CN116553044A

CN116553044A - Material box taking and placing method and system

Info

Publication number: CN116553044A
Application number: CN202310532016.6A
Authority: CN
Inventors: 李泽伟
Original assignee: Beijing Jizhijia Technology Co Ltd
Current assignee: Beijing Jizhijia Technology Co Ltd
Priority date: 2023-05-11
Filing date: 2023-05-11
Publication date: 2023-08-08

Abstract

The embodiment of the application provides a method and a system for picking and placing a material box. The method comprises the following steps: after the available sizes of a plurality of temporary storage containers of the bin robot are determined and compared with the bin size of the bin to be discharged, under the condition that at least one first temporary storage container with the available size larger than the bin size is included in the plurality of temporary storage containers, a target temporary storage container is determined from the at least one first temporary storage container, and a placing instruction is generated, so that the bin robot places the bin to be discharged in the target temporary storage container, the bin size can be compared with the available sizes of the temporary storage containers, and the bin robot is instructed to place the bin to be discharged in the target temporary storage container with the available size larger than the bin size.

Description

Material box taking and placing method and system

Technical Field

The application relates to the field of conveying devices, in particular to a method and a system for picking and placing a material box.

Background

In intelligent warehouse, workbin robot is mainly used to take workbin as unit, to select the goods that store in the workbin. The bin robot is typically configured with a pick-and-place mechanism and a temporary storage assembly, the temporary storage assembly including a plurality of temporary storage containers (e.g., a plurality of pack baskets), during picking of goods in the bins, the bin robot picks the bins to be discharged from the shelves into the empty temporary storage containers through the pick-and-place mechanism, and after each temporary storage container places a bin, all bins are carried together to a conveyor line or workstation to complete docking.

In general, the size of each temporary storage container is the same, and only one material box is placed in each temporary storage container. However, bins are often of various sizes, and for smaller bin sizes, placing only one bin in a temporary storage container can result in wasted storage space and can also affect the handling capacity of the bin robot.

Disclosure of Invention

The embodiment of the application provides a method and a system for picking and placing a material box, which can be used for solving the problem that the traditional method for picking and placing the material box can cause waste of storage space in a temporary storage container and further influence the carrying capacity of a material box robot.

In one aspect, an embodiment of the present application provides a method for picking and placing a bin, which is applied to an electronic device, and the method includes:

acquiring the size of a material box to be discharged; determining available sizes of a plurality of temporary storage containers of the bin robot; comparing the bin size with available sizes of a plurality of temporary storage containers; in the case that at least one first temporary storage container with the available size larger than the size of the bin is included in the plurality of temporary storage containers, determining a target temporary storage container from the at least one first temporary storage container; generating a placement instruction based on the target temporary storage container, and sending the placement instruction to the bin robot; the placement instruction is used for instructing the bin robot to place the bin to be discharged in the target temporary storage container.

In one possible implementation, the at least one first temporary storage container comprises at least one second temporary storage container and at least one third temporary storage container, wherein the second temporary storage container is a temporary storage container without a feed box, and the third temporary storage container is a temporary storage container with at least one feed box; determining a target scratch container from at least one first scratch container, comprising: determining a third scratch pad container as an alternative scratch pad container from the at least one second scratch pad container and the at least one third scratch pad container; from at least one candidate scratch pad, a target scratch pad is determined.

In one possible implementation, determining a target scratch container from at least one candidate scratch container includes: and determining the candidate temporary storage container closest to the current position of the fetching mechanism of the bin robot from the at least one candidate temporary storage container as a target temporary storage container.

In one possible implementation, before generating the placement instruction based on the target scratch container, the method further comprises: determining the placement position of at least one bin placed in the target temporary storage container; generating a moving instruction and sending the moving instruction to the bin robot under the condition that the available size between the placement position of at least one bin and the retrieving mechanism of the bin robot is smaller than the size of the bin; the moving instruction is used for instructing the bin robot to move at least one bin placed in the target temporary storage container in a direction away from the retrieving mechanism.

In one possible implementation, the at least one first temporary storage container comprises at least one second temporary storage container, which is a temporary storage container without a bin; determining a target scratch container from at least one first scratch container, comprising: from the at least one second scratch pad, a target scratch pad is determined.

In one possible implementation, generating a placement instruction based on a target scratch container includes: determining a target placement position in an available area of the target temporary storage container according to a placement sequence from a picking mechanism far from the bin robot to a picking mechanism close to the picking mechanism based on the available size of the target temporary storage container, the bin size and a preset interval; based on the target placement location, a placement instruction is generated.

In one possible implementation, determining the available size of the plurality of staging containers for the bin robot includes: the available size of each temporary storage container is determined according to the total depth of each temporary storage container, the number of placed bins on each temporary storage container, the size of the placed bins and the preset spacing.

In one possible implementation, the available size of each scratch pad container is determined by:

Wherein W is _{Can be used} To temporarily store the available size of the container, W _{bin_i} To temporarily store the depth of the bin placed on the container, W _gap To preset the distance W _pack N is the number of bins placed on the temporary storage container for the total depth of the temporary storage container.

In one possible implementation, the method further comprises: receiving response information, wherein the response information is used for indicating that the bin robot has placed a bin to be discharged in a target temporary storage container; based on the bin size, the available size of the target temporary storage container is updated.

In one possible implementation, the method further comprises: generating a box taking instruction and sending the box taking instruction to a box robot; the box taking instruction is used for instructing the box robot to take out the plurality of boxes on the target temporary storage container in sequence from the box taking mechanism close to the box robot to the box taking sequence far away from the box taking mechanism.

In one possible implementation, comparing the bin size to the available sizes of the plurality of temporary storage containers includes: determining the type of the to-be-discharged bin based on the bin size; determining placeable bin types of each temporary storage container and/or the number of placeable bins corresponding to each placeable bin type based on the available size of each temporary storage container; determining whether the type of the placeable bin of each temporary storage container is matched with the type of the bin to be placed; and/or determining whether the number of placeable bins corresponding to the placeable bin types of each temporary storage container is matched with the number of bins to be placed.

In one possible implementation, where at least one first staging container of a plurality of staging containers that includes an available size that is greater than a bin size, determining a target staging container from the at least one first staging container includes: and determining the target temporary storage container from the at least one first temporary storage container under the condition that the type of the placeable material box in the temporary storage containers is matched with the type of the material box to be discharged and/or the number of the placeable material boxes corresponding to the type of the placeable material box in the at least one first temporary storage container is matched with the number of the material boxes to be discharged.

On the other hand, the embodiment of the application provides a material box picking and placing method which is applied to a material box robot, wherein the material box robot comprises a plurality of temporary storage containers; the method comprises the following steps: receiving a placing instruction, wherein the placing instruction is generated by the electronic equipment based on a target temporary storage container and is used for instructing the bin robot to place a bin to be placed in the target temporary storage container, and the target temporary storage container is determined from at least one first temporary storage container when the at least one first temporary storage container with the available size larger than the bin size is included in the temporary storage containers after the electronic equipment compares the bin size of the bin to be placed with the available sizes of the temporary storage containers; and in response to the placement instruction, placing the to-be-discharged bin in the target temporary storage container.

In one possible implementation, the at least one first temporary storage container comprises at least one second temporary storage container and at least one third temporary storage container, wherein the second temporary storage container is a temporary storage container without a feed box, and the third temporary storage container is a temporary storage container with at least one feed box; before receiving the put instruction, the method further comprises: and receiving information of a target temporary storage container, wherein the information of the target temporary storage container is determined from at least one candidate temporary storage container after the electronic equipment determines the third temporary storage container as the candidate temporary storage container from at least one second temporary storage container and at least one third temporary storage container.

