Flexible logistics system

Abstract

The application relates to the technical field of industrial automation production, and discloses a flexible logistics system, which comprises a front-end management and control subsystem and a rear-end management and control subsystem, and a scene module is used for storing various field models; the field model is used for indicating logistics scene information required when executing a logistics management and control task in various production scenes; the logistics scene information comprises production yield information; a processing module is used for acquiring configuration information input by a user in the front-end management and control subsystem through an interface module; the configuration information is used for indicating various production scenes; according to the configuration information, a target field model is selected in the scene module; according to the target field model and the production yield information, a logistics management and control task is generated; and a target service unit is called to execute the logistics management and control task based on the target field model. The flexible logistics system can quickly adapt to changes of a generated scene and improve the efficiency and accuracy of logistics.

Description

Technical Field

[0001] This application relates to the field of industrial automation production technology, specifically to flexible logistics systems. Background Technology

[0002] With the development of the manufacturing industry, the impact of logistics on production efficiency and quality is becoming increasingly significant. Whether it's raw materials before production, finished products after production, or even semi-finished products during production, timely supply and transfer are essential to avoid production interruptions or delays. Therefore, improving logistics efficiency and quality has become a pressing issue for businesses.

[0003] Currently, logistics systems are used to manage logistics in the production process, allowing for the rational arrangement of material processing, storage, and transfer based on production plans and market demand. This reduces inventory costs and capital tied up, and improves the company's capital turnover rate. However, when production scenarios change (e.g., a change in the production plant), logistics demands change, but current logistics systems cannot adapt quickly enough. This leads to a series of problems such as warehouse inventory backlog, capital tied up, material losses, and delivery delays, severely reducing logistics efficiency and accuracy.

[0004] Therefore, how to enable the logistics system to quickly adapt to different production scenarios while improving the efficiency and accuracy of logistics has become an urgent problem to be solved. Summary of the Invention

[0005] In view of this, embodiments of this application provide a flexible logistics system to address the problem of how to enable the logistics system to quickly adapt to different production scenarios while improving the efficiency and accuracy of logistics.

[0006] In a first aspect, embodiments of this application provide a flexible logistics system, which includes a front-end control subsystem and a back-end control subsystem. The back-end control subsystem includes an interface module, a scenario module, and a processing module. The processing module includes at least one service unit.

[0007] The scenario module stores models for various domains; the domain models indicate the logistics scenario information required to perform logistics control tasks in various production scenarios; the logistics scenario information includes production output information.

[0008] The processing module is used for:

[0009] The interface module obtains the configuration information input by the user in the front-end management subsystem; the configuration information is used to indicate various production scenarios.

[0010] Based on the configuration information, select the target domain model in the scenario module;

[0011] Based on the target domain model and production output information, generate logistics management tasks;

[0012] The target service unit is invoked to perform logistics control tasks based on the target domain model.

[0013] Optionally, the processing module is also used to receive instructions from the user in the front-end management subsystem to modify the target domain model through the interface module, and then modify the target domain model.

[0014] Optionally, the backend management subsystem also includes scene plugins; the scene plugins include various customized domain models and the first interface;

[0015] The processing module is also used to load the scene plugin when it receives the start command from the backend management subsystem, so as to load the customized domain module into the scene module through the first interface; the customized domain model is the domain model created by the scene plugin in response to the user's input domain model customization command.

[0016] Optionally, the flexible logistics system also includes at least one storage location, which includes a pallet; the processing module also includes a control service unit and a storage location service unit; the control service unit integrates at least one robot control system;

[0017] The storage location service unit is used for:

[0018] Obtain the first identifier information of the pallet in the storage location;

[0019] Based on the first identification information, determine the availability status of the storage location;

[0020] The processing module is also used to generate material transportation tasks based on idle status, production output information, and target domain model;

[0021] The management and control service unit is used for:

[0022] Based on the target domain model, determine the target robot control system;

[0023] The material transportation task is sent to the target robot control system, so that the target robot control system can call the target logistics equipment to execute the material transportation task.

[0024] Optionally, the backend control subsystem also includes callback interfaces corresponding to each robot control system; the processing module also includes a signal service unit.

[0025] The processing module is also used for:

[0026] When the target robot control system is detected to call the target callback interface, the processing result of the target logistics equipment on the material is obtained;

[0027] Update the material transportation task based on the processing results;

[0028] The signal service unit is used to determine and execute the safety signal interlock strategy required when the target logistics equipment performs material transportation tasks, based on the type of bus protocol between the target robot control system and the back-end management subsystem; the safety interlock strategy is used to indicate that the material can be safely transported.

[0029] Optionally, the flexible logistics system also includes a production control system, which connects to the back-end control subsystem via an interface module;

[0030] The processing module is also used to receive logistics control commands sent by the production control system; the logistics control commands include first-domain model information;

[0031] In the scene module, select the first domain model that matches the information of the first domain model;

[0032] Based on the first domain model and logistics control commands, generate the first logistics control task;

[0033] The first service unit is invoked to execute the first logistics control task based on the first domain model.

