Product transportation method, management system and electronic equipment

Abstract

The invention provides a product transportation method, a management system and electronic equipment, and relates to the field of smart factories. The method is applied to a management system in communication connection with a plurality of trolleys and a plurality of process devices, and the management system comprises the following steps: in response to a warehousing transportation instruction, scheduling an idle first trolley to take out a product to be warehoused from a specified starting point device and transport the product to a specified warehousing connection port; in response to an ex-warehouse transportation instruction, scheduling an idle second trolley to take out the to-be-ex-warehouse product from a specified ex-warehouse connection port and transport the to-be-ex-warehouse product to specified terminal equipment; wherein the warehouse-in connection port and the warehouse-out connection port are respectively one of a plurality of connection ports of the stereoscopic warehouse; and the starting point equipment and the terminal point equipment are process equipment. According to the invention, a plurality of trolleys can be dispatched, so that the product delivery and warehousing transportation requirements between a plurality of connection ports and a plurality of process devices are met, and rapid and automatic delivery and warehousing of products are realized.

Description

Technical Field

[0001] The present invention relates to the field of smart factories, and in particular to a product transportation method, management system and electronic equipment. Background Art

[0002] The current industrial automation field has increasingly higher requirements for product transportation, especially when it comes to complex production processes and large-scale warehouse management. Traditional transportation methods can no longer meet actual needs.

[0003] For example, within many factories, product transportation often relies on manual operations or simple automated equipment. This approach is not only inefficient but also prone to transportation errors or delays due to human factors or equipment failures. Summary of the Invention

[0004] The purpose of the present invention is to provide a product transportation method, management system and electronic equipment to improve the problems existing in the prior art.

[0005] The embodiments of the present invention can be implemented as follows: In a first aspect, the present invention provides a product transportation method, which is applied to a management system, wherein the management system is communicatively connected to a plurality of carts and a plurality of process equipment; the method comprises: In response to the inbound transport instruction, the idle first trolley is dispatched to take out the products to be inbound from the designated starting equipment and transport them to the designated inbound docking port; In response to the outbound transport instruction, the idle second trolley is dispatched to take out the products to be shipped from the designated outbound docking port and transport them to the designated terminal equipment; Among them, the inbound docking port and the outbound docking port are both one of the multiple docking ports of the three-dimensional warehouse; the starting point equipment and the end point equipment are both the process equipment.

[0006] In an optional embodiment, the management system includes a task control system, a task scheduling system, a warehouse control system, a transfer service, and a storage system of the three-dimensional warehouse, which are communicatively connected in sequence; the task scheduling system is communicatively connected to each of the carts, and the transfer service is also communicatively connected to each of the process equipment; each docking port of the three-dimensional warehouse is equipped with a docking device that is communicatively connected to the storage system; The step of dispatching an idle first trolley to retrieve the product to be stored from the designated starting point equipment and transport it to the designated storage docking port in response to the storage transport instruction includes: The task control system generates a warehousing and transportation instruction and sends it to the task scheduling system; The task scheduling system selects an idle first trolley from the plurality of trolleys; The task scheduling system sequentially notifies the starting point equipment corresponding to the starting point through the warehouse control system and the transit service to prepare the products to be stored; The task scheduling system dispatches the first trolley to take out the product to be stored from the starting device and transport it to the storage docking port, and then controls the first trolley to transfer the product to be stored to the docking device of the storage docking port; The warehousing system performs warehousing processing on the products to be stored on the docking device of the storage docking port.

[0007] In an optional embodiment, the inbound transport instruction includes the device ID of the starting device serving as the starting point, the inbound docking port serving as the end point, and the product ID; and the task scheduling system sequentially notifies the starting device corresponding to the starting point via the warehouse control system and the transit service to prepare the product to be inbound, including: The task scheduling system sends a material collection request carrying the product ID to the starting device through the warehouse control system and the transit service in turn, so that the starting device switches its own docking device to the shipping direction based on the material collection request and places the product to be stored corresponding to the product ID on its own docking device, and then returns a stocking completion message to the task scheduling system through the transit service and the warehouse control system in turn.

[0008] In an optional embodiment, the task scheduling system maintains at least one mapping relationship and the position of at least one preset pause point, and each mapping relationship represents that one pause point corresponds to at least one process equipment; The step of the task scheduling system scheduling the first trolley to take out the product to be stored from the starting device and transport it to the storage docking port includes: When the task scheduling system receives the stocking completion message, it searches for the first pause point corresponding to the starting device based on each of the mapping relationships; The task scheduling system controls the first trolley to take out the product to be stored from the docking device at the starting point and drive it to the first pause point; The task scheduling system sends a warehousing preparation message to the warehousing system through the warehouse control system and the transit service in sequence; the warehousing preparation message carries the identifier of the warehousing docking port and the warehousing flag value; The warehousing system determines whether the warehousing docking port is idle based on the warehousing preparation message; If the inbound docking port is idle, the warehousing system controls the docking device at the inbound docking port to adjust to the inbound direction based on the inbound flag value, and then returns an inbound ready message to the task scheduling system through the transit service and the warehouse control system in sequence; The task scheduling system schedules the first vehicle to travel from the first pause point to the warehouse docking port.

[0009] In an optional embodiment, after the warehousing system determines whether the inbound docking port is idle based on the inbound preparation message, the method further includes: If the inbound docking port is not idle, the warehousing system temporarily stores the inbound preparation message in the message queue, and then returns a busy message to the task scheduling system through the transit service and the warehouse control system in sequence; When the task scheduling system receives the busy message, it schedules the first vehicle to travel from the first pause point to a preset waiting area to wait; When the warehousing system determines that the warehousing docking port is idle, the warehousing system reads the warehousing preparation message from the message queue; The warehousing system controls the docking device at the inbound docking port to adjust to the inbound direction based on the inbound flag value in the inbound preparation message, and then returns an inbound ready message to the task scheduling system through the transit service and the warehouse control system in sequence; The task scheduling system schedules the first trolley to travel from the waiting area to the storage docking port.