In one possible implementation, after receiving the information of the target scratch container, the method further comprises: receiving a moving instruction, wherein the moving instruction is generated when the available size between the placement position of at least one bin and a retrieving mechanism of the bin robot is smaller than the size of the bin after the electronic equipment determines the placement position of at least one bin placed in the target temporary storage container, and is used for indicating the bin robot to move the at least one bin placed in the target temporary storage container along the direction away from the retrieving mechanism; in response to the movement instruction, at least one bin that has been placed in the target temporary storage container is moved in a direction away from the retrieval mechanism.

In one possible implementation, in response to the placement instruction, placing the to-be-discharged bin in the target temporary storage container includes: according to the target placement position in the placement instruction, the taking and returning mechanism of the feed box robot is controlled to place the feed box to be placed in the target temporary storage container, and the target placement position is determined in the available area of the target temporary storage container by the electronic equipment according to the placement sequence from the taking and returning mechanism of the feed box robot to the approaching taking and returning mechanism based on the available size of the target temporary storage container, the size of the feed box and the preset interval.

In one possible implementation, after placing the to-be-discharged bin in the target temporary storage container, the method further comprises: generating response information and sending the response information to the electronic equipment so that the electronic equipment can update the available size of the target temporary storage container; the response information is used for indicating that the bin robot has placed the bin to be discharged in the target temporary storage container.

In one possible implementation, the method further comprises: receiving a box taking instruction, wherein the box taking instruction is used for instructing a box robot to take out a plurality of boxes on a target temporary storage container in sequence from a box taking mechanism close to the box robot to a box taking mechanism far away from the box taking mechanism; in response to the bin removal instruction, the plurality of bins on the target temporary storage container are sequentially removed in a bin removal order from the near-retrieving mechanism to the far-retrieving mechanism.

In one possible implementation, a partition member is provided in each temporary storage container, and the partition member is used for limiting the bin placed in the temporary storage container.

In one possible implementation, the partition member is telescopically arranged on the inner wall of the temporary storage container.

In yet another aspect, an embodiment of the present application provides a bin handling system, including an electronic device and a bin robot; the electronic device is configured to perform the steps of: acquiring the size of a material box to be discharged; determining available sizes of a plurality of temporary storage containers of the bin robot; comparing the bin size with available sizes of a plurality of temporary storage containers; in the case that at least one first temporary storage container with the available size larger than the size of the bin is included in the plurality of temporary storage containers, determining a target temporary storage container from the at least one first temporary storage container; generating a placement instruction based on the target temporary storage container, and sending the placement instruction to the bin robot; the placement instruction is used for instructing the bin robot to place the bin to be discharged in the target temporary storage container; the bin robot is configured to perform the steps of: receiving a placement instruction; and in response to the placement instruction, placing the to-be-discharged bin in the target temporary storage container.

According to the bin picking and placing method and system, after the available sizes of the plurality of temporary storage containers of the bin robot are determined, and the bin size is compared with the available sizes of the plurality of temporary storage containers, under the condition that the plurality of temporary storage containers comprise at least one first temporary storage container with the available size larger than the bin size, the target temporary storage container is determined from the at least one first temporary storage container, and then a placing instruction is generated based on the target temporary storage container, so that the bin robot can place a bin to be placed in the target temporary storage container, the bin size can be compared with the available sizes of the temporary storage containers, the bin robot is instructed to place the bin to be placed in the target temporary storage container with the available size larger than the bin size, and as at least one bin possibly is placed on the target temporary storage container, the plurality of bins can be placed in the single temporary storage container, and therefore the storage space in the temporary storage container can be fully utilized, and the carrying capacity of the bin robot is improved.

Drawings

Fig. 1 is a schematic structural diagram of a bin picking and placing system according to an embodiment of the present application;

FIG. 2 is a side view of the bin robot of FIG. 1;

FIG. 3 is a schematic workflow diagram of a method for picking and placing a bin according to an embodiment of the present application;

FIG. 4 is a schematic illustration of an example of a target staging container after placement of a full bin in the target staging container in an embodiment of the application;

FIG. 5 is a schematic workflow diagram of another bin pick and place method provided in an embodiment of the present application;

fig. 6 is a schematic structural diagram of a bin pick-and-place device according to an embodiment of the present disclosure;

FIG. 7 is a schematic workflow diagram of yet another bin pick and place method provided by an embodiment of the present application;

FIG. 8 is a schematic structural view of another bin pick-and-place device according to an embodiment of the present application;

fig. 9 is an interactive flow diagram of a bin pick-and-place system according to an embodiment of the present application.

Detailed Description

In order to better understand the technical solutions in the present application, the following description will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, shall fall within the scope of the present application.

Fig. 1 is a schematic structural diagram of a bin picking and placing system according to an embodiment of the present application. Fig. 2 is a side view of the bin robot of fig. 1. Referring to fig. 1 and 2, in the intelligent warehouse, goods are mainly stored in bins P, which are disposed on corresponding storage locations of racks a. The embodiment of the application provides a bin picking and placing system, which comprises an electronic device 1 and a bin robot 2. The bin robot 2 is configured to, under control of the electronic device 1, carry the bin P to a workstation in units of the bin P, so that the workstation may pick the goods in the bin P, or may carry the bin P to a rack other than the rack a, so that the goods may be sorted between different racks, or may carry the bin P from a corresponding storage location to a buffer location at the bottom of the rack a, so as to perform a storage location conversion, or may carry the bin P to another target location. The bin robot 2 may include a returning mechanism 21, a temporary storage assembly 22, a chassis assembly 23 and a gantry assembly 24, where the gantry assembly 24 is disposed on the chassis assembly 23, the returning mechanism 21 and the temporary storage assembly 22 are disposed on the gantry assembly 24, the returning mechanism 21 may be lifted along an extending direction of the gantry assembly 24, and any one of a magnetic type bin taking assembly, a lifting type bin taking assembly or a push-pull type bin taking assembly may be disposed on the returning mechanism 21, and the returning mechanism 21 is used for taking the returning bin P. The temporary storage assembly 22 may include a plurality of temporary storage containers 221, and the plurality of temporary storage containers 221 may be disposed at intervals along the extending direction of the gantry assembly 24, and each temporary storage container 221 is used for placing the bin P. Illustratively, the scratch pad 221 may also be referred to as a scratch pad, scratch pad space, pack basket, etc. for storing the bin P.

In the process of picking the goods in the bin P, the electronic device 1 may determine the position of the bin P1 to be discharged on the shelf a according to the goods information, and determine the empty temporary storage container 221 information according to the bin placement condition of each temporary storage container 221 of the bin robot 2. Then, the electronic device 1 may generate a control instruction based on the position of the to-be-discharged bin P1 on the shelf a and the information of the empty temporary storage container 221, and send the control instruction to the bin robot 2, and the bin robot 2 may pick up the to-be-discharged bin P1 from the shelf a into the empty temporary storage container 221 through the pick-and-place mechanism 21, and carry the corresponding bins P to a target position according to the order situation, where the target position may be, for example, other storage positions on the shelf a, a buffer position at the bottom of the shelf a, storage positions on the rest of the shelves, a conveying line, or a workstation. For example: the bin robot 2 may carry all bins P together to a conveyor line or workstation to complete docking after each temporary storage container 221 has placed a bin P.

