Carrier number balancing method and system, MCS and TCS

Abstract

The invention discloses a carrier number balancing method and system, an MCS and TCSs. The carrier number balancing method comprises the following steps that according to the real-time number, the real-time vacancy rate and the real-time operation rate of carriers currently managed by all TCSs, the TCSs which are demand side TCSs and the TCSs which are supply side TCSs are determined; and sending a dispatching instruction to the supply side TCS to dispatch all or part of the idle carriers managed by the supply side TCS to the areas managed by the demand side TCS so as to realize the balance of the number of the carriers in each area. According to the method, whether each TCS is a supply side TCS or a demand side TCS can be automatically identified only by setting a small number of parameters, MCS or each TCS, so that the carrying vehicles can be actively scheduled according to the identification condition to ensure the balance of the number of the carrying vehicles in each region, various case situations do not need to be set for each region, the carrying task amount of each region does not need to be known in advance, and the efficiency is improved. And the parameter configuration difficulty and the quantity balance realization difficulty can be greatly reduced.

Description

Technical Field

[0001] The present invention relates to the field of handling equipment control, in particular to a method, system, MCS and TCS for balancing the number of handling vehicles. Background Art

[0002] In semiconductor processing, an automated material handling system is used to transport material boxes. The automated material handling system includes an OHT handling system (Overhead Hoist Transport), an AGV handling system, etc.

[0003] During the processing, the material boxes need to be transported between different areas (floors, buildings / buildings) of a factory. Frequent cross-area transportation of materials will cause the real-time number of transport vehicles in each area to change continuously. Therefore, the balance of the number of transport vehicles in each area is an important basis for ensuring the reliable transportation of material boxes in each area.

[0004] The invention patent with application publication number CN117993802A discloses a method for dispatching a transport crane across regions.

[0005] This method is based on the number of overhead cranes in each area and the amount of tasks in each area for scheduling. This method requires distinguishing multiple cases for setting, and parameter configuration is difficult. In addition, the number of transport tasks in each area must be known in advance in order to accurately configure, which is difficult to implement. Summary of the invention

[0006] The purpose of the present invention is to solve the above problems existing in the prior art and to provide a method, system, MCS and TCS for balancing the number of transport vehicles.

[0007] The purpose of the present invention is achieved through the following technical solutions: The method for balancing the number of transport vehicles includes the following steps: Determine whether there is a demand-side TCS in each TCS according to the real-time number, real-time idle rate and real-time operation rate of the transport vehicles currently managed by each TCS, and the area managed by the demand-side TCS needs to supplement transport vehicles; When it is determined that there is a demand-side TCS, a transport vehicle is dispatched to each area managed by the demand-side TCS according to the following process; Determine a supply-side TCS that dispatches a transport vehicle to a demand-side TCS; A dispatch instruction is sent to the determined supply-side TCS so that at least one idle transport vehicle managed by the supply-side TCS is dispatched to the area managed by the demand-side TCS and the idle transport vehicle is managed by the demand-side TCS.

[0008] Preferably, when it is determined that the real-time number of trucks currently managed by a TCS is greater than the minimum guaranteed number of trucks managed by the TCS, and the real-time idle rate of the trucks currently managed by the TCS is greater than the target idle rate of the trucks managed by the TCS, the TCS is determined to be a supply-side TCS.

[0009] Preferably, when it is determined that the real-time number of transport vehicles currently managed by a TCS is less than or equal to the minimum guaranteed number of transport vehicles managed by the TCS, the TCS is determined to be a demand-side TCS; When it is determined that the real-time number of trucks currently managed by a TCS is greater than the minimum guaranteed quantity of trucks managed by the TCS, and the real-time idle rate of the trucks managed by the TCS is not greater than the target idle rate of the trucks managed by the TCS and the real-time operation rate of the trucks managed by the TCS is not less than the operation rate threshold of the trucks managed by the TCS, then the TCS is determined to be a demand-side TCS; the operation rate refers to the ratio of the average transportation time of all trucks currently managed by the TCS within a period of time to the period of time.

[0010] Preferably, when it is determined that the number of transport vehicles that a demand-side TCS needs to replenish exceeds 1 and there are multiple supply-side TCSs, a dispatch instruction is issued to the multiple supply-side TCSs so that the multiple supply-side TCSs dispatch idle transport vehicles to the area managed by the demand-side TCS.

[0011] Preferably, the number of transport vehicles that need to be supplemented in the area managed by the demand-side TCS is determined according to the following formula: N 补 ={N 需搬 / [1-(r 目 -D)]}-N 当 ; Among them, N 补 The number of transport vehicles that need to be supplemented in the area managed by the demand-side TCS; N 需搬 is the number of transport vehicles currently managed by the demand-side TCS that are currently transporting, r 目 is the target idle rate of the transporter managed by TCS on the demand side, D is the idle rate error, and N 当 The real-time number of transport vehicles currently managed by the demand-side TCS.

[0012] Preferably, the number of transport vehicles that can be dispatched by the supply-side TCS is determined according to the following formula: N 供 =N 供搬 / [1-(r 目 +D)]; Among them, N 供 N is the number of dispatchable transport vehicles among the transport vehicles managed by the supply-side TCS.供搬 The number of transport vehicles currently in transport among the transport vehicles managed by the supply-side TCS, r 目 is the target idle rate of the transporter managed by TCS on the supply side, and D is the idle rate error.

[0013] Preferably, the supply-side TCS preferentially selects the idle transport vehicle with the longest idle time among the idle transport vehicles managed by it and dispatches it to the area managed by the demand-side TCS.

[0014] Preferably, part or all of the area managed by TCS is divided into multiple partitions, and the TCS dispatches the trucks between the partitions to achieve a balanced number of trucks in each partition based on the real-time idle rate, number and operation rate of the trucks in each partition.

[0015] The transport vehicle quantity balancing system includes: The demand-side TCS determination unit is used to determine whether there is a demand-side TCS in each TCS according to the real-time number, real-time idle rate and real-time operation rate of the transport vehicles currently managed by each TCS, and the area managed by the demand-side TCS needs to supplement the transport vehicles; The balancing unit is used to dispatch a transport vehicle to each area managed by the demand-side TCS when it is determined that there is a demand-side TCS, and includes: A supply-side TCS determination module, used to determine a supply-side TCS that dispatches a transport vehicle to a demand-side TCS; The scheduling module is used to send a scheduling instruction to the determined supply-side TCS so that at least one idle transport vehicle managed by the supply-side TCS is scheduled to the area managed by the demand-side TCS and the idle transport vehicle is managed by the demand-side TCS.

[0016] The MCS includes a memory and a processor, wherein the memory stores a program executable by the processor, and when the program is executed, any of the above-mentioned methods for balancing the number of transport vehicles is implemented.

