CN114906523B

CN114906523B - Bin issuing method, apparatus, storage medium and program product

Info

Publication number: CN114906523B
Application number: CN202210435673.4A
Authority: CN
Inventors: 郑若辰
Original assignee: Beijing Kuangshi Robot Technology Co Ltd
Current assignee: Beijing Kuangshi Robot Technology Co Ltd
Priority date: 2022-04-24
Filing date: 2022-04-24
Publication date: 2024-06-07
Anticipated expiration: 2042-04-24
Also published as: CN114906523A

Abstract

The present disclosure relates to a bin issuing method, apparatus, storage medium and program product. The material box issuing method comprises the following steps: determining first material attribute information of materials loaded by a material box to be discharged on a material box conveying line; determining a target conveying branch line which needs to be entered by the to-be-discharged material box according to the first material attribute information; judging whether the to-be-discharged material box is controlled to enter the target conveying branch line or not according to target information; wherein the target information includes at least one of the following information: the information of the stay of the to-be-discharged material box on the material box conveying line, the first material attribute information, the first operation station information to which the to-be-discharged material box goes, and the material box related information of the existing material box on the target conveying branch line. Can promote the pile up neatly efficiency of each transport branch line arm under the commodity circulation operation scene through this disclosure.

Description

Bin issuing method, apparatus, storage medium and program product

Technical Field

The disclosure relates to the technical field of logistics, in particular to a bin issuing method, a bin issuing device, a storage medium and a program product.

Background

In logistics operation, material receiving is an important link. In the related art, after materials are transported by trucks, the materials need to be transported to a warehouse by an automatic conveyor line by using a bin as a container. Further, the bins merge on a loop (also known as a bin transfer line) and then branch to each transfer leg. To every transport branch line, a plurality of operation stations of transport branch line have placed the tray that is used for bearing the workbin respectively, and the workbin that the arm in the transport branch line will flow into transport branch line is put things in good order to the tray, and to treat that the tray is packed up a certain amount of workbin, transport the tray to the tray line by AGV, finally carry to the warehouse and go up the frame.

In the related art, due to business needs, bins loaded with the same kind of materials need to be stacked on the same tray, and the same tray can only be stacked on bins for loading the same kind of materials. Thus, if different kinds of materials are staggered into the conveying branch, frequent replacement of the tray may occur. Frequent replacement of the tray can lead to reduced stacking efficiency, and the feed box on the conveying branch line cannot be emptied in time, so that the conveying branch line is jammed; and, make AGV frequently remove, cause the problem such as AGV circuit jam easily.

Disclosure of Invention

To overcome the problems in the related art, the present disclosure provides a bin issuing method, apparatus, storage medium, and program product.

According to a first aspect of embodiments of the present disclosure, there is provided a bin dispensing method, including:

Determining first material attribute information of materials loaded by a material box to be discharged on a material box conveying line; determining a target conveying branch line which needs to be entered by the to-be-discharged material box according to the first material attribute information; judging whether the to-be-discharged material box is controlled to enter the target conveying branch line or not according to target information; wherein the target information includes at least one of the following information: the information of the stay of the to-be-discharged material box on the material box conveying line, the first material attribute information, the first operation station information to which the to-be-discharged material box goes, and the material box related information of the existing material box on the target conveying branch line.

In one embodiment, the bin related information includes a bin number, second material attribute information of material carried by the bin, and second operating station information to which the bin is directed; judging whether the to-be-discharged material box is controlled to enter the target conveying branch line according to target information, and comprising the following steps: judging whether the target conveying branch line is full according to the number of the feed boxes; if the target conveying branch line is not full, detecting whether the stay information of the to-be-discharged material box on the material box conveying line meets a target stay condition or not; if the stay information of the to-be-issued material boxes on the material box conveying line meets the target stay condition, judging whether to control the to-be-issued material boxes to enter the target conveying line according to the number of the material boxes, the first material attribute information, the second material attribute information, the first operation station information and the second operation station information.

In one embodiment, the determining whether to control the to-be-discharged hopper to enter the target conveying branch line according to the number of the hoppers, the first material attribute information, the second material attribute information, the first operation station information and the second operation station information includes: judging whether the number of the feed boxes is larger than or equal to a first numerical value; if yes, judging whether the to-be-issued material box is controlled to enter the target conveying branch line according to a first target rule according to the first material attribute information, the second material attribute information, the first operation station information and the second operation station information; otherwise, judging whether to control the to-be-discharged material box to enter the target conveying branch line according to a second target rule according to the first material attribute information, the second material attribute information, the first operation station information and the second operation station information.

In one embodiment, the determining whether to control the to-be-discharged material box to enter the target conveying branch line according to a first target rule according to the first material attribute information, the second material attribute information, the first operation station information and the second operation station information includes: determining a first designated number of bins in a back-to-front order of time of entry into the target transport leg; judging whether any two pieces of material attribute information in the first material attribute information and the second material attribute information corresponding to the first specified number of bins are consistent, and judging whether second operation station information corresponding to the first specified number of bins is consistent with the first operation station information; if the material attribute information which is consistent with the material attribute information exists or the second operation station information corresponding to the first designated number of the feed boxes is inconsistent with the first operation station information, controlling the feed boxes to be fed to enter the target conveying branch line; and if the consistent material attribute information does not exist, and the second operation station information consistent with the first operation station information exists in the second operation station information corresponding to the first designated number of bins, controlling the to-be-discharged bins not to enter the target conveying branch line.

In one embodiment, the determining whether to control the to-be-discharged material box to enter the target conveying branch line according to the first material attribute information, the second material attribute information, the first operation station information and the second target rule includes: determining a second designated number of bins in a back-to-front order of time of entry into the target transport leg; judging whether second material attribute information corresponding to the second specified number of bins is consistent with the first material attribute information, judging whether second operation station information corresponding to the second specified number of bins is consistent with the first operation station information, and judging whether the target conveying branch line is a conveying branch line positioned at a target position; if the second material attribute information corresponding to the second specified number of bins is consistent with the first material attribute information, or the second operation station information corresponding to the second specified number of bins is inconsistent with the first operation station information, or the target conveying branch line is a conveying branch line positioned at the target position, controlling the to-be-issued bin to enter the target conveying branch line; and if the second material attribute information corresponding to the second specified number of bins is inconsistent with the first material attribute information, the second operation station information corresponding to the second specified number of bins is consistent with the first operation station information, and the target conveying branch line is not the conveying branch line positioned at the target position, controlling the to-be-issued bin not to enter the target conveying branch line.

In one embodiment, the stay information comprises a stay time of the to-be-issued material box on the material box conveying line and a circulation circle number of the to-be-issued material box on the material box conveying line; the target stay condition includes: the residence time of the to-be-discharged material box on the material box conveying line is smaller than the appointed time; and/or the number of turns of the to-be-delivered material box on the material box conveying line is smaller than a second numerical value.

According to a second aspect of embodiments of the present disclosure, there is provided a bin dispensing device comprising:

The determining unit is used for determining first material attribute information of materials loaded by a material box to be discharged on a material box conveying line; the target conveying branch line which is used for determining the to-be-fed material box to enter is determined according to the first material attribute information; the control unit is used for judging whether the to-be-discharged material box is controlled to enter the target conveying branch line or not according to the target information; wherein the target information includes at least one of the following information: the information of the stay of the to-be-discharged material box on the material box conveying line, the first material attribute information, the first operation station information to which the to-be-discharged material box goes, and the material box related information of the existing material box on the target conveying branch line.

