Carrier scheduling method and system and TCS

Abstract

The invention discloses a carrier scheduling method and system and a TCS. The carrier scheduling method comprises the following steps that the TCS indicates a carrier to start to move from a starting position to a target position; the carrier starts to move from the initial position to a target position according to the indication of the TCS and feeds back the position of the carrier to the TCS in real time; when the TCS determines that the carrying vehicle moves to a high-position track entering node of a low-position track, whether the high-position track meets the passing requirement or not is determined; no parking point is arranged at the high-position track; if yes, the TCS indicates the carrying vehicle to move from a high-position track to the target position, and the carrying vehicle moves to the target position through the high-position track according to the indication of the TCS; and if not, the TCS instructs the carrier to move towards the target position through the low-position track, and the carrier moves towards the target position through the low-position track according to the instruction of the TCS. In the process of controlling the carrying vehicle to move, when the high-position track exists on the moving path, the carrying vehicle preferentially moves to the target position through the high-position track, so that the situation that other carrying vehicles stop at the low-position track to influence passing of the carrying vehicle can be effectively avoided, and the carrying efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of automatic material handling, in particular to a method and system for dispatching a transport vehicle and a TCS. Background Art

[0002] Overhead Hoist Transfer (OHT) is a commonly used material handling system in automated factories and is widely used in semiconductor processing, panel processing and other fields.

[0003] In a conventional OHT system, as in the patent document with the authorization announcement number CN107323978B, the transport vehicle moves on a single-layer flat track to transport materials.

[0004] In this structure, since many parking spots are set on the track so that the transport vehicles can stop at the corresponding parking spots to unload and pick up goods, the stopped transport vehicles will greatly affect the traffic efficiency of other transport vehicles that need to pass through these parking spots, which is not conducive to improving the transportation efficiency. Summary of the invention

[0005] The purpose of the present invention is to solve the above problems existing in the prior art and to provide a transport vehicle scheduling method, system and TCS.

[0006] The purpose of the present invention is achieved through the following technical solutions: The transport vehicle dispatching method comprises the following steps: TCS instructs a transport vehicle to start moving from the starting position to the target position; The transport vehicle starts to move from the starting position to the target position according to the instruction of the TCS and feeds back its position to the TCS in real time; When the TCS determines that the transport vehicle moves to the high-level track entry node at the low-level track, it determines whether the high-level track meets the traffic requirements; no parking point is set at the high-level track; When it is determined that the elevated track meets the traffic requirements, the TCS instructs the transport vehicle to move from the elevated track to the target location, and the transport vehicle moves to the target location via the elevated track according to the instruction of the TCS; When it is determined that the high track does not meet the traffic requirements, the TCS instructs the transport vehicle to move to the target position via the low track, and the transport vehicle moves to the target position via the low track according to the instruction of the TCS.

[0007] Preferably, the transport vehicle is moved from the low-level track to the high-level track by a lift or an ascending track.

[0008] Preferably, when the transport vehicle receives an instruction to move from the high-level track to the target position, the transport vehicle communicates with the elevator to determine whether it can take the elevator. When the transport vehicle determines that it cannot take the elevator, the transport vehicle feeds back information that the elevator cannot be taken to the TCS, and the TCS instructs the transport vehicle to move to the target position via the low-level track.

[0009] Preferably, the transport vehicle is transferred from the high-level track to the low-level track via a descending track or a descending machine.

[0010] Preferably, when determining whether the elevated track meets the traffic requirements, the TCS determines whether the number of transport vehicles currently existing at the elevated track reaches a threshold; if so, it is determined that the elevated track does not meet the traffic requirements; if not, it is determined that the elevated track meets the traffic requirements.

[0011] Preferably, when a transport vehicle moves to the lift leaving node at the high-level track, the TCS determines that the number of transport vehicles currently existing at the high-level track is increased by 1; when a transport vehicle moves to the descending machine leaving node at the low-level track, the TCS determines that the number of transport vehicles currently existing at the high-level track is decreased by 1.

[0012] Preferably, the travel speed of the high-level track is greater than the travel speed of the low-level track.

