Trolley dispatching method, system and tcs

Abstract

The application discloses a truck scheduling method, a truck scheduling system and a TCS, wherein the truck scheduling method comprises the following steps: the TCS instructs a truck to start moving from a starting position to a target position; the truck starts moving 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 truck has moved to a high-level track entering node at a low-level track, the TCS determines whether the high-level track meets the passing requirement; no parking point is arranged at the high-level track; if yes, the TCS instructs the truck to move from the high-level track to the target position, and the truck moves to the target position through the high-level track according to the instruction of the TCS; if no, the TCS instructs the truck to move to the target position through the low-level track, and the truck moves to the target position through the low-level track according to the instruction of the TCS. In the process of controlling the movement of the truck, when there is a high-level track on the moving path, the truck is allowed to move to the target position through the high-level track preferentially, so that the truck can effectively avoid being affected by other trucks parked at the low-level track and passing through the low-level track, and the truck efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of automated material handling, and in particular to a method, system and TCS for scheduling material handling vehicles. Background Technology

[0002] Overhead hoist transfer (OHT) is a commonly used material handling system in automated factories, with wide applications in semiconductor processing, panel processing and other fields.

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

[0004] In this structure, because there are many stopping points on the track, the transport vehicles will stop at the corresponding stopping points to carry out unloading and picking operations. The stopped transport vehicles will greatly affect the passage efficiency of other transport vehicles that need to pass through these stopping points, which is not conducive to improving the transport efficiency. Summary of the Invention

[0005] The purpose of this invention is to solve the above-mentioned problems existing in the prior art and to provide a method, system and TCS for dispatching transport vehicles.

[0006] The objective of this invention is achieved through the following technical solution:

[0007] The method for dispatching transport vehicles includes the following steps:

[0008] TCS instructs a transport vehicle to begin moving from its starting position to its target position;

[0009] The transport vehicle begins to move from the starting position to the target position according to the instructions of the TCS and feeds back its position to the TCS in real time;

[0010] When the TCS determines that the transport vehicle has moved to the high-level track entry node at the low-level track, it determines whether the high-level track meets the passage requirements; no parking point is set at the high-level track.

[0011] When it is determined that the elevated track meets the passage requirements, the TCS instructs the transport vehicle to move from the elevated track to the target position, and the transport vehicle moves to the target position via the elevated track according to the instruction of the TCS;

[0012] When it is determined that the high-level track does not meet the passage requirements, the TCS instructs the transport vehicle to move to the target position via the low-level track, and the transport vehicle moves to the target position via the low-level track according to the instruction of the TCS.

[0013] Preferably, the transport vehicle is moved from the low-level track to the high-level track via a lifting machine or an upward track.

[0014] Preferably, when the transport vehicle receives an instruction to move from the high-level track to the target position, it communicates with the lifting machine to determine whether it can ride the lifting machine. When the transport vehicle determines that it cannot ride the lifting machine, it sends feedback to the TCS (Traffic Control System) indicating that it cannot ride the lifting machine. The TCS then instructs the transport vehicle to move to the target position via the low-level track.

[0015] Preferably, the transport vehicle is transferred from the high-level track to the low-level track via a descending track or a descent mechanism.

[0016] Preferably, when determining whether the elevated track meets the passage requirements, the TCS determines whether the number of transport vehicles currently existing at the elevated track has reached a threshold; if yes, the elevated track does not meet the passage requirements; if no, the elevated track meets the passage requirements.

[0017] Preferably, when a transport vehicle moves to the lifting machine on the high track and leaves the node, the TCS determines that the number of transport vehicles currently existing on the high track is incremented by 1; when a transport vehicle moves to the lowering machine on the low track and leaves the node, the TCS determines that the number of transport vehicles currently existing on the high track is decremented by 1.

[0018] Preferably, the travel speed of the higher track is greater than the travel speed of the lower track.

[0019] The method for dispatching transport vehicles includes the following steps:

[0020] Instruct the transport vehicle to begin moving from its starting position to its target position;

[0021] 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 passage requirements; no parking point is set at the high-level track.

[0022] When it is determined that the elevated track meets the passage requirements, the transport vehicle is instructed to move from the elevated track to the target position;

[0023] When it is determined that the high-level track does not meet the passage requirements, the transport vehicle is instructed to move to the target location via the low-level track.

