Dynamic scheduling method, system and equipment for carrying carriers, medium and product

Abstract

The embodiment of the invention provides a dynamic scheduling method, system and device for a carrying vehicle, a medium and a product. The method comprises the steps of obtaining a current station where the carrying vehicle is located and a current formula step; according to the current station and the current formula step, a path planning table of the carrying vehicle for executing the current transportation task is inquired, the next target station of the carrying vehicle is determined, and all stations and the next station corresponding to the formula step are recorded in the path planning table; and controlling the carrying carrier to move from the current station to the next target station. By means of the method, the next target station is jointly determined by the current station and the formula step, and process driving is achieved. The whole scheduling process is coupled with the production process, the transportation task can be changed after the transportation task is issued, and the real-time state change of the production line is responded.

Description

Technical Field

[0001] This invention relates to the field of intelligent handling vehicle scheduling technology, and in particular to a dynamic scheduling method, system, device, medium and product for handling vehicles. Background Technology

[0002] Currently, a typical Automated Guided Vehicle (AGV) scheduling system in the industrial field adopts a static task queue + fixed path planning architecture. Its core logic involves a higher-level system (such as a Warehouse Management System (WMS) or Manufacturing Execution System (MES)) pre-generating complete transportation task instructions, which are then distributed to the AGVs for execution via a scheduling server. This type of system typically includes the following modules: a task management module (receiving material handling requests from the MES and generating fixed-format transportation tasks); a path planning module (calculating the optimal path between two points using algorithms based on a pre-defined factory map (such as a grid map or topology map); an AGV execution module (where the AGV sequentially performs movement, material handling, and material placement operations according to the received path instructions); and a status monitoring module (reporting AGV position and task status in real time, but not participating in the dynamic adjustment of task logic). However, the entire scheduling process is decoupled from the production process; once a task is issued, it is immutable and cannot respond to real-time changes in the production line status (such as equipment downtime, work order skipping, formula changes, etc.). Summary of the Invention

[0003] This invention provides a dynamic scheduling method, system, device, medium, and product for transport vehicles, which realizes the ability to couple the entire scheduling process with the production process, change the transport task after it is issued, and respond to real-time changes in the production line status.

[0004] Firstly, this embodiment provides a dynamic scheduling method for transport vehicles, the method comprising:

[0005] Obtain the current location of the transport vehicle and the current recipe step;

[0006] Based on the current station and the current recipe step, query the path planning table for the transport vehicle to perform the current transport task, and determine the next target station of the transport vehicle. The path planning table records each station and the next station corresponding to the recipe step.

[0007] Control the transport vehicle to move from the current station to the next target station.

[0008] Secondly, this embodiment provides a dynamic scheduling system for transport vehicles, the system comprising:

[0009] The recipe acquisition module is used to acquire the current site of the transport vehicle and the current recipe step;

[0010] The site determination module is used to query the path planning table for the transport vehicle to perform the current transportation task based on the current site and the current recipe step, and determine the next target site of the transport vehicle. The path planning table records each site and the next site corresponding to the recipe step.

[0011] A movement control module is used to control the transport vehicle to move from the current station to the next target station.

[0012] Thirdly, this embodiment provides an electronic device, including:

[0013] At least one processor; and

[0014] A memory communicatively connected to the at least one processor; wherein,

[0015] The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the dynamic scheduling method for transport vehicles according to any embodiment of the present invention.

[0016] Fourthly, this embodiment provides a computer-readable storage medium storing computer instructions that, when executed by a processor, implement the dynamic scheduling method for a transport vehicle as described in any embodiment of the present invention.

[0017] Fifthly, embodiments of the present invention also provide a computer program product, the computer program product including a computer program, which, when executed by a processor, implements the dynamic scheduling method for transport vehicles as described in any embodiment of the present invention.

