Material handling system

Abstract

The invention provides a material handling system. The system comprises a central scheduling device used for receiving a carrying instruction issued by a manufacturing execution system MES; matching carrying equipment based on the carrying instruction; sending the carrying task to carrying equipment; the carrying equipment is used for receiving a carrying task; generating a plurality of candidate paths based on the carrying task; decomposing each candidate path into a plurality of continuous space-time units; sending the space-time units of the plurality of candidate paths to a central scheduling device; the central scheduling equipment is also used for receiving the space-time units of the plurality of candidate paths; based on the space-time units of the plurality of candidate paths, performing conflict rehearsal on the plurality of candidate paths by using a digital twin system, and selecting an optimal path from the plurality of candidate paths; sending the optimal path to the carrying equipment; the carrying equipment is further used for receiving the optimal path; and carrying according to the space-time unit of the optimal path.

Description

Technical Field

[0001] This disclosure relates to the field of logistics, and in particular to a material handling system. Background Technology

[0002] The Automated Material Handling System (AMHS) employs multi-device collaborative control and dynamic path optimization to achieve efficient and collision-free handling of precision materials such as wafer cells and glass substrates.

[0003] In related technologies, all material handling equipment relies on the control of a central dispatching system. When the number of material handling devices exceeds 200, dispatching delays increase significantly, leading to congestion in logistics channels and a severe decline in material handling capacity. Summary of the Invention

[0004] This disclosure provides a material handling system that can improve handling capacity. The technical solution is as follows: In a first aspect, embodiments of this disclosure provide a material handling system, the system comprising: A central dispatching device is used to receive transport instructions issued by the Manufacturing Execution System (MES), the transport instructions including a start point and an end point; match transport equipment based on the transport instructions; and send transport tasks to the transport equipment, the transport tasks corresponding to at least a portion between the start point and the end point. The transport equipment is used to receive the transport task; generate multiple candidate paths based on the transport task; decompose each candidate path into multiple consecutive spatiotemporal units, each spatiotemporal unit including a time period and the spatial path occupied by the transport equipment within the time period; and send the spatiotemporal units of the multiple candidate paths to the central scheduling equipment. The central scheduling equipment is also used to receive the spatiotemporal units of the multiple candidate paths; based on the spatiotemporal units of the multiple candidate paths, use a digital twin system to perform conflict pre-simulation on the multiple candidate paths, select the optimal path from the multiple candidate paths; and send the optimal path to the transport equipment. The transport equipment is also used to receive the optimal path and perform transport operations according to the spatiotemporal units of the optimal path.

[0005] Optionally, the central scheduling device is used to determine multiple transport route points based on the starting point and ending point indicated by the transport instruction; and to generate multiple transport tasks based on the multiple transport route points, each transport task corresponding to a journey from one route point to another. The central dispatching device is also used to send the next transport task after the transport device completes the previous transport task.

[0006] Optionally, the transport path points include the stopping points of the lifting equipment; The central dispatching equipment is further configured to: determine multiple candidate lifting devices based on the stopping point of the lifting device; predict the workload of the multiple candidate lifting devices during the time period when the transport device performs the transport task based on the Markov Decision Process (MDP); determine the optimal lifting device and the reservation time based on the workload, wherein the reservation time is used to indicate the time for reserving the optimal lifting device; and reserve the optimal lifting device for the transport device according to the reservation time.

[0007] Optionally, the transport equipment is configured to acquire real-time obstacle information in the surrounding area through sensors; acquire a global path topology map and paths reserved by other transport equipment from the digital twin system of the central scheduling equipment; and generate the multiple candidate paths based on the real-time obstacle information, the global path topology map, and the paths reserved by other transport equipment.

[0008] Optionally, the central scheduling device is used in the digital twin system to perform global conflict detection using mixed integer programming (MIP) based on the spatiotemporal units of each candidate path decomposed; and to determine the conflict-free path as the optimal path based on the conflict detection results.

[0009] Optionally, the transport instruction may also include a priority; The central scheduling device is also used to, when performing global conflict detection in the digital twin system, allocate the spatial path to the candidate path or the running path corresponding to the higher priority transport instruction if the spatial path is simultaneously in two candidate paths corresponding to the transport instructions, or if the spatial path is simultaneously in one candidate path corresponding to a transport instruction and another running path corresponding to a transport instruction.