[0010] In an optional embodiment, the warehousing transport instruction further includes a task ID; after the task scheduling system issues the warehousing preparation message, or after the task scheduling system schedules the first vehicle to travel from the first pause point to a preset waiting area for waiting, the method further includes: If the task scheduling system does not receive the warehousing ready message returned by the warehousing system within the preset time, it will be determined that the task execution has failed; The task scheduling system feeds back a storage failure message carrying the task ID, product ID and destination to the task control system; The task control system generates a fault prompt based on the storage failure message and sends a new destination to the task scheduling system; The task scheduling system schedules the first trolley to travel from the first pause point or the waiting area to the new destination for unloading; wherein, the new destination is a new docking port or a product temporary storage area.

[0011] In an optional embodiment, the management system includes a task control system, a task scheduling system, a warehouse control system, a transfer service, and a storage system of the three-dimensional warehouse, which are communicatively connected in sequence; the task scheduling system is communicatively connected to each of the carts, and the transfer service is also communicatively connected to each of the process equipment; each docking port of the three-dimensional warehouse is equipped with a docking device that is communicatively connected to the storage system; The step of dispatching an idle second vehicle to retrieve the product to be shipped from the designated shipping dock and transport it to the designated terminal device in response to the shipping transport instruction includes: The task control system generates a delivery transport instruction and sends it to the task scheduling system; The task scheduling system selects an idle second trolley from the plurality of trolleys; The task scheduling system notifies the warehousing system through the warehouse control system and the transit service in turn to prepare the products to be shipped at the shipping docking port; The task scheduling system dispatches the second trolley to take out the product to be shipped from the docking device at the shipping docking port and transport it to the terminal equipment corresponding to the terminal.

[0012] In an optional embodiment, the task scheduling system maintains the location of at least one pause point; the outbound transport instruction includes an identifier of an outbound docking port as a starting point, and a device ID and a product ID of a terminal device as a destination; The task scheduling system sequentially notifies the warehousing system through the warehouse control system and the transit service to prepare the products to be shipped at the shipping docking port, including: The task scheduling system obtains the position of the second vehicle and selects a second pause point from all pause points based on the position of the vehicle and the end point; After the task scheduling system schedules the second trolley to travel to the second pause point, the task scheduling system sends a shipment preparation message to the warehouse system through the warehouse control system and the transit service in sequence; the shipment preparation message carries the shipment docking port identifier, shipment flag value, and product ID; The warehousing system controls the docking device at the outbound docking port to adjust to the outbound direction based on the outbound flag value, and places the outbound product corresponding to the product ID on the docking device at the outbound docking port after outbound processing; The warehousing system returns the message of shipment to the task scheduling system through the transit service and the warehouse control system in turn; The task scheduling system schedules the second trolley to travel from the second pause point to the outbound docking port.

[0013] In an optional embodiment, the step of the task scheduling system scheduling the second trolley to take out the product to be shipped from the docking device at the shipping docking port and transport it to the terminal equipment corresponding to the destination includes: The task scheduling system controls the second trolley to take out the product to be shipped from the docking device of the shipping docking port; The task scheduling system controls the second trolley to travel from the outbound docking port to the terminal device, and simultaneously sends a material discharge request to the terminal device through the warehouse control system and the transit service; the material discharge request is used to instruct the terminal device to switch its docking device to the receiving direction and return a message that the goods can be received; After receiving the receivable message returned by the terminal device through the transit service and the warehouse control system, the task scheduling system controls the second trolley to transfer the product to be shipped to the docking device of the terminal device.

[0014] In an optional embodiment, after the task scheduling system issues the shipment preparation message, the method further includes: If the task scheduling system does not receive the warehouse-out message returned by the warehousing system within the preset time period, it determines that the task execution has failed and controls the second trolley to leave the second pause point; The task scheduling system feeds back a delivery failure message carrying the task ID, product ID and delivery port to the task control system; The task control system generates a fault prompt based on the outbound failure message.

[0015] In a second aspect, the present invention provides a management system, wherein the management system is communicatively connected to a plurality of carts and a plurality of process equipment; the management system is used to: In response to the inbound transport instruction, the idle first trolley is dispatched to take out the products to be inbound from the designated starting equipment and transport them to the designated inbound docking port; In response to the outbound transport instruction, the idle second trolley is dispatched to take out the products to be shipped from the designated outbound docking port and transport them to the designated terminal equipment; Among them, the inbound docking port and the outbound docking port are both one of the multiple docking ports of the three-dimensional warehouse; the starting point equipment and the end point equipment are both the process equipment.

[0016] In a third aspect, the present invention provides an electronic device comprising: a memory and a processor, wherein the memory stores a software program, and when the electronic device is running, the processor executes the software program to implement the product transportation method as described in the first aspect above.

[0017] Compared with the prior art, the embodiments of the present invention provide a product transportation method, management system, and electronic equipment. The method is applied to a management system that is communicatively connected to multiple carts and multiple process equipment. The management system method is as follows: in response to an inbound transportation instruction, dispatching an idle first cart to take out the product to be inbound from a designated starting point device and transport it to a designated inbound docking port; in response to an outbound transportation instruction, dispatching an idle second cart to take out the product to be outbound from a designated outbound docking port and transport it to a designated terminal device; wherein the inbound docking port and the outbound docking port are both one of the multiple docking ports of a three-dimensional warehouse; the starting device and the terminal device are both process equipment. The present invention can dispatch multiple carts to meet the product outbound and product inbound transportation needs between multiple docking ports and multiple process equipment, and realize rapid and automated product outbound and inbound. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 This is one of the flow charts of a product transportation method provided by an embodiment of the present invention.

[0020] Figure 2 This is a system architecture diagram of the management system provided by an embodiment of the present invention.

[0021] Figure 3 This is a second flow chart of a product transportation method provided by an embodiment of the present invention.

[0022] Figure 4 This is one of the line layout diagrams between multiple carts and multiple docking ports of a high-bay warehouse provided in an embodiment of the present invention.

[0023] Figure 5 This is a third flow chart of a product transportation method provided by an embodiment of the present invention.

[0024] Figure 6 This is a second circuit layout diagram between a plurality of trolleys and a plurality of docking ports of a three-dimensional warehouse provided in an embodiment of the present invention.

[0025] Figure 7 This is a fourth flow chart of a product transportation method provided by an embodiment of the present invention.

[0026] Icons: 10-Management system; 11-Task control system; 12-Task scheduling system; 13-Warehouse control system; 14-Transit service; 15-Warehousing system; 20-Trolley; 30-Process equipment. DETAILED DESCRIPTION

[0027] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0028] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort shall fall within the scope of protection of the present invention.