[0017] The method for balancing the number of transport vehicles includes the following steps: Each TCS determines the real-time number, real-time idle rate and real-time operation rate of the transport vehicles currently managed by each of them, and determines which of the TCSs are demand-side TCSs and which are supply-side TCSs accordingly; When a TCS determines that it is a demand-side TCS, it communicates with the determined supply-side TCS to dispatch the idle transport vehicles managed by the supply-side TCS to the area managed by the demand-side TCS; And / or when a TCS determines that it is a supply-side TCS, it communicates with the determined demand-side TCS to dispatch idle transport vehicles managed by the supply-side TCS to the area managed by the demand-side TCS.

[0018] The method for balancing the number of transport vehicles includes the following steps: Determine the real-time number, real-time idle rate and real-time operation rate of transport vehicles in each area under its management; Determine which areas are supply-side areas and which areas are demand-side areas based on the real-time number of transport vehicles, real-time idle rate, and real-time operation rate in each area; The idle trucks in the determined supply-side area are dispatched to the determined demand-side area to achieve a balance in the number of trucks in each area.

[0019] The TCS includes a memory and a processor. The memory stores a program that can be executed by the processor. When the program is executed, the method for balancing the number of transport vehicles as described above is implemented.

[0020] The advantages of the technical solution of the present invention are mainly reflected in: The present invention only needs to configure the minimum guaranteed quantity, target idle rate and operation rate threshold of the transport vehicles managed by each TCS. The MCS or each TCS can automatically identify whether each TCS is a supply-side TCS or a demand-side TCS, so that the transport vehicles can be actively dispatched according to the identification situation to ensure the balance of the number of transport vehicles in each area. Only a small number of parameters need to be set, and there is no need to set multiple case scenarios for each area, and there is no need to know the transportation task volume of each area in advance. It can greatly reduce the difficulty of parameter configuration and the difficulty of achieving quantity balance.

[0021] When determining whether it is a demand-side TCS, the present invention further combines the operation rate of the transport vehicle based on the idle rate, and can accurately reflect the busyness of the transport vehicles in each area, thereby effectively ensuring the accuracy of the demand-side TCS determination.

[0022] The present invention can accurately calculate the number of transport vehicles that can be dispatched by the supply-side TCS and the number of transport vehicles that need to be supplemented in the area managed by the demand-side TCS, thereby effectively ensuring the accuracy of quantity control.

[0023] When the area managed by the demand-side TCS needs to supplement multiple transport vehicles and there are multiple supply-side TCSs, the present invention requests the dispatch of transport vehicles from multiple supply sides respectively. This can effectively reduce the impact caused by abnormal changes in the status of the transport vehicles managed by the supply-side TCS when requesting supply from a single supply-side TCS. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a schematic diagram of a first implementation of the material handling system of the present invention; Figure 2 is a schematic diagram of a second implementation of the material handling system of the present invention; Figure 3is a schematic diagram of a third implementation of the material handling system of the present invention; Figure 4 is a schematic diagram of a process for balancing the number of transport vehicles according to Embodiment 1 of the present invention; Figure 5 is a schematic diagram of a transport vehicle quantity balancing process according to Embodiment 4 of the present invention; Figure 6 It is a schematic diagram of the balancing process of the number of transport vehicles in Example 5 of the present invention. DETAILED DESCRIPTION

[0025] The purpose, advantages and features of the present invention will be illustrated and explained by the non-limiting description of the following preferred embodiments. These embodiments are only typical examples of the application of the technical solution of the present invention, and any technical solution formed by equivalent replacement or equivalent transformation falls within the scope of protection claimed by the present invention.

[0026] In the description of the scheme, it should be noted that the terms "center", "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience and simplification of description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0027] Example 1 The following describes the method for balancing the number of transport vehicles disclosed in the present invention in conjunction with the accompanying drawings. The method for balancing the number of transport vehicles is based on a material handling system, and the material handling system is divided into multiple implementation modes according to actual conditions.

[0028] For example, in the first implementation, as shown in the attached Figure 1As shown, the material handling system is arranged in a factory building with only one floor. At this time, the material handling system includes a track 100 arranged in the factory building and a number of transport vehicles 200 moving along the track 100. The track 100 is divided into multiple areas 300, each area 300 is equipped with a certain number of transport vehicles 200, and the transport vehicles 200 in each area 300 are managed by a TCS (transport control system). Multiple TCSs communicate with an MCS (Material Control System) to transport materials according to the instructions of the MCS, and multiple TCS400 can communicate with each other so that each TCS can know the location information and status of each transport vehicle. Each TCS400 is configured with data of the entire track 100, and each transport vehicle 200 stores map information, sensor information, and teaching information of the entire track 100.

[0029] In the second implementation, as shown in the attached Figure 2 As shown, the material handling system is arranged in a factory building 700 having a plurality of floors 500. In this case, the material handling system includes a track 100 arranged in each floor 500 and a transport vehicle 200 moving along the track 100. The track 100 in each floor 500 is regarded as an area as a whole. The transport vehicle 200 of each floor 500 is controlled by a TCS 400. The plurality of TCS 400 are connected to each MCS and the TCS 400 can communicate with each other. Each transport vehicle 200 stores a compressed file corresponding to each area 300. The compressed file stores the operation data required by the transport vehicle 200 when operating in each area 300. The operation data includes but is not limited to the map information, sensor information, teaching information, etc. of the track 100 of an area 300. At the same time, an elevator 600 is arranged between the floors 500 to realize the movement of the transport vehicle 200 between different floors 500. Specifically, the elevator 600 may include a lifting track 610, and the lifting track 610 is connected to a lifter 620 that drives it to move up and down to dock with the track 100 of different floors 500. The lifter 620 may be a known feasible device, such as a scissors lift, an industrial elevator, etc.

[0030] In the third implementation, as shown in the attached Figure 3As shown, the material handling system is arranged in multiple factories 700. At this time, the material handling system includes a track 100 arranged in each factory 700 and a transport vehicle 200 moving along the track 100. Each transport vehicle 200 is configured with operation data corresponding to each area 300. At this time, the track 100 in one factory 700 is an area 300. The tracks 100 in adjacent factories 700 are connected by a connecting track 800. The connecting track 800 includes two parallel main passage tracks 810. Two turning tracks 820 are arranged between the two main passage tracks 100. The track 100 portion of the two main passage tracks 810 located between the two turning tracks 820 is enclosed with the two turning tracks 820 to form a closed track 100 portion. The transport vehicle 200 can move cyclically in the closed track 100 portion. At least one of the two main passage tracks 810 is also connected to the waiting track 830 located between the two turning tracks 820.

[0031] Each transport vehicle 200 in the plant 700 is controlled by a TCS 400, and multiple TCSs 400 communicate with each other and can be connected to the same MCS or each TCS is connected to each MCS, and each MCS communicates with each other. Each transport vehicle 200 also stores compressed files corresponding to each area 300.

