An overhead crane scheduling system

Abstract

This application belongs to the technical field of semiconductor material transfer, and discloses an overhead crane scheduling system, which includes multiple equipment distribution areas, a track network, a central scheduling server, and multiple overhead cranes. By setting the track network structure of the inner ring track and the common track, as well as the task allocation strategy of the central scheduling server, efficient overhead crane scheduling is achieved, which has the advantages of improving the overhead crane scheduling efficiency, reducing the overhead crane idle rate and the equipment waiting idle rate, avoiding the congestion of overhead cranes, and being easy to implement.

Description

Technical Field

[0001] This application relates to the technical field of semiconductor material transportation, and more particularly, to an overhead crane scheduling system. Background Art

[0002] In semiconductor material transportation work, the main task of the overhead crane is to move materials from the starting position to the target position after receiving a task instruction, thus completing the handling of materials. Due to the fixity of the overhead crane track and the requirements of the overhead crane working environment, the overhead crane needs to consider factors such as traffic flow, vehicle behavior, and accidental states to avoid collisions and ensure driving safety. Therefore, efficient scheduling of the overhead crane can improve production efficiency, and overhead crane scheduling is an important part of semiconductor production scheduling.

[0003] Traditional overhead crane systems can only travel along preset paths, and the running paths of overhead cranes performing different tasks are different. Since each overhead crane travels along a preset path, real-time scheduling of the overhead crane cannot be achieved, and when product production is switched or multiple different products are produced, it will affect the production efficiency of semiconductors.

[0004] With the development of technology, in some existing new overhead crane systems, each overhead crane can reach more places and can be used in conjunction with real-time scheduling methods. However, most current scheduling methods focus on re-prioritizing tasks or dynamic programming in case of congestion. For example, the method proposed in Chinese Patent CN116934059B obtains the running information and task information of each overhead crane running in the overhead crane track network in real time, determines the time scheduling priority of each overhead crane according to the unprocessed time of the scheduling request for re-prioritization, and then performs the next path planning. Although such technical solutions optimize the scheduling and path planning of the overhead crane to a certain extent, they still have the following disadvantages:

[0005] For a wafer fab with a huge scale, the overhead of the scheduling algorithm is extremely high, and it is impossible to complete the real-time scheduling and planning of hundreds or thousands of vehicles in a short time.

[0006] If tasks are still issued after the equipment becomes idle, the time for the overhead crane to travel over is relatively long, resulting in a high no-load rate of the overhead crane or a high equipment waiting idle rate, which is not conducive to production efficiency.

[0007] Due to the large track network and many overhead cranes, if the standby paths of idle overhead cranes are not considered, clustering is likely to occur. Not only will it take a long time to transfer a crane from a far place, but the clustered area will also be congested, affecting the normal entry and exit of handling overhead cranes.

[0008] Common heuristic algorithms are extremely difficult to implement, while common deep learning algorithms have insufficient reliability and are difficult to maintain when problems occur.

[0009] In view of the above problems, the existing technology urgently needs to be improved. Summary of the Invention

[0010] The purpose of this application is to provide a crane scheduling system, which can improve the crane scheduling efficiency, reduce the crane idle rate and the equipment waiting idle rate, avoid crane congestion and is easy to implement.

[0011] This application provides a crane scheduling system, which includes multiple equipment distribution areas, a track network, a central scheduling server and multiple cranes. The cranes are movably arranged on the track network and are communicatively connected to the central scheduling server;

[0012] The equipment distribution area is used to centrally place processing equipment, and the same equipment distribution area is used to place the same type of processing equipment for the same process, and different equipment distribution areas are used to place processing equipment for different processes;

[0013] The track network includes multiple inner ring tracks connected end to end and several common tracks located outside the inner ring tracks. Each equipment distribution area is correspondingly surrounded by one inner ring track. Each inner ring track includes at least one entrance and at least one exit. The entrance and the exit are connected to adjacent common tracks or other adjacent inner ring tracks through connecting tracks; the inner ring tracks are used for idle cranes to patrol and wait for tasks; a temporary storage device is arranged beside at least one entrance of each inner ring track, and the temporary storage device is used to temporarily store the wafer boxes to be sent to the corresponding equipment distribution area;

[0014] The central scheduling server is used to assign transportation tasks to the cranes;

[0015] The crane is used to perform dynamic path planning according to the assigned transportation task and execute the task according to the planning result.

[0016] By setting the track network structure of the inner ring tracks and the common tracks, as well as the task assignment strategy of the central scheduling server, efficient crane scheduling is realized, which has the advantages of improving the crane scheduling efficiency, reducing the crane idle rate and the equipment waiting idle rate, avoiding crane congestion and being easy to implement.

[0017] Preferably, the common track includes an outer ring track connected end to end that surrounds all the inner ring tracks.

[0018] By setting an outer ring track in the track network, the following technical effects can be achieved: First, the outer ring track encloses all the inner ring tracks, forming a complete closed-loop system. This structure enables the overhead crane to quickly switch and transfer between different inner ring tracks and reach the target position without complex path planning. Second, the setting of the outer ring track provides an efficient main road for the overhead crane. When the overhead crane needs to move long distances, it can preferentially choose the outer ring track to avoid possible congestion areas inside, thereby improving the running speed and efficiency. Moreover, the head-to-tail connection feature of the outer ring track ensures the continuity and flexibility of the system. The overhead crane can continuously run on the outer ring track without turning around or changing direction at the end point, which greatly reduces the idle time and unnecessary actions of the overhead crane and improves the overall efficiency of the system. Finally, the existence of the outer ring track provides more path options for the system. When a fault or maintenance occurs on an inner ring track or some connecting tracks, the outer ring track can be used as an alternative path to ensure the continuous operation of the system and the successful completion of tasks. By setting a head-to-tail connected outer ring track that encloses all the inner ring tracks, this technical solution effectively solves the problem of optimizing the track network structure in the overhead crane scheduling system. It not only improves the running efficiency of the overhead crane but also enhances the flexibility and reliability of the entire system, thus significantly improving the overall performance and scheduling efficiency of the overhead crane scheduling system.

[0019] Preferably, when the central scheduling server assigns a transportation task to the overhead crane, it performs:

[0020] S1. Extract the task to be assigned according to the scheduling task list and determine the departure position and target position of the task to be assigned;

[0021] S2. Obtain the current occupancy status of the departure position and the target position of the task to be assigned; the occupancy status is idle or occupied;

[0022] S3. If both the departure position and the target position of the task to be assigned are idle, assign the task to be assigned to the best overhead crane that can reach the departure position of the task to be assigned the fastest;

[0023] S4. If the departure position of the task to be assigned is occupied and the target position of the task to be assigned is idle, assign the task to be assigned according to the time required to release the occupancy of the departure position or put the task to be assigned back into the scheduling task list;

[0024] S5. If the departure position of the task to be assigned is idle and the target position of the task to be assigned is occupied, then the task to be assigned is assigned according to the task duration, the preset scheduling time, and the time required for the target position to be released from occupation, or the task to be assigned is decomposed and the new tasks obtained after decomposition are assigned; the task duration is the time required for the overhead crane to reach the target position from the departure position.

