Trusted release scheduling method, device and equipment for AGV resource-limited assembly workshop

Abstract

The application discloses a trusted release scheduling method, device and equipment for AGV resource-limited assembly workshops, and relates to the technical field of AGV workshop scheduling. The method comprises the following steps: acquiring multi-source production operation data, generating a release-related field trusted value, a comprehensive trusted value and a trusted validity period. According to a to-be-scheduled task, a candidate work station and a candidate AGV, a combined action and a future release time window are formed, and the coverage state of the field trusted validity period is judged. The combined action is subjected to process sequence, work station capacity, AGV state, buffer zone, path and field trusted state constraint checking, and the combined action is distinguished into prohibited action, action requiring confirmation and scoreable action. The priority of the candidate action is calculated, and the selected combined action is generated. Release safety gate control determination is performed on the selected combined action, a trusted release voucher is generated after AGV order receiving, buffer zone pre-occupation and path time window pre-occupation are all successful, and a release instruction is output when the voucher is valid. When the voucher is invalid or pre-occupation is cancelled, the release binding resource is released, the failure reason is analyzed and fed back to the next scheduling period.

Description

Technical Field

[0001] This invention relates to the field of AGV workshop scheduling technology, and more specifically, to a reliable release scheduling method, apparatus, and equipment for AGV resource-constrained assembly workshops. Background Technology

[0002] Industrial assembly workshops require the coordination of multiple assembly stations, buffer areas, material storage areas, and automated guided vehicles (AGVs) during production. As production scales up and product complexity increases, workshop scheduling systems face increasingly complex resource allocation challenges. Especially with a limited number of AGVs, the system needs to simultaneously handle multiple tasks, including workstation task allocation, material transport scheduling, and work-in-process flow control, to ensure smooth production processes and maximize resource utilization efficiency.

[0003] Currently, the industry primarily employs three scheduling strategies to address these challenges. The first strategy relies on the experience and judgment of schedulers and fixed rules, developing scheduling plans based on work order delivery dates, equipment status, and transportation resource availability. The second strategy achieves automatic transmission of task information and status synchronization through the collaborative work of the Manufacturing Execution System (MES) and the AGV scheduling platform. The third strategy utilizes mathematical optimization algorithms to uniformly model shop floor resources, generating optimal task allocation and transportation route solutions through calculation. These methods support the daily scheduling needs of the shop floor to varying degrees.

[0004] Existing scheduling methods have significant limitations in practical applications. Human-based, experience-based methods struggle to cope with complex and ever-changing production environments, limiting decision-making efficiency and accuracy. System coordination methods often suffer from information delays and state inconsistencies during data exchange, impacting real-time scheduling. While algorithm optimization methods can theoretically provide optimal solutions, they often ignore dynamic changes in on-site execution conditions, leading to a disconnect between planning and actual execution. These methods generally lack mechanisms for assessing the reliability of critical state information, failing to effectively prevent scheduling errors caused by inaccurate data, resulting in resource waste and production delays. Summary of the Invention

[0005] This invention provides a reliable release scheduling method, apparatus, and equipment for AGV resource-constrained assembly workshops to improve at least one of the above-mentioned technical problems.

[0006] In a first aspect, the present invention provides a reliable release scheduling method for AGV resource-constrained assembly workshops, which includes steps S1 to S6.

[0007] S1. Obtain multi-source production operation data and generate field credibility values, comprehensive credibility values, and field credibility validity periods for relevant key fields.

[0008] S2. Based on the task to be scheduled, candidate workstations, and candidate AGVs, generate a task-workstation-AGV combined action, and form a future release time window based on the combined action. Also, determine whether the field's reliable validity period meets the coverage requirements of the future release time window to generate the field's reliable status. The combined action includes the estimated material retrieval time, estimated arrival time, target buffer, path segment set, release waiting upper limit, and pre-occupancy validity period.

[0009] S3. Perform process sequence, station capacity, AGV status, buffer capacity, path access status and field reliability status constraint checks on combined actions, generate constraint reason records, and distinguish between prohibited candidate actions, actions requiring confirmation and actions that can enter the scoring.

[0010] S4. Calculate the priority of candidate actions for actions that can be scored and actions that require confirmation, and generate the selected combination actions.

[0011] S5. Perform a release safety gating three-state determination on the selected combination action, and perform a joint atomic pre-occupation of AGV order confirmation, target buffer dynamic pre-occupation and path segment time window pre-occupation before allowing release. When the joint atomic pre-occupation is successful, a trusted release certificate is generated, and the work-in-process release instruction is only output when the certificate is valid.

[0012] S6. When the trusted release credential expires or the pre-occupancy is revoked, the credential and its bound resources are revoked, the reasons for the direct release failure and the upstream reasons are decomposed, and the feedback is sent to the next scheduling cycle.

[0013] Secondly, the present invention provides a trusted release scheduling device for AGV resource-constrained assembly workshops, which includes a field trusted status generation module, a combined action generation module, a constraint reason recording module, a candidate score allocation module, a release certificate control module, and a feedback update module.

[0014] The Field Trust Status Generation Module is used to acquire multi-source production operation data and generate field trust values, comprehensive trust values, and field trust validity periods for relevant key fields.

[0015] The combined action generation module is used to generate task-workstation-AGV combined actions based on the task to be scheduled, candidate workstations, and candidate AGVs. It also forms a future release time window based on the combined actions and determines whether the trusted validity period of a field meets the coverage requirements of the future release time window to generate the trusted status of the field. The combined actions include the estimated material retrieval time, estimated arrival time, target buffer, path segment set, release waiting upper limit, and pre-occupancy validity period.

[0016] The constraint cause recording module is used to check the constraints of the combined action execution process sequence, station capacity, AGV status, buffer capacity, path access status and field credibility status, form constraint cause records, and distinguish between prohibited candidate actions, actions requiring confirmation and actions that can enter the scoring.

[0017] The candidate scoring allocation module is used to calculate the priority of candidate actions for actions that can be scored and actions that require confirmation, and to generate selected combination actions.

[0018] The release credential control module is used to perform a release security gating three-state determination on the selected combined action, and before allowing release, it performs a joint atomic pre-occupation of AGV order confirmation, target buffer dynamic pre-occupation and path segment time window pre-occupation. When the joint atomic pre-occupation is successful, a reliable release credential is generated, and the work-in-process release instruction is only output when the credential is valid.

[0019] The feedback update module is used to revoke the credential and its bound resources when the trusted release credential expires or the pre-occupancy is revoked, decompose the reasons for the direct release failure and the upstream reasons, and feed them back to the next scheduling cycle.

[0020] Thirdly, the present invention provides a reliable release scheduling device for AGV resource-constrained assembly workshops, comprising a processor, a memory, and a computer program stored in the memory. The computer program can be executed by the processor to implement a reliable release scheduling method for AGV resource-constrained assembly workshops as described in any of the preceding paragraphs.

[0021] By adopting the above technical solution, the present invention can achieve the following technical effects:

[0022] This invention addresses the scheduling challenges in assembly workshops with limited AGV resources. It first generates field-level reliable states with expiration dates from key fields in multi-source production operation data, such as AGV estimated arrival time, buffer capacity, path accessibility, workstation receiving status, and material availability. Combined with extended attributes of task-workstation-AGV combined actions, a future release time window is constructed. By verifying the coverage of the reliable field states for future release processes, the interference of delays, conflicts, execution deviations, or expired information on scheduling decisions is reduced from the data source. Simultaneously, attributes such as estimated material retrieval time and pre-occupancy validity period included in combined actions are used to connect the control links of task allocation, resource pre-occupancy, and work-in-process release. This clearly distinguishes between three states: action selection, resource pre-occupancy, and work-in-process release, avoiding the risk of misallocation that traditional scheduling directly equates task allocation with releaseable resources.

[0023] This invention further utilizes a three-state release mechanism to perform joint atomic verification of AGV order acceptance, dynamic buffer pre-occupancy, and path segment time window pre-occupancy before outputting the work-in-process release command. The release command is triggered only after all pre-occupancy conditions are met and a valid, reliable release certificate is generated. This significantly reduces on-site execution problems such as premature release of work-in-process, invalid AGV waiting, buffer accumulation, and path blocking. Simultaneously, it accurately distinguishes between direct release failure and upstream root causes in scenarios involving certificate expiration and pre-occupancy revocation. Feedback is then directed to update field reliability values, penalty weights, and secondary confirmation strength, forming a cross-cycle self-optimizing scheduling loop. This continuously reduces the probability of recurring similar non-releaseable actions, significantly improving the matching degree between the scheduling scheme and on-site execution conditions, and ensuring the continuity of production and overall resource utilization efficiency in the assembly workshop. Attached Figure Description

[0024] To more clearly illustrate the technical solution of the present invention, the accompanying drawings used in the specific embodiments of the present invention will be briefly introduced below. It should be understood that the following drawings only show some specific embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0025] Figure 1 This is a flowchart illustrating the trusted release scheduling method.

[0026] Figure 2 This is a schematic diagram of field trust status generation, combined action construction, and constraint reason recording.

[0027] Figure 3 This is a schematic diagram of trusted release gating, credential revocation, and cause decomposition feedback. Detailed Implementation

[0028] The technical solutions in the embodiments of the present invention will now be clearly and completely described with reference to the accompanying drawings. It should be understood that the following embodiments are for illustrative purposes only and are not intended to limit the scope of protection of the present invention.

[0029] Example 1, please refer to Figures 1 to 3 This embodiment provides a trusted release scheduling method for assembly workshops with limited AGV resources. This method addresses scheduling scenarios in assembly workshops where the number of AGVs is limited, the receiving capacity of assembly stations is limited, buffer capacity is limited, and path resources are constrained. It uses the current scheduling time window as a scheduling cycle, and within one scheduling cycle, sequentially executes: field trusted state generation, combined action generation, constraint reason recording, candidate action scoring, release safety gating, joint atomic pre-occupancy, trusted release credential generation, and reason decomposition feedback.