[0013] The transport vehicle dispatching method comprises the following steps: Instruct the transport vehicle to start moving from the starting position to the target position; When it is determined that the transport vehicle has moved to the high-level track entry node at the low-level track, it is determined whether the high-level track meets the traffic requirements; no parking point is set at the high-level track; When it is determined that the elevated track meets the traffic requirements, instructing the transport vehicle to move from the elevated track to the target position; When it is determined that the high-level track does not meet the traffic requirement, the transport vehicle is instructed to move to the target position via the low-level track.

[0014] Preferably, when determining whether the elevated track meets the traffic requirements, it is determined whether the number of transport vehicles currently existing at the elevated track reaches a threshold; if so, it is determined that the elevated track does not meet the traffic requirements; if not, it is determined that the elevated track meets the traffic requirements.

[0015] Truck dispatching system, including: A start movement indication unit is used to indicate that the transport vehicle starts to move from the starting position to the target position; A path switching judgment unit is used to determine whether the high-level track meets the traffic requirements when receiving the high-level track entry node of the transport vehicle moving to the low-level track; no parking point is set at the high-level track; A high-level passage indication unit, used to indicate the transport vehicle to move from the high-level track to the target position when it is determined that the high-level track meets the passage requirements; A low-level passage indication unit is used to indicate that the transport vehicle moves to the target position via the low-level track when it is determined that the high-level track does not meet the passage requirements. 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 above-mentioned transport vehicle scheduling method is implemented.

[0016] The advantages of the technical solution of the present invention are mainly reflected in: The present invention sets a high-level track and a low-level track, and does not set a parking point on the high-level track. Therefore, when controlling the movement of the transport vehicle, when there is a high-level track on the moving path, the transport vehicle is allowed to move to the target position via the high-level track first, thereby effectively avoiding other transport vehicles stopping at the low-level track to affect its passage, which is beneficial to improving the transportation efficiency.

[0017] The present invention determines whether a transport vehicle can pass through the high-level track according to the number of transport vehicles at the high-level track, effectively avoiding the influence of too many transport vehicles at the high-level track on the passage efficiency of the high-level track, which is beneficial to maximizing the transport efficiency.

[0018] The present invention enables the passing speed of the high-level track to be greater than the passing speed of the low-level track, which is beneficial to further improving the passing efficiency of the transport vehicle passing through the high-level track. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a partial schematic diagram of the transport system of the present invention, in which a lifter and a descender of a certain structure are used to connect the high-level track and the low-level track; Figure 2 It is a partial side view of the high rail and the low rail of the present invention connected by the upward rail and the downward rail, and the straight arrows show the moving direction of the transport vehicle on the low rail and the high rail; Figure 3 It is a partial top view of the high-level track and the low-level track of the present invention connected through the upward track and the downward track; Figure 4 It is a partial schematic diagram of the transport system of the present invention using a lifter and a descender of another structure to connect the high-level track and the low-level track; Figure 5 is a flow chart of a transport vehicle scheduling method according to Embodiment 1 of the present invention; Figure 6 This is a flowchart of a transport vehicle dispatching method according to a second embodiment of the present invention. DETAILED DESCRIPTION

[0020] 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.

[0021] 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.

[0022] Example 1 The following is an explanation of the trolley dispatching method disclosed in the present invention in conjunction with the accompanying drawings. The trolley dispatching method is based on a transport system, which includes a track and a trolley 300 moving along the track. The track is, for example, a hanging rail suspended under the ceiling, and the trolley 300 is, for example, a known overhead crane.

[0023] As attached Figure 1 As shown, the transport vehicle 300 communicates with the TCS400 (Transportation Control System) through known wireless communication or network communication. The TCS400 determines the transport vehicle 300 to perform the transport according to the transport demand, plans a path for the transport vehicle to perform the transport, and controls the transport vehicle 300 to complete the transport. The transport vehicle 300 performs the corresponding transport task according to the instruction of the TCS400, and each of the transport vehicles 300 feeds back its position and working status to the TCS400 in real time during the movement. The corresponding technology is a known technology and will not be described here.

[0024] As attached Figure 1As shown, the track includes a low-level track 100 and a high-level track 200. The low-level track 100 is provided with a parking point 110 matching various processing equipment and storage equipment, and the installation height of the high-level track 200 is higher than that of the low-level track 100. The parking point 110 is not provided at the high-level track 200, so that when there are no other transport vehicles on the high-level track, a transport vehicle can quickly pass through the high-level track without waiting.