[0025] S6. If both the departure position and the target position of the task to be assigned are occupied, then the task to be assigned is put back into the scheduling task list.

[0026] This allocation method helps to improve the overall transportation efficiency and can better cope with complex actual production environments.

[0027] Preferably, step S1 includes:

[0028] S101. Extract the task to be assigned and the corresponding departure position and target equipment distribution area from the scheduling task list in the order of sorting.

[0029] S102. According to the positions and occupation statuses of the processing equipment in the target equipment distribution area, select the position of the processing equipment with the shortest distance and idle or the position of the processing equipment whose occupation status will become idle earliest as the target position; wherein, the occupation status of the target position is the same as the occupation status of the processing equipment corresponding to the target position.

[0030] Preferably, step S102 includes:

[0031] If there is idle processing equipment in the target equipment distribution area, obtain the optimal path from the departure position to the positions of each first equipment, and select the position of the first equipment corresponding to the shortest optimal path as the target position; the first equipment is the idle processing equipment in the target equipment distribution area.

[0032] If there is no idle processing equipment in the target equipment distribution area, obtain the time required for each processing equipment in the target equipment distribution area to be released from occupation, denoted as the first release time, and select the position of the processing equipment corresponding to the shortest first release time as the target position; wherein, the time required for the target position to be released from occupation is the same as the corresponding first release time.

[0033] Preferably, the optimal overhead crane is an idle overhead crane located upstream of the departure position of the task to be assigned or a non-idle overhead crane whose target position of the current task is upstream of the departure position of the task to be assigned.

[0034] The step of allocating the to-be-allocated task to the optimal overhead crane that can reach the departure position of the to-be-allocated task fastest includes:

[0035] Calculate the shortest time required for each first overhead crane to travel from the current position to the departure position of the to-be-allocated task, and use it as the arrival time of the corresponding first overhead crane; the first overhead crane is an idle overhead crane located upstream of the departure position of the to-be-allocated task.

[0036] Calculate the shortest time required for each second overhead crane to complete the current task and travel to the departure position of the to-be-allocated task, and use it as the arrival time of the corresponding second overhead crane; the second overhead crane is a non-idle overhead crane whose target position of the current task is upstream of the departure position of the to-be-allocated task.

[0037] Select the overhead crane corresponding to the shortest arrival time as the optimal overhead crane, and allocate the to-be-allocated task to the optimal overhead crane.

[0038] Preferably, step S4 includes:

[0039] S401. Calculate the time required for the departure position to be released from occupation according to the total time of the processing procedure corresponding to the processing equipment corresponding to the departure position of the to-be-allocated task and the time already used for the current processing task of the processing equipment corresponding to the departure position of the to-be-allocated task.

[0040] S402. If the time required for the departure position to be released from occupation is less than the preset scheduling time, allocate the to-be-allocated task to the optimal overhead crane that can reach the departure position of the to-be-allocated task fastest.

[0041] S403. If the time required for the departure position to be released from occupation is not less than the preset scheduling time, put the to-be-allocated task back into the scheduling task list.

[0042] Preferably, step S5 includes:

[0043] S501. Calculate the task duration according to the departure position and the target position of the to-be-allocated task.

[0044] S502. Calculate the time required for the target position to be released from occupation according to the total time of the processing procedure corresponding to the processing equipment corresponding to the target position of the to-be-allocated task and the time already used for the current processing task of the processing equipment corresponding to the target position of the to-be-allocated task.

[0045] S503. If the sum of the task duration and the preset scheduling time is not less than the time required for the target position to be released from occupation, allocate the to-be-allocated task to the optimal overhead crane that can reach the departure position of the to-be-allocated task fastest.

[0046] S504. If the sum of the task duration and the preset scheduling time is less than the time required for the target location to be released from occupancy, decompose the to-be-allocated task into a first new task and a second new task, allocate the first new task to the best overhead crane that can reach the starting location of the first new task fastest, and add the second new task to the scheduling task list; the starting location of the first new task is the same as the starting location of the to-be-allocated task, and the target location of the first new task is the location corresponding to one of the temporary storage devices in the equipment distribution area where the target location of the to-be-allocated task is located; the starting location of the second new task is the same as the target location of the first new task.

[0047] Preferably, the step of calculating the task duration according to the starting location and the target location of the to-be-allocated task includes:

[0048] Obtain the shortest path from the starting location of the to-be-allocated task to each of the exits in the equipment distribution area corresponding to the starting location of the to-be-allocated task, and denote it as the first path;

[0049] Obtain the shortest path from each of the exits in the equipment distribution area corresponding to the starting location of the to-be-allocated task to each of the entrances in the equipment distribution area corresponding to the target location of the to-be-allocated task, and denote it as the second path;

[0050] Obtain the shortest path from each of the entrances in the equipment distribution area corresponding to the target location of the to-be-allocated task to the target location of the to-be-allocated task, and denote it as the third path;

[0051] Combine the first path, the second path, and the third path to obtain at least one continuous total path;

[0052] Select the total path with the shortest length as the effective total path, and calculate the time taken for the overhead crane to move along the effective total path to obtain the task duration.

[0053] Preferably, when the overhead crane performs dynamic path planning according to the allocated transportation task and executes the task according to the planning result, it executes:

[0054] According to the current location and the starting location and target location of the allocated transportation task, plan an execution path from the current location through the starting location of the allocated transportation task to the target location of the allocated transportation task;

[0055] Execute tasks based on the execution path, and dynamically adjust the execution path according to the real-time map data during the task execution; the real-time map data includes the positions of each crane, the speeds of each crane, the track network distribution data, the positions and occupancy statuses of each processing device, and the positions of each temporary storage device.

[0056] Advantageous effects: A crane scheduling system provided by the present application includes multiple equipment distribution areas, a track network, a central scheduling server, and multiple cranes. By setting the track network structure of the inner ring track and the common track, as well as the task allocation strategy of the central scheduling server, efficient crane scheduling is achieved, which has the advantages of improving the crane scheduling efficiency, reducing the empty running rate of cranes and the equipment waiting idle rate, avoiding crane congestion and being easy to implement. Description of the Drawings

[0057] Figure 1 It is a distribution diagram of the equipment distribution area and the track network of the crane scheduling system provided by the embodiment of the present application.

[0058] Figure 2 It is a device connection diagram of the crane scheduling system provided by the embodiment of the present application.

[0059] Figure 3 It is a flowchart of the central scheduling server for allocating transportation tasks to the cranes.