[0024] Preferably, when determining whether the elevated track meets the passage requirements, it is determined whether the number of transport vehicles currently present at the elevated track has reached a threshold; if yes, it is determined that the elevated track does not meet the passage requirements, and if no, it is determined that the elevated track meets the passage requirements.

[0025] The transport vehicle dispatching system includes:

[0026] The start-move indicator unit is used to instruct the transport vehicle to begin moving from the starting position to the target position;

[0027] The path switching judgment unit is used to determine whether the high-level track meets the passage requirements when it is determined that the transport vehicle has moved to the high-level track entry node at the low-level track; no parking point is set at the high-level track;

[0028] The high-level passage indicator unit is used to instruct 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;

[0029] The low-level passage indicator unit is used to instruct the transport vehicle to move towards the target position via the low-level track when it is determined that the high-level track does not meet the passage requirements.

[0030] 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, it implements the transport vehicle scheduling method as described above.

[0031] The advantages of the technical solution of this invention are mainly reflected in:

[0032] This invention sets up high-level and low-level tracks, and does not set up parking points on the high-level tracks. Therefore, when the movement of the transport vehicle is controlled, if there is a high-level track on the movement path, the transport vehicle will prioritize moving to the target position via the high-level track. This effectively avoids other transport vehicles stopping at the low-level tracks and affecting its passage, which helps to improve the transport efficiency.

[0033] This invention determines whether a transport vehicle can pass through the elevated track based on the number of transport vehicles at the elevated track, effectively avoiding the impact of an excessive number of transport vehicles on the passage efficiency of the elevated track, and thus maximizing transport efficiency.

[0034] This invention enables the high-level track to travel at a speed greater than the low-level track, which is beneficial for further improving the efficiency of transport vehicles passing through the high-level track. Attached Figure Description

[0035] Figure 1 This is a partial schematic diagram of the lifting and lowering mechanisms of the transport system of the present invention, which connect the high-level track and the low-level track.

[0036] Figure 2 This is a partial side view of the high-level track and low-level track of the present invention, which are connected by an upward track and a downward track. The straight arrows indicate the movement direction of the transport vehicle on the low-level track and the high-level track.

[0037] Figure 3 This is a partial top view of the high-level track and low-level track of the present invention, which are connected by an upward track and a downward track;

[0038] Figure 4 This is a partial schematic diagram of the lifting and lowering mechanisms of the transport system of the present invention, which uses a different structure to connect the high-level track and the low-level track;

[0039] Figure 5 This is a flowchart of the transport vehicle scheduling method according to Embodiment 1 of the present invention;

[0040] Figure 6 This is a flowchart of the transport vehicle scheduling method according to Embodiment 2 of the present invention. Detailed Implementation

[0041] The objectives, advantages, and features of this invention will be illustrated and explained through the following non-limiting description of preferred embodiments. These embodiments are merely typical examples of applying the technical solutions of this invention, and all technical solutions formed by equivalent substitutions or equivalent transformations fall within the scope of protection claimed by this invention.

[0042] In the description of the solution, it should be noted that the terms "center," "upper," "lower," "left," "right," "front," "rear," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying 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, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0043] Example 1

[0044] The following description, in conjunction with the accompanying drawings, illustrates the method for scheduling transport vehicles disclosed in this invention. The method is based on a transport system, which includes a track and a transport vehicle 300 that moves along the track. The track is, for example, a suspended rail mounted below the ceiling, and the transport vehicle 300 is, for example, a known overhead crane.

[0045] As attached Figure 1As shown, the transport vehicle 300 communicates with the TCS400 (Transportation Control System) via known wireless or network communication methods. The TCS400 determines the transport vehicle 300 to perform the transport based on the transport requirements, plans a path for the transport vehicle, and controls the transport vehicle 300 to complete the transport. The transport vehicle 300 executes the corresponding transport task according to the instructions of the TCS400. Furthermore, each transport vehicle 300 reports its position and operating status to the TCS400 in real time during its movement. The corresponding technology is known and will not be described in detail here.

[0046] As attached Figure 1 As shown, the track includes a low track 100 and a high track 200. The low track 100 is provided with parking points 110 that match various processing equipment and storage equipment. The high track 200 is installed at a higher height than the low track 100. The high track 200 is not provided with parking points 110, so that when there are no other transport vehicles on the high track, a transport vehicle can quickly pass through the high track without waiting.

