Overhead crane system congestion relief method, device, electronic equipment and storage medium

Abstract

The present invention provides a method, device, electronic device and storage medium for overpass system congestion relief. The method determines an overpass to be determined, determines the distance between the overpass to be determined and the current congested track and the candidate driving routes of the overpass to be determined, and determines whether there is a congested track in the candidate driving route. In the case that there is a congested track in the candidate driving route, based on the distance between the overpass to be determined and the current congested track and the congestion degree of the current congested track, a first score for the overpass to be determined to maintain the current driving route is determined, and based on the distance between the overpass to be determined and the congested track in the candidate driving route and the congestion degree of the congested track in the candidate driving route, a second score for the overpass to be determined to switch to the candidate driving route is determined. Thus, the first score and the second score are used to determine whether to switch the driving route of the overpass to be determined, so that the global congestion of the overpass system track can be alleviated without aggravating the congestion of other tracks.

Description

Technical Field

[0001] The present invention relates to the field of overhead crane control technology, and in particular to an overhead crane system congestion relief method, device, electronic equipment and storage medium. Background Art

[0002] AMHS (Automatic Material Handling System) is a system used to automatically process and transport wafers in semiconductor manufacturing plants. Overhead cranes are a common device in AMHS systems, usually used to move along tracks in the factory to transport wafers so that they can flow between different machines. Since the track network of overhead cranes is a sparse directed cyclic graph, and only one-way travel is allowed on the track, when the front vehicle fails or is loading and unloading wafers or there are a large number of overhead cranes in the transport state, track blockage may occur, resulting in a significant reduction in wafer transport efficiency, causing process delays and even disrupting production plans. Therefore, it is necessary to relieve congestion when the track is congested. The current overhead crane relief solution usually sorts the overhead cranes on the congested track according to priority, and then replans the paths of the overhead cranes with lower priorities. However, on the one hand, re-planning the route of the overhead crane on the congested track cannot prevent subsequent vehicles from continuing to cause or aggravate congestion on the track, thus causing a vicious cycle of continuous congestion and congestion relief on the track; more importantly, re-planning the route of the overhead crane on the congested track can alleviate the congestion of the current track to a certain extent, but after re-planning, the overhead crane has the possibility of aggravating the congestion of other tracks. From a global perspective, its relief effect is limited. Summary of the invention

[0003] The present invention provides a method, a device, an electronic device and a storage medium for alleviating congestion in an overhead travelling vehicle system, so as to solve the defect that the track congestion alleviating effect is limited in the prior art.

[0004] The present invention provides a method for alleviating congestion in an overhead traveling vehicle system, comprising:

[0005] Determine any currently congested track, and determine a pending overhead travelling vehicle whose route needs to pass through the currently congested track;

[0006] Determine the distance between the overhead travelling vehicle to be determined and the current congested track and a candidate driving route of the overhead travelling vehicle to be determined; the starting point of the candidate driving route is the current position of the overhead travelling vehicle to be determined and does not pass through the current congested track;

[0007] determining whether there is a congested track in the candidate driving route;

[0008] If there is a congested track in the candidate driving route, determining a first score for the overhead vehicle to be determined to maintain the current driving route based on the distance between the overhead vehicle to be determined and the current congested track and the congestion level of the current congested track, and determining a second score for the overhead vehicle to be determined to switch to the candidate driving route based on the distance between the overhead vehicle to be determined and the congested track in the candidate driving route and the congestion level of the congested track in the candidate driving route;

[0009] Based on a first score for the overhead traveling vehicle to be determined to maintain the current driving route and a second score for the overhead traveling vehicle to be determined to switch to the candidate driving route, it is determined whether to switch the driving route of the overhead traveling vehicle to be determined.

[0010] According to a method for congestion relief of an overhead crane system provided by the present invention, based on the distance between the overhead crane to be determined and the congested track in the candidate driving route and the congestion degree of the congested track in the candidate driving route, determining a second score for the overhead crane to be determined to switch to the candidate driving route comprises:

[0011] If there are multiple congested tracks in the candidate driving route, the weight of each congested track in the candidate driving route is determined based on the distance between the overhead travelling vehicle to be determined and each congested track in the candidate driving route; wherein, the smaller the distance between the overhead travelling vehicle to be determined and any congested track in the candidate driving route, the greater the weight of the corresponding congested track, and the sum of the weights of each congested track in the candidate driving route is 1;

[0012] A second score for the overhead travelling vehicle to be determined to switch to the candidate travelling route is determined based on the distance between the overhead travelling vehicle to be determined and the congested track in the candidate travelling route, the congestion degree and the weight of the congested track in the candidate travelling route.

[0013] According to a method for alleviating congestion in an overhead crane system provided by the present invention, determining whether to switch the driving route of the overhead crane to be determined based on a first score for the overhead crane to be determined to maintain the current driving route and a second score for the overhead crane to be determined to switch to the candidate driving route comprises:

[0014] If the first score of the overhead travelling vehicle to be determined maintaining the current driving route is less than the second score of the overhead travelling vehicle to be determined switching to the candidate driving route, determining whether to switch the driving route of the overhead travelling vehicle to be determined based on the importance of the congested track in the candidate driving route and the importance of the current congested track;

[0015] Otherwise, it is determined that the overhead travelling vehicle to be determined maintains the current travelling route.

