Carrying control method and material carrying system

Abstract

The invention discloses a carrying control method and a material carrying system.The material carrying system comprises an upper control system, TCSs, a track and carrying equipment running along the track, the track is divided into a plurality of independent and continuous track subareas, and each track subarea and each carrying equipment are configured to be managed only by one of the multiple TCSs; each of the TCSs is configured to manage at least one track partition. According to the method and the system, the track of one factory is divided into a plurality of independent and continuous track subareas, the independent and continuous track subareas are respectively managed through a plurality of TCSs, and each TCS only needs to manage a small number of track subareas, so that the computing power requirement on each TCS can be effectively reduced, the load of each TCS during operation can be reduced, and the operation efficiency of each TCS is improved. The timeliness of carrying instruction execution is improved, the carrying efficiency is improved, the computing power resources of each TCS can be utilized in real time, the utilization rate of the computing power resources can be effectively improved, and waste of the computing power resources is avoided.

Description

Technical Field

[0001] The present invention relates to the field of automated material handling, in particular to a handling control method and a material handling system. Background Art

[0002] In the AMHS (Automated Material Handling System), a large Fab (semiconductor manufacturing plant) needs to lay a long track (even more than 30 km) to meet production needs, and the number of handling equipment (overhead cranes, rail cars, AGVs, etc.) exceeds thousands. Therefore, efficient, orderly and low-latency management of these handling equipment is very important for the operation of the Fab.

[0003] In the existing control system, in order to improve redundancy, as shown in the patent document with application publication number CN116165971A, adopting TCS active-standby mode (Active-Standby) is an available solution, in which the main TCS is responsible for the execution control of all handling tasks, and the standby TCS will take over control only when the main TCS fails.

[0004] However, in this control system, the computing power requirements for the main TCS and the backup TCS are very high, and the load during operation is large. The computing power resources of the backup TCS are greatly wasted when the main TCS operates normally.

[0005] Furthermore, when the standby TCS needs to take over, resources and services need to be initialized, and this process may have a long delay and face the risk of untimely or incomplete data synchronization. Summary of the invention

[0006] The purpose of the present invention is to solve the above problems existing in the prior art and to provide a transport control method and a material transport system.

[0007] The purpose of the present invention is achieved through the following technical solutions: The handling control method comprises the following steps: The upper control system determines the target TCS to which the transport instruction is to be sent according to the starting position of the transport instruction, and sends the transport instruction to the target TCS; After receiving the transport instruction, the target TCS searches whether there is a transport device that meets the requirements in the track partition it manages. If so, the target TCS controls the transport device that meets the requirements in the track partition it manages to execute the transport instruction; if not, the target TCS determines an idle transport device that meets the requirements outside the track partition it manages and requests the TCS to which the idle transport device that meets the requirements belongs to transfer management authority; After obtaining the management authority over the idle transport equipment, the target TCS controls the idle transport equipment to execute the transport instruction.

[0008] Preferably, information synchronization is performed between each TCS so that each TCS shares the real-time information of each handling equipment.

[0009] Preferably, the target TCS determines an idle transport device with the shortest moving path from the track partition managed by it to the starting position as the transport device that meets the requirements.

[0010] Preferably, when determining the idle transport equipment that meets the requirements, first determine the idle transport equipment with the shortest moving path to the starting position, and then determine whether the number of transport equipment and / or the load rate of transport equipment in the track partition where the idle transport equipment with the shortest moving path to the starting position is located meets the requirements; if so, select the idle transport equipment with the shortest moving path to the starting position as the idle transport equipment; if not, select the idle transport equipment with the shortest moving path to the starting position from other track partitions where the number of transport equipment and / or the load rate of transport equipment meet the requirements to execute the transport instruction.

[0011] Preferably, when it is determined that a TCS needs to be updated, the track partitions and handling equipment managed by the TCS that needs to be updated are first taken over by other TCSs, and then the TCS that needs to be updated is updated; And / or when it is determined that a TCS is down, other TCSs take over the track partitions and handling equipment managed by the down TCS.

[0012] Preferably, when selecting other TCS to take over the track partition managed by the TCS that is down or needs to be updated, the TCS to which the track partition adjacent to the track partition managed by the TCS that is down or needs to be updated belongs is selected to take over.

[0013] Preferably, after the idle transport device that executes the transport instruction completes the transport, the target TCS controls the idle transport device that executes the transport instruction to return to the track partition where it was originally located, and when the idle transport device that executes the transport instruction is the idle transport device that meets the requirements, when the idle transport device that meets the requirements returns to the track partition where it was originally located, the target TCS transfers the management authority of the idle transport device that meets the requirements to the TCS to which the idle transport device that meets the requirements originally belongs.

[0014] Preferably, the idle transport equipment that executes the transport instruction stays in the track partition where the terminal position is located after completing the transport, and the target TCS transfers their management authority to the TCS corresponding to the track partition where the terminal position is located; at the same time, the TCS corresponding to the track partition where the terminal position is located determines whether the number of transport equipment it manages reaches the upper limit threshold, and if so, the management authority of one of the idle transport equipment is transferred to another TCS, and the load rate of the transport equipment in the track partition managed by the other TCS is lower than the set value, and the other TCS controls the idle transport equipment to be transferred to the track partition managed by it.

[0015] Preferably, when any TCS determines that the load rate of the transport equipment in the track partition it manages is lower than a set value, the TCS requests other TCSs to transfer the management authority of the idle transport equipment in the track partition it manages.

[0016] A material handling system includes a host control system, a TCS, a track and handling equipment running along the track, wherein the track is divided into a plurality of independent and continuous track partitions, each track partition and each handling equipment is respectively configured to be managed by only one of the plurality of TCSs, and each TCS is configured to manage at least one track partition.

[0017] Preferably, the material handling system comprises tracks arranged in different plant areas, and the tracks in at least two plant areas are connected by a transfer track; The transfer track includes a cyclic moving section and a No. 1 abnormal processing section and a No. 2 abnormal processing section connected to the side of the cyclic moving section; The first abnormal processing section is configured to be used by the handling equipment transferred from the factory area at the first end of the transfer track to the factory area at the second end of the transfer track when the data switching is not completed; The second exception processing section is configured to be used when the handling equipment that is transferred from the factory area at the second end of the transfer track to the factory area at the first end of the transfer track is not completed.

[0018] The advantages of the technical solution of the present invention are mainly reflected in: The present invention divides the track of a factory area into multiple independent and continuous track partitions, and realizes the separate management of multiple independent and continuous track partitions through multiple TCSs. Each TCS only needs to manage a small number of track partitions, which can effectively reduce the computing power requirements for each TCS and reduce the load of each TCS during operation, which is conducive to improving the timeliness of the execution of transport instructions and improving the transport efficiency. At the same time, the computing power resources of each TCS can be used in real time, which can effectively improve the utilization rate of computing power resources and avoid waste of computing power resources.

[0019] The present invention can take over the control track partitions and handling equipment managed by the down TCS and the TCS that needs to be updated through other TCSs when one TCS breaks down and needs to be updated, so as to perform updates and handle abnormal situations without affecting normal handling, effectively improving the smoothness of the operation of the entire handling system.

