Acid barrel automatic transportation method, system, equipment and medium

Abstract

The invention relates to an acid barrel automatic transportation method, system and equipment and a medium, and belongs to the technical field of intelligent acid barrel automatic transportation. The method comprises the steps of obtaining acid barrel transportation environment information, obtaining the acid barrel transportation information through a data acquisition mechanism, and obtaining an optimal acid barrel transportation path and an acid barrel transportation task allocation strategy through an acid barrel transportation path dynamic planning model according to the acid barrel transportation environment information and workshop position information, and obtaining an unmanned acid barrel transportation device through the acid barrel transportation task collaborative scheduling model according to the acid barrel transportation task allocation strategy, and automatically transporting the acid barrels through the acid barrel automatic transportation model according to the unmanned acid barrel transportation device. The automatic collaborative transportation of the acid barrels is realized, and the transportation safety and the transportation efficiency are improved.

Description

Technical Field

[0001] The invention belongs to the field of intelligent acid barrel automatic transportation, and in particular relates to an acid barrel automatic transportation method, system, equipment and medium. Background Art

[0002] In recent years, the semiconductor industry has developed rapidly, and the related processes have become more and more complex. More and more electronic chemicals are used in the production process. These electronic chemicals are corrosive, toxic, flammable, and self-igniting, which can easily cause serious casualties and equipment losses. Therefore, how to safely transport these electronic chemicals between various electronic chemical equipment while ensuring quality is an important issue in the production safety of semiconductor industry factories.

[0003] At present, the domestic acid barrel transportation method is usually manual transportation using simple transportation tools. This method has problems such as unreasonable operation of operators, improper selection of transportation tools, unreasonable allocation of transportation capacity and bumpy transportation sections during transportation. It is easy to cause leakage of electronic chemicals, which has a serious impact on the operators and the surrounding environment, and the work efficiency is also low. Summary of the invention

[0004] In order to solve the above problems existing in the prior art, the present invention provides an automatic acid barrel transportation method. The unmanned transportation device coordinates the acid barrels through dynamic path planning, thereby ensuring the quality of electronic chemicals while achieving efficient and safe transportation. The purpose of the present invention can be achieved through the following technical solutions: An automatic acid barrel transportation method, comprising: Acquire acid barrel transportation environment information, and obtain acid barrel transportation information through a data collection mechanism, wherein the acid barrel transportation information includes acid barrel material information, workshop location information, and equipment identity information, and the workshop location information includes acid barrel cabinet location information, empty acid barrel storage area location information, and full acid barrel storage area location information; According to the acid barrel transportation environment information and the workshop location information, an optimal acid barrel transportation path and an acid barrel transportation task allocation strategy are obtained through an acid barrel transportation path dynamic programming model; The acid barrel transportation path dynamic programming model includes: Establishing communication between the unmanned transport device and the unmanned transport device dispatching system through vehicle networking technology; Constructing an acid barrel transportation environment according to the acid barrel transportation environment information and the workshop location information; According to the acid barrel transportation environment, the optimal path for acid barrel transportation and the acid barrel transportation path cost are obtained through an acid barrel deep double Q network, wherein the acid barrel deep double Q network includes an evaluation network and a target network; According to the acid barrel transportation path cost, the acid barrel transportation task allocation strategy is obtained by using the ACO acid barrel task allocation algorithm; According to the acid barrel transportation task allocation strategy, an unmanned acid barrel transportation device is obtained through an acid barrel transportation task collaborative scheduling model, wherein the unmanned acid barrel transportation device includes an unmanned empty acid barrel transportation device and an unmanned full acid barrel transportation device; The acid barrels are automatically transported by the unmanned empty acid barrel transport device through the empty acid barrel automatic transport model; The unmanned full acid barrel transportation device is used to automatically transport the acid barrels through the full acid barrel automatic transportation model.

[0005] Preferably, obtaining the optimal acid barrel transportation path and the acid barrel transportation path cost through the acid barrel deep double Q network according to the acid barrel transportation environment includes: Step S203-1: Obtain the number of acid barrel transportation tasks, and obtain an acid barrel transportation MDP model through modeling according to the acid barrel transportation environment information; The acid barrel transportation MDP model expression is: MDP = (S, A, R, γ), S=(S z , S u , S g ), A={forward, backward, turn left, turn right}, , Among them, S represents the state space, A represents the action space, R represents the reward function, γ represents the discount factor, S z Indicates the acid barrel transportation environment information, S u represents the current position information of the unmanned transport device, and the current position information of the unmanned transport device is obtained by the unmanned transport device sensor, S g represents the target position information, which is determined by the action instruction sent by the unmanned transport device scheduling system to the unmanned transport device. r1 represents the reward obtained by the unmanned transport device when it reaches the destination position. -r2 represents the reward obtained by the unmanned transport device when it encounters an obstacle. - represents a minus sign.