[0030] In this embodiment, the system acquires production operation data from the MES (Manufacturing Execution System), ERP (Enterprise Resource Planning System), PLC (Programmable Logic Controller), AGV scheduling system, workstation terminal, material management system, buffer management system, and path management system within the current scheduling cycle. This production operation data is associated with task number, process number, workstation number, AGV number, buffer number, path segment number, and timestamp, and undergoes time alignment, field mapping, and unit unification to form production operation data used for scheduling calculations, release judgments, and resource pre-occupancy control.

[0031] The reliable release scheduling method for AGV resource-constrained assembly workshops includes steps S1 to S6.

[0032] S1. Obtain multi-source production operation data and generate field credibility values, comprehensive credibility values, and field credibility validity periods for relevant key fields.

[0033] In step S1, the system uses key fields involved in scheduling and release judgments as trusted status generation objects. These key fields include the AGV's estimated arrival time, AGV's online status, AGV's battery level, target workstation's receiving status, target buffer capacity, path segment accessibility, path segment congestion status, material availability status, and execution feedback time. Among these, the release-related key fields include at least the AGV's estimated arrival time, target buffer capacity, path accessibility, target workstation's receiving status, and material availability status.

[0034] For the The data source provides the first Each field has a field-level credibility value, and the field quality score is formed by indicators of field integrity, format validity, unit consistency, and value range validity.

[0035] .

[0036] .

[0037] In the formula, Indicates the first The first data source The reliable value of each field. This indicates the quality score of the field. This indicates the time delay between the field update time and the current scheduling time. This indicates that the field is allowed to update the time threshold. This indicates the field's deviation penalty coefficient. This represents the normalized deviation between the predicted value of the field and the execution feedback value. Indicates the first The interface status of each data source. This means that the calculation result will be limited to between 0 and 1. Represented by natural constant An exponential function with base 0. This is a field integrity flag. This is a format validity indicator. This serves as a marker of unit consistency. This serves as a flag indicating the validity of the value range.

[0038] When any field's quality flag is 0, the quality score for that field is 0, and the system does not directly use the original value of that field in the release judgment.

[0039] The execution feedback deviation for numeric fields is: .

[0040] In the formula, Indicates the first The predicted values ​​for the fields provided by the data source. This indicates the on-site execution feedback value for the corresponding field. Indicates the first The maximum allowable deviation for each field. This represents the function that takes the minimum value.

[0041] For the AGV's estimated arrival time field This represents the actual arrival time of the AGV. For the target buffer capacity field, This represents the actual buffer occupancy. For the path segment congestion status field, This provides feedback on the actual passage of the path segment. For status fields, when the predicted status matches the execution feedback status... When the predicted state and the execution feedback state are inconsistent, .

[0042] When the same key field is provided by multiple data sources, a trusted weighted fusion method is used to obtain the fused field value, and the first value is calculated. The overall confidence value of each field.

[0043] .

[0044] .

[0045] In the formula, This indicates the merged field value. Indicates the field to be provided The collection of data sources. Indicates the first The raw field values ​​collected from each data source. This indicates a fallback estimate for the field. This represents the confidence weight of the fallback estimate. Indicates the first The overall confidence value of each field. Indicates the field to be provided The number of data sources.

[0046] The fallback estimate for a field can be obtained from the AGV's current position, path length, average speed, historical buffer occupancy, most recent valid path status, remaining time for the workstation task, ERP inventory records, or workstation terminal confirmation records. When no fallback estimate is available for a field, the system will... And remove the corresponding catch-all item.

[0047] Calculate the trusted validity period of the field.

[0048] .

[0049] In the formula, Representation field The reliable expiration date. Representation field The most recent valid update time. Representation field The duration of reliable retention.

[0050] The path segment access status, target buffer capacity, AGV estimated arrival time, target workstation receiving status, and material availability status can each be set with different reliable retention durations. The path segment access status field can be verified according to the estimated entry and estimated exit times for each path segment. The buffer capacity field focuses on verifying the capacity status at the estimated arrival time and within the pre-occupancy validity period. The material availability status field focuses on verifying the availability status at the estimated material retrieval time.

[0051] S2. Based on the task to be scheduled, candidate workstations, and candidate AGVs, generate a task-workstation-AGV combined action, and form a future release time window based on the combined action. Also, determine whether the field's trusted validity period meets the coverage requirements of the future release time window to generate the field's trusted status. The combined action includes the estimated material retrieval time, estimated arrival time, target buffer, path segment set, release waiting upper limit, and pre-occupancy validity period.

[0052] In step S2, the system generates a task-workstation-AGV combined action based on the task to be scheduled, candidate workstations, and candidate AGVs. The extended attributes of the combined action are used to connect candidate allocation, resource pre-allocation, and work-in-process release control. The estimated material retrieval time, estimated arrival time, target buffer, path segment set, release waiting limit, and pre-allocation validity period are used for release time window matching, buffer capacity checking, path segment time window pre-allocation, release safety gating three-state determination, and trusted release credential validity control, respectively. Once a combined action is selected, its task number, target workstation number, executing AGV number, target buffer number, path segment set, estimated material retrieval time, estimated arrival time, field trusted status, field trusted validity period, release waiting limit, and pre-allocation validity period together form candidate information for a trusted release credential, but this candidate information does not directly trigger a work-in-process release instruction.

[0053] The combined action of task-workstation-AGV is represented by the following formula: .

[0054] In the formula, This indicates a combination of task, workstation, and AGV actions. Indicates the task number. Indicates the target workstation number. This indicates the AGV number. This indicates the estimated material collection time. Indicates the estimated arrival time. Indicates the target buffer. Represents a set of path segments. This indicates the upper limit of the release waiting period. This indicates the period of pre-reservation.

[0055] The estimated material collection time and estimated arrival time are: .

[0056] .

[0057] In the formula, Indicates the current scheduling time. Indicates the first The estimated waiting time for the current task queue of each AGV. Indicates the first Current position of each AGV To the Task material collection point The path distance. Indicates the first The average speed of each AGV. This indicates the congestion waiting time on the path from the current location to the material pick-up point. Indicates the first The material loading time for each task. Indicates the first From the first task material pick-up point to the first The path distance to each target workstation. This represents the path distance function. Indicates the first The congestion and waiting time of an AGV from the material picking point to the target workstation.

[0058] The set of release-related fields is determined based on the combined actions, and a future release time window is constructed based on the expected material retrieval time, expected arrival time, release waiting limit, and pre-occupancy validity period in the combined actions: .

[0059] .

[0060] In the formula, Indicates a combination of actions The set of fields related to the release. This field represents the estimated arrival time of the AGV. This field represents the target buffer capacity. This field indicates the path access status. This field represents the receiving status of the target workstation. This field indicates the status of the materials being in stock. This indicates the future release time window corresponding to the combined action. This represents the function that takes the minimum value.

[0061] Within the future release time window, the system reviews the trust status of release-related fields, AGV order confirmation status, target buffer reserved capacity, and path segment time window passage capacity.

[0062] Determine the field time window matching flag based on whether the field's trusted validity period covers the end of the future release time window: .

[0063] In the formula, Indicates the first Each field represents a combined action. The future release time window matches the flag. Representation field The reliable expiration date. This indicates that the value is 1 if the condition is true, and 0 otherwise.

[0064] According to the The overall confidence value of each field and the field time window matching flag generate the field confidence status: .

[0065] In the formula, This indicates that the field is trustworthy. This indicates that the field needs to be confirmed. This indicates that the field is untrusted. Indicates the first The overall confidence value of each field. This indicates the confidence threshold for the field. This indicates that the threshold for the field needs to be confirmed.

[0066] When a field status is trusted, the corresponding fusion value enters the combined action scoring and release judgment. When a field status requires confirmation, the corresponding combined action can enter the candidate scoring and generate a confirmation reason flag. When a field status is untrustworthy, the system writes the reason for insufficient field trust status in the combined action constraint reason record and triggers a judgment to prohibit release or cancel pre-occupation in the release security gating.

[0067] S3. Perform process sequence, station capacity, AGV status, buffer capacity, path access status and field reliability status constraint checks on combined actions, generate constraint reason records, and distinguish between prohibited candidate actions, actions requiring confirmation and actions that can enter the scoring.

[0068] In step S3, the system performs process sequence, station capacity, station receiving status, AGV online status, AGV power consumption, target buffer basic carrying capacity, path basic passage status, and field reliability status constraint checks on each combined action.

[0069] The hard constraints of combined actions are composed of process sequence, station capacity, station reception, AGV online status, AGV power, target buffer basic carrying capacity, path basic accessibility, and field reliability status constraints.

[0070] .

[0071] In the formula, This indicates that the combined actions are subject to hard constraints. This indicates that at least one hard constraint of the combined action has failed. The flag indicates that the process sequence is constrained. The indicator shows that the workstation capacity constraint has been met. This indicates that the workstation has passed the constraint acceptance flag. This indicates that the AGV has passed the online constraint check. This indicates that the AGV has passed the power constraint check. This indicates that the basic capacity constraint of the target buffer has been passed. This indicates the basic access constraints of the path are met. The field's trusted state constraint is indicated by a flag. Indicates the task number. This indicates the workstation number. This indicates the AGV number.

[0072] Process sequence constraints are used to determine the first Whether the preceding process of the first task has been completed, and the first... Whether a workstation belongs to the set of workstations allowed for the current process. Workstation capacity constraints are used to determine whether the first workstation belongs to the set of workstations allowed for the current process. Does each workstation have the capability to perform the [specific task]? Each task requires specific equipment capabilities, tooling compatibility, and product model compatibility. Combinations of actions where the process sequence is not met or the workstation capabilities are mismatched are added to the prohibited candidate action set, and the corresponding constraint reasons are recorded.

[0073] Workstation receiving status constraints are used to determine the first The system checks whether each workstation is in an acceptable state and whether the number of units accepted in the current scheduling cycle has not exceeded the workstation's accepting limit. When a workstation is explicitly unacceptable or the number of units accepted in the current scheduling cycle exceeds the accepting limit, [further action is required]. When a workstation is in a pending acceptance state and the acceptance limit has not been exceeded, it is not treated as a hard failure, but is recorded as a reason for confirmation or a reason for postponement in subsequent candidate action scoring or release of safety gates.