In one embodiment, the bin related information includes a bin number, second material attribute information of material carried by the bin, and second operating station information to which the bin is directed; the control unit judges whether to control the to-be-discharged material box to enter the target conveying branch line according to target information in the following mode: judging whether the target conveying branch line is full according to the number of the feed boxes; if the target conveying branch line is not full, detecting whether the stay information of the to-be-discharged material box on the material box conveying line meets a target stay condition or not; if the stay information of the to-be-issued material boxes on the material box conveying line meets the target stay condition, judging whether to control the to-be-issued material boxes to enter the target conveying line according to the number of the material boxes, the first material attribute information, the second material attribute information, the first operation station information and the second operation station information.

In one embodiment, the control unit determines whether to control the to-be-discharged hopper to enter the target conveying branch line according to the number of the hoppers, the first material attribute information, the second material attribute information, the first operation station information and the second operation station information in the following manner: judging whether the number of the feed boxes is larger than or equal to a first numerical value; if yes, judging whether the to-be-issued material box is controlled to enter the target conveying branch line according to a first target rule according to the first material attribute information, the second material attribute information, the first operation station information and the second operation station information; otherwise, judging whether to control the to-be-discharged material box to enter the target conveying branch line according to a second target rule according to the first material attribute information, the second material attribute information, the first operation station information and the second operation station information.

In one embodiment, the control unit determines, according to a first target rule, whether to control the to-be-discharged material box to enter the target conveying branch line according to the first material attribute information, the second material attribute information, the first operation station information, and the second operation station information in the following manner: determining a first designated number of bins in a back-to-front order of time of entry into the target transport leg; judging whether any two pieces of material attribute information in the first material attribute information and the second material attribute information corresponding to the first specified number of bins are consistent, and judging whether second operation station information corresponding to the first specified number of bins is consistent with the first operation station information; if the material attribute information which is consistent with the material attribute information exists or the second operation station information corresponding to the first designated number of the feed boxes is inconsistent with the first operation station information, controlling the feed boxes to be fed to enter the target conveying branch line; and if the consistent material attribute information does not exist, and the second operation station information consistent with the first operation station information exists in the second operation station information corresponding to the first designated number of bins, controlling the to-be-discharged bins not to enter the target conveying branch line.

In one embodiment, the control unit determines, according to a second target rule, whether to control the to-be-discharged material box to enter the target conveying branch line according to the first material attribute information, the second material attribute information, the first operation station information, and the second operation station information in the following manner: determining a second designated number of bins in a back-to-front order of time of entry into the target transport leg; judging whether second material attribute information corresponding to the second specified number of bins is consistent with the first material attribute information, judging whether second operation station information corresponding to the second specified number of bins is consistent with the first operation station information, and judging whether the target conveying branch line is a conveying branch line positioned at a target position; if the second material attribute information corresponding to the second specified number of bins is consistent with the first material attribute information, or the second operation station information corresponding to the second specified number of bins is inconsistent with the first operation station information, or the target conveying branch line is a conveying branch line positioned at the target position, controlling the to-be-issued bin to enter the target conveying branch line; and if the second material attribute information corresponding to the second specified number of bins is inconsistent with the first material attribute information, the second operation station information corresponding to the second specified number of bins is consistent with the first operation station information, and the target conveying branch line is not the conveying branch line positioned at the target position, controlling the to-be-issued bin not to enter the target conveying branch line.

In one embodiment, the control unit is further configured to: and if the stay information of the to-be-fed material box on the material box conveying line does not meet the target stay condition, controlling the to-be-fed material box to enter the target conveying branch line.

According to a third aspect of the embodiments of the present disclosure, there is provided an electronic device, including:

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

Wherein the processor is configured to: the bin dispensing method of the first aspect or any one of the embodiments of the first aspect is performed.

According to a fourth aspect of the disclosed embodiments, there is provided a storage medium having stored therein instructions which, when executed by a processor, enable the processor to perform the bin dispensing method of the first aspect or any one of the embodiments of the first aspect.

According to a fifth aspect of the disclosed embodiments, there is provided a computer program product comprising a computer program which, when executed by a processor, implements the bin dispensing method of the first aspect or any one of the embodiments of the first aspect.

The technical scheme provided by the embodiment of the disclosure can comprise the following beneficial effects: according to the embodiment of the disclosure, a conveying branch line into which a material to be fed is required is determined according to material attribute information of the material loaded by the material to be fed, and whether the material to be fed enters the target conveying branch line or not is judged and controlled according to at least one of stay information of the material to be fed on a material box conveying line, first material attribute information, first operation station information to which the material to be fed is sent, and material box related information of the existing material box on a target conveying branch line. According to the embodiment of the disclosure, when the material box is controlled to enter the conveying branch line, the contents such as the attribute information of the materials loaded by the material box and the information of the operation station which needs to go to are fully considered, so that the tray replacement frequency can be reduced, and further the problems caused by frequent tray replacement are slowed down or eliminated, and the service efficiency is improved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

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

FIG. 1 is a flow chart illustrating a bin down method according to an exemplary embodiment.

FIG. 2 is a flow chart illustrating another bin down method according to an exemplary embodiment.

FIG. 3 is a flow chart illustrating yet another bin down method according to an exemplary embodiment.

FIG. 4 is a flow chart illustrating another bin down method according to an exemplary embodiment.

Fig. 5 is a schematic diagram showing a relationship between a bin transfer line and a transfer leg, according to an example embodiment.

FIG. 6 is a flow chart illustrating yet another bin down method according to an exemplary embodiment.

FIG. 7 is a flowchart illustrating a method of determining whether to control the entry of a to-be-issued hopper into a target delivery leg according to a first target rule, in accordance with an exemplary embodiment.

FIG. 8 is a flowchart illustrating a method of determining whether to control the entry of a to-be-issued hopper into a target delivery leg according to a second target rule, according to an exemplary embodiment.

Fig. 9 is a flow chart illustrating a process of determining whether to control the headbox to be delivered into the target transport leg according to an exemplary embodiment.

Fig. 10 is a block diagram illustrating a bin dispensing apparatus according to an exemplary embodiment.

FIG. 11 is a block diagram of an electronic device for bin issue, according to an example embodiment.

Detailed Description

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure.

In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all, embodiments of the present disclosure. The embodiments described below by referring to the drawings are exemplary and intended for the purpose of explaining the present disclosure and are not to be construed as limiting the present disclosure. Based on the embodiments in this disclosure, all other embodiments that a person of ordinary skill in the art would obtain without making any inventive effort are within the scope of protection of this disclosure. Embodiments of the present disclosure are described in detail below with reference to the attached drawings.