[0016] According to a method for alleviating congestion in an overhead traveling vehicle system provided by the present invention, if there is no congested track in the candidate driving route, the method further includes:

[0017] Constructing a node queue of the current travel track of each overhead crane; wherein the node queue of the current travel track of the overhead crane to be determined is constructed based on the candidate travel route, one or more consecutive nodes in the node queue of the current travel track of any overhead crane correspond to a track, and the number of nodes corresponding to any track is determined based on the current travel time of any track;

[0018] Synchronously traverse the current travel track node queue of each overhead crane, count the occurrence frequency of the track corresponding to the currently traversed node, and record the track whose occurrence frequency is greater than the preset frequency, until all the current travel track node queues of the overhead crane are traversed;

[0019] If any track with a frequency greater than a preset frequency belongs to the candidate driving route, determining whether to switch the driving route of the overhead travelling vehicle to be determined based on any track with a frequency greater than a preset frequency;

[0020] If all tracks with an appearance frequency greater than a preset frequency do not belong to the candidate driving routes, it is determined that the overhead travelling vehicle to be determined maintains the current driving route.

[0021] According to a method for alleviating congestion in an overhead travelling vehicle system provided by the present invention, determining whether to switch the driving route of the overhead travelling vehicle to be determined based on any track having an appearance frequency greater than a preset frequency comprises:

[0022] If the importance of any track with a frequency greater than the preset frequency is greater than or equal to the current congested track, it is determined that the overhead travelling vehicle to be determined maintains the current driving route;

[0023] Otherwise, it is determined that the overhead travelling vehicle to be determined switches to the candidate driving route.

[0024] According to a method for alleviating congestion in an overhead traveling vehicle system provided by the present invention, the importance of any track is determined based on the following method:

[0025] Determining a first importance of any track based on the track priority of any track;

[0026] and / or, determining the second importance of any one of the tracks based on the task priority of the transport task corresponding to any one of the tracks;

[0027] The importance of any one track is determined based on the first importance and / or the second importance of any one track.

[0028] According to a method for alleviating congestion in an overhead travelling vehicle system provided by the present invention, determining the second importance of any track based on the task priority of the handling task corresponding to any track includes:

[0029] Count the number of handling tasks corresponding to each task priority;

[0030] The second importance of any track is calculated based on the product of the number of transport tasks corresponding to each task priority and the corresponding task priority.

[0031] The present invention also provides a congestion relief device for a crane system, comprising:

[0032] A target determination unit, used for determining any currently congested track and determining a to-be-determined overhead travelling vehicle whose route needs to pass through the currently congested track;

[0033] A candidate driving route determination unit is used to determine the distance between the overhead travelling vehicle to be determined and the current congested track and a candidate driving route of the overhead travelling vehicle to be determined; the starting point of the candidate driving route is the current position of the overhead travelling vehicle to be determined and does not pass through the current congested track;

[0034] a route comparison unit, configured to determine whether there is a congested track in the candidate travel route; if there is a congested track in the candidate travel route, determining a first score for the overhead travelling vehicle to be determined to maintain the current travel route based on the distance between the overhead travelling vehicle to be determined and the current congested track and the congestion level of the current congested track, and determining a second score for the overhead travelling vehicle to be determined to switch to the candidate travel route based on the distance between the overhead travelling vehicle to be determined and the congested track in the candidate travel route and the congestion level of the congested track in the candidate travel route;

[0035] The route determination unit is used to determine whether to switch the travel route of the overhead traveling vehicle to be determined based on a first score for the overhead traveling vehicle to be determined to maintain the current travel route and a second score for the overhead traveling vehicle to be determined to switch to the candidate travel route.

[0036] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, any of the above-mentioned methods for alleviating congestion in an overhead traveling vehicle system is implemented.

[0037] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the congestion relief method for an overhead traveling vehicle system as described in any one of the above is implemented.

[0038] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the congestion relief method for an overhead traveling vehicle system as described above is implemented.

[0039] The overhead travelling vehicle system congestion relief method, device, electronic device and storage medium provided by the present invention determine that the overhead travelling vehicle to be determined needs to pass through the currently congested track, determine the distance between the overhead travelling vehicle to be determined and the currently congested track and the candidate travelling routes of the overhead travelling vehicle to be determined, and determine whether there is a congested track in the candidate travelling routes. In the case that there is a congested track in the candidate travelling routes, based on the distance between the overhead travelling vehicle to be determined and the currently congested track and the congestion degree of the currently congested track, determine a first score for the overhead travelling vehicle to be determined to maintain the current travelling route based on the distance between the overhead travelling vehicle to be determined and the currently congested track and the congestion degree of the currently congested track, and based on the distance between the overhead travelling vehicle to be determined and the congested track in the candidate travelling route and the congestion degree of the congested track in the candidate travelling route, determine a second score for the overhead travelling vehicle to be determined to switch to the candidate travelling route, so that the above-mentioned first score and second score are used to determine whether to switch the travelling route of the overhead travelling vehicle to be determined, so that the global congestion of the overhead travelling vehicle system track can be alleviated without aggravating the congestion of other tracks. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0041] Figure 1 It is a schematic flow chart of a method for alleviating congestion in an overhead traveling vehicle system provided by the present invention;