[0032] The fourth implementation manner is a combination of at least two of the first implementation manner, the second implementation manner and the third implementation manner.

[0033] Before the material handling system is put into operation, a predetermined number of transport vehicles 200 will be configured in each area 300. The specific number is designed according to the needs and is not limited here. At the same time, the number of transport vehicles in each area can be balanced through MCS. At this time, the balance parameters required to achieve the balance of the number of transport vehicles in each area need to be configured in MCS. The balance parameters include the minimum guarantee quantity, target idle rate and operation rate threshold of each transport vehicle 200 managed by TCS.

[0034] When MCS is used to balance the number of transport vehicles in each area, MCS can monitor the real-time number, real-time idle rate and real-time operation rate of the transport vehicles currently managed by each TCS in real time and balance the number of transport vehicles when it is determined that there is a demand-side TCS; or, MCS can monitor the real-time number, real-time idle rate and real-time operation rate of the transport vehicles currently managed by each TCS at preset time intervals and balance the number of transport vehicles when it is determined that there is a demand-side TCS.

[0035] Correspondingly, the method for balancing the number of transport vehicles includes the following steps: S1, determining whether there is a demand-side TCS in each TCS according to the real-time number, real-time idle rate and real-time operation rate of the transport vehicles currently managed by each TCS, and the area managed by the demand-side TCS needs to supplement transport vehicles; S2, when it is determined that there is a demand-side TCS, dispatch a transport vehicle to each area managed by the demand-side TCS according to the following process; Determine a supply-side TCS that dispatches a transport vehicle to a demand-side TCS; A dispatch instruction is sent to the determined supply-side TCS so that at least one idle transport vehicle managed by the supply-side TCS is dispatched to the area managed by the demand-side TCS and the idle transport vehicle is managed by the demand-side TCS.

[0036] The real-time idle rate is the ratio of the number of transport vehicles 200 that have not received transport instructions among the transport vehicles 200 currently managed by a TCS 400 to the real-time number. The real-time operation rate is the ratio of the average transportation time of the transport vehicles 200 currently managed by a TCS 400 within a period of time to the period of time. For example, if a period of time is 1 hour, and the average transportation time of the transport vehicles 200 currently managed by a TCS 400 within the 1 hour is 30 minutes, then the real-time operation rate is 30 / 60=0.5. The real-time number, real-time idle rate and real-time operation rate data of the transport vehicles currently managed by each TCS can be reported to the MCS by each TCS. Of course, the MCS can also determine it by itself according to the operation status of each transport vehicle it manages reported by each TCS.

[0037] The MCS determines whether a TCS is a demand-side TCS, a supply-side TCS, or a balancing TCS according to the following principles: When it is determined that the real-time number of transport vehicles currently managed by a TCS is greater than the minimum guaranteed quantity of transport vehicles managed by the TCS, and the real-time idle rate of the transport vehicles currently managed by the TCS is greater than the target idle rate of the transport vehicles managed by the TCS, the TCS is determined to be a supply-side TCS.

[0038] When it is determined that the real-time number of transport vehicles currently managed by a TCS is less than or equal to the minimum guaranteed number of transport vehicles managed by the TCS, the TCS is determined to be a demand-side TCS; When it is determined that the real-time number of trucks currently managed by a TCS is greater than the minimum guaranteed quantity of trucks managed by the TCS, and the real-time idle rate of the trucks managed by the TCS is not greater than the target idle rate of the trucks managed by the TCS and the real-time operation rate of the trucks managed by the TCS is not less than the operation rate threshold of the trucks managed by the TCS, then the TCS is determined to be a demand-side TCS; the operation rate refers to the ratio of the average transportation time of all trucks currently managed by the TCS within a period of time to the period of time.

[0039] When it is determined that the real-time number of transport vehicles currently managed by a TCS is greater than the minimum guaranteed number of transport vehicles managed by the TCS, and the real-time idle rate of the transport vehicles managed by the TCS is not greater than the target idle rate of the transport vehicles managed by the TCS, and the real-time operation rate of the transport vehicles managed by the TCS is less than the operation rate threshold of the transport vehicles managed by the TCS, the TCS is determined to be a balanced TCS, and the number of transport vehicles in the area managed by the balanced TCS meets the operation requirements, and there is no need to supplement transport vehicles. If all TCSs are balanced TCSs, it is not necessary to balance the number of transport vehicles.

[0040] When a TCS is determined to be on the demand side, the MCS can also determine the number of transport vehicles that need to be supplemented in the area managed by the demand-side TCS according to the following formula: N 补 ={N 需搬 / [1-(r 目 -D)]}-N 当 ; Among them, N 补 The number of transport vehicles that need to be supplemented in the area managed by the demand-side TCS; N 需搬 is the number of transport vehicles currently managed by the demand-side TCS that are currently transporting, r 目 is the target idle rate of the transport vehicle managed by the demand-side TCS, D is the idle rate error, for example, it is between ±0.1, N 当 The real-time number of transport vehicles currently managed by the demand-side TCS.

[0041] When a TCS is determined to be a supply-side TCS, the MCS may also determine the number of transport vehicles that can be dispatched by the supply-side TCS according to the following formula: N 供 =N 供搬 / [1-(r 目 +D)]; Among them, N 供 N is the number of dispatchable transport vehicles among the transport vehicles managed by the supply-side TCS. 供搬 The number of transport vehicles currently in transport among the transport vehicles managed by the supply-side TCS, r 目 is the target idle rate of the transport vehicle managed by TCS on the supply side, and D is the idle rate error.

[0042] When the MCS determines that the number of transport vehicles 200 that need to be replenished in an area managed by a demand-side TCS is 1 and there are multiple supply-side TCSs, the MCS can select the supply-side TCS that dispatches the transport vehicle to the demand-side TCS according to different selection principles. For example, the MCS can select according to the number of transport vehicles 200 that can be dispatched by each supply-side TCS, that is, select the supply-side TCS with the largest number of transport vehicles 200 that can be dispatched to dispatch the transport vehicle 200 to the demand-side TCS.

[0043] Alternatively, the MCS may select the supply-side TCS based on the path or distance from the idle trucks managed by each supply-side TCS to the area 300 managed by the demand-side TCS, that is, select the supply-side TCS to which the idle trucks with the shortest path or distance to the area 300 managed by the demand-side TCS belong to dispatch the truck 200 to the demand-side TCS.

[0044] Of course, the demand-side TCS may also select the supply-side TCS of the area 300 adjacent to the area 300 managed by it to dispatch the transport vehicle 200 to the demand-side TCS. The specific selection principle may be determined according to actual needs and is not limited here.