[0025] The specific setting position of the high-level rail 200 can be determined as needed. For example, the low-level rail 100 includes multiple rail segments 120, and the parking point 110 is set at one or more rail segments 120. At this time, the high-level rail 200 can be matched with each rail segment 120 with a parking point 110, and the two ends of a high-level rail 200 can be connected to the two ends of the matching rail segment 120 so that when the transport vehicle 300 moves to one end of the rail segment 120, it can move to the other end of the rail segment 120 through the high-level rail 200.

[0026] There are many ways to connect the high rail 200 and the rail segment 120. In one implementation, as shown in the attached Figure 2 , Attachment Figure 3 As shown, the multiple track segments of the low-level track are continuous, each of the high-level tracks 200 is parallel to its corresponding track segment 120 and they are staggered in a direction perpendicular to their extension direction. At this time, the low-level entry end of the track segment 120 can be connected to the high-level entry end of the high-level track 200 through the upward track 500 on its side, and the high-level exit end of the high-level track 200 is connected to the low-level exit end of the track segment 120 through the downward track 600.

[0027] As attached Figure 2 , Attachment Figure 3As shown, the upward track 500 includes an upward turning track 510 and an upper inclined track 520 extending outward from the side of the track segment 120, and the upward turning track 510 is connected near the low-level entry end of the track segment 120; the downward track 600 includes a downward inclined track 610 and a downward turning track 620, the downward inclined track 610 is connected to the high-level track 200, and the downward turning track 620 is connected to the side of the track segment 120 and close to the low-level exit end of the track segment 120. When the transport vehicle 300 needs to move from the low-level entry end of the track segment 120 to the low-level exit end of the track segment 120 via the high-level track 200, the transport vehicle 300 moves from the upward turning track 510 to the lower end of the upper inclined track 520, and then moves upward from the upper inclined track 520 to the high-level track 200. When the transport vehicle 300 moves to the high-level exit end of the high-level track 200, it moves downward from the lower inclined track 610 and moves back to the track segment 120 via the downward turning track 620. Therefore, when the transport vehicle 300 stops at the parking point 110 at the track segment 120, it can cross the track segment 120 via the high-level track 200.

[0028] And, for the convenience of control, as shown in the attached Figure 2 , Attachment Figure 3 As shown, a high-level track entry node 130 is provided upstream of the bifurcation point of the upward turning track 510 and the track segment 120. When the transport vehicle 300 moves to the high-level track entry node 130, it is determined whether the transport vehicle 300 can enter the high-level track 200. At the same time, a departure node 210 close to the high-level departure end of the high-level track 200 is provided on the high-level track 200, or a departure node located upstream of and close to the confluence point of the downward turning track 620 and the low-level track 100 is provided on the downward turning track 620. When the transport vehicle 300 moves to the departure node 210, it is determined whether it can be transferred to the low-level track 100 and the number of transport vehicles 300 currently existing at the high-level track 200 is updated. When it is determined that the transport vehicle 300 moves to the exit node 210, the TCS may instruct the transport vehicle 300 on the down-going turning track to first pass through the merging point and move to the low-level track, and then allow the transport vehicle on the low-level track located upstream of the merging point to pass through the merging point. Alternatively, it may also be determined which transport vehicle passes through the merging point first according to the urgency of the transport task, the order of precedence, etc.

[0029] In another implementation, as shown in the attached Figure 1As shown, some track segments 120 of the low-level track are arranged with gaps, and the high-level track 200 and the track segment 120 are positioned opposite to each other in the vertical direction and their two ends are flush. At this time, the high-level entry end of the high-level track 200 and the low-level entry end of the track segment 120 are connected by a lifting machine 700 so that the transport vehicle can be transferred from the low-level track to the high-level track 200 through the lifting machine 700; the high-level exit end of the high-level track and the low-level exit end of the track segment 120 are connected by a descending machine 800 so that the transport vehicle can be moved back from the high-level track to the low-level track through the descending machine.