[0020] The present invention can effectively achieve the balance of the handling equipment of each track partition by combining multiple control logics, thereby ensuring the normal handling needs of each track partition. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a schematic diagram of a material handling system in Example 1 of the present invention; Figure 2 is a flow chart of the transport control method of the present invention; Figure 3 is a flow chart of the track partitioning and handling equipment managed by the TCS that needs to be updated being taken over by another TCS in the present invention; Figure 4 It is a flow chart of the track partitioning and handling equipment managed by the downed TCS taken over by other TCS in the present invention; Figure 5 is a schematic diagram of a material handling system in Example 2 of the present invention; Figure 6 It is a schematic diagram of the transportation of materials from the first plant area to the second plant area in Example 2 of the present invention; Figure 7 It is a flow chart of the control process of executing the aerial transport vehicle in the transfer track area in embodiment 2 of the present invention. DETAILED DESCRIPTION

[0022] The purpose, advantages and features of the present invention will be illustrated and explained by the non-limiting description of the following preferred embodiments. These embodiments are only typical examples of the application of the technical solution of the present invention, and any technical solution formed by equivalent replacement or equivalent transformation falls within the scope of protection claimed by the present invention.

[0023] In the description of the scheme, it should be noted that the terms "center", "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience and simplification of description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0024] Example 1 The following is an explanation of the transport control method disclosed by the present invention in conjunction with the accompanying drawings. The transport control method is based on a material transport system, as shown in the accompanying drawings. Figure 1 As shown, the material handling system includes a host control system 700, a TCS (Transport Control System), a track 800 and a handling device 900 running along the track.

[0025] The upper control system 700 usually includes MES (Manufacturing Execution System) and MCS (Material Control System), wherein MES is used to determine which materials need to be transported according to the manufacturing process and send corresponding transport requests to the MCS. The MCS generates a transport instruction according to the request of the MES and sends it to a TCS, and then the TCS plans the path and controls the transport equipment to execute the transport instruction.

[0026] The track 800 can be a hanging rail suspended in a processing plant or a processing area for the handling equipment to move to different manufacturing equipment, or it can be a ground rail laid on the ground, and even the track can be a magnetic strip laid on the ground for AGV navigation; the specific layout and length of the track can be designed as needed and are not limited here. The handling equipment 900 can be an aerial transport vehicle (overhead crane) that moves along the hanging rail, or a rail-mounted vehicle that moves along the ground rail, or an AGV vehicle that moves along the magnetic strip. The specific structures of the aerial transport vehicle, rail-mounted vehicle, and AGV vehicle are known technologies and are not limited here.

[0027] The track 800 is divided into a plurality of independent and continuous track partitions. The specific division method and number of the track partitions can be determined according to the specific distribution of the track, which is not limited here. At the same time, each track partition and each handling device are respectively configured to be managed by only one of the multiple TCSs, that is, at any time, a track partition is managed by only one TCS, and a handling device is managed by only one TCS, and each TCS is configured to manage at least one track partition, that is, each TCS can manage multiple track partitions. The number of TCSs can be the same as the number of track partitions. When the material handling system is initially configured, the upper control system 700 can configure a track partition managed by each TCS, and each track partition and each handling device are respectively configured with a predetermined number of handling devices. Each TCS manages the handling devices in each track partition and each handling device it manages, and at the same time, part of the multiple handling devices configured for each track partition and each handling device can be configured to work only in the track partition, and the other part can be configured to work across track partitions. Of course, in other embodiments, the number of the TCS may be different from the number of the track partitions, for example, smaller than the number of the track partitions, so that during initial configuration, some or all of the TCSs will be configured to manage multiple track partitions.

[0028] For example, as shown in the attached Figure 1 As shown, the track 800 is divided into three track partitions and each track partition is configured with a TCS for management. The three track partitions are defined as the first track partition 100, the second track partition 200 and the third track partition 300, respectively. The TCS managing the first track partition 100 is defined as the first TCS 400, the TCS managing the second track partition 200 is defined as the second TCS 500, and the TCS managing the third track partition 300 is defined as the third TCS 600. The first TCS, the second TCS and the third TCS are all connected to the upper control system 700.

[0029] At the same time, the upper control system 700 can adjust and control the TCS to which each track partition belongs according to the operation needs of each TCS. Of course, each TCS can also communicate with each other to determine whether to transfer the management authority.

[0030] In order to facilitate each TCS to temporarily take over other track partitions and control the movement of transport equipment in track partitions outside its management, each TCS stores complete map information of the entire track 800 and information such as the range and number of each track partition. At the same time, multiple TCSs synchronize information in real time so that each TCS can know the real-time information of each transport equipment. The synchronized information includes but is not limited to: the operating status of the transport equipment, real-time location, moving path, and transport instructions.

[0031] Correspondingly, as attached Figure 2 As shown, the transport control method includes the following process: The upper control system 700 determines the target TCS to which the transport instruction is to be sent according to the starting position of the transport instruction, and sends the transport instruction to the target TCS; After receiving the transport instruction, the target TCS searches whether there is a transport device that meets the requirements in the track partition it manages. If so, the target TCS controls the transport device that meets the requirements in the track partition it manages to execute the transport instruction; if not, the target TCS determines an idle transport device that meets the requirements outside the track partition it manages and requests the TCS to which the idle transport device that meets the requirements belongs to transfer management authority; After obtaining the management authority over the idle transport equipment, the target TCS controls the idle transport equipment to execute the transport instruction.

[0032] The material handling system of the three track partitions in the above example is explained in detail below. If the starting position corresponding to a handling instruction is located in the first track partition 100, and the end position is located in the third track partition 300; then the upper control system 700 sends the handling instruction to the first TCS 400 (target TCS).

[0033] After receiving the transport instruction, the first TCS400 determines the transport equipment that executes the transport instruction. Specifically, the first TCS400 determines whether there is any transport equipment that meets the requirements in the first track partition. In one embodiment, it can be determined whether there is an idle transport equipment in the first track partition. If so, the first TCS400 determines to select the idle transport equipment with the shortest moving path to the starting position as the transport equipment that meets the requirements based on a known shortest path algorithm.

[0034] Of course, in another embodiment, it is also possible to first determine whether the load rate of the transport equipment in the first track partition is close to the lower limit of the load rate corresponding to the first track partition. If not, it is then determined whether there is an idle transport equipment in the first track partition 100. If so, the first TCS 400 determines the idle transport equipment with the shortest moving path to the starting position according to the known shortest path algorithm as the transport equipment that meets the requirements to execute the transport instruction. The transport equipment load rate is the ratio of the real-time number of transport equipment at a track partition to the maximum number of transport equipment allowed to run simultaneously in the track partition. For example, if the maximum number of transport equipment allowed to run simultaneously in a track partition is 100, and the real-time number of transport equipment at the track partition is 80, then the transport equipment load rate is 0.8.

[0035] After determining the transport equipment that meets the requirements, the first TCS 400 plans its corresponding moving path and sends it to the selected transport equipment that meets the requirements to control it to execute the transport instruction.

[0036] If it is determined that there is no transport equipment that meets the requirements in the first track partition 100, that is, there is no idle transport equipment or the load rate of the transport equipment is close to the lower limit of the load rate, then it is necessary to select the transport equipment that executes the transport instruction based on other principles.

[0037] In one implementation, an idle transport device with the shortest moving path from the second track partition or the third track partition to the starting position may be selected as the idle transport device that meets the requirements. For example, if there is an idle transport device in the second track partition 200 with the shortest moving path from the starting position, the idle transport device in the second track partition 200 may be selected as the idle transport device that meets the requirements.