[0034] Optionally, the processing module is also used for:

[0035] Receives a second logistics control task sent by the production control system; the second logistics control task includes second domain model information.

[0036] In the scenario module, select the second domain model that matches the information of the second domain model;

[0037] The second service unit is invoked to execute the second logistics control task based on the second domain model.

[0038] Optionally, the front-end control subsystem includes at least one display device;

[0039] The processing module is also used to send the execution results of logistics control tasks to the front-end control subsystem through the interface module, so that the front-end control subsystem can display the execution results in the target format on the target display device according to the configuration information.

[0040] Optionally, the first identification information of the pallet is associated with the second identification information of the material; the control service unit is also used to monitor the flow of the material based on the first identification information and the second identification information.

[0041] Optionally, the storage location service unit is also used to update the storage location label based on the second identification information of the materials in the storage location; the storage location label is used to indicate the materials stored in the storage location and the production line matched with the storage location.

[0042] Secondly, embodiments of this application provide a computer device, including: a memory and a processor, which are communicatively connected to each other. The memory stores computer instructions, and the processor executes the computer instructions to run the aforementioned flexible logistics system.

[0043] Thirdly, embodiments of this application provide a computer-readable storage medium storing computer instructions for causing a computer to operate the aforementioned flexible logistics system.

[0044] Fourthly, embodiments of this application provide a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to operate the aforementioned flexible logistics system.

[0045] The technical solution provided in this application may include the following beneficial effects:

[0046] By setting up scenario modules in the backend control subsystem of the flexible logistics system to store various domain models, the logistics scenario information required for executing logistics control tasks under different production scenarios is integrated into the flexible logistics system. This allows the processing module to quickly select the corresponding target domain model for the production scenario indicated by the acquired configuration information from the scenario module. Based on this target domain model and production output information, a logistics control task matching the production scenario is automatically generated. This enables the logistics control task to change with the production scenario indicated by the configuration information, quickly adapting to different production scenarios and improving the flexibility and adjustability of the flexible logistics system. Furthermore, the target service unit is invoked to execute the logistics control task adapted to the production scenario, achieving fully automated execution of the logistics control task, improving logistics efficiency, and preventing a series of problems caused by the mismatch between the logistics control task and the production scenario, thus improving the accuracy of logistics. Attached Figure Description

[0047] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0048] Figure 1 This is a schematic diagram of the structure of a flexible logistics system according to some embodiments of this application;

[0049] Figure 2a This is a structural schematic diagram of yet another flexible logistics system according to some embodiments of this application;

[0050] Figure 2b This is a structural schematic diagram of a flexible logistics system according to one application scenario of this application;

[0051] Figure 3 This is a structural schematic diagram of yet another flexible logistics system according to some embodiments of this application;

[0052] Figure 4a This is a schematic diagram illustrating the workflow of a completed flexible logistics system for a production line performing material transportation tasks in one application scenario of this application.

[0053] Figure 4b yes Figure 4a A schematic diagram illustrating the workflow of the flexible logistics system involved in performing material transportation tasks;

[0054] Figure 5 This is a schematic diagram of the hardware structure of a computer device according to an embodiment of this application. Detailed Implementation

[0055] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0056] It should be understood that the term "instruction" mentioned in the embodiments of this application can be a direct instruction, an indirect instruction, or an indication of a relationship. For example, A instructing B can mean that A directly instructs B, such as B being able to obtain information through A; it can also mean that A indirectly instructs B, such as A instructing C, so B can obtain information through C; or it can mean that there is a relationship between A and B.

[0057] In the description of the embodiments of this application, the term "correspondence" may indicate that there is a direct or indirect correspondence between two things, or that there is an association between two things, or that there is a relationship of instruction and being instructed, configuration and being configured, etc.

[0058] In the embodiments of this application, "predefined" can be achieved by pre-storing corresponding codes, tables or other means that can be used to indicate relevant information in the device (e.g., including terminal devices and network devices). This application does not limit the specific implementation method.

[0059] Figure 1 This is a schematic diagram illustrating the structure of a flexible logistics system according to an embodiment of this application. The flexible logistics system includes a front-end control subsystem 110 and a back-end control subsystem 120.

[0060] The flexible logistics system adopts a browser / server (B / S) architecture, with both the front-end control subsystem 110 and the back-end control subsystem 120 located on the server. This allows users to access the system via a local area network within a large workshop without installing client software, further accelerating logistics efficiency. The front-end control subsystem 110 interacts with the back-end control subsystem 120 through interface module 121. Interface module 121 integrates a Web Application Programming Interface (Web API).

[0061] The backend control subsystem 120 uses a microservice architecture, which decomposes it into multiple independent modules, each responsible for a specific function, and the modules interact with each other via a network. This improves the scalability, maintainability, and reliability of the flexible logistics system. The backend control subsystem 120 may include an interface module 121, a scenario module 122, and a processing module 123.

[0062] The scenario module 122 is used to store various domain models; the domain models are used to indicate the logistics scenario information required when performing logistics control tasks in various production scenarios; the logistics scenario information includes production output information.