[0042] Figure 2 It is a flowchart of the route switching confirmation method provided by the present invention;

[0043] Figure 3 It is a flow chart of the method for determining the importance of a track provided by the present invention;

[0044] Figure 4 It is a structural schematic diagram of the overhead travelling vehicle system congestion relief device provided by the present invention;

[0045] Figure 5 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0047] Figure 1 is a flow chart of the method for alleviating congestion in an overhead travelling vehicle system provided by the present invention, such as Figure 1 As shown, the method includes:

[0048] Step 110, determining any currently congested track, and determining a pending overhead travelling vehicle whose route needs to pass through the currently congested track;

[0049] Step 120, determining the distance between the overhead travelling vehicle to be determined and the current congested track and a candidate driving route of the overhead travelling vehicle to be determined; the starting point of the candidate driving route is the current position of the overhead travelling vehicle to be determined and does not pass through the current congested track;

[0050] Step 130, determining whether there is a congested track in the candidate driving route;

[0051] Step 140, if there is a congested track in the candidate driving route, determining a first score for the overhead travelling vehicle to be determined to maintain the current driving route based on the distance between the overhead travelling vehicle to be determined and the current congested track and the congestion level of the current congested track, and determining a second score for the overhead travelling vehicle to be determined to switch to the candidate driving route based on the distance between the overhead travelling vehicle to be determined and the congested track in the candidate driving route and the congestion level of the congested track in the candidate driving route;

[0052] Step 150 , determining whether to switch the driving route of the overhead traveling vehicle to be determined based on a first score for the overhead traveling vehicle to be determined to maintain the current driving route and a second score for the overhead traveling vehicle to be determined to switch to the candidate driving route.

[0053] Here, the overhead crane system will monitor the operating status of each overhead crane on the track in real time and record the congestion of each track, so as to report the congested track and its current congestion level to the control system in real time so that the control system can conduct congestion relief and prevent delays in the handling tasks of each overhead crane. Among them, the congested track can be a track with an average travel speed lower than the preset speed, and its congestion level can be characterized by the average travel time. Specifically, any current congested track can be selected, and the overhead crane to be determined whose travel route needs to pass (has not passed) the current congested track is determined. For the overhead crane to be determined, the distance between the overhead crane to be determined and the current congested track is calculated based on its current travel route, and a candidate travel route is determined for it. The starting point of the candidate travel route is the current position of the overhead crane to be determined, and the end point is the original end point of the overhead crane to be determined, and the candidate travel route does not pass through the current congested track. In order to ensure the congestion relief plan's ability to alleviate congestion for the global overhead crane system and avoid aggravating the congestion of other tracks by switching the driving path of the overhead crane to be determined, the embodiment of the present invention will not directly switch the subsequent driving route of the overhead crane to be determined to an overhead crane whose path passes through the congested track, but will compare the current driving route of the overhead crane to be determined with the candidate driving routes, so as to select the best route for alleviating congestion or not aggravating the global congestion of the overhead crane system.

[0054] Specifically, it can be determined whether there is a congested track in the candidate driving route. If there is a congested track in the candidate driving route, on the one hand, based on the distance between the overhead vehicle to be determined and the current congested track and the congestion level of the current congested track, a first score for the overhead vehicle to be determined to maintain the current driving route can be determined. In some embodiments, the ratio between the distance between the overhead vehicle to be determined and the current congested track and the congestion level of the current congested track can be determined as the above-mentioned first score. On the other hand, the distance between the overhead vehicle to be determined and the congested track in the candidate driving route can be calculated based on the candidate driving route, and based on the distance between the overhead vehicle to be determined and the congested track in the candidate driving route and the congestion level of the congested track in the candidate driving route, a second score for the overhead vehicle to be determined to switch to the candidate driving route can be determined based on a calculation method similar to the first score. In some embodiments, if there is only one congested track in the candidate driving route, the ratio between the distance between the overhead vehicle to be determined and the congested track in the candidate driving route and the congestion level of the congested track in the candidate driving route can be determined as the above-mentioned second score.

[0055] In other embodiments, if there are multiple congested tracks in the candidate driving route, the distance between the overhead travelling vehicle to be determined and each congested track in the candidate driving route is calculated based on the candidate driving route, and the weight of each congested track in the candidate driving route is determined based on the distance between the overhead travelling vehicle to be determined and each congested track in the candidate driving route. The smaller the distance between the overhead travelling vehicle to be determined and any congested track in the candidate driving route, the greater the weight of the corresponding congested track, and the sum of the weights of each congested track in the candidate driving route is 1. Subsequently, based on the distance between the overhead travelling vehicle to be determined and the congested track in the candidate driving route, the congestion degree and the weight of the congested track in the candidate driving route, the second score of the overhead travelling vehicle to be determined switching to the candidate driving route is determined. In some embodiments, the product of the distance between the overhead travelling vehicle to be determined and any congested track in the candidate driving route, the congestion degree of the congested track and the weight of the congested track can be determined, and the above products corresponding to all congested tracks are accumulated as the second score of the overhead travelling vehicle to be determined switching to the candidate driving route.