[0029] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0030] In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the accompanying drawings, or is the orientation or position relationship in which the product of the invention is usually placed when in use. It is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be understood as a limitation on the present invention.

[0031] In addition, the terms "first", "second", etc., if used, are merely used to distinguish and describe, and should not be understood as indicating or implying relative importance.

[0032] It should be noted that, in the absence of conflict, the features in the embodiments of the present invention may be combined with each other.

[0033] Here, we first introduce the keywords or key terms involved in the present invention: 1. Automated Guided Vehicle (AGV), also known as automated guided transport vehicle or automated guided vehicle. AGVs are vehicles that can move autonomously in environments such as factories and warehouses, transporting materials or goods using pre-defined paths or navigation systems (such as magnetic strips, lasers, and visual recognition technologies).

[0034] In manufacturing plants in industries such as panels and semiconductors, the current methods of transporting materials and products between process equipment and high-bay warehouses are: (1) Conveyor lines are used between process equipment and the three-dimensional warehouse. This method requires additional conveyor line equipment, which increases cost and space. In addition, since the conveyor line is fixed, it is difficult to adjust the dynamic path and has low flexibility. (2) AGVs are used between the process equipment and the three-dimensional warehouse, and a liftable docking platform is configured in the three-dimensional warehouse. On the one hand, having only one docking platform will lead to the risk of efficiency bottlenecks, and if the docking platform fails or is under maintenance, the three-dimensional warehouse will be in a "paralyzed" state; on the other hand, when the docking platform is processing an inbound task and an outbound request occurs, or when the docking platform is processing an outbound task and an inbound request occurs, it will cause a backlog of orders and affect efficiency.

[0035] Based on the discovery of the above technical problems, the inventors have proposed the following technical solutions after creative work to solve or improve the above problems. It should be noted that the defects existing in the solutions in the above prior art are the results obtained by the inventors after practice and careful research. Therefore, the discovery process of the above problems and the solutions proposed in the embodiments of this application below for the above problems should all be the contributions made by the inventors to this application in the process of invention and creation, and should not be understood as technical contents known to those skilled in the art.

[0036] Embodiments of the present invention provide a product transportation method that can be configured with multiple docking ports in a three-dimensional warehouse and then dispatch multiple AGVs (hereinafter referred to as "cars") to meet product transportation needs between multiple docking ports and multiple process equipment. This method is described in detail below using an embodiment and accompanying drawings.

[0037] Please refer to Figure 1 , Figure 1 This is a flow chart of a product transportation method provided by an embodiment of the present invention. The method is applied to a management system that is in communication with multiple carts and multiple process equipment. The management system mainly realizes automated transportation between process equipment and the docking port of the automated factory by dispatching carts. Figure 1 , the method comprises the following steps: S100: In response to an incoming transport instruction, dispatch an idle first vehicle to retrieve the incoming product from a designated starting point and transport it to a designated incoming docking port; S200: In response to the outbound transport instruction, dispatch an idle second vehicle to retrieve the product to be shipped from the designated outbound docking port and transport it to the designated terminal equipment; Among them, the starting equipment and the end equipment are both process equipment, and the three-dimensional warehouse is provided with multiple docking ports, and the incoming docking port and the outgoing docking port are each one of the multiple docking ports.

[0038] The product transportation method provided by the embodiment of the present invention sets multiple docking ports for the three-dimensional warehouse, and the management system dispatches multiple carts to meet the product outbound and product inbound transportation needs between the multiple docking ports of the three-dimensional warehouse and multiple process equipment, thereby realizing rapid and automated product outbound and inbound.

[0039] The product transportation method provided by the embodiment of the present invention can be adapted to application scenarios including but not limited to: 1. In automobile manufacturing plants, transport parts (engines, gearboxes, body stampings, seats, tires, etc.), finished vehicles and other products in and out of the warehouse; 2. In electronic product manufacturing factories (mobile phone, chip, home appliance, etc.), electronic components (PCB boards, chips, resistors and capacitors, etc.), packaged finished products (packaged mobile phones, laptops, home appliances, etc.) and other products are transported in and out of the warehouse; 3. In pharmaceutical and medical device factories, it is used for the inbound and outbound transportation of raw materials (powders, liquid raw materials), finished drugs (boxed / bottled drugs), and other products.

[0040] The present invention does not limit the application scenarios of the adaptation.

[0041] See Figure 2 , Figure 2 This is a system architecture diagram of the management system provided by the embodiment of the present invention. Figure 2 The management system 10 includes a task control system (Module Control System, MCS) 11, a task scheduling system (Robotic Control System, RCS) 12, a warehouse control system (WCS) 13, a transit service 14, and a storage system (Stocker, STK) 15 of a three-dimensional warehouse, which are connected in communication with each other.

[0042] The task scheduling system 12 is connected to each vehicle 20 for communication, and the transfer service 14 is also connected to each process equipment 30 for communication.

[0043] Each docking port of the high-bay warehouse is equipped with a docking device that is in communication with the storage system 15, and each process equipment 30 is also equipped with a docking device. Optionally, the docking device includes a transfer mechanism (such as a guide rail / roller sliding mechanism or a mechanical gripper) for transferring items to and from the trolley 20.

[0044] The docking device has two directions. For the docking device on the process equipment 30, the two directions are the receiving direction and the shipping direction; for the docking device at the docking port, the two directions are the warehousing direction and the shipping direction.

[0045] Each docking device in the three-dimensional warehouse is fixed at the docking port. A stacker can be located behind the docking device, responsible for transporting products in and out of the warehouse. When transporting products in, the docking device at the docking port transfers the products transported by the trolley 20 to the stacker, which then lifts and lowers to place the products in the three-dimensional warehouse. When transporting products out of the warehouse, the stacker removes the designated products from the three-dimensional warehouse and places them on the docking device at the docking port, waiting for the trolley 20 to pick them up.

[0046] The following combination Figure 2 The structure of the management system shown introduces the scheduling and transportation process of the trolleys in the warehousing task and the outbound task respectively through various parts of the management system.

[0047] Combine Figure 2 , see Figure 3 , the sub-steps of the above step S100 may include S110 to S150: S110: The task control system generates a warehousing and transportation instruction and sends it to the task scheduling system.