[0060] Reference numerals: 1, equipment distribution area; 2, track network; 201, inner ring track; 202, common track; 203, connecting track; 204, outer ring track; 3, central scheduling server; 4, crane; 5, processing device; 6, temporary storage device; 7, track information acquisition processor; 8, map information database. Detailed Embodiments

[0061] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Usually, the components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the present application to be protected, but only represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present application.

[0062] It should be noted that similar reference numerals and letters indicate similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of this application, terms such as "first" and "second" are only used for distinguishing descriptions and cannot be construed as indicating or implying relative importance.

[0063] In large-scale wafer fabs, the overhead crane scheduling system faces severe challenges. With the continuous expansion of production scale, traditional scheduling methods are difficult to meet the growing demands. The current scheduling algorithms perform poorly when dealing with a large number of overhead cranes and cannot complete the real-time scheduling and path planning of hundreds or even thousands of overhead cranes in a short time. This results in slow system response, inability to allocate tasks in a timely manner, and affects the overall production efficiency.

[0064] In addition, the existing system issues tasks only after the equipment becomes idle, which causes the overhead cranes to run empty for a long time or the equipment to wait for a long time, greatly reducing the resource utilization rate. Due to the large and complex track network and the lack of an effective management strategy for idle overhead cranes, it is easy for the overhead cranes to gather in certain areas. This not only increases the time cost of long-distance scheduling but also easily causes traffic congestion and affects the normal material transportation.

[0065] The currently widely used heuristic algorithms are difficult to implement, while deep learning algorithms, although highly flexible, lack reliability and maintainability. These problems severely restrict the performance and reliability of the overhead crane scheduling system, and there is an urgent need for a new scheduling scheme to solve these technical problems.

[0066] For this reason, referring to Figure 1 - Figure 2 , this application provides an overhead crane scheduling system, including multiple equipment distribution areas 1, a track network 2, a central scheduling server 3, and multiple overhead cranes 4. The overhead cranes 4 are movably arranged on the track network 2 and are communicatively connected to the central scheduling server 3;

[0067] The equipment distribution area 1 is used to centrally place processing equipment 5, and the same equipment distribution area 1 is used to place the same type of processing equipment 5 for the same process, and different equipment distribution areas 1 are used to place processing equipment 5 for different processes (for example Figure 1 in, the seven areas A, B, C, D, E, F, and G are all equipment distribution areas 1);

[0068] The track network 2 includes multiple inner ring tracks 201 connected end to end and several common tracks 202 located outside the inner ring tracks 201. Each equipment distribution area 1 is correspondingly surrounded by an inner ring track 201 (for example Figure 1Among them, the rectangular tracks at the edges of the seven equipment distribution areas 1 of A, B, C, D, E, F, and G are all inner ring tracks 201, and the tracks between adjacent inner ring tracks 201 and the outermost rectangular track are all common tracks 202). Each inner ring track 201 includes at least one entrance and at least one exit, and the entrance and exit are connected to the adjacent common track 202 or other adjacent inner ring tracks 201 through a connecting track 203; the inner ring track 201 is used for the idle overhead crane (that is, the overhead crane 4 that has not been assigned a transportation task currently) to patrol and wait for tasks (that is, when the overhead crane 4 is idle, it does not stop moving, but patrols in the inner ring track 201 to avoid congestion); beside at least one entrance of each inner ring track 201, a temporary storage device 6 is provided, and the temporary storage device 6 is used for temporarily storing the wafer cassette to be sent to the corresponding equipment distribution area 1.

[0069] The central dispatching server 3 is used to assign transportation tasks to the overhead crane 4.

[0070] The overhead crane 4 is used to perform dynamic path planning according to the assigned transportation task and execute the task according to the planning result.

[0071] By setting the track network 2 structure of the inner ring track 201 and the common track 202, and the task assignment strategy of the central dispatching server 3, efficient dispatching of the overhead crane 4 is achieved, which has the advantages of improving the dispatching efficiency of the overhead crane 4, reducing the empty load rate of the overhead crane 4 and the equipment waiting idle rate, avoiding the congestion of the overhead crane 4, and being easy to implement.

[0072] First of all, the equipment distribution area 1 is used to centrally place the processing equipment 5, and the same equipment distribution area 1 is used to place the same type of processing equipment 5 that performs the same process, and different equipment distribution areas 1 are used to place the processing equipment 5 that performs different processes. This layout can significantly reduce the transportation distance and time of the overhead crane 4 and improve the transportation efficiency.

[0073] Secondly, the design of the track network 2 is one of the core innovation points. The inner ring track 201 is designed for the idle overhead crane to patrol and wait for tasks. This design effectively solves the problem of idle overhead crane management and avoids the phenomenon of the overhead crane 4 gathering in hot spots. The idle overhead cranes can be evenly distributed on the inner ring track 201, which will neither cause traffic congestion nor can quickly respond to the transportation needs of the surrounding areas.

[0074] In addition, in order to further improve the flexibility and efficiency of the system, a temporary storage device 6 is provided beside at least one entrance of each inner ring track 201. This design allows the material to be temporarily stored near the target location when the target location is occupied, and then the material in the temporary storage device 6 is sent to the target location at an appropriate time, reducing the equipment waiting time and the empty load rate of the overhead crane 4.

[0075] The central dispatching server 3 is responsible for allocating transportation tasks to the overhead crane 4. The centralized task allocation can ensure the optimality of global scheduling and avoid the local optimality problems that may be brought about by distributed scheduling. The overhead crane 4 conducts dynamic path planning based on the allocated transportation tasks and executes the tasks according to the planning results. Assigning the responsibilities of real-time path planning and dynamic adjustment to each overhead crane 4 can reduce the computational burden of the central dispatching server 3 and improve the response speed and scalability of the system.

[0076] In specific applications, the number of the equipment distribution area 1 and the inner ring track 201 can be adjusted according to the factory scale and production requirements. For example, Figure 1 in [a certain example], both are set to seven. The number of entrances and exits of each inner ring track 201 can be set according to actual needs, generally 2 - 4 entrances and exits are set to ensure sufficient passing capacity. The capacity of the temporary storage device 6 can be designed according to the production rhythm and transportation frequency; among them, the temporary storage device 6 can select a three-dimensional storage warehouse (Stocker) or UTS (Under Track Storage), but it is not limited to this.

[0077] There can also be various schemes for the layout of the common track 202. For example, a large outer ring track 204 is set to enclose all the inner ring tracks 201; or a grid-shaped common track 202 is adopted to provide more transportation path options. The task allocation algorithm of the central dispatching server 3 can adopt the method of combining a priority queue with heuristic rules. For example, the task priority is calculated according to factors such as the task urgency, the current position of the overhead crane 4, and the congestion degree of the target position, and then the most suitable overhead crane 4 is selected to execute the task. The dynamic path planning of the overhead crane 4 can adopt the A* algorithm combined with real-time traffic information, and the path planning is updated every preset period (such as 1 - 2 seconds) to cope with the dynamically changing transportation environment.