[0056] Based on the first score of the overhead travelling vehicle to be determined maintaining the current driving route and the second score of the overhead travelling vehicle to be determined switching to the candidate driving route, it is determined whether to switch the driving route of the overhead travelling vehicle to be determined. If the first score of the overhead travelling vehicle to be determined maintaining the current driving route is greater than or equal to the second score of the overhead travelling vehicle to be determined switching to the candidate driving route, it is determined that the overhead travelling vehicle to be determined maintains the current driving route. If the first score of the overhead travelling vehicle to be determined maintaining the current driving route is less than the second score of the overhead travelling vehicle to be determined switching to the candidate driving route, in one embodiment, it can be determined that the overhead travelling vehicle to be determined switches to the candidate driving route; in another embodiment, it can be determined whether to switch the driving route of the overhead travelling vehicle to be determined based on the importance of the congested track in the candidate driving route and the importance of the current congested track. Here, if the importance of the congested track in the candidate driving route is greater than or equal to the importance of the current congested track, it is determined that the overhead travelling vehicle to be determined maintains the current driving route, otherwise it is determined that the overhead travelling vehicle to be determined switches to the candidate driving route.

[0057] If there is no congested track in the candidate travel route, in one embodiment, it can be determined that the overhead travelling vehicle to be determined is switched to the candidate travel route. In order to ensure that the overhead travelling vehicle to be determined does not aggravate the congestion of other tracks after switching the route, in another embodiment, Figure 2 As shown, the following methods can be used to determine whether to switch the driving route of the overhead travelling vehicle to be determined:

[0058] Step 210, constructing a node queue of the current travel track of each overhead crane; wherein the node queue of the current travel track of the overhead crane to be determined is constructed based on the candidate travel route, one or more consecutive nodes in the node queue of the current travel track of any overhead crane correspond to a track, and the number of nodes corresponding to any track is determined based on the current travel time of any track;

[0059] Step 220, synchronously traverse the current travel track node queue of each overhead crane, count the occurrence frequency of the track corresponding to the currently traversed node, and record the track whose occurrence frequency is greater than the preset frequency, until all the current travel track node queues of the overhead crane are traversed;

[0060] Step 230, if any track with a frequency greater than a preset frequency belongs to the candidate driving route, then based on the track with a frequency greater than the preset frequency, determine whether to switch the driving route of the overhead travelling vehicle to be determined;

[0061] Step 240: If all tracks with an appearance frequency greater than a preset frequency do not belong to the candidate driving routes, it is determined that the overhead travelling vehicle to be determined maintains the current driving route.

[0062] Here, whether to switch the travel route of the overhead crane to be determined can be determined by simulating the congestion of each track after the overhead crane to be determined switches to the candidate travel route. Specifically, a current travel track node queue of each overhead crane can be constructed; wherein the current travel track node queue of the overhead crane to be determined is constructed based on the candidate travel route, and the current travel track node queues of the remaining overhead cranes are constructed based on the current travel routes of the corresponding overhead cranes. One or more consecutive nodes in the current travel track node queue of any overhead crane correspond to a track, and the number of corresponding nodes of any track is determined based on the current travel time of the track, and the longer the current travel time, the more corresponding nodes there are for the track.

[0063] For example, assuming that the current travel route of any overhead travelling vehicle includes track i, track j, track p, track m and track n in sequence, then nodes corresponding to each track are generated in sequence based on the current travel time of track i, track j, track p, track m and track n (e.g., the current average travel time), wherein the track with a larger travel time has a larger number of corresponding nodes, thereby obtaining the current travel track node queue of the overhead travelling vehicle:

[0064]

[0065] Subsequently, the current travel track node queue of each overhead crane is synchronously traversed, the occurrence frequency of the track corresponding to the currently traversed node is counted, and the track with an occurrence frequency greater than the preset frequency is recorded until all the current travel track node queues of the overhead cranes are traversed. For example, a traversal pointer can be created for each overhead crane and each traversal pointer can be initialized to point to the first node in the respective travel track node queue. The tracks corresponding to the nodes pointed to by each traversal pointer are counted to obtain the occurrence frequency of the tracks, and the tracks with an occurrence frequency greater than the preset frequency are recorded, and then each traversal pointer is synchronously moved to the next node in the respective travel track node queue, and then the action is repeated until all traversal pointers are moved to the end of the respective travel track node queues.