[0010] Optionally, the central scheduling device is further configured to send an avoidance instruction to the other transport equipment when the spatial path corresponding to the spatiotemporal unit of the optimal path occupies the path that other transport equipment is running on.

[0011] Optionally, the transport device is further configured to broadcast a buffer message when it senses an obstacle on the optimal path or receives an avoidance instruction. The buffer message is used to notify other transport devices to enter the buffer track. After receiving confirmation messages from other transport devices on the buffer track, the transport device enters the buffer track.

[0012] Secondly, embodiments of this disclosure provide a central dispatching device, the central dispatching device comprising: The receiving module is used to receive the handling instructions issued by the Manufacturing Execution System (MES), which include the start point and end point of the handling. The processing module is used to match the handling equipment based on the handling instructions; A sending module is configured to send a transport task to the transport equipment, the transport task corresponding to at least a portion between the starting point and the ending point; The receiving module is also used to receive spatiotemporal units of multiple candidate paths sent by the handling equipment, wherein the spatiotemporal unit includes a time period and the spatial path occupied by the handling equipment within the time period; The processing module is also used to perform conflict simulation on the multiple candidate paths based on the spatiotemporal units of the multiple candidate paths using a digital twin system, and select the optimal path from the multiple candidate paths; The sending module is also used to send the optimal path to the handling equipment.

[0013] Thirdly, embodiments of this disclosure provide a handling device, the handling device comprising: The receiving module is used to receive a transport task sent by the central scheduling device. The transport task corresponds to at least a part from the starting point to the ending point. The starting point and the ending point are the starting point and the ending point of the transport in the transport instruction issued by the Manufacturing Execution System (MES). The processing module is used to generate multiple candidate paths based on the handling task; and to decompose each candidate path into multiple consecutive spatiotemporal units, wherein the spatiotemporal unit includes a time period and the spatial path occupied by the handling equipment within the time period. The sending module is used to send the spatiotemporal units of the multiple candidate paths to the central scheduling device. The receiving module is also used to receive the optimal path among the multiple candidate paths; The processing module is also used to perform transport operations according to the spatiotemporal units of the optimal path.

[0014] The beneficial effects of the technical solutions provided in this disclosure are: In this embodiment, after receiving a transport instruction, the central dispatching device matches transport equipment and issues transport tasks. The transport equipment then generates candidate paths based on the transport tasks and decomposes these candidate paths into specific spatiotemporal units before returning them to the central dispatching device. The central dispatching device uses a digital twin system to perform conflict rehearsals, selects the optimal path, and issues it to the transport equipment, enabling the transport equipment to perform transport operations based on this optimal path. In this process, the central dispatching device only executes a portion of the control process, delegating the path selection and decomposition work to the transport equipment itself. This significantly reduces the resource consumption of the central dispatching device, improves dispatching efficiency, reduces latency, and increases transport capacity.

[0015] Furthermore, when decomposing tasks, the handling equipment utilizes Time-Space Cube technology to output multiple spatiotemporal units, breaking down and modeling the physical handling task into a "traffic scheduling" process across the combined dimensions of "space and time," thereby achieving precise, conflict-free global scheduling. Meanwhile, the central scheduling equipment employs digital twin technology for path selection. Through high-fidelity synchronization and modeling, digital twin technology accurately avoids path conflicts, preventing collisions between different handling equipment and improving handling efficiency and capacity. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this disclosure, 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 this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure of a material handling system provided in an embodiment of this disclosure; Figure 2 This is a schematic diagram of the structure of a central dispatching device provided in an embodiment of this disclosure; Figure 3 This is a schematic diagram of the structure of a handling device provided in an embodiment of this disclosure.

[0018] Explanation of reference numerals in the attached figures: 100: Central dispatching equipment; 200: Handling equipment; 101: Receiving module of the central dispatching equipment; 102: Processing module of the central dispatching equipment; 103: Transmitting module of the central dispatching equipment; 201: Receiving module for the handling equipment; 202: Processing module for the handling equipment; 203: Sending module for the handling equipment. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this disclosure clearer, the embodiments of this disclosure will be described in further detail below with reference to the accompanying drawings.

[0020] Figure 1 This is a schematic diagram of the structure of a material handling system provided in an embodiment of this disclosure. Figure 1 As shown, the material handling system includes a central dispatching device 100 and multiple handling devices 200. The central dispatching device 100 is simultaneously connected to these multiple handling devices 200 via communication, such as wireless communication.