[0074] AGV online status constraints are used to determine the first Whether the AGV is online, dispatchable, or available for orders. When the AGV is clearly offline, faulty, locked, or in an undispatchable state... When an AGV is online but its order status has not yet been confirmed, the system does not directly rule out the combined action, but instead uses the AGV order confirmation flag to determine the status during the subsequent release of the safety gate.

[0075] The AGV power constraint is passed when the remaining power after completing the task is not lower than the safe reserve power.

[0076] .

[0077] In the formula, Indicates the first Current battery level of each AGV. This indicates the estimated power consumption for performing the corresponding task. This indicates that the AGV has safely reserved power. This indicates that the value is 1 if the condition is true, and 0 otherwise.

[0078] When the AGV's power is insufficient, this combined action is written into the prohibited candidate action set.

[0079] The target buffer's basic capacity constraint is passed when the total buffer capacity is not less than the work-in-process capacity and the buffer is not in a closed state.

[0080] .

[0081] In the formula, This indicates the total capacity of the target buffer. Indicates the first Each task corresponds to a work-in-process inventory capacity. Indicates the state of the target buffer. This indicates a closed, disabled, or unacceptable state. Indicates the target buffer.

[0082] The current remaining capacity, pre-occupied capacity, and expected release capacity within the pre-occupied validity period of the target buffer are determined in the release security gating step through dynamic pre-occupancy and joint atomic pre-occupancy of the target buffer.

[0083] The basic path passage constraint allows passage when none of the path segments in the path segment set are blocked.

[0084] .

[0085] In the formula, Indicates a path segment. Represents a set of path segments. Indicates the status of a path segment. This indicates a blocked, prohibited, or impassable state. This represents the product of the access flags corresponding to each path segment within the set of path segments.

[0086] The path segment time window occupancy, path capacity, and whether entry is permitted during the pre-occupancy period are determined by the path segment time window pre-occupancy flag during the release of the security gating step.

[0087] The minimum trusted state of a field is obtained by taking the minimum trusted state of the relevant key fields after releasing them.

[0088] .

[0089] In the formula, This represents the minimum value required to release the trusted state of the relevant key fields. This indicates the reliability of the AGV's estimated arrival time field. This indicates the trustworthiness status of the target buffer capacity field. This indicates the trusted status of the path accessibility field. This indicates the trusted status of the workstation receiving status field. This indicates the reliability status of the material completeness status field. This represents the function that takes the minimum value. The trust status of each field can take the values ​​0, 1, and 2, where 0 indicates untrusted, 1 indicates that confirmation is needed, and 2 indicates trustworthy.

[0090] The field trust status constraint is passed when all relevant key fields are in a trust or confirmation-required state.

[0091] .

[0092] When all relevant key fields are in a trusted or confirmation-required state, the release process is complete. When any of the release-related key fields is in an untrusted state, .

[0093] Based on the hard constraints of combined actions, prohibited candidate actions, actions requiring confirmation, and actions eligible for scoring are distinguished by the minimum value of the confidence state of flags and fields. Specifically, when... When this happens, combined actions are categorized as prohibited candidate actions. and When this happens, the combined actions are categorized into actions requiring confirmation, and these actions can be included in the candidate scoring and have a confirmation reason flag written on them. and At that time, the combined actions are divided into actions that do not require confirmation and can be scored.

[0094] Based on the above classification, for situations that do not constitute hard failures, such as the field's reliable validity period not covering the future release time window, buffer capacity pending release, short-term path congestion, workstation receiving pending confirmation, or AGV order receiving status pending confirmation, the system will not treat the corresponding combined actions as prohibited candidate actions. Instead, it will record them as reasons for confirmation, reasons for delayed release, or objects for secondary confirmation in the candidate scoring or release safety gate.

[0095] Record of constraints for combined actions It is formed by taking the reverse value of each hard constraint through the flag. The components of the constraint reason record correspond to process sequence not being met, station capacity not matching, station not being acceptable, AGV not online, AGV insufficient power, target buffer not having basic carrying capacity, path not having basic passage conditions, and insufficient field credibility status.

[0096] .

[0097] Constraint reason records are used for candidate action screening in the current cycle, subsequent release safety gating, and hard constraint reason statistics for the next cycle. The prohibited candidate action set occurs before allocation and is used to exclude combined actions that do not meet the basic executable conditions in the current cycle. Prohibited release actions in subsequent release safety gating occur after an action is selected and are used to record combined actions that have been allocated but failed the release safety gating. For combined actions that are not selected due to failing hard constraints, the system retains their constraint reason records for combined action constraint checks and hard constraint reason statistics in the next cycle. For combined actions that have been selected but not included in the allowed release set, the system performs reason decomposition feedback calculations in subsequent steps.

[0098] S4. Calculate the priority of candidate actions for actions that can be scored and actions that require confirmation, and generate the selected combination actions.

[0099] In step S4, the system receives the records of eligible scoring actions, actions requiring confirmation, prohibited candidate actions, and constraint reasons output in step S3, and calculates the priority of candidate actions for eligible scoring actions and actions requiring confirmation. Prohibited candidate actions are not included in the current cycle's action selection results, and their hard constraint reasons are used for the next cycle's combined action constraint check and reason statistics.

[0100] Candidate action factor vectors are constructed for actions that can be scored and actions that require confirmation. These candidate action factor vectors incorporate a release-related field's comprehensive confidence value and a confirmation reason flag.

[0101] .

[0102] In the formula, This represents the candidate action factor vector. This indicates the material availability rate. This indicates the workstation load rate. This represents the normalized value of the AGV's estimated arrival time. This represents the normalized value of the AGV queue length. This indicates the target buffer occupancy rate. This indicates the urgency of the delivery deadline. Indicates the degree of congestion along the route. This indicates the release of the overall confidence value of the relevant fields. This indicates that the reason needs to be confirmed.

[0103] The comprehensive confidence value of the relevant fields is the minimum value among the confidence values ​​of the AGV's estimated arrival time, target buffer capacity, path passage status, workstation receiving status, and material completeness status.

[0104] .

[0105] In the formula, This indicates the confidence value of the AGV's estimated arrival time field. This indicates the reliable value of the target buffer capacity field. This indicates the trusted value of the path accessibility status field. This indicates the trusted value of the workstation receiving status field. This indicates the reliable value of the material completeness status field. This represents the function that takes the minimum value.

[0106] The confirmation flag is triggered when any release-related critical field is in a confirmation-required state.

[0107] .

[0108] In the formula, This indicates that the reason needs to be confirmed. This indicates the reliability of the AGV's estimated arrival time field. This indicates the trustworthiness status of the target buffer capacity field. This indicates the trusted status of the path accessibility field. This indicates the trusted status of the workstation receiving status field. This indicates the reliability status of the material completeness status field. This indicates that the value is 1 if the condition is true, and 0 otherwise.

[0109] For situations requiring confirmation, such as the field's reliable validity period not covering the future release time window, buffer capacity pending release, short-term path congestion, workstation receiving pending confirmation, or AGV order acceptance status pending confirmation, the system can also write these as reasons for confirmation or reasons for delaying release into the subsequent judgment process.

[0110] The soft constraint weights of the combined actions are obtained by mapping the candidate action factor vectors.

[0111] .

[0112] In the formula, This represents the soft constraint weight of the combined action. This represents the Sigmoid mapping function. This represents the weight vector of soft constraint factors. This represents the transpose of the soft constraint factor weight vector.

[0113] In the initial scheduling cycle, the weights of soft constraints are set to a preset initial weight. In subsequent scheduling cycles, the weights of soft constraints are updated based on the feedback results of the cause decomposition from the previous cycle.

[0114] The candidate action score is weighted with soft constraints on the base score, and a penalty is imposed on the action that needs to be confirmed.

[0115] .

[0116] In the formula, This indicates the score for the candidate action. The symbol indicates that the combined action has a hard constraint. This represents the basic scoring function for candidate actions. Indicates the current scheduling status. This represents the parameters of the scoring function. This represents the soft constraint weight adjustment coefficient. This indicates that the cause and penalty coefficient need to be confirmed. This represents the penalty constant for failure of hard constraints.

[0117] Candidate Action Basic Scoring Function This is used to perform preliminary sorting of each task-workstation-AGV combined action based on the current scheduling status. It can be implemented using a preset weighted summation method or a neural network model. Its function is limited to the sorting of candidate actions and does not change the control logic of release safety gating, joint atomic pre-occupancy, trusted release credentials, and cause decomposition feedback.

[0118] The aforementioned candidate action factors are directly calculated or normalized from the current scheduling status. Specifically, the material availability rate is obtained by comparing the number of available material items to the required number of material items. The workstation load rate is obtained by the current number of tasks at the workstation, the number of assigned tasks, and the maximum number of tasks the workstation can receive. The normalized AGV estimated arrival time is obtained by comparing the estimated arrival time with the maximum allowable waiting time. The normalized AGV queue length is obtained by comparing the current AGV queue waiting time with the preset queue waiting limit. The target buffer occupancy rate is obtained by the ratio of the current occupancy and pre-occupied capacity to the total buffer capacity. The delivery urgency is obtained by the remaining time until the task delivery date. The path congestion level is obtained by the ratio of the current occupancy or pre-occupancy of the path segment to the path segment capacity. All of the above factors are converted to values ​​between 0 and 1.

[0119] In the candidate action scoring, the higher the combined confidence value of the material availability rate, delivery urgency, and release-related fields, the more suitable the combined action is to be selected. The lower the workstation load rate, the normalized value of the AGV estimated arrival time, the normalized value of the AGV queue length, the target buffer occupancy rate, and the path congestion level, the more suitable the combined action is to be selected. , and Pre-set by the dispatcher, among which, Used to adjust the impact of soft constraint weights on candidate action scores. Used to adjust the penalty level for candidate action scores that require cause verification. Set a penalty constant that is greater than the normal candidate action scoring range so that combined actions that fail the hard constraint will not be included in the current cycle action selection results.

[0120] The candidate action basic scoring function and soft constraint weights are only used for ranking candidate actions and do not directly determine whether work-in-process is released. Whether work-in-process is released is still determined jointly by subsequent release safety gating three-state judgment, AGV order confirmation, target buffer dynamic pre-occupancy, path segment time window pre-occupancy, and trusted release certificate.

