Intelligent handling management system and handling management method for slicing work line

Abstract

The present invention provides an intelligent transport management system and a transport management method for a slicing work line, wherein the system includes: a determination module for identifying a transport demand map of a slicing work line and determining whether to enter a transport operation time; a decision module for, when it is determined to be yes, deciding a transport operation scheduling strategy based on a transport demand map and a status table of multiple transport carts; a scheduling module for scheduling transport operations for each transport cart accordingly based on the transport operation scheduling strategy. In the present invention, when a transport demand is generated, the system will automatically schedule the transport cart to perform a corresponding transport operation, thereby improving transport efficiency, and further improving the response speed to sudden transport demands, improving flexibility, and meeting the professional requirements of modern processing and production for rapid response and high precision. In addition, it realizes the optimization of resource allocation for the processing and production of single crystal silicon rods, avoids processing and production bottlenecks, and speeds up delivery time.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent transport management, and in particular to an intelligent transport management system and a transport management method for a slicing work line. Background Art

[0002] In the key process of slicing line for single crystal silicon rod processing and production, the efficiency of material handling is directly related to the continuity of processing and production and the delivery cycle of products. With the continuous pursuit of high quality and high efficiency in the semiconductor industry, the traditional material handling method of slicing line has gradually exposed its shortcomings: the handling mode relying on manual operation is not only inefficient, but also slow to respond to emergencies, lacks flexibility, and is difficult to meet the professional requirements of modern processing and production for rapid response and high precision; it also makes it impossible to optimize resource allocation for processing and production, resulting in processing and production bottlenecks and delayed delivery time.

[0003] In order to solve these problems, it is particularly important to develop an intelligent handling system. Summary of the invention

[0004] One of the purposes of the present invention is to provide an intelligent transportation management system for a slicing work line, identify the transportation demand map of the slicing work line, determine whether to enter the transportation operation time, and when it is determined to be yes, decide on the transportation operation scheduling strategy based on the transportation demand map and the status table of multiple transportation carts. Based on the transportation operation scheduling strategy, each transportation cart is correspondingly scheduled for transportation operations. When a transportation demand arises, the system will automatically schedule the transportation cart to perform the corresponding transportation operation, thereby improving transportation efficiency and the response speed to sudden transportation demands, improving flexibility, and meeting the professional requirements of modern processing and production for rapid response and high precision. In addition, it realizes the optimization of resource allocation for the processing and production of single crystal silicon rods, avoids processing and production bottlenecks, and speeds up delivery time.

[0005] The intelligent handling management system of a slicing work line provided by an embodiment of the present invention includes:

[0006] A determination module is used to identify the transport demand map of the slicing work line and determine whether to enter the transport operation time;

[0007] A decision module, for deciding a transport operation scheduling strategy based on a transport demand map and a status table of a plurality of transport vehicles when the determination is yes;

[0008] The scheduling module is used to schedule the handling operations of each transport vehicle according to the handling operation scheduling strategy.

[0009] Optionally, the intelligent handling management system of the slicing work line further includes a first auxiliary module for:

[0010] When the transport vehicle performs a transport operation, based on a first future driving path of the transport vehicle within a first preset time period in the future, attempt to plan a first driving area and a second driving area;

[0011] When the attempt is successful, if the worker of the slicing work line falls into the first driving zone, the worker is prompted to avoid the vehicle based on the first real-time relative position relationship between the transport trolley and the worker in the first time period; if the worker falls into the second driving zone, the worker is prompted to carry the vehicle along the way based on the second real-time relative position relationship between the transport trolley and the worker and the second future driving path of the transport trolley within a second preset time period in the future;

[0012] Wherein, based on the first future driving path of the transport vehicle within the first preset time period in the future, attempting to plan the first driving area and the second driving area includes:

[0013] Based on the circle-making condition and the first future driving path, try to make two circular ranges respectively;

[0014] When the attempt is successful, the one of the two circular ranges that is closer to the starting point of the first future driving path is used as the first driving area, and the other is used as the second driving area;

[0015] The conditions for making a circle include:

[0016] The centers of the two circular ranges fall on the first future driving path, and the radius length is a preset length;

[0017] The two circular ranges do not overlap each other;

[0018] The maximum matching degree between the local paths falling within the two circular ranges on the first future driving path and each of the plurality of standard local paths exceeds a first matching degree threshold;

[0019] The starting time of the first period is the time when the transport vehicle enters the first driving area, and the ending time is the time when the transport vehicle exits the first driving area;

[0020] The start time of the second period is the time when the transport vehicle drives to the center of the first driving area, and the end time is the time when the transport vehicle drives to the center of the second driving area.

