A method and system for collaborative scheduling of material handling at the inbound and outbound interfaces of a cleanroom automated storage and retrieval system.

Abstract

This invention discloses a material handling collaborative scheduling method and system for cleanroom inbound / outbound interfaces, relating to the field of collaborative scheduling technology. After completing the current material handling task at the inbound / outbound interface, the system first generates a task completion section of the interface and collects cleanliness status change information after the task ends to form a cleanliness disturbance image. This allows the system to identify residual airflow disturbances, particle release, and pressure fluctuations from the previous task during cleanroom door opening and closing, material transfer, carrier movement, and equipment entry and exit. Then, based on the cleanliness disturbance image, the system determines the interface's cleanliness acceptance status and generates a scheduling instruction after matching it with the cleanliness sensitivity attributes of the next candidate task. This avoids releasing highly clean or sensitive materials simply because the interface is idle, reducing the hidden cleanliness risks when the interface is physically released but the cleanliness acceptance is not closed, and improving the reliability of continuous inbound / outbound scheduling.

Description

Technical Field

[0001] This invention relates to the field of collaborative scheduling technology, specifically to a collaborative scheduling method and system for material handling at the inbound and outbound interfaces of a cleanroom automated warehouse. Background Technology

[0002] In the operation of cleanroom automated storage and retrieval systems (AS / RS), the inbound and outbound interfaces are typically critical nodes for material transfer between internal storage units, external handling equipment, and the material-using end of the production line. Existing material handling coordination scheduling methods for cleanroom AS / RS inbound and outbound interfaces generally involve, upon receiving material tasks such as inbound, outbound, return, material return, or empty vehicle recovery, first obtaining the occupancy status, buffer status, cleanroom door open / closed status, handling equipment location status, and production line material requirements for each inbound and outbound interface. Then, based on material type, cleanliness level, target workstation, task urgency, and interface availability, corresponding inbound and outbound interfaces and handling equipment are matched for different material tasks. Subsequently, considering the operating status of equipment such as stacker cranes, conveyors, AGVs, and robotic arms, the execution sequence, arrival time, interface occupancy time, and path avoidance relationships of multiple tasks are uniformly arranged, ensuring that internal retrieval and placement actions, interface handover actions, and external delivery actions are seamlessly integrated in time. In this way, the system can reduce handling equipment waiting times, interface queues, and production line material shortages, and improve the overall flow efficiency of the cleanroom AS / RS inbound and outbound interfaces.

[0003] However, the aforementioned collaborative scheduling methods focus primarily on whether the interface is physically idle, whether the handling equipment is in place, whether the buffer space is available, and whether the task priority is met. When multiple material tasks pass through the same inbound / outbound interface or adjacent interfaces consecutively, the localized airflow disturbances, particle releases, pressure fluctuations, or clean boundary changes caused by the previous handling task during cleanroom door opening and closing, material transfer, carrier movement, and equipment approach may not have completely dissipated after the interface is physically released. At this point, although the interface appears to be in an idle state with no material or equipment occupying it, or the door closed, the surrounding clean environment may not have recovered to a state capable of stably receiving the next material. If the system still immediately schedules the next high-cleanliness-level material or sensitive material to enter the interface area based solely on the interface idle signal, it is prone to the problem of a seemingly continuous and smooth scheduling process while the actual cleanroom acceptance state has not yet closed, thereby increasing the risk of residual cleanroom disturbances affecting the material during the inbound / outbound handover phase. Summary of the Invention

[0004] The purpose of this invention is to solve the problems mentioned in the background art and to propose a material handling collaborative scheduling method and system for the inbound and outbound interfaces of a cleanroom automated warehouse.

[0005] A first aspect of this invention provides a method for collaborative scheduling of material handling at the inbound and outbound interfaces of a cleanroom automated storage and retrieval system, the method comprising:

[0006] S1: After completing the current material handling task at the inbound / outbound interface, obtain the task completion information of the current material handling task and generate the interface task completion section.

[0007] S2: Based on the interface task completion section, collect the cleanliness status change information of the inbound and outbound interfaces after the current material handling task is completed, and generate cleanliness disturbance image results.

[0008] S3: Determine the cleanliness acceptance status of the inbound and outbound interfaces based on the clean disturbance imaging results;

[0009] S4: Obtain the cleanliness sensitivity attribute of the next candidate material handling task, and match the cleanliness sensitivity attribute with the cleanliness acceptance status to obtain the cleanliness acceptance matching result;

[0010] S5: Generate material handling scheduling instructions based on the cleanroom acceptance matching results; wherein, when the cleanroom acceptance matching results meet the scheduling conditions, release the next candidate material handling task; when the cleanroom acceptance matching results do not meet the scheduling conditions, adjust the execution interface or execution timing of the next candidate material handling task.

[0011] S6: After the next candidate material handling task is completed, update the clean acceptance record of the inbound / outbound interface based on its execution result, and use the updated clean acceptance record for scheduling subsequent material handling tasks.

[0012] Optionally, the steps to complete the interface task termination section include:

[0013] After receiving the material handover completion signal corresponding to the current material handling task, the inbound / outbound interface traversed by the current material handling task is determined as the target interface;

[0014] Acquire the interface action record of the target interface, the material attribute record of the current material handling task, the operation record of the handling equipment, and the clean environment status of the area associated with the target interface when the current material handling task ends;

[0015] Based on the end time of the current material handling task, the interface action record, material attribute record, handling equipment operation record, and clean environment status are time-aligned to obtain the task end information corresponding to the current material handling task.

[0016] The target interface, the end time of the current material handling task, and the task end information are bound together to generate an interface task end section.

[0017] Optionally, the steps for generating clean disturbance image results include:

[0018] Extract the target interface, the end time of the current material handling task, and the clean environment status at the end of the task from the interface task end section, and determine the end time of the current material handling task as the starting point of status acquisition.

[0019] Based on the target interface, the associated area of ​​the target interface is determined, and starting from the state acquisition start point, the particle concentration state, pressure difference state, airflow state, and door closure state are continuously acquired within the associated area of ​​the target interface to obtain a continuous acquisition sequence of interface cleanliness state.

[0020] The cleanliness status of the interface is continuously collected and compared with the clean environment status at the end of the task to obtain the cleanliness status change sequence.

[0021] The residual state of clean disturbance in the target interface associated area is identified based on the clean state change sequence, and the residual state of clean disturbance is bound to the target interface, the state acquisition start point and the corresponding continuous acquisition period to generate a clean disturbance image result.

[0022] Optionally, the steps for determining the cleanliness acceptance status of the inbound and outbound interfaces include:

[0023] Extract the target interface, continuous acquisition period, and corresponding particle concentration change sequence, pressure difference change sequence, airflow change sequence, and door closure change sequence from the clean disturbance image results;

[0024] The last three acquisition times within the continuous acquisition period are used as the status determination period. The particle concentration value, pressure difference value, airflow velocity value and door closure signal are read during the status determination period.

[0025] The particle concentration determination result is determined based on whether the particle concentration value within the state determination period meets the preset particle concentration limit and preset particle fluctuation limit; the pressure difference determination result is determined based on whether the pressure difference value meets the preset pressure difference range and preset pressure difference fluctuation limit; the airflow determination result is determined based on whether the airflow velocity value meets the preset airflow velocity range and preset airflow fluctuation limit; and the door determination result is determined based on whether all door closing signals are closed signals.