[0121] The task-workstation-AGV combination motion selection aims to maximize the score of candidate motions.

[0122] .

[0123] In the formula, Choose variables for the action. Indicates whether the combined action is selected. This indicates the score for the candidate action. Indicates the task number. Indicates the target workstation number. This indicates the AGV number.

[0124] The selection of combined actions must satisfy the following constraints: a single task can be assigned at most once, the number of workstations receiving data does not exceed the upper limit, the number of AGVs accepting data does not exceed the upper limit, and combined actions that do not pass the hard constraints will not be selected.

[0125] .

[0126] .

[0127] .

[0128] .

[0129] In the formula, Indicates the first The maximum number of tasks that each workstation can receive within the current scheduling cycle. Indicates the first The maximum number of transfer tasks that an AGV can undertake within the current scheduling cycle. This indicates that the task has obtained the allocation result of the target workstation and the AGV, but does not mean that the work-in-process has been released.

[0130] The system solves for the above combined action selection objective and constraints to obtain action selection variables. The value of , and will satisfy The task-workstation-AGV combination action is determined as the selected combination action. The selected combination action enters the release safety gate three-state determination and does not directly trigger the release of work-in-process.

[0131] S5. Perform a release safety gating three-state determination on the selected combination action, and perform a joint atomic pre-occupation of AGV order confirmation, target buffer dynamic pre-occupation and path segment time window pre-occupation before allowing release. When the joint atomic pre-occupation is successful, a trusted release certificate is generated, and the work-in-process release instruction is only output when the certificate is valid.

[0132] In step S5, the system performs a release safety gating three-state determination on the combined action selected in step S4.

[0133] Before performing the release safety gating three-state determination for the selected combination action, the release waiting time corresponding to the combination action is calculated first.

[0134] .

[0135] In the formula, This indicates the release waiting time corresponding to the combined action. Indicates the estimated arrival time. Indicates the current scheduling time. Indicates the task number. Indicates the target workstation number. This indicates the AGV number.

[0136] Before outputting the release permission status, the system performs pre-release checks on the AGV order confirmation, target buffer, and path segment set.

[0137] The reservable capacity of the target buffer within the pre-occupancy time window is determined by the total buffer capacity, the current occupancy, the pre-occupied capacity, and the expected release capacity within the pre-occupancy validity period.

[0138] .

[0139] In the formula, Represents a buffer During monitoring time Reserved capacity. This indicates the total capacity of the buffer. This indicates the current usage. This indicates that the capacity has been reserved. This indicates the expected release capacity within the pre-occupancy period.

[0140] The target buffer reservation was successful when the available reserved capacity was not less than the capacity occupied by the work-in-process.

[0141] .

[0142] In the formula, This indicates the target buffer is pre-occupied. This indicates that the capacity reservation conditions have not yet been met within the reserved time window. This indicates that the target buffer has been successfully pre-occupied. Indicates the target buffer At any moment Reserved capacity. Indicates the first Each task corresponds to a work-in-process inventory capacity. This indicates that the value is 1 if the condition is true, and 0 otherwise.

[0143] Path segment time window pre-allocation is successful when the path segment is not blocked and the number of pre-allocated path segments within the corresponding time window does not exceed the path segment capacity.

[0144] .

[0145] In the formula, This indicates that the path segment set has been successfully reserved. Indicates a path segment. Represents a set of path segments. Indicates the status of a path segment. This indicates a blocked, prohibited, or impassable state. This indicates the number of path segments that have been pre-occupied within the corresponding time window. and These represent the AGV's expected entry and exit path segments, respectively. The time. Indicates the capacity of the path segment.

[0146] AGV order acceptance confirmation, target buffer pre-allocation, and path segment time window pre-allocation constitute a joint atomic pre-allocation. If any step fails, the applied temporary pre-allocation record is revoked, and the corresponding reason for AGV order acceptance, buffer pre-allocation, or path pre-allocation is recorded. This indicates that the AGV order acceptance confirmation, target buffer pre-occupancy, and path segment time window pre-occupancy were all successful. This indicates that at least one attempt failed.

[0147] .

[0148] In the formula, This is a pre-occupancy flag for joint atoms. This is a confirmation flag for AGV order acceptance. This is a pre-reservation marker for the path segment.

[0149] The system first generates temporary pre-allocation records for the buffer and temporary pre-allocation records for path segments, then... Submitting at that time constitutes a valid pre-reservation. Cancel the temporary reservation record that has been applied for in a timely manner to avoid partial reservation or resource residue.

[0150] The release is temporarily suspended when the comprehensive credibility value of the release-related fields is in the suspension range, the release waiting time exceeds the release waiting limit but does not exceed the maximum allowed waiting time, the AGV has not confirmed the order, the buffer pre-occupancy has failed, the path pre-occupancy has failed, or there is a reason that needs to be confirmed.

[0151] .

[0152] In the formula, This indicates the reason for the temporary suspension of release. This indicates that the release of the trusted threshold will be temporarily suspended. This indicates the release of the overall confidence value of the relevant fields. This indicates that the trusted threshold is allowed to be released. This indicates the upper limit of the release waiting period. This indicates the release waiting time corresponding to the combined action. This indicates the maximum allowed waiting time. This indicates an AGV order confirmation flag. This indicates a pre-reservation flag for a path segment. This indicates that the reason needs to be confirmed. This indicates that the path segment set was not successfully pre-allocated. This indicates that the AGV has confirmed the order. This indicates that the AGV has not confirmed the order.

[0153] This flag is used to determine the status before release and is applicable to situations where the AGV has not confirmed the order, the target buffer capacity is waiting to be released, the path is temporarily congested, key fields need to be confirmed, the field's reliable validity period is insufficient, or the expected waiting time is in the postponement range.

[0154] Release is prohibited when hard constraints are not met, the release waiting time exceeds the maximum allowable waiting time, the overall credibility value of the release-related fields is lower than the credibility threshold for temporarily suspending release, or the materials are not complete.

[0155] .

[0156] In the formula, This indicates the reason for prohibiting release. The symbol indicates that the combined action has a hard constraint. This indicates the release waiting time corresponding to the combined action. This indicates the maximum allowed waiting time. This indicates the release of the overall confidence value of the relevant fields. This indicates that the release of the trusted threshold will be temporarily suspended. This indicates that all materials are in stock for the task. This indicates that the materials are not complete. This indicates that all materials are in stock. This indicates that the combined actions are subject to hard constraints. This indicates that the combined action did not pass the hard constraints.

[0157] The prohibited release status corresponds to a failure to pass a hard constraint, a waiting time exceeding the maximum allowable waiting time, an excessively low overall confidence value of release-related fields, or incomplete material set.

[0158] The safety gating release uses a three-state variable: In the formula, This indicates that release is permitted. This indicates a temporary suspension of release. This indicates that release is prohibited.

[0159] The release security gate is determined to be allowed when a selected combination action exists, no reason for prohibiting release is triggered, no reason for delaying release is triggered, and the joint atomic pre-occupation is successful. Release is delayed when no reason for prohibiting release is triggered but a reason for delaying release exists or the joint atomic pre-occupation fails. All other cases are determined to prohibit release.

[0160] .

[0161] In the formula, Choose variables for the action. This indicates the reason for prohibiting release. This indicates the reason for the temporary suspension of release. This indicates a pre-occupancy flag for joint atoms. Indicates the first The first task, the first The target workstation and the first The combined actions formed by the AGVs were selected. This indicates that the corresponding action combination was not selected.

[0162] when At that time, the snapshot of the target buffer valid pre-occupancy record, the path segment valid pre-occupancy record, and the release-related fields of the selected combined action is bound to generate a trusted release credential.

[0163] .

[0164] In the formula, This indicates a trusted release credential. Indicates the target buffer. Represents a set of path segments. This indicates the estimated material collection time. Indicates the estimated arrival time. This indicates the period of pre-reservation. This indicates the release of the overall confidence value of the relevant fields. This indicates the reliability of the AGV's estimated arrival time field. This indicates the trustworthiness status of the target buffer capacity field. This indicates the trusted status of the path accessibility field. This indicates the trusted status of the workstation receiving status field. This indicates the reliability status of the material completeness status field. This indicates a pre-reservation flag for a path segment. This indicates an AGV order confirmation flag. Indicates the time when the voucher was generated.

[0165] A trusted release credential is valid when release is allowed, joint atomic pre-occupancy is successful, the pre-occupancy validity period has not expired, and the overall trust value of the release-related fields is not lower than the trusted threshold for allowed release.

[0166] .

[0167] In the formula, This serves as a valid indicator for the trusted release credential. This indicates that the trusted release credential is invalid or has expired. This indicates that the trusted release certificate is valid. This indicates the release of the security-gated tristate variable. This indicates a pre-occupancy flag for joint atoms. Indicates the monitoring time. Indicates the time when the voucher was generated. This indicates the period of pre-reservation. This indicates the release of the overall confidence value of the relevant fields. This indicates that the trusted threshold is allowed to be released.

[0168] when and At this time, the system retains the target buffer pre-occupancy record and the path segment pre-occupancy record, and outputs a work-in-process release command to the MES or field execution system. At this time, the system retains the task number, target workstation, candidate AGV, target buffer, and reason for postponement, awaiting review in the next scheduling cycle. When this happens, the system does not output a work-in-process release command and passes the reason for prohibiting release to step S6.

[0169] For combined actions where buffer or path pre-allocation has been requested but a release command has not yet been output, the system sets an AGV order acceptance failure flag. Buffer pre-occupancy failure flag and path pre-occupancy failure flag When an order is explicitly rejected or a pre-booking fails, the corresponding failure flag is set to 1. Only when no confirmation has been received is the flag set to 0, and this is handled according to the reason for delayed release. This indicates that the AGV's order acceptance request was rejected, the confirmation timed out, or the communication returned a failure. It is not the same as the AGV not confirming the order. This indicates a buffer pre-reservation failure flag, formed when a pre-reservation request is rejected, a pre-reservation record write fails, or the pre-reservation resource becomes invalid. This indicates a path reservation failure flag resulting from a rejected path segment reservation request, a sudden change in path status, or an invalid path reservation record.