[0047] The specific location of the high-level track 200 can be determined as needed. For example, the low-level track 100 includes multiple track segments 120, and the parking point 110 is set at one or more track segments 120. In this case, the high-level track 200 can be matched with each track segment 120 with a parking point 110, and the two ends of a high-level track 200 can be connected to the two ends of the track segment 120 that it matches, so that when the transport vehicle 300 moves to one end of the track segment 120, it can move to the other end of the track segment 120 via the high-level track 200.

[0048] There are multiple ways to connect the high-level track 200 and the track segment 120. In one implementation, as shown in the attached figure... Figure 2 Appendix Figure 3 As shown, the multiple track segments of the low-level track are continuous, and each high-level track 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 high-level entry end of the high-level track 200 can be connected to the low-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.

[0049] As attached Figure 2 Appendix Figure 3As shown, the upward track 500 includes an upward turning track 510 and an upward inclined track 520 extending outward from the side of the track segment 120. The upward turning track 510 is connected to the low 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 track 200. The downward turning track 620 is connected to the side of the track segment 120 and is close to the low exit end of the track segment 120. When the transport vehicle 300 needs to move from the low entry end of the track segment 120 to the low exit end of the track segment 120 via the high track 200, the transport vehicle 300 moves from the upward steering track 510 to the lower end of the upward inclined track 520, and then moves upward from the upward inclined track 520 to the high track 200. When the transport vehicle 300 moves to the high exit end of the high track 200, it moves downward from the downward inclined track 610 and moves back to the track segment 120 via the downward steering track 620. Thus, when a transport vehicle 300 stops at the parking point 110 at the track segment 120, it can cross the track segment 120 via the high track 200.

[0050] Furthermore, for ease of control, as shown in the attached document... Figure 2 Appendix Figure 3 As shown, a high-level track entry node 130 is provided upstream of the bifurcation point between the upward turning track 510 and 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. Simultaneously, a departure node 210 is provided on the high-level track 200 near its high-level departure end, or a departure node is provided on the downward turning track 620 upstream of and near the merging point of the downward turning track 620 and the low-level track 100. 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 on the high-level track 200 is updated. When it is determined that the transport vehicle 300 has moved to the departure node 210, the TCS can instruct the transport vehicle 300 at the down-turning track to first pass through the merging point and move to the lower track, and then allow the transport vehicle on the lower track located upstream of the merging point to pass through the merging point. Alternatively, the order of transport vehicles can be determined based on the urgency of the transport task, priority, etc.

[0051] In another implementation, as shown in the appendix Figure 1As shown, some sections 120 of the low-level track are spaced apart. The high-level track 200 and the track sections 120 are vertically aligned and their 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 section 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 via the lifting machine 700. The high-level exit end of the high-level track and the low-level exit end of the track section 120 are connected by a lowering machine 800 so that the transport vehicle can be moved back from the high-level track to the low-level track via the lowering machine.

[0052] At this time, a high-level track entry node 130 is provided on the low-level track 100, located upstream of and near the lifting machine 700, for the transport vehicle 300 to communicate with the lifting machine 700 to determine whether it can board the lifting machine 700. A lifting machine exit node 220 is provided on the high-level track 200 near the high-level entry end, and a descent machine entry node 230 is provided near the high-level exit end. Simultaneously, a descent machine exit node 140 is provided on the low-level track 100, located downstream of and near the descent machine 800.

[0053] The structure of the lifting machine 700 can be adopted in different ways as needed. In one embodiment, as shown in the attached figure... Figure 1 As shown, the lifting machine 700 includes a lifting track 720 driven by a lifting drive mechanism 710 to move between a first height and a second height. At the first height, the lifting track 720 engages with the lower track 100, and at the second height, it engages with the higher track 200. Specifically, the lifting track 720 includes two parallel horizontal rails of equal height. To improve lifting safety, the track surface of the horizontal rails may have a certain limiting structure, ensuring that both ends of the track surface are slightly higher than the middle. The lifting drive mechanism 710 can be, for example, a known scissor lift or a telescopic cylinder lift, and is not limited here.