[0021] Optionally, the intelligent handling management system of the slicing line further includes a second auxiliary module for:

[0022] When the transport trolley is performing a transport operation, if the staff of the slicing line inputs a temporary non-standard object transport instruction to the transport trolley, the transport trolley is controlled to interact with the staff to obtain the object posture and transport destination of the non-standard object to be transported;

[0023] Based on the cooperative transport knowledge base, determining the cooperative transport posture according to the posture of the object; wherein the cooperative transport posture includes the posture of the object;

[0024] Plan the cooperative transport route based on cooperative transport posture, transport destination and transport space map;

[0025] Other nearby transport carts are dispatched to cooperate with the transport cart to transport the non-standard objects, and then transport them to the destination along the cooperative transport path.

[0026] Optionally, the second auxiliary module is further used for:

[0027] Determine a transport risk path from the cooperative transport path; wherein the maximum matching degree between the transport risk path and each of the plurality of standard transport risk paths exceeds a second matching degree threshold;

[0028] When other transport carts and the transport cart travel along the transport risk path, other transport carts and the transport cart are controlled to obtain posture changes of non-standard objects;

[0029] Based on the cooperative handling knowledge base, determine the posture fine-tuning strategy according to posture changes;

[0030] Based on the posture fine-tuning strategy, the cooperative carrying posture between other transport carts and the transport cart is fine-tuned accordingly.

[0031] Optionally, the intelligent handling management system of the slicing line also includes a third auxiliary module for:

[0032] When the transport vehicle is performing a transport operation, if the transport vehicle reports an abnormal transport event, a graphical model of the abnormal transport event is generated;

[0033] Display graphical models to management;

[0034] When the manager completes the event handling strategy based on the graphical model decision, the abnormal transportation event is handled accordingly based on the event handling strategy.

[0035] Optionally, the third auxiliary module generates a graphical model of abnormal handling events, including:

[0036] Extract elements from abnormal transport events and process them in a time-sequential manner to obtain element sequences;

[0037] Determine multiple target local sequences from the element sequence; wherein the generation time difference between two elements in each target local sequence does not exceed the time difference threshold or there is a standard element relationship between two elements;

[0038] Perform feature extraction and feature vector representation processing on each target local sequence and the sequence relationship between each target local sequence to obtain a feature vector;

[0039] Determine a sequence sorting strategy corresponding to the feature vector from a sequence sorting strategy library;

[0040] Based on the sequence sorting strategy, determine the sequence order of each target local sequence;

[0041] Generate a template based on the model slice, generate a model slice according to all elements in at least one target local sequence of the same sequence order, and associate it with the corresponding sequence order;

[0042] Map the model slices to the initial model in order according to the associated sequence order;

[0043] The initial model after all the mappings of the model switching are integrated is used as the graphical model.

[0044] The intelligent handling management method of a slicing work line provided by an embodiment of the present invention includes:

[0045] Identify the handling demand map of the slicing work line and determine whether to start the handling operation;

[0046] When it is determined to be yes, a transportation operation scheduling strategy is determined based on the transportation demand map and the status table of multiple transportation vehicles;

[0047] Based on the handling operation scheduling strategy, each handling vehicle is scheduled for corresponding handling operations.

[0048] Optionally, the intelligent handling management method of the slicing work line also includes:

[0049] When the transport vehicle performs a transport operation, based on a first future driving path of the transport vehicle within a first preset time period in the future, attempt to plan a first driving area and a second driving area;

[0050] When the attempt is successful, if the worker of the slicing work line falls into the first driving zone, the worker is prompted to avoid the vehicle based on the first real-time relative position relationship between the transport trolley and the worker in the first time period; if the worker falls into the second driving zone, the worker is prompted to carry the vehicle along the way based on the second real-time relative position relationship between the transport trolley and the worker and the second future driving path of the transport trolley within a second preset time period in the future;

[0051] Wherein, based on the first future driving path of the transport vehicle within the first preset time period in the future, attempting to plan the first driving area and the second driving area includes:

[0052] Based on the circle-making condition and the first future driving path, try to make two circular ranges respectively;

[0053] When the attempt is successful, the one of the two circular ranges that is closer to the starting point of the first future driving path is used as the first driving area, and the other is used as the second driving area;

[0054] The conditions for making a circle include:

[0055] The centers of the two circular ranges fall on the first future driving path, and the radius length is a preset length;

[0056] The two circular ranges do not overlap each other;

[0057] The maximum matching degree between the local paths falling within the two circular ranges on the first future driving path and each of the plurality of standard local paths exceeds a first matching degree threshold;

[0058] The starting time of the first period is the time when the transport vehicle enters the first driving area, and the ending time is the time when the transport vehicle exits the first driving area;

[0059] The start time of the second period is the time when the transport vehicle drives to the center of the first driving area, and the end time is the time when the transport vehicle drives to the center of the second driving area.