[0018] This invention provides a dynamic scheduling method, system, device, medium, and product for a transport vehicle. The method includes: obtaining the current station and current recipe step of the transport vehicle; querying a path planning table for the transport vehicle to perform the current transport task based on the current station and the current recipe step, and determining the next target station of the transport vehicle, wherein the path planning table records each station and the next station corresponding to each recipe step; and controlling the transport vehicle to move from the current station to the next target station. Unlike traditional path planning that relies solely on map topology (e.g., A→B), this technical solution uses "current station + recipe step" to jointly determine the next target station, achieving process-driven scheduling. Because the scheduling decision incorporates the dynamic variable of the recipe step, when the production plan changes (e.g., skipping a step), a new target station can be automatically calculated, avoiding the transport vehicle from going to an invalid workstation, significantly improving scheduling flexibility, and adapting to flexible manufacturing requirements. By coupling the entire scheduling process with the production process, the transport task can be modified after it is issued, responding to real-time changes in the production line status.

[0019] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a flowchart illustrating a dynamic scheduling method for a transport vehicle provided in Embodiment 1 of the present invention;

[0022] Figure 2 This is an example diagram of an action block list provided in Embodiment 1 of the present invention;

[0023] Figure 3 This is a schematic diagram of the structure of a dynamic scheduling system for a transport vehicle provided in Embodiment 2 of the present invention;

[0024] Figure 4 This is a schematic diagram of the structure of an electronic device provided in Embodiment 3 of the present invention. Detailed Implementation

[0025] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0026] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0027] It is important to understand that existing AGV scheduling systems face the following prominent problems in flexible manufacturing scenarios: 1) Rigid tasks: The inability to dynamically generate or modify transportation tasks based on actual production conditions leads to AGVs running empty, delivering to the wrong station, and material backlog; 2) Process disconnect: The scheduling logic is independent of the production process and cannot respond to common flexible production needs such as "formula skipping" or "temporary workstation shutdown"; 3) Weak anomaly handling capabilities: The lack of a runtime task adjustment mechanism necessitates manual intervention when equipment malfunctions, affecting production line continuity; 4) Poor scalability: Adding new workstation types requires modifying the core scheduling logic, making it difficult to quickly adapt to multi-variety, small-batch production modes. For example, in a battery electrolyte filling production line, if the electrolyte filling machine skips the current workstation due to maintenance, the traditional system will still schedule the AGV to deliver the material to that workstation, causing material mismatch. Manual return of the material to the buffer area is required, wasting an average of more than 30 minutes per shift.

[0028] Example 1

[0029] Figure 1 This is a flowchart illustrating a dynamic scheduling method for a transport vehicle provided in Embodiment 1 of the present invention. This method is applicable to situations where transport vehicles are dynamically scheduled and adjusted during operation. This method can be executed by a dynamic scheduling system for the transport vehicle, which can be implemented in hardware and / or software and is generally integrated into an electronic device.

[0030] like Figure 1As shown, the dynamic scheduling method for transport vehicles provided in this embodiment can specifically include the following steps:

[0031] S101. Obtain the current station and current recipe steps of the transport vehicle.

[0032] In this embodiment, the transport vehicle can be an AGV (Automated Guided Vehicle), a logistics robot, etc. A station can be specifically understood as the location where the transport vehicle should be located; the current station can be specifically understood as the current location of the transport vehicle; the formula step can be specifically understood as executing the corresponding production process; and the current formula step can be specifically understood as the production process executed by the transport vehicle at the current moment. The transport vehicle can complete the product manufacturing corresponding to the transport task by transferring between stations according to the various production processes set in the transport task and the execution order between the various production processes.

[0033] Specifically, it can collect the production process status in real time, including but not limited to formula steps, equipment signals, and workstation types. For example, by listening to Node-RED events, it can capture workstation "material call" and "complete" entry / exit events. It is important to understand that for the Manufacturing Execution System (MES) to capture controller signals, it needs to listen to Node-RED events; the Node-RED events act as a bridge between the two.