[0170] The revocation of pre-reservation is triggered when the pre-reservation validity period expires, AGV order acceptance fails, buffer pre-reservation fails, path pre-reservation fails, or the overall credibility value of the release-related fields falls below the credibility threshold for delayed release.

[0171] .

[0172] In the formula, This indicates the cancellation of a pre-occupancy reservation. This indicates the cancellation of the pre-reserved resources for the corresponding buffer or path. This indicates that the pre-reserved resources for the corresponding buffer or path will not be revoked. Indicates the current scheduling time. This indicates the period of pre-reservation. This indicates an order failure flag resulting from an AGV order request being rejected, a confirmation timeout, or a communication failure. This indicates a buffer pre-reservation failure flag, formed when a pre-reservation request is rejected, a pre-reservation record write fails, or the pre-reservation resource becomes invalid. This indicates a path reservation failure flag resulting from a rejected path segment reservation request, a sudden change in path status, or an invalid path reservation record. This indicates the release of the overall confidence value of the relevant fields. This indicates that the release of the trusted threshold will be temporarily suspended.

[0173] The pre-reservation cancellation flag is used to control the cancellation of resources after they have been reserved, and is related to... The purposes of using them to postpone the judgment before release are different.

[0174] like Figure 3 As shown, the revocation of a trusted release credential is triggered when the credential expires, the pre-holding is revoked, or the joint atomic pre-holding state expires after the credential has entered the allowed release state.

[0175] .

[0176] In the formula, This indicates a revocation flag for a trusted release credential. This indicates the cancellation of the corresponding trusted release certificate. This indicates that the corresponding trusted release certificate will not be revoked. This indicates the release of the security-gated tristate variable. This indicates that the trusted release certificate is valid. This indicates a pre-occupancy flag for joint atoms.

[0177] This indicates that the revocation judgment applies to combined actions that have entered the allowed release state and generated a trusted release credential. For delayed release actions or prohibited release actions that have not generated a trusted release credential, the system does not revoke the trusted release credential, but proceeds to subsequent processing according to the reason for delayed release or prohibited release. When a field's trusted status declines, AGV refuses to accept an order, buffer pre-occupancy fails, path pre-occupancy fails, pre-occupancy validity expires, or joint atomic pre-occupancy is not committed, the system revokes the trusted release credential and its bound pre-occupied resources.

[0178] S6. When the trusted release credential expires or the pre-occupancy is revoked, the credential and its bound resources are revoked, the reasons for the direct release failure and the upstream reasons are decomposed, and the feedback is sent to the next scheduling cycle.

[0179] In step S6, the system generates the final scheduling scheme based on the release security gating three-state result, the joint atomic pre-occupancy result, the trusted release credential status, and the pre-occupancy cancellation result.

[0180] like Figure 3 As shown, based on the three-state variables of the release security gating, the hard constraint pass flag, the pre-holding cancellation flag, and the trusted release credential cancellation flag, the selected combination of actions is divided into allowed release actions, deferred release actions, and prohibited release actions. Among them, the allowed release action is defined as follows: it has been selected, the hard constraint has passed, the release security gating is set to allow release, and no pre-holding cancellation or credential cancellation has occurred.

[0181] .

[0182] In the formula, A flag indicating whether a combined action has entered the set that is allowed to be released. Choose variables for the action. The symbol indicates that the combined action has a hard constraint. This indicates the release of the security-gated tristate variable. This indicates the cancellation of a pre-occupancy reservation. This indicates a revocation flag for a trusted release credential. This indicates that the value is 1 if the condition is true, and 0 otherwise.

[0183] Deferred release actions include a combination of actions where the release security gate is deferred, and a combination of actions where release has been permitted but pre-holding is revoked or trusted release credentials are revoked.

[0184] .

[0185] In the formula, This indicates whether the combined action has entered the pause release set. The symbol indicates that the combined action has a hard constraint. This indicates the release of the security-gated tristate variable. This indicates the cancellation of a pre-occupancy reservation. This indicates a revocation flag for a trusted release credential.

[0186] The prohibited release action consists of a combination of actions that have been selected and whose release security gate is prohibited from release.

[0187] .

[0188] In the formula, A flag indicating whether a combination action has entered the prohibited release set.

[0189] Allowing release actions outputs in-process release commands. Delaying release actions enters the next scheduling week's confirmation set. Prohibiting release actions involves deleting or replacing AGVs, replacing paths, replacing target buffers, or canceling the current cycle's release, categorized by reason. For combined actions where a trusted release credential has been generated but revoked, in-process release commands are not output; the pre-allocation of the bound buffer and path segment is simultaneously revoked or moved to the next cycle's review status. , , A value of 1 indicates entry into the corresponding set, while a value of 0 indicates non-entry into the corresponding set.

[0190] The cause category variable is used to record the cause category that triggers the combined action.

[0191] .

[0192] In the formula, Indicates whether the combined action triggers the first... Reasons for this. Indicates the total number of cause categories.

[0193] The reasons for the failure include: Category 1, AGV's estimated arrival time exceeds the limit. Category 2, AGV has not confirmed order acceptance, has refused order acceptance, or is offline. Category 3, Buffer pre-occupancy failed, pre-occupancy time window capacity is insufficient, or the target buffer does not have basic acceptance capacity. Category 4, Path pre-occupancy failed, pre-occupancy time window passage capacity is insufficient, or the path does not meet basic passage conditions. Category 5, Workstation cannot accept orders. Category 6, AGV battery is insufficient. Category 7, Materials are not complete. Category 8, Field reliability status is insufficient. Category 9, Process sequence is not met. Category 10, Workstation capacity mismatch. Category 11, Reliable release document is revoked or expired.

[0194] For combined actions that are not selected due to failure to meet hard constraints, the reasons for the hard constraints are statistically analyzed and retained for the next scheduling cycle.

[0195] .

[0196] In the formula, Indicates the first Within the scheduling cycle, the first Statistics on the causes of rigid constraints. The symbol indicates that the combined action has a hard constraint.

[0197] This statistic is used for the next cycle's combined action constraint check and hard constraint cause analysis, and is not used as a negative sample for candidate scores.

[0198] For combined actions that have been selected but ultimately did not enter the allowed release set, the cumulative feedback is based on the reason category.

[0199] .

[0200] In the formula, Indicates the first The amount of feedback corresponding to the type of reason. A flag indicating whether a combined action has entered the set that is allowed to be released. Indicates whether the combined action triggers the first... Reasons for this. This indicates the score for the candidate action. This indicates that 0 is taken as the score for the candidate action. The larger value in the range.

[0201] When a trusted release credential is revoked or expires, the system writes the 11th type of reason into the reason category variable and retains its trigger source, including a decrease in the field's trusted status, the expiration of the pre-occupancy validity period, a change in the AGV's order acceptance status, and the revocation of the buffer pre-occupancy or the path pre-occupancy.

[0202] The penalty weight or secondary confirmation intensity corresponding to the cause category is updated across cycles based on the amount of feedback.

[0203] .

[0204] In the formula, Indicates the first In the scheduling cycle, the first The penalty weight or secondary confirmation intensity corresponding to the cause category. Indicates the first In the scheduling cycle, the first The penalty weight or secondary confirmation intensity corresponding to the cause category. This indicates the lower limit of the weight. This indicates the upper limit of the weight. This indicates the update step size. Indicates the first The amount of feedback corresponding to the type of reason. This indicates that the calculation results will be restricted to... to between.

[0205] The field's reliable value is updated across cycles based on the field's execution feedback deviation.

[0206] .

[0207] In the formula, Indicates the first Fields in each scheduling cycle The credibility value. Indicates the first Fields in each scheduling cycle The credibility value. This represents the field's trusted status update coefficient. Representation field In the Average execution feedback deviation over a scheduling cycle. This means that the calculation result will be limited to between 0 and 1.

[0208] and Having different responsibilities, the former adjusts the first The system assesses the strength of the influence of the category of cause in candidate scoring, deferred penalties, or secondary confirmation. The latter updates the credibility value of the specific field itself. For reasons indicating insufficient credibility in category 8, the system can simultaneously update the corresponding category 8 cause. Corresponding to specific fields .

[0209] When the same combined action triggers multiple reasons simultaneously, the direct release failure reason that causes the current release security gating, joint atomic pre-occupancy, or trusted release credential to become invalid is retained, and the field deviation, state lag, or previous cycle prediction deviation that caused the direct release failure reason is traced back as the upstream reason. The direct release failure reason is used for the reason category variable, and the upstream reason is used to improve the field trusted state update or secondary confirmation strength.

[0210] Direct release failure reasons indicate direct events that cause the current release security gating, joint atomic pre-occupancy, or trusted release credential to become invalid, including AGV order rejection, buffer pre-occupancy failure, path pre-occupancy failure, incomplete material set, and credential expiration. Upstream reasons indicate field deviations, status lags, or prediction deviations from the previous cycle that caused the direct event, including AGV estimated arrival time deviations, buffer estimated release capacity deviations, path congestion status lags, workstation receiving status feedback lags, and insufficient trusted validity of fields. The system retains the direct cause category when calculating feedback quantities and increases the strength of trusted status updates or secondary confirmations for traceable upstream causes.

[0211] The system feeds back the reasons for AGV arrival, AGV order acceptance, buffer, path, workstation, material, field credibility, and credible release certificate to the AGV estimated arrival time field, AGV queue status, AGV order acceptance response status, target buffer capacity status, path segment passage status, workstation receiving status, material completeness status, corresponding key field credibility status, and credible release certificate validity period and joint atomic pre-occupancy submission conditions, respectively. For reasons triggered by the hard constraint check in step S3, the system records them as hard constraint reasons and uses them for the combined action constraint check in the next scheduling cycle. Among them, process sequence non-compliance and workstation capacity mismatch are not considered as negative samples for candidate scoring, but are only retained as hard constraint reasons.