[0021] Among them, the central dispatching equipment 100 can be the central controller of the AMHS system, which can be implemented using computers, servers, control terminals, etc.

[0022] The handling equipment 200 can be an overhead hoist transport (OHT) device, an automated guided vehicle (AGV), or a robot, etc.

[0023] The handling equipment 200 integrates a controller or processor, such as an electronic control unit (ECU), which performs the processing functions on the handling equipment side.

[0024] This material handling system can be applied in the semiconductor industry, such as in high-cleanliness environments like semiconductor wafer fabrication plants (FAB), organic light-emitting diode (OLED) production lines, and light-emitting diode (LED) production lines. It can also be applied in other industries without limitation.

[0025] For example, in FAB, the handling equipment 200 can be responsible for moving wafer boxes to storage stockers or electronic racks.

[0026] In this embodiment of the disclosure, the central scheduling device 100 is used to receive a transport instruction issued by the Manufacturing Execution System (MES), the transport instruction including a start point and an end point of the transport; match transport equipment based on the transport instruction; and send a transport task to the transport equipment, the transport task corresponding to at least a portion between the start point and the end point.

[0027] The transport equipment 200 is used to receive the transport task; generate multiple candidate paths based on the transport task; decompose each candidate path into multiple consecutive spatiotemporal units, the spatiotemporal unit including a time period and the spatial path occupied by the transport equipment within the time period; and send the spatiotemporal units of the multiple candidate paths to the central scheduling equipment.

[0028] The central dispatching equipment 100 is also used to receive the spatiotemporal units of the multiple candidate paths; based on the spatiotemporal units of the multiple candidate paths, use a digital twin system to perform conflict pre-simulation on the multiple candidate paths, select the optimal path from the multiple candidate paths; and send the optimal path to the transport equipment. The handling equipment 200 is also used to receive the optimal path and perform handling work according to the spatiotemporal units of the optimal path.

[0029] In this embodiment, after receiving a transport instruction, the central dispatching device matches transport equipment and issues transport tasks. The transport equipment then generates candidate paths based on the transport tasks and decomposes these candidate paths into specific spatiotemporal units before returning them to the central dispatching device. The central dispatching device uses a digital twin system to perform conflict rehearsals, selects the optimal path, and issues it to the transport equipment, enabling the transport equipment to perform transport operations based on this optimal path. In this process, the central dispatching device only executes a portion of the control process, delegating the path selection and decomposition work to the transport equipment itself. This significantly reduces the resource consumption of the central dispatching device, improves dispatching efficiency, reduces latency, and increases transport capacity.

[0030] Furthermore, when decomposing tasks, the handling equipment utilizes spatiotemporal cube technology to output multiple spatiotemporal units, decomposing and modeling the physical handling task as a "traffic scheduling" process in a joint "space + time" dimension, thereby achieving precise global conflict-free scheduling. Meanwhile, the central scheduling equipment uses digital twin technology for path selection. Through high-fidelity synchronization and modeling, digital twin technology accurately avoids path conflicts, preventing path clashes between different handling equipment and improving handling efficiency and capacity.

[0031] In this embodiment of the disclosure, the handling instruction is used to instruct the material to be handled to be moved from the starting point to the ending point, so the handling instruction includes the material to be handled, the starting point information, and the ending point information.

[0032] The information about the materials to be moved can be an identifier for the materials, such as name and number. The origin and destination information can include at least one of the following: area information, floor information, and coordinate information.

[0033] For example, the transport instruction is "Transport wafer cassette Lot123 from the lithography area (4th floor, coordinate A1) to the etching area (2nd floor, coordinate B2)". Here, "wafer cassette Lot123" is the material to be transported; "lithography area (4th floor, coordinate A1)" is the starting point information; and "etching area (2nd floor, coordinate B2)" is the ending point information.

[0034] In this embodiment of the disclosure, the central scheduling device 100 is used to determine multiple transport route points based on the starting point and ending point indicated by the transport instruction; and to generate multiple transport tasks based on the multiple transport route points, each transport task corresponding to a journey from one route point to another.

[0035] The central dispatching device 100 is also used to send the next transport task after the transport device completes the previous transport task.

[0036] In this implementation, the central dispatching equipment breaks down the transportation process into multiple segments, and sends out the next task only after the previous segment is completed. This approach can better avoid conflicts and improve efficiency compared to a single complete task.