Along with the development of intelligent technologies such as the Internet of things, artificial intelligence and big data, the demands of transformation and upgrading of traditional logistics industry by utilizing the intelligent technologies are stronger, and intelligent logistics (INTELLIGENT LOGISTICS SYSTEM) becomes a research hotspot in the logistics field. The intelligent logistics utilizes the Internet of things devices and technologies such as artificial intelligence, big data, various information sensors, radio frequency identification technology, global Positioning System (GPS) and the like, is widely applied to basic movable links such as transportation, storage, distribution, packaging, loading and unloading of materials, information service and the like, and realizes intelligent analysis decision, automatic operation and high-efficiency optimization management of the material management process. The internet of things technology comprises sensing equipment, RFID technology, laser infrared scanning, infrared sensing identification and the like, and can effectively connect materials in logistics with a network, monitor the materials in real time, sense environmental data such as humidity and temperature of a warehouse and guarantee the storage environment of the materials. All data in the logistics can be perceived and collected through a big data technology, the data are uploaded to an information platform data layer, operations such as filtering, excavating, analyzing and the like are carried out on the data, and finally accurate data support is provided for business processes (such as links of transportation, warehousing, access, picking, packaging, sorting, warehouse-out, inventory, distribution and the like). The application direction of artificial intelligence in logistics can be broadly divided into two types: 1) And intelligent equipment such as an unmanned truck, an AGV, an AMR, a forklift, a shuttle, a stacker, an unmanned delivery vehicle, an unmanned plane, a service robot, a mechanical arm, an intelligent terminal and the like which are energized by the AI technology replace part of manpower. 2) The manual efficiency is improved through a software system driven by technologies or algorithms such as computer vision, machine learning, operation optimization and the like, such as a transportation equipment management system, warehouse management, equipment scheduling system, order distribution system and the like. With the research and advancement of smart logistics, the technology has expanded applications in numerous fields, such as retail and electronics, tobacco, medicine, industrial manufacturing, footwear, textiles, food, etc.

The bin issuing method provided by the embodiment of the disclosure can be applied to a logistics operation scene of issuing the bin in the bin conveying line to the conveying branch line.

In logistics operation, material receiving is an important link and is also the first flow of the whole logistics business system. In the related art, after materials are transported by trucks, the materials need to be transported to a warehouse by an automatic conveyor line by using a bin as a container. Further, the bins merge on a loop (also known as a bin transfer line) and then branch to each transfer leg. To every transport branch line, a plurality of operation stations of transport branch line have placed the tray that is used for bearing the workbin respectively, and the workbin that the arm in the transport branch line will flow into transport branch line is piled up to the tray, and to treat that the tray is packed up a certain amount of workbin, transport the tray to the tray line by AGV, finally carry to sub-storehouse until put on shelf.

In the related art, due to business needs, bins loaded with the same kind of materials need to be stacked on the same tray, and the same tray can only be stacked on bins for loading the same kind of materials. In the related art, aiming at a mechanical arm stacking scene at the side of a conveying branch line, the types of bins issued to the conveying branch line are random, so that the AGV is required to frequently replace a tray arranged at an operation station aiming at the scene that the mechanical arm needs to continuously stack bins for different kinds of materials. For example, the conveying branch line includes a bin loaded with a type material (hereinafter, a bin loaded with a type material will be simply referred to as a bin a), a bin loaded with B type material (hereinafter, a bin loaded with B type material will be simply referred to as a bin B), and a bin loaded with C type material (hereinafter, a bin loaded with C type material will be simply referred to as a bin C), and the operation station is currently provided with a tray for stacking the bin a, and a tray for stacking the bin B. For bin a and bin B, the robotic arm may directly stack the bins to the respective trays, but for bin C, the trays of the operating stations need to be replaced by the AGV (e.g., the trays for stacking bin a are replaced by the AGV, and the trays for stacking bin C) and then the stacking operation is performed to stack C to the respective trays. In view of the above, since it generally takes a long time for the AGV to replace the tray, there may be a case where the magazine C is already in place to wait for stacking, and the AGV has not completed replacing the tray. Under the condition, the mechanical arm needs to wait for the completion of replacing the tray by the AGV to continue to execute the stacking operation. Therefore, in the related art, there is a problem that the transport-branch-line side hopper cannot be emptied in time due to frequent replacement of the tray by the AGV.

The embodiment of the disclosure provides a method for discharging a material box, which can determine a conveying branch line into which the material box to be discharged needs to enter according to material attribute information of materials loaded by the material box to be discharged, and further realize judgment control on whether the material box to be discharged enters into a target conveying branch line according to at least one of stay information of the material box to be discharged on a material box conveying line, first material attribute information, first operation station information to which the material box to be discharged is destined, and material box related information of the existing material box on a target conveying branch line. According to the embodiment of the disclosure, when the material box is controlled to enter the conveying branch line, the contents such as the attribute information of the materials loaded by the material box and the information of the operation station which needs to go to are fully considered, so that the tray replacement frequency can be reduced, and further the problems caused by frequent tray replacement are slowed down or eliminated, and the service efficiency is improved. For convenience of description, the material attribute information of the material loaded by the material box to be discharged is referred to as first material attribute information, and the operation station information to which the material box to be discharged is referred to as first operation station information.

FIG. 1 is a flow chart illustrating a bin down method according to an exemplary embodiment, as shown in FIG. 1, including the following steps.

In step S11, first material property information of the material loaded by the material to be discharged from the hopper on the hopper conveyor line is determined.

In the embodiment of the disclosure, the material attribute information is used for characterizing the type of the material loaded by the material box, for example, if the material is a stationery commodity, the material attribute may be information such as the type, model, size, color, and the like of the stationery.

By way of example, the first material property information of the material loaded in the material to be fed out of the hopper may be determined in a number of different ways. For example, a type identifier preset in the bin may be detected, and according to the type identifier, the type of the material loaded in the bin may be determined, so as to determine the first material attribute information. For another example, the type of the material loaded by the material box can be directly detected, and the first material attribute information of the material where the material box to be discharged is located is determined according to the detected material type.

In step S12, a target conveying branch line into which the to-be-fed hopper needs to enter is determined according to the first material attribute information.

In the embodiment of the disclosure, for a logistics operation scene, a plurality of sub-warehouses or a plurality of storage areas may exist, so for different sub-warehouses or storage areas, different conveying branches are corresponding, and each conveying branch is usually preset with one or more material attribute information matched with the conveying branch. On this basis, for a certain, only the delivery branch line matched with the certain delivery branch line is issued, and the delivery branch line is not issued to other delivery branch lines. For example, the target conveying branch line into which the to-be-issued hopper needs to enter may be determined according to a preset relationship between the conveying branch line and the material attribute information.

In step S13, it is determined whether or not to control the to-be-discharged hopper to enter the target conveying branch line based on the target information.

In an embodiment of the disclosure, the target information includes at least one of information of a stay of a to-be-discharged bin on a bin conveying line, first material attribute information, first operation station information to which the to-be-discharged bin goes, and bin related information of an existing bin on a target conveying branch line. The residence information of the to-be-issued material box on the material box conveying line is used for representing the residence state of the to-be-issued material box on the material box conveying line, and the residence information can be residence time of the to-be-issued material box on the material box conveying line and/or circulation number of the to-be-issued material box on the material box conveying line. The bin related information for the bins present on the target conveying branch may include, for example, the number of bins present on the target conveying branch, material attribute information for the materials carried by the bins present on the target conveying branch, and operating station information for the bins present on the target conveying branch. For convenience of description, the material attribute information of the material carried by the existing bin on the target conveying branch line is referred to as second material attribute information, and the operation station information to which the existing bin on the target conveying branch line is directed is referred to as second operation station information.