[0212] like Figure 2 As shown, the system writes the feedback results into the production operation data and scheduling status of the next scheduling cycle. In the next cycle, the field trust status generation process reads the updated field trust value and field trust validity period; the combined action constraint check reads the constraint reason record and hard constraint reason statistics of the previous cycle; the release safety gating reads the joint atomic pre-occupancy failure reason, trusted release credential revocation reason, and pre-occupancy revocation reason of the previous cycle; and the candidate action scoring reads the updated penalty weight or secondary confirmation strength, thus forming a closed-loop scheduling process of "field trust status and field trust validity period --- future release time window matching --- task --- workstation --- AGV combined action --- constraint reason record --- candidate action scoring --- release safety gating three states --- joint atomic pre-occupancy --- trusted release credential --- credential revocation --- cause decomposition and directed feedback --- next cycle scheduling update".

[0213] This invention uses a field-based trusted status generation mechanism to make trusted judgments on key release-related fields such as AGV expected arrival time, target buffer capacity, path segment passage status, target workstation receiving status, and material completeness status. It also combines the field's trusted validity period and future release time window to determine whether the key fields can cover the work-in-process release process. This can reduce the impact of delays, missing values, conflicts, execution deviations, or field expiration on scheduling decisions and release judgments.

[0214] This invention incorporates the estimated material retrieval time, estimated arrival time, target buffer, path segment set, release waiting limit, and pre-occupancy validity period into the same action record by combining task-workstation-AGV actions and their extended attributes. This enables the system to connect candidate allocation, resource pre-occupancy, and work-in-process release control, clearly distinguishing between three states: action selected, resource pre-occupancy, and work-in-process release, thereby improving the consistency between scheduled actions and on-site execution conditions.

[0215] This invention uses a combination of action constraint checks and constraint cause recording to structurally record reasons such as process sequence, workstation capacity, AGV status, basic buffer capacity, basic path accessibility, and field reliability. It also distinguishes between prohibited candidate actions, actions requiring confirmation, and actions that can be scored, so that the scoring of candidate actions no longer depends solely on a single feasible or infeasible judgment, and can provide a clear basis for releasing safety gates and subsequent cause decomposition feedback.

[0216] This invention utilizes a three-state release mechanism for security gating, combined with AGV order confirmation, dynamic pre-allocation of the target buffer, pre-allocation of the path segment time window, and trusted release credentials. Before releasing work-in-process (WIP), it confirms the AGV response, the available capacity of the target buffer, and the passage capacity of the path segment time window. Only when the combined atomic pre-allocation meets the requirements and the trusted release credential is valid does the system output a WIP release command. This reduces premature release of WIP, partial pre-allocation, resource residue, invalid AGV waiting, buffer accumulation, and path congestion.

[0217] This invention, through trusted release credential revocation and cause decomposition-oriented feedback, feeds back causes such as decreased field trusted status, unconfirmed AGV order acceptance, failed buffer pre-occupancy, failed path pre-occupancy, unacceptable workstation, incomplete material set, expired pre-occupancy validity period, or trusted release credential revocation to the field trusted status, AGV status, buffer status, path status, workstation status, material status, penalty weight, or secondary confirmation intensity. It also distinguishes between direct release failure causes and upstream causes that led to the failure, and uses this information for the next scheduling cycle. This reduces the probability of similar unreleaseable actions recurring, and improves the on-site executability and stability of task-workstation-AGV allocation results, work-in-process release results, and cross-cycle feedback update processes.

[0218] Example 2 provides a trusted release scheduling device for an AGV resource-constrained assembly workshop. This device is used to execute the method described in Example 1, and includes a field trusted state generation module, a combined action generation module, a constraint cause recording module, a candidate score allocation module, a release credential control module, and a feedback update module.

[0219] The Field Trust Status Generation Module is used to acquire multi-source production operation data and generate field trust values, comprehensive trust values, and field trust validity periods for release-related key fields. Specifically, the Field Trust Status Generation Module performs time alignment, field mapping, and unit unification on production operation data from MES, ERP, PLC, AGV scheduling system, workstation terminal, material management system, buffer management system, and path management system. It also calculates trust values, performs trust weighted fusion, and calculates trust validity periods for the AGV expected arrival time field, target buffer capacity field, path passage status field, target workstation receiving status field, and material completeness status field.

[0220] The combined action generation module is used to generate task-workstation-AGV combined actions based on the task to be scheduled, candidate workstations, and candidate AGVs. It then forms a future release time window based on these combined actions and determines whether the trusted validity period of a field meets the coverage requirements of the future release time window to generate the field's trusted status. The combined action includes the estimated material retrieval time, estimated arrival time, target buffer, path segment set, release waiting upper limit, and pre-occupancy validity period. The combined action generation module is also used to write the release-related field set, the overall trusted value of the field, the trusted status of the field, and the trusted validity period of the field into the combined action attributes.

[0221] The constraint reason recording module is used to check the constraints of the combined action execution process sequence, workstation capacity, AGV status, buffer capacity, path accessibility, and field reliability status, and generate constraint reason records. It distinguishes between prohibited candidate actions, actions requiring confirmation, and actions that can enter the scoring process. The constraint reason recording module is also used to retain the constraint reasons of combined actions that were not selected due to failure of hard constraints, so that hard constraint reason statistics can be performed in the next scheduling cycle.

[0222] The candidate scoring allocation module is used to calculate the priority of candidate actions for actions that can be scored and actions that require confirmation, and to generate selected combination actions. The module calculates the candidate action score based on the candidate action factor vector, the comprehensive confidence value of release-related fields, the confirmation reason flag, soft constraint weights, and the basic scoring function. It determines the selected combination actions under the following conditions: a single task is allocated at most once; the number of workstations receiving tasks does not exceed the upper limit; the number of AGVs accepting tasks does not exceed the upper limit; and combination actions that fail to pass hard constraints are not selected.

[0223] The release credential control module performs a three-state release safety gating judgment on the selected combined action. Before allowing release, it performs a joint atomic pre-allocation of AGV order acceptance, target buffer dynamic pre-allocation, and path segment time window pre-allocation. When the joint atomic pre-allocation is successful, a reliable release credential is generated, and the work-in-process release instruction is output only when the credential is valid. The release credential control module is also used to cancel the applied temporary pre-allocation record when the joint atomic pre-allocation fails, and to record the reason for AGV order acceptance, buffer pre-allocation, or path pre-allocation.

[0224] The feedback update module is used to revoke credentials and their bound resources when trusted release credentials expire or pre-occupancy is revoked, decompose the reasons for direct release failure and upstream reasons, and feed them back to the next scheduling cycle. The feedback update module is also used to update the penalty weight or secondary confirmation strength corresponding to the reason category, and to update the trusted value of the field based on the feedback deviation.

[0225] Example 3 provides a reliable release scheduling device for an AGV resource-constrained assembly workshop. The device includes a processor, a memory, and a computer program stored in the memory. The computer program can be executed by the processor to implement the reliable release scheduling method for an AGV resource-constrained assembly workshop as described in Example 1.

[0226] In this embodiment, the processor can call the computer program stored in the memory to perform operations such as acquiring multi-source production operation data, calculating field trust values, calculating comprehensive trust values, calculating field trust validity periods, generating combined actions, constructing future release time windows, generating field trust states, recording constraint reasons, scoring candidate actions, generating selected combined actions, determining the three states of release safety gating, confirming AGV order acceptance, dynamically pre-occupying the target buffer, pre-occupying the path segment time window, pre-occupying the joint atomic mechanism, generating trust release certificates, outputting work-in-process release instructions, canceling pre-occupancy, canceling trust release certificates, decomposing direct release failure reasons and upstream reasons, and updating feedback in the next scheduling cycle.

Claims

1. A reliable release scheduling method for AGV resource-constrained assembly workshops, characterized in that, Include: S1. Obtain multi-source production operation data and generate field credibility values, comprehensive credibility values, and field credibility validity periods for relevant key fields; S2. Generate task-workstation-AGV combined actions based on the task to be scheduled, candidate workstations, and candidate AGVs, and form a future release time window based on the combined actions, and determine whether the field's trusted validity period meets the coverage requirements of the future release time window to generate the field's trusted status; wherein, the combined actions include the estimated material picking time, estimated arrival time, target buffer, path segment set, release waiting upper limit, and pre-occupancy validity period; The system will review the trust status of relevant release fields, AGV order confirmation status, target buffer reserved capacity, and path segment time window passage capacity within the future release time window. S3. Perform process sequence, station capacity, AGV status, buffer capacity, path access status and field reliability status constraint checks on combined actions, form constraint reason records, and distinguish between prohibited candidate actions, actions requiring confirmation and actions that can enter the scoring. S4. Calculate the priority of candidate actions for actions that can be scored and actions that require confirmation, and generate the selected combination of actions. S5. Perform a release safety gating three-state judgment on the selected combination action, and perform a joint atomic pre-occupation of AGV order confirmation, target buffer dynamic pre-occupation and path segment time window pre-occupation before allowing release. When the joint atomic pre-occupation is successful, a trusted release certificate is generated, and the work-in-process release instruction is only output when the certificate is valid. S5 includes: The reservable capacity of the target buffer within the pre-occupancy time window is determined by the total buffer capacity, the current occupied amount, the pre-occupied capacity, and the expected release capacity within the pre-occupancy validity period. ； In the formula, Represents a buffer During monitoring time Reserved capacity; Indicates the total capacity of the buffer; Indicates the current usage amount; This indicates that the capacity has been reserved. This indicates the expected release capacity within the pre-reservation validity period; The target buffer reservation is successful when the available reserve capacity is not less than the work-in-process occupied capacity. ； In the formula, Indicates the target buffer pre-occupancy flag; This indicates that the capacity reservation conditions have not yet been met within the reserved time window; This indicates that the target buffer has been successfully pre-occupied; Indicates the target buffer At any moment Reserved capacity; Indicates the first Each task corresponds to a work-in-process inventory capacity; This indicates that the value is 1 if the condition is true, and 0 otherwise. Path segment time window pre-allocation is successful when the path segment is not blocked and the number of path segments pre-allocated within the corresponding time window does not exceed the path segment capacity. ； In the formula, This indicates that the path segment set has been successfully reserved; Indicates a path segment; Represents a set of path segments; Indicates the status of a path segment; This indicates a blocked, prohibited, or impassable state. This indicates the number of path segments that have been pre-occupied within the corresponding time window; and These represent the AGV's expected entry and exit path segments, respectively. Time; Indicates the capacity of the path segment; Indicates the task number; Indicates the target workstation number; Indicates the AGV number; AGV order confirmation, target buffer pre-occupancy, and path segment time window pre-occupancy constitute a joint atomic pre-occupancy. If any step fails, the applied temporary pre-occupancy record is revoked, and the corresponding reason for AGV order confirmation, buffer pre-occupancy, or path pre-occupancy is recorded. The safety gating release uses a three-state variable: In the formula, This indicates the release of the safety-gated tri-state variable; This indicates that release is permitted; This indicates a temporary suspension of release; This indicates that release is prohibited; when At that time, the target buffer valid pre-occupancy record, path segment valid pre-occupancy record, and release-related fields of the selected combined action are snapshotted and bound to generate a trusted release credential; ； In the formula, Indicates a trusted release credential; Indicates the target buffer; Indicates the estimated material collection time; Indicates the estimated arrival time; Indicates the validity period of the pre-occupancy; This indicates the release of the overall confidence value of the relevant fields; This indicates the reliability of the AGV's estimated arrival time field; Indicates the trust status of the target buffer capacity field; The trusted status of the path accessibility field; Indicates the trusted status of the workstation receiving status field; Indicates the reliability status of the material completeness status field; Indicates a pre-reservation flag for the path segment; This indicates an AGV order confirmation flag; Indicates the time when the voucher was generated; A trusted release credential is valid when release is permitted, joint atomic pre-occupancy is successful, the pre-occupancy validity period has not expired, and the overall trust value of the release-related fields is not lower than the trusted threshold for permitted release. ； In the formula, This serves as a valid indicator of the trustworthy release credential. This indicates that the trusted release credential is invalid or has expired; This indicates that the trusted release certificate is valid; Indicates the pre-occupancy flag for joint atoms; Indicates the monitoring time; This indicates that a trusted threshold is allowed to be released; S6. When the trusted release credential expires or the pre-occupancy is revoked, the credential and its bound resources are revoked, the reasons for the direct release failure and the upstream reasons are decomposed, and the feedback is sent to the next scheduling cycle.