[0063] The processing module 123 can integrate some common services, allowing it to include at least one service unit. Each service unit is responsible for implementing different functions, and the service units interact with each other via a network. This improves the system's scalability, maintainability, and reliability. The functions implemented by each service unit in the processing module 123 can be configured according to requirements; this embodiment does not impose specific limitations.

[0064] Processing module 123 is mainly used for:

[0065] The interface module obtains the configuration information input by the user in the front-end management subsystem; the configuration information is used to indicate various production scenarios; the configuration information includes, but is not limited to, process lines, warehouse allocation, and equipment parameters.

[0066] Based on the configuration information, select the target domain model in the scenario module;

[0067] Based on the target domain model and production output information, generate logistics management tasks;

[0068] Invoke the target service unit based on the target domain model to execute logistics control tasks.

[0069] The processing module 123 can select a target domain model suitable for the production scenario indicated by the process route, warehouse location allocation, and equipment parameters in the configuration information within the scenario module 122. Then, based on the on-site production output information and other logistics scenario information recorded in the target domain model, it automatically generates a logistics control task suitable for that production scenario. Finally, it executes the logistics control task under the production scenario indicated by the target domain model by calling at least one target service unit responsible for implementing specific functions.

[0070] In summary, by setting up scenario modules in the backend control subsystem of the flexible logistics system to store various domain models, the logistics scenario information required for executing logistics control tasks under different production scenarios is integrated into the flexible logistics system. This allows the processing module to quickly select the corresponding target domain model for the production scenario indicated by the acquired configuration information. Based on this target domain model and production output information, a logistics control task matching the production scenario is automatically generated. This enables the logistics control task to change with the production scenario indicated by the configuration information, quickly adapting to different production scenarios and improving the flexibility and adjustability of the flexible logistics system. Furthermore, the target service unit is invoked to execute the logistics control task adapted to the production scenario, achieving fully automated execution of the logistics control task, improving logistics efficiency, preventing a series of problems caused by the mismatch between the logistics control task and the production scenario, and improving the accuracy of logistics.

[0071] Figure 2a This is a schematic diagram of another flexible logistics system according to an embodiment of this application. In addition to a front-end control subsystem 210 and a back-end control subsystem 220, the flexible logistics system may also include a production control system 230, an external robot control system module (Robot Control System, RCS) 240, a signal source 250, and plug-ins 260; the back-end control subsystem 220 may also integrate third-party libraries.

[0072] The front-end control subsystem 210 can be developed using the Vue framework, a lightweight front-end development framework that enables data-driven and component-based interface design. To adapt to different production scenarios, the front-end control subsystem 210 may also include at least one display device. The processing module is also used to send the execution results of logistics control tasks to the front-end control subsystem via the interface module, so that the front-end control subsystem 210 displays the execution results in the target format on the target display device according to the configuration information. This allows for the provision of front-end interfaces tailored to different job types and displayed on different display devices based on the specific production scenario, thereby improving the flexibility of the flexible logistics system.

[0073] The production control system 230, external robot control system module 240, signal source 250, and plug-in 260 can all interact with the backend control subsystem 220 through interface modules and network transmission protocols, allowing the production control system 230 to call the flexible logistics system via the network for flexible logistics control. The network transmission protocol can be Transmission Control Protocol (TCP), Hypertext Transfer Protocol (HTTP), or Hypertext Transfer Protocol Secure (HTTPS).

[0074] Production control system 230 can be any one or more production-related systems and / or browsers, such as a Manufacturing Execution System (MES), Warehouse Management System (WMS), Quality Management System (QMS), and / or a browser. External robot control system module 240 can be other versions or enterprise RCS systems not integrated into the backend control subsystem 220. Signal source 250 can be any one or more drive devices used to drive and control logistics equipment; for example, signal source 250 can be a Programmable Logic Controller (PLC), a push-button box, and a device using the Modbus TCP standard network communication protocol. Plug-in 260 can be a plug-in to external software different from the generating control system 230.

[0075] Optionally, to enable the flexible logistics system to quickly adapt to different production scenarios, the processing module in the backend control subsystem 220 can also be used to receive user commands to modify the target domain model input in the frontend control subsystem via the interface module, and modify the target domain model. When the target domain model is not suitable for the on-site production scenario, but extensive debugging is not required, the user can modify the target domain model through the front-end interface provided by the frontend control subsystem, so that the flexible logistics system can quickly adapt to the on-site production scenario.

[0076] Optionally, in order to address the non-standard customization issues arising from varying logistics needs across different factories, the backend control subsystem 220 may also include scenario plugins; these scenario plugins include various customized domain models and the first interface.

[0077] The processing module is also used to load the scene plugin when it receives the start command from the backend management subsystem, so as to load the customized domain module into the scene module through the first interface; the customized domain model is the domain model created by the first interface in response to the user's input domain model customization command.

[0078] By responding to user-inputted domain model customization commands through scenario plugins, a domain model distinct from those not stored in the scenario module can be created. This allows for the implementation of specific production scenario requirements through scenario plugins, satisfying the diverse logistics needs of different factories. Upon receiving a startup command from the backend management subsystem, the scenario plugin is loaded, and the customized domain module is added to the scenario module via the first interface. This enables subsequent execution of corresponding logistics management tasks within the appropriate production scenario. This resolves the non-standard customization issue arising from varying logistics needs across different factories.