Typically, the size of each temporary storage container 221 is the same, and only one bin P is placed in each temporary storage container 221. However, the bins P are generally of various sizes, and for bins P of smaller size, the placement of only one bin P in one temporary storage container 221 results in waste of storage space and also affects the handling capacity of the bin robot 2.

In order to solve the problems of the traditional bin picking and placing system, the embodiment of the application provides a bin picking and placing method, electronic equipment can compare the bin size of a bin to be placed and the available sizes of a plurality of temporary storage containers, and instruct a bin robot to place the bin to be placed in a target temporary storage container with the available size larger than the bin size, and as at least one bin possibly is placed on the target temporary storage container, a plurality of bins can be placed in a single temporary storage container, so that the storage space of the temporary storage container can be fully utilized, and the carrying capacity of the bin robot is improved.

The method for picking and placing the material box provided by the application is described in detail by the embodiments with reference to the accompanying drawings.

Fig. 3 is a schematic workflow diagram of a method for picking and placing a bin according to an embodiment of the present application. Referring to fig. 3, the method for picking and placing the bin provided in the embodiment of the present application is applied to an electronic device 1, and specifically includes the following steps:

301: and obtaining the size of the material box to be discharged.

The size of each bin on each shelf can be stored in the electronic device 1 in advance, the electronic device 1 can determine information of a bin to be discharged for storing the goods according to the goods information to be selected, and the information of the bin to be discharged can comprise the size of the bin and the position of the bin.

In some examples, to facilitate placement of bins on shelves or to facilitate bin picking, bins are generally rectangular solids and may have the same height and width, differing only in depth. The bin size may thus be expressed in terms of the depth of the bin to be discharged, with different bins having different depths, where the depth of the bin to be discharged refers to the size of the bin to be discharged in a first direction parallel to the retrieval mechanism (e.g., direction a in fig. 1). Therefore, the data storage capacity can be reduced, comparison is convenient, and the method is more suitable for actual application scenes.

In other examples, the width, height, and depth of the to-be-discharged bin may be used to collectively represent the bin size, or the volume of the to-be-discharged bin may be used to represent the bin size, or the bottom area of the to-be-discharged bin may be used to represent the bin size, which is not particularly limited in the embodiments of the present application.

302: the available sizes of a plurality of temporary storage containers of the bin robot are determined.

Wherein the available size of the temporary storage container is used to indicate the available area or space within the temporary storage container in which the bin may be placed. The size of the temporary storage container can be consistent with the representation of the size of the bin. Illustratively, when the size of the bin to be dumped is the depth of the bin to be dumped, the usable size of the temporary storage container is the usable depth of the temporary storage container. Or when the size of the material box to be discharged is the bottom area of the material box to be discharged, the available size of the temporary storage container is the available bottom area of the temporary storage container.

In some examples, the available size of the plurality of staging containers of the bin robot may be determined if the bin size is less than a preset threshold. For example, the preset threshold may be set to one half of the scratch container size. For example, taking the size of the bin to be discharged as the depth of the bin to be discharged as an example, if the depth of the bin to be discharged is greater than or equal to half of the total depth of the temporary storage container, the bin to be discharged belongs to a large bin. If the depth of the material box to be discharged is less than half of the total depth of the temporary storage container, the material box to be discharged belongs to a small material box. For another example, taking the size of the material box to be discharged as the bottom area of the material box to be discharged as an example, if the bottom area of the material box to be discharged is greater than or equal to one half of the total bottom area of the temporary storage container, the material box to be discharged belongs to a large material box. If the bottom area of the material box to be discharged is smaller than one half of the total bottom area of the temporary storage container, the material box to be discharged belongs to a small material box. In other examples, the preset threshold may be set to other values as needed, which is not specifically limited in the embodiments of the present application. In addition, the size of the bin may be not considered, and the bin size is not particularly limited in the embodiment of the application.

The bin size is indicated by the depth of the bin to be discharged, and the size of the temporary storage container is indicated by the depth of the temporary storage container, which are not specifically described below.

In the embodiment of the application, various manners of determining the available sizes of the plurality of temporary storage containers of the bin robot are available.

In some embodiments, the available size of each staging container may be determined based on the total depth of each staging container, the number of bins placed on each staging container, the size of the bins placed, and the preset spacing. Therefore, the feed boxes placed on the single temporary storage container can be placed at preset intervals, position interference does not exist, the temporary storage container is easy to take, and in addition, the available size of the temporary storage container is convenient to calculate.

Illustratively, the available size of each scratch pad container may be determined by the following equation (1):

in the formula (1), W _{Can be used} To temporarily store the available size of the container, W _{bin_i} To temporarily store the depth of the bin placed on the container, W _{gap_j} For the j-th preset interval, W _pack N is the number of bins placed on the temporary storage container for the total depth of the temporary storage container.

Illustratively, when the available size of each temporary storage container is determined by the above formula (1), the N bins placed on the temporary storage container and the preset intervals between the N bins can be removed, and the remaining size is determined as the available size of the temporary storage container, so that the available size of the temporary storage container can be adapted to the to-be-discharged bin with a larger size, and the flexibility is higher.

In the case where the respective set bins have the same preset interval therebetween, the formula (1) may be modified to the following formula (2):

in the formula (2), W _{Can be used} To temporarily store the available size of the container, W _{bin_i} To temporarily store the depth of the bin placed on the container, W _gap To preset the distance W _pack N is the number of bins placed on the temporary storage container for the total depth of the temporary storage container.

Illustratively, the available size of each temporary storage container is determined by the above formula (2), and the bins on the temporary storage container are more convenient to take due to the same preset spacing between the N bins placed on the temporary storage container.

Still further illustratively, the available size of each scratch pad container may also be determined by the following equation (3):

in the formula (3), W _{Can be used} To temporarily store the available size of the container, W _{bin_i} To temporarily store the depth of the bin placed on the container, W _{gap_j} For the j-th preset interval, W _pack N is the number of bins placed on the temporary storage container for the total depth of the temporary storage container.

Illustratively, by determining the available size of each temporary storage container by the above formula (3), the spacing between the to-be-discharged bin and the placed bin can be planned in advance in determining the available size, and thus the determination of the available size of the temporary storage container is more accurate.

In the case where the respective set bins have the same preset interval therebetween, the formula (3) may be modified to the following formula (4):

in the formula (4), W _{Can be used} To temporarily store the available size of the container, W _{bin_i} To temporarily store the depth of the bin placed on the container, W _gap To preset the distance W _pack N is the number of bins placed on the temporary storage container for the total depth of the temporary storage container.

Illustratively, the available size of each temporary storage container is determined by the above formula (4), and the interval between each bin placed on the temporary storage container is the same, thereby facilitating the taking.

In other embodiments, the available size of each temporary storage container may also be determined based on the total floor area of each temporary storage container, the number of bins placed on each temporary storage container, the total floor area of the bins placed, and the preset spacing. The embodiment of the present application is not particularly limited thereto.

It should be noted that the sizes of the placed bins on the temporary storage container may be the same or different, which is not particularly limited in the embodiment of the present application.

It should be further noted that the available size of the temporary storage container in the embodiments of the present application may be a complete size, or may be a sum of multiple sizes separated. For example: the temporary storage container is provided with a feed box, and the feed box is arranged at one end of the temporary storage container far away from the taking and returning mechanism, so that the usable size of the temporary storage container can be the whole size from one end of the feed box near the taking and returning mechanism to one end of the temporary storage container near the taking and returning mechanism. Also for example: the temporary storage container has a bin disposed thereon and is disposed intermediate the temporary storage container, and the usable size of the temporary storage container is the sum of two separate sizes, the two separate sizes being the size between the end of the bin proximate the retrieval mechanism and the end of the temporary storage container proximate the retrieval mechanism, and the size between the end of the bin distal the retrieval mechanism and the end of the temporary storage container distal the retrieval mechanism, respectively.