[0034] Specifically, obtain the current site of the transport vehicle and the current recipe steps.

[0035] S102. Based on the current station and the current recipe step, query the path planning table for the transport vehicle to perform the current transportation task, and determine the next target station of the transport vehicle.

[0036] The next target station can be understood as the location that needs to be moved to. In this embodiment, a path planning table is pre-built, which includes all the stations that the transport vehicle needs to pass through to perform the current transport task. The path planning table records each station and the next station corresponding to the recipe step. For example, Table 1 is an example of the path planning table provided in Embodiment 1 of the present invention. As shown in Table 1, the table header includes the starting station (Station), recipe step (Step), and target station (To). For example, if the current station is Station 01 and the recipe step is Step 01, the next target station is Station 02. These will not be listed one by one here.

[0037] Table 1

[0038]

[0039] For example, the following is a code description for calculating a path by querying a path planning table:

[0040] # Example: Path calculation in AgvInStationView

[0041] def get_agv_next_station(self, current_station: str) -> str:

[0042] # Query the Jk_tb_agvpath table in the database, which maps target sites by "starting point + recipe steps".

[0043] formula_step = self.get_current_formula_step() #

[0044] return AgvPath.objects.get(

[0045] from_station=current_station,

[0046] formula_step=formula_step

[0047] ).to_station

[0048] Here, current_formula_step represents the current formula step, current_station represents the current station, and to_station represents the next target station.

[0049] S103. Control the transport vehicle to move from the current station to the next target station.

[0050] In this embodiment, once the next target station is determined, the transport vehicle is controlled to move from the current station to the next target station. The entire journey of the transport vehicle's current transport task is controlled by determining the next target station based on the current station and the recipe steps.

[0051] It should be noted that the behavior of the transport vehicles is directly driven by the production process (e.g., "production material request → logistics response"), rather than passively executing pre-set instructions. This achieves deep collaboration between production and logistics, improving overall efficiency. Tests have shown that the on-time material arrival rate has increased to 99.2%, and the scheduling response time has been reduced by 40% (from an average of 45 seconds to 27 seconds). In actual testing on the battery electrolyte filling production line, the number of invalid transports due to work order changes decreased by 85%.

[0052] In this embodiment, a dynamic scheduling logic based on production context awareness is implemented. This involves real-time collection of production process status information (such as recipe steps, equipment signals, and workstation events) and using this information as a crucial input for material handling vehicle scheduling decisions. This significantly differs from traditional methods that rely solely on material handling requests. It allows material handling vehicle scheduling to closely align with the actual production process, greatly improving logistics efficiency and response speed.

[0053] Unlike traditional path planning that relies solely on map topology (e.g., A→B), the above-mentioned technical solution determines the next target station based on both the current station and the recipe step, achieving process-driven decision-making. Because the scheduling decision incorporates the dynamic variable of the recipe step, when the production plan changes (e.g., skipping a step), a new target station can be automatically calculated, avoiding the need to move vehicles to ineffective workstations, significantly improving scheduling flexibility and adapting to the needs of flexible manufacturing. By coupling the entire scheduling process with the production process, transportation tasks can be modified after they are issued, responding to real-time changes in the production line status.

[0054] As an optional embodiment of the present invention, based on the above embodiments, the method can be optimized to include the following step before obtaining the current site of the transport vehicle and the current recipe:

[0055] a1) Obtain the recipe steps corresponding to the production work order from the manufacturing execution system, and use them as the recipe steps for the transport vehicle to perform the current transport task.