[0079] It's important to note that scene plugins are dynamically loadable modules. They can be loaded into the runtime environment when the backend control subsystem 220 starts. Scene plugins can implement specific functions or logic, such as support for certain devices or protocols, or the application of certain algorithms or rules. Project plugins can also provide efficient low-code development methods for automated control through a built-in script engine. This means users can customize their control logic by writing simple scripts without writing complex code. This allows end users to flexibly adjust logistics control strategies according to their needs, more effectively ensuring production.

[0080] Optionally, the display devices included in the front-end control subsystem 210 can be personal computers (PCs), handheld computers (PDAs), or dashboards of different resolutions. The front-end control subsystem 210 can also provide operators and production managers with functions such as equipment monitoring, warehouse location management, and process line configuration. Users can also view equipment status, alarm information, and system operation data on the front-end interface provided by the front-end control subsystem 210, and perform simple operations and settings. Production managers can configure process lines, warehouse location allocation, and equipment parameters through the front-end interface, and view production statistical reports and operation logs.

[0081] When the flexible logistics system includes the production control system 230, the processing module in the backend control subsystem 220 can also be used to receive logistics control commands sent by the production control system; the logistics control commands include first domain model information;

[0082] In the scene module, select the first domain model that matches the information of the first domain model;

[0083] Based on the first domain model and logistics control commands, generate the first logistics control task;

[0084] The first service unit is invoked to execute the first logistics control task based on the first domain model.

[0085] When the processing module receives a logistics control command from the production control system 230 via the interface module, it selects the corresponding domain model (i.e., the first domain model) in the scenario module based on the first domain model information attached to the logistics control command. Then, based on the production output information and other logistics scenario information included in the first domain model, it automatically generates a first logistics control task adapted to the production scenario indicated by the first domain model. Subsequently, it executes the first logistics control task under the production scenario indicated by the first domain model by calling at least one first service unit responsible for implementing specific functions. In this way, interaction between the production control system and the backend control subsystem is achieved, integrating the factory's logistics with other information flows, thereby improving the overall production quality and efficiency of the factory.

[0086] Optionally, the processing module is also used to return the execution result of the first logistics control task to the production control system through the interface module, so that users can understand the execution status of logistics control commands in real time through the production management system.

[0087] In one application scenario, combined with Figure 2a ,like Figure 2bAs shown, the backend control subsystem 220 integrates RCS3 and the Master Demand Schedule (MDS) system; the production control system 230 may include MES, WMS, and a browser; the external robot control system module 240 may include RCS4, RCS1, and RCS2; the signal source 250 may include a programmable PLC, a button box, and a Modbus TCP device. The production control system 230 interacts with the backend control subsystem 220 through an interface module and the HTTP protocol; the signal source 250 and the external robot control system module 240 interact with the backend control subsystem 220 through an interface module and the TCP protocol.

[0088] MES can send production instructions to the backend control subsystem 220, which, through its processing module, arranges the transportation and distribution of logistics equipment according to the production instructions. WMS can send instructions to the backend control subsystem 220 to query inventory status. Upon receiving these instructions, the backend control subsystem 220, through its processing module, replenishes or clears inventory based on the available stock levels. QMS can send quality inspection results to the backend control subsystem 220, which, through its processing module, sorts and processes qualified and unqualified products based on these results. In this way, factory logistics and information flow can be integrated, improving the overall production quality and efficiency of the factory.

[0089] Optionally, in addition to autonomously generating logistics control tasks through the processing module in the back-end control subsystem, the flexible logistics system can also send logistics control tasks to the back-end control subsystem through the production control system 230. In this case, the processing module in the back-end control subsystem 220 can also be used for:

[0090] The system receives a second logistics control task sent by the production control system. This second logistics control task includes second domain model information. A second domain model matching the second domain model information is selected in the scenario module. A second service unit is invoked to execute the second logistics control task based on the second domain model. This allows logistics control tasks to be issued through the production control system, moving beyond the single operation of automatically generated logistics control tasks by the processing module, thus improving the adaptability and flexibility of the flexible logistics system.

[0091] Optionally, the flexible logistics system can receive logistics control tasks issued by the production control system, or it can decide independently whether to generate logistics control tasks. It can also switch to manual mode. When manual operation is required, users on the production site can issue logistics control tasks to the flexible logistics system through any front-end device, such as a PDA.

[0092] In summary, by modifying the target domain model, it can be quickly adapted to changes in the production scenario. Setting up a scenario plugin in the backend control subsystem and loading the customized domain scenarios created by the scenario plugin in response to user-input domain model customization commands into the scenario module facilitates the execution of corresponding logistics control tasks in the appropriate production scenario. This allows users to flexibly adjust the customized domain model according to their needs, thereby adjusting the domain model in the scenario module, solving the non-standard customization problem of different logistics requirements in different factories. In addition to automatically generating and executing the first logistics control task based on the logistics control commands sent by the production control system and the first domain model, the flexible logistics system can also execute the second logistics control task sent by the production control system. It is not limited to the single operation of logistics control tasks automatically generated by the processing module, further improving the adaptability and flexibility of the flexible logistics system.