[0078] In a possible implementation manner, see Figure 1 , the common track 202 includes an outer ring track 204 that is connected end to end and encloses all the inner ring tracks 201 ( Figure 1 the outermost rectangular track in [a certain example]).

[0079] By setting the outer ring track 204 in the track network 2, the following technical effects can be achieved: First, the outer ring track 204 encloses all the inner ring tracks 201, forming a complete closed-loop system. This structure enables the overhead crane 4 to quickly switch and transfer between different inner ring tracks 201 and reach the target position without complex path planning. Second, the setting of the outer ring track 204 provides an efficient main road for the overhead crane 4. When the overhead crane 4 needs to move over a long distance, it can preferentially choose the outer ring track 204 to avoid possible congestion areas inside, thereby improving the running speed and efficiency. Third, the head-to-tail connection characteristic of the outer ring track 204 ensures the continuity and flexibility of the system. The overhead crane 4 can continuously run on the outer ring track 204 without turning around or changing direction at the end point, which greatly reduces the idle time and unnecessary actions of the overhead crane 4 and improves the overall efficiency of the system. Finally, the existence of the outer ring track 204 provides more path options for the system. When the inner ring track 201 or some connecting tracks 203 fail or need maintenance, the outer ring track 204 can be used as an alternative path to ensure the continuous operation of the system and the smooth completion of tasks. By setting the outer ring track 204 with head-to-tail connection that encloses all the inner ring tracks 201, this technical solution effectively solves the problem of optimizing the structure of the track network 2 in the overhead crane scheduling system. It not only improves the running efficiency of the overhead crane 4 but also enhances the flexibility and reliability of the entire system, thus significantly improving the overall performance and scheduling efficiency of the overhead crane scheduling system.

[0080] The setting of the outer ring track 204 can be implemented in various ways. In one implementation, the outer ring track 204 can adopt a single-track structure, and the overhead crane 4 runs unidirectionally on the single track. This design is simple and easy to implement, but it may limit the running speed and flexibility of the overhead crane 4. In another implementation, the outer ring track 204 can adopt a double-track structure (wherein, several connecting tracks 203 are used to connect between the two outer ring tracks 204), allowing the overhead crane 4 to run bidirectionally. Although this design increases the complexity and cost, it greatly improves the flexibility and efficiency of the system.

[0081] In some implementations, see Figure 2 , this overhead crane scheduling system further includes a track information acquisition processor 7 and a map information database 8, and the track information acquisition processor 7, the map information database 8, the central scheduling server 3, the overhead crane 4, the processing equipment 5, and the temporary storage device 6 are communicatively connected to each other (for example, through bus communication, but not limited to this).

[0082] Among them, a plurality of identification points are arranged at intervals on each track section of the track network 2, and optoelectronic switches are arranged at both ends of each track section; the identification points are used to assist the overhead crane 4 in obtaining its own position, and the identification points can be but are not limited to RFID tags, two-dimensional codes, barcodes, etc.; the optoelectronic switches are electrically connected to the track information acquisition processor 7.

[0083] Among them, marking points with multiple different functions can also be set, such as including waypoint markers, line points, limit points, detachment points, positioning points, early deceleration points, and stop deceleration points. Among them, the waypoint markers are arranged at equal intervals on each straight track section. The straight line points are used to prompt that the downstream of the corresponding key point of the overhead crane 4 is a straight track section where acceleration to the maximum speed is allowed. The limit points are used to prompt that the corresponding position of the overhead crane 4 is the starting point of a curved track section. The detachment points are used to prompt that the corresponding position of the overhead crane 4 is the end point of a curved track section. The positioning points are used to prompt the overhead crane 4 to perform a precise positioning stop operation to dock at the loading and unloading position. The early deceleration points are used to prompt that the overhead crane 4 is about to enter a curved track section. The stop deceleration points are used to prompt that the overhead crane 4 is about to reach the positioning point.

[0084] The map information database 8 is used to record real-time map data; the real-time map data includes the positions of each overhead crane 4 (uploaded after being determined by the overhead crane 4 according to the marking points), the speeds of each overhead crane 4 (which can be measured by the overhead crane 4 through its own sensors and uploaded), the track network distribution data, the positions and occupancy statuses (idle or occupied) of each processing device 5, and the positions of each temporary storage device 6. It can also include the abnormal statuses (abnormal or non-abnormal) of each track section. When the central dispatching server 3 and the overhead crane 4 perform task allocation and path planning, they can read the real-time map data from the map information database 8 to use as reference data for task allocation and path planning. Since an independent map information database 8 is used to record and update the real-time map data, the burden on the central dispatching server 3 can be further reduced, and the dispatching efficiency can be improved.

[0085] The track information acquisition processor 7 is used to record the entry and exit information of the overhead crane 4 entering and leaving each track section in real time according to the optoelectronic switches arranged at both ends of each track section, and detect whether there is a missing connection overhead crane in each track section according to the real-time map data (for example, calculate the difference between the number of times the optoelectronic switches at the entrance and exit of the track section are triggered as the first quantity of the overhead crane 4 in the corresponding track section, and then determine the number of overhead cranes 4 located in the corresponding track section according to the positions of each overhead crane 4 and the track network distribution data in the real-time map data, denoted as the second quantity. When the first quantity is not equal to the second quantity, it is determined that there is a missing connection overhead crane in the corresponding track section), and send a warning message to the map information database 8 when detecting a missing connection overhead crane, so that the map information database 8 adjusts the abnormal status of the corresponding track section (i.e., the track section where there is a missing connection overhead crane) to abnormal, so that the central dispatching server 3 and the overhead crane 4 avoid the corresponding track section when performing task allocation and path planning. Once the overhead crane 4 is missing in a certain track section, it will cause congestion in that track section. When performing path planning, avoiding the corresponding track section can prevent other overhead cranes from being guided to the congested track section.

[0086] Preferably, when the central dispatching server 3 assigns a transportation task to the overhead crane 4, it executes:

[0087] S1. Extract the tasks to be assigned according to the scheduling task list, and determine the departure location and target location of the tasks to be assigned;

[0088] S2. Obtain the current occupancy status (the occupancy status is idle or occupied) of the departure location and target location of the tasks to be assigned;

[0089] S3. If both the departure location and target location of the tasks to be assigned are idle, then assign the tasks to be assigned to the best overhead crane that can reach the departure location of the tasks to be assigned the fastest;

[0090] S4. If the departure location of the tasks to be assigned is occupied and the target location of the tasks to be assigned is idle, then assign the tasks to be assigned according to the time required to release the occupancy of the departure location, or put the tasks to be assigned back into the scheduling task list;

[0091] S5. If the departure location of the tasks to be assigned is idle and the target location of the tasks to be assigned is occupied, then assign the tasks to be assigned according to the task duration, the preset scheduling time, and the time required to release the occupancy of the target location, or decompose the tasks to be assigned and then assign the newly obtained tasks after decomposition; the task duration is the time required for the overhead crane 4 to reach the target location from the departure location;

[0092] S6. If both the departure location and target location of the tasks to be assigned are occupied, then put the tasks to be assigned back into the scheduling task list.