[0045] If the MCS determines that the number of trucks that a demand-side TCS needs to replenish exceeds 1 and there are multiple supply-side TCSs, the MCS can issue scheduling instructions to multiple supply-side TCSs so that multiple supply-side TCSs can dispatch idle trucks to the area managed by the demand-side TCS. At this time, multiple supply-side TCSs can be selected according to the number of trucks that each supply-side TCS can dispatch, and multiple supply-side TCSs can simultaneously dispatch idle trucks to the area managed by the same demand-side TCS, which is more conducive to improving scheduling efficiency.

[0046] When there are multiple supply-side TCSs and multiple demand-side TCSs, the MCS can determine the order of dispatching idle transport vehicles to each demand-side TCS according to the dispatch priority of each TCS. Alternatively, the MCS can also determine the supply-side TCS that dispatches transport vehicles to the area managed by each demand-side TCS according to the adjacent area principle and / or the shortest moving path principle and the number of transport vehicles that can be dispatched by each supply-side TCS. The specific determination is based on actual needs and is not limited here.

[0047] When the MCS issues a dispatch instruction to each of the supply-side TCSs, it will inform each of the supply-side TCSs to which area or areas managed by the demand-side TCSs to dispatch idle transport vehicles.

[0048] In S2, the supply-side TCS and the demand-side TCS may adopt different implementation processes according to different material handling systems when scheduling idle transport vehicles.

[0049] For example, in the first implementation of the above example, S2 includes the following steps: After receiving the dispatch instruction sent by the MCS, the supply-side TCS determines the idle transport vehicles that need to be dispatched. When determining the idle transport vehicles that need to be dispatched, the supply-side TCS preferentially selects the idle transport vehicles with the longest idle time among the idle transport vehicles it manages to dispatch to the area managed by the demand-side TCS. That is, the supply-side TCS will sort the idle transport vehicles it manages in descending order according to the idle time, so that when dispatching, the idle transport vehicles with the highest ranking will be continuously dispatched to the partition that needs to replenish the transport vehicles 200.

[0050] After determining the idle trucks that need to be dispatched, the supply-side TCS can plan a dispatching route and control the idle trucks to move to the area 300 managed by the demand-side TCS. Subsequently, the supply-side TCS can feed back the location information of the idle trucks to the demand-side TCS and transfer the management authority of the idle trucks to the demand-side TCS. The demand-side TCS can control the idle trucks after obtaining the management authority of the idle trucks.

[0051] The transfer of management authority of a transporter is a known technology. For example, each TCS 400 is configured with a transporter management table, which stores information of the transporter 200 currently managed by it. When the management authority of a transporter needs to be transferred, the supply-side TCS sends the information of the transporter to the demand-side TCS and sends an instruction to the transporter to connect to the demand-side TCS. Subsequently, the supply-side TCS clears the information of the transporter from its transporter management table to release the management of the transporter. After the demand-side TCS receives the connection request of the transporter and the information of the transporter sent to it by the supply-side TCS, it adds the information of the transporter to its transporter management table, thereby bringing the transporter into its management scope.

[0052] Alternatively, in another embodiment, after the supply-side TCS determines that an idle truck needs to be dispatched therein, it transfers the management authority of the idle truck to the demand-side TCS, and feeds back the location information of the idle truck to the demand-side TCS. After the demand-side TCS obtains the management authority of the idle truck, it plans a moving path for the idle truck to move to the area 300 managed by the demand-side TCS and controls the idle truck to move to the area 300 managed by it according to the planned moving path.

[0053] In the second implementation of the above example, S2 includes the following steps: After receiving the dispatch instruction sent to it by the MCS, the supply-side TCS determines an idle transport vehicle under its management and controls the idle transport vehicle to move to the area 300 managed by the demand-side TCS through the elevator 600 and enables the idle transport vehicle to be managed by the demand-side TCS.

[0054] Specifically, the supply-side TCS determines that the idle truck with the longest idle time among the idle trucks it manages is the idle truck that needs to be dispatched, and controls the idle truck that needs to be dispatched to move to the boarding communication position 510, which is a section of track connected to a floor and used to dock with the entrance end of the lifting track 610 of the elevator 600. After the idle transport vehicle moves to the boarding communication position 510, it communicates with the elevator 600. After the idle transport vehicle moves to the boarding communication position 510, it feeds back the information of arriving at the boarding communication position 510 to the supply-side TCS, and sends a request to the elevator 600 whether the transfer can be performed; if the elevator 600 can transfer, the elevator 600 feeds back the information that the transfer can be performed to the idle transport vehicle; the idle transport vehicle feeds back the information that the overhead crane transfer can be performed to the supply-side TCS; the supply-side TCS sends an instruction to the idle transport vehicle to allow entry into the elevator 600, the idle transport vehicle moves into the elevator 600 and feeds back the information of entering the elevator 600 and the request to release its management to the supply-side TCS. The supply-side TCS releases the management of the idle transport vehicle after sending an execution transfer instruction to the idle transport vehicle, and feeds back to the demand-side TCS the information that the idle transport vehicle is heading to the floor 500 corresponding to the demand-side TCS, and at the same time feeds back the information of the idle transport vehicle to the demand-side TCS.

[0055] The idle transport vehicle sends an execution transfer instruction to the elevator 600, that is, an instruction that the elevator 600 can start the transfer. The elevator 600 sends feedback information of receiving the execution transfer instruction to the idle transport vehicle and moves the idle transport vehicle to the floor 500 corresponding to the demand-side TCS. After the elevator 600 moves to the floor 500 corresponding to the demand-side TCS, the information that the elevator 600 has arrived at the floor 500 corresponding to the demand-side TCS and can move to the waiting position 520 of the floor 500 corresponding to the demand-side TCS is fed back to the idle transport vehicle. After receiving the information that the idle transport vehicle can move to the waiting position 520 corresponding to the floor 500 corresponding to the demand-side TCS, the idle transport vehicle moves out of the elevator 600 to the waiting position 520 of the floor 500 corresponding to the demand-side TCS. The waiting position 520 can be a section of track 100 docked with the lifting track 610.

[0056] At any time between when the elevator 600 reaches the floor 500 corresponding to the demand-side TCS and when the idle transport vehicle moves to the boarding communication position 510 of the floor 500 corresponding to the demand-side TCS, it is preferred that when it is determined that the idle transport vehicle can be moved out of the elevator 600, the idle transport vehicle connects and communicates with the demand-side TCS, and sends a management request to the demand-side TCS to manage it. During specific communication, the idle transport vehicle can switch its IP to the same network segment as the demand-side TCS, and then communicate with the demand-side TCS via UDP unicast. Of course, the communication between each transport vehicle 200 and TCS400 can also be achieved through known wireless communication technology. The corresponding wireless communication technology is a known technology and is not an innovation of the present invention, so it will not be elaborated here.