303: the bin size is compared to the available sizes of the plurality of temporary storage containers.

In some examples, the size of the bin size may be directly compared to the available size of the staging container. If the size of the material box is smaller than the available size of any temporary storage container, the material box can be placed in the temporary storage container, and if the size of the material box is larger than the available size of any temporary storage container, the material box can not be placed in the temporary storage container. If the size of the bin is equal to the available size of any temporary storage container, the bin to be placed can be judged to be placed in the temporary storage container under the condition that the preset distance between the bin to be placed and the set bin is planned in advance when the available size is determined, and the bin to be placed can not be judged to be placed in the temporary storage container under the condition that the preset distance between the bin to be placed and the set bin is not planned in advance when the available size is determined.

In other examples, the type of bin to be discharged may be determined based on bin size. Based on the available size of each temporary storage container, a placeable bin type for each temporary storage container and/or a number of placeable bins corresponding to each placeable bin type are determined. Then, whether the placeable bin types of the temporary storage containers are matched with the types of the bins to be discharged or not is determined, and/or whether the number of the placeable bins corresponding to the placeable bin types of the temporary storage containers is matched with the number of the bins to be discharged or not is determined. For example: the types of the two to-be-discharged boxes are small boxes, three small boxes can be placed in one temporary storage container, one small box can be placed in the other temporary storage container, then the types of the to-be-discharged boxes of the two temporary storage containers can be determined to be matched with the types of the to-be-discharged boxes, the number of the to-be-discharged boxes corresponding to the types of the to-be-discharged boxes of the one temporary storage container is matched with the number of the to-be-discharged boxes, and the number of the to-be-discharged boxes corresponding to the types of the to-be-discharged boxes of the other temporary storage container is not matched with the number of the to-be-discharged boxes.

304: in the case that at least one first staging container having a usable size greater than the bin size is included in the plurality of staging containers, a target staging container is determined from the at least one first staging container.

In some embodiments, the target staging container may be determined from the at least one first staging container if a placeable bin type of the plurality of staging containers including the at least one first staging container matches a type of the bin to be discharged and/or if a number of placeable bins corresponding to the placeable bin type of the at least one first staging container matches a number of bins to be discharged. In this way, by comparing bin types and/or the number of placeable bins to determine whether at least one first of the plurality of temporary storage containers includes a usable size that is greater than the bin size, greater flexibility is provided to better meet application needs.

The manner in which the target scratch container is determined from the at least one first scratch container is described below by way of example.

In some examples, the at least one first staging container may include at least one second staging container that is a staging container without a bin placed therein and at least one third staging container that is a staging container with at least one bin placed therein. Then in the case where the second scratch pad container and the third scratch pad container are present at the same time, the third scratch pad container may be determined as an alternative scratch pad container from at least one of the second scratch pad container and at least one of the third scratch pad containers, and then the target scratch pad container may be determined from at least one of the alternative scratch pad containers. In this way, the to-be-discharged bin can be preferentially placed in the third temporary storage container provided with the bin, and the other second temporary storage containers are in an empty state, so that the available size is larger, and the bin with more sizes can be adapted.

In some embodiments, the candidate staging container closest to the current location of the pick-and-place mechanism of the bin robot among the at least one candidate staging container may be determined to be the target staging container. In this way, the distance of movement of the retrieving mechanism is minimized, enabling a more efficient bin placement.

In other embodiments, the candidate scratch pad having the smallest available space among the at least one candidate scratch pad may be determined as the target scratch pad. In this way, an alternative temporary storage container can be filled preferentially, which is beneficial to improving the rationality of the placement of the material box and providing enough flexibility for the planning of the subsequent material box.

In other examples, the at least one first staging container may include at least one second staging container that is a staging container without a bin. The target scratch container may be determined directly from the at least one second scratch container. Therefore, no matter the size of the material box is large or small, the second temporary storage container in the idle state is preferentially placed, so that the material box is placed more conveniently.

In still other examples, where the bin size is greater than or equal to a preset threshold, if at least one second staging container is included in the plurality of staging containers that does not house the bin, a target staging container is determined from the at least one second staging container. Therefore, when the material box is a large material box, the second temporary storage container in an empty state can be placed preferentially, so that the material box is convenient to place, and the placement stability can be improved.

In some embodiments, a second scratch pad closest to the current position of the retrieval mechanism of the bin robot among the at least one second scratch pad may be determined as the target scratch pad. In this way, the distance of movement of the retrieving mechanism is minimized, enabling a more efficient bin placement.

In still other examples, where the bin size is greater than or equal to a preset threshold, the bin belongs to a large bin, and only the large bin may be placed in a second temporary storage container that does not have a bin placed therein, and no other smaller bin may be placed in the second temporary storage container later, i.e., the size of the small bin may not be compared to the available size of the temporary storage container in which the large bin has been placed when comparing the size of the small bin to the available size of each temporary storage container. Alternatively, the available size of the temporary storage container with the large bin already placed may still be the size comparison object for the small bin, that is, for the temporary storage container with the large bin already placed, if the available size is larger than the size of the small bin, the placement of the small bin may still continue. Alternatively, for a temporary storage container having a small bin placed therein, if the available size is larger than the size of a large bin, the large bin may also be placed in the temporary storage container having a small bin placed therein. The embodiment of the present application is not particularly limited thereto.

In other examples, the at least one first scratch pad may comprise only at least one second scratch pad, i.e. the available scratch pads are all empty scratch pads. Then, from the at least one second temporary storage container, the second temporary storage container closest to the current position of the retrieval mechanism of the bin robot may be determined as the target temporary storage container. Alternatively, the at least one first temporary storage container may comprise only at least one third temporary storage container, i.e. the available temporary storage containers are temporary storage containers in which the at least one bin has been placed. Then, the third scratch pad container having the smallest available space may be determined as the target scratch pad container from among the at least one third scratch pad container. Therefore, the placement mode of the material box to be placed in the temporary storage container of the material box robot can be dynamically adjusted according to the size of the material box.

In addition, under the condition that the available size of each temporary storage container is smaller than or equal to the size of the material box, the current material box taking and placing task can be stopped, waiting is carried out until the material box meeting the conditions is generated, and then the material box taking and placing task is re-executed.

After performing step 304, the placement location of the at least one bin placed in the target staging container may also be determined first before performing step 305. And generating a moving instruction and sending the moving instruction to the bin robot under the condition that the available size between the placement position of at least one bin and the retrieving mechanism of the bin robot is smaller than the size of the bin. The moving instruction is used for instructing the bin robot to move at least one bin placed in the target temporary storage container in a direction away from the retrieving mechanism. For example: a bin is placed on the temporary storage container, and the placement position of the bin is the middle position of the temporary storage container, then a moving instruction can be sent to the bin robot to instruct the bin robot to push the bin into the temporary storage container in a direction away from the retrieving mechanism under the condition that the available size between the placement position of the bin and the retrieving mechanism of the bin robot is smaller than the size of the bin. Therefore, under the condition that the available size of the temporary storage container is the sum of a plurality of separated sizes, the placed material box on the placement path can be pushed into the temporary storage container in a direction away from the taking-back mechanism, so that the placement of the material box to be placed is more convenient.