[0093] Figure 3 This is a schematic diagram illustrating the structure of a flexible logistics system according to another embodiment of this application. The flexible logistics system includes a front-end control subsystem 301, a back-end control subsystem 302, and a production control system 303. The back-end control subsystem 302 includes an interface module 310, a scenario module 320, a processing module 330, a scenario plugin 340, a unit testing module 350, and a third-party library module 360. The dashed arrows in the diagram indicate the data flow between the modules.

[0094] Interface module 310 can expose its interface to the outside world through a controller, such as XController. When a user inputs operation management commands in the front-end management subsystem, interface module 310 will send the received operation management commands to third-party library module 360 ​​for storage to save the user's operation log. Operation management commands can be modification commands for the domain model or a customized domain model, such as modifications to signal information, control information, storage location information, and account information in the domain model or customized domain model.

[0095] The processing module 330 may include, but is not limited to, a signal service unit, a control service unit, a storage location service unit, a scenario service unit, a blackboard service unit, a log service unit, an account service unit, and a script engine service unit. Specifically, the log service unit is responsible for recording user operation logs; the signal service unit handles signals from logistics equipment and users, forwarding them to the corresponding service units or plugins; the control service unit monitors and controls logistics equipment, and performs logical judgments and executes actions based on the scenario configurations provided by the scenario service unit; the scenario management service unit stores and manages user-defined scenario configurations, including configurations for process lines, storage location allocation, and equipment parameters; and the account management service unit is responsible for user authentication and permission allocation, and recording user operation logs.

[0096] The domain model stored in scenario module 320 includes, but is not limited to, signal information, control information, storage location information, and account information. Signal information may include information about signals and drives; control information may include information about drives, logistics equipment, maps, and logistics control tasks; storage location information may include information about storage areas, storage locations, storage area and location identifiers, and pallets; account information may include information about users, permissions, and roles, with roles indicating various job types. Logistics equipment can be any unmanned handling tool that uses materials, bins, or pallets as transport objects, such as Automated Guided Vehicles (AGVs), shuttles, stacker cranes, and / or hoists. Drives are drive devices matched to the logistics equipment, such as PLCs, push-button boxes, and Modbus TCP devices.

[0097] Scene plugin 340 includes a second interface and a customized domain model. Scene plugin 340 can respond to user input to create or modify interfaces, creating new interfaces or modifying existing second interfaces within scene plugin 340.

[0098] Unit test module 350 is used to test a specific function or feature in the flexible logistics system and / or back-end control subsystem.

[0099] The third-party library module 360 ​​includes various databases, tool libraries, kernels, and frameworks for data interaction with the interface module 310, scene module 320, processing module 330, scene plugin 340, and unit testing module 350. This embodiment does not limit the types of databases, tool libraries, kernels, and frameworks included in the third-party library module 360; these can be configured according to actual needs.

[0100] Optionally, the flexible logistics system also includes at least one storage location, which includes a pallet; the processing module 330 also includes a control service unit and a storage location service unit; the control service unit integrates at least one robot control system;

[0101] The storage location service unit is used to obtain the first identification information of the pallets in the storage location; and to determine the vacancy status of the storage location based on the first identification information.

[0102] The processing module is also used to generate material transportation tasks based on idle status, production output information, and target domain model;

[0103] The management and control service unit is used for:

[0104] Based on the target domain model, determine the target robot control system;

[0105] The material transportation task is sent to the target robot control system, so that the target robot control system can call the target logistics equipment to execute the material transportation task.

[0106] The first identification information includes a label indicating the pallet's working status and the pallet's serial number; the material transport task includes at least one sub-task; the storage location's availability status is divided into occupied and idle. When occupied, it means there is a pallet in the storage location or a pallet will soon be available; when idle, it means there is no pallet in the storage location. Therefore, the storage location's availability status only needs to consider pallet occupancy. It is understood that in a flexible logistics system, pallets can be associated with storage locations. A pallet can be labeled "Processing" to indicate it is occupied; a pallet can be labeled "Unprocessed" to indicate it is not occupied. When a pallet in a storage location is labeled "Processing," it indicates that the storage location is occupied. When a pallet in a storage location is labeled "Unprocessed," it indicates that the storage location is idle.

[0107] The processing module 330 interacts with the storage unit via a network. Once the storage unit determines the storage location's availability, it sends this information to the processing module 330. When the processing module 330 determines the storage location is available, it generates a material transport task based on the logistics scenario information, including production output information, recorded in the target domain model. This material transport task, along with the target domain model information, is then sent to the control and management service unit. Upon receiving the material transport task, the control and management service unit selects a target robot control system that matches the target domain model based on the target domain model information. It then issues the material transport task to the target robot control system, enabling it to call upon the corresponding target logistics equipment to execute the task. This achieves autonomous decision-making and execution of material transport tasks adapted to the production scenario by the flexible logistics system, improving logistics efficiency and accuracy. It can be understood that a material transport task is a type of logistics control task. The target robot control system can be a robot control system integrated into the control and management service unit or a robot control system within an external robot control system module.