[0038] However, in actual operation, the number of transport devices in the second track partition 200 may be close to, or even lower than the lower limit value of the number corresponding to the second track partition 200 and / or the load rate of the transport devices in the second track partition 200 may be close to, or even lower than the lower limit value of the load rate corresponding to the second track partition. At this time, if the transport devices in the second track partition 200 are transferred to other track partitions, the remaining transport devices in the second track partition 200 may be difficult to meet the subsequent normal transport needs in the second track partition. At this time, it is not appropriate to select the idle transport device with the shortest moving path to the starting position as the idle transport device that meets the requirements.

[0039] Therefore, in another implementation method, the idle transport device with the shortest moving path to the starting position can be first determined, and then it can be determined whether the number of transport devices and / or the load rate of the transport devices in the track partition where the idle transport device with the shortest moving path to the starting position is located meets the requirements. If so, that is, the number of transport devices in the track partition where the idle transport device is located is greater than the lower limit value and / or the load rate of the transport devices is greater than the lower limit value of the load rate, then the idle transport device with the shortest moving path to the starting position is selected as the idle transport device that meets the requirements; if not, that is, the number of transport devices in the track partition where the idle transport device is located is less than or equal to the lower limit value and / or the load rate of the transport devices is less than or equal to the lower limit value of the load rate, then the idle transport device with the shortest moving path to the starting position is selected from other track partitions where the number of transport devices and / or the load rate of transport devices meet the requirements to execute the transport instruction.

[0040] For example, if the number of transport devices and / or the load rate of transport devices in the second track partition 200 where the idle transport device with the shortest moving path to the starting position is located does not meet the requirements, while the number of transport devices and / or the load rate of transport devices in the third track partition 300 meet the requirements, then the idle transport device with the shortest moving path to the starting position is selected from the third track partition 300 as the idle transport device that meets the requirements.

[0041] Of course, in another implementation, when it is determined that the number of transport equipment and / or the load rate of transport equipment in the track partition where the idle transport equipment with the shortest moving path to the starting position is located does not meet the requirements, the idle transport equipment with the shortest moving path to the starting position can also be selected as the idle transport equipment that meets the requirements. At the same time, after the TCS that manages the idle transport equipment that meets the requirements transfers the management authority to the target TCS, it can request the TCSs belonging to other track partitions to transfer the management authority of the transport equipment according to the principle of from near to far from the track partition it manages, so that the TCS that issues the request can control the corresponding transport equipment to move to the track partition it manages after obtaining the management authority of the corresponding transport equipment. Of course, when each TCS determines that the load rate of the transport equipment in the track partition it manages is close to the set value, it can actively send a request to other TCSs to transfer the management authority of the transport equipment according to the above principle. The set value is greater than the lower limit of the load rate corresponding to each track partition, and is set according to needs, and is not limited here.

[0042] When the TCS to which the idle transport equipment that meets the requirements belongs receives the request for transfer of management authority sent by the target TCS, it sends an instruction to the idle transport equipment that meets the requirements to establish a connection with the target TCS and moves the idle transport equipment that meets the requirements out of its management scope. In specific implementation, for example, each TCS is configured with a management transport equipment table and a non-management transport equipment table. The transport equipment in the management transport equipment table is the transport equipment currently managed by the TCS, and the transport equipment in the non-management transport equipment table is currently not managed by the TCS. Moving out of the management scope of the TCS means moving the idle transport equipment that meets the requirements from the management transport equipment table to the non-management transport equipment table. After receiving the instruction to establish a connection with the target TCS, the idle transport equipment that meets the requirements sends a connection request to the target TCS. After receiving the connection request, the target TCS includes the idle transport equipment that meets the requirements into its management scope to obtain the management rights of the idle transport equipment that meets the requirements. Subsequently, the target TCS can control the idle transport equipment that meets the requirements to execute the transport instruction.

[0043] For the convenience of explanation, the idle transport equipment that meets the requirements and the transport equipment that meets the requirements are defined as the execution transport equipment. After the execution transport equipment completes the transport, the target TCS can control the execution transport equipment to return to the track partition where it was originally located. If the execution transport equipment is the idle transport equipment that meets the requirements, when the execution transport equipment returns to the track partition where it was originally located, the target TCS transfers the management authority of the execution transport equipment to the TCS to which it originally belonged.

[0044] Of course, in another embodiment, the transport execution device may stay in the track partition where the terminal position is located after completing the transport, and the target TCS transfers the management authority of the transport execution device to the TCS to which the track partition where the terminal position is located belongs.

[0045] At this time, since the number of handling equipment in the track partition where the terminal position is located will increase, the TCS corresponding to the track partition where the terminal position is located will determine whether the number of handling equipment it manages has reached the upper limit of the number and / or whether the load rate of the handling equipment has reached the upper limit of the load rate. If so, the TCS corresponding to the track partition where the terminal position is located will transfer the management authority of an idle handling equipment it manages to another TCS, and the load rate of the handling equipment in the track partition managed by the other TCS is not greater than the set value of the load rate of the handling equipment corresponding to the track partition, or the load rate of the handling equipment corresponding to the track partition managed by the other TCS is the lowest value among the load rates of the handling equipment corresponding to each track partition. The other TCS controls the idle handling equipment to which the management authority has been transferred to the track partition under its management, which can effectively achieve the balance of handling equipment in each track partition, thereby ensuring the normal operation of each track partition.

[0046] Alternatively, in another embodiment, the executing transport equipment may be transferred to a track partition with a lower transport equipment load rate after completing the transport. That is, after the executing transport equipment completes the transport, the target TCS determines which track partition managed by the TCS has a transport equipment load rate less than or equal to the set value of the transport equipment load rate corresponding to the track partition, and transfers the management authority of the executing transport equipment to the TCS to which the track partition has a transport equipment load rate less than or equal to the set value or the lowest transport equipment load rate. After the TCS to which the track partition with a lower transport equipment load rate belongs obtains the management authority of the executing transport equipment, it controls the executing transport equipment to move to its management partition.

[0047] Furthermore, during the operation of the material handling system, it is necessary to update the TCS, and the update is, for example, software and / or configuration update. When it is determined that a TCS needs to be updated, the track partitions and handling equipment managed by the TCS that needs to be updated are taken over by other TCSs first, and then the TCS that needs to be updated is updated.

[0048] Specifically, the update of the TCS that needs to be updated can be achieved in combination with the upper control system 700. For example, the first TCS 400 needs to be updated, and the second TCS 500 takes over the first track partition 100 and the handling equipment managed by the first TCS 400. Figure 3 As shown, when the upper control system 700 determines that the first TCS 400 needs to be updated, the upper control system 700 can notify the first TCS to release the management of the first track partition 100 through the industry standard SEMI protocol, and at the same time, notify the second TCS 500 to include the first track partition 100 in its management scope. In specific implementation, for example, a management partition table and a non-management partition table can be configured for each TCS, wherein the management partition table stores information about the track partitions currently being managed by the TCS, and the non-management partition table stores information about other track partitions that are not currently managed by the TCS. Releasing the management of a track partition means moving the information of the track partition from the management partition table to the non-management partition table, and including a track partition in the management scope of a TCS means moving the information of a track partition from the non-management partition table of the TCS to its management partition table.

