Method for controlling a material handling system and material handling system

Abstract

The application discloses a kind of handling control method and material handling system, wherein material handling system includes upper control system, TCS, track and handling equipment running along track, track is divided into multiple independent and continuous track subareas, each track subarea and each handling equipment are respectively configured to be managed only by multiple described TCS One, each described TCS is configured to can manage at least one track subarea.The application divides the track of a factory into multiple independent and continuous track subareas, and the respective management of multiple independent and continuous track subareas is realized by multiple TCS, each TCS only needs to manage a small amount of track subarea, so that the computing power requirement of each TCS can be effectively reduced and the load of each TCS during operation is reduced, which is beneficial to improve the timeliness of handling instruction execution and improve handling efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automated material handling, in particular to a handling control method and a material handling system. BACKGROUND

[0002] In an AMHS (Automated Material Handling System) system, a large Fab (semiconductor manufacturing plant) needs to lay a very long track (even more than 30 KM) to meet production requirements, and the number of handling equipment (cranes, rail cars, AGVs, etc.) exceeds one thousand, so efficient, orderly and low-latency management of these handling equipment is very important for the operation of the Fab.

[0003] In the existing control system, in order to improve the redundancy, for example, as shown in the patent document with the application publication number CN116165971A, the TCS active-standby mode is a usable solution, in which the main TCS is responsible for the execution control of all handling tasks, and the standby TCS will only take over the control when the main TCS fails.

[0004] However, in this control system, the computing power requirement for the main TCS and the standby TCS is very high, and the load during operation is large, and the computing power resources of the standby TCS are greatly wasted when the main TCS is running normally.

[0005] Further, when the standby TCS needs to take over, it needs to initialize resources and services, and this process may have a long delay, and at the same time, there is a risk of not timely or incomplete data synchronization. SUMMARY

[0006] The purpose of the present application is to solve the above-mentioned problems existing in the prior art, and to provide a handling control method and a material handling system.

[0007] The purpose of the present application is achieved by the following technical solutions:

[0008] The handling control method comprises the following steps:

[0009] The upper control system determines the target TCS to which the handling instruction is to be sent according to the starting point position of the handling instruction, and sends the handling instruction to the target TCS;

[0010] After receiving the carrying instruction, the target TCS searches for a qualified carrying device in the track partition under its management, and if there is one, the target TCS controls the qualified carrying device in the track partition under its management to execute the carrying instruction; if there is not, the target TCS determines a qualified idle carrying device outside the track partition under its management and requests the TCS to which the qualified idle carrying device belongs to transfer the management right;

[0011] After obtaining the management right of the idle carrying device, the target TCS controls the idle carrying device to execute the carrying instruction.

[0012] Preferably, the TCSs share real-time information of the carrying devices through information synchronization.

[0013] Preferably, the target TCS determines the idle carrying device with the shortest moving path to the starting point in the track partition under its management as the qualified carrying device.

[0014] Preferably, when determining the qualified idle carrying device, the idle carrying device with the shortest moving path to the starting point is determined first, and then whether the number of carrying devices and / or the carrying device load rate of the track partition in which the idle carrying device with the shortest moving path to the starting point is located meets the requirement is determined; if yes, the idle carrying device with the shortest moving path to the starting point is selected as the idle carrying device; if no, the idle carrying device with the shortest moving path to the starting point is selected from other track partitions in which the number of carrying devices and / or the carrying device load rate meets the requirement to execute the carrying instruction.

[0015] Preferably, when determining that a TCS needs to be updated, the track partition and carrying device under the management of the TCS that needs to be updated are first taken over by other TCSs, and then the update of the TCS that needs to be updated is performed.

[0016] Preferably, when determining that a TCS is down, the track partition and carrying device under the management of the TCS that is down are taken over by other TCSs.

[0017] Preferably, when selecting other TCSs to take over the track partition under the management of the TCS that is down or needs to be updated, the TCSs to which the track partitions adjacent to the track partition under the management of the TCS that is down or needs to be updated belong are selected to take over.

[0018] Preferably, after the idle handling device executing the handling instruction completes the handling, the target TCS controls the idle handling device executing the handling instruction to return to the track partition where it originally belongs, and when the idle handling device executing the handling instruction is the qualified idle handling device, the target TCS transfers the management right of the qualified idle handling device to the TCS to which the qualified idle handling device originally belongs when the qualified idle handling device returns to the track partition where it originally belongs.

[0019] Preferably, after the idle handling device executing the handling instruction completes the handling, the idle handling device executing the handling instruction stops at the track partition where the terminal position is located, and the target TCS transfers the management right of the idle handling device to the TCS corresponding to the track partition where the terminal position is located; meanwhile, the TCS corresponding to the track partition where the terminal position is located determines whether the number of handling devices managed by the TCS reaches an upper threshold value, and if so, transfers the management right of one of the idle handling devices to another TCS, the load rate of the handling devices in the track partition managed by the other TCS is lower than a set value, and the other TCS controls the idle handling device to move to the track partition managed by the other TCS.

[0020] Preferably, when the load rate of the handling devices in the track partition managed by any TCS is lower than a set value, the TCS requests other TCS to transfer the management right of the idle handling device in the track partition managed by the TCS.

[0021] A material handling system, comprising a higher-level control system, a TCS, a track and a handling device running along the track, the track is divided into multiple independent and continuous track partitions, each track partition and each handling device are configured to be managed by only one of the multiple TCSs, and each TCS is configured to manage at least one track partition.

[0022] Preferably, the material handling system comprises tracks arranged in different factory areas, and the tracks between at least two factory areas are connected through a transfer track.

[0023] The transfer track comprises a circulating moving section and a first abnormality handling section and a second abnormality handling section connected to the side of the circulating moving section.

[0024] The first abnormality handling section is configured to be used by the handling device transferred from the factory area at the first end of the transfer track to the factory area at the second end of the transfer track when the data switching is not completed.

[0025] The second abnormality handling section is configured to be used by the handling device transferred from the factory area at the second end of the transfer track to the factory area at the first end of the transfer track when the data switching is not completed.

[0026] The advantages of the technical scheme of the present application mainly include:

[0027] The present application divides the tracks in a factory into multiple independent and continuous track partitions, and manages the multiple independent and continuous track partitions by multiple TCSs, each of which only needs to manage a small number of track partitions, thereby effectively reducing the computing power requirement of each TCS and reducing the load of each TCS during operation, which is beneficial to improve the timeliness of the execution of the carrying instruction and improve the carrying efficiency, and at the same time, the computing power resources of each TCS can be utilized in real time, which can effectively improve the utilization rate of computing power resources and avoid waste of computing power resources.

[0028] The present application can take over the control track partitions and carrying equipment managed by the TCS that needs to be updated by other TCSs when the TCS is down, thereby updating and handling abnormal conditions without affecting normal carrying, and effectively improving the smoothness of the operation of the entire carrying system.