[0056] The production work order is the core instruction of the production process. It records detailed production information, including material requirements, process routes, production quantities, and time plans. The current transportation task can be understood as the transportation task being executed at the current moment. In this embodiment, the recipe steps corresponding to the current production work order are obtained from the Manufacturing Execution System (MES), the current process stage to be executed is determined, and the recipe steps corresponding to the production work order are used as the recipe steps for the transport vehicle to execute the current transportation task. For example, the production work order obtained from the MES system involves workstations G01, G02, G03, ..., G10. Each workstation has a corresponding recipe, i.e., a production process. For example, workstation G01 corresponds to steps Step01-Step05, ..., workstation G00 corresponds to steps Step22-Step25. Each workstation will not be listed individually here. All these steps combined constitute the recipe steps for the current transportation task.

[0057] b1) Break down each of the recipe steps into multiple action blocks to encapsulate the current transportation task as a waybill object.

[0058] The waybill object includes at least the following fields: task identifier of the current transportation task, assigned handling vehicle number, sealing mark, and action block list; the action block list includes multiple action blocks, each action block including at least an action block identifier, a station code of the station in the action block, and the action type performed by the handling vehicle corresponding to each station.

[0059] In this embodiment, each formulation step is broken down into multiple action blocks, and multiple action blocks form an action block list, which is equivalent to representing the current transportation task as an action sequence, and then encapsulating the current transportation task into a waybill object.

[0060] Each transportation task is encapsulated as a waybill object, whose core fields include:

[0061] id: A globally unique identifier for the transportation task;

[0062] vehicle: The assigned transport vehicle number;

[0063] complete: Boolean value, indicating whether to "close the gap" (to prevent duplicate scheduling);

[0064] blocks: A list of action blocks in JSON format. Each action block contains:

[0065] blockId: Unique identifier for the action block;

[0066] location: site code;

[0067] type: Action type (e.g., move, wait_signal, put_material);

[0068] Other parameters (such as the waiting signal name, timeout time, etc.).

[0069] For example, the initial waybill can be represented as:

[0070] {

[0071] "id": "ORD_20251105_001",

[0072] "vehicle": "AGV_03",

[0073] "complete": false,

[0074] "blocks": [

[0075] {"blockId": "B1", "location": "INJECTION_STATION", "type": "move"},

[0076] {"blockId": "B2", "location": "INJECTION_STATION", "type": "wait_signal", "signal": "door_open", "timeout": 60} ]

[0078] }

[0079] For example, Figure 2 This is an example diagram of the action block list provided in Embodiment 1 of the present invention, such as... Figure 2 As shown, the action block list for transport task TASK1 includes action blocks B01, B02, B03, ..., B10. B01 includes station S01, B02 includes station S02, B03 includes stations S03, S04, S05, ..., and B10 includes stations S10 and S11. When the recipe steps of the transport task are modified, the action blocks in the action block list can be modified accordingly, such as adding, deleting, or modifying action blocks or the stations they contain, or modifying the actions that the transport vehicle corresponding to each station should perform. It can be understood that the action block list provides the actions that the transport vehicle should perform at each station.

[0080] c1) Based on the formulation steps, construct a path planning table for the transport vehicle to perform the current transport task.

[0081] In this embodiment, a path planning table is pre-built. The path planning table includes all the stations that the transport vehicle needs to pass through to perform the current transport task. The path planning table records each station and the next station corresponding to the recipe step.

[0082] Unlike traditional tasks which are atomic instructions from start to finish, the above technical solution represents transportation tasks as a scalable sequence of actions that can be modified at runtime. By encapsulating each transportation task into a waybill object containing multiple action blocks, these action blocks can be dynamically added or modified at runtime according to the actual situation on the production site. This mechanism supports more flexible task execution strategies, provides a high degree of control over the task execution process, enhances the system's adaptability and robustness, and reduces task failures caused by abnormal conditions.

[0083] As another optional embodiment of the present invention, based on the above embodiments, the method can be optimized to include the following step before obtaining the current site of the transport vehicle and the current recipe:

[0084] a2) When the user modifies the recipe steps corresponding to the production work order in the manufacturing execution system, the updated recipe steps for the current transportation task are determined for the transport vehicle.

