Overhead crane roaming control method, device, storage medium and electronic device

Abstract

The present application provides a method, device, storage medium and electronic device for controlling roaming of overhead cranes, which belongs to the field of transportation control technology. The method includes: obtaining a first number of idle overhead cranes and position information of each idle overhead crane in an extended area corresponding to each roaming area; determining at least one convergence center from within the roaming area based on the first number and position information; assigning a corresponding convergence center to each idle overhead crane based on the position information; generating a first roaming path for each idle overhead crane to travel to the assigned convergence center based on the position information and the center position of the convergence center; controlling each idle overhead crane to converge at the corresponding convergence center according to the corresponding first roaming path to form a corresponding roaming fleet; generating a second roaming path for the roaming fleet, and controlling the idle overhead cranes in the roaming fleet to travel within the corresponding roaming area according to the second roaming path. The present application can save computing resources of the scheduling system in the AHMS.

Description

Technical Field

[0001] The present application relates to the field of transportation control technology, and in particular to a method, device, storage medium and electronic device for controlling roaming of an overhead crane. Background Art

[0002] In the semiconductor manufacturing industry, automated material handling systems (AMHSs) are responsible for efficiently transporting wafers. In AMHSs, in addition to overhead cranes currently performing delivery tasks, there are also a small number of idle overhead cranes. These idle overhead cranes are constantly roaming on overhead rails.

[0003] In order to prevent idle overhead cranes from traveling on the overhead rails from affecting the operations of overhead cranes currently performing delivery tasks, it is necessary to plan a roaming path for each idle overhead crane in real time, thereby reducing the impact on the operations of overhead cranes currently performing delivery tasks.

[0004] However, existing roaming path planning methods are mostly based on simple rules or fixed algorithms, failing to fully consider real-time production task changes, overhead rail traffic conditions, and the operating status of the overhead crane itself. Therefore, existing roaming crane control methods have significant deficiencies in computing resource utilization, path planning flexibility, and crane fleet management. An innovative roaming crane control method is urgently needed to address these current challenges and improve the overall performance and production efficiency of wafer fab material handling systems. Summary of the Invention

[0005] The purpose of this application is to provide a method, device, storage medium and electronic device for controlling roaming of an overhead crane to solve at least one of the above technical problems.

[0006] In a first aspect of the present application, a method for controlling a roaming overhead crane is provided, the method comprising:

[0007] Acquire a first number of idle overhead cranes in an extended area corresponding to each roaming area and position information of each idle overhead crane;

[0008] determining at least one aggregation center within the roaming area based on the first quantity and location information;

[0009] assigning a corresponding convergence center to each idle overhead crane according to the location information;

[0010] generating a first roaming path for each idle overhead crane to travel to the assigned convergence center based on the position information and the center position of the convergence center;

[0011] Controlling each idle overhead crane to converge at a corresponding convergence center along a corresponding first roaming path to form a corresponding roaming fleet;

[0012] A second roaming path is generated for the roaming fleet, and idle overhead cranes in the roaming fleet are controlled to travel within a corresponding roaming area according to the second roaming path.

[0013] Optionally, the method further includes: detecting whether there is a conflict between the operating path of the overhead crane and the second roaming path;

[0014] When there is a conflict, determining an interference level of the second roaming path on the operating path, taking the conflicting overhead vehicle as a target overhead vehicle, and taking the conflicting roaming fleet as a target roaming fleet;

[0015] When the interference level is at a low interference level, maintaining the second roaming path unchanged, and controlling the driving speed and / or following distance of the target roaming fleet to reduce interference with the target overhead crane;

[0016] When the interference level is at a medium interference level, controlling the target overhead crane to merge into the target roaming fleet;

[0017] When the interference level is at a high interference level, the target roaming fleet is split, and a second roaming path is replanned for the split roaming fleet to reduce interference with the target overhead crane.

[0018] Optionally, merging the target overhead crane into the target roaming fleet includes:

[0019] Identifying a conflict point between the target roaming fleet and the target overhead crane on the overhead rail;

[0020] Calculating a target idle overhead crane in the target roaming fleet that is located at the conflict point when the target operating overhead crane arrives at the conflict point;

[0021] The travel speed of the target idle overhead crane is controlled so that the target operating overhead crane merges into the target roaming fleet at the conflict point and is located ahead of the target idle overhead crane.

[0022] Optionally, splitting the target roaming fleet includes:

[0023] Identifying a conflict point between the target roaming fleet and the target overhead crane on the overhead rail;

[0024] Calculating a target idle overhead crane in the target roaming fleet that is located at the conflict point when the target operating overhead crane arrives at the conflict point;

[0025] The idle overhead cranes located before the target idle overhead crane are regarded as a first roaming fleet; and the idle overhead cranes located after the target idle overhead crane are regarded as a second roaming fleet.

[0026] Optionally, the method further includes: identifying whether two roaming fleets in the same roaming area meet a merging condition, and when the merging condition is met, merging the two roaming fleets into a new roaming fleet; the merging condition is one or more of the following conditions:

[0027] 1. The total number of idle overhead cranes in the two roaming fleets does not exceed the overhead crane capacity threshold;

[0028] 2. The overlap of the second roaming paths of the two roaming fleets exceeds a preset overlap threshold;

[0029] 3. The convoy distance between the two roaming convoys is less than the preset path distance threshold.

[0030] Optionally, the method further includes: calculating a second traffic congestion index of the second roaming path; and adjusting the driving speed of the roaming fleet and the following distance between vehicles based on the second traffic congestion index.

[0031] Optionally, the method further includes: updating the overhead crane capacity threshold of the roaming fleet in real time according to the second traffic congestion index; and splitting the roaming fleet when the second number of idle overhead cranes in the roaming fleet exceeds the overhead crane capacity threshold.

[0032] Optionally, after the corresponding roaming fleet is formed, the method further includes: designating one idle overhead crane in the roaming fleet as a main leading overhead crane, and designating the other idle overhead cranes as follower overhead cranes;

[0033] The controlling the idle overhead cranes in the roaming fleet to travel in the corresponding roaming area according to the second roaming path includes: controlling the main leading overhead crane to travel in the corresponding roaming area according to the second roaming path, and making the following overhead cranes follow the main leading overhead crane.

[0034] In a second aspect of the present application, a roaming control device for an overhead traveling crane is provided, the device comprising:

[0035] An idle overhead crane acquisition module, configured to acquire a first number of idle overhead cranes in an extended area corresponding to each roaming area and position information of each idle overhead crane;

[0036] a convergence module configured to determine at least one convergence center within the roaming area based on the first quantity and the location information; assign a corresponding convergence center to each idle overhead crane based on the location information; generate a first roaming path for each idle overhead crane to travel to the assigned convergence center based on the location information and the center position of the convergence center; and control each idle overhead crane to converge at a corresponding convergence center along the corresponding first roaming path to form a corresponding roaming fleet;

[0037] The fleet path planning module generates a second roaming path for the roaming fleet and controls the idle overhead cranes in the roaming fleet to travel within the corresponding roaming area according to the second roaming path.