[0060] Optionally, the intelligent handling management method of the slicing work line also includes:

[0061] When the transport trolley is performing a transport operation, if the staff of the slicing line inputs a temporary non-standard object transport instruction to the transport trolley, the transport trolley is controlled to interact with the staff to obtain the object posture and transport destination of the non-standard object to be transported;

[0062] Based on the cooperative transport knowledge base, determining the cooperative transport posture according to the posture of the object; wherein the cooperative transport posture includes the posture of the object;

[0063] Plan the cooperative transport route based on cooperative transport posture, transport destination and transport space map;

[0064] Other nearby transport carts are dispatched to cooperate with the transport cart to transport the non-standard objects, and then transport them to the destination along the cooperative transport path.

[0065] Optionally, in the process of cooperative transportation between other transport carts and the transport cart, the following is also included:

[0066] Determine a transport risk path from the cooperative transport path; wherein the maximum matching degree between the transport risk path and each of the plurality of standard transport risk paths exceeds a second matching degree threshold;

[0067] When other transport carts and the transport cart travel along the transport risk path, other transport carts and the transport cart are controlled to obtain posture changes of non-standard objects;

[0068] Based on the cooperative handling knowledge base, determine the posture fine-tuning strategy according to posture changes;

[0069] Based on the posture fine-tuning strategy, the cooperative carrying posture between other transport carts and the transport cart is fine-tuned accordingly.

[0070] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description and the accompanying drawings.

[0071] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0073] Figure 1 Schematic diagram of an intelligent handling management system for a slicing work line according to an embodiment of the present invention;

[0074] Figure 2 It is a flow chart of the intelligent handling management method of the slicing work line in an embodiment of the present invention. DETAILED DESCRIPTION

[0075] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0076] The embodiment of the present invention provides an intelligent handling management system for a slicing line. Figure 1 As shown, including:

[0077] Determination module 1 is used to identify the transport demand map of the slicing work line and determine whether to enter the transport operation time;

[0078] Decision module 2, for, when the determination is yes, deciding on a transport operation scheduling strategy based on a transport demand map and a status table of a plurality of transport vehicles;

[0079] The scheduling module 3 is used to schedule the transport operations of each transport vehicle accordingly based on the transport operation scheduling strategy.

[0080] The working principle and beneficial effects of the above technical solution are:

[0081] The slicing work line is a processing production line for slicing single crystal silicon rods in the production of single crystal silicon rod processing; the slicing work line pre-sets a transportation demand map, and the transportation demand map indicates which position on the processing production line has what kind of transportation demand, for example: a certain unloading position has 200 single crystal silicon rod sliced ​​finished products that need to be transported to the finished product placement area; identifying the transportation demand map can be used to determine whether to enter the transportation opportunity; a plurality of transport carts are pre-set at the site of the slicing work line, and each transport cart has a preset status table, and the status table records the real-time status of the transport cart, including at least: position, remaining transportation volume, future driving route, etc.; when it is determined to enter the transportation opportunity, the transportation operation scheduling strategy can be decided based on the transportation demand map and the status table of multiple transport carts. The transportation operation scheduling strategy indicates which transport cart performs what kind of transportation task. For each transportation demand on the transportation demand map, a transport cart that can meet the demand can be dispatched nearby to perform the transportation operation; based on the transportation operation scheduling strategy, each transport cart is correspondingly scheduled for transportation operations.

[0082] The present application identifies the transport demand map of the slicing work line and determines whether to enter the transport operation time. When it is determined to be yes, the transport operation scheduling strategy is decided based on the transport demand map and the status table of multiple transport carts. Based on the transport operation scheduling strategy, each transport cart is correspondingly scheduled for transport operations. When a transport demand arises, the system will automatically schedule the transport cart to perform the corresponding transport operation, thereby improving the transport efficiency and the response speed to sudden transport demands, improving flexibility, and meeting the professional requirements of modern processing and production for rapid response and high precision. In addition, it optimizes the resource allocation of single crystal silicon rod processing and production, avoids processing and production bottlenecks, and speeds up delivery time.

[0083] In one embodiment, the intelligent handling management system of the slicing work line further includes a first auxiliary module for:

[0084] When the transport vehicle performs a transport operation, based on a first future driving path of the transport vehicle within a first preset time period in the future, attempt to plan a first driving area and a second driving area;

[0085] When the attempt is successful, if the worker of the slicing work line falls into the first driving zone, the worker is prompted to avoid the vehicle based on the first real-time relative position relationship between the transport trolley and the worker in the first time period; if the worker falls into the second driving zone, the worker is prompted to carry the vehicle along the way based on the second real-time relative position relationship between the transport trolley and the worker and the second future driving path of the transport trolley within a second preset time period in the future;

[0086] Wherein, based on the first future driving path of the transport vehicle within the first preset time period in the future, attempting to plan the first driving area and the second driving area includes:

[0087] Based on the circle-making condition and the first future driving path, try to make two circular ranges respectively;

[0088] When the attempt is successful, the one of the two circular ranges that is closer to the starting point of the first future driving path is used as the first driving area, and the other is used as the second driving area;

[0089] The conditions for making a circle include:

[0090] The centers of the two circular ranges fall on the first future driving path, and the radius length is a preset length;

[0091] The two circular ranges do not overlap each other;

[0092] The maximum matching degree between the local paths falling within the two circular ranges on the first future driving path and each of the plurality of standard local paths exceeds a first matching degree threshold;

[0093] The starting time of the first period is the time when the transport vehicle enters the first driving area, and the ending time is the time when the transport vehicle exits the first driving area;

[0094] The start time of the second period is the time when the transport vehicle drives to the center of the first driving area, and the end time is the time when the transport vehicle drives to the center of the second driving area.