[0066] After the traversal is completed, if all tracks with a frequency of occurrence greater than the preset frequency do not belong to the candidate driving routes, it indicates that the overhead travelling vehicle to be determined will not aggravate the congestion of the tracks of the candidate driving routes after switching to the candidate driving routes, so it can be determined that the overhead travelling vehicle to be determined maintains the current driving route. If any of the above tracks with a frequency of occurrence greater than the preset frequency belongs to the candidate driving routes, it indicates that the overhead travelling vehicle to be determined may aggravate the congestion of the tracks of the candidate driving routes after switching to the candidate driving routes, so it can be determined whether to switch the driving route of the overhead travelling vehicle to be determined based on the track with a frequency of occurrence greater than the preset frequency. In some embodiments, it can be determined whether to switch the driving route of the overhead travelling vehicle to be determined based on the importance of the track with a frequency of occurrence greater than the preset frequency. If the importance of the track with a frequency of occurrence greater than the preset frequency is low, the driving route of the overhead travelling vehicle to be determined can be switched to the candidate driving route, otherwise the overhead travelling vehicle to be determined maintains the current driving route unchanged. In other embodiments, the importance of the track with an appearance frequency greater than a preset frequency and the current congested track can be compared. If the importance of the track with an appearance frequency greater than the preset frequency is greater than or equal to the current congested track, the overhead travelling vehicle to be determined is determined to maintain the current driving route; otherwise, the overhead travelling vehicle to be determined is determined to switch to a candidate driving route.

[0067] In the above embodiment, it is necessary to determine the importance of certain tracks, such as Figure 3 As shown, the importance of any track can be determined as follows:

[0068] Step 310, determining the first importance of the track based on the track priority of the track;

[0069] and / or, step 320, determining the second importance of the track based on the task priority of the transport task corresponding to the track;

[0070] Step 330: Determine the importance of the track based on the first importance and / or the second importance of the track.

[0071] Specifically, on the one hand, the track priority of each track can be pre-set according to the process scenario based on factors such as the position of the track and the position of the machine, and its first importance can be determined based on the track priority of the track itself. On the other hand, the handling tasks passing through the track can be determined, and the priorities of each handling task can be counted, and the second importance of the track can be calculated based on the priorities of each handling task corresponding to the track. Among them, the more handling tasks with high priorities, the higher the second importance of the track. In some embodiments, the number of handling tasks corresponding to each task priority is counted, and the product between the number of handling tasks corresponding to each task priority and the corresponding task priority is determined, so that the sum of the products between the number of handling tasks corresponding to each task priority and the corresponding task priority is used as the second importance of the track. The importance of the track can be determined based on the first importance or the second importance of the track, or a combination of the first importance and the second importance of the track.

[0072] In summary, the method provided by the embodiment of the present invention determines that the travel route of the overhead travelling vehicle to be determined needs to pass through the current congested track, determines the distance between the overhead travelling vehicle to be determined and the current congested track and the candidate travel routes of the overhead travelling vehicle to be determined, and determines whether there is a congested track in the candidate travel routes. In the case that there is a congested track in the candidate travel routes, based on the distance between the overhead travelling vehicle to be determined and the current congested track and the congestion degree of the current congested track, a first score for the overhead travelling vehicle to be determined to maintain the current travel route is determined, and based on the distance between the overhead travelling vehicle to be determined and the congested track in the candidate travel routes and the congestion degree of the congested track in the candidate travel routes, a second score for the overhead travelling vehicle to be determined to switch to the candidate travel route is determined, so that the above-mentioned first score and second score are used to determine whether to switch the travel route of the overhead travelling vehicle to be determined, so as to alleviate the global congestion of the overhead travelling vehicle system track without aggravating the congestion of other tracks.

[0073] The overhead crane system congestion relief device provided by the present invention is described below. The overhead crane system congestion relief device described below and the overhead crane system congestion relief method described above can be referred to each other.

[0074] Figure 4 Schematic diagram of the structure of the overhead travelling vehicle system congestion relief device provided by the present invention. Figure 4 As shown, the device comprises:

[0075] A target determination unit 410 is used to determine any currently congested track and determine a pending overhead travelling vehicle whose route needs to pass through the currently congested track;

[0076] A candidate driving route determining unit 420 is used to determine the distance between the overhead travelling vehicle to be determined and the current congested track and a candidate driving route of the overhead travelling vehicle to be determined; the starting point of the candidate driving route is the current position of the overhead travelling vehicle to be determined and does not pass through the current congested track;

[0077] a route comparison unit 430, configured to determine whether there is a congested track in the candidate driving route; if there is a congested track in the candidate driving route, determining a first score for the overhead travelling vehicle to be determined to maintain the current driving route based on the distance between the overhead travelling vehicle to be determined and the current congested track and the congestion level of the current congested track, and determining a second score for the overhead travelling vehicle to be determined to switch to the candidate driving route based on the distance between the overhead travelling vehicle to be determined and the congested track in the candidate driving route and the congestion level of the congested track in the candidate driving route;

[0078] The route determination unit 440 is configured to determine whether to switch the travel route of the overhead travelling vehicle to be determined based on a first score for the overhead travelling vehicle to be determined to maintain the current travel route and a second score for the overhead travelling vehicle to be determined to switch to the candidate travel route.