[0054] In this structure, the lifting track 720 of the lifting machine 700 is normally connected between two gapped track segments 120 of the lower track 100. When the transport vehicle 300 needs to pass through the higher track 200, the transport vehicle 300 moves onto the lifting track 720, and then the lifting drive mechanism 710 drives the lifting track 720 to a second height so that the lifting track 720 docks with the higher track 200. Then, the transport vehicle 300 moves to the higher track 200. After the transport vehicle leaves the lifting track, the lifting track 720 needs to move back to the position docked with the lower track 100.

[0055] In another embodiment, as shown in the appendix Figure 4 As shown, the lifting machine 700 includes a first track 730 and a second track 740 distributed vertically. 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 that drives them to move between a first height and a second height. At the first height, the first track 730 is connected to the lower track 100, and the second track 740 is connected to the higher track 200. At the second height, the first track 730 is located below the lower track 100, and the second track 740 is connected to the lower track 100.

[0056] In this structure, initially, the first track 730 and the second track 740 can be positioned at a second height. At this time, the second track 740 is connected to the lower track 100. When the transport vehicle 300 needs to move to the higher track 200, the transport vehicle 300 first moves to the second track 740. Then, the lifting drive mechanism 710 drives the first track 730 and the second track 740 to the first height, and the transport vehicle 300 moves from the second track 740 to the higher track 200. At this time, the first track 730 is connected to the lower track 100, so the transport vehicle 300 can still move to the lower track 100. When it is determined that no transport vehicle 300 needs to move to the track section downstream of the lifting machine, the lifting drive mechanism 710 drives the first track 730 and the second track 740 back to the second height.

[0057] In another embodiment, the lifting machine 700 includes a first track 730 and a second track 740 distributed vertically. 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. 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 be connected to the lower track 100. At the second height, the first track 730 is located below the lower track 100. At the third height, the second track 740 is connected to the higher track 200. In this structure, the first lifting drive mechanism and the second lifting drive mechanism drive the first track 730 and the second track 740 vertically, respectively, thereby allowing for more flexible switching. The specific structures of the first lifting drive mechanism and the second lifting drive mechanism can be referred to the lifting drive mechanism in the above example, and will not be repeated here.

[0058] The structure of the descent machine 800 is the same as that of the lifting machine 700, and will not be described in detail here.

[0059] As attached Figure 5 As shown, the transport vehicle scheduling method includes the following steps:

[0060] When the TCS400 receives a scheduling instruction, it determines the transport vehicle 300 to execute the instruction and determines the movement path of the transport vehicle 300 based on its starting and destination positions. The specific method by which the TCS determines the movement path is a known technique, such as using a known shortest path algorithm to determine the optimal path.

[0061] TCS400 instructs the transport vehicle 300 to begin moving from the starting position to the target position according to the determined movement path.

[0062] The transport vehicle 300 begins to move from the starting position to the target position according to the instructions of the TCS400 and reports its position to the TCS400 in real time.

[0063] When the TCS400 determines that the transport vehicle 300 has moved to the high-level track entry node 130 at the low-level track 100, it determines whether the high-level track 200 meets the passage requirements.

[0064] When it is determined that the elevated track 200 meets the passage requirements, the TCS400 instructs the transport vehicle 300 to move from the elevated track 200 to the target position. The transport vehicle 300 moves to the target position via the elevated track 200 according to the instruction of the TCS400.

[0065] When it is determined that the high-level track 200 does not meet the passage requirements, the TCS400 instructs the transport vehicle 300 to move to the target position via the low-level track 100. The transport vehicle 300 moves to the target position via the low-level track 100 according to the instruction of the TCS400.

[0066] When determining whether the elevated track 200 meets the passage requirements, the TCS400 determines whether the number of transport vehicles 300 currently existing at the elevated track 200 has reached a threshold; if yes, it determines that the elevated track 200 does not meet the passage requirements, and if no, it determines that the elevated track 200 meets the passage requirements.