[0093] This allocation method helps to improve the overall transportation efficiency and can better cope with complex actual production environments. First, this allocation method introduces the concept of the "best overhead crane", that is, the overhead crane that can reach the task departure location the fastest, which helps to improve the overall transportation efficiency. Second, according to the different occupancy situations of the departure location and target location, different allocation strategies are adopted, effectively improving the utilization rate of the overhead crane and the operating efficiency of the entire system. At the same time, through the way of task decomposition, a more flexible solution can also be found in complex situations, further optimizing the system performance.

[0094] Among them, step S1 includes:

[0095] S101. Extract the tasks to be assigned and the corresponding departure location and target equipment distribution area from the scheduling task list in the order of sorting;

[0096] S102. According to the positions and occupancy statuses of each processing equipment 5 in the target equipment distribution area, select the location of the processing equipment 5 with the shortest distance and idle or the location of the processing equipment 5 whose occupancy status will become idle earliest as the target location; among them, the occupancy status of the target location is the same as the occupancy status of the processing equipment 5 corresponding to the target location.

[0097] In specific implementations, the scheduling task list can be implemented using various data structures, such as queues, priority queues, or linked lists, etc. Sorting can be based on multiple factors, such as task priority, estimated completion time, or resource requirements, etc. For example, a priority queue can be used to sort tasks from highest to lowest priority, and when priorities are the same, sort them in the order of submission time.

[0098] When extracting tasks to be assigned, the system will simultaneously obtain the starting position of the task and the information on the distribution area of the target device. The starting position is usually the position coordinates of the processing device 5 or the temporary storage device 6 where the task object (wafer) is currently located. The target device distribution area is the device distribution area 1 where the processing device 5 required for the next process of the task object is located.

[0099] In the process of selecting the target position, the system will consider two main factors: distance and device status. The distance calculation can use the A* algorithm or the Dijkstra algorithm, considering the actual layout of the track network and possible obstacles. The device status includes two types: idle and occupied. For occupied devices, their estimated idle time also needs to be considered.

[0100] For example, in a possible implementation manner, step S102 includes:

[0101] If there is an idle processing device 5 in the target device distribution area, obtain the optimal path from the starting position to the positions of each first device, and select the position where the first device corresponding to the shortest optimal path is located as the target position; the first device is the idle processing device 5 in the target device distribution area;

[0102] If there is no idle processing device 5 in the target device distribution area, obtain the time required for each processing device 5 in the target device distribution area to be released from occupation, denoted as the first release time, and select the position where the processing device 5 corresponding to the shortest first release time is located as the target position; among them, the time required for the target position to be released from occupation is the same as the corresponding first release time.

[0103] This technical solution selects appropriate target positions through two scenarios to optimize task allocation and execution efficiency: When there are idle processing devices 5 in the target device distribution area, the solution selects the idle device with the shortest path as the target position. This can minimize the running time of the overhead crane 4 and improve transportation efficiency. When there are no idle processing devices 5 in the target device distribution area, the solution selects the processing device 5 that can be released from occupation earliest as the target position. This can reduce waiting time and improve the overall task processing efficiency. Through the combination of these two strategies, the system can select the optimal target position in different situations, thereby optimizing the overall task allocation and execution efficiency. This dynamic selection mechanism can adapt to complex and changeable production environments and improve the flexibility and efficiency of the system. This solution also considers cooperation with other technical solutions, such as communication with the central scheduling server 3, dynamic path planning, etc., to jointly form an efficient overhead crane scheduling system. By accurately selecting the target position and combining the collaborative work of the overall system, the operating efficiency of the production line can be significantly improved, and waiting time and resource waste can be reduced.

[0104] When obtaining the optimal path from the starting position to each first device position, various path planning algorithms can be used. Commonly used algorithms include the Dijkstra algorithm, A* algorithm, or improved ant colony algorithm, etc. These algorithms can be selected and optimized according to the actual situation of the track network 2. For example, in a complex track network, a hierarchical A* algorithm can be used to improve the efficiency of path calculation.

[0105] Among them, the processing process corresponding to each processing device 5 is fixed, and its processing time for various wafers (hereinafter referred to as the total processing time of the processing process) is fixed and known. The time required for each processing device 5 to be released from occupation is actually equal to the difference between the total processing time of the processing process and the time already used for the current processing task. For example, assume that the total processing time of a processing process of a processing device 5 is T1, and the processing process of the wafer currently being processed by this processing device 5 has continued for a time T2, then the time T3 required to be released from occupation = T1 - T2.

[0106] Furthermore, the best overhead crane is an idle overhead crane located upstream of the starting position of the task to be allocated or a non-idle overhead crane (i.e., the overhead crane 4 that has been allocated a transportation task) whose target position of the current task is upstream of the starting position of the task to be allocated;

[0107] The steps of allocating the task to be allocated to the best overhead crane that can reach the starting position of the task to be allocated fastest include:

[0108] Calculate the shortest time required for each first overhead crane to reach the starting position of the task to be allocated from the current position as the arrival duration of the corresponding first overhead crane; the first overhead crane is an idle overhead crane located upstream of the starting position of the task to be allocated;

[0109] Calculate the shortest time required for each second crane to complete the current task and travel to the starting position of the task to be assigned, which is used as the arrival time of the corresponding second crane; the second crane is a non-idle crane whose target position for the current task is upstream of the starting position of the task to be assigned.

[0110] Select the crane 4 corresponding to the shortest arrival time as the best crane, and assign the task to be assigned to the best crane.

[0111] This technical solution solves the problem of how to quickly and efficiently select the best crane by defining the selection range and specific selection method of the best crane. First, the solution limits the selection range of the best crane to two categories: idle cranes located upstream of the starting position of the task to be assigned, and non-idle cranes whose target position for the current task is upstream of the starting position of the task to be assigned. This can narrow the search range and improve the selection efficiency. Second, the solution proposes specific selection steps: 1. For idle cranes, calculate the shortest time from the current position to the starting position of the task to be assigned. 2. For non-idle cranes, calculate the shortest time to complete the current task and travel to the starting position of the task to be assigned. 3. Compare all the calculated times and select the crane 4 corresponding to the shortest time as the best crane. This selection method takes into account the current state and position of the crane 4, and can find the crane that can reach the starting position of the task to be assigned fastest, thereby minimizing the task waiting time and improving the overall transportation efficiency.