[0048] Among them, the warehousing transportation instruction may include the device ID of the starting device as the starting point, the warehousing docking port as the end point, the product ID of the product to be warehousing, and the task ID.

[0049] Optionally, according to the production plan, when a batch of products (semi-finished or finished products) or an item is processed by a process device and needs to be stored in a high-bay warehouse, another system (such as the manufacturing execution system) will send an inbound transport task to the task control system. This inbound transport task involves transporting the incoming product (identified by the product ID) from the process device (indicated by the device ID) to the high-bay warehouse for storage. Upon receiving the inbound transport task, the task control system selects a docking station as the inbound docking station and generates an inbound transport instruction, which it sends to the task scheduling system.

[0050] For example, in a chip manufacturing plant, the products to be stored may be: etched wafers, photomasks, finished chips, etc. It should be noted that this example is only an example and is not limiting.

[0051] S120: The task scheduling system selects the first idle trolley from multiple trolleys.

[0052] Optionally, the task scheduling system may use the idle vehicle closest to the starting device as the first vehicle to execute the warehousing transportation task.

[0053] S130 , the task scheduling system notifies the starting point equipment corresponding to the starting point through the warehouse control system and the transit service in turn to prepare the products to be put into storage.

[0054] Optional, combined Figure 2 The process of the task scheduling system notifying the starting device to prepare the products to be stored may include: The task scheduling system can send a pick-up request with a product ID to the originating device through the warehouse control system and the transit service. Upon receiving the pick-up request, the originating device first switches its docking device to the shipping direction based on the pick-up request. It then places the incoming product corresponding to the product ID in the pick-up request onto its docking device. It then returns a stocking completion message to the task scheduling system through the transit service and warehouse control system.

[0055] S140. The task scheduling system dispatches the first trolley to take out the product to be stored from the starting device and transport it to the storage docking port, and then controls the first trolley to transfer the product to be stored to the docking device of the storage docking port.

[0056] In this embodiment, the task scheduling system dispatches the first trolley to travel to the starting equipment to take out the products to be stored, then controls the first trolley to transport the products to be stored to the storage docking port, and then controls the first trolley to transfer the products to be stored to the docking device of the storage docking port.

[0057] S150: The warehousing system processes the products to be stored on the docking device at the storage docking port.

[0058] In this embodiment, the warehousing system can control the docking device to transfer the products to be stored to the corresponding stacker, and then control the stacker to place the products to be stored at a designated location in the three-dimensional warehouse.

[0059] In a factory, a car can travel along a set route. In the case of multiple cars, it is necessary to ensure the orderly entry and exit scheduling of multiple cars to avoid scheduling confusion.

[0060] Therefore, based on the drivable route of the vehicle in the factory and the location of each process equipment, the present invention sets at least one pause point before entering each docking port on the drivable route, and defines a waiting area between the pause point and the docking point.

[0061] Before each car goes to a docking port, it needs to pass through a pause point and stop at the pause point. The task scheduling system will ask the warehouse system whether the car can enter the docking port it needs to reach. If allowed, the task scheduling system will control the car to enter the docking port; if not allowed, the task scheduling system will control the car to enter the designated waiting area.

[0062] Therefore, the task scheduling system maintains at least one mapping relationship and the position of at least one preset pause point, and each mapping relationship represents a correspondence between a pause point and at least one process equipment.

[0063] For example, if the three-dimensional warehouse is equipped with 4 docking ports (P1~P4), there are 10 process equipment that need to be transported between the three-dimensional warehouse. Figure 4 The drivable route of the car is shown by two gray lines, with two pause points A and B set. Figure 4 For the driving route distribution shown, the task scheduling system maintains two mapping relationships: process equipment 1 to 5 corresponds to pause point A, and process equipment 6 to 10 corresponds to pause point B.

[0064] Figure 4 The route distribution shown is only an example. The embodiment of the present invention does not limit the distribution of the drivable routes of the trolleys, the number and location of each process equipment, the number and location of the trolleys, and the location of each docking port of the high-bay warehouse.

[0065] So, in Figure 3 Based on Figure 5 The process of "the task scheduling system dispatching the first trolley to take out the products to be stored from the starting device and transport them to the storage docking port" in the above step S140 can include the following sub-steps S141~S14b.

[0066] S141. When the task scheduling system receives the stocking completion message, it searches for the first pause point corresponding to the starting device based on the mapping relationships. S142. The task scheduling system controls the first trolley to take out the product to be stored from the docking device at the starting device and drive it to the first pause point.

[0067] Among them, the task scheduling system can control the first car to drive from the current position of the car to the starting device first, and then the starting device interacts with the docking device of the starting device to take out the product to be stored. When the first cell takes the product, the product ID of the product taken will be sent to the task scheduling system for verification. The task scheduling system confirms whether the product ID taken by the first car is consistent with the product ID in the storage transportation instruction. If they are consistent, the first car carrying the product to be stored will continue to be controlled to drive from the starting device to the first pause point; if they are inconsistent, the error pickup message (carrying the task ID and the incorrectly taken product ID) will be fed back to the task control system, and the task control system will re-specify the actual end point for picking up the product.

[0068] S143. The task scheduling system sends a warehousing preparation message to the warehousing system through the warehouse control system and the transit service in sequence.

[0069] Among them, the warehousing preparation message carries the identification of the warehousing docking port and the warehousing mark value. The warehousing mark value reflects that the first trolley is fully loaded and the carrier needs to put the products into the warehouse.

[0070] S144. The warehousing system determines whether the incoming docking port is free based on the incoming preparation message.

[0071] Among them, when the warehousing docking port is idle, the following steps S145~S146 can be continued to be executed. If the warehousing docking port is not idle, other warehousing tasks or outbound tasks may be in progress, or it may be in maintenance or fault state. Then the following steps S147~S14b can be continued to be executed.

[0072] S145. The warehousing system controls the docking device at the entry docking port to adjust to the entry direction based on the entry flag value, and then returns the entry-ready message to the task scheduling system through the transit service and warehouse control system in sequence.

[0073] S146. When the task scheduling system receives the message that the vehicle can enter the warehouse, it schedules the first vehicle to travel from the first pause point to the warehouse docking port.