[0067] When determining the number of transport vehicles 300 currently present at the high-level track 200, it can be determined based on different connection methods between the high-level track 200 and the low-level track 100. For example, when the high-level track 200 and the low-level track 100 are connected by an upward track 500 and a downward track 600, when the transport vehicle 300 moves to the high-level track entry node 130, the transport vehicle 300 sends a message to the TCS400 indicating that it has arrived at the high-level track entry node 130. The TCS400 then determines the number of transport vehicles 300 at the high-level track 200. If the passage requirements are met and the transport vehicle 300 is instructed to move from the upward track 500 to the higher track 200, the TCS400 increments the number of transport vehicles 300 currently existing on the higher track 200 by 1. When the transport vehicle 300 moves to the departure node on the higher track 200 or the downward track 600, the transport vehicle 300 reports its position to the TCS400, and the TCS400 decrements the number of transport vehicles 300 currently existing on the higher track 200 by 1. Alternatively, when the transport vehicle 300 determines that it can enter the lower track 100 from the downward track 600, the transport vehicle 300 reports its ability to enter the lower track 100 to the TCS400, and the TCS400 decrements the number of transport vehicles 300 currently existing on the higher track 200 by 1.

[0068] When the lower track 100 and the upper track 200 are connected by a lifting machine 700 and a lowering machine 800, when a transport vehicle 300 moves to the lifting machine departure node 220 on the upper track 200, the transport vehicle 300 sends a message to the TCS400 indicating that it has moved to the lifting machine departure node 220. When the TCS400 receives the message from the transport vehicle 300, it increments the number of transport vehicles 300 currently existing on the upper track 200 by 1. When a transport vehicle 300 moves to the lowering machine departure node 140 on the lower track 100, the transport vehicle 300 sends a message to the TCS400 indicating that it has moved to the lowering machine departure node 140. When the TCS400 receives the message from the transport vehicle 300, it decrements the number of transport vehicles 300 currently existing on the upper track 200 by 1.

[0069] Furthermore, when the lifting machine 700 and the lowering machine 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 lifting machine 700 to determine whether it can ride on the lifting machine 700. If the lifting machine 700 determines that the transport vehicle 300 is currently on its track, or that the track of the lifting machine 700 has not been reset to a position that the transport vehicle 300 can enter, or that the lifting machine 700 is malfunctioning, the lifting machine 700 sends a feedback to the transport vehicle 300 that it cannot ride on the lifting machine 700. When the transport vehicle 300 determines that it cannot ride on the lifting machine 700, the TCS 400 sends a feedback message that it cannot ride on the lifting machine 700, and the TCS 400 instructs the transport vehicle 300 to move to the target position via the low-level track 100.

[0070] When the lifting platform 700 determines that the transport vehicle 300 can ride on it, it sends a ride-on message to the transport vehicle 300. Upon receiving the ride-on message, the transport vehicle 300 sends a ride-on message back to the TCS 400. The TCS 400 instructs the transport vehicle 300 to ride on it. The transport vehicle 300 moves into the lifting platform 700 and sends a lifting-on message back to the lifting platform 700. The lifting platform 700 then lifts the transport vehicle 300 to a higher position. The high position of track 200 is matched and sends a message to the transport vehicle 300 that the lifting machine 700 can be moved out. When the transport vehicle 300 receives the message that the lifting machine 700 can be moved out, it starts to move the lifting machine leaving node 220 at the high position track 200. When the transport vehicle 300 moves to the lifting machine leaving node 220, it sends a message to the TCS400 that it has moved to the lifting machine leaving node 220. At this time, the TCS400 determines that the number of transport vehicles 300 currently existing at the high position track 200 is incremented by 1.

[0071] When the transport vehicle 300 moves to the descent machine entry node 230, the transport vehicle 300 stops and communicates with the descent machine 800 to determine whether it can ride the descent machine 800. If the descent machine 800 malfunctions or there is another transport vehicle 300 at the descent machine 800, the descent machine 800 sends a message to the transport vehicle 300 indicating that it cannot ride the descent machine 800. After receiving the message from the descent machine 800, the transport vehicle 300 waits at the descent machine entry node 230 and sends a message to the TCS 400. Alternatively, if the transport vehicle 300 receives a message from the descent machine 800 indicating that it cannot ride the descent machine 800, it sends a message to the TCS 400. In this case, the TCS 400 instructs the transport vehicle 300 to wait at the descent machine entry node 230.