[0006] Step S203-2: obtaining the current state of the unmanned transport device, and the intelligent agent obtains the current action Q value through the acid barrel transport MDP model according to the current state of the unmanned transport device, and the current action Q value is the corresponding Q value obtained by the intelligent agent through action selection according to the current state of the unmanned transport device; Step S203-3: Obtaining the unmanned transport device operation action through the ε-greedy strategy according to the current action Q value; The ε-greedy strategy expression is: , Among them, a m represents any action in the action space, and ε represents the selection of action a m The probability of a represents the action with the largest Q value, Q(S t ,a;θ) is the current action Q value, and the current action Q value is the evaluation network Q value obtained by selecting action a according to the current state of the unmanned transport device, S t represents the current state of the unmanned transport device, θ represents the Q network parameter under the current state of the unmanned transport device, a t represents the operation action of the unmanned transport device, and the operation action of the unmanned transport device is the action with the largest Q value of the evaluation network; Step S203-4: obtaining a reward and a next state of the unmanned transport device according to the agent's operation of the unmanned transport device, wherein the reward carries a reward error quantity tag; Step S203-5: obtaining network update parameters through loss function calculation according to the current state of the unmanned transport device, the operation action of the unmanned transport device, the reward and the next state of the unmanned transport device; The loss function calculation expression is: , , Among them, Loss(θ) represents the loss value, θ represents the parameters of the evaluation network, and θ - represents the parameters of the target network, E is the expectation operator, ϕ t represents the Q value of the target network, Q(S t ,a t ; θ) represents the evaluation network Q value obtained according to the current state of the unmanned transport device and the operation action of the unmanned transport device, R t represents the reward at time t, γ is the discount factor, S t+1 represents the next state of the unmanned transport device, Q(S t+1 ,a;θ) is the next action Q value, and the next action Q value is the evaluation network Q value obtained by selecting action a according to the next state of the unmanned transport device; Step S203-6: obtaining an acid barrel experience pool through storage according to the current unmanned transport device position information, the unmanned transport device operation action, the reward and the next unmanned transport device position information; Step S203-7: the agent obtains the current state, current action, current reward, and next state by selecting according to the acid bucket experience pool; Step S203-8: determining the optimal path for transporting the acid barrel and the path cost for transporting the acid barrel by reward error according to the next moment state and the network update parameter; The reward error judgment includes judging whether the reward error quantity label is less than 100, if yes, then repeating the steps S203-2 to S203-7 according to the next moment state and the network update parameter until the reward error quantity label is greater than or equal to 100; If not, the optimal path for transporting the acid barrel and the path cost for transporting the acid barrel are obtained.

[0007] Preferably, the acid barrel transportation task allocation strategy is obtained by using an ACO acid barrel task allocation algorithm according to the acid barrel transportation path cost, including: Step S204-1: obtaining the current path pheromone concentration and the number of acid barrel transportation tasks, and obtaining the next acid barrel transportation task and path pheromone through task probability selection according to the acid barrel transportation path cost, wherein the next acid barrel transportation task carries a tag recording the number of acid barrel transportation tasks; The task probability selection expression is: , Among them, P jk represents the probability of selecting the acid barrel transport task k to be assigned to the next acid barrel transport task j, T q T is the unfinished acid barrel transportation task set. f represents the unfinished acid barrel transportation tasks in the unfinished acid barrel transportation task set, represents the pheromone factor, β represents the heuristic factor, τ jk represents the pheromone concentration on the path between the acid barrel transport task k and the next acid barrel transport task j, τ jf represents the pheromone concentration on the path between the unfinished acid barrel transport task f and the next acid barrel transport task j, η jk represents the heuristic information on the path between the acid barrel transport task k and the next acid barrel transport task j, η jf represents the heuristic information on the path between the unfinished acid barrel transportation task f and the next acid barrel transportation task j, wherein the heuristic information is the inverse of the acid barrel transportation path cost; Step S204-2: obtaining an updated path pheromone concentration by updating the current path pheromone concentration according to the path pheromone; The expression for updating the current path pheromone concentration is: , Among them, ρ is the volatility coefficient of path pheromone, τ ijrepresents the pheromone concentration on the direct path between acid barrel transport task i and acid barrel transport task j, τ' ij represents the pheromone concentration of the renewal path, ∆τ ij represents the pheromone increment on the direct path between acid barrel transport task i and acid barrel transport task j; Step S204-3: determining the acid barrel transportation task allocation strategy by task quantity according to the acid barrel transportation task quantity record tag; The task quantity judgment includes judging whether the acid barrel transportation task quantity record label is equal to the acid barrel transportation task quantity, and if so, obtaining the acid barrel transportation task allocation strategy; If not, then repeat the steps S204 - 1 to S204 - 2 according to the next acid barrel transportation task and the updated path pheromone concentration until the number of acid barrel transportation task record tags is equal to the number of acid barrel transportation tasks.

[0008] Preferably, the unmanned acid barrel transport device is obtained through the acid barrel transport task collaborative scheduling model according to the acid barrel transport task allocation strategy, including the unmanned transport device scheduling system obtaining acid barrel transport category tasks through analysis according to the acid barrel transport task allocation strategy, and the acid barrel transport category tasks include empty acid barrel transport tasks and full acid barrel transport tasks; Determine whether the acid barrel transportation category task is the empty acid barrel transportation task. If yes, the MES sends the empty acid barrel information to the unmanned transportation device scheduling system. The empty acid barrel information includes the acid barrel information to be transferred, the location of the acid barrel, and the address to which the acid barrel needs to be sent. The unmanned transportation device scheduling system obtains the empty acid barrel transportation instruction by decomposing the empty acid barrel information, and obtains the unmanned empty acid barrel transportation device by sending the empty acid barrel transportation instruction. If not, the unmanned full acid barrel transport device is obtained by sending a dispatch instruction according to the unmanned transport device dispatch system, and the dispatch instruction includes pre-collected full acid barrel information.

[0009] Preferably, the automatic transportation of the acid barrels by the unmanned empty acid barrel transportation device through the empty acid barrel automatic transportation model comprises: The unmanned empty acid barrel transport device runs to the acid barrel cabinet according to the dispatch instruction, and opens the door of the unmanned transport device; According to the unmanned empty acid barrel transport device, a signal feedback is obtained by interacting with the acid barrel cabinet signal, and the acid barrel cabinet is obtained by analyzing the location of the acid barrel; Determine whether the signal feedback is "NO", if yes, the unmanned empty acid barrel transport device repeatedly visits the acid barrel cabinet status until the signal feedback is "YES"; If not, then the door of the acid barrel cabinet is opened to transport the empty acid barrel to be transported to the unmanned empty acid barrel transport device to obtain an unmanned empty acid barrel transport device to be transported; According to the unmanned empty acid barrel transport device to be transported, the unmanned fixed empty acid barrel transport device to be transported is obtained by closing the acid barrel clamping mechanism; According to the unmanned fixed empty acid barrel transportation device to be transported, the empty acid barrel to be transported is transported to the empty acid barrel storage area through the optimal acid barrel transportation path to obtain the empty acid barrel position information; According to the location information of the empty acid barrel, data confirmation is performed to determine and recycle the empty acid barrel to be transported to a designated area; The data confirmation judgment includes judging whether the empty acid barrel position information is the same as the address to which the acid barrel needs to be delivered. If yes, the unmanned fixed empty acid barrel transportation device to be transported opens the acid barrel clamping mechanism, and the transportation mechanism transports the empty acid barrel to be transported to the empty acid barrel storage area; If no, the unmanned fixed empty acid barrel transportation device to be transported will issue an alarm and transport the empty acid barrel to be transported to a specific empty acid barrel storage area, and the transportation mechanism will transport the empty acid barrel to be transported to the specific empty acid barrel storage area; The unmanned fixed empty acid barrel transport device for waiting transfer is obtained by driving to the waiting area.