[0108] Optionally, the flexible logistics system can also generate logistics control tasks in batches through the backend control subsystem based on the availability of storage locations, production output information, and a domain model for a specific production scenario. It can even generate and store waiting logistics control tasks on demand. Once idle logistics equipment becomes available, it can be controlled via RCS to execute the unexecuted waiting logistics control tasks. This ensures production quality and safety while creating a seamless workflow between logistics control tasks, effectively improving on-site production efficiency.

[0109] Optionally, considering that some production scenarios involve goods-constrained transportation—for example, semi-finished materials from the production line need to be stored in intermediate inventory for 24 hours before being transported to the next process—a second identification information can be added to the materials to indicate different materials. This second identification information can be a material code or a material name, etc. The number information in the pallet's first identification information is then associated with the material's second identification information, binding the material to the pallet for tracking material flow. Specifically, the control service unit monitors the material flow based on the first and second identification information.

[0110] It should be noted that, since the flexible logistics system in this embodiment is independent of RCS and can integrate different versions of RCS, it can provide corresponding services to upper-layer applications based on the integrated RCS.

[0111] The RCS integrated into the management service unit must implement the following functions: a) Task management: creating and canceling logistics management tasks; b) Logistics equipment status: online and offline status, working status, and power consumption of logistics equipment.

[0112] To utilize the full functionality of a flexible logistics system, the integrated RCS should also implement the following functions: c. Control Map: used for monitoring the operating status of logistics equipment; d. Task Management: pausing, resuming, and restarting logistics control tasks; e. Logistics Equipment Status: monitoring the location, speed, alarms, no-load or load status, and shelf number of logistics equipment; f. Remote Control: stopping, resuming, remotely controlling, and switching obstacle avoidance zones of logistics equipment.

[0113] Optionally, the storage location service unit is also used to update the storage location label based on the second identification information of the materials in the storage location; the storage location label is used to indicate the materials stored in the storage location and the production line matched with the storage location.

[0114] Like sticky notes, labels can be affixed to any object to describe its attributes. Labels have a name and a value; the name is used for label categorization. There are two types of labels: single and set. In this embodiment, for single labels with the same name, the new label replaces the old label's value. For example, if the first row of the raw material storage unit has casters, replacing them with drive wheels simply requires changing the single label on the first row of the raw material storage unit to "casters." For set labels with the same name, unique values ​​can be stored. For example, for production line storage locations that require empty / full swapping, displaying product models and production line names—values ​​unrelated to calculations and only used for tablet display—set labels are used.

[0115] Optionally, storage locations can also include storage location numbers, which use a four-number positioning method: zone-row-column-layer. This can be used for both floor-level and automated storage and retrieval systems (AS / RS). Taking a factory warehouse as an example, zones are used to distinguish warehouse types, such as raw material warehouses, semi-finished product warehouses, and finished product warehouses. Rows represent similar types of goods, such as outsourced raw materials, motors, and spare parts. Columns and layers are the storage locations; for floor-level warehouses, columns are the storage locations; for automated storage and retrieval systems, layers are the storage locations.

[0116] Optionally, the backend control subsystem also includes callback interfaces corresponding to each robot control system; the processing module also includes a signal service unit.

[0117] The processing module is also used for:

[0118] When the target robot control system is detected to call the target callback interface, the processing result of the target logistics equipment on the material is obtained;

[0119] Update the material transportation task based on the processing results;

[0120] The signal service unit is used to determine and execute the safety signal interlock strategy required when the target logistics equipment performs material transportation tasks, based on the type of bus protocol between the target robot control system and the back-end management subsystem; the safety interlock strategy is used to indicate that the material can be safely transported.

[0121] When the target logistics equipment executes each subtask of the material transfer task, at each subtask node (i.e., the start or end point of the subtask), the RCS calls the callback interface of the flexible logistics system facing that RCS. At this time, the processing module 330 detects the target robot control system calling the target callback interface, thereby obtaining the processing result of the target logistics equipment on the material and updating the status of each subtask in the logistics transfer task.

[0122] The signal service unit can facilitate data exchange between logistics equipment and physical equipment (e.g., a warehouse) to ensure the safe operation of the logistics equipment within the external physical equipment and the safe transportation and handling of materials. Therefore, to ensure the safe transportation and handling of materials, the signal service unit needs to provide safety measures, such as deviation from the navigation line protection, navigation target point damage protection, component failure protection, and collision prevention measures. A safety signal interlock strategy is a safety measure for logistics equipment during material handling and transportation, ensuring that the logistics equipment reaches its destination, thereby enabling the safe transportation and handling of materials. Specifically, the signal service unit can determine the safety signal interlock strategy between the target logistics equipment and the physical equipment it interfaces with when performing material transportation tasks, based on the type of bus protocol between the target robot control system and the backend management subsystem; and execute this safety signal interlock strategy when the target logistics equipment performs material transportation tasks. In this embodiment, the type of bus protocol is not specifically limited; it can be PLC, Modbus TCP, or a custom TCP protocol (button box), etc. The following uses PLC as an example to explain in detail the specific steps of the signal service unit executing the safety signal interlock strategy when the target logistics equipment performs material transportation tasks.