[0074] For example, in combination Figure 4 Assuming the starting point is process equipment 1 and the destination is docking port P4, the first pause point determined is pause point A, and the first trolley determined by the task scheduling system is trolley e. After trolley e picks up the product to be stored at process equipment 1, it will first drive to pause point A and then pause. The task scheduling system will then send a storage preparation message to the warehouse system to inquire whether it can enter docking port P4. The storage system can interact with the docking device at the docking port P4 to determine whether it is idle. Figure 4As can be seen, docking port P4 is currently idle. The warehousing system then returns a ready-to-enter message (carrying a ready-to-enter signal) to the task scheduling system, indicating that entry is possible. The task control system then directs cart e to travel from pause point A to docking port P4. Cart e then transfers the incoming products to the docking device at docking port P4, completing the incoming transport task. This example is merely illustrative and is not intended to be limiting.

[0075] The above steps S141-S146 are the processing methods when the warehousing system confirms that the incoming docking port is idle, and the following steps S147-S14b are the processing methods when the warehousing system confirms that the incoming docking port is not idle.

[0076] S147. The warehousing system temporarily stores the warehousing preparation message in the message queue, and then returns a busy message to the task scheduling system through the transit service and the warehouse control system.

[0077] Among them, when the warehousing system determines that the incoming docking port is not idle, it will store the incoming preparation message in a special message queue and return a busy message (carrying a waiting signal) to the task scheduling system.

[0078] S148. When the task scheduling system receives the busy message, it schedules the first vehicle to travel from the first pause point to a preset waiting area to wait.

[0079] Optionally, the waiting area can be divided into multiple parking spaces, and the task scheduling system can find out the vacant parking spaces, and then control the first vehicle to travel from the first pause point to the selected vacant parking space to wait. Figure 4 , car f stops at parking space 1 and waits. Figure 4 The size of the waiting area and the number and size of the parking spaces shown are merely examples and are not limited in this embodiment of the present invention.

[0080] S149: When the warehousing system determines that the inbound docking port is free, it reads the inbound preparation message from the message queue. S14a: The warehousing system controls the docking device at the inbound docking port to adjust to the inbound direction based on the inbound flag value in the inbound preparation message. The system then returns an inbound ready message to the task scheduling system via the transit service and warehouse control system.

[0081] Among them, when the warehousing docking port becomes idle, the warehousing system will read the message queue. When the warehousing preparation message stored in the above step S147 is read, the docking device at the warehousing docking port will be controlled to adjust to the warehousing direction based on the warehousing flag value in the warehousing preparation message, and then the warehousing ready message carrying the task ID will be returned to the task scheduling system.

[0082] S14b, the task scheduling system schedules the first trolley to travel from the waiting area to the warehouse docking port.

[0083] For example, in combination Figure 4 For example, suppose vehicle f is assigned an inbound transport task, with the corresponding task ID being task001 and the inbound docking port being P4. If the task scheduling system receives a message from the warehousing system indicating that it can enter the warehouse (with the task ID being task001) within the preset time period, the task scheduling system can control vehicle f to exit the waiting area and enter docking port P4. This example is for illustrative purposes only and is not intended to be limiting.

[0084] It can be seen from the above steps S141 to S14b that by setting pause points and waiting areas, the task scheduling system can perform flexible scheduling to avoid path congestion caused by multiple vehicles entering the same docking port.

[0085] Whether the first trolley is at the pause point or the waiting area, the corresponding waiting time needs to be specified. If the warehouse system does not return a message indicating that the warehousing is possible within the time limit, it may be due to a failure in the warehousing docking port or a communication failure. The fault needs to be reported, and the first trolley needs to be dispatched to stop the current warehousing task to avoid occupying the trolley for a long time and reducing the overall transportation capacity.

[0086] So, combined Figure 5 After executing the above step S145 or S148, the following steps S14c to S14f may also be executed: S14c. If the task scheduling system does not receive the warehousing ready message from the warehousing system within the preset time, it determines that the task execution has failed.

[0087] Among them, combined Figure 6 If it is after step S145, the preset duration is the first waiting duration corresponding to the pause point, which can be 3 seconds or 5 seconds. For example, when the transit service forwards the warehousing preparation message from the task scheduling system to the warehousing system, the transit service can start counting. If the warehousing system returns a ready-to-warehouse message within the first waiting duration, the transit service sends a task execution failure message to the task scheduling system.

[0088] If it is after step S148, the preset time length is the second waiting time length corresponding to the waiting area, which can be 3 minutes or 5 minutes.

[0089] It should be noted that this example is only an example, and the first waiting time and the second waiting time are not limited here.

[0090] S14d: The task scheduling system feeds back a storage failure message carrying the task ID, product ID and destination to the task control system.

[0091] S14e. The task control system generates a fault prompt based on the storage failure message and sends a new destination to the task scheduling system.

[0092] Among them, the task control system can send the generated fault prompt to the fault handling service or the operation and maintenance personnel's account (email, social account or text message, etc.).

[0093] S14f, the task scheduling system schedules the first trolley to travel from the first pause point or waiting area to the new destination for unloading.

[0094] In this embodiment, the new destination can be a new docking port or a designated temporary product storage area. If the new destination is a new docking port, the task scheduling system needs to resend a warehousing preparation message to the warehousing system to inquire. If the new destination is a temporary product storage area, the products to be stored can be temporarily placed pending the next transport schedule.

[0095] For example, please combine Figure 6 ,if Figure 6 In the process of executing the inbound transport task, the car e in the pause point A times out, then the task scheduling system will control the car e to drive along the route shown by the dotted line to the product temporary storage area for unloading; if Figure 6 In the example, if the vehicle f in FIG. 1 times out in the waiting area while performing the inbound transport task, the task scheduling system will control the vehicle f to travel along the route shown by the dotted line to the product temporary storage area for unloading. It should be noted that this example is merely an example and is not intended to be limiting.

[0096] The above content is the processing process of the inbound transportation task. Figure 2 The architecture diagram shown introduces the processing process of outbound transportation tasks.

[0097] Combine Figure 2 , see Figure 7 , the sub-steps of the above step S200 may include S210 to S240: S210: The task control system generates a delivery instruction and sends it to the task scheduling system.