[0085] In this embodiment, when a user modifies the recipe step corresponding to a production work order in the Manufacturing Execution System, the updated recipe step is recorded as an updated recipe step. An updated recipe step can be adding or deleting a workstation type, or adding, deleting, or modifying the execution steps corresponding to a workstation.

[0086] b2) Update the action block list and the path planning table according to the updated recipe step.

[0087] Updating the action block list includes adding, deleting, or modifying action blocks in the action block list.

[0088] In this embodiment, upon learning the updated recipe steps for the current transportation task, the action block list corresponding to the current transportation task will be updated accordingly. This means adding or deleting action blocks in the action block list based on the updated recipe steps, adding, deleting, or modifying stations within the action blocks, or modifying the actions performed by the transport vehicles corresponding to the stations. Simultaneously, the route planning table also needs to be updated based on the updated recipe steps. That is, when the updated recipe steps are implemented, the current station, the recipe steps, and the corresponding next station may change; therefore, the route planning table needs to be modified accordingly.

[0089] It's worth noting that an object-oriented design pattern can be used to define a base class `AgvBaseView` and multiple concrete implementations for different workstation types (such as `AgvInStationView`, `AgvLeaveStationView`, etc.). This allows for the application of different scheduling strategies based on different workstation types. This design enables the system to easily adapt to new workstation types; simply inheriting the base class and implementing specific logic is sufficient, significantly reducing maintenance costs and development cycles. Adding a new workstation type only requires inheriting `AgvBaseView` and implementing specific scheduling logic (such as `AgvNewStationView`), without modifying the core engine. Experiments have shown that the development cycle for adding new workstations has been shortened from two weeks to two days, the ability to adapt to mixed-product production lines has been greatly improved, the system exhibits good scalability, and reduced maintenance costs.

[0090] Unlike existing static scheduling systems, the above technical solution can achieve dynamic adjustment during the operation of transportation tasks.

[0091] As another optional embodiment of the present invention, based on the above embodiments, the method can be optimized to include the following step before obtaining the current site of the transport vehicle and the current recipe:

[0092] The status signals of the workstation equipment are read from the controller to continuously monitor the status signals of the workstation equipment.

[0093] In this embodiment, the required context is acquired in real time during the production process, and the status signals of the workstation equipment are read from the controller to continuously monitor the status signals of the workstation equipment. For example, the status signals may be the door_open signal (cancel grating shielding), the machine_ready signal (equipment ready), the emergency_stop signal (emergency stop), etc. During the execution of the transport vehicle, the scheduling engine continuously monitors the feedback from the workstation equipment and reads the equipment status signals from the Programmable Logic Controller (PLC) controller.

[0094] Unlike traditional systems that only receive "transfer requests", this technical solution receives multi-dimensional production semantic information, providing a basis for dynamic decision-making.

[0095] Furthermore, based on the above optional embodiments, the method can be optimized to further include:

[0096] When the status signal of the workstation device is detected as canceling the grating shield, the transport vehicle is controlled to execute the next action block of the current action block.

[0097] It is clear that each workstation on the production floor has a door for transport vehicles to enter and exit. The door is typically equipped with a wireless device. When the transport vehicle passes through the door, the optical grating shield is canceled; when the transport vehicle is working at the workstation, the optical grating shield is activated to prevent people from approaching. In this embodiment, the status signal of the workstation equipment is continuously monitored. When the status signal of the workstation equipment is detected as canceled (optical grating shielding is canceled), it indicates that the current action block has been completed, and the transport vehicle is then controlled to execute the next work block.

[0098] For example, if door_open = true is received, the next action block is executed, where door_open means canceling the raster mask and true means true.

[0099] The above technical solution determines the timing for executing the next action block by monitoring the status signals of the workstation equipment.