[0037] In this embodiment of the disclosure, the material handling system further includes multiple lifting devices, which are communicatively connected to a central dispatching device.

[0038] In this embodiment of the disclosure, the central dispatching device 100 can determine the physical path from the starting point to the ending point based on a global path topology map, for example, by using a shortest path algorithm; then, based on the lifting equipment along the physical path, it can determine the transport transit points. For example, the entrance and exit of the lifting equipment can be designed as transit points, where the entrance and exit refer to stopping points on different floors.

[0039] For example, in the first second (the time interval since the transport instruction was issued), the central dispatching equipment receives the transport instruction and parses out key metadata from it, namely the starting point (lithography area (4th floor, coordinate A1)) and the ending point (etching area (2nd floor, coordinate B2)). Based on this, the physical path is determined: 4th floor A1 → 4th floor elevator (lifting equipment) shaft opening (stop point) → 2nd floor elevator shaft opening → 2nd floor B2. These four points on the physical path are also the four transit points. This physical path indicates that the task corresponding to this transport instruction is a composite transport task involving both horizontal and vertical transport.

[0040] In the second second, the physical path can be divided into two transport tasks: First transport task T1: 4th floor A1 → 4th floor elevator shaft; The second transport task T2: 4th floor elevator shaft opening → 2nd floor B2.

[0041] After determining the two handling tasks, the central dispatching equipment matches handling equipment based on the first handling task. At this time, the central dispatching equipment selects the handling equipment that is closest to the starting point of the first handling task from the available handling equipment based on the status of each handling equipment and its location.

[0042] For example, to match T1 with an OHT: Query the status of all OHTs and find that OHT-77 just finished its previous task on the 4th floor, is closest to point A1 (only 20 meters away), and has sufficient power. Decision: Assign T1 to OHT-77.

[0043] Since this handling task involves lifting equipment, it is also necessary to allocate lifting equipment to this task.

[0044] In this embodiment of the disclosure, the transport path points include the stopping points of the lifting equipment.

[0045] The central dispatching device 100 is further configured to: determine multiple candidate lifting devices based on the stopping point of the lifting device; predict the workload of the multiple candidate lifting devices during the time period when the transport device performs the transport task based on a Markov Decision Process (MDP); determine the optimal lifting device and the reservation time based on the workload, wherein the reservation time is used to indicate the time for reserving the optimal lifting device; and reserve the optimal lifting device for the transport device according to the reservation time.

[0046] For example, the central dispatching equipment can select the lifting device with the fewest tasks or the lifting device with the longest idle time as the optimal lifting device.

[0047] For example, the central dispatching equipment can determine the idle time of the optimal lifting equipment based on the workload of the optimal lifting equipment in the future, and schedule it to arrive at the commanded location during that idle time.

[0048] For example, the reservation is made via instruction. The central dispatching equipment sends an instruction to the elevator, instructing it to wait on a specific floor at the reserved time.

[0049] For example, MDP-based prediction can be based on historical data of each lifting device.

[0050] In this implementation, the handling volume of each lifting device is predicted through MDP. The core objective of MDP is to determine when to dispatch idle lifting devices to which floors to wait when demand occurs randomly, so as to minimize the overall waiting time of the handling equipment and improve handling efficiency.

[0051] For example, for the T2 pre-matched elevator: based on the MDP model prediction, it was found that: ①EL3 is currently on the 4th floor and is vacant; ②Historical data shows that there will be a high probability of moving needs in the etching area on the 2nd floor in the next 2 minutes.

[0052] Assign EL3 to task T2, reserve elevator EL3 in advance, and instruct it to "wait at the east shaft of the 4th floor within 2 minutes and prepare to go to the 2nd floor".

[0053] In other embodiments, the central scheduling device may not split the task, but issue only one task from the start point to the end point of the transport instruction, or the central scheduling device may only match the lifting equipment without predicting through the MDP model.

[0054] In this embodiment of the disclosure, the central processing unit sends handling tasks to the handling equipment and the lifting equipment via instructions. These instructions include a task identifier (ID) and task content.