[0010] Preferably, automatically transporting the acid barrels according to the unmanned full acid barrel transport device through the full acid barrel automatic transport model includes: According to the dispatching instruction, the unmanned full acid barrel transport device runs to the full acid barrel storage area and opens the door of the unmanned transport device; According to the unmanned full acid barrel transport device, the full acid barrel information is obtained by scanning the electronic barcode of the acid barrel; According to the full acid barrel information, it is determined through information confirmation that the full acid barrel to be transported is transported; The information confirmation judgment includes judging whether the full acid barrel information is equal to the pre-collected full acid barrel information, and if so, the unmanned full acid barrel transport device transports the full acid barrel to be transported; If not, the unmanned full acid barrel transport device sends out an alarm; According to the full acid barrel to be transported being placed on the unmanned full acid barrel transport device through the transport device, the unmanned full acid barrel transport device closes the acid barrel clamping structure to obtain an unmanned fixed full acid barrel transport device to be transported; According to the unmanned fixed full acid barrel transportation device to be transported, the full acid barrel to be transported is transported to the acid barrel cabinet through the optimal acid barrel transportation path to obtain the unmanned fixed full acid barrel transportation device; According to the unmanned fixed full acid barrel transport device, communication feedback is obtained through signal communication with the acid barrel cabinet; Determine whether the communication feedback is "NO", if yes, the unmanned full acid barrel transport device repeatedly accesses the acid barrel cabinet status until the signal feedback is "YES"; If not, then according to the acid barrel cabinet, the cabinet door is opened to obtain the acid barrel cabinet with the cabinet door opened; According to the unmanned fixed full acid barrel transport device, the open door acid barrel cabinet is physically located by a camera to obtain the placement position of the full acid barrel; According to the unmanned fixed full acid barrel transportation device, the full acid barrel to be transported is obtained by opening the acid barrel clamping mechanism; According to the full acid barrel to be transported and the placement position of the full acid barrel, completion status feedback is obtained through the transport mechanism and the internal fixture of the acid barrel cabinet; According to the completion status feedback, the acid barrel cabinet is triggered to close the cabinet door through the unmanned fixed full acid barrel transport device; The unmanned fixed full acid barrel transport device is obtained by driving to the waiting area according to the unmanned transfer full acid barrel transport device.

[0011] An automatic acid barrel transportation method and an automatic acid barrel transportation system based on intelligent collaborative scheduling include an information acquisition module, a dynamic path planning module, a collaborative scheduling module, an empty acid barrel transportation module, and a full acid barrel transportation module, including: The information acquisition module is used to acquire acid barrel transportation environment information, and obtains acid barrel transportation information through a data acquisition mechanism, wherein the acid barrel transportation information includes acid barrel material information, workshop location information, and equipment identity information, and the workshop location information includes acid barrel cabinet location information, empty acid barrel storage area location information, and full acid barrel storage area location information; The dynamic path planning module is used to obtain the optimal path for acid barrel transportation and the acid barrel transportation task allocation strategy through the acid barrel transportation path dynamic planning model according to the acid barrel transportation environment information and the workshop location information; The collaborative scheduling module is used to obtain an unmanned acid barrel transport device through an acid barrel transport task collaborative scheduling model according to the acid barrel transport task allocation strategy, wherein the unmanned acid barrel transport device includes an unmanned empty acid barrel transport device and an unmanned full acid barrel transport device; The empty acid barrel transportation module is used to automatically transport the acid barrels through the empty acid barrel automatic transportation model according to the unmanned empty acid barrel transportation device; The full acid barrel transportation module is used to automatically transport the acid barrels according to the unmanned full acid barrel transportation device through the full acid barrel automatic transportation model.

[0012] An electronic device comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned automatic acid barrel transportation method when executing the program.

[0013] A storage medium containing computer executable instructions, which are used to perform the above-mentioned acid barrel automatic transportation method when executed by a computer processor.

[0014] The beneficial effects of the present invention are: (1) Through the acid barrel transportation path dynamic programming model and the acid barrel transportation task collaborative scheduling model, the unmanned acid barrel transportation device can select the optimal path and optimize the acid barrel transportation task sequence in real time, thereby improving transportation efficiency and avoiding manual operation errors; (2) Through reinforcement learning, the acid barrel transportation process is modeled as a Markov decision process, which can flexibly respond to environmental changes under different states and automatically learn the optimal strategy through interaction with the acid barrel transportation environment, thereby obtaining the optimal path for acid barrel transportation; (3) The ACO algorithm simulates the process of ants constantly updating the pheromone concentration between task paths while searching for food. Through pheromone accumulation and path selection, the ACO algorithm can effectively find the shortest transportation path and reduce transportation time and cost. (4) Through task collaborative scheduling, the unmanned acid barrel transport device performs acid barrel task scheduling according to the acid barrel transport task allocation strategy, thereby optimizing the task allocation between the unmanned acid barrel transport devices, realizing parallel operation, maximizing resource utilization, and reducing the total transportation time. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0016] Figure 1 The invention discloses an automatic transportation method for acid barrels. DETAILED DESCRIPTION

[0017] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the specific implementation methods, structures, features and effects of the present invention are described in detail below in conjunction with the accompanying drawings and preferred embodiments.