[0095] The working principle and beneficial effects of the above technical solution are:

[0096] The first duration can be 50 seconds; when the transport trolley performs transport operations, it will plan its own path, so its first future driving path within the first time period in the future can be obtained; when the staff falls into the first driving area, it means that the staff may collide with the transport trolley in the first time period, and based on the first real-time relative position relationship between the transport trolley and the staff in the first time period, the staff is prompted to avoid. Specifically, a relative position diagram can be drawn based on the first real-time relative position relationship and sent to the display screen on the operating table operated by the staff; when the staff falls into the second driving area, it means that the staff can determine in advance whether they need to take the same route For the items to be transported, the staff can be reminded to transport the items along the way based on the second real-time relative position relationship between the transport cart and the staff within the second time period and the second future driving path of the transport cart within a second time period preset in the future. Specifically, a relative position diagram can also be drawn based on the second real-time relative position relationship and sent to the display screen on the operating table operated by the staff. The second future driving path and the message "Is there any object to be transported along the way? If so, please prepare in advance" can also be sent to the display screen. The staff can check the display screen to determine whether there is a destination for the items they hope to take to on the second future driving path. If so, they can prepare in advance.

[0097] When making a circle, ensure that the center of the circle falls on the first future driving path, and the radius length is a preset length, which can be 2 meters; the two circular ranges do not overlap, that is, they are independent of each other; it is also ensured that the maximum matching degree between the local path falling within each of the two circular ranges on the first future driving path and multiple standard local paths exceeds the first matching degree threshold; the standard local path is a pre-set local path that represents the ability to give avoidance prompts or carry items along the way to the staff who fall within the circular range, for example: the standard local path is an arc path with a path length of more than 1 meter, which means that the transport vehicle will travel within the circular range for a long time and will also perform turning operations. The staff needs to clarify its relative position with the transport vehicle, and it is also convenient for the staff to place the items to be carried along the way; the first matching degree threshold can be 80%; set multiple circle making conditions to improve the rationality of determining the first driving area and the second driving area.

[0098] The starting time of the first time period is the moment when the transport cart enters the first driving area, and the ending time is the moment when the transport cart drives out of the first driving area; in this way, the staff is reminded to avoid in the first time period, and the staff can get the reminder in the best time period to avoid the influence of prompting too early or too late on the staff; the starting time of the second time period is the moment when the transport cart drives to the center of the first driving area, and the ending time is the moment when the transport cart drives to the center of the second driving area; in this way, the staff is reminded to carry the items along the way in the second time period, and the staff can prepare in advance, and there is enough free time for them to place the items they carry along before the transport cart drives out of the second driving area.

[0099] Generally, when a transport cart gives an avoidance prompt, it broadcasts a voice warning when it is close to the staff, which may cause unnecessary interference to the staff or other staff who are not close. The embodiment of the present invention introduces a first driving area and a first time period to accurately determine the avoidance prompt object and the avoidance prompt timing, thereby avoiding excessive interference to a great extent, improving the staff experience, and being more intelligent; secondly, when the staff is working, they may need to temporarily deliver an item to a certain place. The embodiment of the present invention introduces a second driving area and a second time period to accurately determine the prompt object and the prompt timing for the accompanying transport prompt, so that the staff can prepare in advance and control the transport cart to take the staff's items to a certain place along the way, further improving the staff experience and improving the utilization efficiency of the transport cart.

[0100] In one embodiment, the intelligent handling management system of the slicing work line further includes a second auxiliary module for:

[0101] When the transport trolley is performing a transport operation, if the staff of the slicing line inputs a temporary non-standard object transport instruction to the transport trolley, the transport trolley is controlled to interact with the staff to obtain the object posture and transport destination of the non-standard object to be transported;

[0102] Based on the cooperative transport knowledge base, determining the cooperative transport posture according to the posture of the object; wherein the cooperative transport posture includes the posture of the object;

[0103] Plan the cooperative transport route based on cooperative transport posture, transport destination and transport space map;

[0104] Other nearby transport carts are dispatched to cooperate with the transport cart to transport the non-standard objects, and then transport them to the destination along the cooperative transport path.