[0123] Taking the safety signal interlock between logistics equipment and physical equipment as an example, it is divided into three control points and two processes, as detailed in the table below:

[0124]

[0125]

[0126] The logistics equipment and the physical equipment communicate through two read / write data blocks on the PLC. When the logistics equipment arrives at the entrance station of the physical equipment, it stops, and the signal service unit reads the "Allow Entry" field from the PLC data block. If this field is true, it indicates that the physical equipment is ready to receive the logistics equipment. The signal service unit then initiates the logistics equipment's entry into the physical equipment and simultaneously writes the "Entry in Progress" field to the PLC data block, indicating that the logistics equipment is entering the physical equipment. This achieves a safety signal interlock between the logistics equipment and the physical equipment.

[0127] It should be noted that different vendors may have different security signal interlocking strategies, but they all follow the basic mechanism of achieving security interlocking through reading and writing data blocks. In this embodiment, these data block fields used for security interlocking are referred to as signals. Signals are a simple means of communication, and their values ​​are typically bits, bytes, words, or fixed-length strings. For more complex communication needs, interface modules can be used for interaction. From the perspective of industrial buses, the signal transmission medium is relatively standardized. Signal transmission is achieved through drivers, and signals can also be managed through configuration.

[0128] In one application scenario, for the material transportation task of a complete production line, the specific workflow of the flexible logistics system is as follows: Figure 4a As shown, taking AGVs as logistics equipment and MES as the production control system as an example, the upstream MES system first issues material transportation tasks (hereinafter referred to as tasks) between warehouse areas to the flexible logistics system. After receiving the task, the flexible logistics system performs task verification, specifically by detecting the idle status of storage locations within the warehouse area through the signal service unit. If the idle status is successful, the flexible logistics system replies to the MES that it has received the task, and the task begins. Depending on the situation, it stores the received task or directly generates a new task and issues it to the RCS. The RCS then completes the task creation operation and distributes it to the AGV. After receiving the task, the AGV begins to execute it. At each sub-task node (the sub-task node is the node where the task is completed and the AGV leaves the starting point), the RCS calls the callback interface of the flexible logistics system to the RCS. After receiving the callback, the flexible logistics system refreshes the task status, completing the task progress synchronization operation, and also updates the idle status of the storage location through the storage location service unit. At this time, the upstream MES also obtains the current task progress and completes the progress synchronization operation. Simultaneously, it interacts with external systems or physical equipment through safety signals according to the production scenario to ensure the safe handling of materials. The transfer and handling of each material is scheduled using different types of AGVs based on the required pallets. Through continuous logistics and empty pallet return, the materials eventually reach the end of the production line.

[0129] The specific workflow of logistics equipment when performing tasks is as follows: Figure 4b As shown, taking the logistics code as an example, the upstream MES sends the task to the MDS in the flexible logistics system. Upon receiving the task, the MDS executes it through its processing module. During task execution, it uses a safety signal interlock strategy implemented by the signal service unit to process safety signals. The MDS writes the safety signals into the corresponding data block of the PLC to ensure the AGV can safely handle materials. Simultaneously, it updates the idle status of the storage location through the storage location service unit to facilitate the execution of the next sub-task. Upon receiving the task, the MDS also activates the sensors in the flexible logistics system to cyclically identify the material code, ensuring that material information flows with the task. When a sensor successfully identifies the material, it returns the identification result to the MDS. The MDS stores the identification result and, upon receiving a callback from the RCS, sends the callback identification result back to the upstream MES so that the MES can adjust the task status accordingly.

[0130] In summary, the flexible logistics system can determine the idle status of storage locations through the storage location service unit. Then, the processing module, based on the idle status, production output information, and the target domain model, autonomously generates material transportation tasks adapted to the production scenario, accelerating the generation efficiency of accurate material transportation tasks. Furthermore, the control service unit issues the material transportation tasks to the designated target robot control system, enabling the target robot control system to invoke the target logistics equipment to execute the material transportation task adapted to the production scenario, achieving fully automated execution of material transportation tasks, accelerating logistics efficiency while improving accuracy. The processing module can also update the material transportation tasks based on the processing results, and the signal service unit can implement corresponding safety signal interlock strategies when the target logistics equipment executes the material transportation task to ensure safe material transportation. The control service unit can also monitor the flow of materials based on the second identification information associated with the first identification information of the material and the pallet, further improving the reliability of the flexible logistics system.

[0131] Figure 5 This is a schematic diagram of the structure of a computer device provided in an optional embodiment of this application. This computer device can run the aforementioned flexible logistics system, such as... Figure 5As shown, the computer device includes one or more processors 10, memory 20, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components communicate with each other via different buses and can be mounted on a common motherboard or otherwise installed as needed. The processors can process instructions executed within the computer device, including instructions stored in or on memory to display graphical information of a GUI on external input / output devices (such as display devices coupled to the interfaces). In some alternative implementations, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple computer devices can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system). Figure 5 Take a processor 10 as an example.