[0026] When the particle concentration determination result, pressure difference determination result, airflow determination result, and door determination result are all stable, the target interface is determined to be in a closed acceptance state; when the door determination result is stable, and only one of the particle concentration determination result, pressure difference determination result, and airflow determination result is unstable, the target interface is determined to be in a buffer acceptance state; when the door determination result is unstable, or at least two of the particle concentration determination result, pressure difference determination result, and airflow determination result are unstable, the target interface is determined to be in a blocked acceptance state.

[0027] The target interface, the status determination period, the determination results, and the corresponding clean acceptance status are bound together to obtain the clean acceptance status of the inbound and outbound interfaces.

[0028] Optionally, the steps to obtain the clean acceptance matching results include:

[0029] Read the highest-ranked material handling task from the queue of materials to be scheduled, and use it as the next candidate material handling task. Also, obtain its material cleanliness level, packaging status, task type, and interface waiting permission flag.

[0030] Based on the cleanliness level of the material, its packaging status, and the task type, the next candidate material handling task is determined to be either highly sensitive, moderately sensitive, or low sensitive. Among them, tasks with high cleanliness level, non-sealed packaging, or those from the warehouse to the clean production line are determined to be highly sensitive; tasks with ordinary cleanliness level, sealed packaging, and belonging to ordinary warehousing, ordinary return to the warehouse, or empty vehicle recycling are determined to be low sensitive; and the remaining tasks are determined to be moderately sensitive.

[0031] The system reads the cleanliness acceptance status of the inbound and outbound interfaces and matches the cleanliness sensitivity attributes with the cleanliness acceptance status. Specifically, if the cleanliness acceptance status is closed, it is determined as an allowed acceptance result; if the cleanliness acceptance status is buffered, the cleanliness sensitivity attribute is low or medium sensitivity, and the interface waiting allow flag is set to allowed waiting, it is determined as a restricted acceptance result; if the cleanliness acceptance status is blocked, or if the cleanliness acceptance status is buffered but does not meet the restricted acceptance conditions, it is determined as an disallowed acceptance result.

[0032] Bind the next candidate material handling task, cleanliness sensitivity attribute, cleanliness acceptance status, and cleanliness acceptance matching result.

[0033] Optionally, the step of generating material handling scheduling instructions based on the cleanroom acceptance matching results includes:

[0034] Read the cleanroom acceptance matching results; among which, the cleanroom acceptance matching results include allowed acceptance results, restricted acceptance results, or disallowed acceptance results;

[0035] When the cleanroom acceptance matching result is an allowed acceptance result, the next candidate material handling task is bound to the current inbound / outbound interface, and a direct release scheduling instruction is generated;

[0036] When the cleanroom acceptance matching result is a restricted acceptance result, and the buffer waiting position of the current inbound / outbound interface is idle, the next candidate material handling task is bound to the buffer waiting position, and a buffer release scheduling instruction is generated.

[0037] When the cleanroom acceptance matching result is a non-acceptable result, or the cleanroom acceptance matching result is a restricted result but the buffer waiting bit is occupied, other inbound and outbound interfaces that are in a closed acceptance state, other than the current inbound and outbound interface, are selected as alternative interfaces.

[0038] When a replaceable interface exists, the next candidate material handling task is bound to the replaceable interface, and an interface reassignment scheduling instruction is generated; when no replaceable interface exists, the next candidate material handling task is kept in the queue of materials to be scheduled, and a delayed execution scheduling instruction is generated.

[0039] Direct release scheduling instructions, buffer release scheduling instructions, interface reassignment scheduling instructions, or delayed execution scheduling instructions will be used as material handling scheduling instructions.

[0040] Optionally, the step of using the updated cleanroom acceptance record for scheduling subsequent material handling tasks includes:

[0041] After the next candidate material handling task is completed, obtain its actual execution interface, actual scheduling instruction type, task execution time period, and task execution result;

[0042] Collect information on the cleanliness status changes of the actual execution interface after the task is completed, and determine the updated cleanliness acceptance status of the actual execution interface accordingly.

[0043] Write the actual execution interface, actual scheduling instruction type, task execution period, task execution result, and updated cleanroom acceptance status into the corresponding cleanroom acceptance record.

[0044] Based on the actual scheduling instruction type and the updated clean acceptance status, the actual execution interface is marked as a priority scheduling interface, a restricted scheduling interface, a replaceable scheduling interface, or a suspended scheduling interface.

[0045] When scheduling subsequent material handling tasks, prioritize the use of priority scheduling interfaces or replaceable scheduling interfaces, restrict the use of restricted scheduling interfaces, and exclude pause scheduling interfaces.

[0046] The updated cleanroom acceptance record will be used as the basis for the subsequent generation of interface task end sections and for determining the execution interface.

[0047] A second aspect of this invention provides a material handling collaborative scheduling system for the inbound and outbound interfaces of a cleanroom automated storage and retrieval system, the system comprising:

[0048] Task completion module: After the current material handling task is completed at the inbound / outbound interface, the task completion information of the current material handling task is obtained, and the interface task completion interface is generated.

[0049] Disturbance image module: Based on the interface task completion section, it collects the cleanliness status change information of the inbound and outbound interfaces after the current material handling task is completed, and generates cleanliness disturbance image results;

[0050] Cleanroom Acceptance Module: Determines the cleanroom acceptance status of the inbound and outbound interfaces based on the cleanroom disturbance imaging results;

[0051] Acceptance and matching module: Obtain the cleanliness sensitivity attributes of the next candidate material handling task, and match the cleanliness sensitivity attributes with the cleanliness acceptance status to obtain the cleanliness acceptance matching result;

[0052] Instruction module: Generates material handling scheduling instructions based on the cleanroom acceptance matching results; wherein, when the cleanroom acceptance matching results meet the scheduling conditions, the next candidate material handling task is released; when the cleanroom acceptance matching results do not meet the scheduling conditions, the execution interface or execution timing of the next candidate material handling task is adjusted.

[0053] Scheduling module: After the next candidate material handling task is completed, update the clean acceptance record of the inbound / outbound interface based on its execution result, and use the updated clean acceptance record for scheduling subsequent material handling tasks.