In specific implementation, whether the to-be-discharged material box enters the target conveying branch line or not can be judged according to one or two or more of the first material attribute information, the stay information, the first operation station information and the material box related information of the existing material box; which kind of information to use can be selected according to actual needs, and the embodiments of the present disclosure will not be described in detail.

By way of example, the material property information may be determined based on the type of material loaded by the bin. The material types can be differently set according to different usage situations, for example, different material types can be set according to one or combination of price, size, color, taste and the like of the material, which is not particularly limited in the disclosure. As a possible embodiment, the setting of the material types may be performed according to Price Look-Up codes (PLU) of different materials, and further, the same material attribute information may be configured for the bins loaded with the materials of the same Price Look-Up codes, and different material attribute information may be configured for the bins loaded with the materials of different Price Look-Up codes.

The above operation station information may refer to a palletizing station, which may, of course, be other according to specific scene requirements, and the embodiment of the disclosure is not limited thereto.

In the embodiment of the disclosure, when judging whether to control the to-be-fed hopper to enter the target conveying branch line through the target information, whether the target conveying branch line is full or not can be judged through the number of the hoppers, and whether the stay information of the to-be-fed hopper on the hopper conveying line meets the target stay condition or not can be judged. It is understood that the execution sequence between the two can be exchanged for judging whether the target conveying branch line is full or not and judging whether the stop information of the to-be-issued material box on the material box conveying line meets the target stop condition or not. For example, it may be determined whether the target conveying branch line is full, and if it is determined that the target conveying branch line is not full, it is determined whether the stay information of the tank to be issued on the tank conveying line satisfies the target stay condition. For another example, it may be determined whether the stay information of the to-be-fed hopper on the hopper conveying line satisfies the target stay condition, and if it is determined that the stay information of the to-be-fed hopper on the hopper conveying line satisfies the target stay condition, it is determined whether the target conveying branch line is full. The present disclosure is exemplified below by determining whether a target conveying branch line is full by the number of bins, and then determining whether the information on the bin conveying line of the bin to be fed satisfies the target stop condition, and determining whether to control the bin to be fed into the target conveying branch line.

Optionally, in a specific embodiment, the bin related information includes a bin number, second material attribute information of a material carried by the bin, and second operation station information to which the bin is directed; in this case, fig. 2 is a flowchart illustrating another bin issuing method according to an exemplary embodiment, and as shown in fig. 2, step S21 and step S22 in the embodiment of the disclosure are similar to the execution method of step S11 and step S12 in fig. 1, and are not described herein.

In step S23, it is determined whether the target conveyance branch line is full based on the number of existing bins on the target conveyance branch line.

For example, a bin number threshold value for judging that the conveying branch line is full may be set in advance for each conveying branch line, and for the target conveying branch line, it may be determined that the target conveying branch line is full in a case where the bin number in the target conveying branch line is greater than or equal to the bin number threshold value.

In step S24a, if the target conveying branch line is full, the to-be-discharged hopper is controlled not to enter the target conveying branch line.

In step S24b, if the target conveying branch line is not full, it is detected whether the information of the stay of the hopper to be discharged on the hopper conveying line satisfies the target stay condition.

In step S25, if the stay information of the to-be-fed hopper on the hopper conveying line meets the target stay condition, whether the to-be-fed hopper is controlled to enter the target conveying branch line is determined according to the number of the hoppers, the first material attribute information, the second material attribute information, the first operation station information and the second operation station information.

According to the bin issuing method provided by the embodiment of the disclosure, the bin to be issued can be selectively controlled not to enter the target conveying branch line under the condition that the bin is too many in the target conveying branch line, so that the condition that the overall service efficiency is reduced due to the congestion of the target conveying branch line is avoided.

In the embodiment of the disclosure, the target stay condition is used for judging whether to control the to-be-discharged hopper to directly enter the target conveying branch line. Further, the target stay condition may be, for example, controlling the to-be-issued bin to enter the target conveying branch line when the stay information of the to-be-issued bin on the bin conveying line does not meet the target stay condition, and further determining whether the to-be-issued bin meets the condition of entering the target conveying branch line according to the bin number, the first material attribute information, the second material attribute information, the first operation station information and the second operation station information when the stay information of the to-be-issued bin on the bin conveying line meets the target stay condition.

Fig. 3 is a flowchart of yet another bin issuing method according to an exemplary embodiment, as shown in fig. 3, the execution methods of step S31, step S32, step S33, step S34a, step S34b, and step S35a in the embodiment of the present disclosure are similar to the execution methods of step S21, step S22, step S23, step S24a, step S24b, and step S25 in fig. 2, and are not described herein.

In step S35b, if the information of the stay of the to-be-fed hopper on the hopper conveying line does not meet the target stay condition, the to-be-fed hopper is controlled to enter the target conveying branch line.

For example, the information of the stay of the tank to be issued on the tank conveyor line may include a stay time of the tank to be issued on the tank conveyor line, and/or include a number of turns of the tank to be issued on the tank conveyor line. The target dwell conditions may include a dwell time of the headbox to be discharged on the headbox conveyor line that is sufficiently small and/or a number of turns of the headbox to be discharged on the headbox conveyor line that is sufficiently small, corresponding to the dwell information. For convenience of description, the duration for performing threshold judgment on the stay duration is referred to as a specified duration, and the value for performing threshold judgment on the number of turns of circulation of the tank to be issued is referred to as a second value. The specific judgment flow is exemplified by taking the target stay condition as an example that the stay time of the to-be-issued material box on the material box conveying line is smaller than the appointed time, and the circulation number of the to-be-issued material box on the material box conveying line is smaller than the second numerical value.

Fig. 4 is a flowchart of another bin issuing method according to an exemplary embodiment, as shown in fig. 4, and the execution methods of step S41, step S42, step S43, and step S44b in the embodiments of the present disclosure are similar to those of step S31, step S32, step S33, and step S34b in fig. 3, and are not described herein.

In step S44b, if the target conveying branch line is not full, it is determined whether the residence time of the to-be-issued bin on the bin conveying line is less than a specified time length, and whether the number of turns of the to-be-issued bin on the bin conveying line is less than a second value.

In step S45a, if the residence time of the to-be-issued bin on the bin conveying line is less than the specified time and the number of turns of the to-be-issued bin on the bin conveying line is less than the second value, determining whether to control the to-be-issued bin to enter the target conveying branch line according to the bin number, the first material attribute information, the second material attribute information, the first operation station information and the second operation station information.

In step S45b, if the residence time of the to-be-fed hopper on the hopper conveying line is greater than or equal to the specified time length, or the number of turns of the to-be-fed hopper on the hopper conveying line is greater than or equal to the second value, the to-be-fed hopper is controlled to enter the target conveying branch line.

According to the bin discharging method provided by the embodiment of the disclosure, the bin to be discharged with longer residence time and/or more circulation circles on the bin conveying line can be controlled to directly enter the target conveying branch line, so that the bin with longer stocking time in the bin conveying line can be timely discharged to the corresponding conveying branch line to complete the discharging process, and the possibility of stocking of the bin in the bin conveying line is reduced.