[0079] The device provided by the embodiment of the present invention determines that the travel route of the overhead travelling vehicle to be determined needs to pass through the current congested track, determines the distance between the overhead travelling vehicle to be determined and the current congested track and the candidate travel routes of the overhead travelling vehicle to be determined, and determines whether there is a congested track in the candidate travel routes. In the case that there is a congested track in the candidate travel routes, based on the distance between the overhead travelling vehicle to be determined and the current congested track and the congestion degree of the current congested track, a first score for the overhead travelling vehicle to be determined to maintain the current travel route is determined, and based on the distance between the overhead travelling vehicle to be determined and the congested track in the candidate travel routes and the congestion degree of the congested track in the candidate travel routes, a second score for the overhead travelling vehicle to be determined to switch to the candidate travel route is determined, so that the above-mentioned first score and second score are used to determine whether to switch the travel route of the overhead travelling vehicle to be determined, so as to alleviate the global congestion of the tracks of the overhead travelling vehicle system without aggravating the congestion of other tracks.

[0080] Based on any of the above embodiments, determining a second score for the overhead travelling vehicle to be determined to switch to the candidate travelling route based on the distance between the overhead travelling vehicle to be determined and the congested track in the candidate travelling route and the congestion degree of the congested track in the candidate travelling route comprises:

[0081] If there are multiple congested tracks in the candidate driving route, the weight of each congested track in the candidate driving route is determined based on the distance between the overhead travelling vehicle to be determined and each congested track in the candidate driving route; wherein, the smaller the distance between the overhead travelling vehicle to be determined and any congested track in the candidate driving route, the greater the weight of the corresponding congested track, and the sum of the weights of each congested track in the candidate driving route is 1;

[0082] A second score for the overhead travelling vehicle to be determined to switch to the candidate travelling route is determined based on the distance between the overhead travelling vehicle to be determined and the congested track in the candidate travelling route, the congestion degree and the weight of the congested track in the candidate travelling route.

[0083] Based on any of the above embodiments, determining whether to switch the driving route of the overhead traveling vehicle to be determined based on a first score for the overhead traveling vehicle to be determined to maintain the current driving route and a second score for the overhead traveling vehicle to be determined to switch to the candidate driving route includes:

[0084] If the first score of the overhead travelling vehicle to be determined maintaining the current driving route is less than the second score of the overhead travelling vehicle to be determined switching to the candidate driving route, determining whether to switch the driving route of the overhead travelling vehicle to be determined based on the importance of the congested track in the candidate driving route and the importance of the current congested track;

[0085] Otherwise, it is determined that the overhead travelling vehicle to be determined maintains the current travelling route.

[0086] Based on any of the above embodiments, if there is no congested track in the candidate driving route, the method further includes:

[0087] Constructing a node queue of the current travel track of each overhead crane; wherein the node queue of the current travel track of the overhead crane to be determined is constructed based on the candidate travel route, one or more consecutive nodes in the node queue of the current travel track of any overhead crane correspond to a track, and the number of nodes corresponding to any track is determined based on the current travel time of any track;

[0088] Synchronously traverse the current travel track node queue of each overhead crane, count the occurrence frequency of the track corresponding to the currently traversed node, and record the track whose occurrence frequency is greater than the preset frequency, until all the current travel track node queues of the overhead crane are traversed;

[0089] If any track with a frequency greater than a preset frequency belongs to the candidate driving route, determining whether to switch the driving route of the overhead travelling vehicle to be determined based on any track with a frequency greater than a preset frequency;

[0090] If all tracks with an appearance frequency greater than a preset frequency do not belong to the candidate driving routes, it is determined that the overhead travelling vehicle to be determined maintains the current driving route.

[0091] Based on any of the above embodiments, determining whether to switch the driving route of the overhead travelling vehicle to be determined based on any track having an appearance frequency greater than a preset frequency includes:

[0092] If the importance of any track with a frequency greater than the preset frequency is greater than or equal to the current congested track, it is determined that the overhead travelling vehicle to be determined maintains the current driving route;

[0093] Otherwise, it is determined that the overhead travelling vehicle to be determined switches to the candidate driving route.

[0094] Based on any of the above embodiments, the importance of any track is determined based on the following method:

[0095] Determining a first importance of any track based on the track priority of any track;

[0096] and / or, determining the second importance of any one of the tracks based on the task priority of the transport task corresponding to any one of the tracks;

[0097] The importance of any one track is determined based on the first importance and / or the second importance of any one track.

[0098] Based on any of the above embodiments, determining the second importance of any of the tracks based on the task priority of the transport task corresponding to any of the tracks includes:

[0099] Count the number of handling tasks corresponding to each task priority;

[0100] The second importance of any track is calculated based on the product of the number of transport tasks corresponding to each task priority and the corresponding task priority.