[0030] At this time, a high-level track entry node 130 located upstream of the lift 700 and close to the lift 700 is provided on the low-level track 100, which is used for the transport vehicle 300 to communicate with the lift 700 to determine whether it can board the lift 700. A lift exit node 220 close to the high-level entry end of the high-level track 200 and a descender entry node 230 close to the high-level exit end of the high-level track 200 are provided on the high-level track 200. At the same time, a descender exit node 140 located downstream of the descender 800 and close to the descender 800 is provided on the low-level track 100.

[0031] The structure of the lifting machine 700 can be different as required. In one embodiment, as shown in the attached Figure 1 As shown, the lift 700 includes a lifting track 720 driven by a lifting drive mechanism 710 to move between a first height and a second height. When the lifting track 720 is at the first height, it docks with the low-level track 100, and when the lifting track 720 is at the second height, it docks with the high-level track 200. Specifically, the lifting track 720 includes two parallel and equal-height horizontal rails, and in order to improve the safety of lifting, the track surface of the horizontal rails can have a certain limiting structure, even if the two ends of the track surface are slightly higher than the middle of the track surface. The lifting drive mechanism 710 is, for example, a known scissor lift, a cylinder lift, or other feasible equipment, which is not limited here.

[0032] In this structure, the lifting track 720 of the lift 700 is normally connected between the two gap-set track segments 120 of the low-level track 100. When the transport vehicle 300 needs to pass through the high-level track 200, the transport vehicle 300 moves to the lifting track 720, and then the lifting drive mechanism 710 drives the lifting track 720 to rise to a second height so that the lifting track 720 docks with the high-level track 200. Then, the transport vehicle 300 moves to the high-level track 200. After the transport vehicle leaves the lifting track, the lifting track 720 needs to move back to the position docking with the low-level track 100.

[0033] In another embodiment, as shown in the attached Figure 4 As shown, the lifting machine 700 includes a first track 730 and a second track 740 which are distributed up and down, the first track 730 is lower than the second track 740, the first track 730 and the second track 740 are connected to a lifting drive mechanism 710 which drives them to move between a first height and a second height, at the first height, the first track 730 is docked with the low-level track 100, and the second track 740 is docked with the high-level track 200, at the second height, the first track 730 is located below the low-level track 100, and the second track 740 is docked with the low-level track 100.

[0034] In this structure, initially, the first rail 730 and the second rail 740 can be located at the second height, at which time, the second rail 740 docks with the low rail 100. When the transport vehicle 300 needs to move to the high rail 200, the transport vehicle 300 first moves to the second rail 740, and then the lifting drive mechanism 710 drives the first rail 730 and the second rail 740 to be lifted to the first height, and the transport vehicle 300 moves from the second rail 740 to the high rail 200. At this time, the first rail 730 docks with the low rail 100, so that the transport vehicle 300 can still move to the low rail 100. When it is determined that there is no transport vehicle 300 that needs to move to the track section connected downstream of the lift, the lifting drive mechanism 710 drives the first rail 730 and the second rail 740 to return to the second height.

[0035] In another embodiment, the lift 700 includes a first track 730 and a second track 740 distributed up and down, the first track is lower than the second track, the first track 730 is connected to a first lifting drive mechanism that drives it to move between a first height and a second height, and the second track 740 is connected to a second lifting drive mechanism that drives it to move between a first height and a third height. At the first height, both the first track 730 and the second track 740 can dock with the low-level track 100, at the second height, the first track 730 is located below the low-level track 100, and at the third height, the second track 740 docks with the high-level track 200. That is, in this structure, the first lifting drive mechanism and the second lifting drive mechanism respectively drive the first track 730 and the second track 740 to move up and down, so that the switching can be more flexible. The specific structures of the first lifting drive mechanism and the second lifting drive mechanism can refer to the lifting drive mechanism of the above example, and will not be repeated here.

[0036] The structure of the descending machine 800 is the same as that of the lifting machine 700, and will not be described in detail here.

[0037] As attached Figure 5 As shown, the transport vehicle scheduling method includes the following steps: When receiving a dispatch instruction, TCS 400 determines the transport vehicle 300 that executes the dispatch instruction, and determines the moving path of the transport vehicle 300 according to the starting position and the target position of the transport vehicle 300. The specific method of TCS determining the moving path is a known technology, for example, using a known shortest path algorithm to determine the optimal path.

[0038] The TCS 400 instructs the transport vehicle 300 to start moving from the starting position to the target position according to the determined moving path.