305: based on the target temporary storage container, a placement instruction is generated and sent to the bin robot.

The placement instruction is used for instructing the bin robot to place the bin to be placed in the target temporary storage container.

In some embodiments, the target placement locations may first be determined in the available area of the target staging container in a placement order from a pick-and-return mechanism away from the bin robot to a pick-and-return mechanism close based on the available size of the target staging container, the bin size, and the preset spacing. Placement instructions are then generated based on the target placement locations. In this way, the bins can be placed in a single row according to the placing sequence from the distance from the returning mechanism to the distance from the returning mechanism, so that the bins are not easy to interfere with other bins when placed, and the placement of the bins is affected.

When the box taking assembly arranged on the box taking mechanism is a magnetic box taking assembly or a push-pull box taking assembly, the extending depth of the target placement position from the position close to the box taking mechanism to the position far away from the box taking mechanism can be determined based on the available size of the target temporary storage container, the size of the box and the preset interval, the first length of movement required by the box taking mechanism to place the box to be placed is determined based on the extending depth, and a placement instruction is generated based on the first length. The bin robot may move the retrieval mechanism a first length in a direction of the target temporary storage container in response to the placement instruction, thereby placing the bin to be placed in the target placement position. Thus, the electronic equipment can determine the target placement position by utilizing the data stored by the electronic equipment, and the calculation efficiency is higher.

In other embodiments, the target placement locations may be determined in the available area of the target staging container in any pre-set placement order based on the available size of the target staging container, the bin size, and the pre-set spacing. Placement instructions are then generated based on the target placement locations. The bin robot can respond to the placement instruction and control the taking-back mechanism to place the bin to be placed at the target placement position. If other placed bins with position interference to the path exist on the path for placing the to-be-placed bin, before placing the to-be-placed bin, the placed bin can be taken out and placed on a goods shelf or other temporary storage containers, then the to-be-placed bin is placed, and finally the placed bin is retrieved and placed at the original position, or the placed bin can be taken out and placed on other temporary storage containers, and then the to-be-placed bin is placed. For a placed bin having a position interference with a path of the bin to be placed, the processing may be performed according to a preset pick-and-place logic, which is not specifically limited in the embodiment of the present application.

Illustratively, when the box taking assembly provided on the box taking mechanism is a lifting box taking assembly, the box can be lifted to a certain height and then placed on the temporary storage container when being taken and placed, so the placing sequence can also be the placing sequence from the box taking mechanism close to the box robot to the far away from the box taking mechanism, or any other sequence, for example: the middle bin is placed first, and the placement order is not particularly limited in this embodiment.

In other embodiments, position detection means may also be utilized, such as: and the camera is used for acquiring the distance from the placed bin to the current position of the picking and returning mechanism on the target temporary storage container, and then the electronic equipment determines the first length of movement required by the picking and returning mechanism to place the bin to be placed on the basis of the distance. The determination manner of the target placement position in the embodiment of the present application is not particularly limited.

It should be noted that, when the available size of the target temporary storage container is the sum of the multiple sizes separated, the placement instruction may be used to instruct the bin robot to push the placed bins to the end of the target temporary storage container far from the picking mechanism, and then place the bin to be placed in the target temporary storage container. The placement instructions may also be used to instruct the bin robot to directly place the bin to be discharged in the target temporary storage container. The setting may be specifically performed according to actual needs, and the embodiment of the present application is not limited thereto specifically.

FIG. 4 is a schematic illustration of an example of a target staging container after placement of a full bin in the target staging container in an embodiment of the application. Referring to FIG. 4, in some examples, a temporary storage container (depth W _pack ) Depth W of each bin internally provided _{bin_i} The same, preset spacing W between each bin _gap Also for example, when the size of the bin is large, only a single bin may be placed in the temporary storage container, when the size of the bin is moderate, two bins may be placed in the temporary storage container, and when the size of the bin is small, three bins may be placed in the temporary storage container.

Thus, according to the bin picking and placing method provided by the embodiment of the application, the bin size can be compared with the available size of each temporary storage container, and the bin robot is instructed to place the bin to be placed in the target temporary storage container with the available size larger than the bin size.

Fig. 5 is a schematic workflow diagram of another bin pick-and-place method according to an embodiment of the present application. Referring to fig. 5 in conjunction with fig. 3, the method for picking and placing the bin may further include the following steps 306-307 in addition to the steps 301-305 described above:

306: response information is received.

The response information is used for indicating that the bin robot has placed the bin to be discharged in the target temporary storage container.

Specifically, after the bin robot places the bin to be discharged in the target temporary storage container based on the indication of the placement instruction, response information can be sent to the electronic device to indicate that the bin to be discharged has been placed in the target temporary storage container successfully.

307: based on the bin size, the available size of the target temporary storage container is updated.

Illustratively, the available size of the target temporary storage container is L1 and the size of the bin to be discharged is L2 before the bin to be discharged is placed, and then the available size of the target temporary storage container can be updated to (L1-L2) after the bin to be discharged is successfully placed in the target temporary storage container.

Thus, the available size of each temporary storage container can be updated in real time, and the available size is accurately determined.

In addition, another bin picking and placing method provided in the embodiment of the present application may further include step 308, where step 308 may be performed after step 307.

308: generating a box taking instruction and sending the box taking instruction to the box robot.

The box taking instruction can be used for instructing the box robot to take out a plurality of boxes on the target temporary storage container sequentially according to the box taking sequence from a box taking mechanism close to the box robot to a box taking mechanism far away from the box taking mechanism.

In some examples, the bin robot, after retrieving each bin on the target staging container, may send a response message to the electronic device, respectively, indicating that the bin has been successfully retrieved, and the electronic device may update the available size of the target staging container based on the size of the retrieved bin.

Illustratively, before the outermost placed bin is removed, the available size of the target staging container is L1 and the outermost placed bin is L2, then after the outermost placed bin is successfully removed from the target staging container, the available size of the target staging container may be updated to (L1+L2).

It should be noted that, step 308 may be performed after the full bin has been placed in the target temporary storage container, or may be performed after all temporary storage containers are placed in the full bin, which is not limited in this embodiment of the present application.

It should be further noted that the box taking instruction may also be used to instruct the box robot to take boxes according to any other set box taking sequence, for example: and sequentially taking out the plurality of bins on the target temporary storage container from a bin taking-back mechanism far away from the bin robot to a bin taking-back sequence close to the bin taking-back mechanism or other bin taking sequences. If other placed bins with position interference to the path exist on the bin taking path, before the target bin is taken out, the placed bins can be taken out first and placed on a goods shelf or other temporary storage containers, and then the target bin is taken out, or the target bin can be taken out directly. For the placed bins with position interference on the bin picking path, the processing may be performed according to preset picking and placing logic, which is not specifically limited in the embodiment of the present application.

Fig. 6 is a schematic structural diagram of a bin pick-and-place device according to an embodiment of the present application. Referring to fig. 6, the bin picking and placing device is applied to the electronic equipment 1, and has a function of implementing the bin picking and placing method, and the function can be implemented by hardware or by executing corresponding software by hardware. This workbin pick-and-place device can include: a bin size acquisition unit 6001, an available size determination unit 6002, an available size comparison unit 6003, a placement position determination unit 6004, and a placement instruction generation unit 6005.

A bin size acquisition unit 6001 for acquiring a bin size of a bin to be discharged.

An available size determining unit 6002 for determining available sizes of a plurality of temporary storage containers of the bin robot.