As illustrated in fig. 5, the logistic traffic scenario includes multiple delivery legs (illustrated by first, second, third, fourth, and fifth delivery legs) and a headbox transfer line. The bin conveying line is provided with detection bits, each bin passing through the detection bits can be used as a bin to be issued respectively, and whether the bin to be issued is controlled to enter the target conveying branch line is judged. In one embodiment, the length of time the hopper is to be deposited on the hopper conveyor line and/or the number of turns of the hopper on the hopper conveyor line may be determined by the detection position. For example, if the bin is flowing multiple times in the bin conveyor line and is not yet issued, the detection bit may record the number of turns of the bin each time the bin passes the detection bit, to determine whether to control the bin to directly enter the target conveyor leg. For another example, the time corresponding to the first time when the bin passes through the detection position may be recorded, and further, in the process of performing multiple circulation of the bin in the bin conveying line, if the detection position determines that the time between the current time and the time when the bin passes through the detection position for the first time exceeds the specified time when the detection position passes through the bin for a certain time, the bin may be controlled to directly enter the target conveying branch line. The method can reduce the possibility that the feed box stays in the feed box conveying line, and improves the feed box issuing flow.

In one embodiment of the disclosure, on the basis that the retention information of the to-be-fed hopper on the hopper conveying line meets the target retention condition, whether the to-be-fed hopper is controlled to enter the target conveying branch line may be determined in the following manner. For convenience of description, the different judgment rules configured for different bin numbers are respectively referred to as a first target rule and a second target rule, and the number threshold set for distinguishing the target rules corresponding to the different bin numbers is referred to as a first value.

Fig. 6 is a flowchart of yet another bin issuing method according to an exemplary embodiment, as shown in fig. 6, in the embodiment of the present disclosure, the execution methods of step S51, step S55, step S53, step S54a, and step S54b are similar to the execution methods of step S21, step S22, step S23, step S24a, and step S24b in fig. 2, and are not described herein.

In step S55, if the information of the bin to be fed on the bin conveying line meets the target stop condition, it is determined whether the number of bins is greater than or equal to the first value.

For example, the first value may be 2, and the present disclosure distinguishes the bin number by the first value, divides the bin number into one or more two cases, and then makes a differential determination for different bin numbers.

In step S56a, if yes, according to the first material attribute information, the second material attribute information, the first operation station information, and the second operation station information, whether the to-be-issued material box is controlled to enter the target conveying branch line is determined according to the first target rule.

In step S56b, if not, whether to control the to-be-fed hopper to enter the target conveying branch line is determined according to the second target rule based on the first material attribute information, the second material attribute information, the first operation station information, and the second operation station information.

In the embodiment of the disclosure, the first target rule is used for judging whether to control the to-be-issued bin to enter the target conveying branch line when the number of bins is a plurality of bins, and the second target rule is used for judging whether to control the to-be-issued bin to enter the target conveying branch line when the number of bins is one. Wherein, although the second target rule also relates to the case that no bin is present in the target conveying branch line, since controlling the bin to be delivered into the target conveying branch line in this case does not affect the palletizing efficiency of the mechanical arm in the target conveying branch line, the case does not take into consideration in determining whether to control the bin to be delivered into the target conveying branch line.

The present disclosure is exemplified below with respect to a specific judgment manner of the first target rule. For ease of description, the number of bins in the target delivery leg selected under the first target rule is referred to as a first specified number.

Fig. 7 is a flowchart showing a method of determining whether to control the tank to be issued into the target conveying branch line according to the first target rule according to an exemplary embodiment, as shown in fig. 7, including the following steps S61 to S63b.

In step S61, a first specified number of bins is determined in order of the time to enter the target conveying branch line from the rear to the front.

For example, the first specified number may be 2, i.e., the first target rule would determine that two bins in the target delivery leg last entered the target delivery leg.

In step S62, it is determined whether any two pieces of the first material attribute information and the second material attribute information corresponding to the first specified number of bins are identical, and whether the second operation station information corresponding to the first specified number of bins is identical to the first operation station information.

In step S63a, if there is consistent material attribute information, or the second operation station information corresponding to the first designated number of bins is inconsistent with the first operation station information, the bin to be issued is controlled to enter the target conveying branch line.

In one embodiment, the first specified number of bins determined is described for a case where there is consistent material attribute information among the plurality of material attribute information, including bins consistent with the material attribute information of the bin to be issued, and/or bins inconsistent with the material attribute information of the bin to be issued but also inconsistent with the operation station information. Under the condition, the to-be-discharged material box is directly controlled to enter the target conveying branch line, and the possibility of tray replacement is avoided for the condition that the first specified number of material boxes and the to-be-discharged material boxes are stacked, so that the service efficiency of the mechanical arm is not affected.

In another embodiment, under the condition that the second operation station information corresponding to the first specified number of bins is inconsistent with the first operation station information, the to-be-issued bins are controlled to enter the target conveying branch line, and the condition that the trays are replaced due to the fact that the operation station information between the to-be-issued bins and any bin of the first specified number of bins is consistent is avoided. For example, for the case that the first designated number of bins includes a bin a and a bin B, and the to-be-discharged bin is a bin C, if the operation station information corresponding to the bin a, the bin B, and the bin C are different, the mechanical arm may directly place the bin a, the bin B, and the bin C to the corresponding trays, respectively. In this process, the AGV need not to carry out the operation of changing the tray, and the arm side still keeps higher pile up neatly efficiency.

In step S63b, if there is no consistent material attribute information, and there is second operation station information consistent with the first operation station information in the second operation station information corresponding to the first designated number of bins, the bins to be discharged are controlled not to enter the target conveying branch line.

In one embodiment, for a case where there are multiple bins in the target transport leg, two bins in the target transport leg may be determined in a back-to-front order of time of entry into the target transport leg. For example, if the determined bin includes a bin B and a bin C, and the type of material loaded by the bin to be issued is a, the plurality of material attribute information including the first material attribute information and the second material attribute information corresponding to the first specified number of bins are inconsistent. On the basis, if the tray for stacking the material box A and the tray for stacking the material box B correspond to the same operation station, second operation station information consistent with the first operation station information exists in the second operation station information corresponding to the first designated number of material boxes. In this case, the hopper to be discharged can be controlled not to enter the target conveying branch line. Because the tray of the stacking bin B in the same operation station is replaced by the tray of the stacking bin A, the condition that the mechanical arm waits for the AGV to replace the tray is caused in a mechanical arm business scene. Therefore, according to the situation, the mode that the bin A enters the target conveying branch line is not controlled, the situation that the mechanical arm waits for the AGV to replace a tray for stacking the bin A after the mechanical arm finishes stacking the bin B type bin and the bin C type bin can be avoided, the tray replacing frequency of the target conveying branch line is reduced, and the working efficiency of the mechanical arm is improved.

The present disclosure is exemplified below with respect to a specific judgment manner of the second target rule. The number of bins in the target delivery leg selected under the second target rule is referred to as a second specified number for convenience of description hereinafter.

Fig. 8 is a flowchart illustrating a method of determining whether to control the headbox to be delivered into the target delivery leg according to a second target rule, as shown in fig. 8, including the following steps.