[0038] In a third aspect of the present application, a computer-readable storage medium is provided, on which executable instructions are stored. When the executable instructions are executed by a processor, the processor executes the method described in any embodiment of the present application.

[0039] In a fourth aspect of the present application, an electronic device is provided, comprising: one or more processors; and a memory for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors execute the method as described in any one of the embodiments of the present application.

[0040] The overhead crane roaming control method, device, storage medium and electronic device in the present application determine the convergence center of the roaming fleet to be formed based on the number and location distribution of idle overhead cranes in the system, thereby converging the idle overhead cranes into a roaming fleet at their respective corresponding convergence centers, and performing path planning for the roaming fleet as a whole without the need to perform path planning independently for each idle overhead crane. This can greatly save the computing resources of the scheduling system in the AHMS and improve the utilization efficiency of the system computing resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope of the present application.

[0042] Figure 1 A schematic diagram of a scenario of a method for controlling roaming of an overhead crane in one embodiment;

[0043] Figure 2 1. A schematic flow chart of a method for controlling roaming of an overhead crane according to an embodiment;

[0044] Figure 3 A schematic diagram of a process for aggregating newly added idle overhead cranes into a target roaming fleet in one embodiment;

[0045] Figure 4 1. A schematic diagram of a flow chart of guiding a replaced overhead travelling crane in one embodiment;

[0046] Figure 5 2. It is a structural diagram of a roaming control device for an overhead crane in one embodiment;

[0047] Figure 6 FIG. 1 is a schematic structural diagram of an electronic device in an embodiment. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solutions and advantages of this application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0049] All terms (including technical and scientific terms) used in this application have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification and should not be interpreted in an idealized or overly rigid manner.

[0050] For example, the terms "first," "second," etc. used in this application may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish a first element from another element.

[0051] For example, the terms "include", "comprising", etc. used in this application indicate the existence of features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.

[0052] The overhead crane roaming control method in this application can be applied to Figure 1 In the scenario shown. Figure 1 As shown, in the AMHS, numerous overhead cranes travel on the overhead rail 100 to deliver items (such as wafer boxes) to their respective destinations. Some of these cranes (such as the operating crane 110) are in a task-performing state, while others are idle. The idle cranes (idle cranes 120) are not permanently stationary, but rather roam along the overhead rail. Sensors are distributed on the overhead rail and / or the cranes, enabling real-time positioning of the crane and measuring relevant driving data such as the crane's speed, power consumption, and vibration at various locations along the rail. Electronic equipment can obtain the position and driving status of each crane in real time. Based on this information, it plans a corresponding driving path for each crane, aggregates some of the idle cranes 120 into a roaming fleet 130, and plans and controls the driving path of the roaming fleet 130.

[0053] In one embodiment, a method for controlling a roaming overhead crane is provided. Figure 1 In the scenario shown. Figure 2 As shown, the method includes:

[0054] Step 210: Acquire a first number of idle overhead cranes in an extended area corresponding to each roaming area and position information of each idle overhead crane.

[0055] In this embodiment, an idle overhead crane is one that has no new tasks (has not yet been assigned a new task) after completing its delivery task. Specifically, an idle overhead crane refers to one that will not be assigned a new material handling task within a certain time threshold, starting from the time it completes its current material handling task. This time threshold can be a pre-set, fixed value or a value that changes adaptively based on actual conditions, such as 5 minutes, 10 minutes, or any other suitable duration.

[0056] Based on the actual situation in the AMHS, the electronic device can predict whether a new transport task will be assigned to the overhead crane within the time threshold. If the prediction result is that no new transport task will be assigned to it, the overhead crane is identified as an idle overhead crane. Based on the task execution status of the overhead crane, the overhead crane can be classified as idle overhead crane or working overhead crane. Working overhead cranes can specifically include loaded overhead cranes that have already picked up delivered items and are transporting them to the delivery destination, as well as unloaded overhead cranes on their way to pick up delivered items.

[0057] It is understandable that there are multiple idle overhead cranes in AMHS. The starting positions of these idle overhead cranes are usually at the docking points corresponding to the completion of the material handling tasks, and they use the docking points as the starting positions to roam on the overhead rails.

[0058] The first number is the number of idle overhead cranes at the current moment or within a preset time period in the future (such as the above-mentioned time threshold).

[0059] Electronic equipment pre-divides the entire overhead crane operating area into multiple roaming zones based on the distribution of overhead rails, transfer points, and docking points in the AMHS. Adjacent roaming zones may or may not intersect. A roaming zone is the area within which a roaming fleet operates. Once a roaming fleet is formed, idle overhead cranes within the fleet typically roam within their respective roaming zones.

[0060] Each roaming area is usually equipped with a corresponding extended area. The range of the extended area can also be set according to the location distribution of the transfer points, stop points, etc. The range of the extended area is larger than the roaming area. The extended area covers one or more stop points / transfer points, so that when a new overhead crane is generated, it can correspond to the extended area and roaming area to which it belongs according to its location, and enter the corresponding roaming area to roam.

[0061] Based on the divided roaming areas, the extended areas and the position information of each idle overhead crane, the number of idle overhead cranes in each extended area (ie, the first number) can be calculated.

[0062] Step 220: Determine at least one convergence center within the roaming area based on the first quantity and the location information.

[0063] In this embodiment, the convergence center is the location or location range where the roaming fleet is initially formed. Optionally, the electronic device may determine the convergence center based on a preset path planning algorithm and / or cluster analysis algorithm. The number of convergence centers within a roaming area may include one or more.

[0064] The number of convergence centers is positively correlated with the first number. When the first number is large, the number of convergence centers increases appropriately. Under the same first number, the more dispersed the positions of the overhead cranes are, the more convergence centers there are.

[0065] Specifically, the electronic device can be configured to use a clustering algorithm, such as the K-Means clustering algorithm, to determine the number of convergence centers. The K value of the clustering algorithm corresponds to the number of corresponding convergence centers. If the number of idle overhead cranes within the expansion area is large and dispersed, the K value can be appropriately increased. If the number of idle overhead cranes is small and relatively concentrated, the K value can be reduced. Alternatively, an empirical formula or multiple experiments can be used to determine an appropriate K value.

[0066] After the K value is determined, the positions of K idle overhead traveling vehicles may be selected as initial cluster centers, or cluster centers may be selected based on key nodes of the overhead traveling vehicle or multiple preset positions within the roaming area.

[0067] In one embodiment, the electronic device may set multiple candidate convergence centers in each roaming area according to historical operation data of the overhead crane, and determine a preset number of candidate convergence centers as convergence centers from the multiple candidate convergence centers based on the first number and location information.

[0068] Step 230: Allocate a corresponding convergence center to each idle overhead crane according to the location information.

[0069] Optionally, a corresponding convergence center is allocated to each idle overhead crane based on the position information of the idle overhead crane and the position of the convergence center by adopting the shortest path principle and / or the shortest duration principle.