[0039] The transport vehicle 300 starts to move from the starting position to the target position according to the instruction of the TCS 400 and feeds back its position to the TCS 400 in real time.

[0040] When determining that the transport vehicle 300 moves to the high-level track entry node 130 at the low-level track 100, the TCS 400 determines whether the high-level track 200 meets the traffic requirements; When it is determined that the elevated track 200 meets the traffic requirements, the TCS 400 instructs the transport vehicle 300 to move from the elevated track 200 to the target location, and the transport vehicle 300 moves to the target location via the elevated track 200 according to the instruction of the TCS 400; When it is determined that the high track 200 does not meet the traffic requirements, the TCS 400 instructs the transport vehicle 300 to move to the target position via the low track 100 , and the transport vehicle 300 moves to the target position via the low track 100 according to the instruction of the TCS 400 .

[0041] When determining whether the elevated track 200 meets the traffic requirements, the TCS 400 determines whether the number of transport vehicles 300 currently existing at the elevated track 200 reaches a threshold; if so, it is determined that the elevated track 200 does not meet the traffic requirements; if not, it is determined that the elevated track 200 meets the traffic requirements.

[0042] When determining the number of transport vehicles 300 currently existing at the high track 200, it can be determined according to different connection modes of the high track 200 and the low track 100. For example, when the high track 200 and the low track 100 are connected by the upward track 500 and the downward track 600, when the transport vehicle 300 moves to the high track entry node 130, the transport vehicle 300 sends a message to the TCS 400 that it has reached the high track entry node 130, and the TCS 400 determines that the high track 200 has been connected to the low track 100. 0 satisfies the passage requirement and instructs the transport vehicle 300 to move to the upper track 200 via the upper track 500. At this time, the TCS 400 determines that the number of transport vehicles 300 currently existing at the upper track 200 is increased by 1; when the transport vehicle 300 moves to the exit node at the upper track 200 or the lower track 600, the transport vehicle 300 feeds back its position to the TCS 400, and the TCS 400 determines that the number of transport vehicles 300 currently existing at the upper track 200 is reduced by 1. Or when the transport vehicle 300 determines that it can enter the lower track 100 from the lower track 600, the transport vehicle 300 feeds back information that it can enter the lower track 100 to the TCS 400, and at this time, the TCS 400 determines that the number of transport vehicles 300 currently existing at the upper track 200 is reduced by 1.

[0043] When the lower track 100 and the upper track 200 are connected by the lift 700 and the descender 800, when a transport vehicle 300 moves to the lift leaving node 220 of the upper track 200, the transport vehicle 300 feeds back a message that it has moved to the lift leaving node 220 to the TCS 400, and when the TCS 400 receives the message fed back by the transport vehicle 300, the number of transport vehicles 300 currently existing at the upper track 200 is increased by 1. When the transport vehicle 300 moves to the descender leaving node 140 of the lower track 100, the transport vehicle 300 feeds back a message that it has moved to the descender leaving node 140 to the TCS 400, and when the TCS 400 receives the message fed back by the transport vehicle 300, the number of transport vehicles 300 currently existing at the upper track 200 is decreased by 1.

[0044] Furthermore, when the lift 700 and the descender 800 are used to transfer the transport vehicle 300 between the low-level track 100 and the high-level track 200, when the transport vehicle 300 receives an instruction to move from the high-level track 200 to the target position, the transport vehicle 300 communicates with the lift 700 to determine whether it can board the lift 700. When the lift 700 determines that there is currently a transport vehicle 300 on its track, or the track of the lift 700 has not been reset to a position where the transport vehicle 300 can enter, or the lift 700 fails, the lift 700 feeds back to the transport vehicle 300 that the lift 700 cannot be boarded. When the transport vehicle 300 determines that the lift 700 cannot be boarded, the TCS 400 feeds back information that the lift 700 cannot be boarded, and the TCS 400 instructs the transport vehicle 300 to move to the target position via the low-level track 100.