[0057] At the same time, after entering the elevator 600, the idle transport vehicle can start switching the operating data, that is, the idle transport vehicle switches the operating data (map, sensor information, teaching information, etc.) required for its operation from the operating data corresponding to the area 300 managed by the supply-side TCS to the operating data corresponding to the area 300 managed by the demand-side TCS. The corresponding data switching technology is a known technology and will not be elaborated here.

[0058] After receiving the management request, the demand-side TCS includes the idle transport vehicle in its management scope and sends an instruction to the idle transport vehicle to move to a predetermined position to wait for call or sends a transport instruction to the idle transport vehicle.

[0059] In the third implementation of the above example, S2 includes the following steps: When the supply-side TCS receives the dispatch instruction from the MCS, it controls an idle transport vehicle under its management to move to the connecting track 800. After the idle transport vehicle establishes a connection with the demand-side TCS at the connecting track 800 and is included in its management scope, the demand-side TCS controls the idle transport vehicle to move to the area 300 under its management.

[0060] Specifically, when receiving the scheduling instruction, the supply-side TCS determines the idle transport vehicle that needs to be scheduled and sends a control instruction to move it to the area 300 managed by the demand-side TCS. The supply-side TCS also feeds back the information of the idle transport vehicle that needs to be scheduled to the demand-side TCS.

[0061] The idle transport vehicle that needs to be scheduled moves to the connecting track 800 according to the control instruction of the supply-side TCS. After the idle transport vehicle that needs to be scheduled moves to the connecting track 800, the operation data switching starts. During the operation data switching, the idle transport vehicle that needs to be scheduled moves in a circular motion in the closed track 100 part of the connecting track 800. When the idle truck that needs to be scheduled completes the switching of operation data, the idle truck that needs to be scheduled moves to the waiting track 830 and stops. At this time, the idle truck 200 that needs to be scheduled sends a request for release of management to the supply-side TCS, and the TCS 400 on the supply side moves the idle truck 200 that needs to be scheduled out of its management scope. Then the idle truck 200 switches its IP to the network segment used by the demand-side TCS, and communicates with the demand-side TCS through UDP unicast. The idle truck 200 that needs to be scheduled sends a management request to the demand-side TCS. After receiving the management request, the demand-side TCS includes the idle truck 200 that needs to be scheduled in the management scope. After obtaining the management authority of the idle truck 200 that needs to be scheduled, the demand-side TCS controls the idle truck 200 that needs to be scheduled to move from the waiting track 830 to the area 300 under its management.

[0062] Furthermore, the area 300 managed by part or all of the TCS 400 is divided into a plurality of partitions, and each partition is configured with a corresponding minimum guarantee quantity, target idle rate, and operation rate threshold of the transport vehicles 200 .

[0063] When a supply-side TCS starts scheduling an idle truck or the idle truck completes scheduling, the supply-side TCS determines the real-time number of trucks it currently manages and the number of idle trucks minus one. At the same time, the demand-side TCS determines the real-time number of trucks it currently manages plus one.

[0064] Therefore, the TCS400 performs the following process when balancing the number of transport vehicles in the multiple partitions it manages: The TCS 400 determines the real-time number, real-time idle rate and real-time operation rate of the transport vehicles 200 corresponding to each partition it manages; The TCS400 determines which partitions are supply-side partitions and which partitions are demand-side partitions based on the real-time number of transport vehicles 200 in each partition, the real-time idle rate and the real-time operation rate; the specific judgment principle is consistent with the principle of each TCS400 determining whether it is a supply-side TCS or a demand-side TCS, which will not be elaborated here.

[0065] The TCS 400 dispatches the idle transport vehicles of the determined supply-side partition to the determined demand-side partition to achieve a balance in the number of transport vehicles in each partition.

[0066] Example 2 This embodiment discloses a transport vehicle quantity balancing system, including: The demand-side TCS determination unit is used to determine whether there is a demand-side TCS in each TCS according to the real-time number, real-time idle rate and real-time operation rate of the transport vehicles currently managed by each TCS, and the area managed by the demand-side TCS needs to supplement the transport vehicles; The balancing unit is used to dispatch a transport vehicle to each area managed by the demand-side TCS when it is determined that there is a demand-side TCS, and includes: A supply-side TCS determination module, used to determine a supply-side TCS that dispatches a transport vehicle to a demand-side TCS; The scheduling module is used to send a scheduling instruction to the determined supply-side TCS so that at least one idle transport vehicle managed by the supply-side TCS is scheduled to the area managed by the demand-side TCS and the idle transport vehicle is managed by the demand-side TCS.

[0067] Example 3 This embodiment discloses an MCS, including a memory and a processor, wherein the memory stores a program executable by the processor, and when the program is executed, the method for balancing the number of transport vehicles as described in Example 1 is implemented.

[0068] Example 4 In Example 1, the MCS is responsible for balancing the number of transport vehicles in each area. In this example, each TCS can communicate directly to achieve a balance in the number of transport vehicles in each area. At this time, each TCS400 can be configured with balancing parameters for balancing the number of transport vehicles. The balancing parameters configured for each TCS400 include at least the minimum guaranteed quantity, target idle rate and operation rate threshold of the transport vehicles 200 managed by it.

[0069] As attached Figure 5 As shown, the method for balancing the number of transport vehicles includes the following steps: S10, each TCS400 determines the real-time number, real-time idle rate and real-time operation rate of the transport vehicles 200 currently managed by each of them, and determines which of the TCSs are demand-side TCSs and which are supply-side TCSs accordingly.

[0070] As in the above embodiment 1, each TCS can determine in real time whether it is a demand-side TCS, a supply-side TCS, or a balancing TCS, or multiple TCSs can simultaneously determine whether they are demand-side TCSs, supply-side TCSs, or balancing TCSs at fixed time intervals.

[0071] When each TCS400 determines whether it is a demand-side TCS or a supply-side TCS, it compares the real-time number of trucks it currently manages with the minimum guaranteed quantity of the trucks it manages, compares the real-time idle rate of the trucks currently managed by the TCS400 with the target idle rate of the trucks managed by the TCS, and compares the real-time operation rate of the trucks currently managed by the TCS400 with the operation rate threshold of the trucks it manages.

[0072] Specifically, when a TCS 400 determines that the real-time number of transport vehicles currently managed by it is less than or equal to the minimum guaranteed number of transport vehicles managed by it, the TCS determines that it is a demand-side TCS.

[0073] When a TCS400 determines that the real-time number of trucks it currently manages is greater than the minimum guaranteed quantity of the trucks it manages, and the real-time idle rate of the trucks it currently manages is greater than the target idle rate of the trucks managed by the TCS, the TCS400 determines that it is a supply-side TCS.