[0070] Specifically, based on the time layout and traffic rules of the SkyRail, the path length from each idle SkyRail vehicle to each convergence center is calculated, and the required travel time is predicted. Based on the path length and / or travel time, a convergence center is selected as the convergence center corresponding to the idle SkyRail vehicle.

[0071] In one embodiment, step 230 further includes: determining a second number of overhead cranes that converge at each convergence center; and determining a mapping relationship between each idle overhead crane in the expansion area and the convergence center based on the second number and the position information.

[0072] The electronic device further sets a capacity threshold for idle overhead cranes (i.e., corresponding to the formed roaming fleet) that can be gathered at each aggregation center. The capacity threshold for the overhead cranes can be determined based on various factors, such as traffic congestion within the roaming area. The second number does not exceed the corresponding capacity threshold for the overhead cranes.

[0073] Optionally, the electronic device can calculate the travel time of each idle overhead crane to each convergence center, select the convergence center with the shortest travel time as the initial target convergence center of the corresponding idle overhead crane, and use the initial target convergence center as the initial allocated convergence center of the corresponding idle overhead crane.

[0074] After completing the initial allocation, it is possible to detect whether the number of idle overhead cranes corresponding to each aggregation center exceeds the corresponding overhead crane capacity threshold, and then reallocate the idle overhead cranes in the aggregation center that exceeds the corresponding overhead crane capacity threshold. For example, some idle overhead cranes are screened out from the aggregation center and reallocated to other aggregation centers that do not exceed the corresponding overhead crane capacity threshold, so that the number of idle overhead cranes in each aggregation center does not exceed the corresponding overhead crane capacity threshold.

[0075] After the final allocation is completed, a mapping relationship is established between each idle overhead crane and the final allocated convergence center, so that the idle overhead cranes mapped to the same convergence center form a corresponding roaming fleet.

[0076] Step 240 : generating a first roaming path for each idle overhead crane to travel to the assigned convergence center based on the position information and the center position of the convergence center.

[0077] Step 250 : Control each idle overhead crane to converge at a corresponding convergence center along the corresponding first roaming path to form a corresponding roaming fleet.

[0078] Specifically, based on the position of the convergence center and the position of the idle overhead crane, a first roaming path is planned for it, so that the idle overhead crane can be controlled to converge at the convergence center according to the planned path.

[0079] In one embodiment, one of the idle overhead cranes in the roaming fleet is designated as the main leading overhead crane, and the other idle overhead cranes are designated as following overhead cranes.

[0080] For a rover convoy, the electronics designate the leading overhead crane in the convoy's direction of travel as the lead crane, while the remaining cranes are designated as follower cranes. Each rover convoy consists of one lead crane and at least one follower crane. The lead crane leads the convoy's cranes on the overhead rails, while the follower cranes follow the leading crane in the convoy.

[0081] Step 260: Generate a second roaming path for the roaming fleet, and control the idle overhead cranes in the roaming fleet to travel within the corresponding roaming area according to the second roaming path.

[0082] After the roaming fleet is formed, a second roaming path is planned for the roaming fleet as a whole within the roaming area where the roaming fleet is located.

[0083] Among them, the electronic equipment further plans a second roaming path for the roaming fleet based on the real-time traffic conditions in the roaming area and the task prediction in the future, so that the planned second roaming path can minimize the impact on the traffic of the operating overhead crane, while taking into account the distance between the roaming fleet and the transportation point of the distribution task.

[0084] The overhead crane roaming control method in the present application determines the convergence center of the roaming fleet to be formed based on the number and location distribution of idle overhead cranes in the system, thereby converging the idle overhead cranes into a roaming fleet at their respective corresponding convergence centers, and performing path planning for the roaming fleet as a whole, without the need to perform path planning for each idle overhead crane independently. This can greatly save the computing resources of the scheduling system in the AHMS and improve the utilization efficiency of the system computing resources.

[0085] In one embodiment, step 260 includes: controlling the main leading overhead crane to travel in the corresponding roaming area according to the second roaming path, and making the following overhead crane follow the main leading overhead crane.

[0086] The electronic device can send a guiding driving instruction containing the second roaming path to the main guiding overhead crane, and send a following driving instruction containing the overhead crane identifier of the preceding vehicle it follows to the following overhead crane, so that the main guiding overhead crane roams in the roaming area according to the second roaming path based on the guiding driving instruction, and the following overhead crane keeps following the preceding vehicle according to the overhead crane identifier in the following driving instruction.

[0087] Specifically, a guiding driving instruction containing the second roaming path is sent to the main guiding overhead crane at a first frequency, and the guiding driving instruction is used to instruct the main guiding overhead crane to travel according to the second roaming path; a following driving instruction containing following information is sent to the following overhead crane at a second frequency, and the following driving instruction is used to instruct the following overhead crane to follow the leading vehicle. The second frequency is lower than the first frequency.

[0088] In the present application, the first frequency f1 is the communication frequency between the electronic device and the main guide overhead crane; the second frequency f2 is the communication frequency between the electronic device and the following overhead crane, and the second frequency f2 is lower than the first frequency f1.

[0089] Typically, the first frequency is relatively high. This is because the master guide overhead crane, as the core guide vehicle of the fleet, requires real-time system information and timely route adjustments. A higher frequency ensures the timeliness and accuracy of data transmission between the master guide overhead crane and the backend management terminal, enabling the master guide overhead crane to quickly respond to system dispatch instructions, such as adjusting its route in response to overhead rail congestion or changes in mission priority. For example, in some practical applications, the first frequency can be set to 10-20 communications per second. This high frequency ensures that the master guide overhead crane maintains optimal driving conditions in complex and changing operating environments.

[0090] During this high-frequency communication process, the secondary roaming path transmitted in the guidance instructions contains rich and critical information. These instructions include one or more of the following: global overhead rail operating status information, fleet size information, and a real-time planned secondary roaming path. This information can include real-time congestion information for each road section and the paths of other overhead cranes performing missions, enabling the primary guiding crane to plan a conflict-free and efficient roaming route. Fleet crane size information is used to comprehensively assess fleet coordination and resource utilization efficiency. The real-time planned optimal roaming path information can include accurate coordinates of each path node, estimated speed, and turning angles, guiding the primary guiding crane's precise movement.

[0091] The second frequency is the frequency used by the AMHS background management terminal to communicate with the following overhead crane. The following driving instructions sent based on the second frequency are mainly used to maintain the basic operating status monitoring of the following overhead crane and ensure the accuracy of its following driving.

[0092] The second frequency is lower than the first. This is because the following crane's primary function is to follow the lead crane and doesn't need to receive the same amount of complex information as the lead crane. This lower frequency allows the following crane to receive necessary instructions while effectively reducing communication resources and avoiding system congestion. For example, the second frequency can be set to communicate every 5-10 seconds, which is sufficient to ensure the following crane receives critical instructions and maintains coordination with the fleet.