[0045] When the lift 700 determines that the transport vehicle 300 can take the lift 700, it sends a message that it can take the lift to the transport vehicle 300. When the transport vehicle 300 receives the message that it can take the lift, it feeds back the message that it can take the lift to the TCS 400. The TCS 400 instructs the transport vehicle 300 to take the lift. The transport vehicle 300 moves into the lift 700 and feeds back the message that it can be lifted to the lift 700. The lift 700 lifts the transport vehicle 300 to the same height as the high position. The track 200 matches the high position and feeds back a message to the transport vehicle 300 that the lift 700 can be moved out. When the transport vehicle 300 receives the message that the lift 700 can be moved out, it starts the lift leaving node 220 at the high track 200 and moves. When the transport vehicle 300 moves to the lift leaving node 220, it feeds back to the TCS 400 that it has moved to the lift leaving node 220. At this time, the TCS 400 determines that the number of transport vehicles 300 currently existing at the high track 200 is increased by 1.

[0046] When the transport vehicle 300 moves to the descending machine entry node 230, the transport vehicle 300 stops and communicates with the descending machine 800 to determine whether it can take the descending machine 800. When the descending machine 800 fails or there are other transport vehicles 300 at the descending machine 800, the descending machine 800 feeds back information to the transport vehicle 300 that it cannot take the descending machine 800. After the transport vehicle 300 receives the information fed back by the descending machine 800, the transport vehicle 300 waits at the descending machine entry node 230 and feeds back to the TCS400, or when the transport vehicle 300 receives the information fed back by the descending machine 800 that it cannot take the descending machine 800, it feeds back corresponding information to the TCS400. At this time, the TCS400 instructs the transport vehicle 300 to wait at the descending machine entry node 230.

[0047] When the descending machine 800 determines that the transport vehicle 300 can take the vehicle, the transport vehicle 300 feeds back the information that the vehicle can take the vehicle to the TCS400, and the TCS400 instructs the transport vehicle 300 to take the descending machine 800. When the descending machine 800 moves down to its position, the transport vehicle 300 feeds back the message that the descending machine 800 can be moved out to the transport vehicle 300. When the transport vehicle 300 receives the message that the descending machine 800 can be removed, it moves out of the descending machine 800 and moves to the descending machine leaving node 140 on the low-level track 100. When the transport vehicle 300 moves to the descending machine leaving node 140, the transport vehicle 300 feeds back the message that it has moved to the descending machine leaving node 140 to the TCS400, and the TCS400 determines that the number of transport vehicles 300 currently on the high-level track 200 is reduced by 1.

[0048] Example 2 This embodiment discloses a method for dispatching a transport vehicle. Different from the above-mentioned embodiment 1, this embodiment focuses on describing the control process of TCS. Figure 6 As shown, the transport vehicle scheduling method includes the following steps: Instructing the transport vehicle 300 to start moving from the starting position to the target position; When it is determined that the transport vehicle 300 moves to the high-level track entry node 130 at the low-level track 100, it is determined whether the high-level track 200 meets the traffic requirements; no parking point 110 is set at the high-level track 200; When it is determined that the elevated track 200 meets the traffic requirements, instruct the transport vehicle 300 to move from the elevated track 200 to the target position; When it is determined that the high track 200 does not meet the traffic requirement, the transport vehicle 300 is instructed to move to the target position via the low track 100 .

[0049] Preferably, when determining whether the high-level track 200 meets the passing requirements, it is to determine whether the number of the carrier trucks 300 currently present at the high-level track 200 reaches a threshold value; if so, it is determined that the high-level track 200 does not meet the passing requirements, and if not, it is determined that the high-level track 200 meets the passing requirements.

[0050] Embodiment 3 This embodiment discloses a carrier truck scheduling system, including: A start moving indicating unit, configured to indicate the carrier truck 300 to start moving from the starting position to the target position; A path switching judgment unit, configured to determine whether the high-level track 200 meets the passing requirements when it is determined that the carrier truck 300 moves to the high-level track entry node 130 at the low-level track 100; no parking point 110 is provided at the high-level track 200; A high-level passing indicating unit, configured to indicate the carrier truck 300 to move from the high-level track 200 to the target position when it is determined that the high-level track 200 meets the passing requirements; A low-level passing indicating unit, configured to indicate the carrier truck 300 to move to the target position via the low-level track 100 when it is determined that the high-level track 200 does not meet the passing requirements.