[0074] When a TCS400 determines that the real-time number of trucks it currently manages is greater than the minimum guaranteed quantity of the trucks it manages, and the real-time idle rate of the trucks it currently manages is not greater than the target idle rate of the trucks managed by the TCS and the real-time operation rate of the trucks it currently manages is not less than the operation rate threshold of the trucks it manages, then the TCS400 determines that it is a demand-side TCS.

[0075] When a TCS determines that the real-time number of transporters it currently manages is greater than the minimum guaranteed number of transporters it manages, and the real-time idle rate of the transporters managed by the TCS is not greater than the target idle rate of the transporters managed by the TCS, and the real-time operation rate of the transporters managed by the TCS is less than the operation rate threshold of the transporters managed by the TCS, then the TCS determines that it is a balanced TCS. The number of transporters in the area managed by the balanced TCS meets the operation requirements and does not need to be supplemented. If all TCSs are balanced TCSs, then the number of transporters does not need to be balanced. S20, when a TCS 400 determines that it is a demand-side TCS, it communicates with the determined supply-side TCS to dispatch the idle transport vehicles managed by the supply-side TCS to the area 300 managed by the demand-side TCS; And / or when a TCS 400 determines that it is a supply-side TCS, it communicates with the determined demand-side TCS to dispatch the idle transport vehicles managed by the supply-side TCS to the area 300 managed by the demand-side TCS.

[0076] In S20, according to different material handling systems, the demand-side TCS and the supply-side TCS use different methods to achieve the scheduling of idle transport vehicles.

[0077] In the first implementation of the above example, S20 includes the following steps: The demand-side TCS sends a request for transferring management authority to the supply-side TCS. The supply-side TCS transfers the management authority of an idle truck managed by it and located in the area 300 managed by it to the demand-side TCS based on the request for transferring management authority and feeds back the location information of the idle truck to the demand-side TCS. After the demand-side TCS obtains the management authority of the idle truck, it plans a moving path for the idle truck to move into the area 300 managed by the demand-side TCS and controls the idle truck to move to the area 300 managed by it according to the planned moving path.

[0078] Of course, in S20, the demand-side TCS may also send a scheduling request to the supply-side TCS; the supply-side TCS controls an idle truck under its management to move to the area 300 managed by the demand-side TCS according to the scheduling request and feeds back the location information of the idle truck to the demand-side TCS and transfers the management authority of the idle truck to the demand-side TCS.

[0079] The transfer of management authority of idle transport vehicles is a known technology. For example, each TCS 400 is configured with a transport vehicle management table, and the transport vehicle management table stores information of the transport vehicles 200 currently managed by it. When the management authority of an idle transport vehicle needs to be transferred, the supply-side TCS sends the information of the idle transport vehicle to the demand-side TCS and sends an instruction to the idle transport vehicle to connect to the demand-side TCS. Subsequently, the supply-side TCS clears the information of the idle transport vehicle from its transport vehicle management table to release the management of the idle transport vehicle. The supply-side TCS sends the information of the idle transport vehicle to it and the demand-side TCS receives the connection request of the idle transport vehicle, and then adds the information of the idle transport vehicle to its transport vehicle management table, thereby bringing the idle transport vehicle into its management scope.

[0080] In the second implementation of the above example, S20 includes the following steps: The demand-side TCS sends a scheduling request to the supply-side TCS; the supply-side TCS controls an idle transport vehicle under its management to move to the area 300 managed by the demand-side TCS through an elevator 600 according to the scheduling request, and enables the idle transport vehicle to be managed by the demand-side TCS.

[0081] Specifically, when receiving the scheduling request, the supply-side TCS determines the idle transport vehicle with the shortest path to the boarding communication position 510 at the entrance of the elevator 600 among the idle transport vehicles it manages, and controls it to move to the boarding communication position 510, which is a section of track 100 that can be docked with the entrance end of the lifting track 610 of the elevator 600. After the idle transport vehicle moves to the boarding communication position 510, it communicates with the elevator 600. After the idle transport vehicle moves to the boarding communication position 510, it feeds back the information of arriving at the boarding communication position 510 to the supply-side TCS, and sends a request to the elevator 600 whether the transfer can be performed; if the elevator 600 can transfer, the elevator 600 feeds back the information that the transfer can be performed to the idle transport vehicle; the idle transport vehicle feeds back the information that the overhead crane transfer can be performed to the supply-side TCS; the supply-side TCS sends an instruction to the idle transport vehicle to allow entry into the elevator 600, the idle transport vehicle moves into the elevator 600 and feeds back the information of entering the elevator 600 and the request to release its management to the supply-side TCS. The supply-side TCS releases the management of the idle transport vehicle after sending an execution transfer instruction to the idle transport vehicle, and feeds back to the demand-side TCS the information that the idle transport vehicle is heading to the floor 500 corresponding to the demand-side TCS, and at the same time feeds back the information of the idle transport vehicle to the demand-side TCS.

[0082] The idle transport vehicle sends an execution transfer instruction to the elevator 600, that is, an instruction that the elevator 600 can start the transfer. The elevator 600 sends feedback information of receiving the execution transfer instruction to the idle transport vehicle and moves the idle transport vehicle to the floor 500 corresponding to the demand-side TCS. After the elevator 600 moves to the floor 500 corresponding to the demand-side TCS, the information that the elevator 600 has arrived at the floor 500 corresponding to the demand-side TCS and can move to the waiting position 520 of the floor 500 corresponding to the demand-side TCS is fed back to the idle transport vehicle. After receiving the information that the idle transport vehicle can move to the waiting position 520 corresponding to the floor 500 corresponding to the demand-side TCS, the idle transport vehicle moves out of the elevator 600 to the waiting position 520 of the floor 500 corresponding to the demand-side TCS. The waiting position 520 can be a section of track 100 docked with the lifting track 610.

[0083] At any time between when the elevator 600 reaches the floor 500 corresponding to the demand-side TCS and when the idle transport vehicle moves to the boarding communication position 510 of the floor 500 corresponding to the demand-side TCS, it is preferred that when it is determined that the idle transport vehicle can be moved out of the elevator 600, the idle transport vehicle connects and communicates with the demand-side TCS, and sends a management request to the demand-side TCS to manage it. During specific communication, the idle transport vehicle can switch its IP to the same network segment as the demand-side TCS, and then communicate with the demand-side TCS via UDP unicast. Of course, the communication between each transport vehicle 200 and TCS400 can also be achieved through known wireless communication technology. The corresponding wireless communication technology is a known technology and is not an innovation of the present invention, so it will not be elaborated here.

[0084] At the same time, after entering the elevator 600, the idle transport vehicle can start switching the operating data, that is, the idle transport vehicle switches the operating data (map, sensor information, teaching information, etc.) required for its operation from the operating data corresponding to the area 300 managed by the supply-side TCS to the operating data corresponding to the area 300 managed by the demand-side TCS. The corresponding data switching technology is a known technology and will not be elaborated here.