[0054] The beneficial effects of this invention are:

[0055] This invention proposes a material handling collaborative scheduling method and system for cleanroom inbound / outbound interfaces. After completing the current material handling task at the inbound / outbound interface, instead of directly releasing the next task based on the interface's idle state, it first generates an interface task completion section based on the task completion information of the current material handling task. Furthermore, it collects cleanliness status change information after the task ends to generate a cleanliness disturbance image. This allows the system to identify residual airflow disturbances, particle release, pressure fluctuations, or cleanliness boundary changes during the previous handling task's cleanroom door opening and closing, material transfer, carrier movement, and equipment entry and exit. Based on this, the cleanliness acceptance state of the inbound / outbound interface is determined according to the cleanliness disturbance image. This cleanliness acceptance state is then matched with the cleanliness sensitivity attributes of the next candidate material handling task before generating a material handling scheduling instruction. This avoids immediately arranging high-cleanliness-level or sensitive materials to enter the interface area simply because the interface is unoccupied, unoccupied, or the door is closed. This reduces the hidden cleanliness risks arising when the interface is physically released but the cleanliness acceptance state is not yet closed, improving the cleanliness stability and collaborative scheduling reliability of material handover in continuous inbound / outbound scenarios. Attached Figure Description

[0056] Figure 1 This is a flowchart of a material handling collaborative scheduling method for the inbound and outbound interfaces of a cleanroom automated warehouse, provided as an embodiment of the present invention. Detailed Implementation

[0057] To further illustrate the technical means and effects of the present invention in achieving its intended purpose, the following detailed description of the specific implementation methods, structures, features, and effects of the present invention, in conjunction with the accompanying drawings and preferred embodiments, is provided below.

[0058] This invention provides a method for collaborative scheduling of material handling at the inbound and outbound interfaces of a cleanroom automated storage and retrieval system. See also... Figure 1 The method includes the following steps:

[0059] S1: After completing the current material handling task at the inbound / outbound interface, obtain the task completion information of the current material handling task and generate the interface task completion section.

[0060] S2: Based on the interface task completion section, collect the cleanliness status change information of the inbound and outbound interfaces after the current material handling task is completed, and generate cleanliness disturbance image results.

[0061] S3: Determine the cleanliness acceptance status of the inbound and outbound interfaces based on the clean disturbance imaging results;

[0062] S4: Obtain the cleanliness sensitivity attribute of the next candidate material handling task, and match the cleanliness sensitivity attribute with the cleanliness acceptance status to obtain the cleanliness acceptance matching result;

[0063] S5: Generate material handling scheduling instructions based on the cleanroom acceptance matching results; wherein, when the cleanroom acceptance matching results meet the scheduling conditions, release the next candidate material handling task; when the cleanroom acceptance matching results do not meet the scheduling conditions, adjust the execution interface or execution timing of the next candidate material handling task.

[0064] S6: After the next candidate material handling task is completed, update the clean acceptance record of the inbound / outbound interface based on its execution result, and use the updated clean acceptance record for scheduling subsequent material handling tasks.

[0065] In one embodiment, S1: After the inbound / outbound interface completes the current material handling task, the steps of obtaining the task completion information of the current material handling task and generating the interface task completion section are as follows:

[0066] After receiving the material handover completion signal corresponding to the current material handling task, obtain the inbound / outbound interface number that the current material handling task has passed through, and determine the inbound / outbound interface number as the target interface;

[0067] Obtain the interface action record of the target interface during the current material handling task execution process; wherein, the interface action record includes the door opening time, door closing time, interface occupation start time, interface occupation end time, and interface occupation duration of the target interface;

[0068] Retrieve the material attribute records for the current material handling task; the material attribute records include the task type, material cleanliness level, material packaging status, and material in / out direction of the current material handling task.

[0069] Obtain the operation record of the handling equipment corresponding to the current material handling task; the operation record of the handling equipment includes the time when the handling equipment enters the target interface associated area, the time when the handling equipment leaves the target interface associated area, the direction of entry and exit of the handling equipment, and the dwell time of the handling equipment in the target interface associated area;

[0070] Obtain the clean environment status within the target interface associated area when the current material handling task ends; the clean environment status includes the particle concentration status, pressure difference status, airflow status, and door closure status within the target interface associated area;

[0071] Based on the end time of the current material handling task, the interface action record, material attribute record, handling equipment operation record, and clean environment status are time-aligned to obtain the task end information corresponding to the current material handling task.

[0072] Bind the target interface, the end time of the current material handling task, and the task end information to generate an interface task end interface.

[0073] It should be noted that, for example, a cleanroom automated storage and retrieval system (AS / RS) has a first outbound interface. The current material handling task is to transport a batch of sealed containers with a high cleanliness level from inside the AS / RS to the first production line. During the execution of this task, the cleanroom door of the first outbound interface opens at 10:00:05 and closes at 10:00:28; the interface is occupied from 10:00:03 and is released from occupation at 10:00:35; the corresponding handling equipment enters the associated area of ​​the first outbound interface at 10:00:00 and leaves the associated area at 10:00:38, with its entry direction being the west passage and its exit direction being the south passage. Upon receiving the material handover completion signal for the task, the first outbound interface is first identified as the target interface. Then, the opening and closing times of the door, the start and end times of interface occupancy, and the duration of interface occupancy for this target interface in this task are retrieved. Simultaneously, the cleanliness level, packaging status, task type, and material entry / exit direction corresponding to the task are acquired. At the same time, the time the handling equipment enters and leaves the target interface's associated area, its entry / exit direction, and dwell time are obtained. The particle concentration, differential pressure, airflow, and door closure status within the target interface's associated area at the end of the task are collected. If, at 10:00:35, the task ends and the door of the first outbound interface is closed, but the differential pressure within the target interface's associated area is still rising, the particle concentration has not yet returned to its pre-task stable level, and the airflow velocity still fluctuates briefly, then the aforementioned interface action records, material attribute records, handling equipment operation records, and clean environment status are time-aligned to the task end time of 10:00:35 and bound to the first outbound interface to generate the corresponding interface task end section. Therefore, the interface task completion section not only reflects that the first outbound interface has completed this material handover, but also reflects the possible changes in cleanliness residuals in the area associated with the interface at the end of this task, providing a data basis for subsequent judgment on whether the interface can continue to undertake the next material handling task.

[0074] In one embodiment, S2: Based on the interface task completion section, the step of collecting cleanliness status change information of the inbound / outbound interface after the current material handling task is completed, and generating cleanliness disturbance image results is as follows:

[0075] Extract the target interface, the end time of the current material handling task, and the clean environment status at the end of the task from the interface task end section, and determine the end time of the current material handling task as the starting point of status acquisition.

[0076] The target interface associated area is determined based on the target interface; the target interface associated area includes the inner area of ​​the door, the outer area of ​​the door, the interface buffer area, and the adjacent channel area that the transport equipment passes through when entering and exiting the target interface.

[0077] Starting from the state acquisition point, the particle concentration state, pressure difference state, airflow state and door closure state are continuously acquired in the target interface associated area according to the preset acquisition interval to obtain the interface cleanliness state continuous acquisition sequence.

[0078] By comparing each data point in the continuous acquisition sequence of interface cleanliness with the clean environment status at the end of the task in the interface task end section, the particle concentration change sequence, pressure difference change sequence, airflow change sequence, and door closure change sequence are obtained.

[0079] Based on the particle concentration change sequence, pressure difference change sequence, airflow change sequence, and door closure change sequence, identify whether there is at least one clean disturbance residual state in the target interface associated area, such as continuous increase in particle concentration, continuous delay in pressure differential stabilization, continuous fluctuation in airflow, or abnormal door closure.

[0080] The identified clean disturbance residual state is bound to the target interface, the state acquisition start point, and the corresponding continuous acquisition period to generate a clean disturbance image result.