[0018] See also Figure 1 , an automatic acid barrel transportation method, comprising: Step S1: Acquire acid barrel transportation environment information, and obtain acid barrel transportation information through a data acquisition mechanism, wherein the data acquisition mechanism is a mechanism composed of a barcode scanner and a reader, and the acid barrel transportation information includes acid barrel material information, workshop location information, and equipment identity information, and the workshop location information includes acid barrel cabinet location information, empty acid barrel storage area location information, and full acid barrel storage area location information; Step S2: obtaining the optimal acid barrel transportation path and the acid barrel transportation task allocation strategy through the acid barrel transportation path dynamic programming model according to the acid barrel transportation environment information and the workshop location information; The acid barrel transportation path dynamic programming model includes: Establishing communication between the unmanned transport device and the unmanned transport device dispatching system through vehicle networking technology; Constructing an acid barrel transportation environment according to the acid barrel transportation environment information and the workshop location information; According to the acid barrel transportation environment, the optimal path for acid barrel transportation and the acid barrel transportation path cost are obtained through an acid barrel deep double Q network, wherein the acid barrel deep double Q network includes an evaluation network and a target network; According to the acid barrel transportation path cost, the acid barrel transportation task allocation strategy is obtained by using the ACO acid barrel task allocation algorithm; Step S3: obtaining an unmanned acid barrel transport device through an acid barrel transport task collaborative scheduling model according to the acid barrel transport task allocation strategy, wherein the unmanned acid barrel transport device includes an unmanned empty acid barrel transport device and an unmanned full acid barrel transport device; Step S4: automatically transporting the acid barrels according to the unmanned empty acid barrel transport device through the empty acid barrel automatic transport model; Step S5: Automatically transporting the acid barrels according to the unmanned full acid barrel transport device through the full acid barrel automatic transport model.

[0019] In this embodiment, the acid bucket deep dual-Q network is specifically implemented by the following steps: Step S203-1: Obtain the number of acid barrel transportation tasks, and obtain an acid barrel transportation MDP model through modeling according to the acid barrel transportation environment information; The acid barrel transportation MDP model expression is: MDP = (S, A, R, γ), S=(S z , S u , S g ), A={forward, backward, turn left, turn right}, , Among them, S represents the state space, A represents the action space, R represents the reward function, γ represents the discount factor, S z Indicates the acid barrel transportation environment information, S u represents the current position information of the unmanned transport device, and the current position information of the unmanned transport device is obtained by the unmanned transport device sensor, S grepresents the target position information, which is determined by the action instruction sent by the unmanned transport device scheduling system to the unmanned transport device. r1 represents the reward obtained by the unmanned transport device when it reaches the destination position. -r2 represents the reward obtained by the unmanned transport device when it encounters an obstacle. - represents a minus sign.

[0020] Step S203-2: obtaining the current state of the unmanned transport device, and the intelligent agent obtains the current action Q value through the acid barrel transport MDP model according to the current state of the unmanned transport device, and the current action Q value is the corresponding Q value obtained by the intelligent agent through action selection according to the current state of the unmanned transport device; Step S203-3: Obtaining the unmanned transport device operation action through the ε-greedy strategy according to the current action Q value; The ε-greedy strategy expression is: , Among them, a m represents any action in the action space, and ε represents the selection of action a m The probability of a represents the action with the largest Q value, Q(S t ,a;θ) is the current action Q value, and the current action Q value is the evaluation network Q value obtained by selecting action a according to the current state of the unmanned transport device, S t represents the current state of the unmanned transport device, θ represents the Q network parameter under the current state of the unmanned transport device, a t represents the operation action of the unmanned transport device, and the operation action of the unmanned transport device is the action with the largest Q value of the evaluation network; Step S203-4: According to the reward and the next state of the unmanned transport device obtained by the agent through the operation of the unmanned transport device, the reward carries a reward error quantity tag, and the reward error quantity tag records the number of reward errors less than 0.01; Step S203-5: obtaining network update parameters through loss function calculation according to the current state of the unmanned transport device, the operation action of the unmanned transport device, the reward and the next state of the unmanned transport device; The loss function calculation expression is: , , Among them, Loss(θ) represents the loss value, θ represents the parameters of the evaluation network, and θ - represents the parameters of the target network, E is the expectation operator, ϕ t represents the Q value of the target network, Q(S t ,a t; θ) represents the evaluation network Q value obtained according to the current state of the unmanned transport device and the operation action of the unmanned transport device, R t represents the reward at time t, γ is the discount factor, S t+1 represents the next state of the unmanned transport device, Q(S t+1 ,a;θ) is the next action Q value, and the next action Q value is the evaluation network Q value obtained by selecting action a according to the next state of the unmanned transport device; Step S203-6: obtaining an acid barrel experience pool through storage according to the current unmanned transport device position information, the unmanned transport device operation action, the reward and the next unmanned transport device position information; Step S203-7: the agent obtains the current state, current action, current reward, and next state by selecting according to the acid bucket experience pool; Step S203-8: determining the optimal path for transporting the acid barrel and the path cost for transporting the acid barrel by reward error according to the next moment state and the network update parameter; The reward error judgment includes: Determine whether the reward error quantity label is less than 100, if yes, repeat the steps S203-2 to S203-7 according to the next moment state and the network update parameter until the reward error quantity label is greater than or equal to 100; If not, the optimal path for transporting the acid barrel and the path cost for transporting the acid barrel are obtained.

[0021] It should be noted that in step S203-2, the intelligent agent is an unmanned transportation device that can autonomously perceive, make decisions and take actions through the acid barrel deep dual Q network.