[0105] The working principle and beneficial effects of the above technical solution are:

[0106] Non-standard objects refer to objects that a transport cart cannot carry independently, such as overweight objects, special-shaped objects, etc. When the staff inputs a temporary non-standard object carrying instruction to the transport cart, it means that the staff has non-standard objects to carry. When the two interact, the transport cart can voice-inquire the staff where the non-standard objects they need to carry are, determine the non-standard objects according to the staff's instructions, and can also voice-inquire the staff where they need to be carried to determine the destination. After the transport cart has determined the non-standard object, it obtains its object posture, which can be obtained based on the camera, millimeter-wave radar and other equipment worn by itself. The object posture is the three-dimensional posture information of the non-standard object; pre-set A cooperative transport knowledge base is set up, and the cooperative transport knowledge base contains cooperative transport postures corresponding to different object postures. The cooperative transport posture is a posture in which multiple transport carts can cooperate to carry non-standard objects. It includes the object posture and the three-dimensional posture that the multiple transport carts that carry out cooperative transport need to take when carrying out cooperative transport; the transport space map is a three-dimensional space map of the slicing work line site, and a cooperative transport path that can be safely passed can be planned on it based on the cooperative transport posture and the transport destination; finally, other transport carts are dispatched nearby to cooperate with the transport cart in the cooperative transport posture to carry the non-standard objects, and cooperate to carry them to the transport destination along the cooperative transport path.

[0107] The embodiment of the present invention can control multiple transport carts to transport non-standard objects at the slicing work line site, thereby improving the working capacity of the transport carts and further improving the applicability of the system.

[0108] In one embodiment, the second auxiliary module is further used in the process of cooperative transportation between other transport carts and the transport cart:

[0109] Determine a transport risk path from the cooperative transport path; wherein the maximum matching degree between the transport risk path and each of the plurality of standard transport risk paths exceeds a second matching degree threshold;

[0110] When other transport carts and the transport cart travel along the transport risk path, other transport carts and the transport cart are controlled to obtain posture changes of non-standard objects;

[0111] Based on the cooperative handling knowledge base, determine the posture fine-tuning strategy according to posture changes;

[0112] Based on the posture fine-tuning strategy, the cooperative carrying posture between other transport carts and the transport cart is fine-tuned accordingly.

[0113] The working principle and beneficial effects of the above technical solution are:

[0114] The transport risk path is a local path where the driving of other transport carts and transport carts may cause the non-standard objects being transported together to fall; the standard transport risk path is a pre-set path that represents the non-standard objects that may fall during cooperative transport, such as a turning path, etc.; the second matching degree threshold can be 90%; when other transport carts and transport carts are driving along the transport risk path, the other transport carts and transport carts are controlled to obtain the posture change of the non-standard objects, and the posture change is the three-dimensional posture comparison information before and after the posture change of the non-standard objects; there are posture fine-tuning strategies corresponding to different posture changes in the cooperative transport knowledge base, and the posture fine-tuning strategy is a strategy for fine-tuning the cooperative transport posture currently presented by other transport carts on the transport risk path so that it can cope with the posture change and ensure that the non-standard objects will not fall; based on the posture fine-tuning strategy, the cooperative transport posture presented by other transport carts and transport carts is fine-tuned accordingly.

[0115] The embodiment of the present invention determines the risk path of transportation, accurately determines the time of fine-tuning, reduces fine-tuning resources, and improves the efficiency of fine-tuning; based on the posture fine-tuning strategy, the cooperative transportation posture of other transport carts and the transport cart is fine-tuned accordingly to ensure the stability and safety of the cooperative transportation.

[0116] In one embodiment, the intelligent handling management system of the slicing work line further includes a third auxiliary module for:

[0117] When the transport vehicle is performing a transport operation, if the transport vehicle reports an abnormal transport event, a graphical model of the abnormal transport event is generated;

[0118] Display graphical models to management;

[0119] When the manager completes the event handling strategy based on the graphical model decision, the abnormal transportation event is handled accordingly based on the event handling strategy.

[0120] The working principle and beneficial effects of the above technical solution are:

[0121] Abnormal transport events are abnormal events that occur during the transport process of the transport cart, such as collision events, material falling events, equipment downtime events, etc. When the transport cart reports an abnormal transport event, a graphical model of the abnormal transport event is generated and displayed to the management personnel. The management personnel will decide on the event handling strategy based on the graphical model, and finally handle the abnormal transport event accordingly based on the event handling strategy.

[0122] The present invention provides a graphical means for management personnel to quickly and intuitively understand the situation of abnormal transport events, so as to quickly decide on event handling strategies and handle the abnormal transport events accordingly, thereby improving humanization.

[0123] In one embodiment, the third auxiliary module generates a graphical model of the abnormal handling event, including:

[0124] Extract elements from abnormal transport events and process them in a time-sequential manner to obtain element sequences;

[0125] Determine multiple target local sequences from the element sequence; wherein the generation time difference between two elements in each target local sequence does not exceed the time difference threshold or there is a standard element relationship between two elements;

[0126] Perform feature extraction and feature vector representation processing on each target local sequence and the sequence relationship between each target local sequence to obtain a feature vector;

[0127] Determine a sequence sorting strategy corresponding to the feature vector from a sequence sorting strategy library;

[0128] Based on the sequence sorting strategy, determine the sequence order of each target local sequence;

[0129] Generate a template based on the model slice, generate a model slice according to all elements in at least one target local sequence of the same sequence order, and associate it with the corresponding sequence order;

[0130] Map the model slices to the initial model in order according to the associated sequence order;

[0131] The initial model after all the mappings of the model switching are integrated is used as the graphical model.