[0081] To illustrate the above steps, for example, if the first outbound interface completes the previous material handling task at 10:00:35, the corresponding interface task completion section has been generated in S1. This interface task completion section records: the target interface is the first outbound interface, the end time of the current material handling task is 10:00:35, and the particle concentration state, differential pressure state, airflow state, and door closure state in the area associated with the first outbound interface have all been recorded at the end of the task.

[0082] During execution of S2, the first outbound interface, the task completion time of 10:00:35, and the clean environment status at the end of the task are first extracted from the interface task completion section, and 10:00:35 is determined as the starting point for status acquisition. Subsequently, based on the location of the first outbound interface, the target interface associated area that needs to be continuously observed is determined, including the inner area of ​​the door of the first outbound interface, the outer area of ​​the door, the interface buffer area, and the adjacent channel area passed through when the AGV leaves the first outbound interface. Starting from 10:00:35, the cleanliness status of the above-mentioned target interface associated area is continuously acquired at a preset acquisition interval, such as once every 5 seconds. Assuming that particle concentration status, pressure difference status, airflow status, and door closure status are acquired at 10:00:40, 10:00:45, 10:00:50, 10:00:55, and 10:01:00 respectively, these continuously acquired data form a continuous acquisition sequence of the interface cleanliness status of the first outbound interface. Then, the continuous acquisition sequence of the interface cleanliness status is compared with the clean environment status recorded at the end of the task at 10:00:35. If the comparison results show that: the door closure status is always normal, but the particle concentration in the outer area of ​​the door and the interface buffer area is still higher than the state at 10:00:35 at multiple continuous acquisition times; at the same time, although the pressure difference inside and outside the first outbound interface gradually recovers, it has not yet reached a stable state during the continuous acquisition period; and the airflow status near the AGV leaving the channel still fluctuates continuously, then the particle concentration change sequence, pressure difference change sequence, airflow change sequence, and door closure change sequence are obtained accordingly.

[0083] Based on the aforementioned change sequence, three residual cleanliness disturbance states were identified within the area associated with the first outbound interface: continuously rising particle concentration, continuously delayed pressure differential stabilization, and continuously fluctuating airflow. Finally, these three residual cleanliness disturbance states were linked to the first outbound interface, the status acquisition starting point at 10:00:35, and the continuous acquisition period from 10:00:35 to 10:01:00 to generate the cleanliness disturbance imagery results corresponding to the first outbound interface.

[0084] This example demonstrates that S2 does not simply determine whether the door of the first outbound interface is closed, nor does it merely check whether the interface is occupied by material. Instead, it continuously records changes in particle concentration, pressure difference, airflow, and door status over a period of time after the current material handling task has ended, and identifies whether any unresolved cleanliness disturbances remain. This generated cleanliness disturbance imagery provides a basis for subsequently determining whether the first outbound interface truly meets the cleanliness requirements for handling the next material handling task.

[0085] In one embodiment, S3: The step of determining the cleanliness acceptance status of the inbound / outbound interface based on the cleanliness disturbance imaging results is as follows:

[0086] Extract the target interface, continuous acquisition period, particle concentration change sequence, pressure difference change sequence, airflow change sequence, and door closure change sequence from the clean disturbance imagery results;

[0087] The last three acquisition times within the continuous acquisition period are used as the status determination period, and the particle concentration value, pressure difference value, airflow velocity value and door closure signal are read respectively within the status determination period;

[0088] When all three particle concentration values ​​are less than or equal to the preset particle concentration limit during the state determination period, and the difference between any two adjacent particle concentration values ​​is less than or equal to the preset particle fluctuation limit, the particle concentration determination result is determined as a stable particle result; otherwise, the particle concentration determination result is determined as an unstable particle result.

[0089] When all three differential pressure values ​​are between the preset lower and upper limits of differential pressure during the state determination period, and the difference between any two adjacent differential pressure values ​​is less than or equal to the preset differential pressure fluctuation limit, the differential pressure determination result is determined as a stable differential pressure result; otherwise, the differential pressure determination result is determined as an unstable differential pressure result.

[0090] When all three airflow velocity values ​​are between the preset lower limit and the preset upper limit of airflow velocity during the state determination period, and the difference between any two adjacent airflow velocity values ​​is less than or equal to the preset airflow fluctuation limit, the airflow determination result is determined to be a stable airflow result; otherwise, the airflow determination result is determined to be an unstable airflow result.

[0091] If all three gate closure signals are closed signals during the state determination period, the gate determination result is determined as a stable gate closure result; otherwise, the gate determination result is determined as an unstable gate closure result.

[0092] When the particle concentration determination result is a stable particle result, the pressure difference determination result is a stable pressure difference result, the airflow determination result is a stable airflow result, and the door determination result is a stable door closure result, the clean acceptance state of the target interface is determined to be a closed acceptance state.

[0093] When the door determination result is a stable door closure result, and only one of the particle concentration determination result, pressure difference determination result, and airflow determination result is an unstable result, the clean acceptance state of the target interface is determined as a buffer acceptance state.

[0094] When the door determination result is that the door is not stably closed, or when at least two of the particle concentration determination result, pressure difference determination result, and airflow determination result are unstable, the clean acceptance state of the target interface is determined to be the blocked acceptance state.

[0095] The target interface, status determination period, particle concentration determination result, pressure difference determination result, airflow determination result, door determination result, and corresponding clean acceptance status are bound together to obtain the clean acceptance status of the inbound and outbound interfaces.

[0096] To illustrate the above steps, after the previous handling task was completed, the first outbound interface completed continuous data acquisition between 10:00:35 and 10:01:00, obtaining cleanroom disturbance imaging results. The last three acquisition times during this continuous acquisition period were 10:00:50, 10:00:55, and 10:01:00. Assume that the preset particle concentration limit for this interface is 100, the preset particle fluctuation limit is 10; the preset differential pressure range is 8 to 15, the preset differential pressure fluctuation limit is 2; the preset airflow velocity range is 0.25 to 0.45, and the preset airflow fluctuation limit is 0.05. The data collected at these three acquisition times are as follows: 10:00:50, particle concentration was 92, pressure difference was 10, airflow velocity was 0.32, and the gate closure signal was closed; 10:00:55, particle concentration was 88, pressure difference was 11, airflow velocity was 0.34, and the gate closure signal was closed; 10:01:00, particle concentration was 86, pressure difference was 11, airflow velocity was 0.33, and the gate closure signal was closed. In this scenario, all three particle concentration values ​​did not exceed 100, and the differences between adjacent particle concentrations were 4 and 2, respectively, neither exceeding 10. Therefore, the particle concentration was determined to be stable. All three pressure differential values ​​were between 8 and 15, and the differences between adjacent pressure differentials were 1 and 0, respectively, neither exceeding 2. Therefore, the pressure differential was determined to be stable. All three airflow velocity values ​​were between 0.25 and 0.45, and the differences between adjacent airflow velocities were 0.02 and 0.01, respectively, neither exceeding 0.05. Therefore, the airflow was determined to be stable. All three door closure signals were closed, therefore the door was determined to be stably closed. Thus, the first outbound interface was determined to be in a closed receiving state, indicating that the interface has met the cleanliness requirements for receiving the next material handling task. For example, if the data at the last three collection times were: particle concentrations of 95, 90, and 88; pressure differentials of 10, 11, and 11; airflow velocities of 0.49, 0.51, and 0.50; and all door closure signals were closed. At this point, both particle concentration and differential pressure meet the stability conditions, and the door remains closed. However, all three airflow velocity values ​​are higher than the preset upper limit of 0.45, therefore only the airflow is considered unstable. Since the door is stably closed, and only one of the particle concentration, differential pressure, and airflow is unstable, the first outbound interface is designated as a buffer receiving state. In this state, sealed packaging and low-cleanliness-sensitivity ordinary return tasks can be arranged to pass through this interface first, but high-cleanliness-level materials should not be arranged for outbound immediately. For example, if the data from the last three collection times are: particle concentrations of 120, 128, and 132, differential pressures of 6, 7, and 7, and airflow velocities of 0.52, 0.55, and 0.53, and the door closure signal is closed for all three times, then the particle concentration exceeds the preset particle concentration limit, the differential pressure is lower than the preset lower limit, and the airflow velocity is higher than the preset upper limit. Although the door is closed, all three parameters—particle concentration, differential pressure, and airflow—are unstable.Therefore, the first outbound interface is set to a blocked receiving state, meaning that the interface will not release the next material handling task for the time being and needs to continue to wait for the cleanliness status to be restored or to be reassigned to another interface.