[0055] For example, in the 3rd second, the central dispatching equipment sends instructions to two hardware devices: Send to OHT-77: "Task ID: 001. Execute T1: Proceed immediately to A1 to pick up the goods, then proceed to the east wellhead on the 4th floor to dock with EL3. Mission endpoint: Enter EL3. Note: EL3 has been reserved." Send to elevator EL3: "Task ID: 001. Prepare to perform vertical mission: Wait for OHT-77 to enter at the east shaft on the 4th floor, then transport to the 2nd floor." In this embodiment of the disclosure, the transport device 200 is used to acquire real-time obstacle information in the surrounding area through sensors; acquire a global path topology map and paths reserved by other transport devices from the digital twin system of the central scheduling device; and generate the multiple candidate paths based on the real-time obstacle information, the global path topology map, and the paths reserved by other transport devices.

[0056] In this implementation, the candidate paths determined by the above method can greatly avoid conflicts with other transport tasks.

[0057] Real-time obstacle information includes the coordinates of obstacles within a certain range, as well as other handling equipment. The global path topology map refers to the topology of all paths available for handling equipment to traverse the entire factory or production line. Taking OHT as an example, the global path topology map is a guide rail path map. Since the final path selection requires central scheduling equipment, this equipment can store paths reserved by other handling equipment, thus avoiding conflicts during path selection.

[0058] For example, after receiving a mission, the OHT-77's ECU immediately initiates autonomous planning: 3.1 seconds: Environmental perception and data request: The OHT-77 uses its onboard sensors to perceive real-time obstacles within a 10-meter radius. At the same time, it requests the "global track topology map" and "the current scheduled spatiotemporal paths of all other OHTs" from the digital twin system.

[0059] At 3.2 seconds: The ECU's local path algorithm quickly generates three candidate paths (Pathα, Pathβ, Pathγ) based on the starting point (A1) and ending point (east wellhead on the 4th floor) of the task segment.

[0060] In other embodiments, the transport device may also generate candidate paths in other ways.

[0061] When generating multiple candidate paths, the path can be divided into multiple segments based on road segments, intersections, etc. in the topology map, and the time occupied by each segment can be calculated to obtain multiple continuous spatiotemporal units.

[0062] For example, at 3.2 seconds: candidate paths for the spacetime cube are generated: Each path is automatically decomposed into a series of "spatiotemporal units". For example, Pathα is decomposed into: [From t+5s to t+7s, track segment S1 is occupied]; [From t+8s to t+10s, intersection J2 is occupied]; [From t+12s to t+15s, the straight section L3 is occupied]; This process continues until the endpoint is reached. Here, t can be the current time or any other time.

[0063] In this embodiment of the disclosure, the central scheduling device 100 is used to perform global conflict detection in the digital twin system based on the spatiotemporal units of each candidate path decomposed by mixed integer programming (MIP); and to determine the conflict-free path as the optimal path based on the conflict detection results.

[0064] Optionally, the central dispatching equipment 100 marks the spatiotemporal unit corresponding to the optimal path as occupied, which becomes the path reserved by the transport equipment.

[0065] In this implementation, global conflict detection is performed through MIP in the digital twin system to achieve precise avoidance of path conflicts and prevent path conflicts between different handling devices.

[0066] The digital twin system utilizes MIP (Model-In-Place) for path conflict pre-simulation, a closed-loop computational process of prediction and decision-making. It proactively identifies and resolves conflicts by simulating the spatiotemporal trajectories of all vehicles in virtual computing, then distributes conflict-free path planning tasks to the actual physical environment for execution. The core technology lies in high-fidelity synchronization and modeling. Through the Internet of Things (IoT), it continuously collects high-frequency status data from all OHT (Outdoor and Transport) systems, creating models with precise spatiotemporal attributes for mapping all tracks, intersections, and equipment, thereby avoiding path conflicts.

[0067] In other embodiments, the central scheduling device may also employ other methods for path optimization.

[0068] For example, the 3.5-second mark: Digital twin conflict rehearsal and optimization. The digital twin system receives three sets of spatiotemporal units from OHT-77 and begins a global conflict check (i.e., compares them with all other locked spatiotemporal units in the system).

[0069] The simulation revealed that Pathβ would collide with OHT-42 at intersection J3 at t+9s; Pathγ would take an additional 15 meters.

[0070] Optimization decision: Path α is completely conflict-free and has the shortest distance. The digital twin system "approves" Path α and "locks" (marks) its spatiotemporal unit in the global map as occupied.

[0071] After selecting the optimal path, the central scheduling device sends the optimal path to the transport device, and the transport device executes the optimal path.

[0072] For example, instruction generation and execution: At the 4th second, the OHT-77's ECU translates Pathα into a specific sequence of driving instructions (accelerate to 1.5 m / s, turn left at coordinates X, Y, pass J2 before t+8 seconds, etc.). The OHT-77 begins to travel along Pathα according to the sequence of driving instructions.