[0098] In this embodiment, the outbound transportation instruction may include the identifier of the outbound docking port as the starting point, the device ID of the terminal device as the end point, the product ID of the product to be shipped, and the task ID.

[0099] Optionally, according to the production plan, when a process device requires an item stored in a high-bay warehouse (e.g., a photolithography machine requires a photomask), the manufacturing execution system can be notified to send an outbound transport task to the task control system. This outbound transport task involves removing the specified product to be shipped (identified by product ID) from the high-bay warehouse and transporting it to the specified process device (indicated by device ID). Upon receiving the outbound transport task, the task control system can determine the available outbound docking station for the specified product to be shipped, and then generate an outbound transport instruction and send it to the task scheduling system.

[0100] S220: The task scheduling system selects an idle second trolley from multiple trolleys.

[0101] Optionally, the task scheduling system may use the idle vehicle closest to the outbound docking port as the second vehicle to perform the outbound transportation task.

[0102] S230. The task scheduling system notifies the warehousing system through the warehouse control system and the transit service in turn to prepare the products to be shipped at the shipping docking station.

[0103] S240. The task scheduling system dispatches the second trolley to take out the product to be shipped from the docking device at the shipping docking port and transport it to the terminal equipment corresponding to the terminal.

[0104] In this embodiment, the task scheduling system needs to let the warehousing system prepare the products to be shipped on the docking device of the shipping docking port, so that the second trolley can pick up the products to be shipped from the export docking port and transport them to the terminal equipment.

[0105] Similar to the above-mentioned inbound transport task, during the outbound transport task, the second trolley also needs to pause at the pause point, and the task scheduling system will query the warehousing system to ensure the effective transport of the trolley. Specifically, the sub-steps of the above-mentioned step S230 may include: S231. The task scheduling system obtains the position of the second trolley and selects a second pause point from all pause points based on the trolley position and the end point.

[0106] Optionally, in order to ensure that the trolley can quickly pick up the goods, the second pause point is selected based on the principle of ensuring that the driving path between the trolley position → the second pause point → the storage docking point is the shortest. For example, the second pause point can be selected in the following way: Based on the drivable route map of the trolley, the position of the second trolley, the position of the entry docking point, and the positions of multiple pause points, a driving path corresponding to each pause point is planned (the starting point of the driving path is the trolley position, passes through a pause point in the middle, and ends at the entry docking port). Then, the distances of each driving path are compared, and the pause point corresponding to the driving path with the shortest distance is selected as the second pause point.

[0107] S232: After the task scheduling system schedules the second trolley to travel to the second pause point, it sends a shipment preparation message to the warehousing system through the warehouse control system and the transit service in sequence.

[0108] The shipment preparation message carries the shipment connection port identifier, shipment flag value, and product ID of the product to be shipped.

[0109] S233. The warehousing system adjusts the docking device at the outbound docking port to the outbound direction based on the outbound flag value, and places the outbound product corresponding to the product ID on the docking device at the outbound docking port after outbound processing.

[0110] In this embodiment, the warehousing system controls the docking device at the outbound docking port to adjust to the outbound direction based on the outbound flag value, and then searches for the location of the product to be outbound in the three-dimensional warehouse based on the product ID carried by the outbound preparation message, and then controls the corresponding stacker to take out the product to be outbound and transport it to the docking device at the exit docking port.

[0111] S234: The warehousing system returns a message of shipment to the task scheduling system via the transfer service and the warehouse control system. S235: The task scheduling system dispatches the second trolley from the second pause point to the shipment docking station.

[0112] In this embodiment, once the warehouse system confirms that the product to be shipped has been placed on the docking device at the shipping dock, it returns a shipping completion message (including a readiness completion signal) with the task ID to the task scheduling system. The task scheduling system then controls the second trolley to travel from the second pause point to the shipping dock to pick up the product.

[0113] In an optional implementation, after the second trolley picks up the goods, the task scheduling system must also notify the terminal to prepare to receive the products to be shipped, thus achieving transport connection and avoiding the need for the trolley to wait before unloading after arriving at the terminal. Therefore, the sub-steps of step S240 above can include steps S241 to S243.

[0114] S241. The task scheduling system controls the second trolley to take out the products to be shipped from the docking device at the shipping docking port.

[0115] In this embodiment, when the second trolley picks up the product from the docking device at the outbound docking port, the product ID of the product will be sent to the task scheduling system for verification. The task scheduling system needs to verify whether the product ID of the product taken out is consistent with the product ID in the outbound transportation instruction. If they are consistent, the second trolley will continue to be controlled to travel to the terminal equipment; if they are inconsistent, an error pickup message (carrying the task ID and the incorrectly picked up product ID) will be fed back to the task control system, and the task control system will re-specify the actual destination of the product or directly put it into storage at the inbound docking port.

[0116] S242. The task scheduling system controls the second trolley to travel from the outbound docking port to the terminal equipment, and sends a material discharge request to the terminal equipment through the warehouse control system and the transfer service in sequence.

[0117] In this embodiment, the material discharge request is used to instruct the terminal device to switch its own docking device to the receiving direction, and then return a message indicating that the goods can be received through the transit service and the warehouse control system in sequence.

[0118] S243. After receiving the goods-receivable message from the terminal equipment through the transit service and the warehouse control system, the task scheduling system controls the second trolley to transfer the products to be shipped to the docking device of the terminal equipment.

[0119] In an optional implementation, after the task scheduling system sends a ready-to-ship message to the warehousing system, if the system does not receive a shipped message back within the set waiting time, it may be due to a communication failure, a docking device at the shipping dock, or a stacker failure, and a timely fault report is required. Therefore, after executing the above step S232, the following steps S237 to S239 may also be executed: S237. If the task scheduling system does not receive the warehouse-out message returned by the warehousing system within the preset time, it determines that the task execution has failed and controls the second trolley to leave the second pause point.

[0120] Among them, if it is after step S232, the preset time length here is the first waiting time length corresponding to the pause point.

[0121] For example, if the task execution fails, the task scheduling system can control the second car to leave the second pause point and return to the waiting scheduling area, that is, return to the "parking lot" for all cars.

[0122] S238. The task scheduling system feeds back a delivery failure message carrying the task ID, product ID and delivery connection port to the task control system.

[0123] S239. The task control system generates a fault prompt based on the outbound failure message.