[0093] The information transmitted in the following travel command primarily focuses on the following movement of the following overhead crane. The amount of information in a following travel command is smaller than that in a leading travel command. The following travel command may include information such as the following distance and speed. These distances and speeds are dynamically adjusted based on the actual conditions of the overhead rail (e.g., congested areas, free areas), ensuring a safe distance between overhead cranes without wasting track resources. This ensures that the following overhead crane maintains the same speed as the main leading overhead crane or the preceding following overhead crane, maintaining convoy stability. In addition, some basic status query and confirmation information, such as heartbeat packets, are transmitted to confirm the online status of the following overhead crane and the stability of the communication link.

[0094] After receiving the guidance instruction, the main guiding overhead crane can obtain the second roaming path and perform roaming based on the driving path. The information of the second roaming path may include one or more of the following: a sequence of roaming path points for the roaming fleet over a period of time, key path information, traffic congestion conditions, dynamic information of other overhead cranes, traffic priority, speed control parameters, steering control parameters, etc.

[0095] A sequence of pathpoints can be presented as precise coordinates, such as [(X1, Y1, Z1), (X2, Y2, Z2), ...], where Xi, Yi, and Zi represent the crane's position in three-dimensional space, and the Z axis corresponds to different ceiling levels. These coordinate points form the path the crane will traverse, and may be accompanied by timestamps indicating the estimated arrival time at each point, such as [(X1, Y1, Z1, t1), (X2, Y2, Z2, t2), ...].

[0096] Key route information includes descriptions of special sections along the route, such as curves, hilly sections, and speed-limited sections. For curves, the curvature radius and recommended turning speed can be given; for speed-limited sections, the speed limit is clearly stated.

[0097] The traffic congestion situation can be the congestion coefficient of each section on the front path related to the overhead rail section where the roaming fleet is traveling. This coefficient can be obtained through statistics from sensors installed on the overhead rail, reflecting the ratio of the number of overhead cranes in the current section to the maximum allowed number of overhead cranes.

[0098] The dynamics of other overhead cranes indicate the positions, speeds, and directions of other overhead cranes within a certain distance of the roaming fleet, so that the main leading overhead crane can prepare for avoidance or speed adjustment in advance.

[0099] Traffic priority can be categorized into multiple levels: high, medium, and low. When a traffic conflict occurs between overhead cranes, the crane with the higher priority has priority. Speed control parameters define the target speed and acceleration limits for the crane on different sections of road to ensure smooth and safe travel. For sections requiring turns, steering control parameters provide precise steering angles and timing, helping the crane complete accurate turns.

[0100] Similarly, a following travel instruction also includes planned travel information for the corresponding following overhead crane. Upon receiving the following travel instruction, the following overhead crane retrieves the travel information and proceeds based on it. This travel information may be the same as the roaming route information of the leading overhead crane, or may simply include one or more of the following information, such as real-time coordinates, vehicle speed, acceleration, path adjustment information, and following distance. The real-time coordinates may be the real-time position of the overhead crane it is following (e.g., the preceding overhead crane of the leading overhead crane, referred to as the "leading crane"), allowing the following overhead crane to adjust its position in real time to maintain a safe distance from the leading crane. The speed and acceleration information may include the leading crane's speed and acceleration information, as well as speed and acceleration constraints for the following overhead crane, allowing the following overhead crane to adjust its speed accordingly to achieve following travel. The following distance specifies the safe distance to be maintained between the following overhead crane and the leading crane, and this distance is dynamically adjusted based on factors such as the crane's load and travel speed. The path adjustment information indicates whether the path of the following overhead crane needs to be adjusted so that its driving path is inconsistent with the driving path of the entire roaming fleet. For example, when the following overhead crane needs to leave the roaming fleet, the path adjustment information can be the specific driving path information planned for the following overhead crane.

[0101] The overhead crane is equipped with corresponding sensors that can sense objects near the vehicle, such as whether there is an overhead crane within a certain range in front, and can sense the distance to the nearby overhead crane. For example, a corresponding laser radar is arranged in front of the overhead crane body, which can detect the distance to the overhead crane in front within a certain distance range. After receiving the follow-up driving instruction sent by the electronic device, the vehicle can control its own driving speed based on the instructions of the follow-up driving instruction to maintain an appropriate distance between itself and the vehicle in front, and keep following the vehicle in front.

[0102] In one embodiment, the method further includes: obtaining the fleet size of the roaming fleet and a first traffic congestion index of the automatic material handling system AHMS in real time; and adjusting the first frequency and the second frequency based on the fleet size and the first traffic congestion index.

[0103] The fleet size of a roaming fleet refers to the number of overhead cranes (e.g., the second number mentioned above) within the fleet. The number of overhead cranes in different roaming fleets may not be the same. The number of overhead cranes in a fleet is subject to dynamic changes, such as new idle overhead cranes joining the fleet and existing overhead cranes being assigned transport tasks and leaving the fleet.

[0104] The electronic device can set up a dynamically updated member list for each roaming fleet. Whenever an overhead crane joins or leaves the roaming fleet, the system automatically updates the list and counts the number of overhead cranes in the list in real time to determine the fleet size.

[0105] The traffic congestion index is a quantitative indicator that measures the degree of traffic congestion on the overhead rail in an automated material handling system (AMHS). It comprehensively reflects factors such as the density of overhead cranes on the overhead rail, driving speed, and road section capacity. The traffic congestion index can be quantified to each specific overhead rail segment, and electronic equipment can calculate the traffic congestion index for each overhead rail segment. Based on the location of the roaming fleet, the overhead rail segment where the roaming fleet is located can be located. Then, based on the planned driving path for the roaming fleet, the overhead rail segments that will affect the roaming fleet's driving over a period of time can be determined. This overhead rail segment may be a section on the driving path and / or one or more sections near the driving path.

[0106] A traffic congestion index of the determined skytrain segment is extracted, and a first frequency and a second frequency are determined based on the fleet size and the extracted traffic congestion index.

[0107] In one embodiment, the first frequency is positively correlated with the traffic congestion index and fleet size; the higher the traffic congestion index and the larger the fleet, the greater the first frequency. The second frequency is negatively correlated with the traffic congestion index and positively correlated with fleet size. In large fleets and congested traffic, the leading overhead crane needs to communicate more frequently with the dispatch center to obtain the latest path planning and traffic information to guide the fleet safely and efficiently. Following overhead cranes, however, face a complex driving environment and a heavy communication burden. Appropriately lowering the communication frequency can reduce communication conflicts. Furthermore, since they only need to follow the preceding vehicle, low-frequency communication can also meet basic needs.

[0108] During overhead crane operation, fleet size and traffic congestion levels are constantly changing, making frequency adjustment a dynamic process. The dispatch center continuously monitors these parameters and promptly adjusts the first and second frequencies based on these changes. Furthermore, the electronic equipment incorporates a feedback mechanism, whereby the overhead crane provides feedback on communication quality and data reception to the dispatch center during communication. If the response information sent by the overhead crane to the electronic equipment identifies communication issues, such as weak signal or data delay, the electronic equipment will further optimize the frequency adjustment strategy based on this information to ensure efficient and stable communication under various operating conditions. For example, during one operation, after frequency adjustment for roaming fleet C, the lead crane reported that some data was incompletely received. Based on this feedback, the dispatch center appropriately reduced the adjustment range for the first frequency and optimized the data verification mechanism in the communication protocol, thereby resolving the data reception issue.