[0085] After receiving the management request, the demand-side TCS includes the idle transport vehicle in its management scope and sends an instruction to the idle transport vehicle to move to a predetermined position to wait for call or sends a transport instruction to the idle transport vehicle.

[0086] In the third implementation of the above example, S20 includes the following steps: The demand-side TCS sends a scheduling request to the supply-side TCS; when the supply-side TCS receives the scheduling request, it controls an idle transport vehicle under its management to move to the area 300 managed by the demand-side TCS through the connecting track 800 and enables the idle transport vehicle to be managed by the demand-side TCS.

[0087] Specifically, when receiving the scheduling request, the supply-side TCS determines the idle truck that needs to be scheduled and sends a control instruction to move it to the area 300 managed by the demand-side TCS and feeds back the information of the idle truck that needs to be scheduled to the demand-side TCS. The idle truck that needs to be scheduled can be the one with the shortest path or shortest distance to the connecting track 800 among the idle trucks managed by the supply-side TCS.

[0088] The idle transport vehicle that needs to be scheduled moves to the connecting track 800 according to the control instruction of the supply-side TCS. After the idle transport vehicle that needs to be scheduled moves to the connecting track 800, the operation data switching starts. During the operation data switching, the idle transport vehicle that needs to be scheduled moves in a circular motion in the closed track 100 part of the connecting track 800. When the idle truck that needs to be scheduled completes the switching of operation data, the idle truck that needs to be scheduled moves to the waiting track 830 and stops. At this time, the idle truck 200 that needs to be scheduled sends a request for release of management to the supply-side TCS, and the TCS 400 on the supply side moves the idle truck 200 that needs to be scheduled out of its management scope. Then the idle truck 200 switches its IP to the network segment used by the demand-side TCS, and communicates with the demand-side TCS through UDP unicast. The idle truck 200 that needs to be scheduled sends a management request to the demand-side TCS, and the demand-side TCS receives the management request and includes the idle truck 200 that needs to be scheduled in the management scope. After the demand-side TCS obtains the management authority of the idle truck 200 that needs to be scheduled, it controls the idle truck 200 that needs to be scheduled to move from the waiting track 830 to the area 300 under its management.

[0089] When a TCS 400 determines that it is a demand-side TCS, the demand-side TCS determines the number of transport vehicles 200 that need to be replenished in the area 300 it manages according to the following formula: N 补 ={N 需搬 / [1-(r 目 -D)]}-N 当 ; Among them, N 补 The number of transport vehicles 200 that need to be replenished for the area 300 managed by the demand-side TCS; N 需搬 is the number of transport vehicles 200 currently transporting goods among the transport vehicles 200 managed by the demand-side TCS, r 目 is the target idle rate of the transporter managed by TCS on the demand side, D is the idle rate error, and N 当 It is the real-time number of transport vehicles 200 currently managed by the demand-side TCS.

[0090] When the demand-side TCS determines that the number of trucks 200 that it needs to replenish is 1 and there are multiple supply-side TCSs, when selecting the supply-side TCS, the demand-side TCS can be selected according to different selection principles. For example, the demand-side TCS can be selected according to the number of trucks 200 that can be dispatched by each supply-side TCS, that is, the supply-side TCS with the largest number of dispatchable trucks 200 is selected to dispatch trucks 200 to the demand-side TCS.

[0091] Alternatively, the demand-side TCS can select the supply-side TCS based on the path or distance from the idle trucks managed by each supply-side TCS to the area 300 managed by the demand-side TCS, that is, select the supply-side TCS to which the idle truck with the shortest path or shortest distance to the area 300 managed by the demand-side TCS belongs to dispatch the truck 200 to the demand-side TCS.

[0092] Of course, the demand-side TCS may also select a supply-side TCS to which an area 300 adjacent to the area 300 managed by the demand-side TCS belongs to dispatch a transport vehicle 200 to the demand-side TCS.

[0093] The specific selection principle can be determined according to actual needs and is not limited here.

[0094] Further, when the demand-side TCS determines that the number of transport vehicles 200 that need to be replenished in the area it manages exceeds 1 and there are multiple supply-side TCSs, the demand-side TCS can communicate with the multiple supply-side TCSs respectively so that the multiple supply-side TCSs can dispatch transport vehicles 200 to the demand-side TCS respectively.

[0095] Of course, the supply-side TCS may also be selected according to the selection principle described above when only one transport vehicle 200 needs to be supplemented.

[0096] Each of the supply-side TCSs determines the number of dispatchable transport vehicles 200 among the transport vehicles 200 it manages according to the following formula: N 供 =N 供搬 / [1-(r 目 +D)]; Among them, N 供 N is the number of transport vehicles 200 available from the transport vehicles 200 managed by the supply side. 供搬 The number of transport vehicles 200 currently transporting among the transport vehicles 200 managed by the supply-side TCS, r 目 is the target idle rate corresponding to the area 300 managed by the supply-side TCS, and D is the idle rate error.

[0097] Example 5 The method for balancing the number of transport vehicles disclosed in this embodiment is a material handling system based on the first implementation method in Example 1, and is different from the first implementation method mentioned above in that in this embodiment, multiple TCS400s are no longer set to manage different areas 300 respectively, but one TCS400 manages multiple areas and achieves a balance in the number of transport vehicles 200 in the multiple areas 300 it manages.

[0098] Correspondingly, each area 300 is configured with a corresponding target idle rate, minimum guaranteed quantity, and operation rate threshold of the transport vehicle 200.

[0099] At this time, if the attached Figure 5 As shown, the method for balancing the number of transport vehicles includes the following steps: Determine the real-time number, real-time idle rate, and real-time operation rate of the transport vehicles 200 in each area 300 managed by it; According to the real-time number, real-time idle rate and real-time operation rate of the transport vehicles 200 in each area 300, it is determined which areas 300 are supply-side areas and which areas are demand-side areas; the specific judgment principle is consistent with the judgment principle of the above-mentioned embodiment 1 and will not be repeated here.

[0100] The idle transport vehicles in the determined supply-side area are dispatched to the determined demand-side area to achieve a balance in the number of transport vehicles in each area 300 .

[0101] Example 6 This embodiment discloses a transport vehicle quantity balancing system, including: A parameter determination unit, for determining the real-time number, real-time idle rate and real-time operation rate of the transport vehicles 200 in each area 300 managed by it; A partition determination unit, for determining which areas 300 are supply-side areas and which partitions are demand-side areas according to the real-time number, real-time idle rate, and real-time operation rate of the transport vehicles 200 in each area 300; The dispatching and balancing unit is used to dispatch the idle transport vehicles in the determined supply-side area to the determined demand-side area to achieve a balance in the number of transport vehicles in each area 300.