[0124] In this embodiment, the task control system may send the generated fault prompt to the fault handling service or the account of the operation and maintenance personnel (email, social account, or SMS, etc.).

[0125] It should be noted that Figure 2 、 Figure 4 and Figure 6 The illustrated cart is only an example, and the embodiment of the present invention does not limit the shape of the cart. The execution order of each step in the above method embodiment is not limited to that shown in the drawings, and the execution order of each step shall be based on the actual application situation.

[0126] Compared with the prior art, the embodiments of the present invention have the following beneficial effects: The three-dimensional warehouse of the present invention is provided with multiple docking ports, and each docking port is equipped with a fixed docking device and a liftable stacker. The docking device and the stacker are controlled by the storage system to realize the entry and exit of items. The present invention dispatches multiple trolleys to meet the inbound and outbound transportation needs between different process equipment and different docking ports; By setting pause points and waiting areas, the task scheduling system can flexibly schedule multiple vehicles to perform their respective transportation tasks, avoiding path congestion caused by multiple vehicles entering the same docking port, and improving vehicle transportation efficiency. The present invention designs a waiting timeout alarm mechanism at the pause point and the waiting area. If a waiting timeout occurs, the task scheduling system can issue a fault prompt in time.

[0127] In order to execute the corresponding steps in the above method embodiment and various possible implementations, an implementation of a management system is provided below.

[0128] An embodiment of the present invention provides a management system that is communicatively connected to a plurality of carts and a plurality of process equipment; the management system is used to: In response to the inbound transport instruction, the idle first trolley is dispatched to take out the products to be inbound from the designated starting equipment and transport them to the designated inbound docking port; In response to the outbound transport instruction, the idle second trolley is dispatched to take out the products to be shipped from the designated outbound docking port and transport them to the designated terminal equipment; Among them, the incoming docking port and the outgoing docking port are both one of the multiple docking ports of the three-dimensional warehouse; the starting equipment and the end equipment are both process equipment.

[0129] Optionally, the management system includes a task control system, a task scheduling system, a warehouse control system, a transit service and a warehousing system of a three-dimensional warehouse that are communicatively connected in sequence. The five members of the management system cooperate with each other to implement the respective sub-steps of the above steps S100 and S200. The specific implementation principles are consistent with the above introduction and will not be repeated here.

[0130] Among them, the five members of the management system can be deployed on different servers respectively or on the same server.

[0131] When the five members of the management system are deployed on the same server, an embodiment of the present invention also provides an electronic device, which is a server, including a memory and a processor, the memory stores a software program, and when the electronic device is running, the processor executes the software program to implement the product transportation method introduced above.

[0132] In summary, the embodiments of the present invention provide a product transportation method, management system, and electronic equipment. The method is applied to a management system that is communicatively connected to multiple carts and multiple process equipment. The management system method is as follows: in response to an inbound transportation instruction, dispatching an idle first cart to take out the product to be inbound from a designated starting point device and transport it to a designated inbound docking port; in response to an outbound transportation instruction, dispatching an idle second cart to take out the product to be outbound from a designated outbound docking port and transport it to a designated terminal device; wherein the inbound docking port and the outbound docking port are both one of the multiple docking ports of a three-dimensional warehouse; the starting device and the terminal device are both process equipment. The present invention can dispatch multiple carts to meet the product outbound and product inbound transportation needs between multiple docking ports and multiple process equipment, and realize rapid and automated product outbound and inbound.

[0133] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A product transportation method, characterized in that: Applied to a management system, the management system is communicatively connected with a plurality of carts and a plurality of process equipment; the method comprises: In response to the inbound transport instruction, the idle first trolley is dispatched to take out the products to be inbound from the designated starting equipment and transport them to the designated inbound docking port; In response to the outbound transport instruction, the idle second trolley is dispatched to take out the products to be shipped from the designated outbound docking port and transport them to the designated terminal equipment; Among them, the inbound docking port and the outbound docking port are both one of the multiple docking ports of the three-dimensional warehouse; the starting point equipment and the end point equipment are both the process equipment.

2. The product transportation method according to claim 1, characterized in that: The management system includes a task control system, a task scheduling system, a warehouse control system, a transfer service, and a storage system of the three-dimensional warehouse, which are communicatively connected in sequence; the task scheduling system is communicatively connected to each of the carts, and the transfer service is also communicatively connected to each of the process equipment; each docking port of the three-dimensional warehouse is equipped with a docking device that is communicatively connected to the storage system; The step of dispatching an idle first trolley to retrieve the product to be stored from the designated starting point equipment and transport it to the designated storage docking port in response to the storage transport instruction includes: The task control system generates a warehousing and transportation instruction and sends it to the task scheduling system; The task scheduling system selects an idle first trolley from the plurality of trolleys; The task scheduling system sequentially notifies the starting point equipment corresponding to the starting point through the warehouse control system and the transit service to prepare the products to be stored; The task scheduling system dispatches the first trolley to take out the product to be stored from the starting device and transport it to the storage docking port, and then controls the first trolley to transfer the product to be stored to the docking device of the storage docking port; The warehousing system performs warehousing processing on the products to be stored on the docking device of the storage docking port.

3. The product transportation method according to claim 2, characterized in that: The inbound transport instruction includes the device ID of the starting device as the starting point, the inbound docking port as the end point, and the product ID; The task scheduling system sequentially notifies the starting point device corresponding to the starting point through the warehouse control system and the transit service to prepare the products to be stored, including: The task scheduling system sends a material collection request carrying the product ID to the starting device through the warehouse control system and the transit service in turn, so that the starting device switches its own docking device to the shipping direction based on the material collection request and places the product to be stored corresponding to the product ID on its own docking device, and then returns a stocking completion message to the task scheduling system through the transit service and the warehouse control system in turn.