[0109] In one embodiment, the electronic device has a preset calculation formula for the first frequency and the second frequency, and calculates the first frequency and the second frequency in real time based on the preset calculation formula.

[0110] Specifically, the first frequency f1 can be calculated according to the following formula 1:

[0111] (Formula 1)

[0112] The second frequency f2 can be calculated according to the following formula 2:

[0113] (Formula 2)

[0114] Among them, f 10 Indicates the initial first frequency, f 20 Indicates the initial second frequency. f 10 With f 20 It can be a preset fixed value. N represents the real-time fleet size, N0 represents the standard value of the fleet size, and N max Indicates the maximum size of the fleet; C represents the real-time traffic congestion index, C0 represents the standard value of the traffic congestion index, and C max represents the maximum value of the traffic congestion index; α and β represent the weight coefficients of the fleet size and traffic congestion index, respectively, and can be set according to actual conditions. For example, α = 0.3 and β = 0.7 means that the traffic congestion index has a relatively greater impact on the first frequency.

[0115] In one embodiment, it is possible to detect whether C exceeds C0 and whether N exceeds N0. When either of the two is determined to be yes, the above formula is used to calculate the corresponding f1 and f2, and f1 and f2 are adjusted. If both are determined to be no, then f1=f 10 , f2=f 20, thereby reducing the adjustments for the first frequency and the second frequency.

[0116] In one embodiment, the above method further includes a fleet adjustment process of the roaming fleet, such as Figure 3 As shown, the process includes:

[0117] Step 310: Calculate a second traffic congestion index of the second roaming route.

[0118] Specifically, the second traffic congestion index may be calculated based on the driving path information of the overhead crane in the roaming area and the second roaming path of the roaming fleet.

[0119] Electronic devices collect real-time traffic data for each section of the SkyRail, including information such as the number of overhead cranes, their speeds, and the time they occupy the section. For the second roaming route planned by the roaming fleet, the system collects data along that route to calculate a second traffic congestion index. This second traffic congestion index can be the same as the first.

[0120] Step 320: Adjust the driving speed of the roaming fleet and the following distance between vehicles based on the second traffic congestion index.

[0121] Optionally, the electronic device may adjust the corresponding driving speed and following distance in real time based on a mapping relationship between a preset traffic congestion index and the driving speed of the roaming fleet and the following distance between overhead cranes in the fleet.

[0122] A corresponding traffic congestion index threshold range can be set, for example, multiple traffic congestion levels. Based on the calculated second traffic congestion index, the traffic congestion level corresponding to the second traffic congestion index can be determined, and the driving speed and following distance corresponding to the traffic congestion level can be obtained. For example, three levels of congestion can be divided into low congestion, medium congestion, and high congestion, with each level corresponding to a driving speed (or driving speed range) and following distance (or following distance range).

[0123] Step 330: Update the overhead crane capacity threshold of the roaming fleet in real time according to the second traffic congestion index.

[0124] Step 340: When the second number of idle overhead cranes in the roaming fleet exceeds the overhead crane capacity threshold, the roaming fleet is split.

[0125] Similar to driving speed and following distance, the electronic device also pre-sets the mapping relationship between traffic congestion index and overhead crane capacity threshold. It can be understood that when the traffic congestion index is higher, the corresponding overhead crane capacity threshold is the smallest.

[0126] Similarly, the traffic congestion level of the traffic congestion index can be calculated, and the overhead crane capacity threshold can be determined based on the traffic congestion level. Different traffic congestion levels correspond to different overhead crane capacity thresholds.

[0127] When it is identified that the number of idle overhead cranes (the second number) in a roaming fleet exceeds the corresponding overhead crane capacity threshold, the roaming fleet needs to be split into multiple roaming fleets, so that the number of idle overhead cranes in each of the split roaming fleets does not exceed the overhead crane capacity threshold.

[0128] For example, if a roaming fleet has 30 idle overhead cranes but the overhead crane capacity threshold is 25, the fleet can be split into two roaming fleets using any appropriate splitting method, so that the number of idle overhead cranes in each of the two roaming fleets does not exceed 25. For example, the first 20 idle overhead cranes in the roaming fleet can be used as one roaming fleet, and the last 10 idle overhead cranes can be used as another roaming fleet.

[0129] By adjusting the roaming fleet's driving speed, following distance, and the number of idle overhead cranes in real time according to traffic congestion conditions, the roaming fleet's adaptability to traffic congestion conditions can be improved, thereby improving overall transportation efficiency.

[0130] In one embodiment, Figure 4 As shown, the above method also includes a path conflict detection process, which includes:

[0131] Step 410 : Detect whether there is a conflict between the operating path of the overhead crane and the second roaming path.

[0132] In this embodiment, if the operating path overlaps with the second roaming path at the same time, it indicates that the second roaming path and the operating path conflict. The longer the overlap between the second roaming path and the operating path lasts, and the greater the number of operating paths conflicting with the second roaming path (i.e., the number of conflicting overhead cranes) within a future period (such as the aforementioned time threshold), the more severe the conflict.

[0133] When no operation path is in a duplicate state with the second roaming path at the same time, it indicates that there is no conflict.

[0134] Step 420 : When there is a conflict, determine the interference level of the second roaming path on the operating path, use the conflicting overhead crane as the target overhead crane, and use the conflicting roaming fleet as the target roaming fleet.

[0135] When it is identified that a conflict will occur at some point in the future, the interference level corresponding to the conflict may be further identified.

[0136] In this embodiment, the electronic device is preset with multiple interference levels. The more serious the conflict, the higher the interference level. The interference level may include a low interference level, a medium interference level, and a high interference level.

[0137] Specifically, the interference level of the second roaming path on the operating path is determined based on a variety of factors, including one or more of the number of operating cranes that conflict simultaneously within a preset time period, the urgency of the operating cranes' tasks, and the traffic capacity of the overhead rail section at the conflicting point.

[0138] The greater the number of conflicting overhead cranes, the more urgent the task, and the smaller the capacity at the conflict point, the lower the interference level. Conversely, the higher the interference level. The capacity of a section of the overhead rail segment reflects the speed flexibility of the roaming fleet within that section. Higher speed flexibility indicates higher capacity, and vice versa.

[0139] For example, if a roaming fleet is operating on a particular section of the track, with no other overhead cranes present, the fleet can travel at either high or low speeds without interfering with the overhead cranes' deliveries, thus giving the segment a high capacity. Conversely, if a roaming fleet is located on a section of the track with overhead cranes operating both in front and behind it, the speeds of the two cranes will restrict the fleet's speed, thus giving the segment a relatively low capacity.

[0140] Step 430: When the interference level is at a low interference level, the second roaming path is maintained unchanged, and the driving speed and / or following distance of the target roaming fleet are controlled to reduce interference with the target overhead crane.