[0073] At 20 seconds, OHT-77, carrying Lot 123, arrived at the east shaft entrance on the 4th floor. Due to MDP predictive scheduling, the elevator car EL3 had already stopped and opened its doors in advance. OHT-77 entered EL3, and after sensors confirmed its position, it issued a door-closing command. OHT-77's "Horizontal Mission T1" was completed.

[0074] Between 21 and 35 seconds, EL3, carrying OHT-77, descended to the second floor. This process is considered a "vertical track" movement within the system.

[0075] At this point, transport task T1 is complete. Once the central dispatching equipment detects the completion of transport task T1, it sends transport task T2 to the transport equipment.

[0076] When EL3 arrives at the second floor and opens the door, the central dispatching equipment automatically triggers the second part of subtask T2 and sends it directly to OHT-77, which is already on the second floor: "Task ID: 001-Continued. Execute destination navigation: From the current wellhead position, proceed to the B2 etching machine port." The OHT-77 repeats the same process as transport task T1 and executes transport task T2, which will not be described in detail here.

[0077] In this embodiment of the disclosure, the transport instruction also includes a priority, such as low priority, standard priority, high priority, etc. In the event of a path conflict, the task with the higher priority occupies the path.

[0078] In this embodiment of the disclosure, the central scheduling device 100 is further configured to, when performing global conflict detection in the digital twin system, allocate the spatial path to the candidate path or the running path corresponding to the higher priority transport instruction if the spatial path is simultaneously in two candidate paths corresponding to the transport instructions, or if the spatial path is simultaneously in one candidate path corresponding to the transport instruction and another running path corresponding to the transport instruction.

[0079] In this implementation, urgent orders are preemptively scheduled by allocating high-priority transport instructions to available or already occupied paths. This allows the system to interrupt or adjust ongoing routine task planning when a high-priority urgent production task is issued, dynamically creating a "green channel" to ensure its fastest possible completion.

[0080] For example, if both are candidate paths, the spatial path is assigned to the candidate path corresponding to the higher-priority transport instruction.

[0081] For example, if the priority of a candidate path is higher than that of a currently running path, then the spatial path is assigned to the candidate path corresponding to the higher-priority transport instruction.

[0082] In this embodiment of the disclosure, the central scheduling device 100 is further configured to send an avoidance instruction to the other transport equipment when the spatial path corresponding to the spatiotemporal unit of the optimal path occupies the path that other transport equipment is running on.

[0083] The avoidance instruction includes the time period and spatial path to be avoided, that is, the spatiotemporal unit to be avoided.

[0084] In this implementation, the training execution of high-priority tasks is ensured by instructing other handling equipment to give way.

[0085] In other embodiments, priority may not be designed, or only idle paths may be allocated to the transport tasks to be executed.

[0086] In this embodiment of the disclosure, the transport device 200 is further configured to broadcast a buffer message when it senses an obstacle on the optimal path or receives an avoidance instruction. The buffer message is used to notify other transport devices that the transport device enters the buffer track. After receiving confirmation messages from other transport devices on the buffer track, the transport device enters the buffer track.

[0087] The buffer track is a virtual buffer track, which means that a period of time is set aside from the normal track and used as a buffer track.

[0088] In this implementation, a virtual buffer track is set up to achieve safe and efficient temporary avoidance during physical execution.

[0089] For example, the OHT-77's lidar detects a temporary obstacle on the track ahead (assuming it's a toolbox left behind by a worker). The OHT-77 takes the following real-time action: 1. Emergency braking and warning.

[0090] 2. ECU initiates instant replanning: Within 0.1 seconds, based on the latest perception data, a new local path is calculated to bypass obstacles (such as using adjacent virtual buffer tracks).

[0091] 3. Vehicle-to-vehicle communication: OHT-77 immediately broadcasts to the nearby OHT-90: "I will temporarily occupy buffer track S5, please give way." 4. Execution and Recovery: After receiving confirmation from OHT-90, OHT-77 performs a bypass maneuver and quickly returns to the original Pathα leading to B2 after bypassing the obstacle.

[0092] 5. The OHT-77 reports this event and route change as a status update to the digital twin system. Based on this, the system dynamically updates the global spatiotemporal map, providing the latest information for the planning of other vehicles.