4. The product transportation method according to claim 3, characterized in that: The task scheduling system maintains at least one mapping relationship and the position of at least one preset pause point, and each mapping relationship represents that one pause point corresponds to at least one process equipment; The step of the task scheduling system scheduling the first trolley to take out the product to be stored from the starting device and transport it to the storage docking port includes: When the task scheduling system receives the stocking completion message, it searches for the first pause point corresponding to the starting device based on each of the mapping relationships; The task scheduling system controls the first trolley to take out the product to be stored from the docking device at the starting point and drive it to the first pause point; The task scheduling system sends a warehousing preparation message to the warehousing system through the warehouse control system and the transit service in sequence; the warehousing preparation message carries the identifier of the warehousing docking port and the warehousing flag value; The warehousing system determines whether the warehousing docking port is idle based on the warehousing preparation message; If the inbound docking port is idle, the warehousing system controls the docking device at the inbound docking port to adjust to the inbound direction based on the inbound flag value, and then returns an inbound ready message to the task scheduling system through the transit service and the warehouse control system in sequence; The task scheduling system schedules the first vehicle to travel from the first pause point to the warehouse docking port.

5. The product transportation method according to claim 4, characterized in that: After the warehousing system determines whether the inbound docking port is idle based on the inbound preparation message, the method further includes: If the inbound docking port is not idle, the warehousing system temporarily stores the inbound preparation message in the message queue, and then returns a busy message to the task scheduling system through the transit service and the warehouse control system in sequence; When the task scheduling system receives the busy message, it schedules the first vehicle to travel from the first pause point to a preset waiting area to wait; When the warehousing system determines that the warehousing docking port is idle, the warehousing system reads the warehousing preparation message from the message queue; The warehousing system controls the docking device at the inbound docking port to adjust to the inbound direction based on the inbound flag value in the inbound preparation message, and then returns an inbound ready message to the task scheduling system through the transit service and the warehouse control system in sequence; The task scheduling system schedules the first trolley to travel from the waiting area to the storage docking port.

6. The product transportation method according to claim 5, characterized in that: The inbound transport instruction also includes a task ID; after the task scheduling system issues the inbound preparation message, or after the task scheduling system schedules the first vehicle to travel from the first pause point to a preset waiting area for waiting, the method further includes: If the task scheduling system does not receive the warehousing ready message returned by the warehousing system within the preset time, it will be determined that the task execution has failed; The task scheduling system feeds back a storage failure message carrying the task ID, product ID and destination to the task control system; The task control system generates a fault prompt based on the storage failure message and sends a new destination to the task scheduling system; The task scheduling system schedules the first trolley to travel from the first pause point or the waiting area to the new destination for unloading; wherein, the new destination is a new docking port or a product temporary storage area.

7. The product transportation method according to claim 1, characterized in that: The management system includes a task control system, a task scheduling system, a warehouse control system, a transfer service, and a storage system of the three-dimensional warehouse, which are communicatively connected in sequence; the task scheduling system is communicatively connected to each of the carts, and the transfer service is also communicatively connected to each of the process equipment; each docking port of the three-dimensional warehouse is equipped with a docking device that is communicatively connected to the storage system; The step of dispatching an idle second vehicle to retrieve the product to be shipped from the designated shipping dock and transport it to the designated terminal device in response to the shipping transport instruction includes: The task control system generates a delivery transport instruction and sends it to the task scheduling system; The task scheduling system selects an idle second trolley from the plurality of trolleys; The task scheduling system notifies the warehousing system through the warehouse control system and the transit service in turn to prepare the products to be shipped at the shipping docking port; The task scheduling system dispatches the second trolley to take out the product to be shipped from the docking device at the shipping docking port and transport it to the terminal equipment corresponding to the terminal.

8. The product transportation method according to claim 7, characterized in that: The task scheduling system maintains the location of at least one pause point; the outbound transport instruction includes the identifier of the outbound docking port as the starting point, the device ID and product ID of the terminal device as the end point; The task scheduling system sequentially notifies the warehousing system through the warehouse control system and the transit service to prepare the products to be shipped at the shipping docking port, including: The task scheduling system obtains the position of the second vehicle and selects a second pause point from all pause points based on the position of the vehicle and the end point; After the task scheduling system schedules the second trolley to travel to the second pause point, the task scheduling system sends a shipment preparation message to the warehouse system through the warehouse control system and the transit service in sequence; the shipment preparation message carries the shipment docking port identifier, shipment flag value, and product ID; The warehousing system controls the docking device at the outbound docking port to adjust to the outbound direction based on the outbound flag value, and places the outbound product corresponding to the product ID on the docking device at the outbound docking port after outbound processing; The warehousing system returns the message of shipment to the task scheduling system through the transit service and the warehouse control system in turn; The task scheduling system schedules the second trolley to travel from the second pause point to the outbound docking port.

9. The product transportation method according to claim 7, characterized in that: The step of the task scheduling system scheduling the second trolley to take out the product to be shipped from the docking device at the shipping docking port and transport it to the terminal equipment corresponding to the destination includes: The task scheduling system controls the second trolley to take out the product to be shipped from the docking device of the shipping docking port; The task scheduling system controls the second trolley to travel from the outbound docking port to the terminal device, and simultaneously sends a material discharge request to the terminal device through the warehouse control system and the transit service; the material discharge request is used to instruct the terminal device to switch its docking device to the receiving direction and return a message that the goods can be received; After receiving the receivable message returned by the terminal device through the transit service and the warehouse control system, the task scheduling system controls the second trolley to transfer the product to be shipped to the docking device of the terminal device.

10. The product transportation method according to claim 8, characterized in that: After the task scheduling system issues the shipment preparation message, the method further includes: If the task scheduling system does not receive the warehouse-out message returned by the warehousing system within the preset time period, it determines that the task execution has failed and controls the second trolley to leave the second pause point; The task scheduling system feeds back a delivery failure message carrying the task ID, product ID and delivery port to the task control system; The task control system generates a fault prompt based on the outbound failure message.

11. A management system, characterized in that: The management system is in communication with multiple vehicles and multiple process equipment; the management system is used to: In response to the inbound transport instruction, the idle first trolley is dispatched to take out the products to be inbound from the designated starting equipment and transport them to the designated inbound docking port; In response to the outbound transport instruction, the idle second trolley is dispatched to take out the products to be shipped from the designated outbound docking port and transport them to the designated terminal equipment; Among them, the inbound docking port and the outbound docking port are both one of the multiple docking ports of the three-dimensional warehouse; the starting point equipment and the end point equipment are both the process equipment.

12. An electronic device, characterized in that: include: A memory and a processor, wherein the memory stores a software program, and when the electronic device is running, the processor executes the software program to implement the product transportation method according to any one of claims 1 to 10.

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