[0029] The present application can effectively balance the carrying equipment of each track partition by combining multiple control logics, thereby ensuring the normal carrying needs of each track partition. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 is a schematic diagram of the material carrying system in embodiment 1 of the present application;

[0031] Figure 2 is a flowchart of the carrying control method of the present application;

[0032] Figure 3 is a flowchart of the present application taking over the track partitions and carrying equipment managed by the TCS that needs to be updated by another TCS;

[0033] Figure 4 is a flowchart of the present application taking over the track partitions and carrying equipment managed by the TCS that is down by other TCSs;

[0034] Figure 5 is a schematic diagram of the material carrying system in embodiment 2 of the present application;

[0035] Figure 6 is a schematic diagram of the carrying of materials from the first factory to the second factory in embodiment 2 of the present application;

[0036] Figure 7 is a flowchart of the control process of the aerial carrying vehicle in the transfer track area in embodiment 2 of the present application. DETAILED DESCRIPTION

[0037] The objects, advantages and features of the present application will be illustrated and explained by the following non-limiting description of preferred embodiments. These embodiments are only typical examples of the application, and any technical solution formed by equivalent replacement or equivalent transformation falls within the scope of the present application.

[0038] In the description of the schemes, it should be noted that the terms "center", "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of description and simplification of description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", "third" are only for the purpose of description and cannot be understood as indicating or implying relative importance.

[0039] Embodiment 1

[0040] The conveying control method disclosed in the present application will be described below in conjunction with the drawings. The conveying control method is based on a material conveying system, such as the material conveying system 1000 shown in the drawings. Figure 1 As shown, the material conveying system includes an upper control system 700, a TCS (Transport Control System), a track 800, and a conveying device 900 running along the track.

[0041] The upper control system 700 generally includes an MES (Manufacturing Execution System) and an MCS (Material Control System), wherein the MES is used to determine where the material needs to be conveyed according to the manufacturing process and send a corresponding conveying request to the MCS, the MCS generates a conveying instruction according to the request of the MES, and sends it to a TCS, and then the TCS plans a path and controls the conveying device to execute the conveying instruction.

[0042] The track 800 can be a suspended track in a processing plant or a processing area for the conveying device to move to different manufacturing devices, or it can be a ground track laid on the ground, or even a magnetic strip laid on the ground for AGV car navigation; the specific layout and length of the track can be designed as needed, which is not limited here. The conveying device 900 can be an overhead conveyor (overhead crane) moving along the suspended track, or a rail car moving along the ground track, or an AGV car moving along the magnetic strip, and the specific structure of the overhead conveyor, rail car, and AGV car is known technology, which is not limited here.

[0043] The track 800 is divided into multiple independent and continuous track partitions, and the specific division method and number of the track partitions can be determined according to the specific distribution of the track, which is not limited here. At the same time, each track partition and each handling device is configured to be managed by only one of the multiple TCSs, that is, at any time, one track partition is managed by only one TCS, and one handling device is managed by only one TCS, and each TCS is configured to manage at least one track partition, that is, each TCS can manage multiple track partitions. The number of TCSs can be the same as the number of track partitions. When the material handling system is initially configured, the upper control system 700 can configure each TCS with a track partition managed by it, and a predetermined number of handling devices in each track partition. Each TCS manages the handling devices in each track partition it manages, and part of the multiple handling devices configured in each track partition can be configured to work only in the track partition, and the other part can be configured to work across track partitions. Of course, in other embodiments, the number of TCSs can also be different from the number of track partitions, for example, less than the number of track partitions, so that part or all of the TCSs are configured to manage multiple track partitions when initially configured.

[0044] For example, as shown in the accompanying Figure 1 The track 800 is divided into three track partitions, and each track partition is configured with a TCS for management. The three track partitions are defined as the first track partition 100, the second track partition 200, and the third track partition 300. The TCS managing the first track partition 100 is defined as the first TCS 400, the TCS managing the second track partition 200 is defined as the second TCS 500, and the TCS managing the third track partition 300 is defined as the third TCS 600. The first TCS, the second TCS, and the third TCS are all connected to the upper control system 700.

[0045] At the same time, the upper control system 700 can adjust the TCSs to which each track partition belongs according to the operation needs of each TCS. Of course, the TCSs can also communicate with each other to determine whether to transfer the management authority.

[0046] In order to facilitate each TCS to temporarily take over other track partitions and control the handling devices to move in the track partitions outside its management, each TCS stores the complete map information of the entire track 800 and the range and number of each track partition and other information. At the same time, the multiple TCSs synchronize information in real time to enable each TCS to know the real-time information of each handling device. The synchronized information includes but is not limited to: handling device operating state, real-time position, moving path, and handling instruction.

[0047] Correspondingly, as shown in the accompanyingFigure 2 As shown, the conveying control method comprises the following processes:

[0048] The upper control system 700 determines a target TCS to which the conveying instruction is to be sent according to the start position of the conveying instruction, and sends the conveying instruction to the target TCS;

[0049] After the target TCS receives the conveying instruction, it searches for a conveying device meeting the requirements in the track partition managed by the target TCS, and if there is one, the target TCS controls the conveying device meeting the requirements in the track partition managed by the target TCS to execute the conveying instruction; if there is not one, the target TCS determines a conveying device meeting the requirements outside the track partition managed by the target TCS and requests the TCS to which the conveying device meeting the requirements belongs to transfer the management right;

[0050] After the target TCS obtains the management right of the conveying device meeting the requirements, it controls the conveying device meeting the requirements to execute the conveying instruction.

[0051] The following will be described in detail in combination with the material conveying system of the three track partitions in the above example. If a conveying instruction corresponds to a start position in the first track partition 100 and an end position in the third track partition 300, the upper control system 700 sends the conveying instruction to the first TCS 400 (target TCS).

[0052] After the first TCS 400 receives the conveying instruction, it determines a conveying device to execute the conveying instruction. Specifically, the first TCS 400 determines whether there is a conveying device meeting the requirements in the first track partition. In an embodiment, it can be determined whether there is an idle conveying device in the first track partition, and if there is one, the first TCS 400 determines, according to the known shortest path algorithm, the idle conveying device with the shortest moving path to the start position as the conveying device meeting the requirements.

[0053] Of course, in another embodiment, it can be determined whether the load rate of the conveying device in the first track partition is close to the lower limit value of the load rate corresponding to the first track partition, and if not, it is determined whether there is an idle conveying device in the first track partition 100, and if there is one, the first TCS 400 determines, according to the known shortest path algorithm, the idle conveying device with the shortest moving path to the start position as the conveying device meeting the requirements to execute the conveying instruction. The load rate of the conveying device is the ratio of the number of conveying devices at a track partition at real time to the maximum number of conveying devices allowed to run simultaneously in the track partition. For example, the maximum number of conveying devices allowed to run simultaneously in a track partition is 100, and the number of conveying devices at the track partition at real time is 80, so the load rate of the conveying device is 0.8.

[0054] After determining the qualified handling device, the first TCS 400 plans a corresponding moving path and sends it to the selected qualified handling device to control it to execute the handling instruction.

[0055] If it is determined that there is no qualified handling device in the first track partition 100, i.e. there is no idle handling device or the handling device load rate is close to the lower limit of the load rate, then the handling device executing the handling instruction needs to be selected according to other principles.