[0049] After the second TCS500 includes the first track partition 100 in its management scope, the upper control system 700 or the second TCS500 sends a message to the first TCS400 that the second TCS500 will take over the handling equipment under its management. The first TCS400 sends an instruction to the handling equipment under its management to connect to the TCS of the second track partition 200 and moves all the handling equipment under its management out of its management scope. After receiving the instruction, the handling equipment managed by the first TCS400 can immediately send a connection request to the TCS of the second track partition 200, or send a connection request to the TCS of the second track partition 200 after completing the handling task. The TCS of the second track partition 200 will include the handling equipment to which the connection request is sent into its management scope.

[0050] Of course, the update of the TCS that needs to be updated can also be controlled through negotiation between TCSs. For example, the first TCS400 needs to be updated, and the second TCS500 takes over the first track partition 100 and the handling equipment managed by the first TCS400. When the first TCS400 determines that it needs to be updated, it sends a takeover request to the second TCS500 and releases the management of the first track partition 100. After receiving the takeover request sent by the first TCS400, the second TCS500 adds the first track partition 100 to its management scope. After entering its management scope, the second TCS500 sends a message to the first TCS400 to take over the handling equipment under its management. The first TCS400 sends an instruction to the handling equipment under its management to connect to the TCS of the second track partition 200 and moves all the handling equipment under its management out of its management scope. After receiving the instruction, the handling equipment managed by the first TCS400 can immediately send a connection request to the TCS of the second track partition 200, or send a connection request to the TCS of the second track partition 200 after completing the handling task. The TCS of the second track partition 200 will include the handling equipment to which the connection request was sent into its management scope.

[0051] Of course, when selecting other TCSs to take over the track partitions (taken over track partitions) and handling equipment (taken over handling equipment) managed by the TCS that needs to be updated, the taking over TCS can also be determined according to different selection principles. In one embodiment, one TCS belonging to the track partitions adjacent to the taken over track partition can be selected to take over the taken over track partition and the taken over handling equipment; in another embodiment, the TCS with the least number of handling equipment managed or the lowest handling equipment load rate in the managed track partition can be selected to take over the taken over track partition and the taken over handling equipment. At this time, the taking over TCS can control the taken over handling equipment to still work mainly in the taken over track area. In another embodiment, the takeover of the taken-over track partition and the taken-over handling equipment can be performed separately, that is, when selecting the TCS to take over the taken-over track partition, one of the TCSs to which the track partition adjacent to the taken-over track partition belongs is selected to take over. For example, if the TCS to be updated is the second TCS, the taken-over track partition is the second track partition, and the first track partition and the third track partition are adjacent to the second track partition, then the first TCS corresponding to the first track partition or the third TCS of the third track partition can be selected to take over the second track partition. When making a specific selection, the one with a smaller number of managed handling equipment can be selected. Of course, the selection can also be made based on other factors, such as selecting the one with a smaller task volume based on the amount of handling tasks performed by the first TCS and the third TCS per unit time.

[0052] As for the taken-over transport equipment, the TCS that takes over the taken-over track partition (taking-over TCS) can take over part of the taken-over transport equipment, and the remaining part can be taken over by other TCSs. The transport equipment load rate of the track partition managed by the other TCS is low, or close to, or even lower than the load rate lower limit. Of course, the taken-over transport equipment can also be taken over by the other TCSs.

[0053] After the TCS that needs to be updated completes the update, if the track partitions and transport equipment it manages are taken over by the same TCS, the taking-over TCS will transfer the management authority of the taken-over track partition back to the TCS that has completed the update, and will transfer the management authority of the transport equipment currently managed by the taking-over TCS and located at the taken-over track partition to the TCS that has completed the update. The TCS that has completed the update can send a request to the TCS of other track partitions to transfer the management authority of idle transport equipment based on the load rate of the transport equipment corresponding to the taken-over track partition.

[0054] If the track partition and transport equipment managed by the TCS that needs to be updated are taken over by different TCSs, the TCS that takes over the track partition managed by the TCS that needs to be updated will transfer the management authority of the corresponding track partition back to the TCS that has completed the update. At the same time, the TCS that has completed the update will send a request to the TCS of other track partitions to transfer the management authority of the idle transport equipment.

[0055] Furthermore, during the operation of the system, there is a situation where a TCS crashes. At this time, in order to ensure the normal operation of the entire material handling system, it is necessary to have other TCS take over the track partitions and handling equipment managed by the crashed TCS. Figure 4 As shown, the upper management system can sense whether the connection with each TCS is interrupted through a TCP connection or a heartbeat packet. When it is determined that the connection of a TCS is interrupted, it is confirmed that the TCS is down. At this time, the upper management system can select other TCSs to take over the track partitions and handling equipment managed by the downed TCS according to the selection principles of the above examples. For example, if the first TCS400 is down, the second TCS500 can be selected to take over the first track partition 100, that is, the second TCS500 adds the first track partition 100 to its management scope, and at the same time includes the handling equipment managed by the first TCS400 into its management scope.

[0056] When taking over the handling equipment managed by the down TCS, the taking-over TCS can send a connection request to the handling equipment managed by the down TCS after including the track partition managed by the down TCS into its management scope. When the handling equipment managed by the down TCS confirms that it cannot connect with the down TCS and receives the connection request from the taking-over TCS, it feeds back a connection message to the taking-over TCS. After receiving the connection message, the taking-over TCS includes the handling equipment managed by the down TCS into its management scope, thereby completing the takeover of the handling equipment managed by the down TCS.

[0057] When the downed TCS is restored, the upper management system can send an instruction to the taken-over TCS to transfer management authority to the restored TCS. The taken-over TCS transfers the management authority of the track partitions and handling equipment it has taken over back to the restored TCS. Please refer to the above process of transferring management authority back to the updated TCS for details.

[0058] Of course, when one TCS takes over a track partition managed by another TCS, it can also take over other equipment at fixed positions in the track partition, such as elevator equipment and power supply equipment in the track partition. The takeover process of other equipment can refer to the takeover process of handling equipment, which will not be repeated here.

[0059] Example 2 The above-mentioned Example 1 only describes a material handling system applied to one factory area. However, in some large Fab factories, there may be multiple factory areas. One factory area can be understood as a factory building. The material handling system in each factory area is designed with reference to the contents described in Example 1.

[0060] At the same time, materials and handling equipment need to be transferred between different factory areas. Correspondingly, the material handling system includes not only tracks and handling equipment arranged in at least two factory areas, but also transfer tracks connected between the tracks of at least two factory areas, and the transfer tracks are used for the handling equipment to move between different factory areas.

[0061] Specifically, the number of the plant areas can be set to multiple as needed. For the convenience of explanation, as shown in the attached Figure 5As shown, in this embodiment, two factory areas are taken as an example, and the two factory areas are defined as the first factory area A and the second factory area B. The material handling system includes an intra-area handling system respectively arranged in the first factory area A and the second factory area B. The intra-area handling system may include an overhead crane handling system, and may also include a ground handling system, such as an AGV handling system, a rail trolley handling system, etc., or may have an overhead crane handling system and a ground handling system at the same time. The specific structures of the overhead crane handling system and the ground handling system are known technologies and are not described here. At the same time, the tracks of the intra-area handling systems in the first factory area A and the second factory area B are divided into multiple track partitions, and each track partition is configured with an independent TCS to perform the operation control of the handling equipment in the track partition. The intra-area handling systems of different factory areas can be connected to the MCS of their respective factory areas respectively, or they can be connected to a common MCS. When each factory area has an independent MCS, the MCSs communicate with each other.