[0132] The working principle and beneficial effects of the above technical solution are:

[0133] When extracting elements and processing the element timing of abnormal handling events, first extract multiple event elements from the abnormal handling events, including at least: event features (such as: fault type, on-site picture), feature generation time (such as: fault type detection time, on-site picture shooting time), etc., and then sort each event element according to the relevant generation time (such as: sorting the on-site pictures according to the chronological order of the shooting time of the on-site pictures) to obtain an element sequence; determine multiple target local sequences from the element sequence; the event difference threshold can be 10 seconds; the generation time difference between two elements does not exceed the time difference threshold, indicating that the two elements are generated successively in a short period of time and need to be known by the management personnel at the same time; the standard element relationship is The representative elements are known by the management personnel at the same time, which is an element relationship that is beneficial to their event processing strategy decision-making. For example, the standard element relationship is that the scene picture contains both the transport trolley and the collided object. The two elements that meet the standard element relationship are the scene picture of the transport trolley and the scene picture of the collided object. If the management personnel know it together, the management personnel can quickly understand the collision situation on the scene; thereby, it is ensured that the generation time difference between the two elements in each target local sequence does not exceed the time difference threshold or there is a standard element relationship between the two elements, which can reasonably make all elements in the same target local sequence need to be known by the management personnel at the same time; feature extraction and When the feature vector is represented, the features of each target local sequence and the sequence relationship are first extracted, including at least: the type of elements in the target local sequence, the standard element relationship between the elements, the order of each target local sequence in the element sequence, etc., and the extracted features are represented by vectors to obtain feature vectors; the pre-set sequence sorting strategy library has sequence sorting strategies corresponding to different feature vectors. The feature vector represents a sequence sorting situation. The sequence sorting strategy is a strategy for sorting each target local sequence according to the sequence sorting situation. For example, if the elements in a certain target local sequence are all on-site pictures, and the elements in another target local sequence are all on-site arrival personnel, the management personnel need to check the current The on-site scene is understood, and then the on-site arrival personnel are dispatched based on the on-site arrival personnel. Therefore, the target local sequence related to the on-site scene is arranged first, and the other target local sequence is arranged later; the model slice is a virtual slice that can be used to display elements; based on the model slice generation template, the model slice is generated according to all elements in at least one target local sequence of the same sequence order, and is associated with the corresponding sequence order. The same sequence order indicates that all elements in the corresponding target local sequence need to be known by the management personnel. The model slice generation template is a template for generating model slices according to the type of elements. For example, if all elements are on-site scenes, the on-site scenes are staggered on the model slice to form a model slice;The model slices are mapped and integrated into the initial model in sequence according to the associated sequence order. After integration, the initial model will display the corresponding model slices in sequence according to the sequence order, which is convenient for managers to quickly, reasonably, accurately and comprehensively understand the situation of abnormal handling events, and quickly make decisions on event handling strategies, which improves the work efficiency of managers, greatly improves the suitability of graphical model generation, and improves the applicability of the system. ;

[0134] The embodiment of the present invention provides an intelligent handling management method for a slicing work line, such as Figure 2 As shown, including:

[0135] S1. Identify the transportation demand map of the slicing work line and determine whether to enter the transportation operation time;

[0136] S2. When the answer is yes, a transportation operation scheduling strategy is determined based on the transportation demand map and the status table of multiple transportation vehicles;

[0137] S3. Based on the transport operation scheduling strategy, each transport vehicle is scheduled for corresponding transport operations.

[0138] The intelligent handling management method of the slicing work line also includes:

[0139] When the transport vehicle performs a transport operation, based on a first future driving path of the transport vehicle within a first preset time period in the future, attempt to plan a first driving area and a second driving area;

[0140] When the attempt is successful, if the worker of the slicing work line falls into the first driving zone, the worker is prompted to avoid the vehicle based on the first real-time relative position relationship between the transport trolley and the worker in the first time period; if the worker falls into the second driving zone, the worker is prompted to carry the vehicle along the way based on the second real-time relative position relationship between the transport trolley and the worker and the second future driving path of the transport trolley within a second preset time period in the future;

[0141] Wherein, based on the first future driving path of the transport vehicle within the first preset time period in the future, attempting to plan the first driving area and the second driving area includes:

[0142] Based on the circle-making condition and the first future driving path, try to make two circular ranges respectively;

[0143] When the attempt is successful, the one of the two circular ranges that is closer to the starting point of the first future driving path is used as the first driving area, and the other is used as the second driving area;

[0144] The conditions for making a circle include:

[0145] The centers of the two circular ranges fall on the first future driving path, and the radius length is a preset length;

[0146] The two circular ranges do not overlap each other;

[0147] The maximum matching degree between the local paths falling within the two circular ranges on the first future driving path and each of the plurality of standard local paths exceeds a first matching degree threshold;

[0148] The starting time of the first period is the time when the transport vehicle enters the first driving area, and the ending time is the time when the transport vehicle exits the first driving area;

[0149] The start time of the second period is the time when the transport vehicle drives to the center of the first driving area, and the end time is the time when the transport vehicle drives to the center of the second driving area.