[0056] In an implementation, the idle handling device with the shortest moving path to the starting point position in the second track partition or the third track partition can be selected as the qualified idle handling device. For example, if there is an idle handling device in the second track partition 200 with the shortest moving path to the starting point position, then the idle handling device in the second track partition 200 can be selected as the qualified idle handling device.

[0057] However, in actual operation, the number of handling devices in the second track partition 200 can be close to, or even lower than, the corresponding lower limit of the number of the second track partition 200 and / or the load rate of the handling devices in the second track partition 200 can be close to, or even lower than, the corresponding lower limit of the load rate of the second track partition. At this time, if the handling devices in the second track partition 200 are transferred to other track partitions, the remaining handling devices in the second track partition 200 can be difficult to meet the subsequent normal handling needs in the second track partition. At this time, it is not appropriate to select the idle handling device with the shortest moving path to the starting point position as the qualified idle handling device.

[0058] Therefore, in another implementation, the idle handling device with the shortest moving path to the starting point position can be determined first, and then it is determined whether the number of handling devices and / or the load rate of the handling devices in the track partition where the idle handling device with the shortest moving path to the starting point position is located meets the requirements. If yes, i.e. the number of handling devices in the track partition where the idle handling device is located is greater than the lower limit of the number and / or the load rate of the handling devices is greater than the lower limit of the load rate, then the idle handling device with the shortest moving path to the starting point position is selected as the qualified idle handling device. If not, i.e. the number of handling devices in the track partition where the idle handling device is located is less than or equal to the lower limit of the number and / or the load rate of the handling devices is less than or equal to the lower limit of the load rate, then the idle handling device with the shortest moving path to the starting point position is selected from other track partitions where the number of handling devices and / or the load rate of the handling devices meets the requirements to execute the handling instruction.

[0059] For example, if the number of handling devices and / or the load rate of handling devices in the second track partition 200 where the idle handling device with the shortest moving path to the starting position is located does not meet the requirement, while the number of handling devices and / or the load rate of handling devices in the third track partition 300 meets the requirement, the idle handling device with the shortest moving path to the starting position in the third track partition 300 is selected as the idle handling device meeting the requirement.

[0060] Of course, in another implementation, when it is determined that the number of handling devices and / or the load rate of handling devices in the track partition where the idle handling device with the shortest moving path to the starting position is located does not meet the requirement, the idle handling device with the shortest moving path to the starting position can also be selected as the idle handling device meeting the requirement first, and then the TCS managing the idle handling device meeting the requirement can request the TCSs managing other track partitions to transfer the management authority of handling devices to it from the track partition closest to it to the track partition farthest from it after transferring the management authority to the target TCS, so that the TCS that receives the request can control the corresponding handling device to move to the track partition managed by it after obtaining the management authority of the corresponding handling device. Of course, each TCS can actively request other TCSs to transfer the management authority of handling devices to it according to the above principle when it is determined that the load rate of handling devices in the track partition managed by it approaches a set value. The set value is greater than the lower limit of the load rate corresponding to each track partition and is set according to actual needs, which is not limited here.

[0061] When the TCS to which the idle handling device meeting the requirement belongs receives the request for transferring the management authority sent by the target TCS, the TCS sends an instruction for establishing a connection with the target TCS to the idle handling device meeting the requirement and moves the idle handling device meeting the requirement out of its management range. For example, each TCS is configured with a managed handling device table and an unmanaged handling device table. The handling devices in the managed handling device table are currently managed by the TCS, and the handling devices in the unmanaged handling device table are currently not managed by the TCS. Moving out of the management range of the TCS means moving the idle handling device meeting the requirement from the managed handling device table to the unmanaged handling device table. After receiving the instruction for establishing a connection with the target TCS, the idle handling device meeting the requirement sends a connection request to the target TCS. After receiving the connection request, the target TCS includes the idle handling device meeting the requirement in its management range and thus obtains the management authority of the idle handling device meeting the requirement. Subsequently, the target TCS can control the idle handling device meeting the requirement to execute the handling instruction.

[0062] For the convenience of description, the qualified idle handling device and the qualified handling device are defined as the executing handling device, and after the executing handling device completes the handling, the target TCS can control the executing handling device to return to the track partition where the executing handling device originally belongs. If the executing handling device is the qualified idle handling device, when the executing handling device returns to the track partition where the executing handling device originally belongs, the target TCS transfers the management right of the executing handling device to the TCS to which the executing handling device originally belongs.

[0063] Of course, in another embodiment, the executing handling device can also be allowed to stay in the track partition where the terminal position is located after completing the handling, and the target TCS transfers the management right of the executing handling device to the TCS to which the track partition where the terminal position is located belongs.

[0064] At this time, since the number of handling devices in the track partition where the terminal position is located will increase, the TCS corresponding to the track partition where the terminal position is located will determine whether the number of handling devices managed by the TCS reaches an upper limit value and / or whether the handling device load rate reaches an upper limit value, and if so, the TCS will transfer the management right of an idle handling device managed by the TCS to another TCS, the handling device load rate in the track partition managed by the other TCS is not greater than a set value of the handling device load rate corresponding to the track partition or the handling device load rate corresponding to the track partition managed by the other TCS is the lowest among the handling device load rates corresponding to each track partition, and the other TCS controls the idle handling device with the transferred management right to move to the track partition managed by the other TCS, so that the balance of handling devices in each track partition can be effectively achieved, thereby ensuring the normal operation of each track partition.

[0065] Or in another embodiment, the executing handling device can also be allowed to move to another track partition with a lower handling device load rate after completing the handling, that is, after the executing handling device completes the handling, the target TCS determines which TCS manages a track partition with a handling device load rate less than or equal to a set value of the handling device load rate corresponding to the track partition, and transfers the management right of the executing handling device to the TCS to which the track partition with the lower handling device load rate belongs, and after the TCS to which the track partition with the lower handling device load rate belongs obtains the management right of the executing handling device, controls the executing handling device to move to the track partition managed by the TCS.

[0066] Furthermore, during the operation of the material handling system, it is necessary to update the TCS, such as software and / or configuration updates. When it is determined that a TCS needs to be updated, other TCSs first take over the track partitions and handling equipment managed by the TCS that needs to be updated, and then the TCS that needs to be updated is updated.

[0067] Specifically, the update of the TCS that needs to be updated can be achieved by combining it with the upper control system 700. Taking the example of the first TCS400 needing to be updated and the second TCS500 taking over the management of the first track section 100 and the conveying equipment by the first TCS400, the following explanation is provided: Figure 3 As shown, when the upper control system 700 determines that the first TCS 400 needs to be updated, the upper control system 700 can notify the first TCS to release the management of the first track partition 100 through the industry standard SEMI protocol. At the same time, it notifies the second TCS 500 to bring the first track partition 100 into its management scope. In specific implementation, for example, a management partition table and a non-management partition table can be configured for each TCS. The management partition table stores the information of the track partitions currently being managed by the TCS, and the non-management partition table stores the information of other track partitions that are not currently being managed by the TCS. Releasing the management of a track partition means moving the information of that track partition from the management partition table to the non-management partition table. Bringing it into the management scope of a TCS means moving the information of a track partition from the non-management partition table of that TCS to its management partition table.