[0062] For the convenience of explanation, in the following, the handling systems of the first and second plant areas are described by taking an overhead crane handling system as an example, and correspondingly, the handling equipment is an overhead crane.

[0063] As attached Figure 5 As shown, the tracks in the first plant area A and the second plant area B are connected by at least one transfer track C, and the transfer track C includes a first section C01, a second section C02, a first turning section C03, and a second turning section C04. The first section C01 and the second section C02 are connected between the tracks in the first plant area and the second plant area. The aerial handling vehicle in the first plant area A moves from the first section to the second plant area B, and the aerial handling vehicle in the second plant area B moves from the second section C02 to the first plant area A. The aerial handling vehicle transferred from the first plant area A (the plant area at the first end of the transfer track) to the second plant area B (the plant area at the second end of the transfer track) is defined as an aerial handling vehicle transferred in direction one, and the aerial handling vehicle transferred from the second plant area B to the first plant area A is defined as an aerial handling vehicle transferred in direction two. The first turning section C03 is close to the first plant area A and is used for the aerial handling vehicle to move from the second section to the first section. The second turning section C04 is close to the second plant area B and is used for the aerial handling vehicle to move from the first section to the second section.

[0064] The specific shapes of the first section C01, the second section C02, the first turning section C03 and the second turning section C04 can be designed as needed. For example, the first section C01 and the second section C02 are two parallel straight extension sections. Preferably, the first section C01 and the second section C02 include a straight extension section and a 90° turning section connected at both ends of the straight extension section, so that the first section C01 and the second section C02 are C-shaped and they are arranged in mirror symmetry. The first turning section C03 and the second turning section C04 are C-shaped rails, and the straight extension sections of the first section C01 and the second section C02 and the first turning section C03 and the second turning section C04 form a waist-shaped circulating moving section.

[0065] The transfer track C also includes exception handling sections respectively configured for the aerial transport vehicle transferred in direction one and the aerial transport vehicle transferred in direction two. It is defined that the exception handling section configured for the aerial transport vehicle transferred in direction one is the exception handling section No. 1 C05, and the exception handling section configured for the aerial transport vehicle transferred in direction two is the exception handling section No. 2 C06. The number and position of the exception handling section No. 1 C05 and the exception handling section No. 2 can be designed according to needs. For example, the exception handling section No. 1 can be connected to the side of the straight extension section of the second section C02 and / or the second turning section C04, and the exception handling section No. 2 can be connected to the side of the straight extension section of the first section C01 and / or the first turning section C03. At least one processing station C07 is respectively provided at the exception handling section No. 1 and the exception handling section No. 2.

[0066] At the same time, the transfer track is also provided with a first start switching point C08, a first verification point C09, a first waiting point C10 and a first secondary verification point C11 for use by an aerial transport vehicle transferring in direction 1. The first start switching point C08, the first verification point C09 and the first waiting point C10 are sequentially arranged on the straight extension of the first section C01, and the first start switching point C08 is close to the first plant area A, and the first waiting point C10 is close to the second plant area B. Of course, the first waiting point C10 can also be arranged at the 90° turning section of the first section close to the second plant area. The first secondary verification point C11 is arranged on the straight extension of the second section C02 and / or on the second turning section C04, and the first secondary verification point C11 is located upstream of the entrance end of the first abnormal processing section C05 connected to the track where it is located.

[0067] The transfer track is also provided with a second start switching point C12, a second verification point C13, a second waiting point C14, and a second secondary verification point C15 for use by an aerial transport vehicle transferring in direction 2. The second start switching point C12, the second verification point C13, and the second waiting point C14 are sequentially arranged on the straight extension of the second section C02, and the second start switching point C12 is close to the second plant area B, and the second waiting point C14 is close to the first plant area A. The second secondary verification point C15 is arranged on the straight extension of the first section C01 and / or on the first turning section C03, and the second secondary verification point C15 is located upstream of the entrance end of the second abnormal handling section C06 connected to the track where it is located.

[0068] Position identifiers for the aerial transport vehicle to determine the positions of each point are respectively provided at the first starting switching point C08, the first verification point C09, the first waiting point C10, the first secondary verification point C11, the second starting switching point C12, the second verification point C13, the second waiting point C14 and the second secondary verification point C15. The position identifiers may be, for example, electronic tags (RFID tags, NFC tags) or bar codes or QR codes, etc. Correspondingly, a reader for reading the position identifiers may be provided on the aerial transport vehicle.

[0069] The following uses the example of transporting a material from the first plant area A to a designated location in the second plant area B, and there is only one transfer track C between the first plant area and the second plant area, to illustrate how to transport the material between the plant areas. For the sake of convenience, the TCS to which the track partition where the material to be transported is located at the initial location of the first plant area is defined as the first execution TCS, the TCS to which the track partition where the material to be transported is located at the final location of the second plant area to be moved to is defined as the second execution TCS, and the idle aerial transport vehicle that executes the transport instruction is defined as the execution aerial transport vehicle.

[0070] Specifically, as attached Figure 6 , Attachment Figure 7 As shown, when the MCS of the first plant receives the instruction from the MES and determines that a material in the first plant A needs to be transported to a designated location in the second plant B, it sends a transport instruction to the first executing TCS in the first plant A. When the first executing TCS receives the transport instruction, it can first determine the executing aerial transport vehicle that executes the transport instruction, and then send a transport request to the second executing TCS. At this time, the transport request includes the information of the executing aerial transport vehicle that needs to execute the transport instruction. Of course, in other embodiments, the first executing TCS can also determine the executing aerial transport vehicle that executes the transport instruction and send the information of the executing aerial transport vehicle to the second executing TCS after receiving the response from the second executing TCS that the transport can be carried out.

[0071] After receiving the transfer request, the second execution TCS sends a response indicating that the transfer is possible to the first execution TCS.

[0072] The first executing TCS sends an execution instruction to the executing aerial handling vehicle that executes the transport request and is managed by the first executing TCS to move the executing aerial handling vehicle to the first waiting point C10 at the cyclic moving section of the transfer track C.

[0073] After receiving the execution instruction, the AHV first goes to the location of the material according to the planned path to grab the material, then moves to the first section C01 and moves to the first waiting point C10.

[0074] When the executing aerial transport vehicle moves to the first waiting point on the first section C01, it determines whether to move to the first starting switching point C08. If it is determined to move to the first starting switching point C08, the executing aerial transport vehicle starts data switching, and the data switching includes switching of operating data such as map data and teaching data, and also includes wireless network point switching and establishing a connection with a second executing TCS.