[0150] The intelligent handling management method of the slicing work line also includes:

[0151] When the transport trolley is performing a transport operation, if the staff of the slicing line inputs a temporary non-standard object transport instruction to the transport trolley, the transport trolley is controlled to interact with the staff to obtain the object posture and transport destination of the non-standard object to be transported;

[0152] Based on the cooperative transport knowledge base, determining the cooperative transport posture according to the posture of the object; wherein the cooperative transport posture includes the posture of the object;

[0153] Plan the cooperative transport route based on cooperative transport posture, transport destination and transport space map;

[0154] Other nearby transport carts are dispatched to cooperate with the transport cart to transport the non-standard objects, and then transport them to the destination along the cooperative transport path.

[0155] In the process of cooperation between other transport carts and transport carts, it also includes:

[0156] Determine a transport risk path from the cooperative transport path; wherein the maximum matching degree between the transport risk path and each of the plurality of standard transport risk paths exceeds a second matching degree threshold;

[0157] When other transport carts and the transport cart travel along the transport risk path, other transport carts and the transport cart are controlled to obtain posture changes of non-standard objects;

[0158] Based on the cooperative handling knowledge base, determine the posture fine-tuning strategy according to posture changes;

[0159] Based on the posture fine-tuning strategy, the cooperative carrying posture between other transport carts and the transport cart is fine-tuned accordingly.

[0160] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. The intelligent handling management system of the slicing line is characterized by: include: A determination module is used to identify the transport demand map of the slicing work line and determine whether to enter the transport operation time; A decision module, for deciding a transport operation scheduling strategy based on a transport demand map and a status table of a plurality of transport vehicles when the determination is yes; The scheduling module is used to schedule the handling operations of each transport vehicle based on the handling operation scheduling strategy; Also included is a first auxiliary module for: When the transport vehicle performs a transport operation, based on a first future driving path of the transport vehicle within a first preset time period in the future, attempt to plan a first driving area and a second driving area; When the attempt is successful, if the worker of the slicing work line falls into the first driving zone, the worker is prompted to avoid the vehicle based on the first real-time relative position relationship between the transport trolley and the worker in the first time period; if the worker falls into the second driving zone, the worker is prompted to carry the vehicle along the way based on the second real-time relative position relationship between the transport trolley and the worker and the second future driving path of the transport trolley within a second preset time period in the future; Wherein, based on the first future driving path of the transport vehicle within the first preset time period in the future, attempting to plan the first driving area and the second driving area includes: Based on the circle-making condition and the first future driving path, try to make two circular ranges respectively; When the attempt is successful, the one of the two circular ranges that is closer to the starting point of the first future driving path is used as the first driving area, and the other is used as the second driving area; The conditions for making a circle include: The centers of the two circular ranges fall on the first future driving path, and the radius length is a preset length; The two circular ranges do not overlap each other; The maximum matching degree between the local paths falling within the two circular ranges on the first future driving path and each of the plurality of standard local paths exceeds a first matching degree threshold; The starting time of the first period is the time when the transport vehicle enters the first driving area, and the ending time is the time when the transport vehicle exits the first driving area; The start time of the second period is the time when the transport vehicle drives to the center of the first driving area, and the end time is the time when the transport vehicle drives to the center of the second driving area.

2. The intelligent handling management system for a slicing line according to claim 1, characterized in that: Also included is a second auxiliary module for: When the transport trolley is performing a transport operation, if the staff of the slicing line inputs a temporary non-standard object transport instruction to the transport trolley, the transport trolley is controlled to interact with the staff to obtain the object posture and transport destination of the non-standard object to be transported; Based on the cooperative transport knowledge base, determining the cooperative transport posture according to the posture of the object; wherein the cooperative transport posture includes the posture of the object; Plan the cooperative transport route based on cooperative transport posture, transport destination and transport space map; Other nearby transport carts are dispatched to cooperate with the transport cart to transport the non-standard objects, and then transport them to the destination along the cooperative transport path.