[0097] In one embodiment, S4: The step of obtaining the cleanliness sensitivity attribute of the next candidate material handling task and matching the cleanliness sensitivity attribute with the cleanliness acceptance status to obtain the cleanliness acceptance matching result is as follows:

[0098] Read the highest-ranked material handling task from the queue of material tasks to be scheduled and identify it as the next candidate material handling task.

[0099] Obtain the cleanliness level, packaging status, task type, and interface for the next candidate material handling task, and wait for the permission flag.

[0100] When the cleanliness level of the material is high, or the packaging status is non-sealed packaging, or the task type is outbound to clean production line, the cleanliness sensitivity attribute of the next candidate material handling task will be determined as high sensitivity attribute.

[0101] When the material cleanliness level is ordinary cleanliness level, the packaging status is sealed packaging, and the task type is any one of ordinary warehousing task, ordinary return task, or empty vehicle recovery task, the cleanliness sensitivity attribute of the next candidate material handling task will be determined as low sensitivity attribute.

[0102] If the next candidate material handling task does not meet the determination conditions for high sensitivity attributes and does not meet the determination conditions for low sensitivity attributes, the cleanliness sensitivity attribute of the next candidate material handling task will be determined as medium sensitivity attribute.

[0103] Read the clean acceptance status of the inbound / outbound interface; wherein the clean acceptance status is any one of the following: closed acceptance status, buffered acceptance status, or blocked acceptance status;

[0104] When the cleanroom acceptance status is closed acceptance status, the cleanroom acceptance matching result is determined as the acceptable acceptance result;

[0105] When the cleanroom acceptance status is in the buffer acceptance status, the cleanroom sensitivity attribute is a low sensitivity attribute or a medium sensitivity attribute, and the interface wait permission is marked as allowed to wait, the cleanroom acceptance matching result will be determined as a restricted acceptance result.

[0106] When the cleanroom acceptance status is in the buffer acceptance status and the cleanroom sensitivity attribute is a high sensitivity attribute, or the interface waiting allow flag is marked as not allowing waiting, the cleanroom acceptance matching result will be determined as an unacceptable acceptance result.

[0107] When the cleanroom acceptance status is blocked acceptance status, the cleanroom acceptance matching result will be determined as an unacceptable acceptance result;

[0108] Bind the next candidate material handling task, cleanliness sensitivity attribute, cleanliness acceptance status, and corresponding cleanliness acceptance matching result.

[0109] To illustrate the above steps, consider this example: the top-ranked task in the task queue for materials to be scheduled is "transferring a batch of unopened general auxiliary materials from the receiving temporary storage area to the cleanroom warehouse." The cleanliness level of the material for this task is general cleanliness, the packaging status is sealed, the task type is general warehousing, and the material is allowed to wait briefly at the interface. Meanwhile, in the previous step S3, the first warehousing interface was already identified as a buffer receiving state. At this point, the general auxiliary material warehousing task will be identified as the next candidate material handling task. Since this task simultaneously meets the conditions of "general cleanliness level, sealed packaging, and general warehousing task," its cleanliness sensitivity attribute is determined to be low sensitivity. Furthermore, although the first warehousing interface is not currently in a fully closed receiving state, it is in a buffer receiving state, and the task is allowed to wait briefly. Therefore, the cleanliness receiving match result between this task and the first warehousing interface is determined as a restricted receiving result. The result indicates that the task can be scheduled to be executed at the first inbound interface, but it needs to be handled in a buffered manner during execution. For example, it can be allowed to enter the interface waiting area, but it should not be given priority to occupy the closed interface resources of high-cleanliness materials.

[0110] For example, the top-ranked task in the material task queue is "to send a batch of unsealed high-cleanliness semi-finished products from the automated warehouse to the clean production line." This task corresponds to a high-cleanliness level material, unsealed packaging, and a task type of outbound to clean production line. The interface waiting permission is marked as not allowing waiting. Simultaneously, step S3 determined the first outbound interface to be in a buffer acceptance state. At this point, even if the first outbound interface is not in a blocked state, the task will not be released directly because it possesses the characteristics of high cleanliness level, unsealed packaging, and outbound to clean production line. Its cleanliness sensitivity attribute is determined to be highly sensitive, and the task is not allowed to wait at the interface. Therefore, the clean acceptance matching result of this task with the first outbound interface is determined to be a non-acceptable result. This result indicates that the high-cleanliness semi-finished product should not enter the interface area before the first outbound interface is fully cleanly closed. It should be reassigned to another interface that is already in a closed acceptance state, or wait for the first outbound interface to return to a closed acceptance state before execution.

[0111] The matching method described above does not simply release tasks based on task priority or interface idle status. Instead, it first clarifies whether the next candidate material handling task is highly sensitive, moderately sensitive, or low sensitive, and then determines whether to allow acceptance based on the current closed, buffered, or blocked acceptance status of the interface. This avoids premature scheduling of highly clean, non-sealed, or unacceptable waiting materials before the interface's cleanliness has been fully restored. It also prevents interfaces from being shut down simply because they are not fully closed; instead, low-sensitivity, sealed, and unacceptable waiting tasks can be scheduled for execution in the buffered acceptance state, thereby improving interface scheduling utilization while ensuring cleanliness and safety.