In step S71, a second specified number of bins is determined in order of the time to enter the target conveying branch line from the rear to the front.

For example, the second specified number may be 1, i.e., the bin in the target delivery leg that last entered the target delivery leg will be determined under the first target rule.

In step S72, it is determined whether the second material attribute information corresponding to the second specified number of bins is identical to the first material attribute information, whether the second operation station information corresponding to the second specified number of bins is identical to the first operation station information, and whether the target conveying branch line is a conveying branch line located at the target position.

In step S73a, if the second material attribute information corresponding to the second specified number of bins is consistent with the first material attribute information, or the second operation station information corresponding to the second specified number of bins is inconsistent with the first operation station information, or the target conveying branch is a conveying branch located at the target position, the bin to be issued is controlled to enter the target conveying branch.

In step S73b, if the second material attribute information corresponding to the second specified number of bins is inconsistent with the first material attribute information, and the second operation station information corresponding to the second specified number of bins is consistent with the first operation station information, and the target conveying branch line is not the conveying branch line located at the target position, the to-be-issued bin is controlled not to enter the target conveying branch line.

In the embodiment of the disclosure, compared with the case that a plurality of bins exist in the target branch line under the first target rule, since there is only one bin in the target conveying branch line under the second target rule, there is often a case that the bin in the target conveying branch line is emptied when the to-be-issued bin enters the target conveying branch line, and the bin issuing method provided by the embodiment of the disclosure can determine the target position of the target conveying branch line under the case in a corresponding manner. Further, the above-described case is determined by determining whether or not the position where the target transport branch line is located is the target position. The manner of setting the target position is exemplarily described as follows.

By way of example, as shown in fig. 5, taking the target transport leg as the first transport leg, for the case where there is only one bin in the first transport leg, the length of time required for the to-be-issued bin to enter the first transport leg is T1, the length of time required for the first transport leg to empty the bin in the current transport leg is T2, and the length of time required for the AGV to perform a single pallet change is T3. If T1 is greater than or equal to T2+T3, the position of the first conveying branch line can be set as a target position, and the first conveying branch line is the conveying branch line positioned at the target position. Accordingly, if T1 < t2+t3, the position where the first transport leg is located may not be set as the target position, and the first transport leg is a transport leg that is not located at the target position. The thread of the bin to be issued, which is transmitted to the conveying branch lines by the detection bit, is fixed, so that the time length required for the bin to be issued to each conveying branch line can be known in advance. In one embodiment, the transport branch line located at the target position may be determined directly from the distance between each transport branch line and the detection bit, and for example, a transport branch line having a distance from the detection bit greater than a predetermined distance may be determined as the transport branch line located at the target position. Further, taking fig. 5 as an example, the conveying branches at the target positions determined in the above manner may include, for example, a fourth conveying branch and a fifth conveying branch, and the conveying branches not at the target positions include a first conveying branch, a second conveying branch and a third conveying branch, respectively. For the case where the number of bins of the target conveying branch is smaller than the first value (for example, the number of bins is 1), if the target conveying branch is the fourth conveying branch or the fifth conveying branch, the bin to be issued may be directly controlled to enter the target conveying branch.

Fig. 9 is a flow chart illustrating a process of determining whether to control the headbox to be delivered into the target transport leg according to an exemplary embodiment. For example, referring to fig. 5 and 9, for a to-be-issued bin transmitted to a bin transfer line detection position, first material attribute information of the to-be-issued bin may be determined, and a target transfer leg may be determined according to a correspondence between the material attribute information and the target transfer leg. If the target transport leg is full (the number of bins in the target transport leg is greater than the bin number threshold), no bins to be issued to the target transport leg are issued. If the target transport leg is not full (the number of bins in the target transport leg is less than the bin number threshold), it is further determined whether the dwell information of the bins to be issued on the bin transport line meets a dwell condition.

For example, taking the target stay condition as that the stay time of the to-be-issued material box on the material box conveying line is smaller than the appointed time, and the circulation number of the to-be-issued material box on the material box conveying line is smaller than the second numerical value as an example. And if the stay time length of the to-be-issued material box on the material box conveying line is greater than or equal to the appointed time length, or the circulation number of the to-be-issued material box on the material box conveying line is greater than or equal to a second numerical value, controlling the to-be-issued material box to enter the target conveying branch line. If the stay time of the to-be-issued material box on the material box conveying line is smaller than the appointed time, and the circulation number of the to-be-issued material box on the material box conveying line is smaller than the second numerical value, judging whether to control the to-be-issued material box to enter the target conveying branch line according to the number of the material boxes, the first material attribute information, the second material attribute information, the first operation station information and the second operation station information.

For example, it may be determined whether the number of bins is greater than or equal to the first value when the length of stay of the bins to be issued on the bin conveyor line is less than a specified length and the number of turns of the bins to be issued on the bin conveyor line is less than a second value. The specific judgment mode will be exemplarily described below taking the first numerical value as 2 as an example.

In one embodiment, the number of bins in the target transport branch is plural. If the attribute information of the materials is inconsistent, and the second operation station information consistent with the first operation station information exists in the second operation station information corresponding to the first designated number of the material boxes, the material boxes to be fed are controlled not to enter the target conveying branch line, and if the material boxes to be fed are other conditions except the condition, the material boxes to be fed are controlled to enter the target conveying branch line. For example, when there is consistent material attribute information among the plurality of material attribute information, or each piece of second operation station information corresponding to the first designated number of bins is inconsistent with the first operation station information, the bin to be discharged is controlled to enter the target conveying branch line.

In another embodiment, the number of bins in the target delivery leg is one. If the second material attribute information corresponding to the second specified number of bins is inconsistent with the first material attribute information, the second operation station information corresponding to the second specified number of bins is consistent with the first operation station information, and the target conveying branch line is not the conveying branch line positioned at the target position, the to-be-issued bin is controlled not to enter the target conveying branch line, and if the to-be-issued bin is other conditions except the conditions, the to-be-issued bin is controlled to enter the target conveying branch line. For example, if the second material attribute information corresponding to the second specified number of bins is consistent with the first material attribute information, or if the second operation station information corresponding to the second specified number of bins is inconsistent with the first operation station information, or if the target conveying branch is a conveying branch located at the target position, the bin to be issued is controlled to enter the target conveying branch.

On the basis, the to-be-discharged material box entering the target conveying branch line accords with the actual operation condition of the target conveying branch line, the problem that the material box in place in the target conveying branch line waits for the AGV to finish replacing the tray can be solved, and the overall operation efficiency of the mechanical arm service scene is improved.

Based on the same conception, the embodiment of the disclosure also provides a bin issuing device.

It will be appreciated that, in order to achieve the above-mentioned functions, the bin dispensing device provided in the embodiments of the present disclosure includes a hardware structure and/or a software module that perform each function. The disclosed embodiments may be implemented in hardware or a combination of hardware and computer software, in combination with the various example elements and algorithm steps disclosed in the embodiments of the disclosure. Whether a function is implemented as hardware or computer software driven hardware depends upon the particular application and design constraints imposed on the solution. Those skilled in the art may implement the described functionality using different approaches for each particular application, but such implementation is not to be considered as beyond the scope of the embodiments of the present disclosure.