[0072] When the descent machine 800 determines that the transport vehicle 300 can ride, it sends feedback to the transport vehicle 300 indicating that it can ride. The transport vehicle 300 then sends feedback to the TCS 400 indicating that it can ride. The TCS 400 instructs the transport vehicle 300 to ride the descent machine 800. When the descent machine 800 reaches its destination, it sends feedback to the transport vehicle 300 indicating that it can remove the descent machine 800. Upon receiving the feedback that the descent machine 800 can be removed, the transport vehicle 300 removes the descent machine 800 and moves towards the descent machine departure node 140 on the lower track 100. When the transport vehicle 300 reaches the descent machine departure node 140, it sends feedback to the TCS 400 indicating that it has moved to the descent machine departure node 140. The TCS 400 then decrements the current number of transport vehicles 300 on the upper track 200 by 1.

[0073] Example 2

[0074] This embodiment discloses a method for scheduling transport vehicles. Unlike Embodiment 1 described above, this embodiment focuses on the control process of the TCS (Tractor Control System), as shown in the attached diagram. Figure 6 As shown, the transport vehicle scheduling method includes the following steps:

[0075] Instruct the transport vehicle 300 to begin moving from its starting position to its target position;

[0076] When it is determined that the transport vehicle 300 has moved 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 passage requirements; no parking point 110 is set at the high-level track 200.

[0077] When it is determined that the elevated track 200 meets the passage requirements, the transport vehicle 300 is instructed to move from the elevated track 200 to the target position;

[0078] When it is determined that the high-level track 200 does not meet the passage requirements, the transport vehicle 300 is instructed to move to the target position via the low-level track 100.

[0079] Preferably, when determining whether the elevated track 200 meets the passage requirements, it is determined whether the number of transport vehicles 300 currently existing at the elevated track 200 has reached a threshold; if yes, it is determined that the elevated track 200 does not meet the passage requirements, and if no, it is determined that the elevated track 200 meets the passage requirements.

[0080] Example 3

[0081] This embodiment discloses a transport vehicle dispatching system, including:

[0082] The start-move indicator unit is used to instruct the transport vehicle 300 to begin moving from the starting position to the target position;

[0083] The path switching judgment unit is used to determine whether the high-level track 200 meets the passage requirements when it is determined that the transport vehicle 300 has moved to the high-level track entry node 130 at the low-level track 100; no parking point 110 is set at the high-level track 200.

[0084] The high-level passage indicator unit is used to instruct the transport vehicle 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 passage requirements;

[0085] The low-level passage indication unit is used to instruct the transport vehicle 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 passage requirements.

[0086] Example 4

[0087] This embodiment discloses a TCS400, including a memory and a processor. The memory stores a program that can be executed by the processor. When the program is executed, it implements the transport vehicle scheduling method as described above.

[0088] This invention has many other embodiments, and all technical solutions formed by equivalent transformation or equivalent transformation fall within the protection scope of this invention.

Claims

1. A method for scheduling transport vehicles, characterized in that, Includes the following steps: TCS instructs a transport vehicle to begin moving from its starting position to its target position; The transport vehicle begins to move from the starting position to the target position according to the instructions of the TCS and feeds back its position to the TCS in real time; When the TCS determines that the transport vehicle has moved to the high-level track entry node at the low-level track, it determines whether the high-level track meets the passage requirements; there is no parking point at the high-level track and the passage speed of the high-level track is greater than that of the low-level track; the transport vehicle moves between the low-level track and the high-level track by means of a lifting machine and a lowering machine or by means of an upward track and a downward track. Both the lifting machine and the lowering machine include a first track and a second track distributed vertically. The first track is lower than the second track. The first track and the second track are connected to a lifting drive mechanism that drives them to move between a first height and a second height. At the first height, the first track is connected to the lower track and the second track is connected to the higher track. At the second height, the first track is located below the lower track and the second track is connected to the lower track. The upward track includes an upward turning track and an upward inclined track extending outward from the side of the track segment. The upward turning track is connected near the low entry end of the track segment, and the upward inclined track is connected to the high-position track. The downward track includes a downward inclined track and a downward turning track. The downward inclined track is connected to the high-position track, and the downward turning track is connected to the side of the track segment and near the low exit end of the track segment. When it is determined that the elevated track meets the passage requirements, the TCS instructs the transport vehicle to move from the elevated track to the target position, and the transport vehicle moves to the target position via the elevated track according to the instruction of the TCS; When it is determined that the high-level track does not meet the passage requirements, the TCS instructs the transport vehicle to move to the target position via the low-level track, and the transport vehicle moves to the target position via the low-level track according to the instruction of the TCS.