[0101] Figure 5 is a schematic diagram of the structure of the electronic device provided by the present invention, such as Figure 5As shown, the electronic device may include: a processor 510, a memory 520, a communications interface 530 and a communications bus 540, wherein the processor 510, the memory 520 and the communications interface 530 communicate with each other via the communications bus 540. The processor 510 may call the logic instructions in the memory 520 to execute a method for congestion relief of an overhead traveling vehicle system, the method comprising: determining any currently congested track, and determining an overhead traveling vehicle to be determined whose driving route needs to pass through the currently congested track; determining the distance between the overhead traveling vehicle to be determined and the currently congested track and the candidate driving routes of the overhead traveling vehicle to be determined; the starting point of the candidate driving route is the current position of the overhead traveling vehicle to be determined and does not pass through the currently congested track; determining whether there is a congested track in the candidate driving route; if there is a congested track in the candidate driving route, based on the The first score for the overhead travelling vehicle to be determined to maintain the current driving route is determined based on the distance between the overhead travelling vehicle to be determined and the current congested track and the degree of congestion of the current congested track, and the second score for the overhead travelling vehicle to be determined to switch to the candidate driving route is determined based on the distance between the overhead travelling vehicle to be determined and the congested track in the candidate driving route and the degree of congestion of the congested track in the candidate driving route; and whether to switch the driving route of the overhead travelling vehicle to be determined is determined based on the first score for the overhead travelling vehicle to be determined to maintain the current driving route and the second score for the overhead travelling vehicle to be determined to switch to the candidate driving route.

[0102] In addition, the logic instructions in the above-mentioned memory 520 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0103] On the other hand, the present invention further provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, and when the program instructions are executed by a computer, the computer can execute the overhead traveling vehicle system congestion relief method provided by the above-mentioned methods, the method comprising: determining any currently congested track, and determining an overhead traveling vehicle to be determined whose driving route needs to pass through the currently congested track; determining the distance between the overhead traveling vehicle to be determined and the currently congested track and the candidate driving routes of the overhead traveling vehicle to be determined; the starting point of the candidate driving route is the current position of the overhead traveling vehicle to be determined and does not pass through the currently congested track; determining the candidate driving routes whether there is a congested track in the candidate driving route; if there is a congested track in the candidate driving route, determining a first score for the overhead travelling vehicle to be determined to maintain the current driving route based on the distance between the overhead travelling vehicle to be determined and the current congested track and the congestion level of the current congested track, and determining a second score for the overhead travelling vehicle to be determined to switch to the candidate driving route based on the distance between the overhead travelling vehicle to be determined and the congested track in the candidate driving route and the congestion level of the congested track in the candidate driving route; determining whether to switch the driving route of the overhead travelling vehicle to be determined based on the first score for the overhead travelling vehicle to be determined to maintain the current driving route and the second score for the overhead travelling vehicle to be determined to switch to the candidate driving route.

[0104] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented when the processor executes the above-mentioned overhead traveling vehicle system congestion relief method, the method comprising: determining any currently congested track, and determining an overhead traveling vehicle to be determined whose driving route needs to pass through the currently congested track; determining the distance between the overhead traveling vehicle to be determined and the currently congested track and the candidate driving routes of the overhead traveling vehicle to be determined; the starting point of the candidate driving route is the current position of the overhead traveling vehicle to be determined and does not pass through the currently congested track; determining whether there is a congested track in the candidate driving route; if the candidate driving route If there is a congested track in the travel route, a first score for the overhead crane to be determined to maintain the current travel route is determined based on the distance between the overhead crane to be determined and the current congested track and the degree of congestion of the current congested track, and a second score for the overhead crane to be determined to switch to the candidate travel route is determined based on the distance between the overhead crane to be determined and the congested track in the candidate travel route and the degree of congestion of the congested track in the candidate travel route; and whether to switch the travel route of the overhead crane to be determined is determined based on the first score for the overhead crane to be determined to maintain the current travel route and the second score for the overhead crane to be determined to switch to the candidate travel route.

[0105] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0106] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0107] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for alleviating congestion in an overhead travelling vehicle system, characterized in that: include: Determine any currently congested track, and determine a pending overhead travelling vehicle whose route needs to pass through the currently congested track; Determining the distance between the overhead travelling vehicle to be determined and the current congested track and the candidate travel routes of the overhead travelling vehicle to be determined; The starting point of the candidate driving route is the current position of the overhead travelling vehicle to be determined and does not pass through the current congested track; determining whether there is a congested track in the candidate driving route; If there is a congested track in the candidate driving route, determining a first score for the overhead vehicle to be determined to maintain the current driving route based on the distance between the overhead vehicle to be determined and the current congested track and the congestion level of the current congested track, and determining a second score for the overhead vehicle to be determined to switch to the candidate driving route based on the distance between the overhead vehicle to be determined and the congested track in the candidate driving route and the congestion level of the congested track in the candidate driving route; Determining whether to switch the driving route of the overhead vehicle to be determined based on a first score for maintaining the current driving route of the overhead vehicle to be determined and a second score for switching the overhead vehicle to be determined to the candidate driving route; If there is no congested track in the candidate driving route, the method further includes: Constructing a node queue of the current travel track of each overhead crane; wherein the node queue of the current travel track of the overhead crane to be determined is constructed based on the candidate travel route, one or more consecutive nodes in the node queue of the current travel track of any overhead crane correspond to a track, and the number of nodes corresponding to any track is determined based on the current travel time of any track; Synchronously traverse the current travel track node queue of each overhead crane, count the occurrence frequency of the track corresponding to the currently traversed node, and record the track whose occurrence frequency is greater than the preset frequency, until all the current travel track node queues of the overhead crane are traversed; If any track whose appearance frequency is greater than the preset frequency belongs to the candidate driving route, then when the importance of any track whose appearance frequency is greater than the preset frequency is greater than or equal to the current congested track, it is determined that the overhead travelling vehicle to be determined maintains the current driving route; when the importance of any track whose appearance frequency is greater than the preset frequency is less than the current congested track, it is determined that the overhead travelling vehicle to be determined switches to the candidate driving route.