An available size comparison unit 6003 for comparing the bin size and the available sizes of the plurality of temporary storage containers.

A placement position determining unit 6004 for determining a target escrow container from at least one first escrow container in the case where the plurality of escrow containers includes at least one first escrow container having an available size larger than the size of the bin.

A placement instruction generation unit 6005 for generating a placement instruction based on the target temporary storage container, and sending the placement instruction to the bin robot. The placement instruction is used for instructing the bin robot to place the bin to be discharged in the target temporary storage container.

In one implementation, the at least one first temporary storage container includes at least one second temporary storage container and at least one third temporary storage container, the second temporary storage container being a temporary storage container in which the bin is not placed, the third temporary storage container being a temporary storage container in which the at least one bin is placed. The placement position determination unit 6004 specifically functions to:

the third scratch pad container is determined to be an alternative scratch pad container from the at least one second scratch pad container and the at least one third scratch pad container.

From at least one candidate scratch pad, a target scratch pad is determined.

In one implementation, the placement location determination unit 6004 is specifically configured to:

And determining the candidate temporary storage container closest to the current position of the fetching mechanism of the bin robot from the at least one candidate temporary storage container as a target temporary storage container.

In one implementation, before placing instruction generation unit 6005, the bin pick and place device further includes:

and the moving instruction generating unit is used for determining the placement position of at least one bin placed in the target temporary storage container. And generating a movement instruction and transmitting the movement instruction to the bin robot in case that the available size between the placement position of the at least one bin and the retrieving mechanism of the bin robot is smaller than the bin size. The moving instruction is used for instructing the bin robot to move at least one bin placed in the target temporary storage container in a direction away from the retrieving mechanism.

In one implementation, the at least one first temporary storage container includes at least one second temporary storage container, the second temporary storage container being a temporary storage container in which the bin is not placed. The placement position determination unit 6004 specifically functions to: from the at least one second scratch pad, a target scratch pad is determined.

In one implementation, the placement instruction generation unit 6005 is specifically configured to:

And determining target placement positions in the available areas of the target temporary storage containers according to the placement sequence from a fetching mechanism far from the bin robot to a fetching mechanism close to the fetching mechanism based on the available sizes of the target temporary storage containers, the bin sizes and the preset intervals.

Based on the target placement location, a placement instruction is generated.

In one implementation, the available sizing unit 6002 is specifically configured to:

the available size of each temporary storage container is determined according to the total depth of each temporary storage container, the number of placed bins on each temporary storage container, the size of the placed bins and the preset spacing.

In one implementation, the available size of each scratch pad container is determined by:

In one implementation, the apparatus further comprises:

the response information receiving unit is used for receiving response information, and the response information is used for indicating the bin robot to place the bin to be discharged in the target temporary storage container.

And the available size updating unit is used for updating the available size of the target temporary storage container based on the size of the bin.

In one implementation, the apparatus further comprises:

the box taking instruction generating unit is used for generating a box taking instruction and sending the box taking instruction to the box robot. The box taking instruction is used for instructing the box robot to take out the plurality of boxes on the target temporary storage container in sequence from the box taking mechanism close to the box robot to the box taking sequence far away from the box taking mechanism.

In one implementation, the available size comparison unit 6003 is specifically configured to:

based on the bin size, the type of bin to be discharged is determined. Based on the available size of each temporary storage container, a placeable bin type for each temporary storage container and/or a number of placeable bins corresponding to each placeable bin type are determined. It is determined whether the placeable bin type of each temporary storage container matches the type of bin to be discharged. And/or determining whether the number of placeable bins corresponding to the placeable bin types of each temporary storage container is matched with the number of bins to be placed.

and determining the target temporary storage container from the at least one first temporary storage container under the condition that the type of the placeable material box in the temporary storage containers is matched with the type of the material box to be discharged and/or the number of the placeable material boxes corresponding to the type of the placeable material box in the at least one first temporary storage container is matched with the number of the material boxes to be discharged.

Thus, the embodiment of the application provides a workbin pick-and-place device, can compare workbin size and each temporary storage container's available size to instruct workbin robot to place the workbin that waits to put in the target temporary storage container that available size is greater than workbin size, because the target temporary storage container is last to have probably placed at least one workbin, consequently can realize placing a plurality of workbins in the single temporary storage container, thereby can make full use of temporary storage container in storage space, promote workbin robot's handling capacity.

Fig. 7 is a schematic workflow diagram of a further bin pick and place method according to an embodiment of the present application. The bin picking and placing method provided by the embodiment of the application is applied to a bin robot 2, and the bin robot 2 comprises a plurality of temporary storage containers.

In some embodiments, a partition member may be provided in each temporary storage container of the bin robot, the partition member being used to limit the bins placed in the temporary storage containers. In some examples, the partition member is telescopically disposed on an inner wall of the temporary storage container. For example: when the bin is not placed in the temporary storage container, the partition component can retract into the inner wall of the temporary storage container, so that position interference can not be caused to the taking and placing of the bin, when the bin is placed in the temporary storage container, the partition component corresponding to the placement position of the bin can extend out of the inner wall of the temporary storage container, so that the bin can be limited, and displacement of the bin in the temporary storage container is prevented, and stability is influenced. In other examples, the partition member may take other forms, such as: the rotatable mode sets up in the inner wall of temporary storage container, when not placing the workbin in temporary storage container, cuts off the part rotation to the position parallel and be close to the inner wall of temporary storage container with the inner wall of temporary storage container, when having placed the workbin in temporary storage container, the partition part that the position corresponds of placing of this workbin can rotate to the direction perpendicular with the inner wall of temporary storage container to carry out spacingly to this workbin. The connection mode between the partition member and the inner wall of the temporary storage container is not particularly limited.

Referring to fig. 7, the method for picking and placing a bin provided in the embodiment of the application specifically includes the following steps:

701: and receiving a placement instruction.

The placing instruction is used for instructing the bin robot to place the bin to be placed in a target temporary storage container, the placing instruction is an instruction generated by the electronic equipment based on the target temporary storage container, and the target temporary storage container is determined from at least one first temporary storage container when the at least one first temporary storage container with the available size larger than the bin size is included in the temporary storage containers after the electronic equipment compares the bin size of the bin to be placed with the available sizes of the temporary storage containers.

In some examples, the at least one first staging container includes at least one second staging container that is a staging container without a bin placed therein and at least one third staging container that is a staging container with at least one bin placed therein.

The bin pick and place method may further comprise, prior to performing step 701: information of a target temporary storage container is received. The information of the target temporary storage container is determined from at least one candidate temporary storage container after the electronic equipment determines the third temporary storage container as the candidate temporary storage container from at least one second temporary storage container and at least one third temporary storage container.

After receiving the information of the target temporary storage container, the bin picking and placing method can further comprise the following steps:

and receiving a movement instruction. The movement instruction is generated when the available size between the placement position of the at least one bin and the retrieval mechanism of the bin robot is smaller than the bin size after the placement position of the at least one bin placed in the target temporary storage container is determined by the electronic device, and the movement instruction is used for instructing the bin robot to move the at least one bin placed in the target temporary storage container in a direction away from the retrieval mechanism. In response to the movement instruction, at least one bin that has been placed in the target temporary storage container is moved in a direction away from the retrieval mechanism.

702: and in response to the placement instruction, placing the to-be-discharged bin in the target temporary storage container.