[0112] In one embodiment, S5: Generate material handling scheduling instructions based on the cleanroom acceptance matching results; wherein, when the cleanroom acceptance matching results meet the scheduling conditions, release the next candidate material handling task; when the cleanroom acceptance matching results do not meet the scheduling conditions, adjust the execution interface or execution timing of the next candidate material handling task as follows:

[0113] Read the cleanroom acceptance matching result; wherein, the cleanroom acceptance matching result is any one of the following: allowed acceptance result, restricted acceptance result, or disallowed acceptance result;

[0114] When the cleanroom acceptance matching result is an allowed acceptance result, the next candidate material handling task is bound to the current inbound / outbound interface, and a direct release scheduling instruction is generated; the direct release scheduling instruction is used to control the handling equipment to move the material corresponding to the next candidate material handling task to the current inbound / outbound interface;

[0115] When the cleanroom acceptance matching result is a restricted acceptance result, obtain the interface waiting allow flag for the next candidate material handling task and the current buffer waiting bit occupancy status of the inbound / outbound interface;

[0116] When the interface waiting permission is marked as allowed and the buffer waiting position is idle, the next candidate material handling task is bound to the buffer waiting position of the current inbound / outbound interface, and a buffer release scheduling instruction is generated. The buffer release scheduling instruction is used to control the handling equipment to first move the corresponding material to the buffer waiting position, and after the current inbound / outbound interface changes from the buffer acceptance state to the closed acceptance state, the corresponding material is transferred from the buffer waiting position to the current inbound / outbound interface.

[0117] When the cleanroom acceptance matching result is a non-acceptance result, or when the cleanroom acceptance matching result is a restricted acceptance result, the buffer waiting bit occupancy status is occupied, obtain the cleanroom acceptance status of other inbound and outbound interfaces besides the current inbound and outbound interface;

[0118] Select the inbound and outbound interfaces from other inbound and outbound interfaces that are in a closed clean acceptance state, and determine the selected inbound and outbound interfaces as replaceable interfaces.

[0119] When a replacement interface exists, the next candidate material handling task is bound to the replacement interface, and an interface reassignment scheduling instruction is generated.

[0120] When no alternative interface exists, the next candidate material handling task is kept in the queue of materials to be scheduled, and a delayed execution scheduling instruction is generated. The delayed execution scheduling instruction is used to pause the release of the next candidate material handling task and re-execute the clean acceptance matching after the current inbound / outbound interface or other inbound / outbound interfaces change to a closed acceptance state.

[0121] Direct release scheduling instructions, buffer release scheduling instructions, interface reassignment scheduling instructions, or delayed execution scheduling instructions will be used as material handling scheduling instructions.

[0122] To illustrate the above steps, consider this example: the top-ranked task in the current scheduling queue is "to deliver a batch of high-cleanliness sealed containers from the automated warehouse to the first production line." This task was originally planned to use the first outbound interface. After the previous matching step, if the cleanliness acceptance matching result of the first outbound interface is "allowed," it means that the interface is already in a closed acceptance state and can directly meet the outbound requirements of the high-cleanliness material. In this case, the task is directly bound to the first outbound interface, and a direct release scheduling command is issued to the AGV, stacker crane, and interface conveying mechanism. This causes the stacker crane to deliver the containers to the first outbound interface, and the AGV to arrive at the interface at the specified time to complete the receiving.

[0123] For example, the current task is "to put a batch of ordinary sealing materials into storage." This task allows for a short wait at the interface, and the original plan was to use the second storage interface. If the matching result of the second storage interface is a restricted acceptance result, and the buffer waiting position of the second storage interface is idle, the material will not be allowed to immediately enter the interface handover position. Instead, the task is first bound to the buffer waiting position of the second storage interface, generating a buffer release scheduling command, so that the handling equipment first sends the material to the buffer waiting position. After the second storage interface returns from the buffer acceptance state to the closed acceptance state, the material is then transferred from the buffer waiting position to the formal interface handover position. This avoids completely suspending the ordinary storage task and prevents the material from directly entering the handover area before the interface is fully closed in a clean state.

[0124] For example, the current task is "to ship a batch of non-sealed, high-cleanliness semi-finished products to the clean production line." The original plan was to use the first shipping interface, but the matching result for the first shipping interface is "not allowed to accept." In this case, the task will not be released to the first shipping interface. Instead, the cleanliness acceptance status of other shipping interfaces will be queried. If the third shipping interface is already in a closed acceptance state, the high-cleanliness semi-finished product task will be reassigned to the third shipping interface, and an interface reassignment scheduling instruction will be generated, causing the handling equipment to replan its path and handover time according to the third shipping interface. If all available shipping interfaces are not in a closed acceptance state, the task will remain in the queue of pending material tasks, and a delayed execution scheduling instruction will be generated until a shipping interface returns to a closed acceptance state before rematching.

[0125] The above method allows for four scheduling approaches—direct release, buffer release, interface reassignment, or delayed execution—based on different cleanroom acceptance matching results, rather than simply releasing the next task immediately after the interface becomes idle. The advantages are: for interfaces that already meet cleanroom acceptance conditions, tasks can be released promptly, ensuring handling efficiency; for interfaces that have only partially recovered, tasks with low cleanroom sensitivity and allow for waiting can be placed in buffer positions, preventing interface resources from being completely idle; for interfaces that do not meet acceptance conditions, highly cleanroom sensitive tasks can be reassigned or delayed in a timely manner, preventing materials from entering areas with residual cleanroom disturbance. Therefore, it reduces the risk of releasing materials prematurely when the interface's cleanroom acceptance status is not closed, while also ensuring the continuity and efficiency of cleanroom inbound and outbound scheduling.

[0126] In one embodiment, S6: After the next candidate material handling task is completed, the step of updating the cleanroom acceptance record of the inbound / outbound interface based on its execution result and using the updated cleanroom acceptance record for scheduling subsequent material handling tasks is as follows:

[0127] After the next candidate material handling task is completed, obtain the actual execution interface, actual scheduling instruction type, task start time, task end time and task execution result corresponding to the next candidate material handling task;

[0128] Obtain the clean status change information of the actual execution interface after the next candidate material handling task is completed, and determine the updated clean acceptance status corresponding to the actual execution interface based on the clean status change information;

[0129] Write the actual execution interface, the actual scheduling instruction type, the task start time, the task end time, the task execution result, and the updated cleanroom acceptance status into the cleanroom acceptance record corresponding to the actual execution interface;

[0130] When the actual scheduling instruction type is a direct release scheduling instruction and the updated clean acceptance state is a closed acceptance state, the actual execution interface is marked as a priority scheduling interface.

[0131] When the actual scheduling instruction type is a buffer release scheduling instruction, and the updated clean acceptance state is a buffer acceptance state or a blocked acceptance state, the actual execution interface is marked as a restricted scheduling interface.

[0132] When the actual scheduling instruction type is an interface reassignment scheduling instruction, and the updated clean acceptance status is a closed acceptance status, the actual execution interface is marked as a replaceable scheduling interface.

[0133] When the updated clean acceptance status is a blocked acceptance status, the actual execution interface is marked as a paused scheduling interface, and new material handling tasks are stopped from being released to the actual execution interface.

[0134] When scheduling subsequent material handling tasks, the execution interface is determined first from the inbound and outbound interfaces marked as priority scheduling interfaces or alternative scheduling interfaces, and the inbound and outbound interfaces marked as paused scheduling interfaces are excluded.

[0135] The cleanroom acceptance record will be used as the basis for generating a new interface task completion section after the subsequent material handling task is completed.