[0068] After the second TCS 500 brings the first track section 100 under its management, the upper control system 700 or the second TCS 500 sends a message to the first TCS 400 that the second TCS 500 will take over the transport equipment it manages. The first TCS 400 issues an instruction to the transport equipment it manages to connect to the TCS of the second track section 200 and moves all the transport equipment it manages out of its management range. After receiving the instruction, the transport equipment managed by the first TCS 400 can immediately send a connection request to the TCS of the second track section 200, or it can send a connection request to the TCS of the second track section 200 after completing the transport task. The TCS of the second track section 200 will bring the transport equipment that sends the connection request under its management range.

[0069] Of course, the update of the TCS needing update can also be controlled through negotiation between TCSs. Still taking the example of the first TCS 400 needing update and the second TCS 500 taking over the first track partition 100 and the handling devices managed by the first TCS 400, when the first TCS 400 determines that it needs to be updated, it sends a takeover request to the second TCS 500 and releases the management of the first track partition 100. After receiving the takeover request sent by the first TCS 400, the second TCS 500 adds the first track partition 100 to its management range. After the second TCS 500 includes the first track partition 100 in its management range, the second TCS 500 sends a message to the first TCS 400 to take over the handling devices managed by the first TCS 400. The first TCS 400 sends an instruction to the handling devices managed by it to connect to the TCS of the second track partition 200 and removes all the handling devices managed by it from its management range. After receiving the instruction, the handling devices managed by the first TCS 400 can immediately send a connection request to the TCS of the second track partition 200 or send a connection request to the TCS of the second track partition 200 after completing the handling task. The TCS of the second track partition 200 includes the handling devices sending the connection request to it in its management range.

[0070] Of course, when selecting other TCSs to take over the track partitions (the taken-over track partitions) and handling devices (the taken-over handling devices) managed by the TCS needing update, the TCS taking over can also be determined according to different selection principles. In one embodiment, the taken-over track partitions and handling devices can be taken over from the TCSs managing the track partitions adjacent to the taken-over track partitions. In another embodiment, the TCSs with the least number of managed handling devices or the lowest load rate of handling devices of the managed track partitions can be selected to take over the taken-over track partitions and handling devices. At this time, the taken-over TCS can control the taken-over handling devices to mainly work in the taken-over track partition.

[0071] In another embodiment, the takeover of the taken-over track section and the taken-over handling device can be performed separately, i.e. when selecting the TCS to take over the taken-over track section, one of the TCSs to which the track sections adjacent to the taken-over track section belong is selected to take over. For example, the TCS to be updated is the second TCS, the taken-over track section is the second track section, the first track section and the third track section are both adjacent to the second track section, then the first TCS corresponding to the first track section or the third TCS of the third track section can be selected to take over the second track section. When selecting, one with less number of handling devices managed can be selected, of course, other factors can also be selected, for example, the handling task amount performed by the first TCS and the third TCS in a unit time is selected to select the one with less amount of tasks.

[0072] As for the taken-over handling device, part of the taken-over handling device can be taken over by the TCS taking over the taken-over track section (the TCS taking over), and the remaining part is taken over by other TCSs, which manage the handling devices of the track sections with lower load rate, or close to, even lower than the lower limit of the load rate. Of course, the taken-over handling device can also be taken over by the other TCSs.

[0073] After the TCS to be updated completes the update, if the track sections and handling devices managed by the TCS to be updated are taken over by the same TCS, the TCS taking over will transfer the management right of the taken-over track section back to the TCS completing the update, and transfer the management right of the handling devices currently managed by the TCS taking over and located at the taken-over track section to the TCS completing the update. The TCS completing the update can send a request to the TCSs of other track sections to transfer the management right of the idle handling devices according to the load rate of the handling devices corresponding to the taken-over track section.

[0074] If the track sections and handling devices managed by the TCS to be updated are taken over by different TCSs, the TCS taking over the track sections managed by the TCS to be updated will transfer the management right of the corresponding track section back to the TCS completing the update, and the TCS completing the update sends a request to the TCSs of other track sections to transfer the management right of the idle handling devices.

[0075] Further, during the operation of the system, there is a situation that the TCS is down. At this time, in order to ensure the normal operation of the entire material handling system, other TCSs are required to take over the track sections and handling devices managed by the TCS down. Specifically, as shown in FIG. 6, the TCS to be updated is the second TCS, the track sections and handling devices managed by the second TCS are taken over by the first TCS and the third TCS. Figure 4As shown, the upper management system can perceive whether the connection with each TCS is interrupted through a TCP connection or a heartbeat packet. When it is determined that the connection of a TCS is interrupted, it is confirmed that the TCS is down. At this time, the upper management system can select other TCS to take over the track partition and handling equipment managed by the down TCS according to the selection principle of the above examples. For example, if the first TCS 400 is down, the second TCS 500 can be selected to take over the first track partition 100, that is, the second TCS 500 adds the first track partition 100 to its management range, and at the same time, the handling equipment managed by the first TCS 400 is included in its management range.

[0076] When taking over the handling equipment managed by the down TCS, the taking-over TCS can send a connection request to the handling equipment managed by the down TCS after including the track partition managed by the down TCS in its management range. When the handling equipment managed by the down TCS confirms that it cannot connect with the down TCS and receives the connection request of the taking-over TCS, it feeds back a message for connection to the taking-over TCS. After receiving the message for connection, the taking-over TCS includes the handling equipment managed by the down TCS in its management range, thereby completing the takeover of the handling equipment managed by the down TCS.

[0077] When the down TCS recovers, the upper management system can send an instruction to the taking-over TCS to transfer the management right to the recovered TCS. The taking-over TCS transfers the management right of the track partition and handling equipment it takes over back to the recovered TCS. For details, refer to the process of transferring the management right back to the updated TCS described above.

[0078] Of course, when a TCS takes over the track partition managed by another TCS, it can also take over other equipment at a fixed position in the track partition, such as elevator equipment, power supply equipment, etc. The taking-over process of other equipment can refer to the taking-over process of handling equipment, which is not described here.

[0079] Embodiment 2

[0080] The above embodiment 1 only describes the application of a material handling system in one factory area, but in some large Fab factories, there are multiple factory areas. One factory area can be understood as a factory building. The material handling system in each factory area is designed according to the content described in embodiment 1.

[0081] At the same time, the material and handling equipment need to be transferred between different factory areas. Correspondingly, the material handling system includes a transfer track connected between the tracks in at least two factory areas in addition to the tracks and handling equipment arranged in at least two factory areas. The transfer track is used for the movement of handling equipment between different factory areas.

[0082] In detail, the number of factory areas can be set to multiple as needed. For ease of explanation, see the attached document. Figure 5 As shown in the illustration, this embodiment uses two factory areas as an example, defined as Factory Area A and Factory Area B. The material handling system includes in-area handling systems respectively set in Factory Area A and Factory Area B. The in-area handling system may include an overhead crane handling system or a ground handling system, such as an AGV handling system, a railcar handling system, etc., or both an overhead crane handling system and a ground handling system. The specific structures of the overhead crane handling system and the ground handling system are known technologies and will not be described in detail here. Meanwhile, the tracks of the in-area handling systems in Factory Area A and Factory Area B are divided into multiple track zones. Each track zone is configured with an independent TCS to control the operation of the handling equipment within that track zone. The in-area handling systems of different factory areas can be connected to their respective factory MCSs or connected to a common MCS. When each factory area has an independent MCS, the MCSs communicate with each other.