[0075] Specifically, the executing aerial transport vehicle stores compressed files of operation data including map data, teaching data, etc. corresponding to each plant area. When it is determined to be transferred to the second plant area B, the executing aerial transport vehicle finds the compressed file corresponding to the second plant area B from the compressed files stored therein according to the number of the second plant area B or other identification information of the second plant area B, decompresses it and switches the corresponding operation data. After the operation data switching is completed, if the executing aerial transport vehicle has established a connection with the second execution TCS at this time, the executing aerial transport vehicle feeds back a message of completing the data switching to the second execution TCS. Otherwise, after determining to establish a connection with the second execution TCS, the executing aerial transport vehicle feeds back a message of completing the data switching to the second execution TCS. After receiving the message of completing the data switching of the executing aerial transport vehicle, the second execution TCS can feed back a message of completing the data switching of the executing aerial transport vehicle to the first execution TCS. Correspondingly, the first execution TCS can release the management of the executing aerial transport vehicle.

[0076] The switching of the wireless network point and the establishment of a connection with the second executing TCS are implemented, for example, according to the following process: the executing aerial transport vehicle switches its IP to the network segment of the second executing TCS, and communicates with the second executing TCS through UDP unicast. The executing aerial transport vehicle sends a management request to the second executing TCS. The second executing TCS includes the aerial transport vehicle in the management scope according to the management request of the aerial transport vehicle and feeds back the information of including it in the management scope to the executing aerial transport vehicle. When the executing aerial transport vehicle receives the information of including it in its management scope fed back by the second executing TCS, it determines whether its operation data switching is completed. If completed, it feeds back the message of data switching completion to the second executing TCS. The technology of the second executing TCS including the aerial transport vehicle in the management scope can refer to the relevant content of Example 1, which will not be repeated here. The second executing TCS feeds back the information that the aerial transport vehicle has been included in its management scope to the MCS of the second plant area and / or the first executing TCS.

[0077] The executing aerial transport vehicle can simultaneously switch the operation data and the wireless network point and establish a connection with the second executing TCS. Before the operation data is switched, if the executing aerial transport vehicle establishes a connection with the second executing TCS, after the operation data is switched, the executing aerial transport vehicle confirms the completion of the data switching and feeds back the information of the completion of the data switching to the second executing TCS; if the executing aerial transport vehicle establishes a connection with the second executing TCS of the second plant after the operation data is switched, after the connection is established, the executing aerial transport vehicle confirms the completion of the data switching and feeds back the information of the completion of the data switching to the second executing TCS. Of course, in other embodiments, the operation data can be switched first, and after the operation data is switched, the wireless network store can be switched and the connection with the second executing TCS can be established.

[0078] The AHV confirms whether it has moved to the first verification point C09 during the moving process. If it is confirmed that it has moved to the first verification point C09, the AHV determines whether its data switching is completed.

[0079] If yes, that is, the AHV determines that the data switching is completed, the AHV continues to move along the first section C01 to the first waiting point C10 and waits for the control instruction of the second TCS. At this time, the second TCS will immediately send a control instruction to the AHV at the first waiting point C10 to control the AHV to move to the terminal position where the material is to be transported according to the planned path and unload it, and then move the AHV to the standby area to wait for the call.

[0080] If not, that is, the AHV determines that it has not completed the data switching, the AHV moves along the second turning section C04 to the second section C02 and moves toward the first plant area A.

[0081] The AHV determines whether it has moved to the first secondary verification point C11 during its movement along the second section C02. If it is determined that the AHV has moved to the first secondary verification point C11, the AHV performs secondary verification to see whether its data switching is completed.

[0082] If so, the AHV cycles along the second section, the first turning track, and the first section back to the first waiting point C10 to wait for the control instruction of the second TCS.

[0083] If not, the executing aerial transport vehicle enters the No. 1 abnormal processing section to wait for manual intervention. The specific operation of manual intervention is not the focus of the present invention and will not be described here. In addition, during manual intervention, if it is determined that the executing aerial transport vehicle cannot establish a connection with the second executing TCS, the first executing TCS communicates with the second executing TCS to determine whether the second executing TCS is down and perform processing. After the manual intervention is completed, the executing aerial transport vehicle completes the data switching and feeds back the information of the completion of the data switching to the second executing TCS. At the same time, the executing aerial transport vehicle loops back to the first waiting point C10 from the No. 1 abnormal processing section to wait for the control instruction of the second executing TCS.

[0084] Furthermore, after issuing the transport request, if the first execution TCS determines that the second execution TCS responds abnormally, it performs corresponding abnormal control. The response abnormality is, for example, the second execution TCS response timeout or the response status of the second execution TCS is abnormal or it is confirmed that the second execution TCS is down (the first execution TCS can determine whether the second execution TCS is down by sending a heartbeat packet to the second execution TCS), etc.

[0085] If the first executing TCS has not yet determined the executing aerial transport vehicle to execute the transport request, the first executing TCS suspends determining the executing aerial transport vehicle and suspends executing the transport instruction; if the first executing TCS has determined the executing aerial transport vehicle to execute the transport request, the first executing TCS suspends scheduling the executing aerial transport vehicle or schedules the executing aerial transport vehicle to a designated location to wait for subsequent scheduling or controls the executing aerial transport vehicle to grab materials and then move to the designated location to wait for subsequent scheduling.

[0086] Of course, if the first executing TCS determines that an abnormality occurs in the second executing TCS after the executing aerial transport vehicle enters the transfer track and before moving to the first starting switching point, the first executing TCS can control the executing aerial transport vehicle to move in a circular movement section or directly return to the standby point in factory area one or directly enter the No. 1 abnormal processing section to wait for manual intervention.

[0087] Furthermore, if multiple transfer tracks are set between the first plant area A and the second plant area B, when a transfer needs to be performed, the first execution TCS will select one from the multiple transfer tracks according to a predetermined principle to implement the transfer instruction. At the same time, the first execution TCS will feedback the information of the transfer track C selected to implement the transfer instruction to the second execution TCS. Therefore, the second execution TCS can accurately know the transfer track C where the aerial transport vehicle is located to perform corresponding control.

[0088] When it is determined that a material needs to be transported between factories, the first TCS execution can select the transfer track according to the load rate of each transfer track and the distance of each transfer track from the material in the order from near to far, that is, give priority to whether the load rate meets the requirements, and then consider the distance of each specific track from the material. For example, when the load rate of the transfer track closest to the material does not meet the requirements, if the load rate of the transfer track second closest to the material meets the requirements, the transfer track second closest to the material is selected to realize the transportation. When judging whether the load rate meets the requirements, the load rate can be compared with a set threshold. If the set threshold is reached, it is considered that it does not meet the requirements, otherwise it is considered that it meets the requirements. The set threshold can be designed as needed, for example, selected between 0.75-1.

[0089] Further, when selecting the transfer track C, the first execution TCS can also determine whether to select the transfer track C according to the number of aerial transport vehicles at the No. 1 abnormal processing section C05 matched to the first plant area A in each transfer track C. If it is determined that the number of aerial transport vehicles at the No. 1 abnormal processing section C05 in a transfer track C exceeds the warning value, the transfer track C is not selected for the implementation of the handling instruction. For example, the warning value of the number of aerial transport vehicles that can be parked at each No. 1 abnormal processing section C05 is 4. When there are 4 execution aerial transport vehicles at a No. 1 abnormal processing section C05, that is, the number of aerial transport vehicles reaches the warning value, the transfer track C is not selected. The warning value is less than the maximum number of execution aerial transport vehicles that can be parked on the abnormal processing section. The first execution TCS can determine the number of execution aerial transport vehicles at each No. 1 abnormal processing section according to the number of execution aerial transport vehicles that inquire whether they can enter the No. 1 abnormal processing section and the number of execution aerial transport vehicles that complete manual intervention at the No. 1 abnormal processing section. Of course, when selecting the transfer track C, the first execution TCS may also be selected according to the number of AHVs on the transfer track C. For example, the number of AHVs that can be allowed to exist simultaneously on each transfer track C is 10, and when it is determined that the number of AHVs on a transfer track reaches 10, the transfer track is not selected.