3. The intelligent handling management system for a slicing line according to claim 2, characterized in that: The second auxiliary module is also used in the process of cooperative transportation between other transport carts and the transport cart: Determine a transport risk path from the cooperative transport path; wherein the maximum matching degree between the transport risk path and each of the plurality of standard transport risk paths exceeds a second matching degree threshold; When other transport carts and the transport cart travel along the transport risk path, other transport carts and the transport cart are controlled to obtain posture changes of non-standard objects; Based on the cooperative handling knowledge base, determine the posture fine-tuning strategy according to posture changes; Based on the posture fine-tuning strategy, the cooperative carrying posture between other transport carts and the transport cart is fine-tuned accordingly.

4. The intelligent handling management system for a slicing line according to claim 1, characterized in that: Also included is a third auxiliary module for: When the transport vehicle is performing a transport operation, if the transport vehicle reports an abnormal transport event, a graphical model of the abnormal transport event is generated; Display graphical models to management; When the manager completes the event handling strategy based on the graphical model decision, the abnormal transportation event is handled accordingly based on the event handling strategy.

5. The intelligent handling management system for a slicing line according to claim 4, characterized in that: The third auxiliary module generates a graphical model of abnormal handling events, including: Extract elements from abnormal transport events and process them in a time-sequential manner to obtain element sequences; Determine multiple target local sequences from the element sequence; wherein the generation time difference between two elements in each target local sequence does not exceed the time difference threshold or there is a standard element relationship between two elements; Perform feature extraction and feature vector representation processing on each target local sequence and the sequence relationship between each target local sequence to obtain a feature vector; Determine a sequence sorting strategy corresponding to the feature vector from a sequence sorting strategy library; Based on the sequence sorting strategy, determine the sequence order of each target local sequence; Generate a template based on the model slice, generate a model slice according to all elements in at least one target local sequence of the same sequence order, and associate it with the corresponding sequence order; Map the model slices to the initial model in order according to the associated sequence order; The initial model after all the mappings of the model switching are integrated is used as the graphical model.

6. An intelligent handling management method for a slicing line, characterized in that: include: Identify the handling demand map of the slicing work line and determine whether to start the handling operation; When it is determined to be yes, a transportation operation scheduling strategy is determined based on the transportation demand map and the status table of multiple transportation vehicles; Based on the handling operation scheduling strategy, each handling vehicle is scheduled for handling operations accordingly; Also includes: When the transport vehicle performs a transport operation, based on a first future driving path of the transport vehicle within a first preset time period in the future, attempt to plan a first driving area and a second driving area; When the attempt is successful, if the worker of the slicing work line falls into the first driving zone, the worker is prompted to avoid the vehicle based on the first real-time relative position relationship between the transport trolley and the worker in the first time period; if the worker falls into the second driving zone, the worker is prompted to carry the vehicle along the way based on the second real-time relative position relationship between the transport trolley and the worker and the second future driving path of the transport trolley within a second preset time period in the future; Wherein, based on the first future driving path of the transport vehicle within the first preset time period in the future, attempting to plan the first driving area and the second driving area includes: Based on the circle-making condition and the first future driving path, try to make two circular ranges respectively; When the attempt is successful, the one of the two circular ranges that is closer to the starting point of the first future driving path is used as the first driving area, and the other is used as the second driving area; The conditions for making a circle include: The centers of the two circular ranges fall on the first future driving path, and the radius length is a preset length; The two circular ranges do not overlap each other; The maximum matching degree between the local paths falling within the two circular ranges on the first future driving path and each of the plurality of standard local paths exceeds a first matching degree threshold; The starting time of the first period is the time when the transport vehicle enters the first driving area, and the ending time is the time when the transport vehicle exits the first driving area; The start time of the second period is the time when the transport vehicle drives to the center of the first driving area, and the end time is the time when the transport vehicle drives to the center of the second driving area.

7. The intelligent handling management method of the slicing line according to claim 6, characterized in that: Also includes: When the transport trolley is performing a transport operation, if the staff of the slicing line inputs a temporary non-standard object transport instruction to the transport trolley, the transport trolley is controlled to interact with the staff to obtain the object posture and transport destination of the non-standard object to be transported; Based on the cooperative transport knowledge base, determining the cooperative transport posture according to the posture of the object; wherein the cooperative transport posture includes the posture of the object; Plan the cooperative transport route based on cooperative transport posture, transport destination and transport space map; Other nearby transport carts are dispatched to cooperate with the transport cart to transport the non-standard objects, and then transport them to the destination along the cooperative transport path.

8. The intelligent handling management method of the slicing line according to claim 7, characterized in that: In the process of cooperation between other transport carts and transport carts, it also includes: Determine a transport risk path from the cooperative transport path; wherein the maximum matching degree between the transport risk path and each of the plurality of standard transport risk paths exceeds a second matching degree threshold; When other transport carts and the transport cart travel along the transport risk path, other transport carts and the transport cart are controlled to obtain posture changes of non-standard objects; Based on the cooperative handling knowledge base, determine the posture fine-tuning strategy according to posture changes; Based on the posture fine-tuning strategy, the cooperative carrying posture between other transport carts and the transport cart is fine-tuned accordingly.

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