[0141] In this embodiment, when the interference level is identified as low, it means that the interference to the overhead crane can be reduced or avoided by controlling the driving speed and following distance of the roaming fleet.

[0142] Specifically, the conflict point between the target roaming fleet and the target overhead travelling vehicle on the overhead rail is identified, and the driving speed and / or following distance of the roaming fleet is controlled so that the target roaming fleet has all passed the conflict point when the target overhead travelling vehicle arrives at the conflict point, or the main guide overhead travelling vehicle of the target roaming fleet has not yet arrived at the conflict point when the target overhead travelling vehicle arrives at the conflict point.

[0143] The conflict point indicates the point where the target roaming fleet is traveling along the pre-planned second roaming path (including the preset driving speed and following distance), and the target overhead crane is traveling along the pre-planned operating path, and the two converge.

[0144] For example, when traveling along the originally planned second roaming path at the speed and following distance, the roaming fleet will converge with an overhead crane at a certain location on the overhead rail segment (i.e., a conflict point). If the capacity of the overhead rail segment is very high, the roaming fleet's speed and / or following distance can be controlled so that by the time the target overhead crane reaches the conflict point, the roaming fleet has already passed the conflict point, or has not yet passed the conflict point.

[0145] That is to say, by controlling the driving speed and / or following distance of the roaming fleet, the target operating overhead crane can travel ahead of the main guide overhead crane of the roaming fleet when it reaches the conflict point, and the main guide overhead crane of the roaming fleet can travel behind the target operating overhead crane when it reaches the conflict point, thereby avoiding interference with the target operating overhead crane; the driving speed of the roaming fleet can also be increased, and / or the following distance can be reduced, so that the roaming fleet passes the conflict point in advance, and the target operating overhead crane can travel behind the last following overhead crane of the roaming fleet when it reaches the conflict point.

[0146] Step 440 : When the interference level is at a medium interference level, control the target overhead crane to merge into the target roaming fleet.

[0147] In this embodiment, when the interference level is medium, the target overhead crane can be made to merge into the target roaming fleet. For example, it can be inserted into any suitable position between the main leading overhead crane and the last following overhead crane, and follow the target roaming fleet until the two paths no longer overlap. At this point, the target overhead crane is controlled to separate from the target roaming fleet.

[0148] Step 450: When the interference level is at a high interference level, the target roaming fleet is split, and a second roaming path is replanned for the split roaming fleet to reduce interference with the target overhead crane.

[0149] In this embodiment, when the interference level is detected to be at a high interference level, the target roaming fleet is split, and the target operating overhead crane travels between the two split roaming fleets to prevent the roaming fleet before the split from occupying the overhead rail section for too long and interfering with the passage of the target operating overhead crane.

[0150] In this embodiment, when interference is detected, interference levels are classified and different treatments are performed on the target roaming fleet according to different interference levels, thereby reducing the distribution interference on the target overhead crane.

[0151] In one embodiment, step 440 includes: identifying a conflict point between the target roaming fleet and the target overhead travelling vehicle on the overhead rail; calculating the target idle overhead travelling vehicle in the target roaming fleet that is located at the conflict point when the target overhead travelling vehicle arrives at the conflict point; and controlling the travel speed of the target idle overhead travelling vehicle so that the target overhead travelling vehicle merges into the target roaming fleet at the conflict point and is located ahead of the target idle overhead travelling vehicle.

[0152] In this embodiment, the electronic device can calculate the idle overhead crane that intersects with the target overhead crane at the conflict point when the target roaming fleet and the target overhead crane are traveling according to their planned paths (including driving speed, following distance, etc.), and use the idle overhead crane as the target idle overhead crane.

[0153] After determining the target idle overhead crane, the speed and following distance of the entire roaming fleet can be controlled so that the following distance between the target idle overhead crane and the vehicle in front of it is sufficient to accommodate the target idle overhead crane's normal operation and the target operating overhead crane reaches the collision point before the target idle overhead crane. In this way, when the target operating overhead crane reaches the collision point, it can merge into the target roaming fleet and be positioned between the target idle overhead crane and the vehicle in front of it.

[0154] In this embodiment, after the target operating overhead crane joins the target roaming fleet, the electronic device sends a follow-up instruction to the target idle overhead crane that includes the overhead crane identification of the target operating overhead crane, so that the target idle overhead crane keeps following the target operating overhead crane until the target operating overhead crane leaves the roaming fleet, and then resumes following the idle overhead crane before the target idle overhead crane.

[0155] In one embodiment, step 450 includes: identifying a conflict point between the target roaming fleet and the target operating overhead crane on the overhead rail; calculating the target idle overhead crane in the target roaming fleet that is at the conflict point when the target operating overhead crane arrives at the conflict point; taking the idle overhead crane before the target idle overhead crane as the first roaming fleet; and taking the idle overhead cranes between the target idle overhead crane and the target idle overhead crane as the second roaming fleet.

[0156] In this embodiment, when the interference level is high, after the conflict point and the target operating overhead crane are determined, the idle overhead crane before the target idle overhead crane is used as the first roaming fleet, and the first roaming fleet is controlled to roam according to the originally planned second driving path, and before the target operating overhead crane reaches the conflict point, the first roaming fleet completely passes the conflict point.

[0157] For the second roaming fleet formed, it can also travel according to the planned second driving path, but reduce its driving speed. It can also replan a new driving path so that when the target operating overhead crane reaches the conflict point, the second roaming fleet is behind the target idle overhead crane, or its driving path is not the same as that of the target operating overhead crane.

[0158] For example, when there are multiple target work cranes that need to pass the conflict point, the electronic device can control the second roaming fleet to continue to travel along the second driving path, but reduce its driving speed so that it waits before the conflict point until the multiple target work cranes have passed the conflict point before continuing to travel along the second driving path.

[0159] Since there are multiple target idle overhead cranes between the second roaming fleet and the first roaming fleet, the two become two independent roaming fleets, so roaming paths can be planned independently for both.

[0160] In one embodiment, the method further includes: identifying whether two roaming fleets within the same roaming area meet a merging condition, and merging the two roaming fleets into a new roaming fleet when the merging condition is met; the merging condition is one or more of the following conditions:

[0161] Condition 1: The total number of idle overhead cranes in the two roaming fleets does not exceed the overhead crane capacity threshold;

[0162] Condition 2: The overlap of the second roaming paths of the two roaming fleets exceeds a preset overlap threshold;

[0163] Condition 3: The convoy distance between the two roaming convoys is less than a preset path distance threshold.

[0164] In this embodiment, for multiple roaming fleets in the roaming area, idle overhead cranes will be separated from the roaming fleet due to being assigned new transportation tasks and become working overhead cranes, so the number of overhead cranes in the roaming fleet will be reduced.

[0165] Taking the simultaneous satisfaction of the three conditions as an example, when it is detected that the sum of the number of overhead cranes in two roaming fleets exceeds the corresponding overhead crane capacity threshold, it indicates that the two roaming fleets have the possibility of merging.