[0100] Furthermore, based on the above optional embodiments, the method can be optimized to further include:

[0101] When the status signal of the workstation equipment is detected as a device malfunction, a new action block is dynamically added to the action block list.

[0102] In this embodiment, the status signals of the workstation equipment are continuously monitored. When a status signal indicating a equipment malfunction is detected, an action block can be dynamically added to the action block list. This means that the original transportation task is not terminated, but rather the new action sequence continues to be executed.

[0103] For example, if machine_fault = true is received, an action block is dynamically added:

[0104] waybill.blocks.append({

[0105] "blockId": "B3",

[0106] "location": "QUARANTINE_AREA",

[0107] "type": "move"

[0108] })

[0109] waybill.save() # Persistent update

[0110] Here, machine_fault indicates a device malfunction, true indicates a true value, waybill.blocks represents a list of action blocks, append indicates insertion, blockId represents the action block identifier, location represents the site code of the site containing the action block, and type represents the type of action performed by the transport vehicle corresponding to the site.

[0111] Experiments have shown that in cases of equipment malfunction, the frequency of manual intervention has been reduced from 3–5 times per shift to less than 0.5 times per shift, significantly improving production line continuity.

[0112] Unlike existing traditional systems that cannot modify assigned tasks, the above technical solution allows modification of action blocks in the action block list before the sealing mark is set, enabling dynamic evolution throughout the task lifecycle and dynamic adjustments during runtime. Through the "action block" mechanism, the system can insert operations such as "waiting for signal," "rerouting," and "alarm reporting" during runtime without terminating the task or requiring manual intervention, enhancing system robustness and reducing human intervention. It can receive status feedback from the transport vehicle and dynamically adjust the action sequence of the current transport task accordingly. For example, in the event of equipment failure, a new action block, "move to isolation area," can be automatically inserted without terminating the original task, improving the dynamic adjustment capability under the closed-loop feedback mechanism. This improves the system's fault tolerance and continuous operation level, reduces the need for manual intervention, and further enhances the overall efficiency of the production line.

[0113] As another optional embodiment of the present invention, the method can be further optimized based on the above embodiments by including:

[0114] Once all action blocks in the action block list have been executed, the sealing mark is set to sealed, and the next transportation task is triggered.

[0115] In this embodiment, once all action blocks in the action block list corresponding to the current transportation task have been executed, the sealing marker will be automatically set to sealed, and a request for the next transportation task will be triggered. For example, assuming `waybill.complete` represents the sealing marker of the action block list, then `waybill.complete = True` ("sealed"), and a request for the next process logistics will be triggered. It should be noted that once the sealing marker is set to sealed, the action blocks in the action block list and the stations they contain are fixed and cannot be modified.

[0116] The above technical solution achieves closed-loop feedback for the current transportation task by sealing off the current transportation task.

[0117] It should be noted that the above method can be integrated into a scheduling system. The scheduling system consists of multiple independent but collaborative modules, including a production context source, a dynamic scheduling engine, and a waybill-action block store. These modules communicate with each other through application programming interfaces (APIs) or message queues. This modular design not only promotes system flexibility and scalability but also facilitates subsequent functional upgrades and technological iterations, ensuring the system's long-term competitiveness.

[0118] Example 2

[0119] Figure 3This is a schematic diagram of a dynamic scheduling system for a transport vehicle according to Embodiment 2 of the present invention. This system is applicable to situations where transport vehicles are dynamically scheduled and adjusted during operation. The dynamic scheduling system for the transport vehicle can be implemented in hardware and / or software, and is generally integrated into electronic equipment. For example... Figure 3 As shown, the system includes: a recipe acquisition module 21, a site determination module 22, and a movement control module 23, wherein,

[0120] Recipe acquisition module 21 is used to acquire the current station where the transport vehicle is located and the current recipe step;

[0121] The site determination module 22 is used to query the path planning table for the transport vehicle to perform the current transportation task based on the current site and the current recipe step, and determine the next target site of the transport vehicle. The path planning table records each site and the next site corresponding to the recipe step.