[0083] For ease of explanation, the handling systems of the first and second plant areas will be described below using an overhead crane handling system as an example. Correspondingly, the handling equipment is an aerial transport vehicle.

[0084] As attached Figure 5 As shown, the tracks in the first plant area A and the second plant area B are connected by at least one transfer track C. The transfer track C includes a first segment C01, a second segment C02, a first turning segment C03, and a second turning segment C04. The first segment C01 and the second segment C02 connect the tracks in the first and second plant areas. Aerial transport vehicles from the first plant area A move from the first segment towards the second plant area B, and aerial transport vehicles from the second plant area B move from the second segment C02 towards the first plant area A. An aerial transport vehicle transferring cargo from the first plant area A (the plant area at the first end of the transfer track) to the second plant area B (the plant area at the second end of the transfer track) is defined as an aerial transport vehicle transferring cargo in one direction, and an aerial transport vehicle transferring cargo from the second plant area B to the first plant area A is defined as an aerial transport vehicle transferring cargo in a second direction. The first turning segment C03 is located near the first plant area A and is used for aerial transport vehicles moving from the second segment to the first segment, while the second turning segment C04 is located near the second plant area B and is used for aerial transport vehicles moving cargo vehicles from the first segment to the second segment.

[0085] The specific shape of the first section C01, the second section C02, the first turning section C03 and the second turning section C04 can be designed as required, for example, the first section C01 and the second section C02 are two parallel straight sections, preferably, the first section C01 and the second section C02 include straight sections and 90° turning sections connected at both ends of the straight sections, so that the first section C01 and the second section C02 are C-shaped and mirror-symmetrically arranged. The first turning section C03 and the second turning section C04 are C-shaped tracks, and the straight sections of the first section C01 and the second section C02 form a waist-shaped circulating moving section with the first turning section C03 and the second turning section C04.

[0086] The transfer track C further includes an abnormality handling section configured for the aerial vehicle moving in direction one and the aerial vehicle moving in direction two respectively. The abnormality handling section configured for the aerial vehicle moving in direction one is defined as a first abnormality handling section C05, and the abnormality handling section configured for the aerial vehicle moving in direction two is defined as a second abnormality handling section C06. The number and position of the first abnormality handling section C05 and the second abnormality handling section can be designed as required, for example, the first abnormality handling section can be connected to the straight section of the second section C02 and / or the side of the second turning section C04, and the second abnormality handling section is connected to the straight section of the first section C01 and / or the side of the first turning section C03. At least one handling station C07 is arranged at the first abnormality handling section and the second abnormality handling section respectively.

[0087] Meanwhile, the transfer track is further provided with a first start switching point C08, a first verification point C09, a first waiting point C10 and a first secondary verification point C11 for the aerial vehicle moving in direction one. The first start switching point C08, the first verification point C09 and the first waiting point C10 are arranged in sequence on the straight section of the first section C01, and the first start switching point C08 is close to the first factory area A, and the first waiting point C10 is close to the second factory area B, of course, the first waiting point C10 can also be arranged at the 90° turning section of the first section close to the second factory area. The first secondary verification point C11 is arranged on the straight section of the second section C02 and / or on the second turning section C04, and the first secondary verification point C11 is located upstream of the entrance end of the first abnormality handling section C05 connected to the track where the first secondary verification point C11 is located.

[0088] A second start switch point C12, a second verification point C13, a second waiting point C14 and a second second verification point C15 for the air vehicle moving to the second direction are arranged on the transfer track. The second start switch point C12, the second verification point C13 and the second waiting point C14 are arranged in sequence on the straight extension of the second section C02, and the second start switch point C12 is close to the second factory area B, and the second waiting point C14 is close to the first factory area A. The second second verification point C15 is arranged on the straight extension of the first section C01 and / or on the first turning section C03, and is upstream of the entrance of the second abnormal handling section C06 connected to the track where the second second verification point C15 is located.

[0089] Position marks for the air vehicle to determine the positions of the points are arranged at the first start switch point C08, the first verification point C09, the first waiting point C10, the first second verification point C11, the second start switch point C12, the second verification point C13, the second waiting point C14 and the second second verification point C15. The position marks can be electronic tags (RFID tags, NFC tags), barcodes, two-dimensional codes or the like, and a reader for reading the position marks can be arranged on the air vehicle.

[0090] The following will take an example of needing to move a material in the first factory area A to a specified position in the second factory area B, and there is only one transfer track C between the first factory area and the second factory area, to illustrate how to realize the movement of the material between the factory areas. For the convenience of illustration, the TCS to which the track partition where the initial position of the material to be moved in the first factory area belongs is defined as the first execution TCS, the TCS to which the track partition where the terminal position of the material to be moved in the second factory area belongs is defined as the second execution TCS, and the idle air vehicle for executing the movement instruction is defined as the execution air vehicle.

[0091] Specifically, as shown in FIGS. 1 to 3, when the MCS of the first factory area receives the instruction of the MES to determine that a material in the first factory area A needs to be moved to a specified position in the second factory area B, it sends a movement instruction to the first execution TCS in the first factory area A. When receiving the movement instruction, the first execution TCS can first determine the execution air vehicle for executing the movement instruction, and then send a movement request to the second execution TCS. At this time, the movement request includes the information of the execution air vehicle for executing the movement instruction. Of course, in other embodiments, the first execution TCS can also determine the execution air vehicle for executing the movement instruction after receiving the response of the second execution TCS that it can move, and send the information of the execution air vehicle to the second execution TCS. Figure 6 Figure 7 The following will take an example of needing to move a material in the first factory area A to a specified position in the second factory area B, and there is only one transfer track C between the first factory area and the second factory area, to illustrate how to realize the movement of the material between the factory areas. For the convenience of illustration, the TCS to which the track partition where the initial position of the material to be moved in the first factory area belongs is defined as the first execution TCS, the TCS to which the track partition where the terminal position of the material to be moved in the second factory area belongs is defined as the second execution TCS, and the idle air vehicle for executing the movement instruction is defined as the execution air vehicle.​

[0092] The second execution TCS sends a response that the carrying can be carried out to the first execution TCS after receiving the carrying request.

[0093] The first execution TCS sends an execution instruction to the execution aerial vehicle that executes the carrying request and is managed by the first execution TCS, so that the execution aerial vehicle moves to the first waiting point C10 at the circulating moving section of the transfer track C.

[0094] After the execution aerial vehicle receives the execution instruction, the execution aerial vehicle first moves to the position of the material to grasp the material according to the planned path, and then moves to the first section C01 and moves to the first waiting point C10.

[0095] When the execution aerial vehicle moves to the first waiting point on the first section C01, it determines whether to move to the first start switching point C08. If it is determined to move to the first start switching point C08, the execution aerial vehicle starts data switching, which includes switching of map data, teaching data and other running data, and also includes wireless network point switching and connection establishment with the second execution TCS.