[0022] In this embodiment, the ACO acid bucket task allocation algorithm is specifically implemented by the following steps: Step S204-1: obtaining the current path pheromone concentration and the number of acid barrel transportation tasks, and obtaining the next acid barrel transportation task and path pheromone through task probability selection according to the acid barrel transportation path cost, wherein the next acid barrel transportation task carries a tag recording the number of acid barrel transportation tasks; The task probability selection expression is: , Among them, P jk represents the probability of selecting the acid barrel transport task k to be assigned to the next acid barrel transport task j, T q T is the unfinished acid barrel transportation task set. f represents the unfinished acid barrel transportation tasks in the unfinished acid barrel transportation task set, represents the pheromone factor, β represents the heuristic factor, τ jk represents the pheromone concentration on the path between the acid barrel transport task k and the next acid barrel transport task j, τ jf represents the pheromone concentration on the path between the unfinished acid barrel transport task f and the next acid barrel transport task j, η jk represents the heuristic information on the path between the acid barrel transport task k and the next acid barrel transport task j, η jf represents the heuristic information on the path between the unfinished acid barrel transportation task f and the next acid barrel transportation task j, wherein the heuristic information is the inverse of the acid barrel transportation path cost; Step S204-2: obtaining an updated path pheromone concentration by updating the current path pheromone concentration according to the path pheromone; The expression for updating the current path pheromone concentration is: , Among them, ρ is the volatility coefficient of path pheromone, τ ij represents the pheromone concentration on the direct path between acid barrel transport task i and acid barrel transport task j, τ' ij represents the pheromone concentration of the renewal path, ∆τ ij represents the pheromone increment on the direct path between acid barrel transport task i and acid barrel transport task j; Step S204-3: determining the acid barrel transportation task allocation strategy by task quantity according to the acid barrel transportation task quantity record tag; The task quantity determination includes: Determine whether the acid barrel transportation task quantity record label is equal to the acid barrel transportation task quantity, if yes, then obtain the acid barrel transportation task allocation strategy; If not, then repeat the steps S204 - 1 to S204 - 2 according to the next acid barrel transportation task and the updated path pheromone concentration until the number of acid barrel transportation task record tags is equal to the number of acid barrel transportation tasks.

[0023] In step S3, obtaining the unmanned acid barrel transport device through the acid barrel transport task collaborative scheduling model according to the acid barrel transport task allocation strategy includes: The unmanned transport device scheduling system obtains acid barrel transportation category tasks by parsing according to the acid barrel transportation task allocation strategy, and the acid barrel transportation category tasks include empty acid barrel transportation tasks and full acid barrel transportation tasks; Determine whether the acid barrel transportation category task is the empty acid barrel transportation task. If yes, the MES sends the empty acid barrel information to the unmanned transportation device scheduling system. The empty acid barrel information includes the acid barrel information to be transferred, the location of the acid barrel, and the address to which the acid barrel needs to be sent. The unmanned transportation device scheduling system obtains the empty acid barrel transportation instruction by decomposing the empty acid barrel information, and obtains the unmanned empty acid barrel transportation device by sending the empty acid barrel transportation instruction. If not, the unmanned full acid barrel transport device is obtained by sending a dispatch instruction according to the unmanned transport device dispatch system, and the dispatch instruction includes pre-collected full acid barrel information.

[0024] In step S4, the automatic transportation of the acid barrels by the unmanned empty acid barrel transportation device through the empty acid barrel automatic transportation model includes: Step S401: the unmanned empty acid barrel transport device runs to the acid barrel cabinet according to the dispatching instruction, and opens the door of the unmanned transport device; Step S402: the unmanned empty acid barrel transport device obtains signal feedback by interacting with the acid barrel cabinet signal, and the acid barrel cabinet obtains the position of the acid barrel by analyzing the position of the acid barrel; Step S403: determining whether the signal feedback is "NO", if so, the unmanned empty acid barrel transport device repeatedly accesses the acid barrel cabinet status until the signal feedback is "YES"; If not, then the door of the acid barrel cabinet is opened to transport the empty acid barrel to be transported to the unmanned empty acid barrel transport device to obtain an unmanned empty acid barrel transport device to be transported; Step S404: obtaining an unmanned fixed empty acid barrel transport device for transporting an acid barrel by closing the acid barrel clamping mechanism according to the unmanned empty acid barrel transport device for transporting an acid barrel; Step S405: transporting the empty acid barrel to be transported to the empty acid barrel storage area through the optimal acid barrel transportation path according to the unmanned fixed empty acid barrel transportation device to obtain the empty acid barrel position information; Step S406: confirming data based on the location information of the empty acid barrel and recovering the empty acid barrel to be transported to a designated area; The data confirmation judgment includes: Determine whether the empty acid barrel location information is the same as the address to which the acid barrel needs to be delivered. If yes, the unmanned fixed empty acid barrel transportation device opens the acid barrel clamping mechanism, and the transportation mechanism transports the empty acid barrel to be transported to the empty acid barrel storage area; If no, the unmanned fixed empty acid barrel transportation device to be transported will issue an alarm and transport the empty acid barrel to be transported to a specific empty acid barrel storage area, and the transportation mechanism will transport the empty acid barrel to be transported to the specific empty acid barrel storage area; Step S407: the unmanned fixed empty acid barrel transport device for waiting transfer is obtained by driving to the waiting area.

[0025] In step S5, the automatic transportation of the acid barrels according to the unmanned full acid barrel transportation device through the full acid barrel automatic transportation model includes: Step S501: the unmanned full acid barrel transport device is operated to the full acid barrel storage area according to the dispatching instruction, and the door of the unmanned transport device is opened; Step S502: obtaining full acid barrel information by scanning the electronic barcode of the acid barrel according to the unmanned full acid barrel transportation device; Step S503: judging the full acid barrel to be transported through information confirmation according to the full acid barrel information; The information confirmation judgment includes: Determine whether the full acid barrel information is equal to the pre-collected full acid barrel information, if yes, then the unmanned full acid barrel transport device transports the full acid barrel to be transported; If not, the unmanned full acid barrel transport device sends out an alarm; Step S504: placing the full acid barrel to be transported onto the unmanned full acid barrel transport device through the transport device, and the unmanned full acid barrel transport device closes the acid barrel clamping structure to obtain an unmanned fixed full acid barrel transport device to be transported; Step S505: according to the unmanned fixed full acid barrel transportation device to be transported, the full acid barrel to be transported is transported to the acid barrel cabinet through the optimal acid barrel transportation path to obtain the unmanned fixed full acid barrel transportation device; Step S506: obtaining communication feedback according to the unmanned fixed full acid barrel transport device through signal communication with the acid barrel cabinet; Step S507: determining whether the communication feedback is "NO", if so, the unmanned full acid barrel transport device repeatedly accesses the acid barrel cabinet status until the signal feedback is "YES"; If not, then according to the acid barrel cabinet, the cabinet door is opened to obtain the acid barrel cabinet with the cabinet door opened; Step S508: using the unmanned fixed full acid barrel transport device to physically locate the open door acid barrel cabinet through a camera to obtain a placement position of the full acid barrel; Step S509: obtaining the full acid barrel to be transported by opening the acid barrel clamping mechanism according to the unmanned transport fixed full acid barrel transportation device; Step S510: obtaining completion status feedback through the transportation mechanism and the internal fixture of the acid barrel cabinet according to the full acid barrel to be transported and the placement position of the full acid barrel; Step S511: triggering the acid barrel cabinet to close the cabinet door through the unmanned fixed full acid barrel transport device according to the completion status feedback; Step S512: the unmanned fixed full acid barrel transport device is driven to a waiting area to obtain the unmanned full acid barrel transport device.