[0112] There are also various implementation methods for calculating the arrival time. For idle cranes, based on the current position, speed, and track network topology (track network distribution data) of the crane, the shortest path algorithm (such as Dijkstra algorithm or A* algorithm) can be used to calculate the shortest time to reach the starting position of the task to be assigned. For non-idle cranes, in addition to considering the above factors, the target position of the current task also needs to be considered so that the planned shortest path passes through the target position of the task.

[0113] Preferably, step S4 includes:

[0114] S401. Calculate the time required for the starting position to be released from occupancy according to the total time of the processing process corresponding to the processing equipment 5 corresponding to the starting position of the task to be assigned and the time already used for the current processing task of the processing equipment 5 corresponding to the starting position of the task to be assigned (for example, subtract the two to obtain the time required for the starting position to be released from occupancy);

[0115] S402. If the time required for the starting position to be released from occupancy is less than the preset scheduling time (i.e., T0 < Ts, where T0 is the time required for the starting position to be released from occupancy and Ts is the preset scheduling time, which can be set according to actual needs), then assign the task to be assigned to the best crane that can reach the starting position of the task to be assigned fastest.

[0116] S403. If the time required to release the occupied departure position is not less than the preset scheduling time (i.e., T0≥Ts), then put the task to be assigned back into the scheduling task list.

[0117] This technical solution determines whether to assign a task by calculating the time required to release the occupied departure position, effectively solving the task assignment problem when the departure position is occupied. Specifically, first calculate the time required to release the occupied departure position based on the total time of the processing operation and the time already used for the current task, which provides a basis for estimating when the departure position will be available. Then compare this time with the preset scheduling time to decide whether to assign the task immediately or postpone the processing. If the time required to release the occupancy is short (less than the preset scheduling time), it means that the departure position will be free soon, and it is reasonable to directly assign the task to the best overhead crane at this time. This can improve the response speed and efficiency of the system. If the time required to release the occupancy is long (not less than the preset scheduling time), put the task back into the list for another attempt at assignment later, avoiding waste of system resources caused by long waiting times. This method takes into account both the current state and recent changes, maintaining a certain degree of flexibility while ensuring the efficiency of the system. By introducing the preset scheduling time as a judgment criterion, this solution can dynamically adjust the task assignment strategy according to the actual situation, thereby optimizing the operating efficiency of the entire scheduling system.

[0118] Further, step S5 includes:

[0119] S501. Calculate the task duration according to the departure position and the target position of the task to be assigned.

[0120] S502. Calculate the time required to release the occupied target position according to the total time of the processing operation corresponding to the processing equipment 5 corresponding to the target position of the task to be assigned and the time already used for the current processing task of the processing equipment 5 corresponding to the target position of the task to be assigned (for example, subtract the two to obtain the time required to release the occupied target position).

[0121] S503. If the sum of the task duration and the preset scheduling time is not less than the time required to release the occupied target position (i.e., Tm+Ts≥T4, where Tm is the task duration and T4 is the time required to release the occupied target position), then assign the task to be assigned to the best overhead crane that can reach the departure position of the task to be assigned the fastest.

[0122] S504. If the sum of the task duration and the preset scheduling time is less than the time required for the target position to be released from occupancy (i.e., Tm + Ts < T4), then decompose the task to be assigned into a first new task and a second new task, assign the first new task to the best overhead crane that can reach the departure position of the first new task the fastest, and add the second new task to the scheduling task list; the departure position of the first new task is the same as the departure position of the task to be assigned, and the target position of the first new task is the position corresponding to a temporary storage device 6 in equipment distribution area 1 where the target position of the task to be assigned is located; the departure position of the second new task is the same as the target position of the first new task.

[0123] This technical solution processes the situation where the target position of the task to be assigned is occupied through a series of steps to improve the scheduling efficiency: First, calculate the task duration and the time required for the target position to be released from occupancy. The calculation of these two times provides the basis for subsequent decisions. Then, compare the sum of the task duration and the preset scheduling time with the time required for the target position to be released from occupancy. This comparison is the key to the decision-making and is used to determine whether the task needs to be decomposed. If the sum of the task duration and the preset scheduling time is not less than the time required for the target position to be released from occupancy, it means that when the overhead crane reaches the target position, the target position may already be idle. At this time, directly assign the task to the best overhead crane, which can improve the scheduling efficiency. If the sum of the task duration and the preset scheduling time is less than the time required for the target position to be released from occupancy, it means that when the overhead crane reaches the target position, the target position may still be occupied. At this time, decompose the task into two new tasks: the first new task transports the material to the temporary storage device 6 in the target equipment distribution area, and the second new task transports it from the temporary storage device 6 to the final target position. This decomposition strategy can avoid the overhead crane 4 waiting at the target position and improve the utilization rate of the overhead crane 4.

[0124] Among them, in step S501, the steps of calculating the task duration according to the departure position and the target position of the task to be assigned include:

[0125] Obtain the shortest path from the departure position of the task to be assigned to each exit of the equipment distribution area 1 corresponding to the departure position of the task to be assigned, and record it as the first path;

[0126] Obtain the shortest path from each exit of the equipment distribution area 1 corresponding to the departure position of the task to be assigned to each entrance of the equipment distribution area 1 corresponding to the target position of the task to be assigned, and record it as the second path;

[0127] Obtain the shortest path from each entrance of the equipment distribution area 1 corresponding to the target position of the task to be assigned to the target position of the task to be assigned, and record it as the third path;

[0128] Combine the first path, the second path, and the third path to obtain at least one continuous total path;

[0129] Select the total path with the shortest length as the effective total path, and calculate the time taken for the overhead crane 4 to move along the effective total path to obtain the task duration.

[0130] This technical solution mainly involves calculating the first path, the second path, and the third path, then combining these paths and selecting the shortest total path, and finally calculating the task duration. This method solves the problem of accurately calculating the task duration by decomposing the entire task path into three key parts and then comprehensively considering these parts to determine the optimal path.

[0131] In, the Dijkstra algorithm, A* algorithm, or Floyd-Warshall algorithm can be used to plan and obtain the first path, the second path, and the third path. The calculation processes of these three paths are independent of each other and can be carried out simultaneously, thus improving the overall calculation speed.

[0132] When combining paths, all possible combinations need to be considered. For example, if there are 3 exits in the equipment distribution area 1 corresponding to the departure position and 2 entrances in the equipment distribution area 1 corresponding to the target position, then a total of 6 combinations of entrances and exits need to be considered, and for each combination of entrances and exits, the first path, the second path, and the third path connecting the corresponding entrances and exits are arranged and combined. For each combination, the total path length needs to be calculated.