[0096] Specifically, the execution aerial vehicle stores a compressed file corresponding to each factory area, which includes map data, teaching data and other running data. When it is determined to move to the second factory area B, the execution aerial vehicle finds the compressed file corresponding to the second factory area B from the stored compressed files according to the number of the second factory area B or other identification information of the second factory area B, and then decompresses and performs corresponding running data switching. After completing the running data switching, if the execution aerial vehicle has established a connection with the second execution TCS at this time, the execution aerial vehicle feeds back a message that the data switching is completed to the second execution TCS, otherwise, the execution aerial vehicle feeds back a message that the data switching is completed to the second execution TCS after establishing a connection with the second execution TCS. After receiving the message that the data switching is completed from the execution aerial vehicle, the second execution TCS can feed back a message that the data switching is completed from the execution aerial vehicle to the first execution TCS. Correspondingly, the first execution TCS can release the management of the execution aerial vehicle.

[0097] The wireless network point switching and connection establishment with the second execution TCS is implemented according to the following process: the execution aerial vehicle switches its IP to the network segment of the second execution TCS, and communicates with the second execution TCS through UDP unicast; the execution aerial vehicle sends a management request to the second execution TCS; the second execution TCS includes the aerial vehicle in the management range according to the management request of the aerial vehicle, and feeds back information of including the aerial vehicle in the management range to the execution aerial vehicle; when the execution aerial vehicle receives the information of including the aerial vehicle in the management range from the second execution TCS, it determines whether the running data switching is completed, and feeds back a message of completing the data switching to the second execution TCS if the data switching is completed. The technology of including the aerial vehicle in the management range by the second execution TCS can refer to the related content of embodiment 1, which is not repeated here. The second execution TCS feeds back information of including the aerial vehicle in the management range to the MCS of the second factory area and / or the first execution TCS.

[0098] In the embodiment, the execution aerial vehicle can simultaneously perform the running data switching, the wireless network point switching and the connection establishment with the second execution TCS. If the execution aerial vehicle establishes the connection with the second execution TCS before the running data switching is completed, the execution aerial vehicle confirms the completion of the data switching and feeds back the information of completing the data switching to the second execution TCS after the running data switching is completed. If the execution aerial vehicle establishes the connection with the second execution TCS after the running data switching is completed, the execution aerial vehicle confirms the completion of the data switching and feeds back the information of completing the data switching to the second execution TCS after the connection is established. Of course, in other embodiments, the running data switching can be performed first, and then the wireless network point switching and the connection establishment with the second execution TCS can be performed after the running data switching is completed.

[0099] The execution aerial vehicle confirms whether it moves to the first verification point C09 during the movement, and determines whether the data switching is completed if it is confirmed that the execution aerial vehicle moves to the first verification point C09.

[0100] If yes, the execution aerial vehicle determines that the data switching is completed, and then the execution aerial vehicle continues to move along the first segment C01 to the first waiting point C10 and waits for the control instruction of the second execution TCS. At this time, the second execution TCS sends a control instruction to the execution aerial vehicle at the first waiting point C10 for the first time, so that the execution aerial vehicle moves to the terminal position of the material to be transported according to the planned path, and then unloads the material, and then moves to the standby area to wait for the call.

[0101] If not, i.e. the executing aerial vehicle determines that it has not completed data switching, the executing aerial vehicle moves along the second turning section C04 to the second section C02 and moves in the direction of the first factory A.

[0102] During the movement of the executing aerial vehicle along the second section C02, it is determined whether to move to the first secondary verification point C11. If it is determined that the executing aerial vehicle moves to the first secondary verification point C11, the executing aerial vehicle verifies whether the data switching is completed.

[0103] If yes, the executing aerial vehicle circulates along the second section, the first turning rail, the first section back to the first waiting point C10 to wait for the control instruction of the second executing TCS.

[0104] If not, the executing aerial vehicle enters the first abnormal handling section to wait for manual intervention. The specific operation of manual intervention is not the focus of the present application and will not be described here. In addition, when manual intervention is performed, if it is determined that the executing aerial vehicle cannot establish a connection with the second executing TCS, the first executing TCS communicates with the second executing TCS to determine whether the second executing TCS is down and performs processing. After the manual intervention is completed, the executing aerial vehicle completes the data switching and feeds back the information of completing the data switching to the second executing TCS. At the same time, the executing aerial vehicle circulates from the first abnormal handling section back to the first waiting point C10 to wait for the control instruction of the second executing TCS.

[0105] Further, after the first executing TCS issues the carrying request, if it is determined that the second executing TCS responds abnormally, the first executing TCS performs corresponding abnormal control. The response abnormality may be, for example, that the response of the second executing TCS is timed out or that the response state of the second executing TCS is abnormal or that the second executing TCS is determined to be down (the first executing TCS can determine whether the second executing TCS is down by sending a heartbeat packet to the second executing TCS).

[0106] If the first executing TCS has not determined the executing aerial vehicle that executes the carrying request, the first executing TCS suspends the determination of the executing aerial vehicle and suspends the execution of the carrying instruction. If the first executing TCS has determined the executing aerial vehicle that executes the carrying request, the first executing TCS suspends the dispatch of the executing aerial vehicle or dispatches the executing aerial vehicle to a specified position to wait for subsequent dispatch or controls the executing aerial vehicle to grasp the material and then moves to the specified position to wait for subsequent dispatch.

[0107] Of course, if the first execution TCS determines that the second execution TCS is abnormal after the execution aerial vehicle enters the transfer track and before moving to the first start switching point, the first execution TCS can control the execution aerial vehicle to circulate in the circulating moving section or directly return to the standby point of the factory area one or directly enter the first abnormal handling section to wait for manual intervention.

[0108] Further, if multiple transfer tracks are provided between the first factory area A and the second factory area B, when it is necessary to perform a transfer, the first execution TCS can select one of the multiple transfer tracks according to a predetermined principle to implement the transfer instruction. At the same time, the first execution TCS can feed back to the second execution TCS the information of the selected transfer track C for implementing the transfer instruction. Thus, the second execution TCS can accurately know the transfer track C where the execution aerial vehicle is located to perform corresponding control.

[0109] When it is determined that a material needs to be transferred between factory areas, the first execution TCS can select the transfer track according to the load rate of each transfer track and the distance of each transfer track from the material in order from near to far, that is, whether the load rate meets the requirements is given priority, and the distance of the individual track from the material is considered second. For example, if the load rate of the transfer track closest to the material does not meet the requirements, if the load rate of the second closest transfer track to the material meets the requirements, the second closest transfer track to the material is selected to implement the transfer. When judging whether the load rate meets the requirements, the load rate can be compared with a set threshold value, if the set threshold value is reached, it is considered that the requirements are not met, otherwise it is considered that the requirements are met. The set threshold value can be designed as needed, for example, between 0.75-1.

