control device, the workstations in the first to sixth embodiments, the first robot and the second robot.

Meanwhile, the present embodiment also provides a computer product in which instructions, when executed by a processor of the control apparatus, enable the control apparatus to execute the bin conveyance control method of the first to fifth embodiments described above.

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

It is to be understood that the disclosed embodiments are 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 embodiments of the present disclosure is limited only by the appended claims.

Claims

1. The material box conveying control method is characterized by being applied to a warehousing system, wherein the warehousing system comprises at least two work stations, each work station comprises a conveying line, each conveying line comprises a converging conveying line and a branch conveying line, each branch conveying line comprises a box placing conveying line and at least two box taking conveying lines, each box taking conveying line comprises at least one first box taking conveying line matched with a first robot and at least one second box taking conveying line matched with a second robot, and the junctions of the box placing conveying lines and the converging conveying lines are located at the downstream of the junction of the box placing conveying lines and the converging conveying lines;

the method comprises the following steps:

determining the type of a target bin on the conveying line, wherein the type of the target bin is a bin to be returned to the storage or a bin to be crossed;

determining a box taking conveying line corresponding to the target bin according to the type of the target bin, wherein the first box taking conveying line is matched with the bin to be restored, or is matched with the bin to be restored and the bin to be spanned, and the second box taking conveying line is matched with the bin to be spanned;

2. The method according to claim 1, wherein the determining a box taking conveying line corresponding to the target bin according to the type of the target bin comprises:

if the target bin is a bin to be returned, determining that the target bin corresponds to the first bin taking conveying line, wherein the bin to be returned is a bin to be conveyed back to the warehouse area by the first bin taking conveying line by the first robot;

and if the target bin is a bin to be crossed, determining that the target bin corresponds to the first bin taking conveying line or the second bin taking conveying line, wherein the bin to be crossed is a bin to be conveyed to other workstations by the first bin taking conveying line or the second bin taking conveying line of the first robot or the second robot.

3. The method of claim 2, wherein determining that the target bin corresponds to the first bin retrieving conveyor line or the second bin retrieving conveyor line if the target bin is a to-be-cross-station bin comprises:

if the target material box is a material box to be crossed, determining the types and the number corresponding to the types of a plurality of material boxes which do not enter the box taking conveying line in the preset area of the target material box;

4. The method according to claim 3, wherein the determining the first box taking conveying line or the second box taking conveying line corresponding to the target bin according to the type and the number corresponding to the type of the plurality of bins which do not enter the box taking conveying line in the preset area of the target bin comprises:

5. The method of claim 4, wherein determining the first case picking conveyor line or the second case picking conveyor line corresponding to the target bin based on determining a number of bins to be crossed in a plurality of bins comprises:

if the number of the workbins to be subjected to station crossing in the workbins is smaller than a first preset number threshold value, determining that the target workbin corresponds to the second box taking conveying line;

6. The method of claim 2, wherein determining that the target bin corresponds to the first bin retrieving conveyor line or the second bin retrieving conveyor line if the target bin is a to-be-cross-station bin comprises:

7. The method of claim 6, wherein the reject conveyor line is a plurality of lines, and wherein the reject conveyor line includes at least a first reject conveyor line coupled to a first robot and at least a second reject conveyor line coupled to a second robot, the method further comprising:

if the target material box is determined to be a material box to be spanned, determining whether a plurality of continuously arranged material boxes to be spanned exist on the converging conveying line;

if the target material box is determined to be a material box to be returned, enabling the target workstation to merge the target material box into the converging conveying line; wherein, when a plurality of to-be-crossed work bins are arranged on the converging conveying line in series, the target work bin is arranged before or after the plurality of to-be-crossed work bins arranged in series.

8. The method of claim 7, further comprising:

9. The method of claim 8, wherein controlling the first robot to place each of the carried target bins into the bin slots of the bin placement area according to the number of bins to be spanned carried by the first robot and a third predetermined number threshold comprises:

if the number of the work bin to be cross carried by the first robot is larger than or equal to a third preset number threshold value, controlling the first robot to continuously place all the work bin to be cross carried into a bin placing opening of a bin placing area;

if the number of the bins to be spanned carried by the first robot is smaller than a third preset number threshold, determining the priority of each target bin carried by the first robot corresponding to the goods taking task:

10. The method of claim 8, wherein after controlling the first robot to place the carried target bins into the bin slots of the bin placement area according to the number of bins to be spanned carried by the first robot and a third predetermined number threshold, the method further comprises:

judging whether other first robots exist in a box taking area of the first box taking conveying line or not;