[0166] At this time, the fleet distance between the two roaming fleets can be further detected. The fleet distance can be the driving distance required for one roaming fleet to travel to the other roaming fleet. When the driving distance is lower than the preset path distance threshold, it means that the distance between the two is close.

[0167] On the basis of satisfying the close distance, the overlap of the second roaming paths of the two roaming fleets can be further detected, or the second roaming paths of one or both of the two roaming fleets can be replanned so that their overlap exceeds a preset overlap threshold, so that the two fleets gradually approach and merge during the driving process.

[0168] For the new roaming fleet formed after the merger, the idle overhead crane at the front of the new roaming fleet can be used as the main leading overhead crane, and the remaining overhead cranes can be used as follower overhead cranes. A new secondary roaming path is then regenerated for the new roaming fleet (taking into account factors such as the original paths of the two fleets and the number of overhead cranes in the fleet). The new main leading overhead crane will follow the re-planned secondary roaming path, while the follower overhead cranes will continue to follow the preceding crane.

[0169] For example, if the electronic device identifies that roaming fleet A and roaming fleet B meet the merging conditions within the same roaming area, it can replan the second roaming path for roaming fleet A and / or roaming fleet B and adjust the driving status of roaming fleet A and / or roaming fleet B. For example, if roaming fleet A is ahead of roaming fleet B in the direction of travel, the idle overhead crane of roaming fleet B can be controlled to gradually accelerate, narrowing the gap between roaming fleet A and roaming fleet B, until the two fleets are closely connected.

[0170] After the connection is completed, the system re-designates the lead crane. For example, the original lead crane in roaming fleet A is selected as the lead crane of the newly merged fleet, and the remaining cranes are used as follower cranes.

[0171] In this embodiment, the roaming fleets that meet the merging conditions are merged to form a roaming fleet, which can further optimize the scheduling management of idle overhead cranes.

[0172] In one embodiment, Figure 5 As shown, a roaming control device for an overhead crane is provided, the device comprising:

[0173] An idle overhead crane acquisition module 510 is configured to acquire a first number of idle overhead cranes and position information of each idle overhead crane in an extended area corresponding to each roaming area;

[0174] The convergence module 520 is configured to determine at least one convergence center within the roaming area based on the first quantity and the location information; assign a corresponding convergence center to each idle overhead crane based on the location information; generate a first roaming path for each idle overhead crane to travel to the assigned convergence center based on the location information and the center position of the convergence center; and control each idle overhead crane to converge at the corresponding convergence center along the corresponding first roaming path to form a corresponding roaming fleet.

[0175] The fleet path planning module 530 generates a second roaming path for the roaming fleet and controls the idle overhead cranes in the roaming fleet to travel within the corresponding roaming area according to the second roaming path.

[0176] In one embodiment, the fleet path planning module 530 is also used to detect whether there is a conflict between the operating path of the operating overhead crane and the second roaming path; when there is a conflict, the interference level of the second roaming path on the operating path is determined, and the conflicting operating overhead crane is used as the target operating overhead crane, and the roaming fleet with the conflict is used as the target roaming fleet; when the interference level is at a low interference level, the second roaming path is maintained unchanged, and the driving speed and / or following distance of the target roaming fleet is controlled to reduce interference with the target operating overhead crane; when the interference level is at a medium interference level, the target operating overhead crane is controlled to merge into the target roaming fleet; when the interference level is at a high interference level, the target roaming fleet is split, and the second roaming path of the split roaming fleet is replanned to reduce interference with the target operating overhead crane.

[0177] In one embodiment, the fleet path planning module 530 is further configured to identify a conflict point between the target roaming fleet and the target operating overhead crane on the overhead rail; calculate the target idle overhead crane in the target roaming fleet that is at the conflict point when the target operating overhead crane arrives at the conflict point; and control the travel speed of the target idle overhead crane so that the target operating overhead crane merges into the target roaming fleet at the conflict point and is located ahead of the target idle overhead crane.

[0178] In one embodiment, the fleet path planning module 530 is further configured to identify a conflict point between the target roaming fleet and the target operating overhead crane on the overhead rail; calculate the target idle overhead crane in the target roaming fleet at the conflict point when the target operating overhead crane arrives at the conflict point; use the idle overhead crane before the target idle overhead crane as the first roaming fleet; and use the idle overhead cranes at and after the target idle overhead crane as the second roaming fleet.

[0179] In one embodiment, the fleet path planning module 530 is further used to identify whether two roaming fleets in the same roaming area meet the merging conditions. When the merging conditions are met, the two roaming fleets are merged into a new roaming fleet; the merging conditions are one or more of the following conditions: 1. The total number of idle overhead cranes of the two roaming fleets does not exceed the overhead crane capacity threshold; 2. The overlap of the second roaming paths of the two roaming fleets exceeds a preset overlap threshold; 3. The fleet distance between the two roaming fleets is less than a preset path distance threshold.

[0180] In one embodiment, the fleet path planning module 530 is further configured to calculate a second traffic congestion index for the second roaming path; and adjust the driving speed of the roaming fleet and the following distance between vehicles based on the second traffic congestion index.

[0181] In one embodiment, the fleet path planning module 530 is further configured to update the overhead crane capacity threshold of the roaming fleet in real time according to the second traffic congestion index; and to split the roaming fleet when the second number of idle overhead cranes in the roaming fleet exceeds the overhead crane capacity threshold.

[0182] In one embodiment, the fleet path planning module 530 is further configured to designate one idle overhead crane in the roaming fleet as a main lead crane, and to designate other idle overhead cranes as follower cranes; to control the main lead crane to travel within the corresponding roaming area according to the second roaming path, and to enable the follower cranes to follow the main lead crane.

[0183] In one embodiment, the fleet path planning module 530 is further configured to send a guidance driving instruction containing a second roaming path to the main guide overhead crane at a first frequency, the guidance driving instruction being used to instruct the main guide overhead crane to travel according to the second roaming path; and to send a following driving instruction containing following information to the following overhead crane at a second frequency, the following driving instruction being used to instruct the following overhead crane to follow the preceding vehicle. The second frequency is lower than the first frequency.

[0184] In one embodiment, the fleet path planning module 530 is further configured to obtain the fleet size of the roaming fleet and the first traffic congestion index of the automatic material handling system AHMS in real time; and adjust the first frequency and the second frequency based on the fleet size and the first traffic congestion index.

[0185] In one embodiment, a computer-readable storage medium is provided, on which executable instructions are stored. When the instructions are executed by a processor, the processor executes the steps in the above-mentioned method embodiments.

[0186] In one embodiment, an electronic device is provided, comprising one or more processors and a memory storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors are caused to perform the steps of each of the above-described method embodiments. The electronic device may be a device equipped with the above-described distribution control system, such as a backend server or an AMHS backend management terminal that communicates with the overhead crane, controls the operation of the overhead crane, transmits a travel route to the overhead crane, and so on.