[0090] Therefore, when selecting the transfer track C, it can be determined whether the number of aerial transport vehicles at the first abnormal processing section C05 and / or the number of aerial transport vehicles on the transfer track meets the requirements. If not, the transfer track is selected based on the load rate and the distance between each transfer track and the material.

[0091] Further, when the number of AHVs at the No. 1 abnormal processing section reaches an upper limit, the system suspends the use of the transfer track where the No. 1 abnormal processing section is located, for example, the system sets the use status mark of the transfer track to closed or unavailable, etc., until the number of AHVs at the No. 1 abnormal processing section is lower than the upper limit, then the system resumes the use of the transfer track. The upper limit is greater than the warning value and less than the maximum number of AHVs that can be parked on the abnormal processing section.

[0092] Furthermore, when the executing aerial transport vehicle determines at the first secondary verification point C11 that data switching has not been completed and needs to enter the first exception processing section C05, the number of executing control transport vehicles at the first exception processing section C05 may have reached the set warning value or even the upper limit value. Therefore, the executing aerial transport vehicle that needs to enter the first exception processing section C05 can first confirm whether it can enter the first exception processing section C05 and which processing station of the first exception processing section C05 it can enter.

[0093] Specifically, when the executing AHV determines that the data switching has not been completed at the first secondary verification point C11, at this time, if the executing AHV has established a connection with the second executing TCS, but the operation data switching has not been completed, the executing AHV inquires the second executing TCS whether it can enter the first abnormal processing section C05. If the executing AHV has not established a connection with the second executing TCS when passing the first secondary verification point, the executing AHV switches to a communication connection with the first executing TCS and inquires whether it can enter the first abnormal processing section C05.

[0094] The first executing TCS and the second executing TCS communicate regarding the situation in which the executing aerial transport vehicle inquires whether it can enter the first exception handling section C05, so that when the executing aerial transport vehicle inquires the first executing TCS or the second executing TCS whether it can enter the first exception handling section C05, the first executing TCS and the second executing TCS can know how many executing aerial transport vehicles have inquired about entering the first exception handling section, and at the same time, can determine whether the executing aerial transport vehicle currently inquiring can enter the first exception handling section C05 in combination with the situation of the executing aerial transport vehicle that has completed manual intervention at the first exception handling section C05.

[0095] For example, it is assumed that there are four processing stations at the No. 1 abnormal processing section C05, and the four processing stations are defined as No. 1 processing station, No. 2 processing station, No. 3 processing station and No. 4 processing station in sequence, No. 1 processing station is close to the first plant area A, and No. 4 processing station is close to the second plant area B, and it is assumed that the warning value is 4. In addition, when each executing aerial transport vehicle completes manual intervention and leaves the No. 1 abnormal processing section C05, the executing aerial transport vehicles behind it can be manually controlled to move forward one parking position before manual intervention, and each executing aerial transport vehicle after moving to the parking position feeds back the information of its moving to the parking position to the first executing TCS and the second executing TCS. Alternatively, each executing aerial transport vehicle at the No. 1 exception handling section may send a pursuit request to the first executing TCS or the second executing TCS connected to it, i.e., requesting the executing aerial transport vehicle in front of it to leave the current position. When the first executing TCS or the second executing TCS determines that the executing aerial transport vehicle at a position has completed manual intervention and left the No. 1 exception handling section, the first executing TCS or the second executing TCS sends an instruction to move forward one position to other executing aerial transport vehicles located at the No. 1 exception handling section.

[0096] When the No. 1 execution aerial transport vehicle inquires the first execution TCS or the second execution TCS whether it can enter the No. 1 exception processing section C05, the first execution TCS and the second execution TCS know that the number of aerial transport vehicles at the No. 1 exception processing section C05 is 0, and the No. 1 execution aerial transport vehicle can enter the No. 1 processing station of the No. 1 exception processing section C05.

[0097] When the No. 2 executing aerial transport vehicle inquires the first executing TCS or the second executing TCS whether it can enter the No. 1 exception handling section C05, if it is determined that the No. 1 executing aerial transport vehicle has not completed manual intervention at the No. 1 exception handling section C05, at this time, the first executing TCS and the second executing TCS determine that the number of aerial transport vehicles at the No. 1 exception handling section C05 is 1 and the first parking space is occupied, then the No. 2 executing aerial transport vehicle can enter the No. 1 exception handling section C05 and park at the second parking space. At this time, it is determined that the number of aerial transport vehicles at the No. 1 exception handling section C05 is 2.

[0098] If it is determined that the No. 1 executing aerial transport vehicle has completed manual intervention at the No. 1 processing station and has fed back to the second executing TCS the completion of data switching, then the first executing TCS and the second executing TCS determine that there is no executing aerial transport vehicle at the No. 1 exception processing section C05, that is, the number of aerial transport vehicles at the No. 1 exception processing section C05 is restored to 0. At this time, it is determined that the No. 2 executing aerial transport vehicle can enter the first parking position of the No. 1 exception processing section C05.

[0099] When the No. 3 execution aerial transport vehicle asks whether it can enter the No. 1 exception handling section C05, if it is determined that the No. 1 execution aerial transport vehicle at the first parking space has not yet completed manual intervention, the first execution TCS and the second execution TCS determine that the number of aerial transport vehicles at the No. 1 exception handling section C05 is 2 and the second parking space is occupied, and the No. 3 execution aerial transport vehicle can enter the No. 1 exception handling section C05 and park at the third parking space.

[0100] If it is determined that the No. 2 AHV has moved to the first parking space, the first and second TCSs determine that the number of AHVs at the No. 1 exception handling section C05 is 1 and the first parking space is occupied, and the No. 3 AHV can move to the second parking space.

[0101] If it is determined that the second AHV has completed data switching by manual intervention, the first TCS and the second TCS determine that the number of AHVs at the first exception processing section C05 is 0, and determine that the third AHV can enter the first parking space.

[0102] When the No. 4 aerial transport vehicle inquires whether it can enter the No. 1 exception handling section C05, if it is determined that the No. 1 aerial transport vehicle at the first parking space has not yet completed manual intervention, the first execution TCS and the second execution TCS determine that the number of aerial transport vehicles at the No. 1 exception handling section C05 is 3 and the third parking space is occupied, and then determine that the No. 4 aerial transport vehicle can enter the fourth parking space of the No. 1 exception handling section C05.

[0103] If it is determined that the No. 3 aerial transport vehicle is located at the first parking position or the second parking position, the first execution TCS and the second execution TCS determine that the number of aerial transport vehicles at the No. 1 exception processing section C05 is 1 or 2, and the first parking position or the second parking position is occupied, and the No. 4 aerial transport vehicle can move to the second parking position or the third parking position behind the No. 3 aerial transport vehicle.

[0104] If it is determined that the No. 3 AHV has completed data switching through manual intervention, the first execution TCS and the second execution TCS determine that the number of AHVs at the No. 1 exception processing section C05 is 0, and the No. 4 AHV can be moved to the first parking position.