[0133] When selecting the shortest total path, a simple comparison algorithm can be used. However, if the number of combinations is very large, the heap data structure can be considered to optimize this process and only retain the shortest several paths.

[0134] Finally, when calculating the task duration (i.e., the time taken for the overhead crane 4 to move along the effective total path), the speed characteristics of the overhead crane 4 need to be considered. The effective total path can be segmented, and different speed models can be applied according to the characteristics of each segment of the path (such as straight line, turn, etc.) to obtain a more accurate time estimate.

[0135] Through this accurate method of calculating the task duration, the scheduling system can better evaluate and allocate tasks. For example, when the system needs to allocate tasks among multiple overhead cranes 4, it can more accurately estimate the time required for each overhead crane 4 to complete the task, thereby making a better allocation decision. This not only improves the operating efficiency of the entire system but also reduces task conflicts or equipment idleness caused by inaccurate time estimation.

[0136] Specifically, when the overhead crane 4 performs dynamic path planning according to the allocated transportation task and executes the task according to the planning result, it executes:

[0137] According to the current position and the departure position and target position of the allocated transportation task, plan the execution path from the current position through the departure position of the allocated transportation task to the target position of the allocated transportation task;

[0138] Execute tasks based on the execution path and dynamically adjust the execution path according to the real-time map data during the task execution process.

[0139] The overhead crane 4 plans the execution path according to the current position, the task departure position and the target position. This enables the overhead crane 4 to select the optimal route according to the specific task requirements and improve the transportation efficiency. During the task execution process, the overhead crane 4 will dynamically adjust the execution path according to the real-time map data. The real-time map data includes the real-time status information of each key element in the system, such as the position and speed of the overhead crane, the distribution of the track network, the status of the processing equipment, etc. This dynamic adjustment mechanism enables the overhead crane 4 to respond to changes in the system in a timely manner, such as avoiding congested areas or selecting a better path, thereby improving the flexibility and efficiency of the entire scheduling system. This technical solution realizes the intelligent execution of the overhead crane transportation task by combining static path planning and dynamic adjustment. Static planning ensures the rationality of the initial path, while dynamic adjustment ensures flexibility and adaptability during the execution process. This method can effectively cope with the complex and changeable factory environment and improve the overall operation efficiency and reliability of the overhead crane scheduling system. In addition, this solution also considers the position information of the staging device 6, which corresponds to the task decomposition mechanism. When the target position is occupied, the overhead crane 4 can temporarily store the goods in a suitable staging device 6 and then continue to execute other tasks, thereby further improving the operation efficiency of the system. Generally speaking, this dynamic path planning and execution method makes full use of the real-time information in the system, enables the overhead crane 4 to intelligently respond to various situations, and maximizes the efficiency and flexibility of the overhead crane scheduling system.

[0140] In this application, the dynamic path planning and execution process of the overhead crane 4 can be realized in the following ways:

[0141] First, in the initial path planning stage, the overhead crane 4 can adopt various algorithms to generate the optimal execution path. For example, the A* algorithm, Dijkstra algorithm or improved ant colony algorithm can be used to calculate the shortest path from the current position to the task departure position and then to the task target position. During this process, the system will consider the topological structure of the track network and the current traffic conditions. Among them, when planning the initial path (that is, planning the execution path from the current position through the departure position of the assigned transportation task to the target position of the assigned transportation task), the method of combining the first path, the second path and the third path described above can be used for planning.

[0142] Secondly, during the task execution process, the overhead crane 4 will read and analyze the real-time map data in real time. The overhead crane can re-evaluate the feasibility of the current path at regular intervals or when important changes are detected (such as obstacles or congestion ahead).

[0143] Again, the dynamic adjustment mechanism can adopt the method of rolling optimization. The overhead crane 4 can perform local path replanning within a certain range around the current position to cope with short-term changes. At the same time, if a long-term impact is detected (such as a certain track section being congested for a long time), the overhead crane 4 can also trigger global path replanning.

[0144] Finally, to improve the overall efficiency of the system, the overhead cranes 4 can perform collaborative planning. When multiple overhead cranes 4 need to use the same section of the road or pass through the same intersection, they can coordinate their speeds and paths through communication to avoid potential conflicts and congestion.

[0145] In some embodiments, the steps of performing a task based on an execution path and dynamically adjusting the execution path according to real-time map data during the task execution include:

[0146] If the allocated transportation task is a first new task, the occupancy status of each processing device 5 in the device distribution area 1 where the target position of the first new task is located is obtained in real time;

[0147] When there is an idle processing device 5 in the device distribution area 1 where the target position of the first new task is located, the position of a corresponding idle processing device 5 is set as the new target position, and a change request is sent to the central scheduling server 3 to request to change the target position of the first new task to the new target position;

[0148] When receiving the permission change information feedback from the central scheduling server 3, the target position of the first new task is changed to the new target position, and the path from the current position to the new target position is replanned.

[0149] Thus, during the execution of the first new task, if it is found that a processing device 5 in the device distribution area 1 where the target position is located releases the occupancy status, that is, there is no need to temporarily store the task object, so as to improve the scheduling efficiency. At this time, the corresponding second new task also needs to be cancelled. Thus, the central scheduling server 3 is also used to remove the second new task from the scheduling task list after receiving the change request and agreeing to the change request.

[0150] In this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations.

[0151] The above description is only for the embodiments of the present application and is not used to limit the protection scope of the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A crane dispatching system, characterized in that: It comprises a plurality of equipment distribution areas (1), a track network (2), a central dispatching server (3) and a plurality of overhead cranes (4), wherein the overhead cranes (4) are movably arranged on the track network (2) and are communicatively connected with the central dispatching server (3); The equipment distribution area (1) is used to centrally place processing equipment (5), and the same equipment distribution area (1) is used to place the same type of processing equipment (5) for the same process, and different equipment distribution areas (1) are used to place processing equipment (5) for different processes; The track network (2) comprises a plurality of inner ring tracks (201) connected end to end and a plurality of common tracks (202) located outside the inner ring tracks (201); each of the equipment distribution areas (1) is surrounded by one of the inner ring tracks (201); each of the inner ring tracks (201) comprises at least one entrance and at least one exit; the entrance and the exit are connected to an adjacent common track (202) or other adjacent inner ring tracks (201) via a connecting track (203); the inner ring tracks (201) are used for idle overhead cranes to patrol and wait for tasks; a temporary storage device (6) is provided next to at least one of the entrances of each of the inner ring tracks (201); the temporary storage device (6) is used to temporarily store wafer boxes to be sent to the corresponding equipment distribution area (1); The central dispatching server (3) is used to allocate transportation tasks to the overhead travelling vehicle (4); The overhead crane (4) is used to perform dynamic path planning according to the assigned transportation task and execute the task according to the planning result; When allocating a transport task to the overhead travelling vehicle (4), the central dispatching server (3) executes: S1. Extracting the tasks to be assigned according to the scheduling task list and determining the starting position and target position of the tasks to be assigned; S2. Obtain the current occupancy status of the starting position and the target position of the task to be assigned; the occupancy status is idle or occupied; S3. If the starting position and the target position of the task to be assigned are both free, the task to be assigned is assigned to the best overhead travelling vehicle that can reach the starting position of the task to be assigned the fastest; S4. If the starting position of the task to be assigned is occupied and the target position of the task to be assigned is idle, the task to be assigned is assigned or put back into the scheduling task list according to the time required to release the starting position; S5. If the starting position of the task to be assigned is idle and the target position of the task to be assigned is occupied, the task to be assigned is assigned or the task to be assigned is decomposed and then the new task is assigned according to the task duration, the preset scheduling time and the time required for the target position to be unoccupied; the task duration is the time required for the overhead travelling vehicle (4) to reach the target position from the starting position; S6. If both the starting position and the target position of the task to be assigned are occupied, put the task to be assigned back into the scheduling task list.