[0093] After all tasks corresponding to the handling instruction are completed, the handling equipment sends a completion message to the central dispatching equipment.

[0094] For example, the OHT-77 precisely delivers Lot123 to the B2 etching machine port, and the machine's sensors confirm receipt.

[0095] The OHT-77 sends a "Task ID: 001 Complete" signal to the central dispatch equipment and reports that its status has changed to "Idle".

[0096] The entire distributed intelligent scheduling closed loop is complete.

[0097] The material handling system provided in this disclosure can improve scheduling efficiency. Through distributed computing of the central scheduling equipment and the handling equipment, the decision latency of 200 OHT / AGVs is reduced to less than 50ms, and the system throughput is increased by more than 22%.

[0098] The material handling system provided in this disclosure can accelerate the response to urgent orders. The average completion time for high-priority, queue-jumping handling tasks is reduced to 40% of that of conventional systems.

[0099] The material handling system provided in this disclosure can reduce energy consumption. By optimizing the route and reducing empty running distance, overall energy consumption is reduced by 15%.

[0100] Figure 2 This is a schematic diagram of the structure of a central dispatching device provided in an embodiment of this disclosure. See also... Figure 2 The central dispatching equipment includes a receiving module 101, a processing module 102, and a sending module 103.

[0101] The receiving module 101 is used to receive the transport instructions issued by the Manufacturing Execution System (MES), which include the start point and the end point of the transport. Processing module 102 is used to match handling equipment based on the handling instructions; Sending module 103 is used to send a handling task to the handling equipment, the handling task corresponding to at least a portion between the starting point and the ending point; The receiving module 101 is also used to receive spatiotemporal units of multiple candidate paths sent by the handling equipment, wherein the spatiotemporal unit includes a time period and the spatial path occupied by the handling equipment within the time period. The processing module 102 is further configured to perform conflict simulation on the multiple candidate paths based on the spatiotemporal units of the multiple candidate paths using a digital twin system, and select the optimal path from the multiple candidate paths; The sending module 103 is also used to send the optimal path to the handling equipment.

[0102] In addition, the other steps performed by each module in the central dispatching equipment are described in the aforementioned system description of the central dispatching equipment, and will not be repeated here. Among them, the process of sending information is performed by the sending module, the process of receiving information is performed by the receiving module, and other processing processes are performed by the processing module.

[0103] Figure 3 This is a schematic diagram of the structure of a handling device provided in an embodiment of this disclosure. See also... Figure 3 The conveying device includes a receiving module 201, a processing module 202, and a sending module 203.

[0104] The receiving module 201 is used to receive a transport task sent by the central scheduling device. The transport task corresponds to at least a part from the starting point to the ending point. The starting point and the ending point are the starting point and the ending point of the transport in the transport instruction issued by the Manufacturing Execution System (MES). The processing module 202 is used to generate multiple candidate paths based on the handling task; and to decompose each candidate path into multiple consecutive spatiotemporal units, wherein the spatiotemporal unit includes a time period and the spatial path occupied by the handling equipment within the time period. The sending module 203 is used to send the spatiotemporal units of the multiple candidate paths to the central scheduling device. The receiving module 201 is also used to receive the optimal path among the multiple candidate paths; The processing module 202 is also used to perform transport operations according to the spatiotemporal units of the optimal path.

[0105] In addition, the other steps performed by each module in the handling equipment are described in the aforementioned system description of the central dispatching equipment, and will not be repeated here. Specifically, the process of sending information is performed by the sending module, the process of receiving information is performed by the receiving module, and other processing processes are performed by the processing module.

[0106] The above description is merely an optional embodiment of this disclosure and is not intended to limit this disclosure. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the protection scope of this disclosure.

Claims

1. A material handling system, characterized in that, The system includes: A central dispatching device is used to receive transport instructions issued by the Manufacturing Execution System (MES), the transport instructions including a start point and an end point; match transport equipment based on the transport instructions; and send transport tasks to the transport equipment, the transport tasks corresponding to at least a portion between the start point and the end point. The transport equipment is used to receive the transport task; generate multiple candidate paths based on the transport task; decompose each candidate path into multiple consecutive spatiotemporal units, each spatiotemporal unit including a time period and the spatial path occupied by the transport equipment within the time period; and send the spatiotemporal units of the multiple candidate paths to the central scheduling equipment. The central scheduling equipment is also used to receive the spatiotemporal units of the multiple candidate paths; based on the spatiotemporal units of the multiple candidate paths, use a digital twin system to perform conflict pre-simulation on the multiple candidate paths, select the optimal path from the multiple candidate paths; and send the optimal path to the transport equipment. The transport equipment is also used to receive the optimal path and perform transport operations according to the spatiotemporal units of the optimal path.