2. The reliable release scheduling method for AGV resource-constrained assembly workshops according to claim 1, characterized in that, S2 specifically includes: The combined action of task-workstation-AGV is represented by the following formula: ； In the formula, This indicates the combined actions of the task, workstation, and AGV. Indicates the upper limit of the release waiting period; The estimated material collection time and estimated arrival time are: ； ； In the formula, Indicates the current scheduling time; Indicates the first Estimated waiting time for the current task queue of each AGV; Indicates the first Current position of each AGV To the Task material collection point The path distance; Indicates the first The average travel speed of each AGV; This indicates the congestion waiting time on the path from the current location to the material pick-up point; Indicates the first The material loading time for each task; Indicates the first From the first task material pick-up point to the first The path distance to each target workstation; Represents the path distance function; Indicates the first The congestion and waiting time of an AGV from the material picking point to the target workstation; The set of release-related fields is determined based on the combined actions, and a future release time window is constructed based on the expected material retrieval time, expected arrival time, release waiting limit, and pre-occupancy validity period in the combined actions: ； ； In the formula, Indicates a combination of actions The set of fields related to the release; This field represents the estimated arrival time of the AGV. The field representing the target buffer capacity; This field represents the path access status. This field represents the receiving status of the target workstation. This field indicates the status of material availability. Indicates the future release time window corresponding to the combined action; This represents a function that takes the minimum value. Determine the field time window matching flag based on whether the field's trusted validity period covers the end of the future release time window: ； In the formula, Indicates the first Each field represents a combined action. The future release time window matches the flag; Representation field The trusted expiration date; According to the The overall confidence value of each field and the field time window matching flag generate the field confidence status: ； In the formula, This indicates that the field is trustworthy; This indicates that the field needs to be confirmed; This indicates that the field is untrusted; Indicates the first The overall credibility value of each field; Indicates the confidence threshold of the field; This indicates that the threshold for the field needs to be confirmed.

3. The reliable release scheduling method for AGV resource-constrained assembly workshops according to claim 1, characterized in that, S3 specifically includes: The hard constraints of combined actions are composed of process sequence, station capacity, station reception, AGV online status, AGV power, target buffer basic carrying capacity, path basic passage and field confidence status constraints. ； In the formula, This indicates that the combined actions are subject to hard constraints; This indicates that at least one hard constraint of the combined action failed. Indicates process sequence constraints via flags; Indicates that the workstation capacity constraint is indicated by the flag; Indicates that the workstation has passed the constraint acceptance flag; This indicates that the AGV has passed the online constraint checkpoint. This indicates that the AGV has passed the power constraint check. This indicates that the basic carrying capacity constraint of the target buffer zone has been met. Indicates the basic access constraints of the path; The field's trustworthiness status constraint is indicated by a flag; The AGV power constraint is passed when the remaining power after completing the task is not lower than the safety reserve power. ； In the formula, Indicates the first Current battery level of each AGV; This indicates the estimated power consumption for performing the corresponding task; This indicates that the AGV has reserved power for safety. The target buffer's basic capacity constraint is passed when the total buffer capacity is not less than the work-in-process inventory capacity and the buffer is not in a closed state. ； In the formula, Indicates the total capacity of the target buffer; Indicates the state of the target buffer; Indicates a closed, disabled, or unacceptable state; The basic path passage constraint allows passage when none of the path segments in the path segment set are blocked; ； In the formula, This represents the product of the access flags corresponding to each path segment in the set of path segments; The minimum trusted state of a field is obtained by taking the minimum trusted state of the relevant key fields after releasing them; ； In the formula, This represents the minimum value required to release the trusted state of the relevant key fields; This represents the function that takes the minimum value; the trust status of each field can take the values ​​0, 1, and 2, where 0 indicates untrusted, 1 indicates that confirmation is needed, and 2 indicates that it is trustworthy. The field trust status constraint is passed when all relevant key fields are in a trust or confirmation-required state. ； Based on the hard constraints of combined actions, prohibited candidate actions, actions requiring confirmation, and actions eligible for scoring are distinguished by the minimum value of the confidence state of flags and fields; among them, when When, the combined actions are classified as prohibited candidate actions; when and When, the combined actions are categorized into actions requiring confirmation, and these actions can be included in the candidate scoring and a confirmation reason flag is written; when and At that time, the combined actions are divided into actions that do not require confirmation and can be entered into the scoring process; Record of constraints for combined actions It is formed by taking the reverse value of each hard constraint through the flag; the components of the constraint reason record correspond to the process sequence not being met, the station capacity not being matched, the station not being accepted, the AGV not being online, the AGV having insufficient power, the target buffer not having basic acceptance capacity, the path not having basic passage conditions, and the field having insufficient credibility status. 。 4. The reliable release scheduling method for AGV resource-constrained assembly workshops according to claim 1, characterized in that, S4 specifically includes A candidate action factor vector is constructed for actions that can be scored and actions that require confirmation; the candidate action factor vector incorporates a comprehensive confidence value of release-related fields and a confirmation reason flag. ； In the formula, Represents the candidate action factor vector; Indicates the material availability rate; Indicates the workstation load rate; This represents the normalized value of the AGV's estimated arrival time; This represents the normalized value of the AGV queue length; Indicates the target buffer occupancy rate; Indicates the urgency of the delivery deadline; Indicates the degree of route congestion; Indicates that the cause needs to be confirmed; The comprehensive confidence value of the relevant fields is the minimum value among the confidence values ​​of the AGV's estimated arrival time, target buffer capacity, path passage status, workstation receiving status, and material completeness status. ； In the formula, This indicates the confidence value of the AGV's estimated arrival time field; Indicates the reliable value of the target buffer capacity field; Indicates the trusted value of the path accessibility status field; Indicates the reliable value of the workstation receiving status field; Indicates the reliable value of the material completeness status field; This represents a function that takes the minimum value. The confirmation flag is triggered when any release-related critical field is in a confirmation-required state; ； The soft constraint weights of the combined actions are obtained by mapping the candidate action factor vector; ； In the formula, Indicates the soft constraint weights of combined actions; Represents the Sigmoid mapping function; This represents the weight vector of soft constraint factors; This represents the transpose of the soft constraint factor weight vector; The candidate action score is weighted with soft constraints on the base score, and a penalty is imposed on the action that needs to be confirmed; ； In the formula, Indicates the score of the candidate action; The sign indicates that the combined actions are subject to hard constraints. This represents the basic scoring function for candidate actions; Indicates the current scheduling status; Indicates the parameters of the scoring function; This represents the soft constraint weight adjustment coefficient; This indicates that the cause and penalty coefficient need to be confirmed. This represents the penalty constant for failure of hard constraints; The task-workstation-AGV combination motion selection aims to maximize the score of candidate motions; ； In the formula, Choose variables for the action; Indicates whether the combined action is selected; The selection of combined actions must meet the following constraints: a single task can be assigned at most once, the number of workstations receiving data does not exceed the upper limit, the number of AGVs accepting data does not exceed the upper limit, and combined actions that do not pass the hard constraints will not be selected. ； ； ； ； In the formula, Indicates the first The maximum number of tasks that each workstation can receive within the current scheduling cycle; Indicates the first The maximum number of transfer tasks that an AGV can undertake within the current scheduling cycle; This indicates that the task has obtained the allocation result of the target workstation and the AGV, but does not mean that the work-in-process has been released; The system solves for the above combined action selection objective and constraints to obtain action selection variables. The value of , and will satisfy The task-workstation-AGV combination action is determined as the selected combination action; the selected combination action enters the release safety gate three-state determination, and does not directly trigger the release of work-in-process.