11. The method of claim 10, wherein the branch conveyor lines include at least two drop box conveyor lines and at least two take box conveyor lines; the at least two box placing conveying lines comprise at least one first box placing conveying line and at least one second box placing conveying line; the at least two box taking conveying lines at least comprise a first box taking conveying line and a second box taking conveying line; the lengths of the branch conveying lines are the same; the first box placing conveying line is connected with the starting point of the converging conveying line; the second box placing conveying line is adjacent to the first box placing conveying line; the second box taking conveying line is connected with the end point of the converging conveying line; the first box taking conveying line is adjacent to the second box taking conveying line;

12. The method according to claim 11, wherein the controlling the first robot to move to the box taking waiting area of the first box taking conveyor line or the box taking area of the first box taking conveyor line according to the judgment result of whether the second robot exists in the box placing area of the second box placing conveyor line and the judgment result of whether other first robots exist in the box taking area of the first box taking conveyor line comprises:

if the judgment result shows that other first robots exist in the box taking area and no second robot exists in the box placing area of the second box placing conveying line, the first robot is controlled to move to the box taking waiting area of the first box taking conveying line in a moving mode of penetrating through the box placing area of the second box placing conveying line;

13. The method of claim 11, further comprising:

14. The method according to claim 13, wherein the controlling the second robot to move to the box taking area of the second box taking conveyor line or the box taking waiting area of the second box taking conveyor line according to the judgment result of whether the first robot exists in the box taking area of the first box taking conveyor line and whether another second robot exists in the box taking area of the second box taking conveyor line comprises:

if the judgment result shows that other second robots exist and the first robot exists in the box taking area of the first box taking conveying line, the second robot is controlled to move to the box taking waiting area of the second box taking conveying line in a moving mode of bypassing the box taking area of the first box taking conveying line in the warehouse direction;

if the judgment result shows that no other second robot exists and the first robot exists in the box taking area of the first box taking conveying line, controlling the second robot to move to the box taking area of the second box taking conveying line in a moving mode of bypassing the box taking area of the first box taking conveying line in the warehouse direction;

15. The method of claim 10 wherein the branch conveyor lines include at least two drop box conveyor lines and at least two pick box conveyor lines; the at least two box placing conveying lines comprise at least one first box placing conveying line and at least one second box placing conveying line; the at least two box taking conveying lines at least comprise a first box taking conveying line and a second box taking conveying line; the length of the first box placing conveying line is the same as that of the first box taking conveying line; the length of the second box placing conveying line is the same as that of the second box taking conveying line; the difference value between the length of the first box placing conveying line and the length of the second box placing conveying line is a preset length; the preset length is at least greater than the length of the second robot;

if the judgment result shows that other first robots exist, controlling the first robot to move from the box placing area of the first box placing conveying line to the box taking waiting area of the first box taking conveying line in a straight moving mode;

16. The method of claim 15, further comprising:

judging whether other second robots exist in the box taking area of the second box taking conveying line or not;

if the judgment result shows that other second robots exist, controlling the second robot to move from the box placing area of the second box placing conveying line to the box taking waiting area of the second box taking conveying line in a straight moving mode;

17. The bin conveying control device is characterized by being located in a warehousing system, the warehousing system comprises at least two work stations, each work station comprises a conveying line, each conveying line comprises a junction conveying line and a branch conveying line, each branch conveying line comprises a bin placing conveying line and at least two bin taking conveying lines, each bin taking conveying line comprises at least one first bin taking conveying line matched with a first robot and at least one second bin taking conveying line matched with a second robot, and the junctions of the first bin placing conveying line and the junction conveying line are located at the downstream of the junction of the bin placing conveying line and the junction conveying line;

the device comprises:

the type determining module is used for determining the type of a target bin on the conveying line, wherein the type of the target bin is a bin to be returned or a bin to be crossed;

the conveying line determining module is used for determining a box taking conveying line corresponding to the target workbin according to the type of the target workbin, wherein the first box taking conveying line is matched with the workbin to be restored, or is matched with the workbin to be restored and the workbin to be spanned, and the second box taking conveying line is matched with the workbin to be spanned;

18. A control apparatus, characterized by comprising: a memory, a processor;

a memory; a memory for storing the processor-executable instructions;

-wherein the processor is configured to perform the bin transport control method according to any of the claims 1 to 16 by the processor.

19. A warehousing system, comprising: the control device, workstation, first robot, and second robot of claim 18;

20. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored therein computer-executable instructions for implementing the bin transportation control method according to any one of claims 1 to 16 when executed by a processor.