2. The method for dispatching transport vehicles 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, it communicates with the lifting machine to determine whether it can ride the lifting machine. When the transport vehicle determines that it cannot ride the lifting machine, it sends a message to the TCS indicating that it cannot ride the lifting machine. The TCS then instructs the transport vehicle to move to the target position via the low-level track.

3. The method for dispatching transport vehicles 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 descent mechanism.

4. The method for dispatching transport vehicles according to claim 1, characterized in that: When determining whether the elevated track meets the passage requirements, the TCS determines whether the number of transport vehicles currently present at the elevated track has reached a threshold; if yes, it determines that the elevated track does not meet the passage requirements, and if no, it determines that the elevated track meets the passage requirements.

5. The method for dispatching transport vehicles according to claim 1, characterized in that: When a transport vehicle moves to the lifting machine on the high track and leaves the node, the TCS determines that the number of transport vehicles currently existing on the high track is incremented by 1; when a transport vehicle moves to the lowering machine on the low track and leaves the node, the TCS determines that the number of transport vehicles currently existing on the high track is decremented by 1.

6. A method for dispatching transport vehicles, characterized in that, Includes the following steps: Instruct the transport vehicle to begin moving from its starting position to its 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 passage requirements; if there is no parking point at the high-level track and the passage speed of the high-level track is greater than the passage speed of the low-level track, the transport vehicle moves between the low-level track and the high-level track by means of a lifting machine and a lowering machine, or the transport vehicle moves between the low-level track and the high-level track by means of an upward track and a downward track; Both the lifting machine and the lowering machine include a first track and a second track distributed vertically. The first track is lower than the second track. The first track and the second track are connected to a lifting drive mechanism that drives them to move between a first height and a second height. At the first height, the first track is connected to the lower track and the second track is connected to the higher track. At the second height, the first track is located below the lower track and the second track is connected to the lower track. The upward track includes an upward turning track and an upward inclined track extending outward from the side of the track segment. The upward turning track is connected near the low entry end of the track segment, and the upward inclined track is connected to the high-position track. The downward track includes a downward inclined track and a downward turning track. The downward inclined track is connected to the high-position track, and the downward turning track is connected to the side of the track segment and near the low exit end of the track segment. When it is determined that the elevated track meets the passage requirements, the transport vehicle is instructed to move from the elevated track to the target position; When it is determined that the high-level track does not meet the passage requirements, the transport vehicle is instructed to move to the target location via the low-level track.

7. The method for dispatching transport vehicles according to claim 6, characterized in that: When determining whether the elevated track meets the passage requirements, it is determined whether the number of transport vehicles currently present at the elevated track has reached a threshold; if yes, it is determined that the elevated track does not meet the passage requirements; if no, it is determined that the elevated track meets the passage requirements.

8. A transport vehicle dispatching system, characterized in that, include: The start-move indicator unit is used to instruct the transport vehicle to begin moving from the starting position to the target position; The path switching judgment unit is used to determine whether the high-level track meets the passage requirements when it is determined that the transport vehicle has moved to the high-level track entry node at the low-level track; there is no parking point set at the high-level track, and the passage speed of the high-level track is greater than the passage speed of the low-level track; The transport vehicle moves between the low-level track and the high-level track via a lifting machine and a lowering machine, or the transport vehicle moves between the low-level track and the high-level track via an upward track and a downward track; Both the lifting machine and the lowering machine include a first track and a second track distributed vertically. The first track is lower than the second track. The first track and the second track are connected to a lifting drive mechanism that drives them to move between a first height and a second height. At the first height, the first track is connected to the lower track and the second track is connected to the higher track. At the second height, the first track is located below the lower track and the second track is connected to the lower track. The upward track includes an upward turning track and an upward inclined track extending outward from the side of the track segment. The upward turning track is connected near the low entry end of the track segment, and the upward inclined track is connected to the high-position track. The downward track includes a downward inclined track and a downward turning track. The downward inclined track is connected to the high-position track, and the downward turning track is connected to the side of the track segment and near the low exit end of the track segment. The high-level passage indicator unit is used to instruct 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 instruct 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.

9. A 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, it implements the transport vehicle scheduling method as described in claim 6 or 7.

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