Illustratively, the bin robot may control the retrieval mechanism to place the bin to be discharged in the target temporary storage container according to the target placement position in the placement instruction. The target placement position is determined in an available area of the target temporary storage container by the electronic equipment according to a placement sequence from a fetching mechanism far away from the bin robot to a fetching mechanism close to the fetching mechanism based on the available size of the target temporary storage container, the bin size and a preset interval.

After performing step 702, the bin pick and place method may further include:

703: and generating response information and sending the response information to the electronic equipment so that the electronic equipment can update the available size of the target temporary storage container.

In addition, the method for picking and placing the material box can further comprise the following steps:

704: receiving a box receiving instruction.

The box taking instruction is used for instructing the box robot to take out a plurality of boxes on the target temporary storage container in sequence according to the box taking sequence from a box taking mechanism close to the box robot to a box taking mechanism far away from the box taking mechanism.

705: in response to the bin removal instruction, the plurality of bins on the target temporary storage container are sequentially removed in a bin removal order from the near-retrieving mechanism to the far-retrieving mechanism.

Therefore, the bin robot can control the taking and returning mechanism to place a plurality of bins with the same size on the target temporary storage container according to the preset placement sequence, so that the storage space in the temporary storage container can be fully utilized, and the carrying capacity is improved. In addition, the bin robot can also take down a plurality of bins from the target temporary storage container according to a preset bin taking sequence, the bins are not interfered with each other in taking, and the operation is easy.

Fig. 8 is a schematic structural view of another bin pick-and-place device according to an embodiment of the present disclosure. Referring to fig. 8, the bin picking and placing device is applied to the bin robot 2, and has a function of implementing the bin picking and placing method, and the function may be implemented by hardware or by executing corresponding software by hardware. This workbin pick-and-place device can include: instruction receiving unit 8001 and instruction responding unit 8002.

An instruction receiving unit 8001 for receiving a put instruction. The placement instruction is an instruction generated by the electronic device based on a target temporary storage container and is used for instructing the bin robot to place the bin to be placed in the target temporary storage container, and the target temporary storage container is determined from at least one first temporary storage container when the at least one first temporary storage container with the available size larger than the bin size is included in the temporary storage containers after the electronic device compares the bin size of the bin to be placed with the available sizes of the temporary storage containers.

The instruction response unit 8002 is configured to place the to-be-discharged bin in the target temporary storage container in response to the placing instruction.

In one implementation, the at least one first temporary storage container includes at least one second temporary storage container and at least one third temporary storage container, the second temporary storage container being a temporary storage container in which the bin is not placed, the third temporary storage container being a temporary storage container in which the at least one bin is placed.

The apparatus further includes an information receiving unit before the instruction receiving unit 8001.

And the information receiving unit is used for receiving information of a target temporary storage container, wherein the information of the target temporary storage container is determined from at least one candidate temporary storage container after the electronic equipment determines the third temporary storage container as the candidate temporary storage container from at least one second temporary storage container and at least one third temporary storage container.

In one implementation, the information receiving unit is further configured to: and receiving a movement instruction. The movement instruction is generated when the available size between the placement position of the at least one bin and the retrieval mechanism of the bin robot is smaller than the bin size after the electronic device determines the placement position of the at least one bin placed in the target temporary storage container, and the movement instruction is used for instructing the bin robot to move the at least one bin placed in the target temporary storage container in a direction away from the retrieval mechanism. And moving at least one bin placed in the target temporary storage container in a direction away from the retrieval mechanism in response to the movement instruction.

In one implementation, instruction response unit 8002 is specifically configured to:

according to the target placement position in the placement instruction, a taking and returning mechanism of the bin robot is controlled to place the bin to be placed in the target temporary storage container. The target placement position is determined in the available area of the target temporary storage container by the electronic device in a placement order from a pick-and-return mechanism away from the bin robot to a pick-and-return mechanism close to the pick-and-return mechanism based on the available size of the target temporary storage container, the bin size, and the preset spacing.

In one implementation, after instruction response unit 8002, the apparatus further includes:

and the response information generation unit is used for generating response information and sending the response information to the electronic equipment so as to enable the electronic equipment to update the available size of the target temporary storage container. The response information is used for indicating that the bin robot has placed the bin to be discharged in the target temporary storage container.

In one implementation, the instruction receiving unit 8001 is further configured to receive a bin instruction, where the bin instruction is configured to instruct the bin robot to sequentially take out the plurality of bins on the target temporary storage container in a bin taking sequence from a bin taking mechanism close to the bin robot to a bin taking mechanism far from the bin taking mechanism.

The instruction response unit 8002 is further configured to sequentially take out the plurality of bins on the target temporary storage container in order of fetching bins from the near fetch mechanism to the far fetch mechanism in response to the fetching instruction.

So, the embodiment of the application provides a workbin gets puts device, can be according to the order control of placing of predetermineeing get and still mechanism place a plurality of size the same workbins on the target temporary storage container to can make full use of the parking space in the temporary storage container, promote handling capacity. In addition, a plurality of feed boxes can be taken down from the target temporary storage container according to a preset box taking sequence, the feed boxes are not interfered with each other in taking, and the operation is easy.

Fig. 9 is an interactive flow diagram of a bin pick-and-place system according to an embodiment of the present application. Referring to fig. 9, in the bin picking and placing system provided in the embodiment of the present application, interaction of bin picking and placing between an electronic device 1 and a bin robot 2 may be performed through the following steps:

901: the electronic device 1 obtains the size of the bin to be discharged.

902: the electronic device 1 determines the available size of the plurality of temporary storage containers of the magazine robot.

903: the electronic device 1 compares the bin size with the available sizes of the plurality of temporary storage containers.

904: in the case that the electronic device 1 includes at least one first temporary storage container having an available size larger than the size of the bin among the plurality of temporary storage containers, the target temporary storage container is determined from the at least one first temporary storage container.

905: the electronic device 1 generates a placement instruction based on the target temporary storage container, and sends the placement instruction to the bin robot. The placement instruction is used for instructing the bin robot to place the bin to be discharged in the target temporary storage container.

906: the bin robot 2 receives the placement instruction.

907: the bin robot 2 places the bin to be discharged in the target temporary storage container in response to the placement instruction.

So, the workbin system of putting is got to workbin that this application embodiment provided can be according to the actual size of workbin, and the dynamic selection workbin is at the mode of placing of temporary storage container, can realize that a plurality of workbins are placed simultaneously to single temporary storage container, greatly improves the transport and the storage capacity of workbin.

It is to be understood that, based on the several embodiments provided in the present application, those skilled in the art may combine, split, reorganize, etc. the embodiments of the present application to obtain other embodiments, where none of the embodiments exceed the protection scope of the present application.

The foregoing detailed description of the embodiments of the present application has further described the objects, technical solutions and advantageous effects thereof, and it should be understood that the foregoing is merely a specific implementation of the embodiments of the present application, and is not intended to limit the scope of the embodiments of the present application, and any modifications, equivalent substitutions, improvements, etc. made on the basis of the technical solutions of the embodiments of the present application should be included in the scope of the embodiments of the present application.

Claims

1. The utility model provides a workbin pick-and-place method, is applied to electronic equipment, and is characterized in that the workbin pick-and-place method comprises the following steps:

acquiring the size of a material box to be discharged;

determining available sizes of a plurality of temporary storage containers of the bin robot;

comparing the bin size with the available sizes of the plurality of temporary storage containers;

determining a target staging container from at least one first staging container of said plurality of staging containers having an available size greater than said bin size;

Generating a placement instruction based on the target temporary storage container, and sending the placement instruction to the bin robot; the placement instruction is used for instructing the bin robot to place the bin to be discharged in the target temporary storage container.