Fig. 10 is a block diagram illustrating a bin dispensing apparatus according to an exemplary embodiment. Referring to fig. 10, the apparatus 100 includes a determination unit 101 and a control unit 102.

A determining unit 101 for determining first material property information of the material loaded by the material to be discharged from the material box on the material box conveying line. And the target conveying branch line which is used for determining the to-be-fed material box to enter according to the first material attribute information. And the control unit 102 is used for judging whether to control the to-be-discharged material box to enter the target conveying branch line according to the target information. Wherein the target information includes at least one of the following information: the method comprises the steps of stopping information of a to-be-fed material box on a material box conveying line, first material attribute information, first operation station information to which the to-be-fed material box is sent, and material box related information of an existing material box on a target conveying branch line.

In one embodiment, the bin related information includes a bin number, second material attribute information for material carried by the bin, and second operating station information for the bin. The control unit 102 judges whether to control the to-be-discharged hopper to enter the target conveying branch line according to the target information in the following manner: and judging whether the target conveying branch line is full according to the number of the bins. If the target conveying branch line is not full, detecting whether the stop information of the to-be-discharged material box on the material box conveying line meets the target stop condition. If the stay information of the to-be-fed material boxes on the material box conveying line meets the target stay condition, judging whether the to-be-fed material boxes are controlled to enter the target conveying branch line according to the number of the material boxes, the first material attribute information, the second material attribute information, the first operation station information and the second operation station information.

In one embodiment, the control unit 102 determines whether to control the to-be-fed bin into the target conveying branch line according to the bin number, the first material attribute information, the second material attribute information, the first operation station information, and the second operation station information in the following manner: and judging whether the number of the feed boxes is larger than or equal to a first numerical value. If yes, judging whether to control the to-be-discharged material box to enter the target conveying branch line according to a first target rule according to the first material attribute information, the second material attribute information, the first operation station information and the second operation station information. Otherwise, judging whether to control the to-be-discharged material box to enter the target conveying branch line according to a second target rule according to the first material attribute information, the second material attribute information, the first operation station information and the second operation station information.

In one embodiment, the control unit 102 determines, according to the first target rule, whether to control the to-be-fed bin to enter the target conveying branch line according to the first material attribute information, the second material attribute information, the first operation station information, and the second operation station information in the following manner: a first specified number of bins is determined in a back-to-front order of time to enter the target conveying leg. Judging whether any two pieces of material attribute information in the first material attribute information and the second material attribute information corresponding to the first specified number of bins are consistent, and judging whether the second operation station information corresponding to the first specified number of bins is consistent with the first operation station information. And if the material attribute information which is consistent with the material attribute information exists or the second operation station information corresponding to the first designated number of the bins is inconsistent with the first operation station information, controlling the bins to be issued to enter the target conveying branch line. And if the consistent material attribute information does not exist, and the second operation station information consistent with the first operation station information exists in the second operation station information corresponding to the first designated number of bins, controlling the bins to be issued not to enter the target conveying branch line.

In one embodiment, the control unit 102 determines, according to the second target rule, whether to control the to-be-fed bin to enter the target conveying branch line according to the first material attribute information, the second material attribute information, the first operation station information, and the second operation station information in the following manner: a second specified number of bins is determined in a back-to-front order of time of entry into the target conveying leg. Judging whether second material attribute information corresponding to the second specified number of bins is consistent with the first material attribute information, judging whether second operation station information corresponding to the second specified number of bins is consistent with the first operation station information, and judging whether the target conveying branch line is a conveying branch line positioned at a target position. And if the second material attribute information corresponding to the second specified number of bins is consistent with the first material attribute information, or the second operation station information corresponding to the second specified number of bins is inconsistent with the first operation station information, or the target conveying branch line is a conveying branch line positioned at the target position, controlling the to-be-issued bin to enter the target conveying branch line. And if the second material attribute information corresponding to the second specified number of bins is inconsistent with the first material attribute information, the second operation station information corresponding to the second specified number of bins is consistent with the first operation station information, and the target conveying branch line is not the conveying branch line positioned at the target position, controlling the to-be-issued bin not to enter the target conveying branch line.

In one embodiment, the control unit 102 is further configured to: and if the stay information of the to-be-issued material box on the material box conveying line does not meet the target stay condition, controlling the to-be-issued material box to enter the target conveying branch line.

In one embodiment, the stay information includes a stay time of the hopper to be discharged on the hopper conveying line, and includes a number of turns of the hopper to be discharged on the hopper conveying line. The target stay conditions include: the residence time of the to-be-discharged material box on the material box conveying line is smaller than the appointed time. And/or the number of turns of the to-be-fed hopper on the hopper conveying line is smaller than the second numerical value.

The specific manner in which the various modules perform the operations in the apparatus of the above embodiments have been described in detail in connection with the embodiments of the method, and will not be described in detail herein.

Fig. 11 is a block diagram illustrating an electronic device 200 for bin issue, according to an example embodiment.

As shown in fig. 11, one embodiment of the present disclosure provides an electronic device 200. The electronic device 200 includes, among other things, a memory 201, a processor 202, and an Input/Output (I/O) interface 203. Wherein the memory 201 is used for storing instructions. A processor 202 for invoking instructions stored in memory 201 to perform the bin down method of the disclosed embodiments. Wherein the processor 202 is coupled to the memory 201, the I/O interface 203, respectively, such as via a bus system and/or other form of connection mechanism (not shown). The memory 201 may be used to store programs and data, including programs of the bin down method referred to in the embodiments of the present disclosure, and the processor 202 performs various functional applications of the electronic device 200 and data processing by running the programs stored in the memory 201.

The processor 202 in the embodiments of the present disclosure may be implemented in at least one hardware form of a digital signal processor (DIGITAL SIGNAL Processing, DSP), field programmable gate array (FieldProgrammable GATE ARRAY, FPGA), programmable logic array (Programmable Logic Array, PLA), the processor 202 may be one or a combination of several of a central Processing unit (Central Processing Unit, CPU) or other form of Processing unit having data Processing and/or instruction execution capabilities.

The memory 201 in embodiments of the present disclosure may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, random access memory (Random Access Memory, RAM) and/or cache memory (cache), and the like. The nonvolatile Memory may include, for example, a Read Only Memory (ROM), a Flash Memory (Flash Memory), a hard disk (HARD DISK DRIVE, HDD), a Solid state disk (Solid STATE DRIVE, SSD), or the like.

In the embodiment of the present disclosure, the I/O interface 203 may be used to receive an input instruction (e.g., numeric or character information, and generate key signal input related to user setting and function control of the electronic apparatus 200, etc.), and may also output various information (e.g., image or sound, etc.) to the outside. The I/O interface 203 in embodiments of the present disclosure may include one or more of a physical keyboard, function keys (e.g., volume control keys, switch keys, etc.), a mouse, joystick, trackball, microphone, speaker, touch panel, etc.

In some embodiments, the present disclosure provides a computer-readable storage medium storing computer-executable instructions that, when executed by a processor, implement any of the methods described above.

In some embodiments, the present disclosure provides a computer program product comprising a computer program that, when executed by a processor, can implement any of the methods described above.

In some embodiments, the present disclosure provides a computer program which, when executed, can implement the method described above.