2. The overhead crane dispatching system according to claim 1, characterized in that: The common track (202) includes an outer ring track (204) connected end to end and surrounding all the inner ring tracks (201).

3. The overhead crane dispatching system according to claim 1, characterized in that: Step S1 includes: S101. Extracting the tasks to be assigned and the corresponding starting positions and target equipment distribution areas from the scheduling task list in order; S102. According to the position and occupancy status of each processing equipment (5) in the target equipment distribution area, select the position of the processing equipment (5) with the shortest distance and which is idle or the position of the processing equipment (5) whose occupancy status will become idle the earliest as the target position; wherein the occupancy status of the target position is the same as the occupancy status of the processing equipment (5) corresponding to the target position.

4. The overhead crane dispatching system according to claim 3, characterized in that: Step S102 includes: If there is an idle processing device (5) in the target device distribution area, an optimal path from the starting position to the position of each first device is obtained, and the position of the first device corresponding to the shortest optimal path is selected as the target position; the first device is an idle processing device (5) in the target device distribution area; If there is no idle processing equipment (5) in the target equipment distribution area, the time required for each processing equipment (5) in the target equipment distribution area to be unoccupied is obtained, recorded as the first unoccupied time, and the position of the processing equipment (5) corresponding to the shortest first unoccupied time is selected as the target position; wherein the time required for the target position to be unoccupied is the same as the corresponding first unoccupied time.

5. The overhead crane dispatching system according to claim 1, characterized in that: The optimal overhead crane is an idle overhead crane located upstream of the starting position of the task to be assigned or a non-idle overhead crane whose target position of the current task is upstream of the starting position of the task to be assigned; The step of assigning the task to be assigned to the best overhead travelling vehicle that can reach the starting position of the task to be assigned the fastest comprises: Calculate the shortest time required for each first overhead crane to travel from the current position to the starting position of the task to be assigned as the arrival time of the corresponding first overhead crane; the first overhead crane is an idle overhead crane located upstream of the starting position of the task to be assigned; Calculate the shortest time required for each second-day vehicle to complete the current task and go to the starting position of the task to be assigned as the arrival time of the corresponding second-day vehicle; the second-day vehicle is a non-idle overhead crane whose target position of the current task is upstream of the starting position of the task to be assigned; The overhead crane (4) corresponding to the shortest arrival time is selected as the best overhead crane, and the task to be assigned is assigned to the best overhead crane.

6. The overhead crane dispatching system according to claim 1, characterized in that: Step S4 includes: S401. Calculate the time required for releasing the starting position from the total time of the processing steps corresponding to the processing equipment (5) corresponding to the starting position of the task to be assigned and the time used for the current processing task of the processing equipment (5) corresponding to the starting position of the task to be assigned; S402. If the time required to release the starting position is less than the preset scheduling time, the task to be assigned is assigned to the best overhead travelling vehicle that can reach the starting position of the task to be assigned the fastest; S403. If the time required to release the starting position from occupation is not less than the preset scheduling time, the to-be-assigned task is put back into the scheduling task list.

7. The overhead crane dispatching system according to claim 1, characterized in that: Step S5 includes: S501. Calculate the task duration according to the starting position and the target position of the task to be assigned; S502. Calculate the time required for releasing the target position from occupation based on the total time of the processing steps corresponding to the processing equipment (5) corresponding to the target position of the task to be assigned and the time used for the current processing task of the processing equipment (5) corresponding to the target position of the task to be assigned; S503. If the sum of the task duration and the preset scheduling time is not less than the time required to release the target location, the task to be assigned is assigned to the best overhead travelling vehicle that can reach the starting location of the task to be assigned the fastest; S504. If the sum of the task duration and the preset scheduling time is less than the time required to release the target position, the task to be assigned is decomposed into a first new task and a second new task, and the first new task is assigned to the best overhead travelling vehicle that can reach the starting position of the first new task the fastest, and the second new task is added to the scheduling task list; the starting position of the first new task is the same as the starting position of the task to be assigned, and the target position of the first new task is a position corresponding to one of the temporary storage devices (6) in the equipment distribution area (1) where the target position of the task to be assigned is located; the starting position of the second new task is the same as the target position of the first new task.

8. The overhead crane dispatching system according to claim 7, characterized in that: The step of calculating the task duration according to the starting position and the target position of the task to be assigned comprises: Obtain the shortest path from the starting position of the task to be assigned to each exit of the equipment distribution area (1) corresponding to the starting position of the task to be assigned, recorded as a first path; Obtain the shortest path from each of the exits of the equipment distribution area (1) corresponding to the starting position of the task to be assigned to each of the entrances of the equipment distribution area (1) corresponding to the target position of the task to be assigned, and record it as a second path; Obtaining the shortest path from each entrance of the equipment distribution area (1) corresponding to the target location of the task to be assigned to the target location of the task to be assigned, recorded as a third path; combining the first path, the second path and the third path to obtain at least one continuous total path; The total path with the shortest length is selected as the effective total path, and the time taken for the overhead travelling vehicle (4) to move along the effective total path is calculated to obtain the task duration.

9. The overhead crane dispatching system according to claim 7, characterized in that: The overhead crane (4) performs dynamic path planning according to the assigned transportation task and executes the task according to the planning result, performing: According to the current position and the starting position and the target position of the assigned transport task, plan an execution path from the current position through the starting position of the assigned transport task to the target position of the assigned transport task; The task is executed based on the execution path, and the execution path is dynamically adjusted according to the real-time map data during the execution of the task; the real-time map data includes the position of each overhead crane (4), the speed of each overhead crane (4), the track network distribution data, the position and occupancy status of each processing equipment (5) and the position of each temporary storage device (6).

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