[0026] It should be noted that during the transportation process of the unmanned fixed acid barrel transport device for waiting transfer, the unmanned fixed acid barrel transport device for waiting transfer monitors that the concentration of toxic gas is greater than the safe value, and warns through sound and light alarms. At the same time, the unmanned acid barrel transport device runs to the designated safe area, and opens the exhaust mechanism to reduce the gas concentration in the warehouse of the unmanned acid barrel transport device to a safe value, and then sends the information that needs to be processed; the unmanned fixed acid barrel transport device for waiting transfer monitors that a person enters the detection range of the sentinel alarm device, and reminds the personnel to evacuate in time through sound and light, and simultaneously turns on the camera and triggers the workshop monitoring system.

[0027] An automatic acid barrel transportation method and an automatic acid barrel transportation system based on intelligent collaborative scheduling include an information acquisition module, a dynamic path planning module, a collaborative scheduling module, an empty acid barrel transportation module, and a full acid barrel transportation module, including: The information acquisition module is used to acquire acid barrel transportation environment information, and obtains acid barrel transportation information through a data acquisition mechanism, wherein the acid barrel transportation information includes acid barrel material information, workshop location information, and equipment identity information, and the workshop location information includes acid barrel cabinet location information, empty acid barrel storage area location information, and full acid barrel storage area location information; The dynamic path planning module is used to obtain the optimal path for acid barrel transportation and the acid barrel transportation task allocation strategy through the acid barrel transportation path dynamic planning model according to the acid barrel transportation environment information and the workshop location information; The collaborative scheduling module is used to obtain an unmanned acid barrel transport device through an acid barrel transport task collaborative scheduling model according to the acid barrel transport task allocation strategy, wherein the unmanned acid barrel transport device includes an unmanned empty acid barrel transport device and an unmanned full acid barrel transport device; The empty acid barrel transportation module is used to automatically transport the acid barrels through the empty acid barrel automatic transportation model according to the unmanned empty acid barrel transportation device; The full acid barrel transportation module is used to automatically transport the acid barrels according to the unmanned full acid barrel transportation device through the full acid barrel automatic transportation model.

[0028] The computer storage medium of the embodiment of the present invention may adopt any combination of one or more computer-readable media. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, device or device.

[0029] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0030] The program code included on the computer readable medium can be transmitted with any appropriate medium, including but not limited to wireless, electric wire, optical cable, RF, etc., or any suitable combination of the above. The computer program code for performing the operation of the present invention can be written in one or more programming languages ​​or their combinations, and the programming language includes object-oriented programming languages-such as Java, Smalltalk, C++, and also includes conventional procedural programming languages-such as "C" language or similar programming languages. The program code can be executed completely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer and partially on the remote computer, or completely on the remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (for example, using an Internet service provider to connect through the Internet).

[0031] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technical personnel in this field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A method for automatically transporting acid barrels, characterized in that: The following steps are involved: Acquire acid barrel transportation environment information, and obtain acid barrel transportation information through a data collection mechanism, wherein the acid barrel transportation information includes acid barrel material information, workshop location information, and equipment identity information, and the workshop location information includes acid barrel cabinet location information, empty acid barrel storage area location information, and full acid barrel storage area location information; According to the acid barrel transportation environment information and the workshop location information, an optimal acid barrel transportation path and an acid barrel transportation task allocation strategy are obtained through an acid barrel transportation path dynamic programming model; The acid barrel transportation path dynamic programming model includes: Establishing communication between the unmanned transport device and the unmanned transport device dispatching system through vehicle networking technology; Constructing an acid barrel transportation environment according to the acid barrel transportation environment information and the workshop location information; According to the acid barrel transportation environment, the optimal path for acid barrel transportation and the acid barrel transportation path cost are obtained through an acid barrel deep double Q network, wherein the acid barrel deep double Q network includes an evaluation network and a target network; According to the acid barrel transportation path cost, the acid barrel transportation task allocation strategy is obtained by using the ACO acid barrel task allocation algorithm; According to the acid barrel transportation task allocation strategy, an unmanned acid barrel transportation device is obtained through an acid barrel transportation task collaborative scheduling model, wherein the unmanned acid barrel transportation device includes an unmanned empty acid barrel transportation device and an unmanned full acid barrel transportation device; The acid barrels are automatically transported by the unmanned empty acid barrel transport device through the empty acid barrel automatic transport model; The unmanned full acid barrel transportation device automatically transports the acid barrels through the full acid barrel automatic transportation model.