Although operations are depicted in the drawings in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order, or that all illustrated operations be performed, to achieve desirable results. In certain circumstances, multitasking and parallel processing may be advantageous.

The methods and apparatus of the present disclosure can be implemented using standard programming techniques with various method steps being performed using rule-based logic or other logic. It should also be noted that the words "apparatus" and "module" as used herein and in the claims are intended to include implementations using one or more lines of software code and/or hardware implementations and/or equipment for receiving inputs.

Any of the steps, operations, or procedures described herein may be performed or implemented using one or more hardware or software modules alone or in combination with other devices. In one embodiment, the software modules are implemented using a computer program product comprising a computer readable medium containing computer program code capable of being executed by a computer processor for performing any or all of the described steps, operations, or programs.

The foregoing description of implementations of the present disclosure has been presented for purposes of illustration and description. The foregoing description is not intended to be exhaustive or to limit the disclosure to the precise form disclosed, and modifications and variations are possible in light of the above teachings or may be acquired from practice of the disclosure. The embodiments were chosen and described in order to explain the principles of the present disclosure and its practical application to enable one skilled in the art to utilize the present disclosure in various embodiments and with various modifications as are suited to the particular use contemplated.

It is understood that the term "plurality" in this disclosure means two or more, and other adjectives are similar thereto. "and/or", describes an association relationship of an association object, and indicates that there may be three relationships, for example, a and/or B, and may indicate: a exists alone, A and B exist together, and B exists alone. The character "/" generally indicates that the context-dependent object is an "or" relationship. The singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

It is further understood that the terms "first," "second," and the like are used to describe various information, but such information should not be limited to these terms. These terms are only used to distinguish one type of information from another and do not denote a particular order or importance. Indeed, the expressions "first", "second", etc. may be used entirely interchangeably. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present disclosure.

It will be further understood that "connected" includes both direct connection where no other member is present and indirect connection where other element is present, unless specifically stated otherwise.

It will be further understood that although operations are depicted in the drawings in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order, or that all illustrated operations be performed, to achieve desirable results. In certain circumstances, multitasking and parallel processing may be advantageous.

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

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

Claims

1. A bin dispensing method, the bin dispensing method comprising:

Determining first material attribute information of materials loaded by a material box to be discharged on a material box conveying line;

determining a target conveying branch line which needs to be entered by the to-be-discharged material box according to the first material attribute information;

Judging whether the to-be-discharged material box is controlled to enter the target conveying branch line or not according to target information; wherein the target information includes at least one of the following information: the information of the stay of the to-be-fed material box on the material box conveying line, the first material attribute information, the first operation station information to which the to-be-fed material box goes, and the material box related information of the existing material box on the target conveying branch line; the bin related information comprises the number of bins, second material attribute information of materials carried by the bins and second operation station information to which the bins are destined;

judging whether the to-be-discharged material box is controlled to enter the target conveying branch line according to target information, and comprising the following steps:

Judging whether to control the to-be-fed material box to enter the target conveying branch line or not according to the number of the material boxes, the first material attribute information, the second material attribute information, the first operation station information and the second operation station information;

Judging whether to control the to-be-issued feed box to enter the target conveying branch line according to the number of feed boxes, the first material attribute information, the second material attribute information, the first operation station information and the second operation station information, and comprising the following steps:

Judging whether the number of the feed boxes is larger than or equal to a first numerical value;

If yes, judging whether the to-be-issued material box is controlled to enter the target conveying branch line according to a first target rule according to the first material attribute information, the second material attribute information, the first operation station information and the second operation station information;

otherwise, judging whether to control the to-be-discharged material box to enter the target conveying branch line according to a second target rule according to the first material attribute information, the second material attribute information, the first operation station information and the second operation station information.

2. The bin dispensing method according to claim 1, wherein before said determining whether the number of bins is greater than or equal to a first value, said determining whether to control the bin to be dispensed into the target transport leg based on target information, further comprises:

judging whether the target conveying branch line is full according to the number of the feed boxes;

if the target conveying branch line is not full, detecting whether the stay information of the to-be-discharged material box on the material box conveying line meets a target stay condition or not;

And if the stay information of the to-be-issued material boxes on the material box conveying line meets a target stay condition, judging whether to control the to-be-issued material boxes to enter the target conveying branch line according to the number of the material boxes, the first material attribute information, the second material attribute information, the first operation station information and the second operation station information.

3. The bin dispensing method according to claim 1, wherein the determining whether to control the bin to be dispensed into the target conveying branch line according to a first target rule based on the first material attribute information, the second material attribute information, the first operation station information, and the second operation station information includes:

Determining a first designated number of bins in a back-to-front order of time of entry into the target transport leg;

Judging whether any two pieces of material attribute information in the first material attribute information and the second material attribute information corresponding to the first specified number of bins are consistent, and judging whether second operation station information corresponding to the first specified number of bins is consistent with the first operation station information;

If the material attribute information which is consistent with the material attribute information exists or the second operation station information corresponding to the first designated number of the feed boxes is inconsistent with the first operation station information, controlling the feed boxes to be fed to enter the target conveying branch line;

and if the consistent material attribute information does not exist, and the second operation station information consistent with the first operation station information exists in the second operation station information corresponding to the first designated number of bins, controlling the to-be-discharged bins not to enter the target conveying branch line.

4. The bin dispensing method according to claim 1, wherein the determining whether to control the bin to be dispensed into the target delivery branch according to a second target rule based on the first material attribute information, the second material attribute information, the first operation station information, and the second operation station information includes:

Determining a second designated number of bins in a back-to-front order of time of entry into the target transport leg;

judging whether second material attribute information corresponding to the second specified number of bins is consistent with the first material attribute information, judging whether second operation station information corresponding to the second specified number of bins is consistent with the first operation station information, and judging whether the target conveying branch line is a conveying branch line positioned at a target position;

if the second material attribute information corresponding to the second specified number of bins is consistent with the first material attribute information, or the second operation station information corresponding to the second specified number of bins is inconsistent with the first operation station information, or the target conveying branch line is a conveying branch line positioned at the target position, controlling the to-be-issued bin to enter the target conveying branch line;

And if the second material attribute information corresponding to the second specified number of bins is inconsistent with the first material attribute information, the second operation station information corresponding to the second specified number of bins is consistent with the first operation station information, and the target conveying branch line is not the conveying branch line positioned at the target position, controlling the to-be-issued bin not to enter the target conveying branch line.

5. The bin dispensing method of claim 2, further comprising:

And if the stay information of the to-be-fed material box on the material box conveying line does not meet the target stay condition, controlling the to-be-fed material box to enter the target conveying branch line.

6. The bin dispensing method of claim 5, wherein the stay information includes a stay time of the bin to be dispensed on the bin transfer line, and includes a number of turns of the bin to be dispensed on the bin transfer line;

the target stay condition includes:

the residence time of the to-be-discharged material box on the material box conveying line is smaller than the appointed time; and/or

The number of circulation turns of the to-be-discharged material box on the material box conveying line is smaller than a second numerical value.

7. An electronic device, comprising:

A processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to: -performing the bin dispensing method of any one of claims 1 to 6.

8. A storage medium having instructions stored therein that, when executed by a processor, enable the processor to perform the bin issuing method of any one of claims 1 to 6.