5. A reliable release scheduling method for AGV resource-constrained assembly workshops according to claim 1, characterized in that, S5 also includes: Before performing the release safety gating three-state determination on the selected combination action, first calculate the release waiting time corresponding to the combination action; ； In the formula, This indicates the release waiting time corresponding to the combined action; Indicates the current scheduling time; This indicates that the AGV order acceptance confirmation, target buffer pre-allocation, and path segment time window pre-allocation were all successful. This indicates that at least one attempt failed. ； The release is temporarily suspended when the comprehensive confidence value of the release-related fields is in the suspension range, the release waiting time exceeds the release waiting limit but does not exceed the maximum allowed waiting time, the AGV has not confirmed the order, the buffer pre-occupancy has failed, the path pre-occupancy has failed, or there is a reason that needs to be confirmed. ； In the formula, Indicates the reason for the temporary suspension of release; This indicates a temporary delay in releasing the trusted threshold; Indicates the upper limit of the release waiting period; Indicates the maximum allowed waiting time; Indicates that the cause needs to be confirmed; This indicates that the path segment set pre-reservation was unsuccessful; This indicates that the AGV has confirmed the order has been accepted; This indicates that the AGV has not confirmed the order. The reason for prohibiting release is triggered when hard constraints are not met, the release waiting time exceeds the maximum allowable waiting time, the comprehensive confidence value of the release-related fields is lower than the confidence threshold for temporarily suspending release, or the materials are not complete. ； In the formula, Indicates the reason for prohibiting release; The sign indicates that the combined actions are subject to hard constraints. The complete set of materials for the task; This indicates that the materials are not fully set. This indicates that all materials are in stock; This indicates that the combined actions are subject to hard constraints; This indicates that the combined action did not meet the hard constraints; The release of the safety gate is determined to be allowed when there is a selected combination action, no reason for prohibiting release is triggered, no reason for delaying release is triggered, and the joint atom pre-occupation is successful; when no reason for prohibiting release is triggered but there is a reason for delaying release or the joint atom pre-occupation is unsuccessful, the release is determined to be delayed; in all other cases, the release is determined to be prohibited. ； In the formula, Choose variables for the action; Indicates the first The first task, the first The target workstation and the first The combined action formed by the AGVs was selected; This indicates that the corresponding action combination was not selected.

6. A reliable release scheduling method for AGV resource-constrained assembly workshops according to claim 5, characterized in that, Pre-reservation cancellation is triggered when the pre-reservation validity period expires, AGV order acceptance fails, buffer pre-reservation fails, path pre-reservation fails, or the overall credibility value of the release-related fields falls below the temporary release credibility threshold. ； In the formula, Indicates the cancellation of pre-occupancy; This indicates the cancellation of the pre-reserved resources for the corresponding buffer or path; This indicates that the pre-reserved resources for the corresponding buffer or path will not be revoked; This indicates an order failure flag indicating that the AGV's order request was rejected, the confirmation timed out, or the communication returned a failure. This indicates a buffer pre-preservation failure flag resulting from a rejected buffer pre-preservation request, a failed pre-preservation record write, or an invalidation of the pre-preservation resource. This indicates a path reservation failure flag resulting from a rejected path segment reservation request, a sudden change in path status, or an invalid path reservation record. The revocation of a trusted release credential is triggered when the credential expires, the pre-holding is revoked, or the joint atomic pre-holding state expires after the credential has entered the release-allowed state. ； In the formula, Indicates the revocation flag for a trusted release credential; This indicates the cancellation of the corresponding trusted release certificate; This indicates that the corresponding trusted release certificate will not be revoked.

7. A reliable release scheduling method for AGV resource-constrained assembly workshops according to claim 1, characterized in that, S6 specifically includes: Based on the three-state variables of the release security gating, the hard constraint pass flag, the pre-occupation cancellation flag, and the trusted release credential cancellation flag, the selected combination of actions is divided into allowed release actions, deferred release actions, and prohibited release actions; among them, the allowed release action is satisfied that it has been selected, the hard constraint has passed, the release security gating is allowed to release, and no pre-occupation cancellation or credential cancellation has occurred; ； In the formula, A flag indicating whether the combined action has entered the allowed release set; Choose variables for the action; The sign indicates that the combined actions are subject to hard constraints. Indicates the cancellation of pre-occupancy; Indicates the revocation flag for a trusted release credential; Deferred release actions include a combination of actions where the release security gate is set to deferred release, and a combination of actions where release has been permitted but pre-holding is revoked or trusted release credentials are revoked. ； In the formula, A flag indicating whether a combined action has entered the deferred release set; The prohibited release action consists of a combination of actions that have been selected and whose release security gate is prohibited from release; ； In the formula, A flag indicating whether a combined action has entered a prohibited release set; The cause category variable is used to record the cause category that triggers the combined action; ； In the formula, Indicates whether the combined action triggers the first... Class of reasons; Indicates the total number of cause categories; For combined actions that are not selected due to failure to meet hard constraints, the reasons for the hard constraints are statistically analyzed and retained for the next scheduling cycle. ； In the formula, Indicates the first Within the scheduling cycle, the first Statistics on causes of rigid constraints; The sign indicates that the combined actions are subject to hard constraints. For combined actions that have been selected but ultimately did not enter the allowed release set, the number of feedbacks is accumulated according to the reason category; ； In the formula, Indicates the first The amount of feedback corresponding to each type of reason; Indicates the score of the candidate action; This indicates that 0 is taken as the score for the candidate action. The larger value in; The penalty weight or secondary confirmation intensity corresponding to the cause category is updated across cycles based on the amount of feedback. ； In the formula, Indicates the first In the scheduling cycle, the first The penalty weight or secondary confirmation intensity corresponding to the cause category; Indicates the first In the scheduling cycle, the first The penalty weight or secondary confirmation intensity corresponding to the cause category; Indicates the lower limit of the weight; Indicates the upper limit of the weight; Indicates the update step size; This indicates that the calculation results will be restricted to... to between; The field's reliable value is updated across cycles based on the field's execution feedback deviation. ； In the formula, Indicates the first Fields in each scheduling cycle The credibility value; Indicates the first Fields in each scheduling cycle The credibility value; Indicates the field's trusted status update coefficient; Representation field In the Average execution feedback deviation within a scheduling cycle; This means that the calculation result will be limited to between 0 and 1; When the same combined action triggers multiple reasons simultaneously, the direct release failure reason that causes the current release security gating, joint atomic pre-occupancy, or trusted release credential to become invalid is retained, and the field deviation, state lag, or previous cycle prediction deviation that caused the direct release failure reason is traced back as the upstream reason. The direct release failure reason is used for the reason category variable, and the upstream reason is used to improve the field trusted state update or secondary confirmation strength.

8. A reliable release scheduling method for AGV resource-constrained assembly workshops according to any one of claims 1 to 7, characterized in that, S1 specifically includes: For the The data source provides the first Each field has a field-level credibility value, and the field quality score is formed by indicators of field integrity, format validity, unit consistency, and value range validity. ； ； In the formula, Indicates the first The first data source The reliable values ​​of each field; This indicates the quality score of the field; This indicates the time delay between the field update time and the current scheduling time. This indicates that the field is allowed to update the time threshold. Indicates the field's execution deviation penalty coefficient; This represents the normalized deviation between the predicted field value and the execution feedback value. Indicates the first The interface status of each data source; This means that the calculation result will be limited to between 0 and 1; Represented by natural constant An exponential function with base 0; This serves as a field integrity flag. This serves as a format validity indicator. As a marker of unit consistency; This serves as a flag indicating the validity of the value range. The execution feedback deviation for numeric fields is: ； In the formula, Indicates the first Predicted values ​​for fields provided by each data source; This indicates the on-site execution feedback value for the corresponding field; Indicates the first The maximum allowable deviation for each field; This represents a function that takes the minimum value. When the same key field is provided by multiple data sources, a trusted weighted fusion method is used to obtain the fused field value, and the first value is calculated. The overall credibility value of each field; ； ； In the formula, This represents the merged field value; Indicates the field to be provided A collection of data sources; Indicates the first The original field values ​​collected from each data source; This indicates a fallback estimate for the field; Indicates the confidence weight of the fallback estimate; Indicates the first The overall credibility value of each field; Indicates the field to be provided The number of data sources; Calculate the trusted validity period of the field; ； In the formula, Representation field The trusted expiration date; Representation field The most recent valid update time; Representation field The duration of reliable retention.

9. A reliable release scheduling device for AGV resource-constrained assembly workshops, characterized in that, For executing the trusted release scheduling method for an AGV resource-constrained assembly workshop as described in any one of claims 1 to 8; The trusted release scheduling device includes: The Field Trust Status Generation Module is used to acquire multi-source production operation data and generate field trust values, comprehensive trust values, and field trust validity periods for relevant key fields. The combined action generation module is used to generate task-workstation-AGV combined actions based on the task to be scheduled, candidate workstations, and candidate AGVs, and to form a future release time window based on the combined actions, as well as to determine whether the field's reliable validity period meets the coverage requirements of the future release time window, so as to generate the field's reliable status; wherein, the combined action includes the estimated material picking time, estimated arrival time, target buffer, path segment set, release waiting upper limit, and pre-occupancy validity period; The constraint cause recording module is used to check the constraints of the combined action execution process sequence, station capacity, AGV status, buffer capacity, path access status and field credibility status, form constraint cause records, and distinguish between prohibited candidate actions, actions that need to be confirmed and actions that can enter the scoring process. The candidate scoring allocation module is used to calculate the priority of candidate actions for actions that can be scored and actions that require confirmation, and to generate selected combination actions. The release certificate control module is used to perform a release safety gating three-state determination on the selected combined action, and before allowing release, it performs a joint atomic pre-occupation of AGV order confirmation, target buffer dynamic pre-occupation and path segment time window pre-occupation. When the joint atomic pre-occupation is successful, a reliable release certificate is generated, and the work-in-process release instruction is only output when the certificate is valid. The feedback update module is used to revoke the credential and its bound resources when the trusted release credential expires or the pre-occupancy is revoked, decompose the reasons for the direct release failure and the upstream reasons, and feed them back to the next scheduling cycle.

10. A reliable release scheduling device for AGV resource-constrained assembly workshops, characterized in that, It includes a processor, a memory, and a computer program stored in the memory; the computer program can be executed by the processor to implement a reliable release scheduling method for AGV resource-constrained assembly workshops as described in any one of claims 1 to 8.

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