[0110] Further, when selecting the transfer track C, the first execution TCS can also determine whether to select the transfer track C according to the number of execution aerial vehicles at the first abnormal handling section C05 matched for the first factory area A in each transfer track C. If it is determined that the number of execution aerial vehicles at the first abnormal handling section C05 in a transfer track C exceeds a warning value, the transfer track C is not selected for the implementation of the transfer instruction. For example, the warning value of the number of execution aerial vehicles that can be parked at each first abnormal handling section C05 is 4, when there are 4 execution aerial vehicles at a first abnormal handling section C05, that is, the number of execution aerial vehicles reaches the warning value, the transfer track C is not selected. The warning value is less than the maximum number of execution aerial vehicles that can be parked at the abnormal handling section. The first execution TCS can determine the number of execution aerial vehicles at each first abnormal handling section according to the number of execution aerial vehicles that inquire whether to enter a first abnormal handling section and the number of execution aerial vehicles that complete manual intervention at the first abnormal handling section.

[0111] Of course, when selecting the transfer track C, the first execution TCS can also be selected according to the number of air vehicles on the transfer track C. For example, the number of air vehicles allowed to exist simultaneously at each transfer track C is 10, and when it is determined that the number of air vehicles on a transfer track reaches 10, the transfer track is not selected.

[0112] Therefore, when selecting the transfer track C, the number of air vehicles at the first abnormal handling section C05 and / or the number of air vehicles on the transfer track can be determined first to see if they meet the requirements, and if not, the transfer track is selected according to the load rate and the distance of each transfer track from the material.

[0113] Further, when the number of execution air vehicles at the first abnormal handling section reaches an upper limit value, the transfer track where the first abnormal handling section is located is suspended for use in the system, for example, the use state flag of the transfer track is set to closed or unavailable, etc., until the number of execution air vehicles at the first abnormal handling section is lower than the upper limit value, and the transfer track is restored for use in the system. The upper limit value is greater than the warning value and less than the maximum number of execution air vehicles that can be parked on the abnormal handling section.

[0114] Also, when the execution air vehicle determines that it still needs to enter the first abnormal handling section C05 at the first secondary verification point C11 because the data switching is not completed, the number of execution control air vehicles at the first abnormal handling section C05 can have reached a set warning value or even an upper limit value, therefore, the execution air vehicle that needs to enter the first abnormal handling section C05 can first confirm whether it can enter the first abnormal handling section C05 and which handling station in the first abnormal handling section C05 it can enter.

[0115] Specifically, when the execution air vehicle determines that it still needs to enter the first abnormal handling section C05 at the first secondary verification point C11 because the data switching is not completed, at this time, if the execution air vehicle has established a connection with the second execution TCS, but the running data switching is not completed, the execution air vehicle inquires from the second execution TCS whether it can enter the first abnormal handling section C05. If the execution air vehicle has not established a connection with the second execution TCS after passing the first secondary verification point, the execution air vehicle switches to a communication connection with the first execution TCS and inquires from it whether it can enter the first abnormal handling section C05.

[0116] The first and second execution TCSs communicate with each other on whether the execution air vehicles can enter the first abnormality processing section C05, so that when the execution air vehicle inquires the first or second execution TCS on whether it can enter the first abnormality processing section C05, the first and second execution TCSs can know how many execution air vehicles have inquired on entering the first abnormality processing section, and can determine whether the execution air vehicle inquiring can enter the first abnormality processing section C05 in combination with the situation of the execution air vehicle completing manual intervention at the first abnormality processing section C05.

[0117] For example, assuming that there are four processing stations at the first abnormality processing section C05, and the four processing stations are defined as a first processing station, a second processing station, a third processing station and a fourth processing station in sequence, the first processing station is close to the first factory A, the fourth processing station is close to the second factory B, and the warning value is 4. When each execution air vehicle completes manual intervention and leaves the first abnormality processing section C05, the execution air vehicles behind it can be manually controlled to move forward one parking position before manual intervention, and each execution air vehicle feeds back information on moving to the parking position to the first and second execution TCSs. Alternatively, each execution air vehicle at the first abnormality processing section can send a push-out request to the first or second execution TCS with which it establishes a connection, i.e. request the execution air vehicle in front to drive away from the current position. When the first or second execution TCS determines that the execution air vehicle at a position completes manual intervention and leaves the first abnormality processing section, the first or second execution TCS sends an instruction to move forward one position to the other execution air vehicles at the first abnormality processing section.

[0118] When the first execution air vehicle inquires the first or second execution TCS on whether it can enter the first abnormality processing section C05, the first and second execution TCSs know that the number of air vehicles at the first abnormality processing section C05 is 0, and the first execution air vehicle can enter the first processing station of the first abnormality processing section C05.

[0119] When the second execution aerial vehicle inquires whether it can enter the first execution TCS or the second execution TCS, if it is determined that the first execution aerial vehicle has not completed manual intervention at the first abnormal handling section C05, at this time, the first execution TCS and the second execution TCS determine that the number of aerial vehicles at the first abnormal handling section C05 is 1 and the first parking position is occupied, and the second execution aerial vehicle can enter the first abnormal handling section C05 and stop at the second parking position. At this time, it is determined that the number of aerial vehicles at the first abnormal handling section C05 is 2.

[0120] If it is determined that the first execution aerial vehicle has completed manual intervention at the first handling station and feeds back completion data switching to the second execution TCS, the first execution TCS and the second execution TCS determine that there is no execution aerial vehicle at the first abnormal handling section C05, that is, the number of aerial vehicles at the first abnormal handling section C05 returns to 0, and at this time, it is determined that the second execution aerial vehicle can enter the first parking position of the first abnormal handling section C05.

[0121] When the third execution aerial vehicle inquires whether it can enter the first abnormal handling section C05, if it is determined that the first execution aerial vehicle at the first parking position has not completed manual intervention, the first execution TCS and the second execution TCS determine that the number of aerial vehicles at the first abnormal handling section C05 is 2 and the second parking position is occupied at this time, and the third execution aerial vehicle can enter the first abnormal handling section C05 and stop at the third parking position.

[0122] If it is determined that the second execution aerial vehicle has moved to the first parking position, the first execution TCS and the second execution TCS determine that the number of aerial vehicles at the first abnormal handling section C05 is 1 and the first parking position is occupied, and the third execution aerial vehicle can enter the second parking position.

[0123] If it is determined that the second execution aerial vehicle has completed manual intervention for data switching, the first execution TCS and the second execution TCS determine that the number of aerial vehicles at the first abnormal handling section C05 is 0, and the third aerial vehicle can enter the first parking position.

[0124] When the fourth execution aerial vehicle inquires whether it can enter the first abnormal handling section C05, if it is determined that the first execution aerial vehicle at the first parking position has not completed manual intervention, the first execution TCS and the second execution TCS determine that the number of aerial vehicles at the first abnormal handling section C05 is 3 and the third parking position is occupied at this time, and it is determined that the fourth execution aerial vehicle can enter the fourth parking position of the first abnormal handling section C05.

[0125] If it is determined that the third execution straddle carrier is located at the first parking position or the second parking position, the first and second execution TCSs determine that the number of straddle carriers at the first abnormal handling section C05 is 1 or 2, and the first parking position or the second parking position is occupied, the fourth execution straddle carrier can move to the second parking position or the third parking position behind the third execution straddle carrier.

[0126] If it is determined that the third execution straddle carrier has completed data switching by manual intervention, the first and second execution TCSs determine that the number of straddle carriers at the first abnormal handling section C05 is 0, and the fourth execution straddle carrier can move to the first parking position.