[0122] The movement control module 23 is used to control the transport vehicle to move from the current station to the next target station.

[0123] Unlike traditional path planning that relies solely on map topology (e.g., A→B), the above-mentioned technical solution determines the next target station based on both the current station and the recipe step, achieving process-driven decision-making. Because the scheduling decision incorporates the dynamic variable of the recipe step, when the production plan changes (e.g., skipping a step), a new target station can be automatically calculated, avoiding the need to move vehicles to ineffective workstations, significantly improving scheduling flexibility and adapting to the needs of flexible manufacturing. By coupling the entire scheduling process with the production process, transportation tasks can be modified after they are issued, responding to real-time changes in the production line status.

[0124] Optionally, the system also includes a waybill object construction module, which, before the step of obtaining the current station and current recipe of the transport vehicle, further includes:

[0125] The recipe steps corresponding to the production work order are obtained from the manufacturing execution system and used as the recipe steps for the transport vehicle to perform the current transport task.

[0126] Each of the aforementioned recipe steps is broken down into multiple action blocks to encapsulate the current transportation task into a waybill object;

[0127] Based on the formulation steps, construct a path planning table for the transport vehicle to perform the current transport task.

[0128] The waybill object includes at least the following fields: task identifier of the current transportation task, assigned handling vehicle number, sealing mark, and action block list;

[0129] The action block list includes multiple action blocks, each of which includes at least an action block identifier, a station code of the station contained in the action block, and the type of action performed by the transport vehicle corresponding to each station.

[0130] Optionally, the system also includes an update module for:

[0131] When a user modifies the recipe steps corresponding to a production work order in the manufacturing execution system, the updated recipe steps for the current transportation task are determined for the transport vehicle.

[0132] According to the updated recipe step, the action block list and the path planning table are updated, wherein updating the action block list includes adding, deleting or modifying action blocks in the action block list.

[0133] Optionally, the system also includes a status monitoring module for:

[0134] The status signals of the workstation equipment are read from the controller to continuously monitor the status signals of the workstation equipment.

[0135] Optionally, the system also includes a next execution module for:

[0136] When the status signal of the workstation device is detected as canceling the grating shield, the transport vehicle is controlled to execute the next action block of the current action block.

[0137] Optionally, the system also includes an addition module for:

[0138] When the status signal of the workstation equipment is detected as a device malfunction, a new action block is dynamically added to the action block list.

[0139] Optionally, the system also includes a sealing module for:

[0140] Once all action blocks in the action block list have been executed, the sealing mark is set to sealed, and the next transportation task is triggered.

[0141] The dynamic scheduling system for transport vehicles provided in this embodiment of the invention can execute the dynamic scheduling method for transport vehicles provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method execution.

[0142] Example 3

[0143] Figure 4This is a schematic diagram of an electronic device provided in Embodiment 3 of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0144] like Figure 4 As shown, the electronic device 30 includes at least one processor 31 and a memory, such as a read-only memory (ROM) 32 or a random access memory (RAM) 33, communicatively connected to the at least one processor 31. The memory stores computer programs executable by the at least one processor. The processor 31 can perform various appropriate actions and processes based on the computer program stored in the ROM 32 or loaded from storage unit 38 into the RAM 33. The RAM 33 can also store various programs and data required for the operation of the electronic device 30. The processor 31, ROM 32, and RAM 33 are interconnected via a bus 34. An input / output (I / O) interface 35 is also connected to the bus 34.

[0145] Multiple components in electronic device 30 are connected to I / O interface 35, including: input unit 36, such as keyboard, mouse, etc.; output unit 37, such as various types of monitors, speakers, etc.; storage unit 38, such as disk, optical disk, etc.; and communication unit 39, such as network card, modem, wireless transceiver, etc. Communication unit 39 allows electronic device 30 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0146] Processor 31 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 31 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 31 performs the various methods and processes described above, such as dynamic scheduling methods for transport vehicles.