[0136] It should be noted that, for example, if a task to be scheduled is "to deliver a batch of high-cleanliness-grade sealed containers to the first production line," the system issues a direct release scheduling command to the first outbound interface based on the aforementioned matching results. This task actually starts execution at 10:10:00 and completes handover at 10:10:40, with the task execution result being "normal completion." After the task ends, the system continues to collect information on the cleanliness status changes of the first outbound interface and determines that the updated cleanliness acceptance status of the interface after the task ends is still a closed acceptance status. At this time, the system writes "first outbound interface, direct release scheduling command, 10:10:00, 10:10:40, normal completion, closed acceptance status" into the cleanliness acceptance record of the first outbound interface and marks the first outbound interface as a priority scheduling interface. Thus, when a new high-cleanliness material outbound task occurs subsequently, the system can prioritize the first outbound interface.

[0137] For example, another task is "to put a batch of ordinary sealing materials into storage." Previously, because the second storage interface was in a buffer receiving state, the system issued a buffer release scheduling command to this task. The task was actually first sent to the buffer waiting position of the second storage interface and entered the formal handover position after the second storage interface recovered. However, after the task was completed, the system detected that the particle concentration and airflow status of the second storage interface were not yet fully stable, and determined the updated clean receiving state to be a buffer receiving state. At this time, the system writes "second storage interface, buffer release scheduling command, task start time, task end time, normal completion, buffer receiving state" into the clean receiving record of the second storage interface and marks the second storage interface as a restricted scheduling interface. Thus, in subsequent scheduling, the system will not prioritize allocating high-cleanliness materials to the second storage interface, but will only consider this interface when the task's cleanliness sensitivity is low or waiting is permissible.

[0138] For example, if the third outbound interface executes a high-cleanliness semi-finished product outbound task, and the system detects that the particle concentration exceeds the limit, the pressure difference does not return to the preset range, and the airflow velocity fluctuates significantly after the task is completed, and based on this, the updated cleanliness acceptance status is determined to be a blocked acceptance status, then the system writes the actual execution status of the task into the cleanliness acceptance record of the third outbound interface and marks the third outbound interface as a suspended scheduling interface. Even if the third outbound interface is physically free of material and equipment, the system will not release new handling tasks to it, but will instead prioritize selecting an execution interface from the priority scheduling interfaces or alternative scheduling interfaces.

[0139] In this way, S6's role is not simply to save task logs, but to write the actual cleanliness recovery results after each task execution back into the interface scheduling basis, so that each inbound / outbound interface forms an updatable cleanliness acceptance record. In this way, subsequent scheduling no longer relies solely on the interface's idle state at the current moment, but can refer to what scheduling instructions the interface has just executed, whether it is easy to maintain a closed acceptance state after execution, and whether it frequently remains in a buffered or blocked state. This avoids repeatedly assigning high-cleanliness tasks to interfaces with poor recovery capabilities, improving the cleanliness safety and interface selection accuracy of subsequent material handling scheduling.

[0140] Based on the same inventive concept, this invention also provides a material handling collaborative scheduling system for the inbound and outbound interfaces of a cleanroom automated storage and retrieval system. It includes:

[0141] Task completion module: After the current material handling task is completed at the inbound / outbound interface, the task completion information of the current material handling task is obtained, and the interface task completion interface is generated.

[0142] Disturbance image module: Based on the interface task completion section, it collects the cleanliness status change information of the inbound and outbound interfaces after the current material handling task is completed, and generates cleanliness disturbance image results;

[0143] Cleanroom Acceptance Module: Determines the cleanroom acceptance status of the inbound and outbound interfaces based on the cleanroom disturbance imaging results;

[0144] Acceptance and matching module: Obtain the cleanliness sensitivity attributes of the next candidate material handling task, and match the cleanliness sensitivity attributes with the cleanliness acceptance status to obtain the cleanliness acceptance matching result;

[0145] Instruction module: Generates material handling scheduling instructions based on the cleanroom acceptance matching results; wherein, when the cleanroom acceptance matching results meet the scheduling conditions, the next candidate material handling task is released; when the cleanroom acceptance matching results do not meet the scheduling conditions, the execution interface or execution timing of the next candidate material handling task is adjusted.

[0146] Scheduling module: After the next candidate material handling task is completed, update the clean acceptance record of the inbound / outbound interface based on its execution result, and use the updated clean acceptance record for scheduling subsequent material handling tasks.

[0147] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention should still fall within the scope of the claims of the present invention.

Claims

1. A method for collaborative scheduling of material handling at the inbound and outbound interfaces of a cleanroom automated warehouse, characterized in that, Includes the following steps: S1: After completing the current material handling task at the inbound / outbound interface, obtain the task completion information of the current material handling task and generate the interface task completion section. S2: Based on the interface task completion section, collect the cleanliness status change information of the inbound and outbound interfaces after the current material handling task is completed, and generate cleanliness disturbance image results. S3: Determine the cleanliness acceptance status of the inbound and outbound interfaces based on the clean disturbance imaging results; S4: Obtain the cleanliness sensitivity attribute of the next candidate material handling task, and match the cleanliness sensitivity attribute with the cleanliness acceptance status to obtain the cleanliness acceptance matching result; S5: Generate material handling scheduling instructions based on the cleanroom acceptance matching results; wherein, when the cleanroom acceptance matching results meet the scheduling conditions, release the next candidate material handling task; when the cleanroom acceptance matching results do not meet the scheduling conditions, adjust the execution interface or execution timing of the next candidate material handling task. S6: After the next candidate material handling task is completed, update the clean acceptance record of the inbound / outbound interface based on its execution result, and use the updated clean acceptance record for scheduling subsequent material handling tasks.

2. The material handling collaborative scheduling method for the inbound and outbound interfaces of a cleanroom automated warehouse according to claim 1, characterized in that, The steps for generating the interface task completion section include: After receiving the material handover completion signal corresponding to the current material handling task, the inbound / outbound interface traversed by the current material handling task is determined as the target interface; Acquire the interface action record of the target interface, the material attribute record of the current material handling task, the operation record of the handling equipment, and the clean environment status of the area associated with the target interface when the current material handling task ends; Based on the end time of the current material handling task, the interface action record, material attribute record, handling equipment operation record, and clean environment status are time-aligned to obtain the task end information corresponding to the current material handling task. The target interface, the end time of the current material handling task, and the task end information are bound together to generate an interface task end section.

3. The material handling collaborative scheduling method for the inbound and outbound interfaces of a cleanroom automated warehouse according to claim 1, characterized in that, The steps to generate clean disturbance image results include: Extract the target interface, the end time of the current material handling task, and the clean environment status at the end of the task from the interface task end section, and determine the end time of the current material handling task as the starting point of status acquisition. Based on the target interface, the associated area of ​​the target interface is determined, and starting from the state acquisition start point, the particle concentration state, pressure difference state, airflow state, and door closure state are continuously acquired within the associated area of ​​the target interface to obtain a continuous acquisition sequence of interface cleanliness state. The cleanliness status of the interface is continuously collected and compared with the clean environment status at the end of the task to obtain the cleanliness status change sequence. The residual state of clean disturbance in the target interface associated area is identified based on the clean state change sequence, and the residual state of clean disturbance is bound to the target interface, the state acquisition start point and the corresponding continuous acquisition period to generate a clean disturbance image result.