[0127] When the fifth execution straddle carrier inquires whether it can enter the first abnormal handling section C05, if it is determined that the first execution straddle carrier has not completed manual intervention, the first and second execution TCSs determine that the number of straddle carriers at the first abnormal handling section C05 is 4, and determine that the fifth execution straddle carrier cannot enter the first abnormal handling section C05. Therefore, the fifth execution straddle carrier needs to continue to move along the second main path and transfer to the first main path via the second turning section C04 for circulation, while confirming whether data switching is completed when passing the first verification point C09 again. Of course, the above problem can be avoided by controlling the number of straddle carriers that can enter each transfer track, for example, when the number of straddle carriers that can enter each transfer track is less than the number of execution straddle carriers that can be parked at the abnormal handling section, the above problem of the execution straddle carrier being unable to enter the first abnormal handling section can be avoided. In addition, when an execution straddle carrier resumes communication connection with the first execution TCS and fails to obtain a response from the first execution TCS, the execution straddle carrier also continues to circulate along the second main path and transfer to the first main path via the second turning section C04, and can enter the first abnormal handling section to wait for manual intervention after a certain period of circulation and still fails to obtain a new instruction.

[0128] When it is determined that the fourth execution straddle carrier is at the first parking position or the second parking position or the third parking position, it is determined that the fifth execution straddle carrier can enter the second parking position or the third parking position or the fourth parking position.

[0129] If it is determined that the fourth execution straddle carrier has completed data switching by manual intervention, the fifth execution straddle carrier can move to the first parking position.

[0130] By analogy, it is continuously determined whether each execution straddle carrier can enter the first abnormal handling section C05.

[0131] Of course, in another embodiment, the aerial carrier can also be provided with an image recognition device for identifying whether there is another aerial carrier in front of the aerial carrier. The specific image recognition method is known technology, which will not be described here. Thus, when the execution aerial carrier enters the first abnormal handling section C05, the execution aerial carrier can determine the handling station to be stopped at the first abnormal handling section C05 according to the image recognition. Of course, in other embodiments, a laser obstacle avoidance radar system can also be provided on each aerial carrier to determine whether there is another aerial carrier in front of it and to maintain a safe distance from the aerial carrier in front.

[0132] Furthermore, when the first execution TCS executes two carrying instructions through a transfer track C, the execution aerial carrier executing the previous carrying instruction can enter the first section C01 after the first execution TCS feeds back the completion data switching to the second execution TCS after passing the first verification point C09 or after passing the first second verification point C11.

[0133] The present application has various embodiments, and all technical solutions formed by equivalent transformation or equivalent transformation fall within the protection scope of the present application.

Claims

1. A handling control method, characterized in that, Includes the following steps: When it is determined that the endpoint and starting point of a transport instruction are in different track zones, the upper control system determines the target TCS to which the transport instruction should be sent based on the starting point of the transport instruction, and sends the transport instruction to the target TCS. After receiving the transport instruction, the target TCS searches within its managed track zone for a transport device that meets the requirements. If a device does, the target TCS controls the transport device within its managed track zone to execute the transport instruction. If not, the target TCS identifies a qualified idle transport device outside the track zone it manages and requests the TCS to which the qualified idle transport device belongs to relinquish management authority. When determining whether there are qualified handling equipment in the track zone managed by the target TCS, first determine whether the load rate of the handling equipment in the track zone is close to the lower limit of the load rate corresponding to the track zone. If not, determine whether there are idle handling equipment in the track zone. If so, the target TCS selects the idle handling equipment with the shortest movement path to the starting position as the qualified handling equipment. If the load rate of the handling equipment in the track section managed by the target TCS is close to the lower limit of the load rate or there is no idle handling equipment in the track section managed by the target TCS, then the idle handling equipment with the shortest movement path to the starting position is selected from the track sections where the number of other handling equipment and / or the load rate of the handling equipment meet the requirements as the qualified handling equipment; the load rate of the handling equipment is the ratio of the number of handling equipment in a track section in real time to the maximum number of handling equipment that can be operated simultaneously in that track section. After obtaining management authority over the idle handling equipment, the target TCS controls the idle handling equipment to execute the handling instructions.

2. The handling control method according to claim 1, characterized in that: Information is synchronized between each TCS to enable each TCS to share real-time information of each handling device.

3. The handling control method according to claim 1, characterized in that: The target TCS determines the idle transport device with the shortest movement path from the starting position within the track zone it manages as the qualified transport device.

4. The handling control method according to claim 1, characterized in that: When it is determined that a TCS needs to be updated, other TCSs first take over the track partitions and handling equipment managed by the TCS that needs to be updated, and then the TCS that needs to be updated is updated. And / or, when a TCS is determined to be down, other TCSs take over the track sections and transport equipment managed by the downed TCS.

5. The handling control method according to claim 4, characterized in that: When selecting another TCS to take over a track partition managed by the downed or needing update, select the TCS to take over the track partition that is adjacent to the track partition managed by the downed or needing update.

6. The handling control method according to claim 1, characterized in that: After the idle transport device executing the transport command completes the transport, the target TCS controls the idle transport device executing the transport command to return to its original track section. When the idle transport device executing the transport command is the qualified idle transport device, when the qualified idle transport device returns to its original track section, the target TCS transfers the management authority of the qualified idle transport device to the TCS to which the qualified idle transport device originally belonged.

7. The handling control method according to claim 1, characterized in that: After the idle transport equipment executing the transport command completes the transport, it stops at the track partition where the destination position is located, and the target TCS transfers its management authority to the TCS corresponding to the track partition where the destination position is located. At the same time, the TCS corresponding to the track partition where the destination position is located determines whether the number of transport equipment under its management has reached the upper limit threshold. If so, it transfers the management authority of one of the idle transport equipment to another TCS. If the load rate of the transport equipment in the track partition managed by the other TCS is lower than a set value, the other TCS controls the idle transport equipment to move to the track partition it manages.

8. The handling control method according to any one of claims 1-7, characterized in that: When any TCS determines that the load rate of the handling equipment in the track section it manages is lower than a set value, the TCS requests other TCSs to relinquish management rights of the idle handling equipment in the track section it manages.

9. A material handling system, comprising a supervisory control system, a TCS, a track, and handling equipment running along the track, characterized in that: The track is divided into multiple independent and continuous track zones, each track zone and each transport device is configured to be managed by only one of the multiple TCSs, each TCS is configured to manage at least one track zone, and the material transport system performs the transport control method of any one of claims 1-8.

10. The material handling system according to claim 9, characterized in that: This includes tracks located in different factory areas, with at least two factory areas' tracks connected by a connecting track; The transfer track includes a circular moving section and two anomaly handling sections connected to the side of the circular moving section. The No. 1 anomaly handling section is configured for use by the handling equipment that transfers goods from the factory area at the first end of the transfer track to the factory area at the second end of the transfer track when the data switch has not been completed; The second anomaly handling section is configured for use by the transport equipment that transfers goods from the plant area at the second end of the transfer track to the plant area at the first end of the transfer track when the data switch has not been completed.

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