[0102] Example 7 This embodiment discloses a TCS, including a memory and a processor, wherein the memory stores a program executable by the processor, and when the program is executed, the method for balancing the number of transport vehicles as described in Example 6 is implemented.

[0103] There are many implementation methods of the present invention, and all technical solutions formed by equivalent transformation or equivalent transformation fall within the protection scope of the present invention.

Claims

1. A method for balancing the number of transport vehicles, characterized in that: The steps include: Determine whether there is a demand-side TCS in each TCS according to the real-time number, real-time idle rate and real-time operation rate of the transport vehicles currently managed by each TCS, and the area managed by the demand-side TCS needs to supplement transport vehicles; When it is determined that there is a demand-side TCS, a transport vehicle is dispatched to each area managed by the demand-side TCS according to the following process; Determine a supply-side TCS that dispatches a transport vehicle to a demand-side TCS; A dispatch instruction is sent to the determined supply-side TCS so that at least one idle transport vehicle managed by the supply-side TCS is dispatched to the area managed by the demand-side TCS and the idle transport vehicle is managed by the demand-side TCS.

2. The method for balancing the number of transport vehicles according to claim 1, characterized in that: When it is determined that the real-time number of transport vehicles currently managed by a TCS is greater than the minimum guaranteed quantity of transport vehicles managed by the TCS, and the real-time idle rate of the transport vehicles currently managed by the TCS is greater than the target idle rate of the transport vehicles managed by the TCS, the TCS is determined to be a supply-side TCS.

3. The method for balancing the number of transport vehicles according to claim 1, characterized in that: When it is determined that the real-time number of transport vehicles currently managed by a TCS is less than or equal to the minimum guaranteed number of transport vehicles managed by the TCS, the TCS is determined to be a demand-side TCS; When it is determined that the real-time number of trucks currently managed by a TCS is greater than the minimum guaranteed quantity of trucks managed by the TCS, and the real-time idle rate of the trucks managed by the TCS is not greater than the target idle rate of the trucks managed by the TCS and the real-time operation rate of the trucks managed by the TCS is not less than the operation rate threshold of the trucks managed by the TCS, then the TCS is determined to be a demand-side TCS; the operation rate refers to the ratio of the average transportation time of all trucks currently managed by the TCS within a period of time to the period of time.

4. The method for balancing the number of transport vehicles according to claim 1, characterized in that: When it is determined that the number of transport vehicles that a demand-side TCS needs to replenish exceeds 1 and there are multiple supply-side TCSs, a dispatch instruction is issued to the multiple supply-side TCSs so that the multiple supply-side TCSs dispatch idle transport vehicles to the area managed by the demand-side TCS.

5. The method for balancing the number of transport vehicles according to claim 1, characterized in that: The number of transport vehicles that need to be supplemented in the area managed by TCS on the demand side is determined according to the following formula: N 补 ={N 需搬 / [1-(r 目 -D)]}-N 当 ; Among them, N 补 The number of transport vehicles that need to be supplemented in the area managed by the demand-side TCS; N 需搬 is the number of transport vehicles currently managed by the demand-side TCS that are currently transporting, r 目 is the target idle rate of the transporter managed by TCS on the demand side, D is the idle rate error, and N 当 The real-time number of transport vehicles currently managed by the demand-side TCS.

6. The method for balancing the number of transport vehicles according to claim 1, characterized in that: The number of transport vehicles that can be dispatched by the supply-side TCS is determined according to the following formula: N 供 =N 供搬 / [1-(r 目 +D)]; Among them, N 供 N is the number of dispatchable transport vehicles among the transport vehicles managed by the supply-side TCS. 供搬 The number of transport vehicles currently in transport among the transport vehicles managed by the supply-side TCS, r 目 is the target idle rate of the transport vehicle managed by TCS on the supply side, and D is the idle rate error.

7. The method for balancing the number of transport vehicles according to any one of claims 1 to 6, characterized in that: The supply-side TCS preferentially selects the idle transport vehicle with the longest idle time among the idle transport vehicles it manages and dispatches it to the area managed by the demand-side TCS.

8. The method for balancing the number of transport vehicles according to any one of claims 1 to 6, characterized in that: Part or all of the area managed by TCS is divided into multiple zones. The TCS dispatches the transport vehicles between the zones according to the real-time idle rate, quantity and operation rate of the transport vehicles in each zone to achieve a balance in the number of transport vehicles in each zone.

9. The transport vehicle quantity balancing system is characterized by: include: The demand-side TCS determination unit is used to determine whether there is a demand-side TCS in each TCS according to the real-time number, real-time idle rate and real-time operation rate of the transport vehicles currently managed by each TCS, and the area managed by the demand-side TCS needs to supplement the transport vehicles; The balancing unit is used to dispatch a transport vehicle to each area managed by the demand-side TCS when it is determined that there is a demand-side TCS, and includes: A supply-side TCS determination module, used to determine a supply-side TCS that dispatches a transport vehicle to a demand-side TCS; The scheduling module is used to send a scheduling instruction to the determined supply-side TCS so that at least one idle transport vehicle managed by the supply-side TCS is scheduled to the area managed by the demand-side TCS and the idle transport vehicle is managed by the demand-side TCS.

10. MCS, comprising a memory and a processor, wherein the memory stores a program executable by the processor, characterized in that: When the program is executed, the method for balancing the number of transport vehicles as described in any one of claims 1-8 is implemented.

11. A method for balancing the number of transport vehicles, characterized in that: The steps include: Each TCS determines the real-time number, real-time idle rate and real-time operation rate of the transport vehicles currently managed by each of them, and determines which of the TCSs are demand-side TCSs and which are supply-side TCSs accordingly; When a TCS determines that it is a demand-side TCS, it communicates with the determined supply-side TCS to dispatch the idle transport vehicles managed by the supply-side TCS to the area managed by the demand-side TCS; And / or when a TCS determines that it is a supply-side TCS, it communicates with the determined demand-side TCS to dispatch idle transport vehicles managed by the supply-side TCS to the area managed by the demand-side TCS.

12. A method for balancing the number of transport vehicles, characterized in that: The steps include: Determine the real-time number, real-time idle rate and real-time operation rate of transport vehicles in each area under its management; Determine which areas are supply-side areas and which areas are demand-side areas based on the real-time number of transport vehicles, real-time idle rate, and real-time operation rate in each area; The idle trucks in the determined supply-side area are dispatched to the determined demand-side area to achieve a balance in the number of trucks in each area. 13.TCS, comprising a memory and a processor, wherein the memory stores a program executable by the processor, characterized in that: When the program is executed, the method for balancing the number of transport vehicles as claimed in claim 12 is implemented.

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