[0147] In some embodiments, the dynamic scheduling method for transport vehicles can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 38. In some embodiments, part or all of the computer program can be loaded and / or installed on electronic device 30 via ROM 32 and / or communication unit 39. When the computer program is loaded into RAM 33 and executed by processor 31, one or more steps of the dynamic scheduling method for transport vehicles described above can be performed. Alternatively, in other embodiments, processor 31 can be configured to perform the dynamic scheduling method for transport vehicles by any other suitable means (e.g., by means of firmware).

[0148] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0149] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0150] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0151] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0152] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0153] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0154] This invention also provides a computer program product, including a computer program that, when executed by a processor, implements the dynamic scheduling method for transport vehicles as provided in any embodiment of this invention.

[0155] In implementing a computer program product, computer program code for performing the operations of this disclosure can be written in one or more programming languages ​​or a combination thereof. These programming languages ​​include, but are not limited to, object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0156] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0157] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A dynamic scheduling method for transport vehicles, characterized in that, include: Obtain the current location of the transport vehicle and the current recipe step; Based on the current station and the current recipe step, query the path planning table for the transport vehicle to perform the current transport task, and determine the next target station of the transport vehicle. The path planning table records each station and the next station corresponding to the recipe step. Control the transport vehicle to move from the current station to the next target station.

2. The method according to claim 1, characterized in that, Prior to the steps of obtaining the current site of the transport vehicle and the current recipe, the method further includes: The recipe steps corresponding to the production work order are obtained from the manufacturing execution system and used as the recipe steps for the transport vehicle to perform the current transport task. Each of the aforementioned recipe steps is broken down into multiple action blocks to encapsulate the current transportation task into a waybill object; Based on the formulation steps, construct a path planning table for the transport vehicle to perform the current transport task. The waybill object includes at least the following fields: task identifier of the current transportation task, assigned handling vehicle number, sealing mark, and action block list; The action block list includes multiple action blocks, each of which includes at least an action block identifier, a station code of the station contained in the action block, and the type of action performed by the transport vehicle corresponding to each station.

3. The method according to claim 2, characterized in that, Also includes: When a user modifies the recipe steps corresponding to a production work order in the manufacturing execution system, the updated recipe steps for the current transportation task are determined for the transport vehicle. According to the updated recipe step, the action block list and the path planning table are updated, wherein updating the action block list includes adding, deleting or modifying action blocks in the action block list.

4. The method according to claim 2, characterized in that, Also includes: The status signals of the workstation equipment are read from the controller to continuously monitor the status signals of the workstation equipment.

5. The method according to claim 4, characterized in that, Also includes: When the status signal of the workstation device is detected as canceling the grating shield, the transport vehicle is controlled to execute the next action block of the current action block.

6. The method according to claim 4, characterized in that, Also includes: When the status signal of the workstation equipment is detected as a device malfunction, a new action block is dynamically added to the action block list.

7. The method according to claim 2, characterized in that, Also includes: Once all action blocks in the action block list have been executed, the sealing mark is set to sealed, and the next transportation task is triggered.

8. A dynamic scheduling system for transport vehicles, characterized in that, include: The recipe acquisition module is used to acquire the current site of the transport vehicle and the current recipe step; The site determination module is used to query the path planning table for the transport vehicle to perform the current transportation task based on the current site and the current recipe step, and determine the next target site of the transport vehicle. The path planning table records each site and the next site corresponding to the recipe step. A movement control module is used to control the transport vehicle to move from the current station to the next target station.

9. An electronic device, characterized in that, include: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the dynamic scheduling method of the transport vehicle as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the dynamic scheduling method for transport vehicles as described in any one of claims 1-7.

11. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the dynamic scheduling method for transport vehicles as described in any one of claims 1-7.

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