[0105] When the No. 5 AHV inquires whether it can enter the No. 1 abnormal processing section C05, if it is determined that the No. 1 AHV has not yet completed manual intervention, the first execution TCS and the second execution TCS determine that the number of AHVs at the No. 1 abnormal processing section C05 is 4, and determine that the No. 5 AHV cannot enter the No. 1 abnormal processing section C05. Therefore, the No. 5 AHV needs to continue to move along the second main road and transfer to the first main road through the second turning section C04 for circulation. At the same time, when passing the first verification point C09 again, it is confirmed whether the data switching is completed. Of course, the above problem can be avoided by controlling the number of AHVs that can enter each of the transfer tracks. For example, when the number of AHVs that can enter each of the transfer tracks is less than the number of AHVs that can be parked at the abnormal processing section, the problem that the AHV cannot enter the No. 1 abnormal processing section can be avoided. In addition, when the executing aerial transport vehicle resumes communication with the first executing TCS and cannot obtain a response from the first executing TCS, the executing aerial transport vehicle also continues to circulate along the second main road and transfers to the first main road through the second turning section C04, and can enter the No. 1 exception handling section to wait for manual intervention if no new instructions are obtained after circulating for a certain period of time.

[0106] When it is determined that the No. 4 AMH is in the first parking position, the second parking position, or the third parking position, it is determined that the No. 5 AMH can enter the second parking position, the third parking position, or the fourth parking position.

[0107] If it is determined that the data switching of the No. 4 executing aerial transport vehicle has been completed by manual intervention, the No. 5 executing aerial transport vehicle may be moved to the first parking position.

[0108] And so on, so as to continuously determine whether each of the executing aerial transport vehicles can enter the first exception processing section C05.

[0109] Of course, in other embodiments, an image recognition device may be provided on the aerial transport vehicle, and the image recognition device is used to identify whether there are other aerial transport vehicles in front of the aerial transport vehicle. The specific image recognition method is a known technology and will not be described here. Thus, when the aerial transport vehicle enters the first abnormal processing section C05, the aerial transport vehicle can determine the processing station to be stopped at the first abnormal processing section C05 according to the image recognition situation. Of course, in other embodiments, a laser obstacle avoidance radar system may also be provided on each aerial transport vehicle, and the laser obstacle avoidance radar is used to determine whether there are other aerial transport vehicles in front of it and maintain a safe distance from the aerial transport vehicle in front.

[0110] Furthermore, when the first executing TCS executes two transport instructions through a transfer track C, the executing aerial transport vehicle that executes the previous transport instruction can enter the first section C01 after the executing aerial transport vehicle that executes the previous transport instruction passes through the first verification point C09 and feeds back to the second executing TCS the completion of data switching or passes through the first secondary verification point C11.

[0111] There are many implementation methods of the present invention, and all technical solutions formed by equivalent transformation or equivalent transformation fall within the protection scope of the present invention.

Claims

1. A method for controlling conveyance, characterized in that: The steps include: The upper control system determines the target TCS to which the transport instruction is to be sent according to the starting position of the transport instruction, and sends the transport instruction to the target TCS; After receiving the transport instruction, the target TCS searches whether there is a transport device that meets the requirements in the track partition it manages. If so, the target TCS controls the transport device that meets the requirements in the track partition it manages to execute the transport instruction; If not, the target TCS determines an idle transport device that meets the requirements outside the track partition it manages and requests the TCS to which the idle transport device that meets the requirements belongs to transfer management authority; After obtaining the management authority over the idle transport equipment, the target TCS controls the idle transport equipment to execute the transport instruction.

2. The method for controlling the transport of claim 1, wherein: Information synchronization is performed between each TCS so that each TCS can share the real-time information of each handling equipment.

3. The method for controlling the transport of claim 1, wherein: The target TCS determines an idle transport device with the shortest moving path from the track partition managed by it to the starting position as the transport device that meets the requirements.

4. The method for controlling the transport of claim 1, wherein: When determining the idle transport equipment that meets the requirements, first determine the idle transport equipment with the shortest moving path to the starting position, and then determine whether the number of transport equipment and / or the load rate of transport equipment in the track partition where the idle transport equipment with the shortest moving path to the starting position is located meets the requirements. If so, select the idle transport equipment with the shortest moving path to the starting position as the idle transport equipment; if not, select the idle transport equipment with the shortest moving path to the starting position from other track partitions where the number of transport equipment and / or the load rate of transport equipment meet the requirements to execute the transport instruction.

5. The transport control method according to claim 1, characterized in that: When it is determined that a TCS needs to be updated, the track partitions and handling equipment managed by the TCS that needs to be updated are taken over by other TCSs first, and then the TCS that needs to be updated is updated; And / or when it is determined that a TCS is down, other TCSs take over the track partitions and handling equipment managed by the down TCS.

6. The method for controlling the transport according to claim 5, characterized in that: When selecting other TCS to take over the track partition managed by the TCS that is down or needs to be updated, the TCS to which the track partition adjacent to the track partition managed by the TCS that is down or needs to be updated belongs is selected to take over.

7. The transport control method according to claim 1, characterized in that: After the idle transport equipment that executes the transport instruction completes the transport, the target TCS controls the idle transport equipment that executes the transport instruction to return to the track partition where it was originally located, and when the idle transport equipment that executes the transport instruction is the idle transport equipment that meets the requirements, when the idle transport equipment that meets the requirements returns to the track partition where it was originally located, the target TCS transfers the management authority of the idle transport equipment that meets the requirements to the TCS to which the idle transport equipment that meets the requirements originally belongs.

8. The transport control method according to claim 1, characterized in that: The idle transport equipment that executes the transport instruction stays in the track partition where the terminal position is located after completing the transport, and the target TCS transfers their management authority to the TCS corresponding to the track partition where the terminal position is located; at the same time, the TCS corresponding to the track partition where the terminal position is located determines whether the number of transport equipment it manages reaches the upper limit threshold. If so, the management authority of one of the idle transport equipment is transferred to another TCS. The load rate of the transport equipment in the track partition managed by the other TCS is lower than the set value, and the other TCS controls the idle transport equipment to be transferred to the track partition managed by it.

9. The method for controlling transport according to any one of claims 1 to 8, characterized in that: When any TCS determines that the load rate of the transport equipment in the track partition it manages is lower than the set value, the TCS requests other TCSs to transfer the management authority of the idle transport equipment in the track partition it manages.

10. A material handling system, comprising a host control system, a TCS, a track and handling equipment running along the track, characterized in that: The track is divided into a plurality of independent and continuous track partitions, each track partition and each transport device is respectively configured to be managed by only one of the plurality of TCSs, and each TCS is configured to manage at least one track partition.

11. The material handling system according to claim 10, characterized in that: It includes tracks arranged in different factory areas, and the tracks of at least two factory areas are connected by a transfer track; The transfer track includes a cyclic moving section and a No. 1 abnormal processing section and a No. 2 abnormal processing section connected to the side of the cyclic moving section; The first abnormal processing section is configured to be used by the handling equipment transferred from the factory area at the first end of the transfer track to the factory area at the second end of the transfer track when the data switching is not completed; The second exception processing section is configured to be used when the handling equipment that is transferred from the factory area at the second end of the transfer track to the factory area at the first end of the transfer track is not completed.

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