2. The automatic acid barrel transportation method according to claim 1, characterized in that: The obtaining of the optimal acid barrel transportation path and the acid barrel transportation path cost through the acid barrel deep double Q network according to the acid barrel transportation environment includes: Step S203-1: Obtain the number of acid barrel transportation tasks, and obtain an acid barrel transportation MDP model through modeling according to the acid barrel transportation environment information; The acid barrel transportation MDP model expression is: MDP = (S, A, R, γ), S=(S z ,S u ,S g ), A={forward, backward, turn left, turn right}, ， Among them, S represents the state space, A represents the action space, R represents the reward function, γ represents the discount factor, S z Indicates the acid barrel transportation environment information, S u represents the current position information of the unmanned transport device, and the current position information of the unmanned transport device is obtained by the unmanned transport device sensor, S g represents the target position information, which is determined by the action instruction sent by the unmanned transport device scheduling system to the unmanned transport device, r1 represents the reward obtained by the unmanned transport device when it reaches the destination position, -r2 represents the reward obtained by the unmanned transport device when it encounters an obstacle, and - represents a minus sign; Step S203-2: obtaining the current state of the unmanned transport device, and the intelligent agent obtains the current action Q value through the acid barrel transport MDP model according to the current state of the unmanned transport device, and the current action Q value is the corresponding Q value obtained by the intelligent agent through action selection according to the current state of the unmanned transport device; Step S203-3: Obtaining the unmanned transport device operation action through the ε-greedy strategy according to the current action Q value; The ε-greedy strategy expression is: ， Among them, a m represents any action in the action space, and ε represents the selection of action a m The probability of a represents the action with the largest Q value, Q(S t ,a;θ) is the current action Q value, and the current action Q value is the evaluation network Q value obtained by selecting action a according to the current state of the unmanned transport device, S t represents the current state of the unmanned transport device, θ represents the Q network parameter under the current state of the unmanned transport device, a t represents the operation action of the unmanned transport device, and the operation action of the unmanned transport device is the action with the largest Q value of the evaluation network; Step S203-4: obtaining a reward and a next state of the unmanned transport device according to the agent's operation of the unmanned transport device, wherein the reward carries a reward error quantity tag; Step S203-5: obtaining network update parameters through loss function calculation according to the current state of the unmanned transport device, the operation action of the unmanned transport device, the reward and the next state of the unmanned transport device; The loss function calculation expression is: ， ， Among them, Loss(θ) represents the loss value, θ represents the parameters of the evaluation network, and θ - represents the parameters of the target network, E is the expectation operator, ϕ t represents the Q value of the target network, Q(S t ,a t ; θ) represents the evaluation network Q value obtained according to the current state of the unmanned transport device and the operation action of the unmanned transport device, R t represents the reward at time t, γ is the discount factor, S t+1 represents the next state of the unmanned transport device, Q(S t+1 ,a;θ) is the next action Q value, and the next action Q value is the evaluation network Q value obtained by selecting action a according to the next state of the unmanned transport device; Step S203-6: obtaining an acid barrel experience pool through storage according to the current unmanned transport device position information, the unmanned transport device operation action, the reward and the next unmanned transport device position information; Step S203-7: the agent obtains the current state, current action, current reward, and next state by selecting according to the acid bucket experience pool; Step S203-8: determining the optimal path for transporting the acid barrel and the path cost for transporting the acid barrel by reward error according to the next moment state and the network update parameter; The reward error judgment includes judging whether the reward error quantity label is less than 100, if yes, then repeating the steps S203-2 to S203-7 according to the next moment state and the network update parameter until the reward error quantity label is greater than or equal to 100; If not, the optimal path for transporting the acid barrel and the path cost for transporting the acid barrel are obtained.

3. The automatic acid barrel transportation method according to claim 1, characterized in that: The acid barrel transportation task allocation strategy is obtained by using the ACO acid barrel task allocation algorithm according to the acid barrel transportation path cost, including: Step S204-1: obtaining the current path pheromone concentration and the number of acid barrel transportation tasks, and obtaining the next acid barrel transportation task and path pheromone through task probability selection according to the acid barrel transportation path cost, wherein the next acid barrel transportation task carries a tag recording the number of acid barrel transportation tasks; The task probability selection expression is: ， Among them, P jk represents the probability of selecting the acid barrel transport task k to be assigned to the next acid barrel transport task j, T q T is the unfinished acid barrel transportation task set. f represents the unfinished acid barrel transportation tasks in the unfinished acid barrel transportation task set, represents the pheromone factor, β represents the heuristic factor, τ jk represents the pheromone concentration on the path between the acid barrel transport task k and the next acid barrel transport task j, τ jf represents the pheromone concentration on the path between the unfinished acid barrel transport task f and the next acid barrel transport task j, η jk represents the heuristic information on the path between the acid barrel transport task k and the next acid barrel transport task j, η jf represents the heuristic information on the path between the unfinished acid barrel transportation task f and the next acid barrel transportation task j, wherein the heuristic information is the inverse of the acid barrel transportation path cost; Step S204-2: obtaining an updated path pheromone concentration by updating the current path pheromone concentration according to the path pheromone; The expression for updating the current path pheromone concentration is: ， Among them, ρ is the volatility coefficient of path pheromone, τ ij represents the pheromone concentration on the direct path between acid barrel transport task i and acid barrel transport task j, τ' ij represents the pheromone concentration of the renewal path, ∆τ ij represents the pheromone increment on the direct path between acid barrel transport task i and acid barrel transport task j; Step S204-3: determining the acid barrel transportation task allocation strategy by task quantity according to the acid barrel transportation task quantity record tag; The task quantity judgment includes judging whether the acid barrel transportation task quantity record label is equal to the acid barrel transportation task quantity, and if so, obtaining the acid barrel transportation task allocation strategy; If not, then repeat the steps S204 - 1 to S204 - 2 according to the next acid barrel transportation task and the updated path pheromone concentration until the number of acid barrel transportation task record tags is equal to the number of acid barrel transportation tasks.

4. The automatic acid barrel transportation method according to claim 1, characterized in that: The unmanned acid barrel transport device is obtained through the acid barrel transport task collaborative scheduling model according to the acid barrel transport task allocation strategy, including the unmanned transport device scheduling system obtaining acid barrel transport category tasks through analysis according to the acid barrel transport task allocation strategy, and the acid barrel transport category tasks include empty acid barrel transport tasks and full acid barrel transport tasks; Determine whether the acid barrel transportation category task is the empty acid barrel transportation task. If yes, the MES sends the empty acid barrel information to the unmanned transportation device scheduling system. The empty acid barrel information includes the acid barrel information to be transferred, the location of the acid barrel, and the address to which the acid barrel needs to be sent. The unmanned transportation device scheduling system obtains the empty acid barrel transportation instruction by decomposing the empty acid barrel information, and obtains the unmanned empty acid barrel transportation device by sending the empty acid barrel transportation instruction. If not, the unmanned full acid barrel transport device is obtained by sending a dispatch instruction according to the unmanned transport device dispatch system, and the dispatch instruction includes pre-collected full acid barrel information.