[0051] Embodiment 4 This embodiment discloses a TCS400, including a memory and a processor. A program executable by the processor is stored in the memory. When the program is executed, the above-mentioned carrier truck scheduling method is implemented.

[0052] There are still various implementation manners of the present invention. All technical solutions formed by using equivalent transformations or equivalent substitutions fall within the protection scope of the present invention.

Claims

1. A transport vehicle dispatching method, characterized in that: The steps include: TCS instructs a transport vehicle to start moving from the starting position to the target position; The transport vehicle starts to move from the starting position to the target position according to the instruction of the TCS and feeds back its position to the TCS in real time; When the TCS determines that the transport vehicle moves to the high-level track entry node at the low-level track, it determines whether the high-level track meets the traffic requirements; no parking point is set at the high-level track; When it is determined that the elevated track meets the traffic requirements, the TCS instructs the transport vehicle to move from the elevated track to the target location, and the transport vehicle moves to the target location via the elevated track according to the instruction of the TCS; When it is determined that the high track does not meet the traffic requirements, the TCS instructs the transport vehicle to move to the target position via the low track, and the transport vehicle moves to the target position via the low track according to the instruction of the TCS.

2. The method for dispatching a transport vehicle according to claim 1, characterized in that: The transport vehicle is moved from the low-level track to the high-level track by a lift or an upward track.

3. The method for dispatching a transport vehicle according to claim 1, characterized in that: When the transport vehicle receives an instruction to move from the high-level track to the target position, the transport vehicle communicates with the elevator to determine whether it can take the elevator. When the transport vehicle determines that it cannot take the elevator, the transport vehicle feeds back information that the elevator cannot be taken to the TCS, and the TCS instructs the transport vehicle to move to the target position via the low-level track.

4. The method for dispatching a transport vehicle according to claim 1, characterized in that: The transport vehicle is transferred from the high-level track to the low-level track via a descending track or a descending machine.

5. The method for dispatching a transport vehicle according to claim 1, characterized in that: When determining whether the elevated track meets the traffic requirements, the TCS determines whether the number of transport vehicles currently existing at the elevated track reaches a threshold; if so, it is determined that the elevated track does not meet the traffic requirements; if not, it is determined that the elevated track meets the traffic requirements.

6. The method for dispatching a transport vehicle according to claim 1, characterized in that: When a transport vehicle moves to the lifting machine leaving node at the high-level track, the TCS determines that the number of transport vehicles currently existing at the high-level track is increased by 1; when a transport vehicle moves to the descending machine leaving node at the low-level track, the TCS determines that the number of transport vehicles currently existing at the high-level track is decreased by 1.

7. The method for dispatching a transport vehicle according to any one of claims 1 to 6, characterized in that: The travel speed of the high-level track is greater than the travel speed of the low-level track.

8. A transport vehicle dispatching method, characterized in that: The steps include: Instruct the transport vehicle to start moving from the starting position to the target position; When it is determined that the transport vehicle has moved to the high-level track entry node at the low-level track, determining whether the high-level track meets the traffic requirements; No parking spot is provided at the high track; When it is determined that the elevated track meets the traffic requirements, instructing the transport vehicle to move from the elevated track to the target position; When it is determined that the high-level track does not meet the traffic requirement, the transport vehicle is instructed to move to the target position via the low-level track.

9. The method for dispatching a transport vehicle according to claim 8, characterized in that: When determining whether the elevated track meets the traffic requirements, it is determined whether the number of transport vehicles currently existing at the elevated track reaches a threshold; if so, it is determined that the elevated track does not meet the traffic requirements, and if not, it is determined that the elevated track meets the traffic requirements.

10. A transport vehicle dispatching system, characterized in that: include: A start movement indication unit is used to indicate that the transport vehicle starts to move from the starting position to the target position; A path switching judgment unit is used to determine whether the high-level track meets the traffic requirements when receiving the high-level track entry node of the transport vehicle moving to the low-level track; no parking point is set at the high-level track; A high-level passage indication unit, used to indicate the transport vehicle to move from the high-level track to the target position when it is determined that the high-level track meets the passage requirements; The low-level passage indication unit is used to indicate the transport vehicle to move to the target position via the low-level track when it is determined that the high-level track does not meet the passage requirements. 11.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 transport vehicle dispatching method according to claim 7 or 8 is implemented.

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