[0132] Processor 10 may be a central processing unit, a network processor, or a combination thereof. Processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The programmable logic device may be a complex programmable logic device (CAMP), a field-programmable gate array (FPGA), a general-purpose array logic (GDA), or any combination thereof.

[0133] The memory 20 stores instructions executable by at least one processor 10 to cause the at least one processor 10 to perform the method shown in the above embodiments.

[0134] The memory 20 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the computer device as shown by a landing page for an app. Furthermore, the memory 20 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, the memory 20 may optionally include memory remotely located relative to the processor 10, which can be connected to the computer device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0135] The memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk or solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0136] The computer device also includes a communication interface 30 for communicating with other devices or communication networks.

[0137] This application also provides a computer-readable storage medium. The methods described in this application can be implemented in hardware or firmware, or implemented as recordable on a storage medium, or implemented as computer code downloaded over a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and subsequently stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code. When the software or computer code is accessed and executed by the computer, processor, or hardware, the methods shown in the above embodiments are implemented.

[0138] Although embodiments of this application have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of this application, and all such modifications and variations fall within the scope defined by the appended claims.

Claims

1. A flexible logistics system, characterized in that, The flexible logistics system includes a front-end control subsystem and a back-end control subsystem. The back-end control subsystem includes an interface module, a scenario module, and a processing module. The processing module includes at least one service unit. The scenario module is used to store models for various domains; the domain models are used to indicate the logistics scenario information required when performing logistics control tasks in various production scenarios; the logistics scenario information includes production output information; The processing module is used for: The interface module obtains the configuration information input by the user in the front-end management subsystem; the configuration information is used to indicate various production scenarios. Based on the configuration information, select the target domain model in the scenario module; Based on the target domain model and the production output information, generate logistics management tasks; The target service unit is invoked to execute the logistics control task based on the target domain model. The flexible logistics system also includes at least one storage location, which includes a pallet; the processing module also includes a control service unit and a storage location service unit; the control service unit integrates at least one robot control system. The storage location service unit is used for: Obtain the first identification information of the pallet in the storage location; Based on the first identification information, determine the idle status of the storage location; The processing module is also used to generate material transportation tasks based on the idle status, production output information, and target domain model; The control service unit is used for: Based on the target domain model, determine the target robot control system; The material transportation task is sent to the target robot control system, so that the target robot control system calls the target logistics equipment to execute the material transportation task. The backend control subsystem also includes callback interfaces corresponding to each robot control system; the processing module also includes a signal service unit. The processing module is also used for: When the target robot control system is detected to call the target callback interface, the processing result of the target logistics equipment on the material is obtained; The material transportation task is updated based on the processing results; The signal service unit is used to determine and execute the safety signal interlock strategy required when the target logistics equipment performs the material transportation task, based on the type of bus protocol between the target robot control system and the back-end management subsystem; the safety interlock strategy is used to indicate that the material can be safely transported.

2. The system according to claim 1, characterized in that, The processing module is also used to receive, through the interface module, a user's instruction to modify the target domain model input in the front-end management subsystem, and to modify the target domain model.

3. The system according to claim 1 or 2, characterized in that, The backend management and control subsystem also includes scene plugins; the scene plugins include various customized domain models and a first interface; The processing module is further configured to load the scene plugin when it receives the start command of the backend management and control subsystem, so as to load the customized domain model into the scene module through the first interface; the customized domain model is the domain model created by the scene plugin in response to the user's input domain model customization command.

4. The system according to any one of claims 1-2, characterized in that, The flexible logistics system also includes a production control system, which is connected to the backend control subsystem through the interface module. The processing module is also used to receive logistics control commands sent by the production control system; the logistics control commands include first domain model information; In the scenario module, select the first domain model that matches the information of the first domain model; Based on the first domain model and the logistics control command, a first logistics control task is generated; The first service unit is invoked to execute the first logistics control task based on the first domain model.

5. The system according to claim 4, characterized in that, The processing module is also used for: Receives a second logistics control task sent by the production control system; the second logistics control task includes second domain model information. In the scenario module, select the second domain model that matches the information of the second domain model; The second service unit is invoked to execute the second logistics control task based on the second domain model.

6. The system according to any one of claims 1-2, characterized in that, The front-end control subsystem includes at least one display device; The processing module is also used to send the execution results of the logistics control task to the front-end control subsystem through the interface module, so that the front-end control subsystem can display the execution results in the target format on the target display device according to the configuration information.

7. The system according to claim 1, characterized in that, The first identification information of the pallet is associated with the second identification information of the material; the control service unit is also used to monitor the flow of the material based on the first identification information and the second identification information.

8. The system according to claim 1, characterized in that, The storage location service unit is also used to update the storage location label of the storage location based on the second identification information of the materials in the storage location; the storage location label is used to indicate the materials stored in the storage location and the production line matched with the storage location.

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