5. The automatic acid barrel transportation method according to claim 4 is characterized in that: The automatic transportation of the acid barrels by the unmanned empty acid barrel transportation device through the empty acid barrel automatic transportation model comprises: The unmanned empty acid barrel transport device runs to the acid barrel cabinet according to the dispatch instruction, and opens the door of the unmanned transport device; According to the unmanned empty acid barrel transport device, a signal feedback is obtained by interacting with the acid barrel cabinet signal, and the acid barrel cabinet is obtained by analyzing the location of the acid barrel; Determine whether the signal feedback is "NO", if yes, the unmanned empty acid barrel transport device repeatedly visits the acid barrel cabinet status until the signal feedback is "YES"; If not, then the door of the acid barrel cabinet is opened to transport the empty acid barrel to be transported to the unmanned empty acid barrel transport device to obtain an unmanned empty acid barrel transport device to be transported; According to the unmanned empty acid barrel transport device to be transported, the unmanned fixed empty acid barrel transport device to be transported is obtained by closing the acid barrel clamping mechanism; According to the unmanned fixed empty acid barrel transportation device to be transported, the empty acid barrel to be transported is transported to the empty acid barrel storage area through the optimal acid barrel transportation path to obtain the empty acid barrel position information; According to the location information of the empty acid barrel, data confirmation is performed to determine and recycle the empty acid barrel to be transported to a designated area; The data confirmation judgment includes judging whether the empty acid barrel position information is the same as the address to which the acid barrel needs to be delivered. If yes, the unmanned fixed empty acid barrel transportation device to be transported opens the acid barrel clamping mechanism, and the transportation mechanism transports the empty acid barrel to be transported to the empty acid barrel storage area; If no, the unmanned fixed empty acid barrel transportation device to be transported will issue an alarm and transport the empty acid barrel to be transported to a specific empty acid barrel storage area, and the transportation mechanism will transport the empty acid barrel to be transported to the specific empty acid barrel storage area; The unmanned fixed empty acid barrel transport device for waiting transfer is obtained by driving to the waiting area.

6. The automatic acid barrel transportation method according to claim 4, characterized in that: The automatic transportation of acid barrels by the unmanned full acid barrel transportation device through the full acid barrel automatic transportation model includes: According to the dispatching instruction, the unmanned full acid barrel transport device runs to the full acid barrel storage area and opens the door of the unmanned transport device; According to the unmanned full acid barrel transport device, the full acid barrel information is obtained by scanning the electronic barcode of the acid barrel; According to the full acid barrel information, it is determined through information confirmation that the full acid barrel to be transported is transported; The information confirmation judgment includes judging whether the full acid barrel information is equal to the pre-collected full acid barrel information, and if so, the unmanned full acid barrel transport device transports the full acid barrel to be transported; If not, the unmanned full acid barrel transport device sends out an alarm; According to the full acid barrel to be transported being placed on the unmanned full acid barrel transport device through the transport device, the unmanned full acid barrel transport device closes the acid barrel clamping structure to obtain an unmanned fixed full acid barrel transport device to be transported; According to the unmanned fixed full acid barrel transportation device to be transported, the full acid barrel to be transported is transported to the acid barrel cabinet through the optimal acid barrel transportation path to obtain the unmanned fixed full acid barrel transportation device; According to the unmanned fixed full acid barrel transport device, communication feedback is obtained through signal communication with the acid barrel cabinet; Determine whether the communication feedback is "NO", if yes, the unmanned full acid barrel transport device repeatedly accesses the acid barrel cabinet status until the signal feedback is "YES"; If not, then according to the acid barrel cabinet, the cabinet door is opened to obtain the acid barrel cabinet with the cabinet door opened; According to the unmanned fixed full acid barrel transport device, the open door acid barrel cabinet is physically located by a camera to obtain the placement position of the full acid barrel; According to the unmanned fixed full acid barrel transportation device, the full acid barrel to be transported is obtained by opening the acid barrel clamping mechanism; According to the full acid barrel to be transported and the placement position of the full acid barrel, completion status feedback is obtained through the transport mechanism and the internal fixture of the acid barrel cabinet; According to the completion status feedback, the acid barrel cabinet is triggered to close the cabinet door through the unmanned fixed full acid barrel transport device; The unmanned fixed full acid barrel transport device is obtained by driving to the waiting area according to the unmanned transfer full acid barrel transport device.

7. An acid barrel automatic transportation system based on intelligent collaborative scheduling using the acid barrel automatic transportation method according to claim 1, comprising an information acquisition module, a dynamic path planning module, a collaborative scheduling module, an empty acid barrel transportation module, and a full acid barrel transportation module, characterized in that: include: The information acquisition module is used to acquire acid barrel transportation environment information, and obtains acid barrel transportation information through a data acquisition mechanism, wherein the acid barrel transportation information includes acid barrel material information, workshop location information, and equipment identity information, and the workshop location information includes acid barrel cabinet location information, empty acid barrel storage area location information, and full acid barrel storage area location information; The dynamic path planning module is used to obtain the optimal path for acid barrel transportation and the acid barrel transportation task allocation strategy through the acid barrel transportation path dynamic planning model according to the acid barrel transportation environment information and the workshop location information; The collaborative scheduling module is used to obtain an unmanned acid barrel transport device through an acid barrel transport task collaborative scheduling model according to the acid barrel transport task allocation strategy, wherein the unmanned acid barrel transport device includes an unmanned empty acid barrel transport device and an unmanned full acid barrel transport device; The empty acid barrel transportation module is used to automatically transport the acid barrels through the empty acid barrel automatic transportation model according to the unmanned empty acid barrel transportation device; The full acid barrel transportation module is used to automatically transport the acid barrels according to the unmanned full acid barrel transportation device through the full acid barrel automatic transportation model.

8. 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 automatic acid barrel transportation method as described in any one of claims 1-6 is implemented.

9. A storage medium containing computer executable instructions, characterized in that: The computer executable instructions are used to execute the acid barrel automatic transportation method as described in any one of claims 1-6 when executed by a computer processor.

Images