2. The method for alleviating congestion in an overhead traveling vehicle system according to claim 1, characterized in that: Determining a second score for the overhead travelling vehicle to be determined to switch to the candidate travelling route based on the distance between the overhead travelling vehicle to be determined and the congested track in the candidate travelling route and the congestion degree of the congested track in the candidate travelling route comprises: If there are multiple congested tracks in the candidate driving route, the weight of each congested track in the candidate driving route is determined based on the distance between the overhead travelling vehicle to be determined and each congested track in the candidate driving route; wherein, the smaller the distance between the overhead travelling vehicle to be determined and any congested track in the candidate driving route, the greater the weight of the corresponding congested track, and the sum of the weights of each congested track in the candidate driving route is 1; A second score for the overhead travelling vehicle to be determined to switch to the candidate travelling route is determined based on the distance between the overhead travelling vehicle to be determined and the congested track in the candidate travelling route, the congestion degree and the weight of the congested track in the candidate travelling route.

3. The method for alleviating congestion in an overhead traveling vehicle system according to claim 1, characterized in that: Determining whether to switch the driving route of the overhead traveling vehicle to be determined based on a first score for maintaining the current driving route of the overhead traveling vehicle to be determined and a second score for switching the overhead traveling vehicle to be determined to the candidate driving route comprises: If the first score of the overhead travelling vehicle to be determined maintaining the current driving route is less than the second score of the overhead travelling vehicle to be determined switching to the candidate driving route, determining whether to switch the driving route of the overhead travelling vehicle to be determined based on the importance of the congested track in the candidate driving route and the importance of the current congested track; Otherwise, it is determined that the overhead travelling vehicle to be determined maintains the current travelling route.

4. The method for alleviating congestion in an overhead traveling vehicle system according to claim 3, characterized in that: The importance of any track is determined based on: Determining a first importance of any track based on the track priority of any track; and / or, determining the second importance of any one of the tracks based on the task priority of the transport task corresponding to any one of the tracks; The importance of any one track is determined based on the first importance and / or the second importance of any one track.

5. The method for alleviating congestion in an overhead traveling vehicle system according to claim 4, characterized in that: The determining the second importance of any track based on the task priority of the transport task corresponding to any track includes: Count the number of handling tasks corresponding to each task priority; The second importance of any track is calculated based on the product of the number of transport tasks corresponding to each task priority and the corresponding task priority.

6. A congestion relief device for a crane system, characterized in that: include: A target determination unit, used for determining any currently congested track and determining a to-be-determined overhead travelling vehicle whose route needs to pass through the currently congested track; A candidate driving route determination unit, used to determine the distance between the overhead travelling vehicle to be determined and the current congested track and the candidate driving route of the overhead travelling vehicle to be determined; The starting point of the candidate driving route is the current position of the overhead travelling vehicle to be determined and does not pass through the current congested track; a route comparison unit, configured to determine whether there is a congested track in the candidate driving route; If there is a congested track in the candidate driving route, determining a first score for the overhead vehicle to be determined to maintain the current driving route based on the distance between the overhead vehicle to be determined and the current congested track and the congestion level of the current congested track, and determining a second score for the overhead vehicle to be determined to switch to the candidate driving route based on the distance between the overhead vehicle to be determined and the congested track in the candidate driving route and the congestion level of the congested track in the candidate driving route; A route determination unit, configured to determine whether to switch the travel route of the overhead travelling vehicle to be determined based on a first score for the overhead travelling vehicle to be determined to maintain the current travel route and a second score for the overhead travelling vehicle to be determined to switch to the candidate travel route; If there is no congested track in the candidate driving route, construct a current driving track node queue for each overhead crane; wherein the current driving track node queue of the overhead crane to be determined is constructed based on the candidate driving route, one or more consecutive nodes in the current driving track node queue of any overhead crane corresponds to a track, and the number of nodes corresponding to any track is determined based on the current travel time of any track; synchronously traverse the current driving track node queue of each overhead crane, count the occurrence frequency of the track corresponding to the currently traversed node, and record the track with an occurrence frequency greater than a preset frequency until all the current driving track node queues of the overhead cranes are traversed; if any track with an occurrence frequency greater than the preset frequency belongs to the candidate driving route, then when the importance of any track with an occurrence frequency greater than the preset frequency is greater than or equal to the current congested track, determine that the overhead crane to be determined maintains the current driving route; When the importance of any track with an appearance frequency greater than a preset frequency is less than that of the current congested track, it is determined that the overhead travelling vehicle to be determined is switched to the candidate driving route.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the overhead traveling vehicle system congestion relief method as claimed in any one of claims 1 to 5 is implemented.

8. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for alleviating congestion in an overhead traveling vehicle system as claimed in any one of claims 1 to 5 is implemented.

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