2. The method of claim 1, wherein the at least one first staging container includes at least one second staging container that is a staging container without a bin and at least one third staging container that is a staging container with at least one bin already placed;

the determining a target scratch container from the at least one first scratch container includes:

determining the third staging container as an alternative staging container from the at least one second staging container and the at least one third staging container;

the target scratch container is determined from at least one of the candidate scratch containers.

3. The method of claim 2, wherein said determining said target staging container from at least one of said candidate staging containers comprises:

and determining the candidate temporary storage container closest to the current position of the fetching mechanism of the bin robot from at least one candidate temporary storage container as the target temporary storage container.

4. The method of claim 2, wherein prior to generating a put instruction based on the target scratch container, the method further comprises:

determining the placement position of at least one bin placed in the target temporary storage container;

generating a movement instruction and sending the movement instruction to the bin robot when the available size between the placement position of the at least one bin and the retrieving mechanism of the bin robot is smaller than the bin size; the moving instruction is used for instructing the bin robot to move at least one bin placed in the target temporary storage container in a direction away from the taking-back mechanism.

5. The method of claim 1, wherein the at least one first staging container comprises at least one second staging container that is a staging container without a bin;

and determining the target temporary storage container from the at least one second temporary storage container.

6. The method of claim 1, wherein generating a put instruction based on the target scratch container comprises:

Determining a target placement position in an available area of the target temporary storage container according to a placement sequence from a retrieval mechanism far from the bin robot to a retrieval mechanism close to the retrieval mechanism based on the available size of the target temporary storage container, the bin size and a preset interval;

and generating the placement instruction based on the target placement position.

7. The method of any of claims 1-6, wherein the determining the available size of the plurality of staging containers for the bin robot comprises:

and determining the available size of each temporary storage container according to the total depth of each temporary storage container, the number of placed bins on each temporary storage container, the size of the placed bins and the preset interval.

8. The method of claim 7, wherein the available size of each of the scratch containers is determined by:

wherein W is _{Can be used} For the usable size of the temporary storage container, W _{bin_i} For the depth of the placed material box on the temporary storage container, W _gap For the preset interval, W _pack N is the total depth of the temporary storage container and the number of the placed feed boxes on the temporary storage container.

9. The method according to any one of claims 1-6, further comprising:

Receiving response information, wherein the response information is used for indicating that the bin robot has placed the bin to be discharged in the target temporary storage container;

based on the bin size, the available size of the target scratch pad is updated.

10. The method according to any one of claims 1-6, further comprising:

generating a box taking instruction and sending the box taking instruction to the bin robot; the box taking instruction is used for instructing the box robot to take out the plurality of boxes on the target temporary storage container sequentially according to the box taking sequence from a box taking mechanism close to the box robot to a box taking mechanism far away from the box taking mechanism.

11. The method of claim 1, wherein said comparing said bin size with available sizes of said plurality of staging containers comprises:

determining the type of the to-be-discharged bin based on the bin size;

determining placeable bin types of each temporary storage container and/or the number of placeable bins corresponding to each placeable bin type based on the available size of each temporary storage container;

determining whether the type of the placeable bin of each temporary storage container is matched with the type of the bin to be placed; and/or determining whether the number of the placeable bins corresponding to the placeable bin types of each temporary storage container is matched with the number of the bins to be placed.

12. The method of claim 11, wherein, in the event that at least one first staging container of the plurality of staging containers that has an available size greater than the bin size is included, determining a target staging container from the at least one first staging container comprises:

and determining a target temporary storage container from the at least one first temporary storage container under the condition that the type of the placeable material box comprising the at least one first temporary storage container is matched with the type of the material box to be discharged and/or the number of the placeable material boxes corresponding to the type of the placeable material box of the at least one first temporary storage container is matched with the number of the material boxes to be discharged.

13. A method for picking and placing a material box, which is applied to a material box robot, and is characterized in that the material box robot comprises a plurality of temporary storage containers; the method comprises the following steps:

receiving a placing instruction, wherein the placing instruction is generated by electronic equipment based on a target temporary storage container and is used for instructing the bin robot to place a bin to be discharged in the target temporary storage container, and the target temporary storage container is determined from at least one first temporary storage container when the available size of the temporary storage containers is larger than that of the bin after the electronic equipment compares the bin size of the bin to be discharged with the available sizes of the temporary storage containers;

And responding to the placing instruction, and placing the to-be-discharged box in the target temporary storage container.

14. The method of claim 13, wherein the at least one first staging container includes at least one second staging container that is a staging container without a bin and at least one third staging container that is a staging container with at least one bin already placed;

before receiving the put instruction, the method further comprises:

and receiving information of a target temporary storage container, wherein the information of the target temporary storage container is determined from at least one candidate temporary storage container after the electronic equipment determines the third temporary storage container as the candidate temporary storage container from the at least one second temporary storage container and the at least one third temporary storage container.

15. The method of claim 14, wherein after receiving the information of the target scratch container, the method further comprises:

receiving a moving instruction, wherein the moving instruction is generated when the available size between the placement position of at least one bin and a retrieving mechanism of the bin robot is smaller than the bin size after the electronic equipment determines the placement position of at least one bin placed in the target temporary storage container, and the moving instruction is used for instructing the bin robot to move the at least one bin placed in the target temporary storage container in a direction away from the retrieving mechanism;

And responding to the moving instruction, and moving at least one workbin placed in the target temporary storage container in a direction away from the taking-back mechanism.

16. The method of claim 13, wherein the placing the to-be-discharged bin in the target temporary storage container in response to the placing instruction comprises:

according to the target placement position in the placement instruction, controlling a picking and returning mechanism of the bin robot to place the bin to be placed in the target temporary storage container, wherein the target placement position is determined in an available area of the target temporary storage container by the electronic equipment according to a placement sequence from the picking and returning mechanism far away from the bin robot to the picking and returning mechanism close to the picking and returning mechanism based on the available size of the target temporary storage container, the bin size and a preset interval.

17. The method according to any one of claims 13-16, wherein after said placing the to-be-discharged bin in the target temporary storage container, the method further comprises:

generating response information and sending the response information to the electronic equipment so that the electronic equipment can update the available size of the target temporary storage container; the response information is used for indicating that the bin robot has placed the bin to be discharged in the target temporary storage container.

18. The method according to any one of claims 13-16, further comprising:

receiving a box taking instruction, wherein the box taking instruction is used for instructing the box robot to sequentially take out a plurality of boxes on the target temporary storage container according to a box taking sequence from a box taking mechanism close to the box robot to a box taking mechanism far away from the box taking mechanism;

and responding to the box taking instruction, and sequentially taking out the plurality of boxes on the target temporary storage container in the box taking sequence from the position close to the returning mechanism to the position far away from the returning mechanism.

19. A method according to claim 13, wherein each of the temporary storage containers is provided with a blocking member for limiting the bin placed in the temporary storage container.

20. The method of claim 19, wherein the partition member is telescopically disposed on an inner wall of the temporary storage container.

21. The bin picking and placing system is characterized by comprising electronic equipment and a bin robot;

the electronic device is configured to perform the steps of:

acquiring the size of a material box to be discharged;

generating a placement instruction based on the target temporary storage container, and sending the placement instruction to the bin robot; the placement instruction is used for instructing the bin robot to place the bin to be discharged in the target temporary storage container;

the bin robot is configured to perform the steps of:

receiving the placement instruction;