[0187] In one embodiment, Figure 6 , which shows a schematic diagram of the structure of an electronic device for implementing an embodiment of the present application. Electronic device 600 includes a central processing unit (CPU) 601, which can perform various appropriate actions and processes based on programs stored in read-only memory (ROM) 602 or programs loaded from storage unit 608 into random access memory (RAM) 603. RAM 603 also stores various programs and data required for the operation of electronic device 600. CPU 601, ROM 602, and RAM 603 are connected to each other via bus 604. Input / output (I / O) interface 605 is also connected to bus 604.

[0188] The following components are connected to the I / O interface 605: an input section 606 including a keyboard, mouse, and the like; an output section 607 including devices such as a cathode ray tube (CRT), a liquid crystal display (LCD), and speakers; a storage section 608 including devices such as a hard disk; and a communication section 609 including a network interface card such as a LAN card or a modem. The communication section 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to the I / O interface 605 as needed. Removable media 611, such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, is installed in the drive 610 as needed, so that computer programs read from the removable media can be installed in the storage section 608 as needed.

[0189] In particular, according to embodiments of the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present application include a computer program product comprising a computer-readable medium carrying instructions. In such embodiments, the instructions can be downloaded and installed from a network via communication portion 609 and / or installed from removable media 611. When the instructions are executed by central processing unit (CPU) 601, the various method steps described in this application are performed.

[0190] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

[0191] Furthermore, those skilled in the art will appreciate that although some embodiments herein include certain features included in other embodiments but not others, combinations of features from different embodiments are intended to be within the scope of this application and to form different embodiments. For example, all of the above embodiments may be used in any combination. The information disclosed in this background section is intended solely to enhance understanding of the overall background of this application and should not be construed as an admission or any form of implication that such information constitutes prior art known to those skilled in the art.

Claims

1. A method for controlling roaming of an overhead crane, characterized in that: The method comprises: Acquire a first number of idle overhead cranes in an extended area corresponding to each roaming area and position information of each idle overhead crane; determining at least one aggregation center within the roaming area based on the first quantity and location information; assigning a corresponding convergence center to each idle overhead crane according to the location information; generating a first roaming path for each idle overhead crane to travel to the assigned convergence center based on the position information and the center position of the convergence center; Controlling each idle overhead crane to converge at a corresponding convergence center along a corresponding first roaming path to form a corresponding roaming fleet; From the idle overhead cranes in the roaming fleet, designate the one at the front in the direction of travel of the fleet as the main leading overhead crane, and designate the other idle overhead cranes as following overhead cranes; A second roaming path is generated for the roaming fleet, and a guiding driving instruction containing the second roaming path is sent to the main leading overhead crane at a first frequency, wherein the guiding driving instruction is used to instruct the main leading overhead crane to travel according to the second roaming path; and a following driving instruction containing following information is sent to the following overhead crane at a second frequency, wherein the following driving instruction is used to instruct the following overhead crane to follow the leading vehicle. The second frequency is less than the first frequency.

2. The method according to claim 1, characterized in that The method further comprises: detecting whether there is a conflict between the operating path of the overhead crane and the second roaming path; When there is a conflict, determining an interference level of the second roaming path on the operating path, taking the conflicting overhead vehicle as a target overhead vehicle, and taking the conflicting roaming fleet as a target roaming fleet; When the interference level is at a low interference level, maintaining the second roaming path unchanged, and controlling the driving speed and / or following distance of the target roaming fleet to reduce interference with the target overhead crane; When the interference level is at a medium interference level, controlling the target overhead crane to merge into the target roaming fleet; When the interference level is at a high interference level, the target roaming fleet is split, and a second roaming path is replanned for the split roaming fleet to reduce interference with the target overhead crane.

3. The method according to claim 2, characterized in that The step of merging the target overhead crane into the target roaming fleet includes: Identifying a conflict point between the target roaming fleet and the target overhead crane on the overhead rail; Calculating a target idle overhead crane in the target roaming fleet that is located at the conflict point when the target operating overhead crane arrives at the conflict point; The travel speed of the target idle overhead crane is controlled so that the target operating overhead crane merges into the target roaming fleet at the conflict point and is located ahead of the target idle overhead crane.

4. The method according to claim 2, characterized in that The splitting of the target roaming fleet includes: Identifying a conflict point between the target roaming fleet and the target overhead crane on the overhead rail; Calculating a target idle overhead crane in the target roaming fleet that is located at the conflict point when the target operating overhead crane arrives at the conflict point; The idle overhead cranes located before the target idle overhead crane are regarded as a first roaming fleet; and the idle overhead cranes located after the target idle overhead crane are regarded as a second roaming fleet.

5. The method according to claim 1, characterized in that The method further comprises: Identify whether two roaming fleets in the same roaming area meet a merging condition, and when the merging condition is met, merge the two roaming fleets into a new roaming fleet; the merging condition is one or more of the following conditions: Condition 1: The total number of idle overhead cranes in the two roaming fleets does not exceed the overhead crane capacity threshold; Condition 2: The overlap of the second roaming paths of the two roaming fleets exceeds a preset overlap threshold; Condition 3: The convoy distance between the two roaming convoys is less than a preset path distance threshold.

6. The method according to claim 1, characterized in that The method further comprises: calculating a second traffic congestion index of the second roaming path; adjusting the driving speed of the roaming fleet and the following distance between vehicles based on the second traffic congestion index; updating the overhead crane capacity threshold of the roaming fleet in real time according to the second traffic congestion index; When a second number of idle overhead cranes in the roaming fleet exceeds the overhead crane capacity threshold, the roaming fleet is split.

7. A roaming control device for an overhead crane, characterized in that: The device comprises: An idle overhead crane acquisition module, configured to acquire a first number of idle overhead cranes in an extended area corresponding to each roaming area and position information of each idle overhead crane; a convergence module configured to determine at least one convergence center within the roaming area based on the first quantity and the location information; assign a corresponding convergence center to each idle overhead crane based on the location information; generate a first roaming path for each idle overhead crane to travel to the assigned convergence center based on the location information and the center position of the convergence center; and control each idle overhead crane to converge at a corresponding convergence center along the corresponding first roaming path to form a corresponding roaming fleet; The fleet path planning module is used to designate, from among the idle overhead cranes in the roaming fleet, the frontmost overhead crane in the direction of travel of the fleet as the main leading overhead crane, and to designate the other idle overhead cranes as following overhead cranes; generate a second roaming path for the roaming fleet, and send a guiding driving instruction containing the second roaming path to the main leading overhead crane at a first frequency, wherein the guiding driving instruction is used to instruct the main leading overhead crane to travel according to the second roaming path; and send a following driving instruction containing following information to the following overhead crane at a second frequency, wherein the following driving instruction is used to instruct the following overhead crane to follow the leading crane. The second frequency is less than the first frequency.

8. A computer-readable storage medium, characterized in that The computer-readable storage medium stores executable instructions, which, when executed by a processor, enable the processor to perform the method according to any one of claims 1 to 6.

9. An electronic device, characterized in that: include: one or more processors; A memory for storing one or more programs, which, when executed by the one or more processors, causes the one or more processors to perform the method according to any one of claims 1 to 6.

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