4. The material handling collaborative scheduling method for the inbound and outbound interfaces of a cleanroom automated warehouse according to claim 1, characterized in that, The steps to determine the cleanliness acceptance status of inbound and outbound interfaces include: Extract the target interface, continuous acquisition period, and corresponding particle concentration change sequence, pressure difference change sequence, airflow change sequence, and door closure change sequence from the clean disturbance image results; The last three acquisition times within the continuous acquisition period are used as the status determination period. The particle concentration value, pressure difference value, airflow velocity value and door closure signal are read during the status determination period. The particle concentration determination result is determined based on whether the particle concentration value within the state determination period meets the preset particle concentration limit and preset particle fluctuation limit; the pressure difference determination result is determined based on whether the pressure difference value meets the preset pressure difference range and preset pressure difference fluctuation limit; the airflow determination result is determined based on whether the airflow velocity value meets the preset airflow velocity range and preset airflow fluctuation limit; and the door determination result is determined based on whether all door closing signals are closed signals. When the particle concentration determination result, pressure difference determination result, airflow determination result, and door determination result are all stable, the target interface is determined to be in a closed acceptance state; when the door determination result is stable, and only one of the particle concentration determination result, pressure difference determination result, and airflow determination result is unstable, the target interface is determined to be in a buffer acceptance state; when the door determination result is unstable, or at least two of the particle concentration determination result, pressure difference determination result, and airflow determination result are unstable, the target interface is determined to be in a blocked acceptance state. The target interface, the status determination period, the determination results, and the corresponding clean acceptance status are bound together to obtain the clean acceptance status of the inbound and outbound interfaces.

5. The material handling collaborative scheduling method for the inbound and outbound interfaces of a cleanroom automated warehouse according to claim 1, characterized in that, The steps to obtain the clean acceptance matching results include: Read the highest-ranked material handling task from the queue of materials to be scheduled, and use it as the next candidate material handling task. Also, obtain its material cleanliness level, packaging status, task type, and interface waiting permission flag. Based on the cleanliness level of the material, its packaging status, and the task type, the next candidate material handling task is determined to be either highly sensitive, moderately sensitive, or low sensitive. Among them, tasks with high cleanliness level, non-sealed packaging, or those from the warehouse to the clean production line are determined to be highly sensitive; tasks with ordinary cleanliness level, sealed packaging, and belonging to ordinary warehousing, ordinary return to the warehouse, or empty vehicle recycling are determined to be low sensitive; and the remaining tasks are determined to be moderately sensitive. The system reads the cleanliness acceptance status of the inbound and outbound interfaces and matches the cleanliness sensitivity attributes with the cleanliness acceptance status. Specifically, if the cleanliness acceptance status is closed, it is determined as an allowed acceptance result; if the cleanliness acceptance status is buffered, the cleanliness sensitivity attribute is low or medium sensitivity, and the interface waiting allow flag is set to allowed waiting, it is determined as a restricted acceptance result; if the cleanliness acceptance status is blocked, or if the cleanliness acceptance status is buffered but does not meet the restricted acceptance conditions, it is determined as an disallowed acceptance result. Bind the next candidate material handling task, cleanliness sensitivity attribute, cleanliness acceptance status, and cleanliness acceptance matching result.

6. The material handling collaborative scheduling method for the inbound and outbound interfaces of a cleanroom automated warehouse according to claim 1, characterized in that, The steps for generating material handling scheduling instructions based on the cleanroom acceptance matching results include: Read the cleanroom acceptance matching results; among which, the cleanroom acceptance matching results include allowed acceptance results, restricted acceptance results, or disallowed acceptance results; When the cleanroom acceptance matching result is an allowed acceptance result, the next candidate material handling task is bound to the current inbound / outbound interface, and a direct release scheduling instruction is generated; When the cleanroom acceptance matching result is a restricted acceptance result, and the buffer waiting position of the current inbound / outbound interface is idle, the next candidate material handling task is bound to the buffer waiting position, and a buffer release scheduling instruction is generated. When the cleanroom acceptance matching result is a non-acceptable result, or the cleanroom acceptance matching result is a restricted result but the buffer waiting bit is occupied, other inbound and outbound interfaces that are in a closed acceptance state, other than the current inbound and outbound interface, are selected as alternative interfaces. When a replaceable interface exists, the next candidate material handling task is bound to the replaceable interface, and an interface reassignment scheduling instruction is generated; when no replaceable interface exists, the next candidate material handling task is kept in the queue of materials to be scheduled, and a delayed execution scheduling instruction is generated. Direct release scheduling instructions, buffer release scheduling instructions, interface reassignment scheduling instructions, or delayed execution scheduling instructions will be used as material handling scheduling instructions.

7. The material handling collaborative scheduling method for the inbound and outbound interfaces of a cleanroom automated warehouse according to claim 1, characterized in that, The steps for using the updated cleanroom acceptance record for scheduling subsequent material handling tasks include: After the next candidate material handling task is completed, obtain its actual execution interface, actual scheduling instruction type, task execution time period, and task execution result; Collect information on the cleanliness status changes of the actual execution interface after the task is completed, and determine the updated cleanliness acceptance status of the actual execution interface accordingly. Write the actual execution interface, actual scheduling instruction type, task execution period, task execution result, and updated cleanroom acceptance status into the corresponding cleanroom acceptance record. Based on the actual scheduling instruction type and the updated clean acceptance status, the actual execution interface is marked as a priority scheduling interface, a restricted scheduling interface, a replaceable scheduling interface, or a suspended scheduling interface. When scheduling subsequent material handling tasks, prioritize the use of priority scheduling interfaces or replaceable scheduling interfaces, restrict the use of restricted scheduling interfaces, and exclude pause scheduling interfaces. The updated cleanroom acceptance record will be used as the basis for the subsequent generation of interface task end sections and for determining the execution interface.

8. A material handling collaborative scheduling system for the inbound and outbound interface of a cleanroom automated storage and retrieval system, used to implement the material handling collaborative scheduling method for the inbound and outbound interface of a cleanroom automated storage and retrieval system as described in any one of claims 1-7, characterized in that, The system includes: Task completion module: After the current material handling task is completed at the inbound / outbound interface, the task completion information of the current material handling task is obtained, and the interface task completion interface is generated. Disturbance image module: Based on the interface task completion section, it collects the cleanliness status change information of the inbound and outbound interfaces after the current material handling task is completed, and generates cleanliness disturbance image results; Cleanroom Acceptance Module: Determines the cleanroom acceptance status of the inbound and outbound interfaces based on the cleanroom disturbance imaging results; Acceptance and matching module: Obtain the cleanliness sensitivity attributes of the next candidate material handling task, and match the cleanliness sensitivity attributes with the cleanliness acceptance status to obtain the cleanliness acceptance matching result; Instruction module: Generates material handling scheduling instructions based on the cleanroom acceptance matching results; wherein, when the cleanroom acceptance matching results meet the scheduling conditions, the next candidate material handling task is released; when the cleanroom acceptance matching results do not meet the scheduling conditions, the execution interface or execution timing of the next candidate material handling task is adjusted. Scheduling module: After the next candidate material handling task is completed, update the clean acceptance record of the inbound / outbound interface based on its execution result, and use the updated clean acceptance record for scheduling subsequent material handling tasks.

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