2. The system according to claim 1, characterized in that, The central dispatching equipment is used to determine multiple transport route points based on the starting point and ending point indicated by the transport instruction; and to generate multiple transport tasks based on the multiple transport route points, with each transport task corresponding to a journey from one route point to another. The central dispatching device is also used to send the next transport task after the transport device completes the previous transport task.

3. The system according to claim 2, characterized in that, The transport route points include the stopping points of the lifting equipment; The central dispatching equipment is also used to determine multiple candidate lifting devices based on the stopping point of the lifting device; Based on Markov Decision Process (MDP), the workload of the multiple candidate lifting devices is predicted during the time period when the conveying device performs the conveying task; based on the workload, the optimal lifting device and the reservation time are determined, and the reservation time is used to indicate the time to reserve the optimal lifting device. The optimal lifting equipment is reserved for the transport equipment according to the scheduled time.

4. The system according to any one of claims 1 to 3, characterized in that, The transport equipment is used to acquire real-time obstacle information in the surrounding area through sensors; acquire a global path topology map and paths reserved by other transport equipment from the digital twin system of the central scheduling equipment; and generate the multiple candidate paths based on the real-time obstacle information, the global path topology map, and the paths reserved by other transport equipment.

5. The system according to any one of claims 1 to 3, characterized in that, The central scheduling device is used in the digital twin system to perform global conflict detection based on the spatiotemporal units of each candidate path decomposed by mixed integer programming (MIP). Based on the conflict detection results, the conflict-free path is determined as the optimal path.

6. The system according to claim 5, characterized in that, The transport instructions also include priority; The central scheduling device is also used to, when performing global conflict detection in the digital twin system, allocate the spatial path to the candidate path or the running path corresponding to the higher priority transport instruction if the spatial path is simultaneously in two candidate paths corresponding to the transport instructions, or if the spatial path is simultaneously in one candidate path corresponding to a transport instruction and another running path corresponding to a transport instruction.

7. The system according to claim 6, characterized in that, The central scheduling device is also used to send an avoidance command to other transport equipment when the spatial path corresponding to the spatiotemporal unit of the optimal path occupies the path that other transport equipment is running on.

8. The system according to any one of claims 1 to 3, characterized in that, The transport device is also used to broadcast a buffer message when it senses an obstacle on the optimal path or receives an avoidance instruction. The buffer message is used to notify other transport devices, and the transport device enters the buffer track. After receiving confirmation messages from other transport devices on the buffer track, the transport device enters the buffer track.

9. A central dispatching device, characterized in that, The central dispatching equipment includes: The receiving module is used to receive the handling instructions issued by the Manufacturing Execution System (MES), which include the start point and end point of the handling. The processing module is used to match the handling equipment based on the handling instructions; A sending module is configured to send a transport task to the transport equipment, the transport task corresponding to at least a portion between the starting point and the ending point; The receiving module is also used to receive spatiotemporal units of multiple candidate paths sent by the handling equipment, wherein the spatiotemporal unit includes a time period and the spatial path occupied by the handling equipment within the time period; The processing module is also used to perform conflict simulation on the multiple candidate paths based on the spatiotemporal units of the multiple candidate paths using a digital twin system, and select the optimal path from the multiple candidate paths; The sending module is also used to send the optimal path to the handling equipment.

10. A handling device, characterized in that, The conveying equipment includes: The receiving module is used to receive a transport task sent by the central scheduling device. The transport task corresponds to at least a part from the starting point to the ending point. The starting point and the ending point are the starting point and the ending point of the transport in the transport instruction issued by the Manufacturing Execution System (MES). The processing module is used to generate multiple candidate paths based on the handling task; and to decompose each candidate path into multiple consecutive spatiotemporal units, wherein the spatiotemporal unit includes a time period and the spatial path occupied by the handling equipment within the time period. The sending module is used to send the spatiotemporal units of the multiple candidate paths to the central scheduling device. The receiving module is also used to receive the optimal path among the multiple candidate paths; The processing module is also used to perform transport operations according to the spatiotemporal units of the optimal path.

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